CN111069201A - Rectangular cross section pipeline cleans machine people structure - Google Patents
Rectangular cross section pipeline cleans machine people structure Download PDFInfo
- Publication number
- CN111069201A CN111069201A CN201811227293.1A CN201811227293A CN111069201A CN 111069201 A CN111069201 A CN 111069201A CN 201811227293 A CN201811227293 A CN 201811227293A CN 111069201 A CN111069201 A CN 111069201A
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- China
- Prior art keywords
- cleaning
- fixed
- cleaning brush
- connecting rod
- frame
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- 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.)
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Classifications
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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
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
-
- 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
Abstract
The invention discloses a rectangular section pipeline cleaning robot structure, the main body of which comprises: cleaning mechanism, cleaning mechanism frame, track telescopic machanism frame, guide pulley mechanism, brush cleaner. The position and the inclination angle of the crawler are adjusted and controlled through the crawler telescoping mechanism so as to adapt to pipelines with different sizes; when the size changes, the vertical position changing device of the cleaning mechanism can adjust the upper position and the lower position of the cleaning brush, so that the cleaning brush and the pipeline wall keep the optimal cleaning distance, the cleaning effect is improved, meanwhile, the transverse position changing device can realize the left-right movement cleaning of the cleaning brush, the cleaning range is increased, and the process of replacing cleaning brushes with different models is omitted; the contact points of the structure in the pipeline are increased through the guide wheels on the two sides, so that the stability of the structure in the pipeline is greatly improved; the mechanism improves the application range of the cleaning robot for the pipeline with the rectangular cross section, saves time and energy and reduces the cleaning cost.
Description
Technical Field
The invention relates to a structure of a cleaning robot for pipelines with rectangular cross sections, in particular to a cleaning robot structure capable of adapting to pipelines with rectangular cross sections of different sizes.
Background
In daily life, pipelines are visible everywhere, and rectangular pipes are not used in a few places, especially air supply pipelines of central air conditioners in buildings. The pipeline can appear the dirt of different degree in the long-time use, not only reduces the conveying capacity of pipeline, but also can cause harmful effects to pipeline itself, if the pipeline of carrying indoor gas still can seriously influence people's health. Carry out the pipeline through the manual work and clean, not only work load is big, clean efficiency also very low moreover, and some pipelines are that the manual work can't touch even, if carry out direct dismantlement to pipeline part that can't touch and wash this moment not only with high costs and waste time and energy, but also secondary installation can influence the sealing performance of pipeline. Therefore, the cleaning method using the cleaning robot is a better solution. However, there is a problem that the size of the cross section of the pipe is not unique, and particularly in some cases, there are a plurality of pipes with different sizes, and it is desired to achieve a good cleaning effect, and for a robot using a general cleaning robot structure, due to the change of the size, it may be necessary to replace some parts such as a cleaning brush, or even to replace the robot in some cases, so it is not easy to cope with the situation that the sizes of the pipes are different for a conventional pipe robot. Therefore, in order to solve the above problems, it is necessary to design a structure of a pipe cleaning robot that can be adaptively changed according to the size of the cross section of the pipe.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a pipeline cleaning robot structure which can adapt to the change of a certain size and has a rectangular section is designed.
A cleaning robot structure for rectangular section pipelines comprises a cleaning mechanism, a cleaning mechanism frame, a crawler belt telescopic mechanism frame, a guide wheel mechanism and a cleaning brush.
