CN110695024A - Air pipe cleaning robot - Google Patents
Air pipe cleaning robot Download PDFInfo
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- CN110695024A CN110695024A CN201911057637.3A CN201911057637A CN110695024A CN 110695024 A CN110695024 A CN 110695024A CN 201911057637 A CN201911057637 A CN 201911057637A CN 110695024 A CN110695024 A CN 110695024A
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- cleaning
- supporting
- retaining
- driving
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a cleaning robot for a ventilation pipeline, which comprises: a support structure, a holding structure, a drive structure, a cleaning assembly and a control system; one end of the supporting structure is connected with one end of a retaining structure, the retaining structure is connected with the driving structure, and the cleaning assembly is mounted at the front end of the front supporting structure; the supporting structure, the holding structure, the driving structure and the cleaning assembly are connected with the control system through the signal transmission unit; the supporting structure, the holding structure and the driving structure of the invention all adopt a motor to drive a screw nut mechanism to realize the walking and the supporting of the robot in the pipe, the cleaning assembly cleans the inner wall of the pipe, and the cleaning assembly has enough driving traction force, pipe diameter adaptability, bent pipe passing capacity and climbing capacity and can meet the cleaning requirements of various ventilation pipes.
Description
Technical Field
The invention relates to the field of pipeline cleaning, in particular to a cleaning robot for a ventilation pipeline.
Background
With the development of society, more and more buildings, villas and the like adopt central air conditioners, however, air pollution caused by the fact that air pipes are not cleaned in time is harmful to the health of people, clean air pipes cannot be obtained for a long time, a proper living environment is provided for harmful bacteria, the harmful bacteria can be continuously bred and widely spread along with the four-way and eight-way air pipes, and secondary pollution to the air is caused indoors; the harm to human health and the diseases caused by the air conditioning and ventilating system of the building can reach dozens, and the office and living environment can be ensured only by regularly cleaning.
At present, most of central air conditioners in buildings are solved when the problem of pipelines is serious, the fact that periodic cleaning is performed every year is very little, and since foreign air conditioners are popularized earlier, the research on pipeline cleaning robots is advanced in China, and the traveling part used by WintClean robots in Sweden is of a crawler type, so that the traveling mode has the advantages of being high in obstacle crossing capability, small in turning radius and the like, and the defects of being low in traveling speed and complex in structure are that AIRTOX cleaning robots in Canada, Hanlin air duct cleaning robots in Korea and Indor cleaning robots in England adopt similar traveling modes.
In China, although research on a mobile dirt cleaning robot specially aiming at the inside of a ventilating duct in constructional engineering starts late, in recent years, robots are increasingly applied to cleaning the duct, including robot inspection, robot cleaning, robot collection, robot disinfection and the like, and although the application of cleaning robots is more and more common, the cleaning robots have a large development space in terms of functional stability and environmental adaptability, for example, the problems that the cleaning mode is single, the cost of the cleaning robot is high, the cleaning robot is heavy and the like are urgently needed to be improved.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide the cleaning robot for the ventilation pipeline, which has enough driving traction force, pipe diameter adaptability, bent pipe passing capacity and climbing capacity and can meet the cleaning requirements of ventilation pipelines with various sizes and curved designs, aiming at the defects of pipe diameter adaptability, bent pipe passing capacity, climbing capacity and the like of the cleaning robot for the ventilation pipeline.
The invention is realized by the following technical scheme.
A cleaning robot for ventilation ducts, comprising: a support structure comprising a front support structure 1 and a rear support structure 5, a holding structure comprising a front holding structure 2 and a rear holding structure 4, a drive structure, a cleaning assembly and a control system; the front supporting structure 1 is connected with one end of the front retaining structure 2, the other end of the front retaining structure 2 is connected with one end of the driving structure 3, the other end of the driving structure 3 is connected with one end of the rear retaining structure 4, the other end of the rear retaining structure 4 is connected with the rear supporting structure 5, and the supporting structure, the retaining structure, the driving structure and the cleaning assembly are connected with a control system through a signal transmission unit.
