CN111266370A - Robot device for cleaning pipeline and operation method thereof - Google Patents
Robot device for cleaning pipeline and operation method thereof Download PDFInfo
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- CN111266370A CN111266370A CN202010198092.4A CN202010198092A CN111266370A CN 111266370 A CN111266370 A CN 111266370A CN 202010198092 A CN202010198092 A CN 202010198092A CN 111266370 A CN111266370 A CN 111266370A
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- mechanical arm
- vehicle body
- sliding table
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- 238000004140 cleaning Methods 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 239000000428 dust Substances 0.000 claims description 34
- 238000005096 rolling process Methods 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000010354 integration Effects 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 239000000645 desinfectant Substances 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004378 air conditioning Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 230000006978 adaptation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000000249 desinfective effect Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 230000002421 anti-septic effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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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
- B08B9/051—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
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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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
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/035—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing by suction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Electric Suction Cleaners (AREA)
Abstract
The invention discloses a robot device for cleaning pipelines and an operation method thereof, wherein the robot device is provided with a synchronous crawler walking mechanism and a sliding table connecting rod cleaning mechanism; the synchronous crawler walking mechanism is beneficial to the robot to realize effective adaptation to the working environment under multiple working conditions, the obstacle crossing capability and the controllability of the robot are improved, and the sliding table connecting rod cleaning mechanism can realize effective cleaning of the inner side surface of the pipeline without turning the robot; the first cleaning driving motor drives the screw rod to rotate, so that the sliding table can move left and right relative to the vehicle body, and the first connecting rod mechanical arm, the second connecting rod mechanical arm and the cleaning brush are driven to move left and right; the second cleaning driving motor drives the first connecting rod mechanical arm and the second connecting rod mechanical arm to rotate through the first gear and the second gear, and the change of the height of the cleaning brush relative to the bottom of the pipeline can be achieved. The device of the invention can flexibly and efficiently complete the cleaning tasks of all cleaning surfaces in the central air-conditioning pipeline.
Description
Technical Field
The invention belongs to the technical field of pipeline cleaning mechanisms, and particularly relates to a robot device for cleaning a pipeline and an operation method thereof.
Background
The application of the central air conditioner makes the life and work of people more convenient; the special working environment and the cleaning efficiency requirements of the central air conditioning ventilation pipeline result in that the cleaning of the interior of the pipeline can only be completed by a pipeline cleaning robot.
At present, the cleaning mode of a robot of a similar type is difficult to adapt to the working environment of the robot with high efficiency, and a plurality of cleaning surfaces (particularly the cleaning of the side surfaces) in the pipeline are difficult to realize simply and effectively; the complex cleaning mechanism is adopted, so that the control operation burden of workers is not small, the flexibility and operability of the robot are reduced, the time cost and the energy of the workers are consumed, and the cleaning efficiency and effect are greatly reduced.
In summary, there is a need for a new robotic device for cleaning a pipe and method of operating the same.
Disclosure of Invention
The present invention is directed to a robot apparatus for cleaning a pipe and a method of operating the same, which solve one or more of the above-mentioned problems. The robot device has higher operability and flexibility; the operation is simple, and the high-efficiency cleaning of the central air-conditioning pipeline can be completed.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a robot device for cleaning a pipeline, which comprises:
the vehicle body is used as a bearing mechanism of the robot device; the vehicle body is provided with a driving device for realizing the movement of the vehicle body; the vehicle body is provided with a power supply which is used for supplying power to the parts of the robot device needing power supply; the robot device comprises a vehicle body, a control single chip microcomputer, a control signal processing unit and a control signal processing unit, wherein the vehicle body is provided with the control single chip microcomputer and is used for realizing control of each motor on the robot device;
the cleaning mechanism is fixedly arranged on the vehicle body and used for cleaning the interior of the pipeline; wherein the cleaning mechanism comprises: the device comprises a pillow block, a slide rod, a sliding table, a first connecting rod mechanical arm, a second connecting rod mechanical arm, a rolling brush and a side brush; the vehicle body is provided with an atomization disinfection device;
the number of the pillow blocks is two, and the pillow blocks are fixedly arranged on the vehicle body; two ends of the sliding rod are respectively fixedly connected with the two pillow blocks; the sliding rod is movably provided with a sliding table; a first cleaning driving motor is fixedly arranged on the pillow block through a motor flange; a second synchronous belt wheel is fixedly arranged on an output shaft of the first cleaning driving motor; the pillow block is provided with a mounting rack, and a screw rod is rotatably mounted on the mounting rack; a third synchronous belt wheel is arranged at one end of the screw rod, and the third synchronous belt wheel and the second synchronous belt wheel realize transmission through a transmission belt; the other end of the screw rod is arranged in the sliding table through a spiral structure, and the sliding table can move along the sliding rod by driving the screw rod to rotate through a first cleaning driving motor;
