CN112032470A - Pipeline disinfection robot - Google Patents
Pipeline disinfection robot Download PDFInfo
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- CN112032470A CN112032470A CN202010958433.3A CN202010958433A CN112032470A CN 112032470 A CN112032470 A CN 112032470A CN 202010958433 A CN202010958433 A CN 202010958433A CN 112032470 A CN112032470 A CN 112032470A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 111
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 230000009193 crawling Effects 0.000 claims abstract description 97
- 239000000126 substance Substances 0.000 claims abstract description 39
- 230000005540 biological transmission Effects 0.000 claims description 50
- 239000000645 desinfectant Substances 0.000 claims description 41
- 230000001954 sterilising effect Effects 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000000249 desinfective effect Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 239000007921 spray Substances 0.000 claims description 5
- 230000002421 anti-septic effect Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 6
- 238000005507 spraying Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
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- OSVXSBDYLRYLIG-UHFFFAOYSA-N dioxidochlorine(.) Chemical compound O=Cl=O OSVXSBDYLRYLIG-UHFFFAOYSA-N 0.000 description 2
- 230000002070 germicidal effect Effects 0.000 description 2
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 2
- 229910052753 mercury Inorganic materials 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L9/00—Disinfection, sterilisation or deodorisation of air
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The invention provides a pipeline disinfection robot, which comprises a tubular shell; the crawling mechanism is arranged on the tubular shell and used for supporting the tubular shell to crawl on the inner wall of the pipeline; a disinfection mechanism arranged on the tubular shell for performing physical disinfection and chemical disinfection on the inside of the tube; and the image module is arranged on the tubular shell and used for acquiring image information in the pipeline. The invention has compact structure, integrates ultraviolet disinfection and chemical disinfection together, can realize three functions of ultraviolet disinfection, chemical disinfection and air disinfection on the inner wall of the pipeline, has wide disinfection coverage area, good operability and universality and wide popularization significance.
Description
Technical Field
The present invention relates to medical instruments and sterilization instruments, and particularly, to a pipe sterilization robot.
Background
During infectious disease outbreak, the inside of various pipelines needs to be disinfected in an all-round way, and manual work cannot be operated, and at present, no pipeline crawling mobile robot combining three functions of ultraviolet disinfection, chemical disinfection and air disinfection into a whole exists in the market.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the pipeline crawling mobile robot which integrates the functions of ultraviolet disinfection, chemical disinfection and air disinfection.
To achieve the above object, the present invention provides a pipe sterilizing robot, comprising:
a tubular housing;
the crawling mechanism is arranged on the tubular shell and used for supporting the tubular shell to crawl on the inner wall of the pipeline;
the disinfection mechanism is arranged on the tubular shell and is used for carrying out physical disinfection and chemical disinfection on the interior of the pipeline so as to realize ultraviolet disinfection, chemical disinfection and air disinfection;
and the image module is arranged on the tubular shell and used for acquiring image information in the pipeline.
Preferably, the climbing mechanism comprises a first climbing member and a second climbing member, the first climbing member and the second climbing member are respectively arranged at the front part and the rear part of the tubular housing; the first crawling component and the second crawling component can be unfolded or contracted, and the tail ends of the first crawling component and the second crawling component are supported on the inner wall of the pipeline after being unfolded, so that the robot moves along the direction of the pipeline; and after the first crawling member and the second crawling member are contracted, the tail ends of the first crawling member and the second crawling member are separated from the inner wall of the pipeline and retracted towards the tubular shell.
Preferably, the first crawling component comprises a first frame, a rotating motor, a first screw rod and three groups of first offset crank-slider mechanisms; wherein:
the first frame is perpendicular to the axial direction of the tubular shell;
the first screw rod is perpendicular to the plane of the first frame, and the first screw rod penetrates through the center of the first frame;
an output shaft of the rotating motor is connected with the first screw rod, and the rotating motor drives the first screw rod to rotate;
the three groups of first offset type crank sliding block mechanisms are uniformly distributed along the axial direction of the crawling direction, each first offset type crank sliding block mechanism comprises a first sliding block, a first crank and a first connecting rod, and the first sliding blocks are arranged on the first screw rods and can do linear motion along the length direction of the first screw rods; one end of each of the three first cranks of the three groups of first offset type crank sliding block mechanisms is movably connected with the three first sliding blocks respectively, so that the first cranks rotate around the connecting parts of the first sliding blocks, the other ends of the three first cranks are connected with one ends of the three first connecting rods respectively, and the other ends of the first connecting rods are rotatably connected with the first frame; the three first sliding blocks do linear motion under the action of the first screw rod to drive the three first cranks to rotate around the first sliding blocks connected with the three first cranks respectively, and the three first cranks drive the first connecting rods connected with the three first cranks to rotate around the first frame respectively, so that the first connecting rods are supported or contracted; the tail end of the first connecting rod is provided with a first roller, and the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force.
