CN111266370B - 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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- CN111266370B CN111266370B CN202010198092.4A CN202010198092A CN111266370B CN 111266370 B CN111266370 B CN 111266370B CN 202010198092 A CN202010198092 A CN 202010198092A CN 111266370 B CN111266370 B CN 111266370B
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- cleaning
- connecting rod
- mechanical arm
- vehicle body
- sliding table
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- 238000004140 cleaning Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 239000000428 dust Substances 0.000 claims description 34
- 238000005096 rolling process Methods 0.000 claims description 31
- 241001669679 Eleotris Species 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000000645 desinfectant Substances 0.000 claims description 3
- 230000001954 sterilising effect Effects 0.000 claims description 3
- 238000004378 air conditioning Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 abstract 1
- 230000000249 desinfective effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000889 atomisation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Suction Cleaners (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a robot device for cleaning a pipeline and an operation method thereof, wherein a synchronous crawler travelling mechanism and a sliding table connecting rod cleaning mechanism are arranged; the synchronous crawler travelling mechanism is beneficial to the robot to realize effective adaptation to the working environment under multiple working conditions, the obstacle crossing capacity and the controllability of the robot are improved, and the sliding table connecting rod cleaning mechanism can realize that the robot can finish effective cleaning of the inner side surface of the pipeline without turning; 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 cleaning brush can be changed relative to the height of the bottom of the pipeline. The device can flexibly and efficiently finish 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 pipeline cleaning 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 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 the pipeline cleaning robot.
At present, the cleaning mode of similar robots is difficult to efficiently adapt to the working environment of the robots, and a plurality of cleaning surfaces (particularly the cleaning of the side surfaces) in the pipeline are difficult to simply and effectively realize; the complex cleaning mechanism can cause small control operation burden of the staff, the flexibility and operability of the robot can be reduced, and the cleaning efficiency and effect are greatly reduced while the time cost and the effort of the staff are consumed.
In view of the foregoing, there is a need for a new robotic device for pipe cleaning and method of operating the same.
Disclosure of Invention
The present invention is directed to a robot apparatus for cleaning a pipe and an operating method thereof, which solve one or more of the above-mentioned problems. The robot device has higher operability and flexibility; the operation is simple, and the efficient cleaning of the central air-conditioning pipeline can be completed.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention relates to a robot device for cleaning a pipeline, comprising:
A vehicle body serving as a carrying mechanism of the robot apparatus; the driving device is arranged on the vehicle body and is used for realizing movement of the vehicle body; the power supply is arranged on the vehicle body and is used for supplying power to the components of the robot device which need to be supplied with power; the vehicle body is provided with a control singlechip which is used for controlling each motor on the robot device;
The cleaning mechanism is fixedly arranged on the vehicle body and is used for realizing cleaning in the pipeline; wherein, the cleaning mechanism includes: the device comprises a sleeper block, a slide bar, a sliding table, a first connecting rod mechanical arm, a second connecting rod mechanical arm, a rolling brush and a side brush; an atomization disinfection device is arranged on the vehicle body;
The number of the pillows is two, and the two pillows are fixedly arranged on the vehicle body; two ends of the sliding rod are fixedly connected with the two pillows respectively; a sliding table is movably arranged on the sliding rod; a first cleaning driving motor is fixedly arranged on the sleeper block through a motor flange; the output shaft of the first cleaning driving motor is fixedly provided with a second synchronous pulley; the sleeper block is provided with a mounting frame, and a lead screw is rotatably arranged on the mounting frame; a third synchronous pulley is arranged at one end of the lead screw, and the third synchronous pulley and the second synchronous pulley 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 screw rod is driven to rotate through a first cleaning driving motor, so that the sliding table can move along the sliding rod;
The sliding table is fixedly provided with a second cleaning driving motor, and the output shaft of the second cleaning driving motor is fixedly provided with a first gear; 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 bracket; 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 arranged on the 90-degree corner device, and the first connecting rod mechanical arm drives the second connecting rod mechanical arm to rotate, so that the height of the cleaning brush can be adjusted.