a second cleaning driving motor is fixedly arranged on the sliding table, and a first gear is fixedly arranged on an output shaft of the second cleaning driving motor; a rotating shaft is rotatably arranged on the sliding table through a supporting frame; one end of the first connecting rod mechanical arm is fixedly connected to the rotating shaft, and the other end of the first connecting rod mechanical arm is a free end; a second gear is fixedly arranged on the rotating shaft and meshed with the first gear; the second cleaning driving motor can drive the first connecting rod mechanical arm to rotate around the axis of the rotating shaft through the first gear, the second gear and the rotating shaft;
the second connecting rod mechanical arm is rotatably arranged on the sliding table through a support; one end of the second connecting rod mechanical arm is hinged to the free end of the first connecting rod mechanical arm, and the other end of the second connecting rod mechanical arm is provided with a 90-degree corner device; the cleaning brush is installed on the 90-degree corner device, the second connecting rod mechanical arm is driven to rotate through the first connecting rod mechanical arm, and the height of the cleaning brush can be adjusted.
A further development of the invention consists in that the drive device on the vehicle body comprises: the four synchronous belt wheels, the two vehicle body driving motors and the two synchronous tracks; the two vehicle body driving motors are fixedly arranged on the vehicle body, and output shafts at two ends of each vehicle body driving motor are fixedly provided with synchronous belt pulleys; and two synchronous belt wheels at the same side of the two vehicle body driving motors are respectively provided with a synchronous crawler belt.
The invention further improves the method and also comprises the following steps: a dust collection device and a dust collection box;
the dust suction device is fixedly arranged at the front end of the vehicle body and is driven by a negative pressure motor; the dust suction port of the dust suction device is communicated with the dust collection box through a pipeline.
A further development of the invention is that the conduit is a rubber tube.
The invention further improves the method and also comprises the following steps: a camera; the camera is arranged at the front end of the vehicle body, the rear end of the vehicle body or on the second connecting rod mechanical arm and used for monitoring the working environment of the robot device.
The invention further improves the method and also comprises the following steps: an ultrasonic sensor; for detecting the distance of the outer projection of the robotic device from the side wall of the duct to be cleaned.
The invention has the further improvement that the power supply and the control singlechip are integrated in a power supply and a control unit integrated box thereof; the ultrasonic sensor is arranged on the outer wall of the power supply and the control unit integration box thereof, and the signal output end of the ultrasonic sensor is connected with the signal input end of the control single chip microcomputer.
The invention is further improved in that the power supply adopts a lithium battery; the control single chip microcomputer adopts an stm32 single chip microcomputer.
A further development of the invention is that the cleaning brush comprises a roller brush and a side brush; and a rolling brush driving motor is arranged on the second connecting rod mechanical arm and used for driving the rolling brush and the side brush.
The invention relates to an operation method of a robot device for cleaning a pipeline, which comprises the following steps:
using a vehicle body as a bearing mechanism of the robot device; the vehicle body is moved through a driving device arranged on the vehicle body; supplying power to the parts of the robot device which need to be supplied with power through a power supply arranged on the vehicle body; the operation control of each motor on the robot device is realized through a control single chip microcomputer arranged on the vehicle body;
the pipeline is cleaned by a cleaning mechanism fixedly arranged on the vehicle body; wherein the cleaning mechanism comprises: the device comprises a pillow block, a slide rod, a sliding table, a first connecting rod mechanical arm and a second connecting rod mechanical arm;
the number of the pillow blocks is two, and the pillow blocks are fixedly arranged on the vehicle body; two ends of the sliding rod are respectively fixedly connected with the two pillow blocks; the sliding rod is movably provided with a sliding table; a first cleaning driving motor is fixedly arranged on the pillow block through a motor flange; a second synchronous belt wheel is fixedly arranged on an output shaft of the first cleaning driving motor; the pillow block is provided with a mounting rack, and a screw rod is rotatably mounted on the mounting rack; a third synchronous belt wheel is arranged at one end of the screw rod, and the third synchronous belt wheel and the second synchronous belt wheel realize transmission through a transmission belt; the other end of the screw rod is arranged in the sliding table through a spiral structure, and the sliding table can move along the sliding rod by driving the screw rod to rotate through a first cleaning driving motor;
a second cleaning driving motor is fixedly arranged on the sliding table, and a first gear is fixedly arranged on an output shaft of the second cleaning driving motor; a rotating shaft is rotatably arranged on the sliding table through a supporting frame; one end of the first connecting rod mechanical arm is fixedly connected to the rotating shaft, and the other end of the first connecting rod mechanical arm is a free end; a second gear is fixedly arranged on the rotating shaft and meshed with the first gear; the second cleaning driving motor can drive the first connecting rod mechanical arm to rotate around the axis of the rotating shaft through the first gear, the second gear and the rotating shaft;
the second connecting rod mechanical arm is rotatably arranged on the sliding table through a support; one end of the second connecting rod mechanical arm is hinged to the free end of the first connecting rod mechanical arm, and the other end of the second connecting rod mechanical arm is provided with a 90-degree corner device; the cleaning brush is installed on the 90-degree corner device, the second connecting rod mechanical arm is driven to rotate through the first connecting rod mechanical arm, and the height of the cleaning brush can be adjusted.