Preferably, at least one of the first connecting rods in the three sets of first offset crank block mechanisms is provided with a first motor and a first transmission mechanism, an output shaft of the first motor is connected with the first transmission mechanism, and the first transmission mechanism is connected with the first roller of the first connecting rod to form a set of driving wheel first connecting rod, wherein the first motor inputs rotary power to the first transmission mechanism, the first transmission mechanism changes the rotary power input by the first motor into axial motion and transmits the axial motion to the first roller, and the first roller provides a power source for the pipeline disinfection robot through friction force.
Preferably, the crawling mechanism further comprises a first gear box, a transmission shaft and a second gear box; the first gear box is connected with the first screw rod; one end of the transmission shaft is connected with the first gear box, the other end of the transmission shaft is connected with the input end of the second gear box, the output end of the second gear box is connected with the second crawling component, and the transmission shaft transmits the rotary motion of the rotating motor of the first crawling component to the second crawling component so as to drive the second crawling component to move synchronously.
Preferably, the second crawler comprises a second frame, a second screw and three sets of second offset slider-crank mechanisms; wherein the content of the first and second substances,
the second frame is parallel to the first frame of the first crawler;
one end of the second screw rod is connected with the output end of the second gear box, the second gear box drives the second screw rod to rotate, and the second screw rod is axially overlapped with the first screw rod of the first crawling component;
the three groups of second offset type crank sliding block mechanisms and the three groups of first offset type crank sliding block mechanisms are symmetrically arranged in front and back, and the three groups of second offset type crank sliding block mechanisms are uniformly distributed along the axial direction of the crawling direction; the second offset crank sliding block mechanism comprises a second sliding block, a second crank and a second connecting rod; three second sliders of the three groups of second offset crank slider mechanisms are arranged on the second screw rod, one ends of three second cranks of the three groups of second offset crank slider mechanisms are respectively movably connected with the three second sliders, so that the three second cranks can respectively rotate around connecting parts of the second sliders connected with the three second cranks, the other ends of the three second cranks are respectively connected with one ends of three second connecting rods, the other ends of the second connecting rods are rotationally connected with the second frame, the three second sliders do linear motion under the action of the second screw rod to drive the three second cranks to rotate, and the three second cranks respectively drive the second connecting rods connected with the second cranks to rotate around the second frame, so that the second connecting rods are supported or contracted; the rotation angles of the second connecting rod and the first connecting rod are synchronous, and the supporting and contracting modes are consistent; the tail end of the second connecting rod is provided with a second roller, and the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force.
Preferably, at least one of the second connecting rods of the three sets of second offset slider-crank mechanisms is provided with a second motor and a second transmission mechanism, an output shaft of the second motor is connected with the second transmission mechanism, and the second transmission mechanism is connected with the second roller of the second connecting rod to form a set of driving wheel second connecting rod, wherein the second motor inputs rotary power to the second transmission mechanism, the second transmission mechanism changes the axial direction of the motor and then transmits the changed axial power to the second roller, and the second roller provides a power source for the robot through friction force.
Preferably, the disinfection mechanism comprises an ultraviolet disinfection device and a chemical disinfection device, wherein the ultraviolet disinfection device comprises a plurality of ultraviolet disinfection lamps, and the ultraviolet disinfection lamps are arranged on the outer wall of the tubular shell to realize ultraviolet disinfection inside the pipeline; chemical disinfection device includes sprinkler, sprinkler includes a plurality of nozzles, and is a plurality of the nozzle is followed the hoop of tubulose casing is evenly laid, through the nozzle sprays the antiseptic solution to the pipeline is interior, just the nozzle sprays the direction and the direction of crawling is the contained angle setting, realizes the inside chemical disinfection of pipeline.