Further, the front supporting structure 1 and the rear supporting structure 5 are the same, and both include: the device comprises an adjusting motor 17, a pressure spring a14, a slider a16, a nut sleeve a13, a support lead screw 18, a function module connecting seat 12, a fixed seat 11, a bearing sleeve, a support connecting rod a8, a support connecting rod b9, a pressure spring b10 and a support guide rod 7; the adjusting motor 17 is connected with a fixed seat 11, the fixed seat 11 is connected with a bearing sleeve, one end of a support connecting rod a8 is hinged with a nut sleeve a13, the other end of the support connecting rod b9 is hinged with one end of a support connecting rod b9 is hinged with a sliding block a16, an output shaft of the adjusting motor 17 is connected with a driving screw 18 through the bearing sleeve and the fixed seat 11, a nut sleeve a13 is in threaded connection with the driving screw 18, one end of a support guide rod 7 is fixedly connected with a nut sleeve a13, the other end of the support guide rod b 598 is connected with the fixed seat 11, a pressure spring a14 is connected with a nut sleeve a13 and a sliding block a16 through the support guide rod 7, and a pressure spring b10 is connected with a sliding block a16 and the.
Further, the front holding structure 2 and the rear holding structure 4 are identical and each include: the device comprises a frame 19, a retainer 24, a retaining link a20, a retaining link b22, a retaining wheel 21, a pressure spring c23, a support shaft 25, a slider b26 and a hexagonal nut 27; the retainer 24 is connected with the frame 19, one end of the retaining connecting rod a20 is hinged with the retainer 24, the other end of the retaining connecting rod a20 is hinged with one end of the retaining connecting rod b22, the other end of the retaining connecting rod b22 is hinged with the sliding block b26, one end of the supporting shaft 25 is connected with the retainer 24 through the sliding block b26, the other end of the supporting shaft 25 is in threaded connection with the hexagonal nut 27, and the pressure spring c23 is fixed on the sliding block b26 and the hexagonal nut 27 through the supporting shaft 25.
And the supporting wheel mechanisms of the front and rear supporting structures and the holding wheel mechanisms of the front and rear holding structures are all provided with three groups and are distributed at an angle of 120 degrees.
Further, the driving structure 3 includes: the universal joint 28, the driving motor 29, the driving motor shell 30, the retainer ring 32, the bearing 33, the end cover 34, the driving lead screw 35, the nut sleeve 36 and the guide rod 31; the driving motor 29 is installed in a driving motor housing 30, one end of the driving motor housing 30 is connected with an end cover of the universal joint 28, the other end of the driving motor housing 30 is connected with the nut sleeve 36 through the guide rod 31, one end of the driving lead screw 35 is connected with an output shaft of the driving motor 29, and the other end of the driving lead screw is in threaded connection with the nut sleeve 36.
Further, a wire window is provided on the driving motor housing 30.
Furthermore, the driving structure 3 further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with the screw rod.
Further, the cleaning assembly comprises: the locking cover 42, a bearing a43, a retainer ring a44, an adjusting spring 45, a blade 46, a cleaning knife holder 47, a cleaning motor shell 48 and a cleaning motor 49; cleaning motor 49 installs in cleaning motor shell 48, cleaning motor 49's output shaft is connected with cleaning blade holder 47, bearing a43 and retaining ring a44 are installed in proper order on cleaning motor 49 output shaft, bearing a43 is fixed a position by retaining ring a44 and cleaning motor shell 48, blade 46 installs in cleaning blade holder 47, and adjusting spring 45 is installed to blade 46 end in cleaning blade holder 47, locking lid 42 and cleaning motor 49 output shaft end threaded connection.
Furthermore, the control system is installed in the robot motion control box, receives a control instruction sent by the control box through the wireless communication unit, realizes robot motion control including advancing, retreating, stopping motion, climbing, cleaning and the like, and sends detection data of the running speed, the rotating speed of the cleaning assembly, the current voltage of the power supply module, the inclination angle of a distribution network wire and the like to the outside control system receiving unit.
Preferably, the slide block a and the slide block b are both provided with a micro pressure sensor.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
1. the ventilating duct cleaning device provided by the invention has the advantages that the motor drives the screw nut mechanism, the rotation of the motor is converted into a required movement form, the motor has enough movement traction force, and the head part and the tail part can be provided with various functional modules according to the requirements so as to meet different operation requirements.
2. The flexible shaft driving mechanism is designed in the ventilating duct cleaning device, so that the ventilating duct cleaning device has the capability of enabling bent pipes to pass through.
3. Compared with a common cleaning head, the cleaning assembly in the cleaning device for the ventilation pipeline can automatically adjust the position of the blade according to the pipe diameter by means of centrifugal force and a spring without damaging the pipe wall, and has stronger pipeline adaptability.
4. According to the invention, by arranging the autonomous locking mechanism, the mechanism not only can adjust the positive pressure between the locking mechanism and the pipe wall according to actual needs to ensure enough friction force, but also can increase the adaptability to the pipe diameter; the automatic locking mechanism consists of a screw nut pair adjusting mechanism, and a connecting rod mechanism is adopted to drive a sliding block to compress a spring so as to adapt to the change of the pipe diameter; the supporting wheels are in contact with the pipe wall, so that the pipe can be better adapted to complex pipeline environments, and when the motor works, the nut sleeve slides up and down along the screw rod under the action of the thread pair, so that the supporting mechanism is tightly supported or the pipe wall is loosened, and the function of automatic locking is achieved.
5. The invention can pass through a tiny pipeline with a certain pipe diameter change by arranging the front and back supporting structures and the supporting radiuses of the supporting wheels and the retaining wheels in the front and back retaining structures to control the link mechanism to change in a certain range through adjusting the positive and negative rotation of the motor and the retaining motor.
Drawings
Fig. 1 is a main structural schematic diagram of a ventilation duct cleaning robot according to the present invention;
fig. 2 is an axial schematic view of a ventilation duct cleaning robot according to the present invention;
fig. 3 is a schematic view of a front and rear support structure in a ventilation duct cleaning robot according to the present invention;
fig. 4 is a schematic view of a front and rear holding structure in the ventilation duct cleaning robot according to the present invention;
fig. 5 is a schematic view of a driving structure in the ventilation duct cleaning robot according to the present invention;
FIG. 6 is a schematic view of a force unloading structure of a cleaning robot for ventilation ducts according to the present invention;
fig. 7 is a schematic view of a cleaning assembly in the ventilation duct cleaning robot according to the invention.
Description of reference numerals: 1. a front support structure; 2. a front retaining structure; 3. a drive structure; 4. a back holding structure; 5. a rear support structure; 6. cleaning the assembly; 7. a support guide rod; 8. a support link a; 9. a support link b; 10. a pressure spring b; 11. a fixed seat; 12. a functional module connecting seat; 13. a nut sleeve a; 14. a pressure spring a; 15. a support wheel; 16. a slide block a; 17. adjusting the motor; 18. a support lead screw; 19. a frame; 20. a holding link a; 21. a holding wheel; 22. a holding link b; 23. a pressure spring c; 24. a holder; 25. a support shaft; 26. a slide block b; 27. a hexagonal nut; 28. a universal joint; 29. a drive motor; 30. a drive motor housing; 31. a guide bar; 32. a retainer ring; 33. a bearing; 34. an end cap; 35. driving a lead screw; 36. a nut sleeve; 37. an outer retainer ring; 38. a ball bearing; 39. an air vent; 40. an inner retainer ring; 41. motor output shaft 42, locking cover; 43. a bearing a; 44. a retainer ring a; 45. adjusting the spring; 46. a blade; 47. cleaning the tool apron; 48. cleaning a motor shell; 49. cleaning the motor; 50. the pipe wall.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Example one
Referring to fig. 1, the present invention is a cleaning robot for a ventilation duct, including: a support structure comprising a front support structure 1 and a rear support structure 5, a holding structure comprising a front holding structure 2 and a rear holding structure 4, a drive structure 3, a cleaning assembly 6 and a control system; the front supporting structure 1 is connected with one end of a front holding structure 2, the other end of the front holding structure 2 is connected with one end of a driving structure 3, the other end of the driving structure 3 is connected with one end of a rear holding structure 4, and the other end of the rear holding structure 4 is connected with the rear supporting structure 5; the supporting structure, the holding structure, the driving structure and the cleaning assembly are connected with the control system through the signal transmission unit; cleaning assembly 6, bearing structure and drive structure 3 all use direct current motor drive, and bearing mechanism can realize the reliability of walking in air pipe with the autonomic locking of pipe wall, assurance.
Referring to fig. 3, the support structure of the present invention includes: the device comprises an adjusting motor 17, a pressure spring a14, a slider a16, a nut sleeve a13, a support lead screw 18, a function module connecting seat 12, a fixed seat 11, a bearing sleeve, a support connecting rod a8, a support connecting rod b9, a pressure spring b10 and a support guide rod 7; the adjusting motor 17 is connected with a fixed seat 11, the fixed seat 11 is connected with a bearing sleeve, one end of a support connecting rod a8 is hinged with a nut sleeve a13, the other end of the support connecting rod b9 is hinged with one end of a support connecting rod b9, the other end of the support connecting rod b9 is hinged with a sliding block a16, an output shaft of the adjusting motor 17 is connected with a driving screw 18 through the bearing sleeve and the fixed seat 11, a nut sleeve a13 is in threaded connection with the driving screw 18, one end of the support guide rod 7 is fixedly connected with a nut sleeve a13, the other end of the support guide rod b9 is connected with the fixed seat 11, a pressure spring a14 is connected with a nut sleeve a13 and a sliding block a16 through the support guide rod 7, and a pressure spring b 483; the supporting structure is provided with an autonomous locking mechanism, the mechanism not only can adjust positive pressure between the locking mechanism and the pipe wall 6 according to actual needs to ensure enough friction force, but also can increase the adaptability to the pipe diameter; the automatic locking mechanism consists of a screw nut pair adjusting mechanism, and a connecting rod mechanism is adopted to drive a sliding block to compress a spring so as to adapt to the change of the pipe diameter; the supporting wheels 15 are adopted to be in contact with the pipe wall 6, so that the complex pipeline environment can be better adapted, and the supporting wheels 15 are symmetrically distributed at 120 degrees, as shown in fig. 2; when the motor works, the nut sleeve a13 slides along the support screw 18 under the action of the thread pair, so that the support mechanism can tighten or loosen the pipe wall 6 to achieve the function of self-locking; in addition, the slide block a16 is provided with a miniature pressure sensor which can directly measure the force borne by the slide block a16 in the tightening process, so that the positive pressure between the supporting wheel 15 and the pipe wall 6 is obtained, the supporting mechanism is guaranteed to be tightly tightened on the pipe wall by constant pressure, and the overload protection effect on the adjusting motor 17 is also realized.
Referring to fig. 4, the holding structure includes: the device comprises a frame 19, a retainer 24, a retaining link a20, a retaining link b22, a retaining wheel 21, a pressure spring c23, a support shaft 25, a slider b26 and a hexagonal nut 27; the retainer 24 is connected with the frame 19, one end of the retaining connecting rod a20 is hinged with the retainer 24, the other end of the retaining connecting rod a20 is hinged with one end of the retaining connecting rod b22, the other end of the retaining connecting rod b22 is hinged with the sliding block b26, one end of the supporting shaft 25 is connected with the retainer 24 through the sliding block b26, the other end of the supporting shaft 25 is in threaded connection with the hexagonal nut 27, and the pressure spring c23 is fixed on the sliding block b26 and the hexagonal nut 27 through the supporting shaft 25; the retaining mechanism mainly plays a self-centering role in the pipeline, and 3 retaining wheels 21 are symmetrically distributed at 120 degrees, as shown in fig. 2; the axis of the retaining wheel 21 is always vertical to the generatrix of the pipe wall, and the retaining wheel rolls along the pipe wall 6 when in work, so that the motion friction resistance is reduced; when the robot moves in pipelines with different diameters, the extension and the contraction of the pressure spring c23 drive the slide block b26 to slide, and the retaining wheel 21 is always attached to the pipe wall 6 under the action of the connecting rod mechanism, so that the aim of adapting to different pipe diameters is fulfilled; therefore, when the robot moves in the pipe, the central line of the robot is basically consistent with the central line of the pipe, and the included angle between each unit and the pipe wall is ensured to be in the stable movement range.