Compared with the prior art, the invention has the following beneficial effects:
the robot device is provided with a synchronous crawler traveling mechanism and a sliding table connecting rod cleaning mechanism; the synchronous crawler walking mechanism is beneficial to the robot to effectively adapt to the working environment under multiple working conditions, the obstacle crossing capability and the controllability of the robot are improved, and the sliding table connecting rod cleaning mechanism can realize that the robot can effectively clean the inner side face of the pipeline without turning. Specifically, according to the invention, the screw rod is driven to rotate by the first cleaning driving motor, so that the sliding table can move left and right relative to the vehicle body, and the first connecting rod mechanical arm, the second connecting rod mechanical arm and the cleaning brush are driven to move left and right; the second cleaning driving motor drives the first connecting rod mechanical arm and the second connecting rod mechanical arm to rotate through the first gear and the second gear, and the change of the height of the cleaning brush relative to the bottom of the pipeline can be achieved. In conclusion, the device can flexibly and efficiently complete the cleaning tasks of all the cleaning surfaces in the central air-conditioning pipeline.
The method can complete the high-efficiency cleaning of the central air-conditioning pipeline; specifically, the sliding table is driven by the first cleaning driving motor to realize the motion relative to the vehicle body, the sliding table drives the first connecting rod mechanical arm and the second connecting rod mechanical arm to move synchronously, the cleaning brush device (which can comprise a rolling brush and a side brush) and the first connecting rod mechanical arm and the synchronous motion realize the left-right relative motion with the vehicle body, and the cleaning area of the horizontal pipeline surface in the left-right direction of the robot is larger under the condition of keeping the linear motion.
When the vehicle body is close to the side wall, the side brush can obtain a proper distance from the side wall, and the side brush realizes the cleaning of the side wall of the pipeline under the condition of synchronous rotation with the rolling brush.
The distance between the vehicle body and the side wall of the pipeline is monitored by the ultrasonic sensor and fed back to the power supply and the control unit integration box of the power supply, the power supply and the control unit integration box of the power supply control the first cleaning driving motor to drive the sliding table to perform fine adjustment on the distance between the side brush and the side wall when the side wall of the pipeline is cleaned, the side brush is kept to be effectively contacted with the side wall, and effective side wall cleaning work is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art are briefly introduced below; it is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural diagram of a robotic device for pipe cleaning according to an embodiment of the present invention;
FIG. 2 is a schematic top view of a robotic device for pipe cleaning according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a link cleaning mechanism of the slide table in the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a robot vehicle body part in the embodiment of the invention;
FIG. 5 is a schematic diagram of a side brush structure of a robot rolling brush part in the embodiment of the invention;
FIG. 6 is a schematic view of a robot camera in an embodiment of the present invention;
FIG. 7 is a schematic view of an ultrasonic sensor in an embodiment of the invention;
FIG. 8 is a schematic diagram of a relative structure of a slide table and a pillow block according to an embodiment of the present invention;
in fig. 1 to 8, 1, a vehicle body; 2. a first timing pulley; 3. a vehicle body driving motor; 4. a dust collection box; 5. a negative pressure motor; 6. a power supply, a control unit thereof and a disinfectant integrated box; 7. a synchronous crawler belt; 8. a pipeline; 9. a dust suction port; 10. a cleaning mechanism; 11. a pillow block; 12. a sliding table; 13. a first gear; 14. a second cleaning drive motor; 15. a second gear; 17. a first link arm; 18. a support; 19. a second link arm; 20. a roller brush drive motor; 21. a 90-degree corner device; 22. a third synchronous pulley; 23. a lead screw; 24. a transmission belt; 25. a second timing pulley; 26. a motor flange; 27. a first cleaning drive motor; 28. a camera; 29. side brushing; 30. an ultrasonic sensor; 31. rolling and brushing; 32. atomizing disinfection shower nozzle.