A further improvement of the present invention is that the driving device on the vehicle body includes: four synchronous pulleys, two vehicle body driving motors and two synchronous tracks; the two car body driving motors are fixedly arranged on the car body, and synchronous pulleys are fixedly arranged on output shafts at two ends of each car body driving motor; and the two synchronous pulleys on the same side of the two vehicle body driving motors are respectively provided with a synchronous crawler belt.
A further improvement of the present invention is that it further comprises: dust collection device and dust collection box;
the dust collection device is fixedly arranged at the front end of the vehicle body and driven by a negative pressure motor; the dust collection opening of the dust collection device is communicated with the dust collection box through a pipeline.
The invention further improves that the pipeline is a rubber pipe.
A further improvement of the present invention is that it further comprises: a camera; the camera is arranged at the front end of the vehicle body, the rear end of the vehicle body or the second connecting rod mechanical arm and used for monitoring the working environment of the robot device.
A further improvement of the present invention is that it further comprises: an ultrasonic sensor; and the distance between the outer flange of the robot device and the side wall of the pipeline to be cleaned is detected.
The invention is further improved in that the power supply and the control singlechip are integrated in a power supply and a control unit integration box thereof; the ultrasonic sensor is arranged on the outer wall of the power supply and the control unit integration box of the power supply, and the signal output end of the ultrasonic sensor is connected with the signal input end of the control singlechip.
The invention is further improved in that the power supply adopts a lithium battery; the control singlechip adopts an stm32 singlechip.
A further improvement of the invention is that the cleaning brush comprises a roller brush and a side brush; and the second connecting rod mechanical arm is provided with a rolling brush driving motor for driving the rolling brush and the side brush.
A method of operating a robotic device for pipe cleaning of the present invention comprises the steps of:
Taking a vehicle body as a bearing mechanism of the robot device; the movement of the vehicle body is realized through a driving device arranged on the vehicle body; supplying power to a part of the robot device which needs to be supplied with power through a power supply arranged on the vehicle body; the running control of each motor on the robot device is realized through a control singlechip arranged on the vehicle body;
the cleaning mechanism fixedly arranged on the vehicle body is used for realizing the cleaning in the pipeline; wherein, the cleaning mechanism includes: the device comprises a sleeper block, a slide bar, a sliding table, a first connecting rod mechanical arm and a second connecting rod mechanical arm;
The number of the pillows is two, and the two pillows are fixedly arranged on the vehicle body; two ends of the sliding rod are fixedly connected with the two pillows respectively; a sliding table is movably arranged on the sliding rod; a first cleaning driving motor is fixedly arranged on the sleeper block through a motor flange; the output shaft of the first cleaning driving motor is fixedly provided with a second synchronous pulley; the sleeper block is provided with a mounting frame, and a lead screw is rotatably arranged on the mounting frame; a third synchronous pulley is arranged at one end of the lead screw, and the third synchronous pulley and the second synchronous pulley 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 screw rod is driven to rotate through a first cleaning driving motor, so that the sliding table can move along the sliding rod;
The sliding table is fixedly provided with a second cleaning driving motor, and the output shaft of the second cleaning driving motor is fixedly provided with a first gear; 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 bracket; 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 arranged on the 90-degree corner device, and the first connecting rod mechanical arm drives the second connecting rod mechanical arm to rotate, so that 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 travelling mechanism and a slipway connecting rod cleaning mechanism; the synchronous crawler belt travelling mechanism is beneficial to the robot to effectively adapt to the working environment under multiple working conditions, the obstacle crossing capacity and the controllability of the robot are improved, and the sliding table connecting rod cleaning mechanism can effectively clean the side surface inside the pipeline without turning the robot. Specifically, in the invention, the first cleaning driving motor drives the screw rod to rotate, so that the left-right movement of the sliding table relative to the vehicle body can be realized, and the left-right movement of the first connecting rod mechanical arm, the second connecting rod mechanical arm and the cleaning brush is driven; 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 cleaning brush can be changed relative to the height of the bottom of the pipeline. In conclusion, the device disclosed by the invention can flexibly and efficiently finish the cleaning tasks of all cleaning surfaces in the central air-conditioning pipeline.