When the cleaning robot works, the screw rod of the cleaning robot is driven to move by the stepping motor in the track telescopic mechanism, so that the connecting rod system in the track telescopic mechanism is driven to move, and the track and the pipe wall are well attached by adjusting the position of the track. The guide wheel mechanism is designed on the crawler telescoping mechanism frame, one end of a spring rod in the guide wheel mechanism is fixed on the crawler telescoping mechanism frame, the other end of the spring rod can slide on a guide rail fixed on the crawler telescoping mechanism frame, the guide wheel is fixed at one end of an outer support rod, and the inner support rod, the outer support rod and the rod spring rod are fixed in pairs to form a changeable triangular structure. The cleaning brush is driven by a double-shaft motor, is positioned in a cleaning brush fixing frame in the cleaning mechanism and is fixed by a hinge. The cleaning mechanism consists of a transverse displacement device and a vertical displacement device, so that the cleaning brush can move up and down, left and right in a cleaning space, and the cleaning range is expanded. The vertical displacement device comprises a crank connecting rod, a stepping motor, a guide pillar, a guide sleeve and a cleaning brush fixing frame provided with a double-shaft motor, wherein the stepping motor drives the crank connecting rod to move when the vertical position of the cleaning brush needs to be adjusted: when the stepping motor rotates anticlockwise (towards the vertical paper surface in the figure), the crank rotates anticlockwise, the guide sleeve arranged on the cleaning mechanism rack and the guide post arranged on the cleaning brush fixing frame form a moving pair in the vertical direction, so that the connecting rod can drive the brush to vertically move, the distance between the upper brush and the lower brush is increased, and the brush of the robot can adapt to a pipeline with larger height. On the contrary, when the stepping motor rotates clockwise, the distance between the upper brush and the lower brush is reduced, so that the stepping motor is suitable for pipelines with smaller height. The transverse displacement device is fixed on a frame of the track telescoping mechanism and consists of a lead screw nut device, an optical axis, a slide block, a gear set and a lead screw driving motor; install the nut on the lead screw, nut and for vertical displacement mechanism bolted connection, the slider that below and clean mechanism frame link to each other plays supplementary fixed effect with the optical axis of fixing on the device that transversely shifts, and the gear train rotates when driving motor during operation, realizes the rotation of lead screw, drives the removal that removes that the brush was realized to the clean mechanism frame of realization through the nut, enlarges the horizontal scope of cleaning.
The invention has the advantages that: the cleaning mechanism can adapt to the pipelines with rectangular cross sections of different sizes by adjusting the positions of the crawler and the guide wheel, and simultaneously, the cleaning mechanism adopts the design of being capable of changing positions up and down, left and right, so that the problem that the model of the cleaning brush and even the robot need to be frequently changed due to the size of the pipeline is solved; therefore, the working time can be greatly shortened, the cleaning cost is reduced, the working efficiency is improved, various problems caused by manual cleaning can be avoided, and the unfavorable condition caused by unknown factors is reduced to the minimum.
Drawings
FIG. 1 is a perspective view of a rectangular section pipe cleaning robot structure assembly
FIG. 2 is a schematic view of the track telescoping mechanism (with portions hidden)
FIG. 3 is a perspective view of a guide wheel mechanism
FIG. 4 is a vertical displacement mechanism perspective view (without cleaning brush)
FIG. 5 is a perspective view of the lateral shifting mechanism (not shown with a cleaning brush, not shown with the back-connected track telescoping mechanism frame)
In the figure: 1. cleaning mechanism 2, crawler 3, crawler telescoping mechanism frame 4, crawler telescoping mechanism 5, guide wheel mechanism 6, cleaning mechanism frame 7, cleaning brush 8, stepping motor 9, front screw rod 10, nut 11, first connecting rod 12, second connecting rod 13, third connecting rod 14, rear screw rod 15, bearing 16, nut 17, front support rod 18, guide wheel 19, rear support rod 20, spring rod 21, guide rail 22, cleaning brush fixing frame 23, cleaning brush motor mounting groove 24, fixing hinge 25, guide post 26, guide sleeve 27, crank connecting rod 28, stepping motor 29, gear set 30, nut 31, screw rod 32, lead screw driving motor 33, sliding block 34, optical axis 35, fixing clamp 36, cleaning brush mounting shaft mounting groove 24, fixing hinge 25, guide post 26, guide sleeve 27, crank connecting rod 28, stepping motor 29, screw rod 32, guide screw driving motor 33, sliding
Detailed Description
Embodiments of the invention are described in further detail below with reference to the accompanying drawings:
when the rectangular-section pipeline cleaning robot structure works, because the part is a structure which is symmetrical up and down and left and right, and one part of the structure is described, a track telescoping mechanism (4) firstly drives a front screw rod (9) and a rear screw rod (14) respectively through two stepping motors (8) which are positioned at the front and the rear, a connecting rod I (11) and a connecting rod III (13) which are directly connected with a nut (10) and a nut (16) respectively move along with the front screw rod and the rear screw rod respectively, a connecting rod II (12) with one end fixed on a track telescoping mechanism frame (3) and one end fixed on the track also moves along with the rear screw rod (14), because the front screw rod (9) is nested on the rear screw rod (14) by using a bearing (15), the two sets of screw rod and nut mechanisms move independently, and when the movement distance and direction of the nut (10) and the nut (16, changes in cross-sectional dimensions can be accommodated. When cleaning the operation, when getting into the increase of pipeline cross-section vertical dimension, step motor (26) drive crank connecting rod (27) among the vertical deflection mechanism in cleaning mechanism (1), when anticlockwise rotating certain angle, upper and lower brush cleaner (7) interval grow, make the upper and lower brush cleaner who fixes on brush cleaner mount (22) fully contact with upper and lower pipeline bottom surface respectively, when getting into pipeline cross-section vertical dimension and reducing, when getting into pipeline cross-section vertical dimension, then certain angle of clockwise rotation, the brush cleaner interval reduces from top to bottom. After the vertical position of the cleaning brush is adjusted, if the transverse size of the pipeline is larger than that of the cleaning brush, a driving motor (32) of a lead screw in the mechanism is started, the lead screw (31) is driven to move by driving a gear set (29), and a cleaning mechanism frame (6) connected with a lead screw nut (30) transversely moves along with the lead screw, so that the left and right transverse movement is completed. In addition, when the transverse dimension changes, a spring rod (20) in the guide wheel mechanism (5) can move on the guide rail (21) under the action of elastic force to change the length; the triangular structure formed by the front supporting rod (17), the rear supporting rod (19) and the spring rod (20) can also be changed correspondingly, so that the guide wheel (18) is kept in contact with the side walls of the two sides of the pipeline constantly, and the effects of stabilizing the machine body and buffering can be achieved. Through the structural design, the purpose that the cleaning robot for the rectangular-section pipelines can be suitable for the rectangular-section pipelines with various specifications by one machine is achieved, and the cost for cleaning the rectangular-section pipelines is saved.
Claims (7)
1. A rectangular cross section pipeline cleans machine people structure, its main part includes: the cleaning device comprises a cleaning mechanism (1), a cleaning mechanism frame (6), a crawler (2), a crawler telescopic mechanism (4), a crawler telescopic mechanism frame (3), a guide wheel mechanism (5) and a cleaning brush (7).
2. A rectangular-section pipe cleaning robot as recited in claim 1, wherein: the crawler belt telescopic mechanism (4) is a connecting rod system which is symmetrical up and down, left and right, and one part of the crawler belt telescopic mechanism is described as being provided with a front stepping motor (8) and a rear stepping motor (8) as well as a front lead screw (9) and a rear lead screw (14) which are driven by the front stepping motor and the rear stepping motor; one end of the first connecting rod (11) is fixed with the nut (10), and the other end of the first connecting rod is fixed with the second connecting rod (12); one end of the connecting rod III (13) is fixed with the nut (16), and the other end of the connecting rod III is fixed with the crawler (2); one end of the second connecting rod (12) is fixed on the crawler belt telescopic mechanism frame (3), and the other end of the second connecting rod is fixed on the crawler belt (2); the front screw (9) is nested and installed on the rear screw (14) by using a bearing (15) to form two sets of screw and nut mechanisms which are not influenced mutually.
3. A rectangular-section pipe cleaning robot as recited in claim 1, wherein: the guide wheel mechanisms (5) are arranged on the crawler belt telescopic mechanism frame (3), and two sides of each guide wheel mechanism are symmetrically distributed; the guide wheel (18) is fixed at one end of the outer support rod (17); one end of the inner supporting rod (19) is provided with two protruded shaft-shaped bolt columns, one end with the protrusions is connected with the spring rod (20) and fixed in a guide rail (21) arranged on the crawler telescoping mechanism rack (3), and the other end of the inner supporting rod is fixed with the outer supporting rod (17); one end of the outer supporting rod (17) without the guide wheel (18) and the front end of the spring rod (20) are fixed on the crawler telescoping mechanism frame (3).