Detailed Description
In order to make the purpose, technical effect and technical solution of the embodiments of the present invention clearer, the following clearly and completely describes the technical solution of the embodiments of the present invention with reference to the drawings in the embodiments of the present invention; it is to be understood that the described embodiments are only some of the embodiments of the present invention. Other embodiments, which can be derived by one of ordinary skill in the art from the disclosed embodiments without inventive faculty, are intended to be within the scope of the invention.
The robot device for cleaning a pipeline of the embodiment of the invention comprises: the movable vehicle body, the cleaning mechanism, the power supply and the control device are mainly movable.
The front end of the vehicle body is provided with a dust suction device which is driven by a negative pressure motor to drive the dust collector to work.
The vehicle body is connected with a driving device which drives the synchronous crawler mechanism to move.
The cleaning mechanism is connected with the vehicle body through a screw nut mechanism, the screw nut mechanism is connected with a driving device, the sliding table is driven to move and the connecting rod mechanical arm moves, and the connecting rod mechanical arm is connected with a rolling brush driving device and drives the rolling brush to move. And the power supply and control unit is positioned at the rear end of the vehicle body and is connected with the vehicle body.
Optionally, the vehicle body driving device is connected with the vehicle body, and the vehicle body driving motors are arranged in tandem and connected with the synchronous belt wheel to drive the synchronous crawler mechanism to move.
Optionally, the vehicle body dust suction device includes: the preposed dust suction port, the connecting rubber tube, the dust collection box and the negative pressure motor. Wherein, the dust absorption mouth is connected with the front end of the vehicle body, the dust collection box is connected with the vehicle body and is communicated with the dust absorption mouth through a rubber tube, and the negative pressure motor is connected with the dust collection box.
Optionally, the cleaning mechanism comprises a pillow block: the pillow block is fixedly connected with the vehicle body; the pillow block is fixedly connected to the middle of the vehicle body, the sliding table is connected with the pillow block through a screw nut mechanism, and the sliding table realizes relative movement between the sliding table and the pillow block through a first cleaning driving motor; the first cleaning driving motor is driven by a synchronous belt and is connected with the pillow block by a motor flange which is fixedly connected with the pillow block; the first cleaning driving motor is connected with a second synchronous belt wheel, the second synchronous belt wheel and a third synchronous belt wheel fixedly connected to the screw rod are connected with a screw nut mechanism through a transmission belt, and the left and right movement of the sliding table is achieved. Be equipped with link mechanism and the clean driving motor of second on the slip table, the clean driving motor of second passes through the first connecting rod arm of gear train drive, the rotation of second connecting rod arm, and the clean driving motor of second passes through the flange to be connected with the slip table, flange and slip table fixed connection, and first connecting rod arm is connected with the slip table through fixed hinge, and the clean driving motor of second and the fixed hinge department fixedly connected with gear train of first connecting rod arm. The first connecting rod mechanical arm is connected with the second connecting rod mechanical arm through the sliding hinge, and the second connecting rod mechanical arm can move relatively in a sliding groove of the first connecting rod mechanical arm and rotate, so that the single-degree-of-freedom condition of the connecting rod mechanism is realized, and the connecting rod mechanism moves under the driving of the second cleaning driving motor.
The second connecting rod mechanical arm is connected with the sliding table, and a rotating pair between the second connecting rod mechanical arm and the sliding table is formed through the bracket, so that the relative mechanical rotation between the second connecting rod mechanical arm and the sliding table is realized. The second connecting rod mechanical arm is connected with a rolling brush driving unit; the motor of the rolling brush driving unit is fixedly connected with the second connecting rod mechanical arm, and the motor of the rolling brush driving unit drives the rolling brush to rotate through the 90-degree corner device; the 90-degree angle device is connected with a motor of the rolling brush driving unit through a top-tightening coupler, and the 90-degree angle device is fixedly connected with the second connecting rod mechanical arm; the 90-degree corner device is connected with a rolling brush device.
