CN110976449A - Pipe cleaning robot of self-adaptation pipe diameter - Google Patents
Pipe cleaning robot of self-adaptation pipe diameter Download PDFInfo
- Publication number
- CN110976449A CN110976449A CN201911407459.2A CN201911407459A CN110976449A CN 110976449 A CN110976449 A CN 110976449A CN 201911407459 A CN201911407459 A CN 201911407459A CN 110976449 A CN110976449 A CN 110976449A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- main body
- assembly
- robot
- pipeline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 70
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000005192 partition Methods 0.000 claims description 11
- 239000004677 Nylon Substances 0.000 claims description 10
- 239000002184 metal Substances 0.000 claims description 10
- 229920001778 nylon Polymers 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 5
- 238000007790 scraping Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000002955 isolation Methods 0.000 claims description 3
- 239000010813 municipal solid waste Substances 0.000 claims description 2
- 239000007788 liquid Substances 0.000 abstract description 15
- 230000005540 biological transmission Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005202 decontamination Methods 0.000 description 2
- 230000003588 decontaminative effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to the field of pipeline cleaning equipment, in particular to a pipeline cleaning robot with a self-adaptive pipe diameter, which comprises a robot main body, an electric control assembly, a cleaning assembly, a driving assembly and a moving assembly, wherein the electric control assembly is arranged on the robot main body; the motion assembly comprises a motion motor, a rotating frame connected with the motion motor and a roller arranged on the rotating frame; the motion motor is arranged at one end of the robot main body; the rotating frame is provided with a plurality of telescopic supporting rods, and the supporting rods incline towards the direction far away from the driving motor; the roller is rotatably arranged at the tail end of the supporting rod, and the axis of the roller is parallel to the advancing direction of the robot main body. The pipeline cleaning robot can be used for cleaning dirt of different pipeline inner diameters, and meanwhile, through spiral rotation of the moving assembly, driving force can be generated, and the pipeline cleaning robot can also walk on the inner wall of the pipeline through the rollers, so that the pipeline cleaning robot can pass through the pipeline with liquid or without liquid.
Description
Technical Field
The invention relates to the field of pipeline cleaning equipment, in particular to a pipeline cleaning robot with a self-adaptive pipe diameter.
Background
A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. Generally, a fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., and then flows from a high pressure portion to a low pressure portion of a pipe, or is transported by the pressure or gravity of the fluid itself. The use of pipelines is very widespread, mainly in water supply, drainage, heating, gas supply, long-distance oil and gas delivery, agricultural irrigation, hydraulic engineering and various industrial installations.
However, with the long-term use of the pipeline, dirt can be accumulated on the inner wall of the pipeline, and the normal use of the pipeline is affected. The existing cleaning mode of the inner wall of the pipeline is to place a robot for cleaning the pipeline into the pipeline, and an operator operates the robot to clean the pipeline. The patent application with the application number of CN201811282874.5 discloses a convenient location type pipeline robot of decontaminating, this pipeline robot of decontaminating can adapt to different pipeline internal diameters, clears up the pipeline of unidimensional not, but this pipeline robot of decontaminating realizes through helical blade's spiral thrust that the robot of decontaminating removes the removal in the pipeline, and this kind of removal mode only can be arranged in the condition that has liquid in the pipeline, does not have liquid in the pipeline, and this pipeline robot of decontaminating can't move forward. The scraper blade that stretches the shrink is carried out through the connecting rod to the subassembly of decontaminating in this patent simultaneously, and the connecting rod of this structure is direct to be connected with the motor, and transmission stability is relatively poor, and under the frictional force of scraper blade and pipeline just is great the condition, the connecting rod of rocking can increase this frictional force, leads to the speed of traveling to be slow.
Disclosure of Invention
The invention aims to solve the problem that the pipeline cleaning robot in the prior art cannot advance in a pipeline without liquid, and provides the pipeline cleaning robot with the self-adaptive pipe diameter, which can adapt to different inner diameters of pipelines, can advance in the pipeline with liquid and can also advance in the pipeline without liquid.
