CN111774386B - Passive drive pipeline deashing robot - Google Patents
Passive drive pipeline deashing robot Download PDFInfo
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- CN111774386B CN111774386B CN202010635669.3A CN202010635669A CN111774386B CN 111774386 B CN111774386 B CN 111774386B CN 202010635669 A CN202010635669 A CN 202010635669A CN 111774386 B CN111774386 B CN 111774386B
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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
- B08B9/053—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction
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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
- B08B9/053—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction
- B08B9/055—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved along the pipes by a fluid, e.g. by fluid pressure or by suction the cleaning devices conforming to, or being conformable to, substantially the same cross-section of the pipes, e.g. pigs or moles
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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
- B08B2209/053—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 being moved along the pipes by a fluid, e.g. by fluid pressure or by suction
- B08B2209/055—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 being moved along the pipes by a fluid, e.g. by fluid pressure or by suction the cleaning devices conforming to, or being conformable to, substantially the same cross-section of the pipes, e.g. pigs or moles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Fluid Mechanics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a passive driving pipeline dust cleaning robot. The device mainly comprises a driving device, a cleaning device and supporting devices which are arranged and connected in the pipeline from the air inlet direction to the air outlet direction, wherein the driving device and the cleaning device and the supporting device are connected through flexible couplings, so that the devices swing relatively; when wind force in the dust removal pipeline acts on a windward plate in the driving device, the robot is pushed to walk along the inner wall of the dust removal pipeline, and meanwhile, all sections of devices of the robot swing relatively to adapt to turning change of the pipeline. The invention uses windward plates to replace fan blades for wind power driving, realizes passive driving, has high energy conversion efficiency, improves the safety of combustible and explosive dust cleaning operation, and can be used for cleaning dust cleaning pipelines.
Description
Technical Field
The invention relates to a pipeline robot, in particular to a passive driving pipeline dust cleaning robot.
Background
Flammable dust removal pipeline cleaning is a dangerous task. If the manual cleaning mode is adopted in the dust cleaning operation in the pipe, the operation intensity is high, the operation condition is severe, the operation range is limited, and the operation result is not easy to detect. Therefore, the designed combustible dust pipeline dust cleaning robot has good engineering value, commercial value and social value. The existing pipeline cleaning robot usually adopts a mode of leading in electric energy or generating electric energy by itself by a high-energy battery and a cable, high electric energy is formed inside an operation dust pipeline to be gathered, and potential great risks are brought to the cleaning of a combustible dust pipeline, so that a passive-driven pipeline dust cleaning robot is lacked in the prior art.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a passive driving pipeline dust cleaning robot.
The technical scheme adopted by the invention is as follows:
the invention is mainly composed of a driving device, a cleaning device and supporting devices which are arranged and connected in the direction from air inlet to air outlet in a pipeline, wherein the driving device and the cleaning device, and the cleaning device and the supporting device are connected through flexible couplings, so that the devices swing relatively; when wind force in the dust removal pipeline acts on a windward plate in the driving device, the robot is pushed to walk along the inner wall of the dust removal pipeline, and meanwhile, all sections of devices of the robot swing relatively to adapt to turning change of the pipeline.
The flexible coupling is a universal coupling or other flexible couplings.
The rotary motion of the output end of the driving device is transmitted to the cleaning device through the flexible coupling, and the cleaning head of the cleaning device is driven to rotate to perform dust cleaning operation.