Optionally, the power supply and control unit is positioned at the rear end of the vehicle body and below the dust collection box; the power supply provides the electric quantity requirement of the robot by using a lithium battery, and the control unit comprises a control single chip microcomputer and a sensor; the lithium battery is fixed at the rear end of the vehicle body through connection, the control single chip microcomputer uses a stm32 single chip microcomputer and is connected with the vehicle body, and the power supply and the control single chip microcomputer are sealed at the rear end of the vehicle body to prevent the influence of a working environment; the control unit sensor comprises a camera and an ultrasonic sensor; the camera is provided with a cleaning monitoring camera, a front camera and a rear camera; the cleaning monitoring camera is fixedly connected above the second connecting rod mechanical arm; the front camera is fixedly connected to the front end of the vehicle body, and the rear camera is fixedly connected to the rear end of the vehicle body; the ultrasonic sensor comprises a left ultrasonic sensor and a right ultrasonic sensor; the left ultrasonic sensor and the right ultrasonic sensor are respectively and fixedly connected to the outside of the vehicle body power supply and the control unit box body.
Referring to fig. 1 to 6, a robot apparatus for cleaning a pipe according to an embodiment of the present invention includes: a vehicle body 1 and a cleaning mechanism 10;
the vehicle body 1 is fixedly connected with a vehicle body driving motor 3, and the vehicle body driving motor 3 is fixedly connected with the vehicle body 1; an output shaft of the vehicle body driving motor 3 is fixedly connected with the first synchronous belt wheel 2, a synchronous crawler 7 is arranged on the first synchronous belt wheel 2, and the vehicle body driving motor 3 is arranged in a front-back cross mode to realize a double-drive crawler traveling mechanism of the robot.
The vehicle body 1 is connected with a power supply, a control unit thereof and a disinfectant integrated box 6, and the power supply and control unit integrated box 6 is fixedly connected with an ultrasonic sensor 30; preferably, the ultrasonic sensors 30 are arranged in left-right symmetry. A dust collection box 4 of a dust collection device is fixedly connected to a power supply and control unit integrated box 6, a negative pressure motor 5 of the dust collection device is arranged at the rear end of the dust collection box 4, the dust collection box 4 is connected with a dust collection port 9 of the dust collection device through a pipeline 8, and the dust collection port 9 is fixedly connected with the front end of the vehicle body 1; wherein, the upper surface of the dust collection box 4 is fixedly connected with a camera, and the front end of the vehicle body 1 is fixedly connected with a camera.
The cleaning mechanism 10 includes a pillow block 11; the pillow block 11 is fixedly connected to the vehicle body 1, and a motor flange 26 is fixedly connected to the pillow block 11; first clean driving motor 27 and motor flange 26 fixed connection, fixedly connected with second synchronous pulley 25 on first clean driving motor 27's the motor shaft, second synchronous pulley 25 and third synchronous pulley 22 are connected to drive belt 24, slip table 12 passes through screw pair and is connected with lead screw 23, is connected with third synchronous pulley 22 on the lead screw 23, and first clean driving motor 27 passes through second synchronous pulley 25, drive belt 24 and third synchronous pulley 22 drive lead screw 23 and rotates the side-to-side movement of accomplishing slip table 12 relative automobile body.
A first connecting rod mechanical arm 17 is fixedly connected to the sliding table 12, the first connecting rod mechanical arm 17 can rotate relative to the sliding table 12 according to a fixed hinge, a second cleaning driving motor 14 is fixedly connected to the sliding table 12, the second cleaning driving motor 14 is fixedly connected with the sliding table through a flange, a first gear 13 is connected to an output shaft of the second cleaning driving motor 14, and the first gear 13 is in meshing transmission with a second gear 15 fixedly connected to the first connecting rod mechanical arm 17; wherein, under the driving action of the second cleaning driving motor 14, the first link mechanical arm 17 can rotate around the fixed hinge thereof relative to the sliding table.
The first connecting rod mechanical arm 17 is connected with the second connecting rod mechanical arm 19 through a slidable hinge, the second connecting rod mechanical arm 19 is connected with the sliding table 12 through a support 18 through a hinge, a rotating pair between the second connecting rod mechanical arm 19 and the sliding table is formed, then the whole three-connecting-rod mechanism just forms a connecting rod mechanism with the degree of freedom of 1, and the second connecting rod mechanical arm 19 can rotate around the hinge under the driving of the second cleaning driving motor 14, so that the height of the cleaning rolling brush is changed.