In order to solve the technical problems, the invention adopts the technical scheme that: a pipeline cleaning robot with a self-adaptive pipe diameter comprises a robot main body, an electric control assembly, a cleaning assembly, a driving assembly and a moving assembly, wherein the electric control assembly is mounted on the robot main body; the motion assembly comprises a motion motor, a rotating frame connected with the motion motor and a roller arranged on the rotating frame; the motion motor is arranged at one end of the robot main body; the rotating frame is provided with a plurality of telescopic supporting rods, and the supporting rods incline towards the direction far away from the driving motor; the roller is rotatably mounted at the tail end of the support rod, and the axis of the roller is parallel to the advancing direction of the robot main body.
Put into the pipeline with the robot main part in, the branch on the swivel mount contracts to the inner wall butt of gyro wheel and pipeline. The motion motor drive swivel mount motion, the swivel mount drives the gyro wheel and is the motion of circumference along the pipeline inner wall, because branch slope sets up, consequently the swivel mount can produce the thrust of forward motion in rotatory, also produces the effort of a forward motion along pipeline inner wall circumferential motion's gyro wheel simultaneously for the robot main part has liquid or does not have the pipeline environment homoenergetic of liquid and normally traveles.
Preferably, the interior of the robot main body is divided into three chambers distributed along a straight line by two partition plates, namely a first chamber, a second chamber and a third chamber in sequence; the electric control assembly is arranged in the first cavity, the driving assembly is arranged in the second cavity, and the movement motor is arranged in the third cavity and extends to the outside of the robot main body to be connected with the rotating frame. The robot main part divides three cavity into, separately places the work subassembly of difference, avoids work subassembly to produce the influence each other, like the vibration of motor etc. influences the stability of robot main part.
Preferably, the dirt removing assembly comprises a hollow structure rotating part and a dirt removing mechanism arranged on the outer surface of the rotating part; an inner gear ring is arranged on the inner wall of the rotating part, an installation groove matched with the inner gear ring is arranged on the outer surface of the robot main body, and an opening communicated with the second chamber is formed in the installation groove; the driving assembly comprises a rotating shaft provided with a gear and a dirt cleaning motor for driving the rotating shaft to rotate, and gear teeth of the gear extend out of the opening and are meshed with the internal gear ring. The internal gear circle of rotation portion packs into the mounting groove in, and the gear that stretches out opening and internal gear circle meshing has constituted planet wheel structure with the internal gear circle, and when motor drive gear of decontaminating rotated, the internal gear circle began circumferential rotation under the transmission of gear to make the dirt of the mechanism clearance pipeline inner wall of decontaminating. The rotation of the dirt cleaning assembly is realized through gear transmission by the dirt cleaning motor, and the movement of the dirt cleaning assembly is more stable.
Preferably, at least two driving assemblies are arranged and are uniformly distributed along the second chamber; the decontamination motors are all installed on the partition plates, and the rotating shaft is rotatably connected with another partition plate. The drive assembly is provided with a plurality ofly, can produce bigger more steady moment of torsion for the rotation of the subassembly of decontaminating is more steady, and when meetting stubborn dirt, can not blockked by the dirt, can rotate smoothly.
Preferably, the second chamber is provided with a plurality of isolation plates, and the isolation plates isolate the driving assembly in different spaces respectively. Place in the space of difference between the drive assembly, when avoiding the motor start-up of decontaminating, the vibration of production influences each other.
Preferably, the decontamination mechanism comprises a plurality of curved plates connected with the outer surface of the rotating part through electric telescopic rods, metal scraping plates arranged on the curved plates and nylon bristles, wherein the nylon bristles are higher than the metal scraping plates. The cleaning curved plate is pushed to move outwards by controlling the electric telescopic rod until the nylon brush hair is attached to the inner wall of the pipeline. The curved plate of decontaminating evenly install in the surface of rotation portion, and the centre of a circle of the curved plate of decontaminating all is located the direction of rotation portion for the curved plate of decontaminating and pipeline inner wall laminate more. Scrape thick dirt through the metal scraper blade, thinner dirt is brushed away to the rethread nylon brush hair, avoids the metal scraper blade to damage the inside surface of pipeline simultaneously.