Referring to fig. 5, the driving structure 3 includes: the universal joint 28, the driving motor 29, the driving motor shell 30, the retainer ring 32, the bearing 33, the end cover 34, the driving lead screw 35, the nut sleeve 36 and the guide rod 31; the driving motor 29 is installed in a driving motor shell 30, one end of the driving motor shell 30 is connected with an end cover of the universal joint 28, the other end of the driving motor shell 30 is connected with the nut sleeve 36 through a guide rod 31, one end of the driving screw 35 is connected with an output shaft of the driving motor 29, and the other end of the driving screw is in threaded connection with the nut sleeve 36; in order to ensure that the micro-pipeline robot can smoothly pass through the bent pipe, the driving structure 3 further comprises a flexible shaft, a driving motor in the driving structure transmits torque through the flexible shaft, the length of the flexible shaft is about 16mm, one end of the flexible shaft is connected with an output shaft of the driving motor 29 through a micro connecting sleeve, and the other end of the flexible shaft is connected with a driving screw 35.
Referring to fig. 7, the cleaning assembly includes: the locking cover 42, a bearing a43, a retainer ring a44, an adjusting spring 45, a blade 46, a cleaning knife holder 47, a cleaning motor shell 48 and a cleaning motor 49; the cleaning motor 49 is arranged in a cleaning motor shell 48, an output shaft of the cleaning motor 49 is connected with a cleaning knife holder 47, the bearing a43 and the retainer ring a44 are sequentially arranged on the output shaft of the cleaning motor 49, the bearing a43 is positioned by the retainer ring a44 and the cleaning motor shell 48, the blade 46 is arranged in the cleaning knife holder 47, the adjusting spring 45 is arranged at the tail end of the blade 46 in the cleaning knife holder 47, and the locking cover 42 is in threaded connection with the tail end of the output shaft of the cleaning motor 49; the cleaning mechanism of the invention has the working principle that: when the robot carries out cleaning work in intraductal, under the pressure of centrifugal force and spring, blade 46 contacts with pipe wall 50 with certain power all the time, can be with the dirt clean up of pipeline inner wall promptly, does not harm the pipeline inner wall again, and when the pipe diameter changed, spring 45 can in time adjust blade 46's position to realize the washing of different pipelines.
The control system is arranged in the robot motion control box, receives a control instruction sent by the control box through the wireless communication unit, realizes robot motion control, comprises advancing, retreating, stopping motion, climbing, cleaning and the like, and sends detection data of the running speed, the rotating speed of the cleaning assembly, the current voltage of the power module, the inclination angle of a distribution network wire and the like to the external control system receiving unit.
In addition, a micro CCD camera is arranged on the functional module mounting base 12 at the tail part of the robot, so that whether the inner wall of the pipeline is cleaned or not can be detected in real time.
Example two
As shown in fig. 1, 2, 3, 4, and 5, the present embodiment is similar to the structural principle of embodiment 1, and is different from embodiment 1 in that, in order to protect the driving motor, a force unloading mechanism is designed on the output shaft of the driving motor 29, the force unloading mechanism is used for transmitting torque by matching the output shaft of the motor with the driving lead screw 35 through gluing, a bearing 38 is axially positioned by inner and outer retainer rings, and the structure is specifically shown in fig. 6; when the output shaft of the driving motor 29 bears the axial load, the transmission paths of the force are as follows: when bearing pressure, the force is transmitted to the bearing 38, the outer retainer ring 37, the driving motor 29 and the driving motor shell 30 by the driving lead screw 35 in sequence; when the tension is borne, the force is transmitted to the bearing 38, the inner retainer ring 40 and the driving motor shell 30 in sequence through the driving screw rod 35; thus, the axial load is transmitted to the drive motor housing 30, and the purpose of protecting the output shaft of the drive motor 29 is achieved.
The movement mechanism of the walking part of the cleaning robot for the ventilating duct is as follows:
step 1: the adjusting motor 17 of the front supporting structure 1 rotates forwards, the supporting connecting rod mechanism is recovered, and 15 wheels are supported to leave the pipe wall 6;
step 2: the driving motor 29 of the driving mechanism 3 rotates forwards, the nut sleeve 36 moves along the direction of the guide rod 31 under the action of the thread pair, and pushes the robot head unit to crawl forwards;
and step 3: the adjusting motor 17 of the front supporting structure 1 rotates reversely, the supporting connecting rod is spread, and the supporting wheel 15 compresses the pipe wall 6;
and 4, step 4: the adjusting motor 17 of the rear supporting structure 5 rotates forwards to support the link mechanism to recover, and the supporting wheel 15 leaves the pipe wall 6;
and 5: the driving motor 29 of the driving mechanism 3 rotates reversely, and the driving screw 35 drags the driving motor 29 and the tail unit to climb forwards along the nut sleeve 36 under the action of the thread pair;
step 6: the adjusting motor 17 of the rear supporting structure 5 rotates reversely, the supporting link mechanism is spread, and the supporting wheels 15 press the pipe wall 6 tightly.
By repeating the above actions, the robot can crawl forwards in the pipeline, and when the robot moves reversely, the steps are similar to the above steps, and are not described again here.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the motor of the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A cleaning robot for ventilation ducts, comprising: a support structure comprising a front support structure (1) and a rear support structure (5), a holding structure comprising a front holding structure (2) and a rear holding structure (4), a drive structure (3), a cleaning assembly (6) and a control system; the front supporting structure (1) is connected with one end of the front retaining structure (2), the other end of the front retaining structure (2) is connected with one end of the driving structure (3), the other end of the driving structure (3) is connected with one end of the rear retaining structure (4), the other end of the rear retaining structure (4) is connected with the rear supporting structure (5), and the supporting structure, the retaining structure, the driving structure and the cleaning assembly are connected with the control system through the signal transmission unit.
2. A ventilation duct cleaning robot as claimed in claim 1, characterized in that said front support structure (1) and rear support structure (5) are identical and each comprise: the device comprises an adjusting motor (17), a pressure spring a (14), a sliding block a (16), a nut sleeve a (13), a supporting lead screw (18), a functional module connecting seat (12), a fixed seat (11), a supporting connecting rod a (8), a supporting connecting rod b (9), a pressure spring b (10) and a supporting guide rod (7); the adjusting motor (17) is connected with the fixed seat (11), the fixed seat (11) is connected with the bearing sleeve, one end of the supporting connecting rod a (8) is hinged with the nut sleeve a (13), the other end is hinged with one end of the supporting connecting rod b (9), the other end of the supporting connecting rod b (9) is hinged with the sliding block a (16), the output shaft of the adjusting motor (17) is connected with a driving screw rod (18) through a bearing sleeve and a fixed seat (11), the nut sleeve a (13) is in threaded connection with the driving screw rod (18), one end of the supporting guide rod (7) is fixedly connected with the nut sleeve a (13), the other end of the supporting guide rod is connected with the fixed seat (11), the pressure spring a (14) is connected with the nut sleeve a (13) and the sliding block a (16) through the supporting guide rod (7), and the pressure spring b (10) is connected with the sliding block a (16) and the fixed seat (11) through the support guide rod (7).
3. A ventilation duct cleaning robot as claimed in claim 1, characterized in that said front retaining structure (2) and rear retaining structure (4) are identical and each comprise: the device comprises a rack (19), a retainer (24), a retaining connecting rod a (20), a retaining connecting rod b (22), a retaining wheel (21), a pressure spring c (23), a supporting shaft (25), a slider b (26) and a hexagonal nut (27); the retainer (24) is connected with the rack (19), one end of the retaining connecting rod a (20) is hinged to the retainer (24), the other end of the retaining connecting rod b (22) is hinged to one end of the retaining connecting rod b (26), the other end of the retaining connecting rod b (22) is hinged to the sliding block b (26), one end of the supporting shaft (25) is connected with the retainer (24) through the sliding block b (26), the other end of the supporting shaft (25) is in threaded connection with the hexagonal nut (27), and the pressure spring c (23) is fixed to the sliding block b (26) and the hexagonal nut (27) through the supporting shaft (25) respectively.
4. A cleaning robot for ventilation ducts according to claim 2 and claim 3, characterized in that the supporting wheel mechanisms of the front and rear supporting structures and the holding wheel mechanisms of the front and rear holding structures are all three groups and are distributed at an angle of 120 °.
5. A ventilation duct cleaning robot as claimed in claim 1, characterized in that said drive structure (3) comprises: the device comprises a universal joint (28), a driving motor (29), a driving motor shell (30), a retainer ring (32), a bearing (33), an end cover (34), a driving screw rod (35), a nut sleeve (36) and a guide rod (31); the driving motor (29) is installed in a driving motor shell (30), one end of the driving motor shell (30) is connected with an end cover of the universal joint (28), the other end of the driving motor shell is connected with a nut sleeve (36) through a guide rod (31), one end of a driving screw rod (35) is connected with an output shaft of the driving motor (29), and the other end of the driving screw rod is in threaded connection with the nut sleeve (36).