The driving device comprises a windward plate, a driving device sliding rod, a driving device sliding block, a worm wheel, a driving device output shaft, a gear box body, a driving device spring and a plurality of elastic expanding driving components; the windward plate is fixed at one end of the driving device sliding rod, the gearbox body is fixed at the other end of the driving device sliding rod, and a worm wheel is coaxially arranged at the center of the end face of the other end of the driving device sliding rod through a revolute pair; the driving device sliding block is coaxially and movably sleeved outside the end part, close to the windward plate, of the driving device sliding rod and relatively slides along the axial direction of the driving device sliding rod; the driving device spring is sleeved outside the driving device sliding rod, one end of the driving device spring is connected with the driving device sliding block, and the other end of the driving device spring is connected with the gear box body; a plurality of elastic expanding driving components are connected between the driving device sliding block and the gearbox body, and are circumferentially and uniformly distributed around the driving device sliding rod; each elastic expanding driving assembly comprises a driving device connecting rod, a driving device rocker, a driving wheel, a worm, a synchronous belt wheel and a synchronous belt; one end of the driving device connecting rod is connected with the driving device sliding block through a revolute pair, the other end of the driving device connecting rod is connected with the middle of one driving device rocker through a revolute pair, one end, close to the driving device sliding rod, of the driving device rocker serves as a root end and is connected with the gear box body through a revolute pair, and one end, far away from the driving device sliding rod, of the driving device rocker serves as a tail end and is provided with a driving wheel through a revolute pair; the synchronous belt wheel comprises a driving belt wheel and a driven belt wheel, the driving wheel is rigidly and coaxially connected with the driving belt wheel, the driving belt wheel is in transmission connection with the driven belt wheel through the synchronous belt, and the driven belt wheel is coaxially and fixedly connected with the worm; the worm is arranged on the side part of the gear box body through a rotating pair, and the worm wheel are in transmission connection through a worm gear and worm pair; the driving device spring always generates acting force for mutually drawing the driving device sliding block and the gear box body together, so that the tail ends of the driving device rocking bars of the elastic expanding driving assemblies extend outwards towards the direction of the inner wall of the pipeline, and a plurality of driving wheels at the tail ends of the driving device rocking bars are always elastically attached to the inner wall of the dust removal pipeline in a rolling connection mode.
The belt transmission between the driving wheel and the worm through the motion transmission of the synchronous belt can be replaced by chain transmission or multi-stage gear transmission.
The cleaning device comprises a cleaning device driving shaft, a cleaning device sliding block, a cleaning device rocker fixing seat, a cleaning device spring and a plurality of cleaning connecting rod assemblies; one end of the cleaning device driving shaft close to the driving device is synchronously and rotatably connected with a driving device output shaft of the driving device through a flexible coupling, a cleaning device rocker fixing seat is coaxially and rigidly sleeved with one end of the cleaning device driving shaft close to the driving device, a cleaning device sliding block is coaxially and movably sleeved at one end of the cleaning device driving shaft far away from the driving device, and the cleaning device sliding block relatively slides along the axial direction of the cleaning device driving shaft; a cleaning device spring is sleeved outside a cleaning device driving shaft between the cleaning device sliding block and the cleaning device rocker fixing seat, two ends of the cleaning device spring are respectively connected to the cleaning device sliding block and the cleaning device rocker fixing seat, and a plurality of cleaning connecting rod assemblies are uniformly distributed around the circumference of the cleaning device driving shaft along the circumferential direction; each cleaning connecting rod assembly comprises a cleaning device connecting rod and a cleaning device rocker, one end of each cleaning device connecting rod is connected with a cleaning device sliding block through a revolute pair, and the other end of each cleaning device connecting rod is connected with the middle part of the cleaning device rocker through a revolute pair; the end of the cleaning device rocker close to the cleaning device driving shaft is used as a root end and is connected with the cleaning device rocker fixing seat through a revolute pair, and the end of the cleaning device rocker far away from the cleaning device driving shaft is used as a tail end and is provided with a cleaning head through a revolute pair; the cleaning device spring always generates an acting force for drawing the cleaning device sliding block and the cleaning device rocker fixing seat close to each other, so that the tail ends of the cleaning device rockers of the cleaning connecting rod assemblies extend outwards towards the inner wall direction of the pipeline, and a plurality of cleaning heads at the tail ends of the cleaning device rockers are always elastically attached to the inner wall of the dust removal pipeline in a friction connection mode.
The supporting device comprises a supporting device driving shaft, a supporting device sliding block, a supporting device rocker fixing seat, a supporting device spring and a plurality of supporting connecting rod assemblies; one end of the supporting device driving shaft, which is close to the cleaning device, is connected with the cleaning device driving shaft of the cleaning device through a flexible coupling in a revolute pair manner, the supporting device rocker fixing seat is coaxially and rigidly sleeved with one end of the supporting device driving shaft, which is close to the driving device, the supporting device sliding block is coaxially and movably sleeved at one end of the supporting device driving shaft, which is far away from the driving device, and the supporting device sliding block relatively slides along the axial direction of the supporting device driving shaft; a supporting device spring is sleeved outside the supporting device driving shaft between the supporting device sliding block and the supporting device rocker fixing seat, two ends of the supporting device spring are respectively connected to the supporting device sliding block and the supporting device rocker fixing seat, and a plurality of supporting connecting rod assemblies are uniformly distributed around the circumference of the supporting device driving shaft along the circumferential direction; each supporting connecting rod assembly comprises a supporting device connecting rod and a supporting device rocker, one end of each supporting device connecting rod is connected with a supporting device sliding block through a revolute pair, and the other end of each supporting device connecting rod is connected with the middle part of each supporting device rocker through a revolute pair; one end of the supporting device rocker, which is close to the driving shaft of the supporting device, is used as a root end and is connected with the supporting device rocker fixing seat through a revolute pair, and one end of the supporting device rocker, which is far away from the driving shaft of the supporting device, is used as a tail end and is provided with a supporting wheel through a revolute pair; the supporting device springs always generate acting force for enabling the supporting device sliding blocks and the supporting device rocker fixing seats to be close to each other, so that the tail ends of the supporting device rockers of the supporting device connecting rod assemblies extend outwards towards the direction of the inner wall of the pipeline, and a plurality of supporting wheels at the tail ends of the supporting device rockers are always elastically attached to the inner wall of the dust removal pipeline in a rolling connection mode.