Preferably, a transparent cover body is arranged at one end, far away from the moving assembly, of the robot main body, and a camera and a lighting device are arranged in the transparent cover body. The camera lets the operator observe the environment in pipeline the place ahead constantly, and lighting device assists operating personnel to pass through the better observation surrounding environment of camera.
Preferably, the outer surface of the robot main body, which is far away from one end of the motion assembly, is provided with a plurality of auxiliary motion mechanisms; the auxiliary movement mechanism comprises a swinging rod which is connected with the surface of the robot main body through an elastic piece and is provided with a pulley, and the axis of the pulley is vertical to the advancing direction of the robot main body. The elastic component can promote the swinging arms and be close to or keep away from the main part of the robot, so that the pulleys can be attached to the inner wall of the pipeline tightly and roll axially along the inner wall of the pipeline, when the main part of the robot advances, the motion assembly at the rear end pushes the robot, the auxiliary motion mechanism at the front end can stabilize the main part of the robot, and the front end of the main part of the robot is prevented from shaking.
Preferably, the robot main body is connected with one end of the swing rod through a hinge seat, and the pulley is arranged at the other end of the swing rod; the elastic piece pushes the swinging rod to rotate around the hinge seat. The middle of the oscillating rod is provided with a cylinder, one end of a double-hook spring hooks the cylinder, and the other end of the double-hook spring is connected with the robot main body, so that the oscillating rod can adapt to different inner diameters of pipelines through rotation and is more stable in rotation and walking.
Compared with the prior art, the invention has the beneficial effects that: the pipeline cleaning robot can be used for cleaning dirt of different pipeline inner diameters, and meanwhile, through spiral rotation of the moving assembly, driving force can be generated, and the pipeline cleaning robot can also walk on the inner wall of the pipeline through the rollers, so that the pipeline cleaning robot can pass through the pipeline with liquid or without liquid.
Drawings
FIG. 1 is a schematic structural diagram of a pipe cleaning robot with adaptive pipe diameter according to the present invention;
FIG. 2 is a schematic diagram of the internal structure of a pipe cleaning robot with adaptive pipe diameter according to the present invention;
FIG. 3 is a schematic structural view of the decontaminating assembly of the present invention;
FIG. 4 is a schematic structural view of the robot body of the present invention;
fig. 5 is a partially enlarged view of a position a of fig. 3.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:
example 1
Fig. 1-2 show an embodiment of a pipe cleaning robot with adaptive pipe diameter, which comprises a robot main body 1, an electric control assembly mounted on the robot main body 1, a cleaning assembly 2, a driving assembly 3 for driving the cleaning assembly 2 to move, and a moving assembly 4; the moving assembly 4 comprises a moving motor 401, a rotating frame 402 connected with the moving motor 401 and a roller 403 arranged on the rotating frame 402; the motion motor 401 is installed at one end of the robot main body 1; the rotating frame 402 is provided with a plurality of telescopic supporting rods 404, and the supporting rods 404 are inclined towards the direction far away from the driving motor; the roller 403 is rotatably mounted on the end of the rod 404, and the axis of the roller 403 is parallel to the advancing direction of the robot main body 1.
The working principle of the embodiment is as follows: the robot body is placed in the pipe, and the support rod 404 of the rotating frame 402 is retracted until the roller 403 comes into contact with the inner wall of the pipe. The motion motor 401 drives the rotating frame 402 to move, the rotating frame 402 drives the rollers 403 to move along the inner wall of the pipeline in the circumferential direction, and the supporting rods 404 are obliquely arranged, so that the rotating frame 402 can generate a thrust force moving forwards in the rotation process, and meanwhile, the rollers 403 moving along the inner wall of the pipeline in the circumferential direction also generate an acting force moving forwards, so that the robot main body can normally run in the pipeline environment with or without liquid.