6. A robot for cleaning ventilation ducts according to claim 5, characterized in that a wire window is provided on the driving motor housing (30).
7. A robot for cleaning ventilation ducts according to claim 5, characterized in that the driving structure (3) further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with a screw rod.
8. A cleaning robot for ventilation ducts according to claim 1, characterized in that said cleaning assembly comprises: the device comprises a locking cover (42), a bearing a (43), a retainer ring a (44), an adjusting spring (45), a blade (46), a cleaning tool holder (47), a cleaning motor shell (48) and a cleaning motor (49); cleaning motor (49) are installed in cleaning motor shell (48), the output shaft and the cleaning blade holder (47) of cleaning motor (49) are connected, bearing a (43) and retaining ring a (44) are installed in proper order on cleaning motor (49) output shaft, bearing a (43) are fixed a position by retaining ring a (44) and cleaning motor shell (48), blade (46) are installed in cleaning blade holder (47), and adjusting spring (45) are installed to blade (46) end in cleaning blade holder (47), locking lid (42) and cleaning motor (49) output shaft end threaded connection.
9. The cleaning robot for the ventilation duct according to claim 1, wherein the control system is installed in a robot motion control box, the control system receives a control command sent by the control box through a wireless communication unit, so that robot motion control including forward movement, backward movement, stop movement, climbing, cleaning and the like is realized, and detection data of the running speed, the rotation speed of the cleaning component, the current voltage of a power module, the inclination angle of a distribution network wire and the like are sent to an external control system receiving unit.
10. The cleaning robot for the ventilation duct according to claim 1, characterized in that the sliders a (16) and b (26) are respectively provided with a miniature pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911057637.3A CN110695024A (en) | 2019-11-01 | 2019-11-01 | Air pipe cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911057637.3A CN110695024A (en) | 2019-11-01 | 2019-11-01 | Air pipe cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110695024A true CN110695024A (en) | 2020-01-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911057637.3A Withdrawn CN110695024A (en) | 2019-11-01 | 2019-11-01 | Air pipe cleaning robot |
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| Country | Link |
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| CN (1) | CN110695024A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774386A (en) * | 2020-07-03 | 2020-10-16 | 中国计量大学 | Passive drive pipeline deashing robot |
| CN112030685A (en) * | 2020-08-21 | 2020-12-04 | 乔云刚 | Highway engineering construction is with spreading membrane device |
| CN112974435A (en) * | 2021-02-07 | 2021-06-18 | 安徽工业大学 | Pipeline wall climbing cleaning robot |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
| CN114055314A (en) * | 2021-09-28 | 2022-02-18 | 河南新开源石化管道有限公司 | Inner wall processing apparatus of return bend for petrochemical industry pipeline |
| WO2022099984A1 (en) * | 2020-11-13 | 2022-05-19 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN115179122A (en) * | 2022-09-13 | 2022-10-14 | 南通特比特机械设备有限公司 | Grinding device for inner surface of irregular bent pipe |
-
2019
- 2019-11-01 CN CN201911057637.3A patent/CN110695024A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774386A (en) * | 2020-07-03 | 2020-10-16 | 中国计量大学 | Passive drive pipeline deashing robot |
| CN112030685A (en) * | 2020-08-21 | 2020-12-04 | 乔云刚 | Highway engineering construction is with spreading membrane device |
| WO2022099984A1 (en) * | 2020-11-13 | 2022-05-19 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN112974435A (en) * | 2021-02-07 | 2021-06-18 | 安徽工业大学 | Pipeline wall climbing cleaning robot |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
| CN114055314A (en) * | 2021-09-28 | 2022-02-18 | 河南新开源石化管道有限公司 | Inner wall processing apparatus of return bend for petrochemical industry pipeline |
| CN114055314B (en) * | 2021-09-28 | 2023-10-20 | 河南新开源石化管道有限公司 | Inner wall processing device of elbow for petrochemical pipeline |
| CN115179122A (en) * | 2022-09-13 | 2022-10-14 | 南通特比特机械设备有限公司 | Grinding device for inner surface of irregular bent pipe |
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