The second connecting rod mechanical arm 19 is fixedly connected with a rolling brush driving motor 20, the rolling brush driving motor 20 is connected with a 90-degree corner device 21, the 90-degree corner device 21 is fixedly connected with the second connecting rod mechanical arm 19, a transverse output shaft of the 90-degree corner device 21 rotates under the driving of the rolling brush driving motor 20, a rolling brush 31 and a side brush 29 are sleeved on the output shaft, and the size and the type of the rolling brush 31 and the size and the type of the side brush 29 can be changed according to the size of a pipeline in work.
The sliding table 12 drives the sliding table 12 to move relative to the vehicle body 1 through the first cleaning driving motor 27, the sliding table 12 drives the first connecting rod mechanical arm 17 and the second connecting rod mechanical arm 19 to move synchronously, and the cleaning brush device (comprising the rolling brush 31 and the side brush 29) and the first connecting rod mechanical arm 17 move synchronously to move left and right relative to the vehicle body 1, so that the robot can clean a larger horizontal pipeline surface in the left and right directions under the condition of keeping linear motion. When the vehicle body 1 approaches the side wall, the side brush 29 can obtain a proper distance from the side wall, and the side brush 29 realizes the cleaning of the side wall of the pipeline under the condition of synchronous rotation with the rolling brush 31. The ultrasonic sensor 30 monitors the distance between the vehicle body 1 and the side wall of the pipeline and feeds the distance back to the power supply and control unit integration box 6, the power supply and control unit integration box 6 controls the first cleaning driving motor 27 to drive the sliding table 12 to perform fine adjustment of the distance between the side brush 29 and the side wall when the side wall of the pipeline is cleaned, the side brush 29 is kept to be effectively contacted with the side wall, and effective side wall cleaning work is achieved.
In the invention, under the combined action of the first cleaning driving motor 27, the second cleaning driving motor 14 and the rolling brush driving motor 20, the whole set of rolling brushes can realize vertical height movement and left-right relative movement perpendicular to the movement direction of the vehicle body 1, so that the inner surface of the pipeline can be cleaned under the conditions of different heights and no rotation of the vehicle body, the cleaning area in unit time of the traditional cleaning robot is increased, and the cleaning efficiency is improved.
Preferably, the camera 28 is fixedly arranged at the front end of the vehicle body, the rear end of the vehicle body, the dust collection box 4 and the second connecting rod mechanical arm 19, so that a worker can conveniently monitor the working environment around the vehicle body and the position of the rolling brush relative to the cleaning surface at any time, the relative height of the rolling brush can be conveniently adjusted by the robot, and the task of cleaning the pipeline can be effectively completed.
Preferably, ultrasonic sensor 30 fixed connection is in the side about power and the control unit and antiseptic solution collection box 6, can survey the position of robot body convex part distance pipeline lateral wall through ultrasonic sensor 30, provides the reference for the side-to-side movement distance of slip table 12 simultaneously to adapt to the operational environment who changes, improve robot work efficiency and stability.
Preferably, the atomizing and disinfecting nozzle 32 is fixed on the power supply, the control unit thereof and the disinfecting liquid integrated box 6, and can atomize and spray the disinfecting liquid in the power supply, the control unit thereof and the disinfecting liquid integrated box 6, so as to improve the effect of cleaning the pipeline and effectively sterilize the pipeline.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.