The beneficial effects of this embodiment: the pipeline cleaning robot can be used for cleaning dirt of different pipeline inner diameters, and meanwhile, through spiral rotation of the moving assembly, driving force can be generated, and the pipeline cleaning robot can also walk on the inner wall of the pipeline through the rollers, so that the pipeline cleaning robot can pass through the pipeline with liquid or without liquid.
Example 2
Referring to fig. 1-5, another embodiment of a pipe cleaning robot with adaptive pipe diameter is shown, which differs from embodiment 1 in that the structure of the pipe cleaning robot is further defined except for the moving components.
As shown in fig. 2, the interior of the robot main body 1 is divided into three chambers distributed along a straight line by two partition plates 101, which are a first chamber 102, a second chamber 103 and a third chamber 104 in sequence; the electric control assembly is disposed in the first chamber 102, the driving assembly 3 is disposed in the second chamber 103, and the moving motor 401 is disposed in the third chamber 104 and extends to the outside of the robot body 1 to be connected to the rotating frame 402. Robot main part 1 divides into three cavity, separately places the work subassembly of difference, avoids work subassembly to produce the influence each other, like the vibration of motor etc. influences robot main part 1's stability. The electronic control assembly includes a storage battery and a main control board for supplying power, and the control mode is taken as the prior art and will not be described in detail here.
As shown in fig. 3, the cleaning assembly 2 comprises a hollow structure rotating part 201 and a cleaning mechanism mounted on the outer surface of the rotating part 201; an inner gear ring 202 is provided on the inner wall of the rotating portion 201.
As shown in fig. 2 and 4, the outer surface of the robot main body 1 is provided with a mounting groove 105 fitted with the inner gear ring 202, the mounting groove 105 being provided with an opening communicating to the second chamber 103; the driving assembly 3 comprises a rotating shaft 302 provided with a gear 301 and a trash cleaning motor 303 for driving the rotating shaft 302 to rotate. In this embodiment, three driving assemblies 3 are provided and are uniformly distributed along the second chamber 103; the cleaning motors 303 are all installed on the partition boards 101, and the rotating shaft 302 is rotatably connected with the other partition board 101. The second chamber 103 is provided with three partition plates 304 and partitions the driving assembly 3 in different spaces, respectively. Drive assembly 3 is provided with a plurality ofly, can produce bigger more steady moment of torsion for the rotation of the subassembly of decontaminating 2 is more steady, and when meetting the stubborn dirt, can not blockked by the dirt, can rotate smoothly. The driving components 3 are arranged in different spaces, so that the generated vibration is prevented from influencing each other when the sewage disposal motor 303 is started.
The teeth of the gear 301 protrude through said opening and engage with the inner gear ring 202. The internal gear circle 202 of the rotating part 201 is arranged in the mounting groove 105, the gear 301 with an extended opening meshed with the internal gear circle 202 and the internal gear circle 202 form a planet gear structure, and when the cleaning motor 303 drives the gear 301 to rotate, the internal gear circle 202 starts to rotate in the circumferential direction under the transmission of the gear 301, so that the cleaning mechanism cleans dirt on the inner wall of the pipeline.
In the embodiment, in order to enhance the cleaning effect, the inner wall of the pipeline is cleaned twice in one movement, two cleaning assemblies 2 are arranged, two mounting grooves 105 are arranged, and two groups of gears 301 are arranged.
Specifically, as shown in fig. 3 and 5, the dirt removing mechanism includes three curved cleaning plates 204 connected to the outer surfaces of the rotating parts 201 through the electric telescopic rods 203, metal scraping plates 205 disposed on the curved cleaning plates 204, and nylon bristles 206, wherein the nylon bristles 206 are higher than the metal scraping plates 205. The cleaning curved plate is pushed to move outwards by controlling the electric telescopic rod 203 until the nylon brush hair is attached to the inner wall of the pipeline. The cleaning curved plate 204 is uniformly arranged on the outer surface of the rotating part 201, and the circle center of the cleaning curved plate 204 is located in the direction of the rotating part 201, so that the cleaning curved plate 204 is more attached to the inner wall of the pipeline. Thicker dirt is scraped off by the metal scraper 205 and thinner dirt is brushed off by the nylon bristles 206, while the metal scraper 205 is prevented from damaging the inner surface of the pipe.
