CN112139168A - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
- Publication number
- CN112139168A CN112139168A CN202010662060.5A CN202010662060A CN112139168A CN 112139168 A CN112139168 A CN 112139168A CN 202010662060 A CN202010662060 A CN 202010662060A CN 112139168 A CN112139168 A CN 112139168A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- ring
- wall
- cleaning robot
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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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- 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
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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
- F16L55/40—Constructional aspects of the body
-
- 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
- F16L2101/12—Cleaning
Abstract
The invention relates to a pipeline cleaning robot which comprises a walking assembly, wherein a cleaning assembly is rotatably arranged in front of the walking assembly and used for stirring and cleaning sundries in a pipeline, and the cleaning assembly is in a clamping jaw shape and used for clamping and taking out hard sundries which cannot be stirred and cleaned in the pipeline. According to the invention, the motor is arranged in the accommodating pipe and drives the hydraulic cylinder to rotate, and the output end of the hydraulic cylinder drives the rotating ring to drive the stirring claw arranged at the front end to rotate, so that linear or flexible impurities in the pipeline can be simply stirred, cut and cleaned, and the normal use of the pipeline robot is ensured; according to the invention, the stirring claw is set to be in a three-claw clamping claw shape, the hydraulic cylinder pushes the output end to stretch, the three clamping pieces are driven to be folded and unfolded by taking the connecting piece as an axis, the front hard sundries are clamped and taken out of the pipeline, the hard sundries in the pipeline are cleaned, and the application range of the whole pipeline robot is enlarged.
Description
Technical Field
The invention relates to the field of robots, in particular to a 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 of a worker or the automatic control of a computer.
At present pipeline robot when clearing up the pipeline, often adopt to add the stirring leaf at its front end for stir the cutting clearance to the inside debris of pipeline, but some inside stereoplasm debris that contain of pipeline such as stone, adopt at this moment to rotate the cutting and cause the damage to the stirring leaf easily, and still can't clear up it.
Disclosure of Invention
The invention provides a pipeline cleaning robot, aiming at meeting the requirement of quickly cleaning hard sundries in a pipeline.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the utility model provides a pipeline cleaning robot, includes the running gear, the place ahead of running gear rotates and is provided with the clearance subassembly and is used for stirring the clearance to the inside debris of pipeline, the clearance subassembly sets up to the clamping jaw form and is used for carrying out the centre gripping to the inside stereoplasm debris that can't be stirred the clearance of pipeline and take out.
The walking assembly comprises a retractable ring capable of automatically adjusting the diameter, a driving wheel and a driven wheel are mounted on the side face of the retractable ring and used for moving in a pipeline, and a storage pipe used for protecting the cleaning assembly is arranged in the center of the retractable ring through a telescopic rod.
The cleaning assembly comprises a motor arranged in the containing pipe, the motor is fixedly connected with a rotary disc, a hydraulic cylinder is fixedly connected to the surface of the rotary disc, and a stirring claw is arranged at the front end of the hydraulic cylinder.
The stirring claw comprises three bent clamping pieces, one end of each clamping piece is rotatably arranged at the output end of the hydraulic cylinder, the corners of the clamping pieces are rotatably connected with the outer side wall of the rotating ring rotating relative to the containing pipe through connecting pieces, and the inner wall of the rotating ring is slidably connected with the outer wall of the output end.
The output end comprises a disc, the surface of the disc is rotatably connected with one end of the clamping piece through three first rotating seats, a camera used for observing the inside of the pipeline is arranged at the center of the disc, sliding grooves are formed in the two sides of the output end, and the sliding grooves are in sliding connection with sliding blocks on the inner wall of the rotating ring.
The outer wall of the rotating ring is provided with three second rotating seats which are used for being rotatably connected with one end of the connecting piece, the inner wall of the rotating ring is provided with an annular groove, and the inside of the annular groove is slidably connected with a convex ring arranged at one end of the containing pipe.