The invention has the beneficial effects that:
the pipeline dust cleaning robot is passively driven, can work only by the wind power of the pipeline, and can be used for cleaning dust on the inner wall of a dust cleaning pipeline, in particular a dust cleaning system pipeline with combustible and explosive dust.
The ash cleaning robot does not need a power supply when in operation, thereby avoiding the risk of explosion caused by high electric energy accumulation inside the dust removing pipeline which can burn and explode dust. When the dust is cleaned, a fan of the dust removal system is normally started, and the dust removal robot drives the robot to walk along the inner wall of the dust removal pipeline and clean accumulated dust on the inner wall of the pipeline by utilizing wind energy of the dust removal system.
The windward plate is used for replacing the fan blades, so that the wind energy conversion efficiency is high; the wind energy drive realizes the passive drive and improves the safety of the dust cleaning operation of the combustible and explosive dust.
Drawings
FIG. 1 is a schematic view of the overall operation;
FIG. 2 is a schematic view of the working state of the robot in a turning and reducing pipeline;
FIG. 3 is a perspective view of the driving device;
FIG. 4 is a side view of the drive assembly;
FIG. 5 is a view in the direction A of FIG. 4;
FIG. 6 is a perspective view of the cleaning apparatus;
FIG. 7 is a perspective view of the support device;
in the figure: the device comprises a driving device (1), a cleaning device (2), a supporting device (3), a pipeline (4), accumulated dust (5) and a flexible coupling (6);
the device comprises a windward plate (101), a driving device sliding rod (102), a driving device sliding block (103), a driving device connecting rod (104), a driving device rocker (106), a driving device spring (105), a gear box body (107), a worm wheel (108), a worm (109), a synchronous belt (110), a driving wheel (111), a synchronous belt wheel (112), a driving device output shaft (113) and a driving wheel shaft (114);
a cleaning device driving shaft (201), a cleaning device rocker fixing seat (202), a cleaning device rocker (203), a cleaning device connecting rod (204), a cleaning device spring (205), a cleaning device sliding block (206) and a cleaning head (207);
the support device comprises a support device driving shaft (301), a support device rocker fixing seat (302), a support device rocker (303), a support device connecting rod (304), a support device spring (305), a support device sliding block (306) and a support wheel (307).
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 and 2, the duct 4 is mainly composed of a driving device 1, a cleaning device 2, and a supporting device 3, which are connected in the direction from the air intake to the air outtake, and the driving device 1, the cleaning device 2, and the supporting device 3 are not necessarily arranged in the order shown in fig. 1 and 2, but may be arranged in another order. The driving device 1 and the cleaning device 2, and the cleaning device 2 and the supporting device 3 are connected through flexible couplings 6, so that the devices can swing relatively; when the wind force in the dust removal pipeline 4 acts on the windward plate 101 in the driving device 1, the robot is pushed to walk along the inner wall of the dust removal pipeline 4, and meanwhile, all sections of devices of the robot swing relatively to adapt to the turning change of the pipeline.
Each section of device adopts an elastic expanding device with a spring, and under the spring force action of the spring, each walking wheel or cleaning head 207 loses track and clings to the inner wall of the pipeline, so that the device automatically adapts to the change of the pipe diameter of the dust removal pipeline.
The driving device 1 converts the wind energy driving force in the pipeline 4 into the rotation potential energy of the wheel, converts the wind energy driving force from the air inlet of the pipeline 4 into the rotation force of the wheel, and drives the cleaning device 2, the supporting device 3 and the driving device 1 to move forward together.