In this embodiment, a transparent cover 5 is disposed at an end of the robot main body 1 away from the moving assembly 4, and a camera 501 and an illumination device 502 are disposed in the transparent cover 5, where the illumination device is an LED lamp. The camera 501 allows the operator to view the environment in front of the pipe at all times, while the lighting device 502 assists the operator to better view the surrounding environment through the camera 501.
In the embodiment, the outer surface of the end of the robot main body 1 far away from the moving component 4 is provided with three auxiliary moving mechanisms 6 which are uniformly distributed along the circumference; the auxiliary moving mechanism 6 includes a swing lever 603 connected to the surface of the robot main body 1 via an elastic member 601, and having a pulley 602 whose axis is perpendicular to the advancing direction of the robot main body 1. The elastic component 601 can push the swinging rod 603 to be close to or far away from the robot main body 1, so that the pulley 602 can be tightly attached to the inner wall of the pipeline and axially roll along the inner wall of the pipeline, when the robot main body 1 advances, the motion component 4 at the rear end pushes the robot, and the auxiliary motion mechanism 6 at the front end can stabilize the robot main body 1, and the front end of the robot main body 1 is prevented from shaking.
Specifically, the robot main body 1 is connected with one end of a swing rod 603 through a hinge seat 106, and a pulley 602 is arranged at the other end of the swing rod 603; the elastic member 601 urges the swing lever 603 to rotate about the hinge base 106. There is a cylinder in the middle of swinging arms 603, and elastic component 601 is the double hook spring, and the cylinder is hooked to one end, and the other end connects robot main part 1 for swinging arms 603 can adapt to different pipeline internal diameters through rotating, and is more stable when rotating and walking.
The remaining features and working principle are in accordance with embodiment 1.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A pipe cleaning robot with a self-adaptive pipe diameter comprises a robot main body (1), an electric control assembly, a cleaning assembly (2), a driving assembly (3) and a moving assembly (4), wherein the electric control assembly is mounted on the robot main body (1), the driving assembly drives the cleaning assembly (2) to move, and the moving assembly (4) is characterized by comprising a moving motor (401), a rotating frame (402) connected with the moving motor (401) and rollers (403) mounted on the rotating frame (402); the motion motor (401) is arranged at one end of the robot main body (1); the rotating frame (402) is provided with a plurality of telescopic supporting rods (401), and the supporting rods (401) incline towards the direction far away from the driving motor (401); the roller (403) is rotatably mounted at the tail end of the support rod (404), and the axis of the roller (403) is parallel to the advancing direction of the robot main body (1).
2. The pipe diameter self-adaptive pipeline cleaning robot according to claim 1, wherein the interior of the robot body (1) is divided into three chambers distributed along a straight line by two partition plates (101), namely a first chamber (102), a second chamber (103) and a third chamber (104) in sequence; the electric control assembly is arranged in the first cavity (102), the driving assembly (3) is arranged in the second cavity (103), and the moving motor (401) is arranged in the third cavity (104) and extends out of the robot main body (1) to be connected with the rotating frame (402).
3. The pipe diameter adaptive pipeline cleaning robot according to claim 2, wherein the cleaning assembly (2) comprises a hollow structure rotating part (201) and a cleaning mechanism arranged on the outer surface of the rotating part (201); an inner gear ring (202) is arranged on the inner wall of the rotating part (201), an installation groove (105) matched with the inner gear ring (202) is formed in the outer surface of the robot main body (1), and an opening communicated to the second chamber (103) is formed in the installation groove (105); the driving assembly (3) comprises a rotating shaft (302) provided with a gear (301) and a trash cleaning motor (303) for driving the rotating shaft (302) to rotate, and gear teeth of the gear (301) extend out of the opening and are meshed with the internal gear ring (202).
4. A pipe diameter adaptive pipe cleaning robot according to claim 4, wherein the driving assemblies (3) are provided with at least two and are uniformly distributed along the second chamber (103); the cleaning motors (303) are arranged on one of the partition plates, and the rotating shaft (302) is rotatably connected with the other partition plate.