Preferably, the chemical disinfection device further comprises a disinfectant container and a disinfectant generator, an outlet of the disinfectant container is communicated with an inlet of the disinfectant generator through a pipeline, an outlet of the disinfectant generator is communicated with the nozzle through a pipeline, and the disinfectant container is used for storing disinfectant; the disinfectant generator delivers the disinfectant in the disinfectant container to the nozzle under a set pressure.
Preferably, the image module comprises a camera and an LED auxiliary light source, wherein the camera is disposed at the front end of the tubular housing, and the LED auxiliary light source provides a light source for the camera.
Compared with the prior art, the invention has at least one of the following beneficial effects:
the robot has a compact structure, integrates ultraviolet disinfection and chemical disinfection together, can realize three functions of ultraviolet disinfection, chemical disinfection and air disinfection on the inner wall of a pipeline, has wide disinfection coverage area, good operability and universality and wide popularization significance.
According to the robot, the crawling mechanism integrates two symmetrically arranged three groups of offset crank slide block mechanisms together, the first crawling mechanism and the second crawling mechanism can be simultaneously supported or accommodated by 6 connecting rods through one motor, and the robot is simple and reliable in structure and high in economical efficiency.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a pipe sterilization robot according to a preferred embodiment of the present invention;
in the figure: 0100 is an integral frame, 0200 is a shell, 0300 is a crawling mechanism, 0400 is an ultraviolet disinfection device, 0500 is a chemical disinfection device, 0600 is an image module, 0700 is a battery;
FIG. 2 is a schematic view of a preferred embodiment of the present invention with the housing removed;
FIG. 3 is a schematic structural view of a crawling mechanism according to a preferred embodiment of the present invention;
in the figure: 0310 is a first crawling member, 0320 is a transmission shaft, 0330 is a second crawling member;
FIG. 4 is a structural view of a first crawler member in accordance with a preferred embodiment of the present invention;
in the figure: 0311 is a rotating motor, 0312 is a first slider, 0313 is a first crank, 0314 is a first gear box, 0315 is a first connecting rod of a driving wheel, 0316 is a first connecting rod of a driven wheel, 0317 is a first screw rod;
FIG. 5 is a kinematic diagram of the operation of a first crawler according to a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of the movement of the first link of the driving wheel according to a preferred embodiment of the present invention;
in the figure: 0321 is a first motor, 0322 is a first transmission mechanism, and 0323 is a first roller;
FIG. 7 is a schematic illustration of a second crawler component in accordance with a preferred embodiment of the present invention;
in the figure: a second gear box 0331, a second slide block 0332, a second crank 0333, a second connecting rod 0334, a second connecting rod 0335 and a second lead screw 0336;
FIG. 8 is a kinematic diagram of the operation of a second crawler in accordance with a preferred embodiment of the present invention;
FIG. 9 is a schematic view of a chemical sterilizing apparatus according to a preferred embodiment of the present invention;
in the figure: 0501 is a disinfectant container, 0502 is a disinfectant generator, and 0503 is a disinfectant nozzle.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a pipeline disinfection robot according to a preferred embodiment of the present invention includes an integral frame 0100, a housing 0200, a crawling mechanism 0300, an ultraviolet disinfection device 0400, a chemical disinfection device 0500, and an image module 0600; wherein, the overall frame 0100 is a support with a certain mechanical strength. The bracket integrates a shell 0200, a crawling mechanism 0300, an ultraviolet disinfection device 0400, a chemical disinfection device 0500, an image module 0600 and a battery 0700. The outer shell 0200 is a protective shell with mechanical strength, and the outer shell 0200 is wrapped outside the integral frame 0100 to form a tubular shell, so that internal components are isolated from the outside. Referring to fig. 2, a crawling mechanism 0300 is arranged on a whole frame 0100, and the crawling mechanism 0300 supports the robot to crawl on the inner wall of the pipeline. The disinfection mechanism is arranged on the integral frame 0100, and performs physical disinfection and chemical disinfection on the interior of the pipeline to realize ultraviolet disinfection, chemical disinfection and air disinfection. The image module 0600 is disposed in front of the outer shell 0200 of the tubular shell, and acquires image information inside the pipe.