Claims (10)
1. A robotic device for pipe cleaning, comprising:
a vehicle body (1) as a carrying mechanism of the robot device; the vehicle body (1) is provided with a driving device for realizing the movement of the vehicle body (1); the vehicle body (1) is provided with a power supply for supplying power to parts of the robot device which need to be supplied with power; the vehicle body (1) is provided with a control singlechip which is used for realizing the control of each motor on the robot device;
the cleaning mechanism (10), the said cleaning mechanism (10) is fixedly arranged on said car body (1), is used for realizing the cleaning in the pipeline; wherein the cleaning mechanism (10) comprises: the device comprises a pillow block (11), a slide rod, a sliding table (12), a first connecting rod mechanical arm (17) and a second connecting rod mechanical arm (19);
the number of the pillow blocks (11) is two, and the pillow blocks are fixedly arranged on the vehicle body (1); two ends of the sliding rod are respectively fixedly connected with the two pillow blocks (11); the sliding rod is movably provided with a sliding table (12); a first cleaning driving motor (27) is fixedly arranged on the pillow block (11) through a motor flange (26); a second synchronous belt wheel (25) is fixedly arranged on an output shaft of the first cleaning driving motor (27); the pillow block (11) is provided with a mounting rack, and a screw rod (23) is rotatably mounted on the mounting rack; a third synchronous belt wheel (22) is arranged at one end of the screw rod (23), and the third synchronous belt wheel (22) and the second synchronous belt wheel (25) realize transmission through a transmission belt; the other end of the screw rod (23) is installed in the sliding table (12) through a spiral structure, and the screw rod (23) is driven to rotate through a first cleaning driving motor (27), so that the sliding table (12) can move along the sliding rod;
a second cleaning driving motor (14) is fixedly arranged on the sliding table (12), and a first gear (13) is fixedly arranged on an output shaft of the second cleaning driving motor (14); a rotating shaft is rotatably arranged on the sliding table (12) through a supporting frame; one end of the first connecting rod mechanical arm (17) is fixedly connected to the rotating shaft, and the other end of the first connecting rod mechanical arm is a free end; a second gear (15) is fixedly arranged on the rotating shaft, and the second gear (15) is meshed with the first gear (13); the second cleaning driving motor (14) can drive the first connecting rod mechanical arm (17) to rotate around the axis of the rotating shaft through the first gear (13), the second gear (15) and the rotating shaft;
the second connecting rod mechanical arm (19) is rotatably arranged on the sliding table (12) through a bracket (18); one end of the second connecting rod mechanical arm (19) is hinged to the free end of the first connecting rod mechanical arm (17), and the other end of the second connecting rod mechanical arm is provided with a 90-degree corner device (21); cleaning brushes, namely a rolling brush (31) and a side brush (29), are arranged on the 90-degree corner device (21), and the height of the cleaning brushes can be adjusted by driving the second connecting rod mechanical arm (19) to rotate through the first connecting rod mechanical arm (17).
2. A robotic device for pipe cleaning according to claim 1, characterized in that the driving means on the vehicle body (1) comprise: four first synchronous belt wheels (2), two driving motors (3) and two synchronous tracks (7);
the two vehicle body driving motors (3) are fixedly arranged on the vehicle body (1), and output shafts at two ends of each vehicle body driving motor (3) are fixedly provided with first synchronous belt wheels (2);
two first synchronous belt wheels (2) at the same side of the two vehicle body driving motors (3) are respectively provided with a synchronous crawler belt (7).
3. A robotic device for pipe cleaning according to claim 1, further comprising: a dust collection device and a dust collection box (4);
the dust suction device is fixedly arranged at the front end of the vehicle body (1) and is driven by a negative pressure motor (5); the dust suction port (9) of the dust suction device is communicated with the dust collection box (4) through a pipeline (8).
4. A robotic device for pipe cleaning according to claim 3, characterized in that the pipe (8) is a rubber tube.
5. A robotic device for pipe cleaning according to claim 1, further comprising: a camera (28);
the camera (28) is mounted at the front end of the vehicle body (1), the rear end of the vehicle body (1) or on the second connecting rod mechanical arm (19) and used for monitoring the working environment of the robot device.
6. A robotic device for pipe cleaning according to claim 1, further comprising: an ultrasonic sensor (30); for detecting the distance of the outer projection of the robotic device from the side wall of the duct to be cleaned.
7. The robotic device for the cleaning of ducts according to claim 6, characterized in that said power supply and said control single-chip are integrated in a power supply and its control unit and in a disinfectant integration box (6);
the ultrasonic sensor (30) is installed on the outer wall of the power supply, the control unit of the power supply and the outer wall of the disinfectant integrated box (6), and the signal output end of the ultrasonic sensor (30) is connected with the signal input end of the control single chip microcomputer.
8. The robotic device for pipe cleaning according to claim 1, wherein said power source employs a lithium battery; the control single chip microcomputer adopts an stm32 single chip microcomputer.
9. A robotic device for pipe cleaning according to claim 1, characterized in that the cleaning brush comprises a rolling brush (31) and a side brush (29);
and the second connecting rod mechanical arm (19) is provided with a rolling brush driving motor (20) for driving a rolling brush (31) and a side brush (29).