5. A pipe diameter adaptive pipe cleaning robot according to claim 4, wherein the second chamber (103) is provided with a plurality of isolation plates (304) which isolate the driving assembly (3) in different spaces respectively.
6. The pipe diameter adaptive pipeline cleaning robot according to claim 3, wherein the cleaning mechanism (2) comprises a plurality of cleaning curved plates (204) which are connected with the outer surface of the rotating part (201) through electric telescopic rods (203), metal scraping plates (205) arranged on the cleaning curved plates (204) and nylon bristles (206).
7. The pipe diameter adaptive pipe cleaning robot according to claim 6, wherein the nylon bristles (206) are higher than the metal scraper (205).
8. The pipe diameter adaptive pipeline cleaning robot according to any one of claims 1-7, wherein a transparent cover body (5) is arranged at one end of the robot main body (1) far away from the moving assembly (4), and a camera (501) and an illuminating device (502) are arranged in the transparent cover body (5).
9. The pipe diameter adaptive pipeline cleaning robot according to any one of claims 1-7, wherein the outer surface of one end of the robot main body (1) far away from the moving assembly (4) is provided with a plurality of auxiliary moving mechanisms (6); the auxiliary movement mechanism (6) comprises a swinging rod (603) which is connected with the surface of the robot main body (1) through an elastic piece (601) and is provided with a pulley (602), and the axis of the pulley (602) is perpendicular to the advancing direction of the robot main body (1).
10. The pipe diameter adaptive pipe cleaning robot according to claim 9, wherein the robot body (1) is connected with one end of the swing rod (603) through a hinge seat (106), and the pulley (602) is arranged at the other end of the swing rod (603); the elastic piece (601) pushes the swinging rod (603) to rotate around the hinge seat (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911407459.2A CN110976449B (en) | 2019-12-31 | 2019-12-31 | Pipeline cleaning robot with self-adaptive pipe diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911407459.2A CN110976449B (en) | 2019-12-31 | 2019-12-31 | Pipeline cleaning robot with self-adaptive pipe diameter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110976449A true CN110976449A (en) | 2020-04-10 |
| CN110976449B CN110976449B (en) | 2024-06-18 |
Family
ID=70079445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911407459.2A Active CN110976449B (en) | 2019-12-31 | 2019-12-31 | Pipeline cleaning robot with self-adaptive pipe diameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110976449B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497632A (en) * | 2020-04-26 | 2020-08-07 | 五邑大学 | Underground charging device, charging road and charging system thereof |
| CN111589807A (en) * | 2020-06-18 | 2020-08-28 | 周口师范学院 | Building heating and ventilation pipeline with cleaning function |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN111940431A (en) * | 2020-08-13 | 2020-11-17 | 上海核工程研究设计院有限公司 | Visual self-service walking pipeline inner wall cleaning device |
| CN114653696A (en) * | 2022-03-25 | 2022-06-24 | 中国矿业大学 | Pipeline inner wall self-adaptation robot device of decontaminating based on centrifugal force principle |
| CN115971180A (en) * | 2023-01-04 | 2023-04-18 | 安徽工业大学 | Denitration pipeline scale removal robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| DE102009037157A1 (en) * | 2009-08-04 | 2011-02-17 | Schwab Präzision GmbH | Cleaning device for cleaning of containers, has cleaning arrangements that are rotatable around rotating axis, where cleaning arrangements are propelled around rotating axis by drive unit in rotating manner |
| CN109570158A (en) * | 2018-10-31 | 2019-04-05 | 范建明 | It is a kind of to facilitate location type pipeline sewage disposal robot |
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN209680722U (en) * | 2019-01-24 | 2019-11-26 | 苏州佳世捷机械有限公司 | A kind of efficient on-line cleaning machine of tubing |