4. A rectangular-section pipe cleaning robot as recited in claim 1, wherein: the cleaning mechanism (1) comprises a vertical displacement device and a transverse displacement device.
5. The rectangular-section pipe cleaning robot according to claim 4, wherein: the transverse displacement device is fixed on a caterpillar band telescopic mechanism frame (3) and consists of a lead screw (31), a nut (30), an optical axis (34), a slide block (33), a gear set (29) and a lead screw driving motor (32); two ends of the screw rod (31) and the optical axis (34) are fixedly and respectively fixed on the upper side and the lower side of the crawler belt telescopic mechanism frame (3); a nut (30) on the screw rod (31) is connected with the cleaning mechanism frame (6) by a bolt; a slider (33) on the lower optical axis (34) is connected with the cleaning mechanism frame (6) by bolts.
6. The rectangular-section pipe cleaning robot according to claim 4, wherein: the vertical displacement device consists of a crank connecting rod (27), a stepping motor (28), a guide post (25), a guide sleeve (26) and a cleaning brush fixing frame (22) provided with a double-shaft motor; a guide sleeve arranged on a cleaning mechanism frame (6) and a guide post (25) arranged on a cleaning brush fixing frame (22) form a vertical moving pair; two ends of the crank connecting rod (27) are respectively connected with the corresponding positions at the rear part of the cleaning brush fixing frame (22), meanwhile, the stepping motor (28) is connected with the crank connecting rod (27), and the stepping motor (28) is fixed on the cleaning mechanism frame (6).
7. A rectangular-section pipe cleaning robot as recited in claim 6, wherein: the cleaning brush fixing frame (22) is provided with 3 supporting arms, the front end of the middle supporting arm is provided with a cleaning brush motor mounting groove (23), a double-shaft cleaning brush driving motor is arranged in the cleaning brush fixing frame, and the port is fixed by a fixing hinge (24); the two sides of the cleaning brush are provided with cleaning brush mounting shafts, one side of each cleaning brush mounting shaft (36) is connected with a motor shaft, the middle part of each cleaning brush mounting shaft is fixed by a fixing clamp (35) on a side supporting arm, the port of each cleaning brush mounting shaft is fixed by a fixing hinge (24), and a fixing bearing is arranged in each fixing clamp (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811227293.1A CN111069201A (en) | 2018-10-22 | 2018-10-22 | Rectangular cross section pipeline cleans machine people structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811227293.1A CN111069201A (en) | 2018-10-22 | 2018-10-22 | Rectangular cross section pipeline cleans machine people structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111069201A true CN111069201A (en) | 2020-04-28 |
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ID=70309576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811227293.1A Pending CN111069201A (en) | 2018-10-22 | 2018-10-22 | Rectangular cross section pipeline cleans machine people structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111069201A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497956A (en) * | 2020-05-13 | 2020-08-07 | 东营胜滋自动化科技有限责任公司 | Crawling device in rectangular ventilating duct and advancing operation device |
| CN113289988A (en) * | 2021-05-21 | 2021-08-24 | 肖威 | Hydraulic engineering is with heavy-calibre pipeline inner wall belt cleaning device |
-
2018
- 2018-10-22 CN CN201811227293.1A patent/CN111069201A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497956A (en) * | 2020-05-13 | 2020-08-07 | 东营胜滋自动化科技有限责任公司 | Crawling device in rectangular ventilating duct and advancing operation device |
| CN113289988A (en) * | 2021-05-21 | 2021-08-24 | 肖威 | Hydraulic engineering is with heavy-calibre pipeline inner wall belt cleaning device |
| CN113289988B (en) * | 2021-05-21 | 2023-10-20 | 肖威 | Hydraulic engineering is with heavy-calibre pipeline inner wall belt cleaning device |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200428 |