The method can finish the efficient cleaning of the central air-conditioning pipeline; specifically, the first cleaning driving motor drives the sliding table to realize the movement relative to the vehicle body, the sliding table drives the first connecting rod mechanical arm and the second connecting rod mechanical arm to synchronously move, the cleaning brush device (can comprise a rolling brush and a side brush) and the first connecting rod mechanical arm to synchronously move to realize the left-right relative movement with the vehicle body, and the robot can clean a larger cleaning area of a horizontal pipeline surface in the left-right direction under the condition of keeping the linear movement.
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 can clean the side wall of the pipeline under the condition of synchronously rotating with the rolling brush.
The ultrasonic sensor monitors the distance between the vehicle body and the side wall of the pipeline, and feeds back the distance to the power supply and the control unit integration box of the power supply, and the power supply and the control unit integration box of the power supply control the first cleaning drive motor to drive the sliding table to conduct fine adjustment of the distance between the sliding table and the side wall when the side brush cleans the side wall of the pipeline during side wall surface cleaning, so that the side brush is kept to be in effective contact with the side wall, and effective side wall cleaning work is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description of the embodiments or the drawings used in the description of the prior art will make a brief description; it will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from them without undue effort.
Fig. 1 is a schematic structural view of a robot apparatus for cleaning a pipe 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 invention;
FIG. 3 is a schematic view of a cleaning mechanism for a sliding table link in an embodiment of the present invention;
FIG. 4 is a schematic view of a robot body part in an embodiment of the present invention;
FIG. 5 is a schematic view of a side brush structure of a robot rolling brush section in an embodiment of the present invention;
FIG. 6 is a schematic view of a robotic camera in an embodiment of the invention;
FIG. 7 is a schematic view of an ultrasonic sensor in an embodiment of the invention;
FIG. 8 is a schematic diagram showing the relative structure of the sliding table and the sleeper block in the embodiment of the invention;
In fig. 1 to 8, 1, a vehicle body; 2. a first synchronous pulley; 3. a vehicle body driving motor; 4. a dust collection box; 5. a negative pressure motor; 6. a power supply and a control unit thereof as well as a disinfectant integrated box; 7. a synchronous crawler; 8. a pipe; 9. a dust collection 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 mechanical arm; 18. a bracket; 19. a second link mechanical arm; 20. a rolling brush driving motor; 21. a 90 degree turn; 22. a third synchronous pulley; 23. a screw rod; 24. a transmission belt; 25. a second synchronous pulley; 26. a motor flange; 27. a first cleaning drive motor; 28. a camera; 29. a side brush; 30. an ultrasonic sensor; 31. a rolling brush; 32. an atomization disinfection spray nozzle.
Detailed Description
In order to make the purposes, technical effects and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it will be apparent that the described embodiments are some of the embodiments of the present invention. Other embodiments, which may be made by those of ordinary skill in the art based on the disclosed embodiments without undue burden, are within the scope of the present invention.
A robot apparatus for cleaning a pipe according to an embodiment of the present invention includes: the cleaning device comprises a movable vehicle body, a cleaning mechanism, a power supply and a control device.
The front end of the vehicle body is provided with a dust collection 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 for driving 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 movement of the sliding table and the movement of the connecting rod mechanical arm are driven, and the connecting rod mechanical arm is connected with a rolling brush driving device to drive the rolling brush to move. 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 motor is arranged in tandem and connected with the synchronous belt wheel to drive the synchronous crawler mechanism to move.
Optionally, the vehicle body dust collection device includes: the dust collection device comprises a front dust collection port, a connecting rubber tube, a dust collection box and a negative pressure motor. The dust collection port is connected with the front end of the vehicle body, the dust collection box is connected with the vehicle body, and is connected with the dust collection port through a rubber tube, and the negative pressure motor is connected with the dust collection box.
Optionally, the cleaning mechanism comprises a pillow: the sleeper block is fixedly connected with the vehicle body; the sleeper block is fixedly connected to the middle of the vehicle body, the sliding table is connected with the sleeper block through a screw nut mechanism, and the sliding table realizes the relative movement between the sliding table and the sleeper block through a first cleaning driving motor; the first cleaning driving motor is transmitted through a synchronous belt and is connected with the sleeper block through a motor flange, and the motor flange is fixedly connected with the sleeper block; the first cleaning driving motor is connected with a second synchronous pulley, and the second synchronous pulley is connected with a third synchronous pulley fixedly connected to the screw rod through a transmission belt to realize a screw nut mechanism and realize left-right movement of the sliding table. Be equipped with link mechanism and clean driving motor of second on the slip table, clean driving motor of second passes through gear train drive first link arm, the rotation of second link arm, and clean driving motor of second passes through the flange to be connected with the slip table, flange and slip table fixed connection, and first link arm passes through fixed hinge and slip table to be connected, and clean driving motor of second and the fixed hinge department fixedly connected with gear train of first link 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 relatively move and rotate in the sliding groove of the first connecting rod mechanical arm, so that the single degree of freedom condition of the connecting rod mechanism is realized, and the movement of the connecting rod mechanism is realized under the drive of the second cleaning driving motor.
The second connecting rod mechanical arm is connected with the sliding table, and a revolute pair between the second connecting rod mechanical arm and the sliding table is formed through the support, so that 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 rolling brush driving unit motor is fixedly connected with the second connecting rod mechanical arm, and drives the rolling brush to rotate through the 90-degree corner device; the 90 corner device is connected with a motor of the rolling brush driving unit through a tight top coupler, and the 90 corner 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 uses a lithium battery to provide the electric quantity requirement of the robot, and the control unit comprises a control singlechip and a sensor; the lithium battery is fixedly connected to the rear end of the vehicle body, the control singlechip uses the stm32 singlechip and is connected with the vehicle body, and the rear end of the vehicle body seals the power supply and the control singlechip, so that the influence of the working environment is prevented; the control unit sensor comprises a camera and an ultrasonic sensor; the cameras are 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 with the outside of the power supply and the control unit box body of the vehicle 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 pulley 2, the first synchronous belt pulley 2 is provided with a synchronous crawler belt 7, and the vehicle body driving motor 3 is arranged in a front-back cross manner, so that a double-drive crawler belt travelling mechanism of the robot is realized.
The vehicle body 1 is connected with a power supply and a control unit thereof and a disinfectant integrated box 6, and the power supply and the control unit integrated box 6 are fixedly connected with an ultrasonic sensor 30; preferably, the ultrasonic sensors 30 are arranged symmetrically left and right. The dust collection box 4 of the dust collection device is fixedly connected to the power supply and control unit integrated box 6 thereof, the 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 the dust collection opening 9 of the dust collection device through a pipeline 8, and the dust collection opening 9 is fixedly connected with the front end of the vehicle body 1; wherein, fixedly connected with camera above the dust-collecting box 4, automobile body 1 front end fixedly connected with camera.
The cleaning mechanism 10 includes a pillow 11; the sleeper 11 is fixedly connected to the vehicle body 1, and the sleeper 11 is provided with a fixedly connected motor flange 26; the first cleaning driving motor 27 is fixedly connected with the motor flange 26, a second synchronous pulley 25 is fixedly connected to a motor shaft of the first cleaning driving motor 27, a transmission belt 24 is connected with the second synchronous pulley 25 and a third synchronous pulley 22, the sliding table 12 is connected with a lead screw 23 through a screw pair, the lead screw 23 is connected with the third synchronous pulley 22, and the first cleaning driving motor 27 drives the lead screw 23 to rotate through the second synchronous pulley 25, the transmission belt 24 and the third synchronous pulley 22 to complete left-right movement of the sliding table 12 relative to a vehicle body.
The sliding table 12 is fixedly connected with a first connecting rod mechanical arm 17, the first connecting rod mechanical arm 17 can relatively rotate relative to the sliding table 12 according to a fixed hinge, the sliding table 12 is fixedly connected with a second cleaning driving motor 14, the second cleaning driving motor 14 is fixedly connected with the sliding table through a flange, an output shaft of the second cleaning driving motor 14 is connected with a first gear 13, and the first gear 13 is meshed with a second gear 15 fixedly connected with the first connecting rod mechanical arm 17; under the driving action of the second cleaning driving motor 14, the first link mechanical arm 17 can rotate relatively to the sliding table around the fixed hinge.
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 bracket 18 in a hinged manner, a revolute pair between the second connecting rod mechanical arm 19 and the sliding table is formed, and 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 drive of the second cleaning driving motor 14, so that the cleaning rolling brush height 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 drive 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 side brush 29 can be changed according to the pipeline size in operation.
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 synchronously move, the cleaning brush device (comprising the rolling brush 31 and the side brush 29) and the first connecting rod mechanical arm 17 synchronously move to realize left and right relative movement with the vehicle body 1, and the robot cleans a larger cleaning area of a horizontal pipeline surface in the left and right direction under the condition of keeping linear movement. 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 can clean the side wall of the pipeline under the condition of rotating synchronously 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 back the distance to the power supply and the control unit integration box 6, and the power supply and the control unit integration box 6 control the first cleaning driving motor 27 to drive the sliding table 12 to conduct fine adjustment of the distance between the side brush 29 and the side wall when the side wall surface is cleaned, so that the side brush 29 is kept in effective contact 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 brush can realize up-and-down high-movement and left-and-right relative movement perpendicular to the movement direction of the vehicle body 1, so that the inner surfaces of pipelines at different heights and under the condition of not rotating the vehicle body are cleaned, the cleaning area in unit time is increased compared with that of a traditional cleaning robot, and the cleaning efficiency is improved.
Preferably, the camera 28 is fixedly arranged on the front end of the vehicle body, the rear end of the vehicle body, the dust collecting box 4 and the second connecting rod mechanical arm 19, so that a worker can monitor the working environment around the vehicle body and the position of the rolling brush relative to the cleaning surface at any time, and the robot can conveniently adjust the relative height of the rolling brush, thereby effectively completing the task of cleaning the pipeline.
Preferably, the ultrasonic sensor 30 is fixedly connected to the power supply and the control unit thereof, and the left and right sides of the sterilizing liquid integration box 6, and the ultrasonic sensor 30 can detect the position of the outer protrusion of the robot body from the side wall of the pipeline, and meanwhile, provide a reference for the left and right movement distance of the sliding table 12, so as to adapt to the changed working environment, and improve the working efficiency and stability of the robot.
Preferably, the atomizing and disinfecting spray head 32 is fixed on the power supply and the control unit thereof and the disinfecting liquid integration box 6, so that the disinfecting liquid placed in the power supply and the control unit thereof and the disinfecting liquid integration box 6 can be atomized and sprayed out, thereby improving the cleaning effect of the pipeline and effectively sterilizing.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, one skilled in the art may make modifications and equivalents to the specific embodiments of the present invention, and any modifications and equivalents not departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.
Claims (8)
1. A robotic device for cleaning a pipe, comprising:
A vehicle body (1) for use as a carrying mechanism for the robot apparatus; 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 components of the robot device which need to be supplied with power; a control singlechip is arranged on the vehicle body (1) and used for realizing the control of each motor on the robot device;
The cleaning mechanism (10) is fixedly arranged on the vehicle body (1) and is used for realizing cleaning in a pipeline; wherein the cleaning mechanism (10) comprises: the device comprises a sleeper block (11), a slide bar, a sliding table (12), a first connecting rod mechanical arm (17) and a second connecting rod mechanical arm (19);
The number of the pillows (11) is two, and the two pillows are fixedly arranged on the vehicle body (1); two ends of the sliding rod are fixedly connected with two pillows (11) respectively; a sliding table (12) is movably arranged on the sliding rod; a first cleaning driving motor (27) is fixedly arranged on the sleeper block (11) through a motor flange (26); the output shaft of the first cleaning driving motor (27) is fixedly provided with a second synchronous pulley (25); the sleeper block (11) is provided with a mounting frame, and a screw rod (23) is rotatably arranged on the mounting frame; a third synchronous pulley (22) is arranged at one end of the lead screw (23), and the third synchronous pulley (22) and the second synchronous pulley (25) realize transmission through a transmission belt; the other end of the screw rod (23) is arranged 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 bar;
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 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); the 90-degree corner device (21) is provided with a cleaning brush, namely a rolling brush (31) and a side brush (29), and the cleaning brush can be adjusted in height by driving the second connecting rod mechanical arm (19) to rotate through the first connecting rod mechanical arm (17);
A driving device on a vehicle body (1) includes: four first synchronous pulleys (2), two driving motors (3) and two synchronous tracks (7); the two car body driving motors (3) are fixedly arranged on the car body (1), and the output shafts at the two ends of each car body driving motor (3) are fixedly provided with a first synchronous belt wheel (2); the two first synchronous pulleys (2) on the same side of the two vehicle body driving motors (3) are respectively provided with a synchronous crawler belt (7);
Further comprises: a dust collection device and a dust collection box (4); the dust collection device is fixedly arranged at the front end of the vehicle body (1) and is driven by a negative pressure motor (5); the dust collection opening (9) of the dust collection device is communicated with the dust collection box (4) through a pipeline (8).
2. A robotic device for pipe cleaning according to claim 1, characterized in that the pipe (8) is a rubber tube.
3. The robotic device for pipe cleaning of claim 1, further comprising: a camera (28);
The camera (28) is arranged at the front end of the vehicle body (1), the rear end of the vehicle body (1) or the second connecting rod mechanical arm (19) and is used for monitoring the working environment of the robot device.
4. The robotic device for pipe cleaning of claim 1, further comprising: an ultrasonic sensor (30); and the distance between the outer flange of the robot device and the side wall of the pipeline to be cleaned is detected.
5. The robotic device for cleaning a pipeline according to claim 4, wherein the power supply and the control singlechip are integrated in a power supply and its control unit and disinfectant tank (6);
The ultrasonic sensor (30) is arranged on the outer wall of the power supply and the control unit thereof and the sterilizing liquid integration box (6), and the signal output end of the ultrasonic sensor (30) is connected with the signal input end of the control singlechip.
6. The robotic device for pipe cleaning of claim 1, wherein the power source is a lithium battery; the control singlechip adopts an stm32 singlechip.
7. A robotic device for pipe cleaning according to claim 1, characterized in that the cleaning brush comprises a roller brush (31) and a side brush (29);
the second connecting rod mechanical arm (19) is provided with a rolling brush driving motor (20) for driving the rolling brush (31) and the side brush (29).
8. A method of operating a robotic device for pipe cleaning as claimed in any one of claims 1 to 7, comprising the steps of:
Taking a vehicle body (1) 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) is used for supplying power to the parts of the robot device which need to be powered; the operation control of each motor on the robot device is realized through a control singlechip arranged on the vehicle body (1);
the cleaning mechanism (10) fixedly arranged on the vehicle body (1) is used for realizing cleaning in a pipeline; wherein the cleaning mechanism (10) comprises: the device comprises a sleeper block (11), a slide bar, a sliding table (12), a first connecting rod mechanical arm (17) and a second connecting rod mechanical arm (19);
The number of the pillows (11) is two, and the two pillows are fixedly arranged on the vehicle body (1); two ends of the sliding rod are fixedly connected with two pillows (11) respectively; a sliding table (12) is movably arranged on the sliding rod; a first cleaning driving motor (27) is fixedly arranged on the sleeper block (11) through a motor flange (26); the output shaft of the first cleaning driving motor (27) is fixedly provided with a second synchronous pulley (25); the sleeper block (11) is provided with a mounting frame, and a screw rod (23) is rotatably arranged on the mounting frame; a third synchronous pulley (22) is arranged at one end of the lead screw (23), and the third synchronous pulley (22) and the second synchronous pulley (25) realize transmission through a transmission belt; the other end of the screw rod (23) is arranged 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 bar;
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 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); the 90-degree corner device (21) is provided with a cleaning brush, namely a rolling brush (31) and a side brush (29), and the first connecting rod mechanical arm (17) drives the second connecting rod mechanical arm (19) to rotate so as to adjust the height of the cleaning brush.
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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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| CN111847014A (en) * | 2020-08-20 | 2020-10-30 | 哈工大机器人（岳阳）军民融合研究院 | Shovel actuator 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 |
| 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 |
| CN112517566B (en) * | 2020-11-26 | 2025-04-18 | 宁波介量机器人技术有限公司 | Self-adaptive pipeline cleaning robot |
| CN113280209B (en) * | 2021-06-09 | 2023-02-14 | 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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| JPH11244800A (en) * | 1998-02-27 | 1999-09-14 | Hitachi Zosen Corp | Robotic device for cleaning waterways |
| CN103240246B (en) * | 2013-05-15 | 2015-11-11 | 上海市时代中学 | For the robot of Status of air duct cleaning |
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