As a preferred embodiment, referring to fig. 1, the sterilizing means comprises an ultraviolet sterilizing device 0400 and a chemical sterilizing device 0500, the ultraviolet sterilizing device 0400 being provided on the housing 0200.
In a preferred embodiment, the robot may further include a power supply unit, the power supply unit may include a battery 0700, and the battery 0700 supplies electric energy to the crawling mechanism 0300, the ultraviolet disinfection device 0400, the chemical disinfection device 0500, and the image module 0600. Of course, in other embodiments, an external power supply may also be used.
In other preferred embodiments, the crawling mechanism 0300 comprises a first crawling member 0310 and a second crawling member 0330, the first crawling member 0310 and the second crawling member 0330 being respectively arranged at the front and the rear of the tubular casing; the first crawling component 0310 and the second crawling component 0330 can be unfolded or contracted, and the tail ends of the first crawling component 0310 and the second crawling component 0330 can be supported on the inner wall of the pipeline after being unfolded, so that the robot can move along the direction of the pipeline; the first crawling members 0310 and the second crawling members 0330 retract, and then their ends disengage from the inner wall of the pipe and retract toward the tubular casing. As a preferred embodiment, the first crawling members 0310, the second crawling members 033 are able to be expanded or contracted simultaneously; the first and second creeping members 0310 and 0330 may employ a symmetrically offset slider-crank mechanism; and the three groups of offset crank sliding block mechanisms are symmetrically arranged and are uniformly distributed in the axial direction of the crawling direction. The offset crank-slider mechanism controls the slider to move linearly by a rotating motor 0311, drives the folding and unfolding action of the connecting rod by a crank, unfolds the connecting rod before the robot crawls along the pipeline, contacts the roller at the tail end of the connecting rod with the inner wall of the pipeline to support the whole pipeline disinfection robot, and drives the roller to crawl on the inner wall of the pipeline by the motor at the tail end of the connecting rod.
In other preferred embodiments, as shown with reference to fig. 4, the first crawling member 0310 comprises a first frame, a rotating motor 0311, a first lead screw 0317 and three sets of first offset slider-crank mechanisms; the first lead screw 0317 is disposed along the axial direction of the tubular housing, and is located in the center of the disinfection robot, and the first lead screw 0317 is perpendicular to the plane of the first frame and passes through the center of the first frame. The first lead screw 0317 is connected with a motor shaft of the rotating motor 0311, and the first lead screw 0317 is driven to rotate by the rotating motor 0311.
In the above embodiment, the rotary motor 0311 provides rotary motion, including but not limited to the following several motor types: the system comprises a direct current brushless motor, a direct current permanent magnet motor, a stepping motor, a steering engine and an alternating current private clothes motor.
Referring to fig. 4 and 5, the three first offset crank-slider mechanisms are uniformly arranged along the axial direction of the crawling direction. The set of first offset crank-slider mechanisms comprises a first slider 0312, a first crank 0313 and a first connecting rod; three first sliding blocks 0312 of the three sets of first offset crank sliding block mechanisms are positioned on the same horizontal plane, and the three first sliding blocks 0312 are arranged on a first screw rod 0317; one end of each of the three first cranks 0313 of the three sets of first offset crank block mechanisms is movably connected to each of the three first sliding blocks 0312, so that the three first cranks 0313 can rotate around the connecting portion of the first sliding block 0312 connected thereto. The one end of the three first connecting rods of the first offset crank slider mechanism of three groups is connected with first frame rotation, the other end of first connecting rod is connected with the other end of first crank 0313, wherein, the three first slider 0312 of the first offset crank slider mechanism of three groups is linear motion under the effect of first lead screw 0317, it is rotatory round the first slider 0312 rather than being connected respectively to drive three first crank 0313, when three first crank 0313 was rotatory, it is rotatory around the first frame of first mechanism of crawling to drive three first connecting rods respectively, thereby prop up or accomodate first connecting rod. The tail ends of the three first connecting rods are provided with first rollers 0323, so that the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force. Before the pipeline disinfection robot needs to crawl on the inner wall of the pipeline, three first sliding blocks 0312 of the three first offset type crank sliding block mechanisms move towards the rotating motor 0311, so that three first connecting rods are opened, and the first rollers 0323 at the tail ends of the three first connecting rods are supported on the inner wall of the pipeline. In the crawling process, one of the first rollers 0323 at the end of the three first connecting rods driven by the rotating motor 0311 is a driving roller, crawls on the inner wall of the pipeline left and right under the action of friction force, and the other two first rollers 0323 are driven rollers.
In another preferred embodiment, referring to fig. 6, at least one first link of the three sets of first offset slider-crank mechanisms is provided with a first motor 0321 and a first transmission mechanism 0322, an output shaft of the first motor 0321 is connected to the first transmission mechanism 0322, and the first transmission mechanism 0322 is connected to a first roller 0323 of the first link to form a set of driving wheel first links 0315. When the robot for disinfecting the pipeline walks in the pipeline, first motor 0321 inputs rotary power to first transmission mechanism 0322, first transmission mechanism 0322 changes the rotary power input by first motor 0321 into axial motion and transmits the axial motion to first roller 0323 at the end of first link, and first roller 0323 provides a power source for the robot through friction. The other first connecting rods are driven first connecting rods 0316, which are driven to rotate in the crawling process of the robot. Preferably, the three sets of first offset crank-slider mechanisms include a set of driving wheel first links 0315 and two sets of driven wheel first links 0316. The tail ends of the first connecting rods 0316 of the two driven wheels are provided with one roller, and the two driven wheels rotate in a driven mode in the robot crawling process.
Preferably, the first motor 0321 includes, but is not limited to, the following motor types: the system comprises a direct current brushless motor, a direct current permanent magnet motor, a stepping motor, a steering engine and an alternating current private clothes motor. The first transmission mechanism 0322 includes, but is not limited to, the following types: gear drive, bevel gear drive, worm and gear drive, planetary gear drive, harmonic reducer drive, RV reducer drive.
In other preferred embodiments, referring to fig. 3, the crawling mechanism 0300 further includes a first gear box 0314, a transmission shaft 0320, a second gear box 0331 and a second crawling member 0330, wherein the transmission shaft 0320 may be a rod-shaped metal shaft, one end of the transmission shaft 0320 is connected to the first gear box 0314, the other end of the transmission shaft is connected to the input end of the second gear box 0331, the rotary motion of the rotary motor 0311 of the first crawling member 0310 is transmitted to the second crawling member 0330, and the axial direction of the transmission shaft 0320 is parallel to the axial direction of the rotary motor 0311. The first gear box 0314 is connected with a first lead screw 0317 of the first crawling member 0310; the output end of the second gearbox 0331 is connected to the second crawling member 0330, and the transmission shaft 0320 transmits the rotational motion of the rotating motor 0311 of the first crawling member 0310 to the second crawling member 0330, thereby driving the second crawling member to move synchronously. When the rotating motor 0311 of the first crawling member 0310 is driven, the three first sliding blocks 0312 are linearly moved, and the transmission shaft 0320 is driven to rotate by the gear set (i.e., the first gear box 0314 and the second gear box 0331), so that the torque is output to the second crawling member 0330.
In other partially preferred embodiments, the second crawler 0330 comprises a second frame, a second lead screw 0336 and three sets of second offset slider-crank mechanisms; one end of the second lead screw 0336 is connected with the output end of the second gearbox 0331, and the second gearbox 0331 drives the second lead screw 0336 to rotate; the second lead screw 0336 is axially aligned with the first lead screw 0317 of the first creeping member 0310. The three groups of second offset crank sliding block mechanisms and the three groups of first offset crank sliding block mechanisms are symmetrically arranged at the front end and the rear end of the tubular shell.
Referring to fig. 7 and 8, a set of second offset crank-slide mechanisms includes a second slide 0332, a second crank 0333, and a second connecting rod. Three second sliders 0332 of the three groups of second offset crank-slider mechanisms are located on the same horizontal plane, the three second sliders 0332 are arranged on the second screw rods 0336, one ends of three second cranks 0333 of the three groups of second offset crank-slider mechanisms are respectively movably connected with the three second sliders 0332, so that the three second cranks 0333 can rotate around the connecting parts of the second sliders 0332 connected with the three second cranks, the other ends of the three second cranks 0333 are respectively connected with one ends of three second connecting rods, and the other ends of the three second connecting rods are movably connected with the second frame. The three second sliders 0332 move linearly under the action of the second lead screw 0336, and the three second cranks 0333 are driven to rotate, so that the three second connecting rods are driven to rotate around the second frame of the second crawling member 0330, and the second connecting rods are supported or accommodated. The three second connecting rods are supported towards the periphery of the tubular shell or contracted towards the tubular shell body. And the tail ends of the three second connecting rods are provided with second rollers, so that the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force. In specific implementation, before the pipeline disinfection robot climbs on the inner wall of the pipeline, the moving direction of the second slide block 0332 of the second crawling component 0330 is opposite to the moving direction of the first slide block 0312 of the first crawling component 0310, one driving wheel second connecting rod 0334 and two driven wheel second connecting rods 0335 are spread, and rollers at the tail ends of the driving wheel second connecting rod 0334 and the two driven wheel second connecting rods 0335 are supported on the inner wall of the pipeline. In the crawling process, the roller at the tail end of one driving wheel second connecting rod 0334 in the three second connecting rods is driven by a crawling motor 0316 to rotate, and crawls on the inner wall of the pipeline left and right under the friction force. The transmission shaft 0320 synchronizes the rotation angle of the second connecting rod and the first connecting rod in the crawling process, and the supporting and contracting modes are consistent.
In other preferred embodiments, a second motor and a second transmission mechanism are disposed on at least one second connecting rod of the second offset slider-crank mechanism, an output shaft of the second motor is connected to the second transmission mechanism, and the second transmission mechanism is connected to a second roller of the second connecting rod to form a set of driving wheel second connecting rods 0334. When the pipeline disinfection robot crawls in the pipeline, the second motor inputs rotary power to the second transmission mechanism, the second transmission mechanism changes the axial direction of the motor and then transmits the rotary power to the second roller, and the second roller provides a power source for the robot through friction force. Preferably, the three sets of second offset slider-crank mechanisms include a set of driving wheel second links 0334 and two sets of driven wheel second links 0335.
Preferably, the second motor includes, but is not limited to, the following motor types: the system comprises a direct current brushless motor, a direct current permanent magnet motor, a stepping motor, a steering engine and an alternating current private clothes motor. The second transmission mechanism includes, but is not limited to, the following types: gear drive, bevel gear drive, worm and gear drive, planetary gear drive, harmonic reducer drive, RV reducer drive.
In other partially preferred embodiments, the disinfecting mechanism comprises an ultraviolet disinfecting device 0400 and a chemical disinfecting device 0500, wherein the ultraviolet disinfecting device 0400 comprises a plurality of ultraviolet disinfecting lamps disposed on the outer wall of the tubular housing for ultraviolet disinfecting the interior of the conduit. The ultraviolet germicidal lamp may be a low pressure mercury lamp. The low pressure mercury lamp provides ultraviolet spectra including, but not limited to, the following wavelengths: 253.7nm wavelength and 185nm wavelength.
The chemical disinfection device 0500 comprises a spraying device, the spraying device comprises a plurality of disinfectant nozzles 0503, the disinfectant nozzles 0503 are uniformly distributed along the circumferential direction of the tubular shell, disinfectant is sprayed into the pipeline through the nozzles, spraying of mist disinfectant or directional disinfectant spraying is provided, and chemical disinfection inside the pipeline is achieved. The disinfectant nozzle 0503 has an included angle between the spraying direction and the creeping direction.
In other preferred embodiments, referring to fig. 9, the chemical sterilizing apparatus 0500 further includes a disinfectant container 0501 and a disinfectant generator 0502, wherein an outlet of the disinfectant container 0501 is communicated with an inlet of the disinfectant generator 0502 through a pipeline, and an outlet of the disinfectant generator 0502 is communicated with the disinfectant nozzle 0503 through a pipeline, wherein the disinfectant container 0501 is a container having a certain capacity for storing disinfectant. The stored disinfection solution includes but is not limited to the following categories: hydrogen peroxide, peracetic acid, chlorine dioxide, sodium hypochlorite, 84 sterilized water and ethanol. The disinfectant generator 0502 supplies the disinfectant in the disinfectant container 0501 to the disinfectant nozzle 0503 under a certain pressure. The chemical sterilizing device 0500 is located at the front of the pipeline sterilizing robot and sprays the sterilizing solution with a certain angle between the axial direction of the spraying direction and the axial direction of the creeping direction.
In other preferred embodiments, the image module 0600 includes a camera and an LED auxiliary light source, wherein the camera is disposed at the front of the tubular housing, and the camera shoots the crawling disinfection process to provide image information for the pipeline disinfection robot. The LED auxiliary light source provides an auxiliary light source for the camera.
The disinfection mechanism in the embodiment of the invention can realize three functions of ultraviolet disinfection, chemical disinfection and air disinfection. The ultraviolet germicidal lamp of the ultraviolet disinfection device 0400 realizes ultraviolet disinfection. The chemical sterilizing device 0500 has a sterilizing liquid nozzle 0503 for chemical sterilization. The two are used in cooperation to realize air sterilization inside the pipeline. The invention has compact structure, integrates ultraviolet disinfection and chemical disinfection together, can realize three functions of ultraviolet disinfection, chemical disinfection and air disinfection in the pipeline, has wide disinfection coverage area and has good operability and universality.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A pipeline disinfecting robot, characterized in that: the method comprises the following steps:
a tubular housing;
the crawling mechanism is arranged on the tubular shell and used for supporting the tubular shell to crawl on the inner wall of the pipeline;
the disinfection mechanism is arranged on the tubular shell and is used for carrying out physical disinfection and chemical disinfection on the interior of the pipeline so as to realize ultraviolet disinfection, chemical disinfection and air disinfection;
and the image module is arranged on the tubular shell and used for acquiring image information in the pipeline.
2. A pipeline sterilization robot as recited in claim 1, wherein: the crawling mechanism comprises a first crawling component and a second crawling component, and the first crawling component and the second crawling component are respectively arranged at the front part and the rear part of the tubular shell; the first crawling component and the second crawling component can be unfolded or contracted, and the tail ends of the first crawling component and the second crawling component are supported on the inner wall of the pipeline after being unfolded, so that the robot moves along the direction of the pipeline; and after the first crawling member and the second crawling member are contracted, the tail ends of the first crawling member and the second crawling member are separated from the inner wall of the pipeline and retracted towards the tubular shell.
3. A pipeline sterilization robot as recited in claim 2, wherein: the first crawling component comprises a first frame, a rotating motor, a first screw rod and three groups of first offset crank sliding block mechanisms; wherein:
the first frame is perpendicular to the axial direction of the tubular shell;
the first screw rod is perpendicular to the plane of the first frame, and the first screw rod penetrates through the center of the first frame;
an output shaft of the rotating motor is connected with the first screw rod, and the rotating motor drives the first screw rod to rotate;
the three groups of first offset type crank sliding block mechanisms are uniformly distributed along the axial direction of the crawling direction, each first offset type crank sliding block mechanism comprises a first sliding block, a first crank and a first connecting rod, and the first sliding blocks are arranged on the first screw rods and can do linear motion along the length direction of the first screw rods; one end of each of the three first cranks of the three groups of first offset type crank sliding block mechanisms is movably connected with the three first sliding blocks respectively, so that the first cranks rotate around the connecting parts of the first sliding blocks, the other ends of the three first cranks are connected with one ends of the three first connecting rods respectively, and the other ends of the first connecting rods are rotatably connected with the first frame; the three first sliding blocks do linear motion under the action of the first screw rod to drive the three first cranks to rotate around the first sliding blocks connected with the three first cranks respectively, and the three first cranks drive the first connecting rods connected with the three first cranks to rotate around the first frame respectively, so that the first connecting rods are supported or contracted; the tail end of the first connecting rod is provided with a first roller, and the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force.
4. A pipeline sterilization robot as recited in claim 3, wherein: and at least one first connecting rod in the three groups of first offset type crank sliding block mechanisms is provided with a first motor and a first transmission mechanism, an output shaft of the first motor is connected with the first transmission mechanism, the first transmission mechanism is connected with the first idler wheel of the first connecting rod to form a group of driving wheel first connecting rods, wherein the first motor inputs rotary power to the first transmission mechanism, the first transmission mechanism changes the input rotary power of the first motor into axial motion to be transmitted to the first idler wheel, and the first idler wheel provides a power source for the pipeline disinfection robot through friction force.
5. A pipeline sterilization robot as recited in claim 3, wherein: the crawling mechanism further comprises a first gear box, a transmission shaft and a second gear box; the first gear box is connected with the first screw rod; one end of the transmission shaft is connected with the first gear box, the other end of the transmission shaft is connected with the input end of the second gear box, the output end of the second gear box is connected with the second crawling component, and the transmission shaft transmits the rotary motion of the rotating motor of the first crawling component to the second crawling component so as to drive the second crawling component to move synchronously.