The cleaning device 2 drives the cleaning head 207 in the cleaning device 2 to rotate by utilizing the rotational kinetic energy transmitted by the flexible coupling 6, so that the accumulated dust on the inner wall of the dust removal pipeline is peeled off and lifted, and the lifted dust is timely conveyed to the dust removal device at the tail end of the outlet of the dust removal system by wind energy in the pipeline of the dust removal system along the pipeline 4, thereby realizing the dust removal function.
The supporting device 3 can be selectively installed, polygonal support is formed between the inner walls of the pipelines, and the supporting device mainly plays a role in supporting the pipeline robot, improves the stability of the operation of the robot and prevents the robot from deviating or turning on one side.
The flexible coupling 6 is a universal coupling or other form of flexible coupling 6. The driving device 1, the cleaning device 2 and the supporting device 3 are connected through the flexible coupling 6, so that relative swinging is generated among the devices, and the pipeline dust cleaning robot can adapt to the bending of a dust removal pipeline in the walking process. The rotary motion of the output end of the driving device 1 is transmitted to the cleaning device 2 through the flexible coupling 6, and the cleaning head 207 of the cleaning device 2 is driven to rotate to perform dust cleaning operation.
As shown in fig. 3 to 5, the driving device 1 includes a windward plate 101, a driving device sliding rod 102, a driving device slider 103, a worm gear 108, a driving device output shaft 113, a gear box 107, a driving device spring 105, and a plurality of elastic expanding driving components; the windward plate 101 is fixed at one end of the driving device sliding rod 102, the gear box body 107 is coaxially and rigidly fixed at the other end of the driving device sliding rod 102, and a worm gear 108 is coaxially arranged at the center of the end face of the other end of the driving device sliding rod 102 by a revolute pair; the driving device sliding block 103 is coaxially and movably sleeved outside the end part, close to the windward plate 101, of the driving device sliding rod 102 and relatively slides along the axial direction of the driving device sliding rod 102; a driving device spring 105 is sleeved outside the driving device sliding rod 102, one end of the driving device spring 105 is connected with the driving device sliding block 103, and the other end of the driving device spring 105 is connected with the gear box body 107; a plurality of elastic expanding drive components are connected between the drive device slide block 103 and the gear box body 107, and are circumferentially and uniformly distributed around the drive device slide rod 102.
Each elastic expanding driving assembly comprises a driving device connecting rod 104, a driving device rocker 106, a driving wheel 111, a worm 109, a synchronous pulley 112 and a synchronous belt 110; the number of the driving device connecting rods 104 is the same as that of the driving device rocking rods 106, one end of each driving device connecting rod 104 is connected with the driving device sliding block 103 in a revolute pair mode, the other end of each driving device connecting rod is connected with the middle of one driving device rocking rod 106 in a revolute pair mode, the driving device rocking rods 106 are arranged in a radial mode relative to the driving device sliding rods 102, one end, close to the driving device sliding rods 102, of each driving device rocking rod 106 serves as a root end and is connected with the gear box body 107 in a revolute pair mode, and one end, far away from the driving device sliding rods 102, serves as a tail end and is provided with a driving wheel 111 in a revolute pair mode; the synchronous pulley 112 comprises a driving pulley and a driven pulley, the driving pulley 111 is rigidly and coaxially connected with the driving pulley through a driving wheel shaft 114, the driving wheel shaft 114 is connected and installed with the driving device rocker 106 through a revolute pair, the driving pulley and the driven pulley are in belt transmission connection through a synchronous belt 110, and the driven pulley is coaxially and fixedly connected with the worm 109; the worm 109 is mounted on the side of the gear box 107 by a rotation pair, the worm 109 and the worm wheel 108 are in transmission connection by a worm-gear pair, and the worm 109 of each elastic width expanding driving assembly is circumferentially and uniformly distributed relative to the axis of the gear box 107.
The driving device spring 105 is an extension spring and always generates an acting force for closing the driving device sliding block 103 and the gear box body 107 to each other, so that the tail ends of the driving device rocking bars 106 of the plurality of elastic expanding driving assemblies extend outwards towards the inner wall direction of the pipeline 4, the driving wheels 111 on the tail ends of the driving device rocking bars 106 are simultaneously unfolded outwards, the driving wheels 111 on the tail ends of the driving device rocking bars 106 are always elastically attached to the inner wall of the dust removal pipeline 4 in a rolling connection mode, and the change of the pipe diameter of the dust removal pipeline is adapted.