10. A method of operating a robotic device for pipe cleaning, comprising the steps of:
a vehicle body (1) is used as a bearing mechanism of the robot device; the movement of the vehicle body (1) is realized through a driving device arranged on the vehicle body (1); the power supply arranged on the vehicle body (1) supplies power to the parts of the robot device which need to supply power; the operation control of each motor on the robot device is realized through a control single chip microcomputer arranged on the vehicle body (1);
the pipeline is cleaned by a cleaning mechanism (10) fixedly arranged on the vehicle body (1); wherein the cleaning mechanism (10) comprises: the device comprises a pillow block (11), a slide rod, a sliding table (12), a first connecting rod mechanical arm (17) and a second connecting rod mechanical arm (19);
the number of the pillow blocks (11) is two, and the pillow blocks are fixedly arranged on the vehicle body (1); two ends of the sliding rod are respectively fixedly connected with the two pillow blocks (11); the sliding rod is movably provided with a sliding table (12); a first cleaning driving motor (27) is fixedly arranged on the pillow block (11) through a motor flange (26); a second synchronous belt wheel (25) is fixedly arranged on an output shaft of the first cleaning driving motor (27); the pillow block (11) is provided with a mounting rack, and a screw rod (23) is rotatably mounted on the mounting rack; a third synchronous belt wheel (22) is arranged at one end of the screw rod (23), and the third synchronous belt wheel (22) and the second synchronous belt wheel (25) realize transmission through a transmission belt; the other end of the screw rod (23) is installed in the sliding table (12) through a spiral structure, and the screw rod (23) is driven to rotate through a first cleaning driving motor (27), so that the sliding table (12) can move along the sliding rod;
a second cleaning driving motor (14) is fixedly arranged on the sliding table (12), and a first gear (13) is fixedly arranged on an output shaft of the second cleaning driving motor (14); a rotating shaft is rotatably arranged on the sliding table (12) through a supporting frame; one end of the first connecting rod mechanical arm (17) is fixedly connected to the rotating shaft, and the other end of the first connecting rod mechanical arm is a free end; a second gear (15) is fixedly arranged on the rotating shaft, and the second gear (15) is meshed with the first gear (13); the second cleaning driving motor (14) can drive the first connecting rod mechanical arm (17) to rotate around the axis of the rotating shaft through the first gear (13), the second gear (15) and the rotating shaft;
the second connecting rod mechanical arm (19) is rotatably arranged on the sliding table (12) through a bracket (18); one end of the second connecting rod mechanical arm (19) is hinged to the free end of the first connecting rod mechanical arm (17), and the other end of the second connecting rod mechanical arm is provided with a 90-degree corner device (21); cleaning brushes, namely a rolling brush (31) and a side brush (29), are arranged on the 90-degree corner device (21), and the height of the cleaning brushes can be adjusted by driving the second connecting rod mechanical arm (19) to rotate through the first connecting rod mechanical arm (17).
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| CN202010198092.4A CN111266370B (en) | 2020-03-19 | 2020-03-19 | Robot device for cleaning pipeline and operation method thereof |
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| CN202010198092.4A CN111266370B (en) | 2020-03-19 | 2020-03-19 | Robot device for cleaning pipeline and operation method thereof |
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| CN111266370B CN111266370B (en) | 2024-09-10 |
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| CN111847014A (en) * | 2020-08-20 | 2020-10-30 | 哈工大机器人（岳阳）军民融合研究院 | Material shoveling actuating mechanism and material recovery system |
| CN112108426A (en) * | 2020-10-12 | 2020-12-22 | 招商局重庆交通科研设计院有限公司 | Tunnel lamp cleaning device |
| CN112517566A (en) * | 2020-11-26 | 2021-03-19 | 宁波介量机器人技术有限公司 | Self-adaptive pipeline cleaning robot |
| CN112620382A (en) * | 2020-10-27 | 2021-04-09 | 佛山市三水凤铝铝业有限公司 | Cylinder cleaning equipment for extruder |
| CN113280209A (en) * | 2021-06-09 | 2021-08-20 | 中航华东光电（上海）有限公司 | System for detecting pipeline excess, use method of system and detection method |
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| CN212285186U (en) * | 2020-03-19 | 2021-01-05 | 西安建筑科技大学 | Robot device for cleaning pipeline |
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| JPH11244800A (en) * | 1998-02-27 | 1999-09-14 | Hitachi Zosen Corp | Robot apparatus for cleaning water channel |
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| CN112620382A (en) * | 2020-10-27 | 2021-04-09 | 佛山市三水凤铝铝业有限公司 | Cylinder cleaning equipment for extruder |
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| CN111266370B (en) | 2024-09-10 |
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