6. A robot as claimed in claim 5, wherein: the second crawling component comprises a second frame, a second screw rod and three groups of second offset crank sliding block mechanisms; wherein the content of the first and second substances,
the second frame is parallel to the first frame of the first crawler;
one end of the second screw rod is connected with the output end of the second gear box, the second gear box drives the second screw rod to rotate, and the second screw rod is axially overlapped with the first screw rod of the first crawling component;
the three groups of second offset type crank sliding block mechanisms and the three groups of first offset type crank sliding block mechanisms are symmetrically arranged in front and back, and the three groups of second offset type crank sliding block mechanisms are uniformly distributed along the axial direction of the crawling direction; the second offset crank sliding block mechanism comprises a second sliding block, a second crank and a second connecting rod; three second sliders of the three groups of second offset crank slider mechanisms are arranged on the second screw rod, one ends of three second cranks of the three groups of second offset crank slider mechanisms are respectively movably connected with the three second sliders, so that the three second cranks can respectively rotate around connecting parts of the second sliders connected with the three second cranks, the other ends of the three second cranks are respectively connected with one ends of three second connecting rods, the other ends of the second connecting rods are rotationally connected with the second frame, the three second sliders do linear motion under the action of the second screw rod to drive the three second cranks to rotate, and the three second cranks respectively drive the second connecting rods connected with the second cranks to rotate around the second frame, so that the second connecting rods are supported or contracted; the rotation angles of the second connecting rod and the first connecting rod are synchronous, and the supporting and contracting modes are consistent; the tail end of the second connecting rod is provided with a second roller, and the pipeline disinfection robot can crawl on the inner wall of the pipeline through friction force.
7. A robot as claimed in claim 6, wherein: and a second motor and a second transmission mechanism are arranged on at least one second connecting rod in the three groups of second offset type crank slider mechanisms, an output shaft of the second motor is connected with the second transmission mechanism, the second transmission mechanism is connected with the second idler wheel of the second connecting rod to form a group of driving wheel second connecting rods, wherein the second motor inputs rotary power to the second transmission mechanism, the second transmission mechanism changes the axial direction of the motor and then transmits the motor to the second idler wheel, and the second idler wheel provides a power source for the robot through friction force.
8. A robot for sterilizing a pipe according to any one of claims 1 to 7, wherein: the disinfection mechanism comprises an ultraviolet disinfection device and a chemical disinfection device, wherein the ultraviolet disinfection device comprises a plurality of ultraviolet disinfection lamps, and the ultraviolet disinfection lamps are arranged on the outer wall of the tubular shell to realize ultraviolet disinfection in the pipeline; chemical disinfection device includes sprinkler, sprinkler includes a plurality of nozzles, and is a plurality of the nozzle is followed the hoop of tubulose casing is evenly laid, through the nozzle sprays the antiseptic solution to the pipeline is interior, just the nozzle sprays the direction and the direction of crawling is the contained angle setting, realizes the inside chemical disinfection of pipeline.
9. A pipeline sterilization robot as recited in claim 8, wherein: the chemical disinfection device also comprises a disinfectant container and a disinfectant generator, wherein an outlet of the disinfectant container is communicated with an inlet of the disinfectant generator through a pipeline, an outlet of the disinfectant generator is communicated with the nozzle through a pipeline, and the disinfectant container is used for storing disinfectant; the disinfectant generator delivers the disinfectant in the disinfectant container to the nozzle under a set pressure.
10. A robot for sterilizing a pipe according to any one of claims 1 to 7, wherein: the image module comprises a camera and an LED auxiliary light source, wherein the camera is arranged at the front end of the tubular shell, and the LED auxiliary light source provides light for the camera.
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| CN202010958433.3A CN112032470A (en) | 2020-09-14 | 2020-09-14 | Pipeline disinfection robot |
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| CN202010958433.3A CN112032470A (en) | 2020-09-14 | 2020-09-14 | Pipeline disinfection robot |
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| CN115432082A (en) * | 2022-09-09 | 2022-12-06 | 北京合聚数字技术有限公司 | Communication cable is robot for use |
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