When the windward plate 101 is blown by wind power in the dust removal pipeline to enable the driving device 1 to move along the axis of the dust removal pipeline, the driving wheels 111 roll purely along the inner wall of the dust removal pipeline 4; the pure rolling of the driving wheel 111 is transmitted to the worm 109 through the belt transmission of the synchronous belt 110, and the movement is transmitted to the output shaft 113 of the driving device through the transmission of the worm 109 and the worm wheel 108.
The belt drive between the drive wheel 111 and the worm 109, which is transmitted by the motion of the timing belt 110, may also be replaced by a chain drive or a multi-stage gear drive.
As shown in fig. 6, the cleaning device 2 includes a cleaning device driving shaft 201, a cleaning device sliding block 206, a cleaning device rocker fixing seat 202, a cleaning device spring 205 and a plurality of cleaning connecting rod assemblies; one end of the cleaning device driving shaft 201 close to the driving device 1 is synchronously and rotatably connected with the driving device output shaft 113 of the driving device 1 through the flexible coupling 6, the power of the driving device output shaft 113 is coupled to the cleaning device driving shaft 201 of the cleaning device 2, the cleaning device rocker fixing seat 202 is coaxially and rigidly sleeved with one end of the cleaning device driving shaft 201 close to the driving device 1, one end of the cleaning device driving shaft 201 far away from the driving device 1 is coaxially and movably sleeved with a cleaning device sliding block 206, and the cleaning device sliding block 206 axially and relatively slides along the cleaning device driving shaft 201; a cleaning device spring 205 is sleeved outside the cleaning device driving shaft 201 between the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202, two ends of the cleaning device spring 205 are respectively connected to the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202, and a plurality of cleaning connecting rod assemblies are uniformly distributed around the circumference of the cleaning device driving shaft 201 along the circumferential direction.
Each cleaning connecting rod assembly comprises a cleaning device connecting rod 204 and a cleaning device rocker 203, one end of the cleaning device connecting rod 204 is connected with a cleaning device sliding block 206 through a revolute pair, and the other end of the cleaning device connecting rod 204 is connected with the middle part of the cleaning device rocker 203 through a revolute pair; the cleaning device rocker 203 is arranged radially with respect to the cleaning device drive shaft 201, the cleaning device rocker 203 is connected with the cleaning device rocker holder 202 at one end close to the cleaning device drive shaft 201 as a root end and with a revolute pair, and the cleaning head 207 is mounted at one end far from the cleaning device drive shaft 201 as a tip end and with a revolute pair.
The cleaning device spring 205 is an extension spring, always generates an acting force for drawing the cleaning device sliding block 206 and the cleaning device rocker fixing seat 202 together, so that the tail ends of the cleaning device rockers 203 of the plurality of cleaning connecting rod assemblies extend outwards towards the inner wall direction of the pipeline 4, the cleaning heads 207 on the tail ends of the cleaning device rockers 203 are simultaneously unfolded outwards, the plurality of cleaning heads 207 on the tail ends of the cleaning device rockers 203 are always elastically attached to the inner wall of the dust removal pipeline 4 in a friction connection mode, and the change of the pipe diameter of the dust removal pipeline is adapted.
The cleaning device driving shaft 201 rotates to drive the cleaning heads 207 on the cleaning connecting rod assemblies to synchronously rotate around the circumference of the cleaning device driving shaft 201 through the cleaning device rocker fixing seat 202, so that dust 5 accumulated on the inner wall of the dust removal pipeline 4 is cleaned.
As shown in fig. 7, the supporting device 3 includes a supporting device driving shaft 301, a supporting device slider 306, a supporting device rocker fixing base 302, a supporting device spring 305, and a plurality of supporting link assemblies; one end of the supporting device driving shaft 301 close to the cleaning device 2 is connected with the cleaning device driving shaft 201 of the cleaning device 2 through a flexible coupling 6 in a revolute pair mode, the supporting device rocker fixing seat 302 is coaxially and rigidly sleeved with one end of the supporting device driving shaft 301 close to the driving device 1, one end of the supporting device driving shaft 301 far away from the driving device 1 is coaxially and movably sleeved with a supporting device sliding block 306, and the supporting device sliding block 306 axially and relatively slides along the supporting device driving shaft 301; a supporting device spring 305 is sleeved outside the supporting device driving shaft 301 between the supporting device sliding block 306 and the supporting device rocker fixing seat 302, two ends of the supporting device spring 305 are respectively connected to the supporting device sliding block 306 and the supporting device rocker fixing seat 302, and a plurality of supporting connecting rod assemblies are uniformly distributed around the circumference of the supporting device driving shaft 301 along the circumferential direction.
Each support link assembly comprises a support device link 304 and a support device rocker 303, one end of the support device link 304 is connected with the support device slider 306 in a revolute pair, and the other end of the support device link 304 is connected with the middle part of the support device rocker 303 in a revolute pair; the support means rocker 303 is arranged radially with respect to the support means drive shaft 301, the support means rocker 303 being connected with the support means rocker mount 302 as a revolute pair at an end close to the support means drive shaft 301 and being provided with a support wheel 307 as a revolute pair at an end remote from the support means drive shaft 301.
The supporting device spring 305 is an extension spring, always generates acting force for closing the supporting device sliding block 306 and the supporting device rocker fixing seat 302, so that the tail ends of the supporting device rockers 303 of the supporting device connecting rod assemblies extend outwards towards the inner wall direction of the pipeline 4, the supporting wheels 307 on the tail ends of the supporting device rockers 303 are simultaneously opened outwards, the supporting wheels 307 at the tail ends of the supporting device rockers 303 are always elastically attached to the inner wall of the dust removal pipeline 4 in a rolling connection mode, and the change of the pipe diameter of the dust removal pipeline is adapted.
The support means drive shaft 301 does not rotate and the support wheels 307 on each support link assembly support and roll on the inner wall of the dust removal duct 4.
Under the overall working condition of the robot, the windward plate 101 pushes the driving device 1 to run along the pipeline, meanwhile, the driving wheels 111 in the driving device 1 roll along the inner wall of the pipeline, the pure rolling is collected to the driving device output shaft 113 through the driving force transmission chain, the driving device output shaft 113 generates rotary motion, and the cleaning device 2 behind is driven to perform dust cleaning operation.
Claims (6)
1. The utility model provides a passive drive pipeline deashing robot which characterized in that: the dust removal device mainly comprises a driving device (1), a cleaning device (2) and a supporting device (3) which are arranged and connected in the direction from air inlet to air outlet in a dust removal pipeline (4), wherein the driving device (1) and the cleaning device (2) and the supporting device (3) are connected through flexible couplings (6), so that the devices can swing relatively; when wind power in the dust removal pipeline (4) acts on a windward plate (101) in the driving device (1), the robot is pushed to walk along the inner wall of the dust removal pipeline (4), and meanwhile, all sections of devices of the robot swing relatively to adapt to the turning change of the dust removal pipeline;
the driving device (1) comprises a windward plate (101), a driving device sliding rod (102), a driving device sliding block (103), a worm wheel (108), a driving device output shaft (113), a gear box body (107), a driving device spring (105) and a plurality of elastic expanding driving components; the windward plate (101) is fixed at one end of the driving device sliding rod (102), the gear box body (107) is fixed at the other end of the driving device sliding rod (102), and a worm wheel (108) is coaxially arranged at the center of the end face of the other end of the driving device sliding rod (102) in a revolute pair mode; the driving device sliding block (103) is coaxially and movably sleeved outside the end part, close to the windward plate (101), of the driving device sliding rod (102) and relatively slides along the axial direction of the driving device sliding rod (102); a driving device spring (105) is sleeved outside the driving device sliding rod (102), one end of the driving device spring (105) is connected with the driving device sliding block (103), and the other end of the driving device spring (105) is connected with a gear box body (107); a plurality of elastic expanding driving components are connected between the driving device sliding block (103) and the gear box body (107), and are circumferentially and uniformly distributed around the driving device sliding rod (102);
each elastic expanding driving assembly comprises a driving device connecting rod (104), a driving device rocker (106), a driving wheel (111), a worm (109), a synchronous pulley (112) and a synchronous belt (110); one end of a driving device connecting rod (104) is connected with a driving device sliding block (103) through a revolute pair, the other end of the driving device connecting rod is connected with the middle part of a driving device rocker (106) through a revolute pair, one end, close to a driving device sliding rod (102), of the driving device rocker (106) serves as a root end and is connected with a gear box body (107) through a revolute pair, and one end, far away from the driving device sliding rod (102), of the driving device rocker (106) serves as a tail end and is provided with a driving wheel (111) through a revolute pair; the synchronous pulley (112) comprises a driving pulley and a driven pulley, the driving pulley (111) is rigidly and coaxially connected with the driving pulley, the driving pulley and the driven pulley are in belt transmission connection through a synchronous belt (110), and the driven pulley is coaxially and fixedly connected with the worm (109); the worm (109) is arranged on the side part of the gear box body (107) through a rotating pair, and the worm (109) and the worm wheel (108) are in transmission connection through a worm-gear and worm-gear pair; the driving device spring (105) always generates an acting force for mutually drawing the driving device sliding block (103) and the gear box body (107), so that the tail ends of the driving device rocking bars (106) of the elastic expanding driving assemblies extend outwards towards the inner wall direction of the dust removing pipeline (4), and a plurality of driving wheels (111) at the tail ends of the driving device rocking bars (106) are always elastically attached to the inner wall of the dust removing pipeline (4) in a rolling connection manner;
a gap is arranged between the windward plate (101) and the pipe wall of the dust removal pipeline (4).