| CN211839409U (en) * | 2019-12-31 | 2020-11-03 | 广东海洋大学 | Pipe cleaning robot of self-adaptation pipe diameter |
-
2019
- 2019-12-31 CN CN201911407459.2A patent/CN110976449B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101435522A (en) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | Pipe walking robot and control method thereof |
| DE102009037157A1 (en) * | 2009-08-04 | 2011-02-17 | Schwab Präzision GmbH | Cleaning device for cleaning of containers, has cleaning arrangements that are rotatable around rotating axis, where cleaning arrangements are propelled around rotating axis by drive unit in rotating manner |
| CN109570158A (en) * | 2018-10-31 | 2019-04-05 | 范建明 | It is a kind of to facilitate location type pipeline sewage disposal robot |
| CN209680722U (en) * | 2019-01-24 | 2019-11-26 | 苏州佳世捷机械有限公司 | A kind of efficient on-line cleaning machine of tubing |
| CN110449304A (en) * | 2019-09-05 | 2019-11-15 | 广东海洋大学 | A kind of pipe inner-wall spraying robot of adaptive caliber |
| CN211839409U (en) * | 2019-12-31 | 2020-11-03 | 广东海洋大学 | Pipe cleaning robot of self-adaptation pipe diameter |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497632A (en) * | 2020-04-26 | 2020-08-07 | 五邑大学 | Underground charging device, charging road and charging system thereof |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN111589807A (en) * | 2020-06-18 | 2020-08-28 | 周口师范学院 | Building heating and ventilation pipeline with cleaning function |
| CN111940431A (en) * | 2020-08-13 | 2020-11-17 | 上海核工程研究设计院有限公司 | Visual self-service walking pipeline inner wall cleaning device |
| CN114653696A (en) * | 2022-03-25 | 2022-06-24 | 中国矿业大学 | Pipeline inner wall self-adaptation robot device of decontaminating based on centrifugal force principle |
| CN114653696B (en) * | 2022-03-25 | 2023-06-30 | 中国矿业大学 | Pipeline inner wall self-adaptive robot cleaning device based on centrifugal force principle |
| CN115971180A (en) * | 2023-01-04 | 2023-04-18 | 安徽工业大学 | Denitration pipeline scale removal robot |
| CN115971180B (en) * | 2023-01-04 | 2024-07-12 | 安徽工业大学 | Denitration pipeline descaling robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110976449B (en) | 2024-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110976449A (en) | Pipe cleaning robot of self-adaptation pipe diameter | |
| CN211839409U (en) | Pipe cleaning robot of self-adaptation pipe diameter | |
| CN108480333B (en) | Pipeline variable-diameter cleaning robot | |
| CN109577472B (en) | Cylindrical sewer cleaning and maintaining robot | |
| CN211679149U (en) | Quick scale cleaning device for pipeline | |
| CN111851722B (en) | Municipal administration water supply and drainage pipeline's inner wall cleaning equipment | |
| CN111911745B (en) | Peristaltic pipeline robot | |
| CN111229751A (en) | Pipeline cleaning device | |
| CN105478420A (en) | Pipeline cleaning device | |
| CN113245321B (en) | Self-adaptive passive cleaning robot for flammable and explosive dust pipeline | |
| KR101360645B1 (en) | Robot Device for Pipe Line | |
| CN112090885B (en) | Efficient self-adaptive pipeline cleaning mechanism | |
| CN214767555U (en) | Pipeline cleaning robot | |
| CN215031973U (en) | Pipeline cleaner | |
| CN108519021B (en) | Gun barrel cleaning robot | |
| KR100766791B1 (en) | A device for descaling of pipeline | |
| CN112916532A (en) | Pipeline cleaning robot | |
| CN210230900U (en) | Pipeline cleaning robot | |
| CN217726540U (en) | Pipeline cleaning equipment | |
| CN217603647U (en) | Rotary nozzle mechanism and cleaning robot | |
| CN209970243U (en) | Bearing appearance cleaning device convenient to dismouting | |
| CN210253413U (en) | Ultrasonic pipeline cleaning robot | |
| CN111734893A (en) | Double-layer pipeline convenient to clean and descaling device and descaling method thereof | |
| CN220258996U (en) | Pipeline dredging device for water supply and drainage | |
| CN218343621U (en) | Opening and closing mechanism based on planet carrier and cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |