CN112108468B - Automatic reducing type pipeline cleaning robot - Google Patents
Automatic reducing type pipeline cleaning robot Download PDFInfo
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- CN112108468B CN112108468B CN202010803235.XA CN202010803235A CN112108468B CN 112108468 B CN112108468 B CN 112108468B CN 202010803235 A CN202010803235 A CN 202010803235A CN 112108468 B CN112108468 B CN 112108468B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
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Abstract
The invention relates to the technical field of pipeline cleaning robots, and discloses an automatic variable-diameter pipeline cleaning robot which comprises a walking driving device, an elastic walking mechanism and a telescopic cleaning mechanism, wherein the walking driving device comprises a driving body and two rotating shafts which are connected with the driving body and are arranged oppositely; the driving shaft body drives the two rotating shafts to synchronously rotate; the two elastic walking mechanisms are respectively connected with the two rotating shafts and can be stressed to fold or automatically elastically expand; at least one telescopic cleaning mechanism is arranged on the rotating shaft and can contract or extend; the two elastic walking mechanisms and the at least one telescopic cleaning mechanism synchronously rotate along with the rotating shaft. The automatic reducing pipeline cleaning robot provided by the invention can be applied to pipelines with different pipeline inner diameters, the walking in the pipelines is stable, and the cleaning efficiency is high.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning robots, in particular to an automatic variable-diameter pipeline cleaning robot.
Background
The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. However, the existing pipeline robot can only be applied to pipelines with a single inner diameter, and cannot be applied to other circular pipelines with different inner diameters. When facing complicated combination pipeline, current pipeline robot can only clean the pipeline that corresponds the internal diameter, can't accomplish pipeline cleaning's work, needs artifical or robot to dismantle the pipeline and look for the pipeline robot that corresponds the internal diameter and just can accomplish pipeline cleaning work, and operating is complicated, and work efficiency is low, washs with high costsly.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an automatic variable-diameter pipeline cleaning robot which can be applied to pipelines with different pipeline inner diameters, is stable in running in the pipelines and is efficient in cleaning efficiency.
In order to achieve the purpose, the invention adopts the following scheme:
the automatic variable-diameter pipeline cleaning robot comprises a walking driving device, wherein the walking driving device comprises a driving body and two rotating shafts which are connected with the driving body and are arranged oppositely; the driving shaft body drives the two rotating shafts to synchronously rotate; automatic reducing formula pipeline cleans machine people still includes:
the two elastic walking mechanisms are respectively connected with the two rotating shafts and can be stressed to fold or automatically elastically expand;
at least one retractable cleaning mechanism provided on the rotating shaft and movable in a retractable or extendable manner;
the two elastic walking mechanisms and the at least one telescopic cleaning mechanism synchronously rotate along with the rotating shaft.
Furthermore, the number of the telescopic cleaning mechanisms is 2; the telescopic cleaning mechanism is positioned between the driving body and one of the elastic walking mechanisms; the other telescopic cleaning mechanism is positioned between the driving body and the other elastic walking mechanism.
Further, the elastic running mechanism includes:
the telescopic support frame is sleeved on the rotating shaft and can slide along the rotating shaft;
one end of the first elastic piece is arranged on the rotating shaft, and the other end of the first elastic piece is connected with the telescopic support frame;
one end of each of the plurality of support rockers is hinged with the rotating shaft;
the travelling wheels are arranged at the other ends of the corresponding supporting rockers;
one end of the bridge connecting rod is hinged with the corresponding supporting rocker; the other end is hinged with the telescopic support frame;
the telescopic support frame is stressed to slide along the rotating shaft to compress the first elastic piece; the plurality of supporting rockers are contracted; after the stress is released, the plurality of supporting rocking bars automatically and elastically stretch.
Further, the support rocker has 3; the 3 travelling wheels are respectively arranged at the other ends of the corresponding 3 supporting rocking bars; one end of each of the 3 bridge connecting rods is hinged with the telescopic support frame; the other end is respectively hinged with the 3 supporting rocking bars.
Furthermore, the telescopic support frame comprises a shaft sliding seat, a support rod and a connecting support; the shaft sliding seat is sleeved on the rotating shaft and is connected with one end of the first elastic piece; one end of the support rod is arranged on the shaft sliding seat, and the other end of the support rod is obliquely extended and connected with the connecting support; one ends of the bridge connecting rods are uniformly distributed on the connecting support; the road wheel comprises a hub and a tire; the hub is arranged at the other end of the supporting rocker; the tires are matched and arranged on the wheel hubs; and anti-skid projections are arranged on the surface of the tire.
Further, the telescopic cleaning mechanism comprises:
the shaft seat is sleeved on the rotating shaft and synchronously rotates along with the rotating shaft;
the telescopic mechanism is arranged on the shaft seat;
the rotating brush is arranged on the telescopic mechanism and can roll relative to the telescopic mechanism; the telescopic mechanism drives the rotary brush to extend or contract relative to the shaft seat.
Further, the telescopic mechanism includes:
the rotating support rod is arranged on the shaft seat;
one end of the second elastic piece is arranged at the lower end of the rotating support rod;
the rod sleeve part is sleeved on the rotating support rod, is connected with the other end of the second elastic piece and can slide along the extension direction of the rotating support rod; the rotary brush is arranged on the rod sleeve part; the outer wall of the rod sleeve part in the extension direction is provided with a strip-shaped bayonet;
and the limiting part penetrates through the elongated bayonet and is connected with the rotating support rod and positioned above the second elastic piece.
Further, the number of the telescopic mechanisms is plural; the number of the telescopic mechanisms is the same as that of the rotary brushes; each telescopic mechanism is provided with one rotary brush.
Further, the rotary brush comprises a rolling shaft and a sweeping brush plate; the rolling shaft can be arranged on the telescopic mechanism in a rolling manner; the number of the cleaning brush plates is multiple; the sweeping brush plates are uniformly distributed around the rolling shaft and are synchronous with the rolling shaft.
Furthermore, the walking driving device also comprises a shell arranged outside the driving body; the driving body comprises two motors positioned in the shell; and the output shafts of the two motors are respectively connected with the two rotating shafts.
Compared with the prior art, the invention has the following advantages:
the invention arranges two elastic walking mechanisms which can be stressed to fold or automatically elastically expand and at least one retractable or extending cleaning mechanism, the elastic walking mechanisms can stably cling to the pipe wall to walk under the action of automatic elastic expansion, the retractable cleaning mechanism stably presses on the pipe wall under the action of retractable or extending movement to enhance the contact between the retractable cleaning mechanism and the pipe wall, the two rotating shafts of the body are driven to synchronously rotate, and the two elastic walking mechanisms and the at least one retractable cleaning mechanism are driven to synchronously rotate along with the rotating shafts, so that the automatic variable-diameter pipe cleaning robot can automatically adapt to and apply to the pipelines with different pipe inner diameters and can stably walk in the pipelines, the stability of the automatic variable-diameter pipe cleaning robot is greatly improved, the cleaning effect is good, and the cleaning efficiency is high, is suitable for market popularization.
Drawings
The present application will be described in further detail with reference to the following drawings and detailed description.
Fig. 1 is a schematic structural view of an automatic variable diameter type pipe cleaning robot according to the present invention.
Fig. 2 is a perspective view of the automatic variable diameter type pipe cleaning robot of the present invention.
Fig. 3 is an enlarged view of portion a of fig. 2.
Fig. 4 is a perspective view of a rotary brush of the present invention.
The figure includes:
the device comprises a walking driving device 1, a driving body 11, a motor 111, a rotating shaft 12, a shell 13, an elastic walking mechanism 2, a telescopic support frame 21, a shaft sliding seat 211, a support rod 212, a connecting support 213, a first elastic piece 22, a support rocker 23, a walking wheel 24, a wheel hub 241, a tire 242, an anti-skid protrusion 243, a bridge rod 25, a telescopic cleaning mechanism 3, a shaft seat 31, a telescopic mechanism 32, a rotating support rod 321, a second elastic piece 322, a rod sleeve part 323, a long-strip-shaped bayonet 3231, a limiting part 324, a rotating brush 33, a rolling shaft 331 and a cleaning brush plate 332.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 4, the automatic variable diameter type pipeline cleaning robot includes a walking driving device 1, where the walking driving device 1 includes a driving body 11, two rotating shafts 12 connected to the driving body 11 and disposed opposite to each other, and a housing 13 disposed outside the driving body 11; the protection of the drive body 11 by the housing 13. The driving body 11 comprises two motors 111 located inside the casing 13; the output shafts of the two motors 111 are connected to the two rotary shafts 12, respectively. Specifically, the output shaft of the motor 111 is connected to the rotary shaft 12 by means of nut coupling, welding, or the like. The drive shaft body drives the two rotary shafts 12 to rotate synchronously, and the housing 13 does not affect the rotation of the rotary shafts 12. The automatic variable-diameter pipeline cleaning robot further comprises an elastic walking mechanism 2 and a telescopic cleaning mechanism 3. Wherein, the two elastic walking mechanisms 2 are respectively connected with the two rotating shafts 12 and can be stressed to be folded or automatically and elastically unfolded; at least one telescopic cleaning mechanism 3 is arranged on the rotating shaft 12 and can contract or extend; the two elastic traveling mechanisms 2 and the at least one telescopic cleaning mechanism 3 synchronously rotate along with the rotating shaft 12. Under the condition that the two elastic walking mechanisms 2 are stressed, the automatic pipeline cleaning robot can be automatically folded and retract at least one telescopic cleaning mechanism 3, so that the automatic variable-diameter pipeline cleaning robot can be automatically adapted to be applied to pipelines with different pipeline inner diameters. And through setting up two elastic running gear 2 that can be forced to receive and close or automatic elasticity opens, at least one flexible cleaning mechanism 3 that can contract or extend and move, the elastic running gear 2 can be steadily attached to the pipe wall and walked under the function of automatic elasticity opens, the flexible cleaning mechanism 3 is under the function of the flexible or extend and move, steadily pressed on the pipe wall, contact between reinforcing flexible cleaning mechanism 3 and pipe wall, drive two rotating shafts 12 to rotate synchronously through driving the body 11, and drive two running gear, at least one said flexible cleaning mechanism 3 to rotate synchronously with rotating shaft 12, thus make the automatic reducing type pipeline cleaning robot can adapt to and apply in the pipeline of different pipeline internal diameters automatically, can also walk in the pipeline steadily, greatly increased the stability of the automatic reducing type pipeline cleaning robot, clean effectually, the cleaning efficiency is high, and the cleaning machine is suitable for market popularization.
In the specific embodiment, the number of the retractable cleaning mechanisms 3 is 2; one of the telescopic cleaning mechanisms 3 is positioned between the driving body 11 and one of the elastic walking mechanisms 2; the other telescopic cleaning mechanism 3 is located between the driving body 11 and the other elastic traveling mechanism 2. At drive body 11 with one of them between the elasticity running gear 2 to and drive body 11 and another all set up 1 flexible mechanism 3 that cleans between the elasticity running gear 2, clean the mechanism 3 through 2 are flexible and press on the pipe wall steadily, and the contact between reinforcing flexible mechanism 3 that cleans and the pipe wall increases the area of contact between flexible mechanism 3 and the pipe wall, cleans efficiency according to the high efficiency. Of course, according to the requirement, 2, 3, etc. telescopic cleaning mechanisms 3 may be disposed between the driving body 11 and one of the elastic traveling mechanisms 2, and between the driving body 11 and the other elastic traveling mechanism 2.
The elastic walking mechanism 2 comprises a telescopic support frame 21, a first elastic piece 22, a support rocker 23, a walking wheel 24 and a bridging rod 25. The telescopic support frame 21 is sleeved on the rotating shaft 12 and can slide along the rotating shaft 12; one end of the first elastic member 22 is arranged on the rotating shaft 12, and the other end is connected with the telescopic support frame 21; specifically, the first elastic member 22 is a spring, the spring is sleeved on the rotating shaft 12, one end of the spring is arranged on the rotating shaft 12, and the other end of the spring is connected with the telescopic support frame 21; one end of each of the plurality of support rockers 23 is hinged to the rotating shaft 12; the walking wheels 24 are arranged at the other ends of the corresponding supporting rockers 23; namely, the other end of each supporting rocker 23 is provided with a walking wheel 24 for supporting walking; one end of the bridge connecting rod 25 is hinged with the corresponding supporting rocker 23; the other end is hinged with the telescopic support frame 21; that is, each support rocker 23 is hinged to one bridge connecting rod 25; all the bridge connecting rods 25 and the telescopic supporting frames 21 are stressed to slide along the rotating shaft 12 to compress the first elastic part 22; the plurality of support rockers 23 are contracted; after the force is released, the plurality of supporting rockers 23 automatically and elastically expand. If the automatic variable diameter type pipeline cleaning robot is outside the pipeline, the first elastic element 22 will be in a free state (i.e. an original length state); the opening degree of the supporting rocker 23 reaches the maximum, and the circumference where the walking wheel 24 is located is the maximum limit pipeline inner diameter cleaned by the pipeline cleaning robot; when the pipeline cleaning robot needs to be put into a pipeline, the elastic walking mechanism 2 needs to be folded, the telescopic support frame 21 slides along the extension direction of the rotating shaft under stress, the first elastic part 22 is compressed, meanwhile, under the traction of the telescopic support frame 21, the plurality of support rocking bars 23 are gradually folded, the plurality of walking wheels 24 are also folded by the support rocking bars 23, and the whole volume structure of the elastic walking mechanism 2 at the moment is reduced, so that the elastic walking mechanism can automatically adapt to entering the pipelines with different pipeline inner diameters; after entering the pipeline, can loosen the atress immediately, under the elasticity of the first elastic component 22, automatic elasticity promotes telescopic support frame 21 and slides along rotation axis 12 opposite direction, promote many support rockers 23 and open automatically gradually, it is rotatory to drive rotation axis 12 at drive body 11, drive telescopic support frame 21, first elastic component 22, support rocker 23, walking wheel 24, bridging rod 25 synchronous revolution, make walking wheel 24 can stably hug closely the pipe wall walking, greatly increased this automatic reducing formula pipeline cleaning robot's stationarity, help the pipeline to clean fast, be applicable to the popularization in market.
In this embodiment, the support rocker 23 has 3 bars; the corresponding walking wheels 24 and the corresponding bridge rod 25 are also provided with 3 or 3; the 3 walking wheels 24 are respectively arranged at the other ends of the 3 supporting rocking bars 23; one end of each of the 3 bridging rods 25 is hinged with the telescopic support frame 21; the other end is respectively hinged with 3 supporting rocking bars 23. By arranging the 3 supporting rockers 23, after the pipeline cleaning robot is put into a pipeline, because the center of the three walking wheels 24 forms a circle with a diameter smaller than the inner diameter of the pipeline, the supporting rockers 23 are tightened inwards, so that the axial projection length of the supporting rockers 23 is lengthened, but because the fixing hole position on the rotating shaft 12 is hinged with the other end of the supporting rockers 23, under the driving of the driving body 11, the rotating shaft 12 drives the supporting rockers 23 and the bridging rods 25 to rotate around the hinge shaft, so that the axial projection length of the bridging rods 25 is lengthened, meanwhile, under the elastic action generated by the compression of the first elastic piece 22, the telescopic support frame 21 is automatically and elastically pushed to slide along the opposite direction of the rotating shaft, the 3 supporting rockers 23 are pushed to gradually and automatically expand, the supporting rockers 23 connected with the bridging rods 25 are driven to move, and the three walking wheels 24 are installed on the other end of the supporting rockers 23, at this time, the opening degree of the three traveling wheels 24 is increased in advance, but the elastic force of the first elastic member 22 cannot be overcome due to the contact of the three traveling wheels 24 with the inner wall of the pipeline, so that the traveling wheels 24 are tightly pressed against the inner wall of the pipeline. When the inner diameter of the pipeline is small, the three support rockers 23 are folded, the travelling wheels 24 are also folded, the telescopic support frame 21 slides along the extension direction of the rotating shaft, the first elastic part 22 is compressed, and the compressed first elastic part 22 reacts with the telescopic support frame 21 to ensure that the travelling wheels 24 stably press the inner wall of the pipeline; when the pipeline is directly enlarged, the first elastic part 22 can automatically push the telescopic support frame 21 to slide along the reverse direction of the rotating shaft 12, push the 3 support rocking rods 23 to gradually and automatically open, so that the three walking wheels 24 are also opened, and the walking wheels 24 are tightly pressed on the inner wall of the pipeline again, so that the elastic walking mechanism 2 of the pipeline cleaning robot can freely change the diameter, and the pipeline cleaning robot can adapt to the pipelines with different inner diameters to complete cleaning work. Of course, in some embodiments, the number of the support rockers 23 may be 4, 5, 6, etc., with corresponding increase in the number of road wheels 24 and the number of the bridge rods 25, as desired.
Specifically, the telescopic support frame 21 comprises a shaft sliding seat 211, a support rod 212 and a connecting support 213; the shaft sliding seat 211 is sleeved on the rotating shaft 12 and connected with one end of the first elastic element 22; one end of the support rod 212 is arranged on the shaft sliding seat 211, and the other end of the support rod is obliquely extended and connected with the connecting support 213; one ends of the plurality of bridge connecting rods 25 are uniformly distributed on the connecting bracket 213; specifically, the connection bracket 213 is preferably a circular body connection bracket 213. Through the connection arrangement of the shaft sliding seat 211, the support rod 212 and the connecting support 213, the support rocker 23, the walking wheel 24 and the bridging rod 25 can be well supported, so that the walking wheel 24 has the walking stability on the pipe wall. In another aspect, the road wheel 24 includes a hub 241 and a tire 242; the hub 241 is arranged at the other end of the support rocker 23; the tire 242 is matched and arranged on the hub 241; the surface of the tire 242 is provided with a non-slip protrusion 243. Play the supporting role to tire 242 through wheel hub 241, make walking wheel 24 play good stability, simultaneously, through set up skid resistant protrusion 243 at tire 242 on the surface, help increasing the friction between tire 242 and the pipe wall, prevent that tire 242 from skidding, strengthen walking wheel 24 greatly at the stability of pipe wall walking to in the work of cleaning of completion pipeline fast.
The telescopic sweeping mechanism 3 comprises a shaft seat 31, a telescopic mechanism 32 and a rotary brush 33, wherein the shaft seat 31 is sleeved on the rotary shaft 12 and synchronously rotates along with the rotary shaft 12; the telescopic mechanism 32 is arranged on the shaft seat 31; a rotating brush 33 provided on the telescopic mechanism 32 and rotatable with respect to the telescopic mechanism 32; the telescopic mechanism 32 drives the rotary brush 33 to extend or contract relative to the shaft seat 31. The rotary brush 33 has the function of stretching through the stretching function of the stretching mechanism 32, and after the automatic variable-diameter pipeline cleaning robot enters a pipeline, the rotary brush 33 can be pressed on the inner wall of the pipeline under the action of the stretching mechanism 32; when the inner diameter of the pipeline changes, the rotary brush 33 extends or contracts under the action of the telescopic mechanism 32 to adapt to the change of the environment in the pipeline, and the rotary brush effectively acts and presses on the inner wall of the pipeline to enhance the contact between the telescopic cleaning mechanism 3 and the pipe wall. The driving body 11 drives the rotating shaft 12 to rotate to clean the inner wall of the pipeline, so that the cleaning effect is good, and the cleaning efficiency is high.
In the present embodiment, the number of the telescopic mechanisms 32 is plural; the number of the telescopic mechanisms 32 is the same as that of the rotary brushes 33; each of the telescopic mechanisms 32 is provided with one of the rotary brushes 33. By providing the telescopic mechanism 32, the number of the corresponding rotating brushes 33 is also increased, and the cleaning efficiency of the inner wall of the pipeline can be accelerated. Specifically, the number of the telescopic mechanisms 32 is 3, and the number of the rotating brushes 33 is also 3. Of course, the number of the telescopic mechanisms 32 and the number of the rotating brushes 33 can be set reasonably according to requirements, and the number of the telescopic mechanisms 32 and the number of the rotating brushes 33 can be respectively 2, 4, 5 and the like.
Specifically, the telescopic mechanism 32 includes a rotating rod 321, a second elastic element 322, a rod sleeve part 323, and a limiting part 324. Wherein, the rotating support rod 321 is arranged on the shaft seat 31; one end of the second elastic member 322 is disposed at the lower end of the rotating rod 321; the rod sleeve portion 323 is sleeved on the rotating support rod 321, connected to the other end of the second elastic member 322, and can slide along the extending direction of the rotating support rod 321; the second elastic member 322 is preferably a spring, which is sleeved on the rotating rod 321, and one end of the spring is disposed at the lower end of the rotating rod 321, and the other end is connected to the rod sleeve portion 323. The rotating brush 33 is arranged on the rod sleeve part 323; the outer wall of the rod sleeve part 323 in the extending direction is provided with a strip-shaped bayonet 3231; the limiting portion 324 penetrates through the elongated bayonet 3231 to be connected with the rotating support rod 321 and is located above the second elastic element 322. The limiting part 324 is a limiting pin, and has a simple structure and convenient arrangement. The rod sleeve portion 323 slides in the root direction of the rotating rod 321 or in the tail direction of the rotating rod 321, and the limiting portion 324 well prevents the rod sleeve portion 323 from sliding excessively on the rotating rod 321 through the elongated bayonet 3231, thereby achieving good protection. This telescopic machanism 32 is through rotatory branch 321, second elastic component 322, rod cover portion 323 and spacing portion 324 are constituteed, rod cover portion 323 slides along the root of rotatory branch 321, second elastic component 322 is compressed, rotatory brush 33 slides along the root of rotatory branch 321 along rod cover portion 323, the holistic volume of this telescopic cleaning mechanism 3 reduces, the pipeline cleaning work that enables automatic reducing formula pipeline cleaning robot adaptation different pipeline internal diameters, and the power that second elastic component 322 produced can also make rotatory brush 33 press on the pipe wall in the pipeline steadily, clean effectually, clean efficiently. The principle of the telescopic cleaning mechanism 3 is as follows:
after the automatic reducing type pipeline cleaning robot enters a pipeline, the rotary brush 33 and the inner wall of the pipeline generate interaction force, meanwhile, the interaction force is tightly pressed on the inner wall of the pipeline under the action of force of the second elastic part 322, when the inner diameter of the pipeline is reduced, the rod sleeve part 323 can slide along the root of the rotary supporting rod 321, the second elastic part 322 is compressed, the rotary brush 33 slides along the root of the rotary supporting rod 321 along with the rod sleeve part 323, and meanwhile, the second elastic part 322 generates corresponding elastic force to enable the brush to be tightly pressed on the inner wall of the pipeline. When the inner diameter of the pipe becomes larger, the length of the second elastic member 322 is extended so that the brush is pressed against the inner wall of the pipe at all times.
The rod sleeve part 323 is pushed by the second elastic part 322 around the rotating support rod 321, so that the rotating brush 33 can be pressed on the inner wall of the pipeline to generate corresponding friction force with the pipe wall, and then the rotating shaft 12 is driven to rotate under the output power of the driving body 11, so that the rotating support rod 321 is driven to rotate, and the second elastic part 322, the rod sleeve part 323 and the limiting part 324 also rotate synchronously along with the rotating support rod 321. Although the inner diameter of the pipe may vary, the rotating brush 33 is always pressed against the inner wall of the pipe by the second elastic member 322. Meanwhile, the rotating brush 33 rotates synchronously along with the rotating support rod 321 and rolls automatically, so that the contact area and the contact frequency with the pipe wall are increased, the function of cleaning the pipe wall by rotating the robot can be better realized, the pipe cleaning effect is good, and the cleaning efficiency is high.
Specifically, the rotary brush 33 includes a rolling shaft 331 and a cleaning brush plate 332; the rolling shaft 331 is rotatably arranged on the telescopic mechanism 32; the number of the cleaning brush plates 332 is plural; the plurality of sweeping brush plates 332 are uniformly distributed around the rolling shaft 331 and are synchronized with the rolling shaft 331. The rotary brushes 33 formed by uniformly distributing the plurality of cleaning brush plates 332 around the rolling shaft 331 can automatically roll and double clean the pipe wall under the condition that the rotary brushes 33 synchronously rotate along with the rotating shaft 12, thereby achieving good cleaning effect.
In summary, the automatic diameter-variable pipe cleaning robot can be automatically folded and at least one telescopic cleaning mechanism 3 can be retracted under the condition that the two elastic traveling mechanisms 2 are stressed, so that the automatic diameter-variable pipe cleaning robot can be automatically adapted to be applied to pipes with different pipe inner diameters. And through setting up two elastic running gear 2 that can be forced to receive and close or automatic elasticity opens, at least one flexible cleaning mechanism 3 that can contract or extend and move, the elastic running gear 2 can be steadily attached to the pipe wall and walked under the function of automatic elasticity opens, the flexible cleaning mechanism 3 is under the function of the flexible or extend and move, steadily pressed on the pipe wall, contact between reinforcing flexible cleaning mechanism 3 and pipe wall, drive two rotating shafts 12 to rotate synchronously through driving the body 11, and drive two running gear, at least one said flexible cleaning mechanism 3 to rotate synchronously with rotating shaft 12, thus make the automatic reducing type pipeline cleaning robot can adapt to and apply in the pipeline of different pipeline internal diameters automatically, can also walk in the pipeline steadily, greatly increased the stability of the automatic reducing type pipeline cleaning robot, clean effectually, the cleaning efficiency is high, and the cleaning machine is suitable for market popularization.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.
Claims (8)
1. Automatic reducing formula pipeline cleans machine people, including walking drive, its characterized in that: the walking driving device comprises a driving body and two rotating shafts which are connected with the driving body and are arranged oppositely; the driving body drives the two rotating shafts to synchronously rotate; automatic reducing formula pipeline cleans machine people still includes:
the two elastic walking mechanisms are respectively connected with the two rotating shafts and can be stressed to fold or automatically elastically expand;
at least one retractable cleaning mechanism provided on the rotating shaft and movable in a retractable or extendable manner;
the two elastic walking mechanisms and the at least one telescopic cleaning mechanism synchronously rotate along with the rotating shaft;
the elastic walking mechanism comprises:
the telescopic support frame is sleeved on the rotating shaft and can slide along the rotating shaft;
one end of the first elastic piece is arranged on the rotating shaft, and the other end of the first elastic piece is connected with the telescopic support frame;
one end of each of the plurality of support rockers is hinged with the rotating shaft;
the travelling wheels are arranged at the other ends of the corresponding supporting rockers;
one end of the bridge connecting rod is hinged with the corresponding supporting rocker; the other end is hinged with the telescopic support frame;
the telescopic support frame is stressed to slide along the rotating shaft to compress the first elastic piece; the plurality of supporting rockers are contracted; after the stress is released, the plurality of supporting rocking bars automatically and elastically stretch; the telescopic support frame comprises a shaft sliding seat, a support rod and a connecting support; the shaft sliding seat is sleeved on the rotating shaft and is connected with one end of the first elastic piece; one end of the support rod is arranged on the shaft sliding seat, and the other end of the support rod is obliquely extended and connected with the connecting support; one ends of the bridge connecting rods are uniformly distributed on the connecting support; the road wheel comprises a hub and a tire; the hub is arranged at the other end of the supporting rocker; the tires are matched and arranged on the wheel hubs; and anti-skid projections are arranged on the surface of the tire.
2. The automatic reducing pipe cleaning robot of claim 1, wherein: the number of the telescopic cleaning mechanisms is 2; the telescopic cleaning mechanism is positioned between the driving body and one of the elastic walking mechanisms; the other telescopic cleaning mechanism is positioned between the driving body and the other elastic walking mechanism.
3. The automatic reducing pipe cleaning robot of claim 1, wherein: the supporting rocker is provided with 3 pieces; the 3 travelling wheels are respectively arranged at the other ends of the 3 supporting rocking bars; one end of each of the 3 bridge connecting rods is hinged with the telescopic support frame; the other end is respectively hinged with the 3 supporting rocking bars.
4. The automatic reducing pipe cleaning robot of claim 1, wherein: the flexible mechanism that cleans includes:
the shaft seat is sleeved on the rotating shaft and synchronously rotates along with the rotating shaft;
the telescopic mechanism is arranged on the shaft seat;
the rotating brush is arranged on the telescopic mechanism and can roll relative to the telescopic mechanism; the telescopic mechanism drives the rotary brush to extend or contract relative to the shaft seat.
5. The automatic reducing pipe cleaning robot of claim 4, wherein: the telescopic mechanism comprises:
the rotating support rod is arranged on the shaft seat;
one end of the second elastic piece is arranged at the lower end of the rotating support rod;
the rod sleeve part is sleeved on the rotating support rod, is connected with the other end of the second elastic piece and can slide along the extension direction of the rotating support rod; the rotary brush is arranged on the rod sleeve part; the outer wall of the rod sleeve part in the extension direction is provided with a strip-shaped bayonet;
and the limiting part penetrates through the elongated bayonet and is connected with the rotating support rod and positioned above the second elastic piece.
6. The automatic reducing pipe cleaning robot of claim 4, wherein: the number of the telescopic mechanisms is multiple; the number of the telescopic mechanisms is the same as that of the rotary brushes; each telescopic mechanism is provided with one rotary brush.
7. The automatic reducing pipe cleaning robot of claim 4, wherein: the rotary brush comprises a rolling shaft and a cleaning brush plate; the rolling shaft can be arranged on the telescopic mechanism in a rolling manner; the number of the cleaning brush plates is multiple; the sweeping brush plates are uniformly distributed around the rolling shaft and are synchronous with the rolling shaft.
8. The automatic reducing pipe cleaning robot of claim 1, wherein: the walking driving device also comprises a shell arranged outside the driving body; the driving body comprises two motors positioned in the shell; and the output shafts of the two motors are respectively connected with the two rotating shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010803235.XA CN112108468B (en) | 2020-08-11 | 2020-08-11 | Automatic reducing type pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113357332B (en) * | 2021-06-01 | 2023-03-17 | 贵州大学 | Non-equal-diameter vertical pipeline robot with improved climbing performance |
| CN113634561B (en) * | 2021-08-17 | 2023-07-07 | 广州城市理工学院 | Detection cleaning device for underground pipeline and application method thereof |
| CN113909237B (en) * | 2021-09-10 | 2023-03-28 | 徐州鑫晶半导体科技有限公司 | Cleaning device |
| CN114101237B (en) * | 2021-11-15 | 2023-10-31 | 江苏中科水务机器人科技有限公司 | Underwater detection and cleaning robot for tap water pipeline |
| CN114405944B (en) * | 2022-01-24 | 2023-10-24 | 浙江闪龙信息技术有限公司 | Pipeline cleaning robot |
| CN114632730B (en) * | 2022-02-22 | 2023-05-19 | 盐城工业职业技术学院 | Robot for cleaning wall surface of chemical equipment |
| CN115013639B (en) * | 2022-06-10 | 2023-04-18 | 山东大学 | Variable-length robot for jet cleaning of inner wall of pipeline |
| CN116175602B (en) * | 2023-02-16 | 2024-03-26 | 哈尔滨工程大学 | Main shaft outer wall contact stress reducing walking measurement robot |
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