2. The passive driving pipeline ash removal robot as claimed in claim 1, wherein:
the flexible coupling (6) is a universal coupling or other flexible coupling (6).
3. The passive driving pipeline ash cleaning robot as claimed in claim 2, wherein:
the rotary motion of the output end of the driving device (1) is transmitted to the cleaning device (2) through the flexible coupling (6), and a cleaning head (207) of the cleaning device (2) is driven to rotate to perform ash cleaning operation.
4. The passive driving pipeline ash removal robot as claimed in claim 1, wherein:
the belt transmission between the driving wheel (111) and the worm (109) through the motion transmission of the synchronous belt (110) can also be replaced by chain transmission or multi-stage gear transmission.
5. The passive driving pipeline ash removal robot as claimed in claim 1, wherein:
the cleaning device (2) comprises a cleaning device driving shaft (201), a cleaning device sliding block (206), a cleaning device rocker fixing seat (202), a cleaning device spring (205) and a plurality of cleaning connecting rod assemblies; one end of a driving shaft (201) of the cleaning device, which is close to the driving device (1), is synchronously and rotatably connected with a driving device output shaft (113) of the driving device (1) through a flexible coupling (6), a rocker fixing seat (202) of the cleaning device is coaxially and rigidly sleeved with one end of the driving shaft (201) of the cleaning device, which is close to the driving device (1), a sliding block (206) of the cleaning device is coaxially and movably sleeved at one end of the driving shaft (201), which is far away from the driving device (1), of the cleaning device, and the sliding block (206) of the cleaning device relatively slides along the axial direction of the driving shaft (201) of the cleaning device; a cleaning device spring (205) is sleeved outside a cleaning device driving shaft (201) between the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202), two ends of the cleaning device spring (205) are respectively connected to the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202), and a plurality of cleaning connecting rod assemblies are uniformly distributed around the circumference of the cleaning device driving shaft (201) along the circumferential direction; each cleaning connecting rod component comprises a cleaning device connecting rod (204) and a cleaning device rocker (203), one end of the cleaning device connecting rod (204) is connected with a cleaning device sliding block (206) through a revolute pair, and the other end of the cleaning device connecting rod is connected with the middle part of the cleaning device rocker (203) through a revolute pair; one end of the cleaning device rocker (203) close to the cleaning device driving shaft (201) is used as a root end and is connected with the cleaning device rocker fixing seat (202) through a revolute pair, and one end of the cleaning device rocker (203) far away from the cleaning device driving shaft (201) is used as a tail end and is provided with a cleaning head (207) through a revolute pair; the cleaning device spring (205) always generates an acting force for enabling the cleaning device sliding block (206) and the cleaning device rocker fixing seat (202) to be close to each other, so that the tail ends of the cleaning device rockers (203) of the cleaning connecting rod assemblies extend outwards towards the inner wall direction of the dust removal pipeline (4), and a plurality of cleaning heads (207) at the tail ends of the cleaning device rockers (203) are always elastically attached to the inner wall of the dust removal pipeline (4) in a friction connection mode.
6. The passive driving pipeline ash removal robot as claimed in claim 1, wherein:
the supporting device (3) comprises a supporting device driving shaft (301), a supporting device sliding block (306), a supporting device rocker fixing seat (302), a supporting device spring (305) and a plurality of supporting connecting rod assemblies; one end of a supporting device driving shaft (301) close to the cleaning device (2) is connected with a cleaning device driving shaft (201) of the cleaning device (2) through a flexible coupling (6) in a revolute pair mode, a supporting device rocker fixing seat (302) is coaxially and rigidly sleeved with one end of the supporting device driving shaft (301) close to the driving device (1), a supporting device sliding block (306) is coaxially and movably sleeved at one end of the supporting device driving shaft (301) far away from the driving device (1), and the supporting device sliding block (306) axially slides relatively along the supporting device driving shaft (301); a supporting device spring (305) is sleeved outside a supporting device driving shaft (301) between a supporting device sliding block (306) and a supporting device rocker fixing seat (302), two ends of the supporting device spring (305) are respectively connected to the supporting device sliding block (306) and the supporting device rocker fixing seat (302), and a plurality of supporting connecting rod assemblies are uniformly distributed around the circumference of the supporting device driving shaft (301) along the circumferential direction; each supporting connecting rod assembly comprises a supporting device connecting rod (304) and a supporting device rocker (303), one end of each supporting device connecting rod (304) is connected with a supporting device sliding block (306) through a revolute pair, and the other end of each supporting device connecting rod is connected with the middle of each supporting device rocker (303) through a revolute pair; one end of the supporting device rocker (303) close to the supporting device driving shaft (301) is used as a root end and is connected with the supporting device rocker fixing seat (302) through a revolute pair, and one end of the supporting device rocker (303) far away from the supporting device driving shaft (301) is used as a tail end and is provided with a supporting wheel (307) through a revolute pair; the supporting device spring (305) always generates acting force for enabling the supporting device sliding block (306) and the supporting device rocker fixing seat (302) to be close to each other, so that the tail ends of the supporting device rockers (303) of the supporting device connecting rod assemblies extend outwards towards the inner wall direction of the dust removing pipeline (4), and a plurality of supporting wheels (307) at the tail ends of the supporting device rockers (303) are always elastically attached to the inner wall of the dust removing pipeline (4) in a rolling connection mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010635669.3A CN111774386B (en) | 2020-07-03 | 2020-07-03 | Passive drive pipeline deashing robot |
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| CN202010635669.3A CN111774386B (en) | 2020-07-03 | 2020-07-03 | Passive drive pipeline deashing robot |
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| CN111774386B true CN111774386B (en) | 2022-09-09 |
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| CN112502219A (en) * | 2020-11-21 | 2021-03-16 | 中铁一局集团有限公司 | Hydraulic cable pipe hole cleaning device |
| CN114029292A (en) * | 2021-11-22 | 2022-02-11 | 广东邦普循环科技有限公司 | Pipeline cleaning device |
| CN115338206B (en) * | 2022-08-12 | 2024-01-26 | 中冶赛迪技术研究中心有限公司 | Automatic ash removing device for horizontal cylindrical dust removing pipeline |
| CN115780430B (en) * | 2023-02-06 | 2023-04-18 | 山西中煤东坡煤业有限公司 | Mine drainage pipe inner wall cleaning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2616993B2 (en) * | 1989-07-01 | 1997-06-04 | 株式会社日立製作所 | Method for preventing organisms from adhering to pipes and apparatus for preventing organisms from adhering |
| CN1962091B (en) * | 2006-11-24 | 2011-03-16 | 江苏工业学院 | Diameter changeable pipeline cleaning robot having parallel four-bar mechanism |
| CN106041652A (en) * | 2016-07-14 | 2016-10-26 | 泉州市科茂利通智能科技有限公司 | Pipe inner wall polishing robot based on parallel mechanism |
| CN106362997B (en) * | 2016-10-31 | 2018-07-17 | 西南石油大学 | A kind of rotation type wiper of worm and gear driving |
| CN206613816U (en) * | 2017-02-10 | 2017-11-07 | 中国石油天然气股份有限公司 | Pigging device |
| CN107061924B (en) * | 2017-03-02 | 2022-03-04 | 山东科技大学 | Self-reducing pipeline cleaning robot |
| CN207042958U (en) * | 2017-04-27 | 2018-02-27 | 吉林大学 | Dust pipeline sweeping robot |
| CN107649470B (en) * | 2017-09-19 | 2023-06-02 | 山东大学 | Pipeline cleaning robot and method capable of adapting to changes of different pipe diameters |
| CN109396132B (en) * | 2018-09-11 | 2024-03-08 | 包头钢铁（集团）有限责任公司 | Pipeline cleaner |
| CN110695024A (en) * | 2019-11-01 | 2020-01-17 | 东莞市奇趣机器人科技有限公司 | Air pipe cleaning robot |
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