The retractable ring comprises an outer ring and an inner ring which are arranged at intervals, a first spring is arranged inside the outer ring, the inner wall of the outer ring is fixedly connected with the inner rod of the retractable rod, the retractable rod further comprises an outer rod, the outer rod is sleeved outside the inner rod, a second spring is arranged between the outer rod and the inner rod, and the inner ring is made of rubber.
The invention has the beneficial effects that:
according to the invention, the motor is arranged in the accommodating pipe and drives the hydraulic cylinder to rotate, and the output end of the hydraulic cylinder drives the rotating ring to drive the stirring claw arranged at the front end to rotate, so that linear or flexible impurities in the pipeline can be simply stirred, cut and cleaned, and the normal use of the pipeline robot is ensured.
According to the invention, the stirring claw is set to be in a three-claw clamping claw shape, the hydraulic cylinder pushes the output end to stretch, the three clamping pieces are driven to be folded and unfolded by taking the connecting piece as an axis, the front hard sundries are clamped and are taken out of the pipeline, the hard sundries in the pipeline are cleaned, the application range of the whole pipeline robot is enlarged, and the practicability of the pipeline robot is improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second overall perspective view of the present invention;
FIG. 3 is an overall cross-sectional schematic view of the present invention;
FIG. 4 is a schematic cross-sectional view of the retractable ring of the present invention;
fig. 5 is an enlarged schematic view of a portion a of fig. 3.
In the figure: 1. a walking assembly; 11. a ring is folded and unfolded; 111. an outer ring; 112. an inner ring; 113. a first spring; 12. a driving wheel; 13. a driven wheel; 14. a telescopic rod; 141. an outer rod; 142. an inner rod; 143. a second spring; 15. a receiving tube; 151. a convex ring; 2. cleaning the assembly; 21. a motor; 22. a turntable; 23. a hydraulic cylinder; 24. an output end; 241. a disc; 242. a chute; 243. a first rotating base; 25. a clip; 26. A rotating ring; 261. a second rotating base; 262. a groove; 263. a slider; 27. connecting sheets; 28. and a camera head.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be described more clearly and more completely with reference to the drawings in the following embodiments, and it is understood that the described embodiments are only a part of the present invention, rather than the whole, and based on the embodiments, other embodiments obtained by those skilled in the art without inventive exercise are within the protection scope of the present invention.
As shown in fig. 1-5, a pipeline cleaning robot comprises a walking component 1, a cleaning component 2 is rotatably arranged in front of the walking component 1 and used for stirring and cleaning sundries in a pipeline, and the cleaning component 2 is arranged in a clamping jaw shape and used for clamping and taking out hard sundries which cannot be stirred and cleaned in the pipeline.
The walking assembly 1 comprises a retractable ring 11 capable of automatically adjusting the diameter, a driving wheel 12 and a driven wheel 13 are mounted on the side surface of the retractable ring 11 and used for moving the inside of a pipeline, and a containing pipe 15 used for protecting the cleaning assembly 2 is arranged in the center of the retractable ring 11 through a telescopic rod 14.
The cleaning assembly 2 comprises a motor 21 arranged inside the accommodating pipe 15, the motor 21 is fixedly connected with a rotary table 22, the surface of the rotary table 22 is fixedly connected with a hydraulic cylinder 23, and the front end of the hydraulic cylinder 23 is provided with a stirring claw. The motor 21 drives the turntable 22 to rotate, the hydraulic cylinder 23 and the stirring claw are rotated, and sundries in the pipeline are stirred, cut and cleaned.
The stirring claw comprises three bent clamping pieces 25, one end of each clamping piece 25 is rotatably arranged at the output end 24 of the hydraulic cylinder 23, the corners of the clamping pieces 25 are rotatably connected to the outer side wall of a rotating ring 26 which rotates with the accommodating pipe 15 through connecting pieces 27, and the inner wall of the rotating ring 26 is slidably connected with the outer wall of the output end 24.
The output end 24 includes a disk 241, the surface of the disk 241 is rotatably connected to one end of the clamping piece 25 through three first rotating seats 243, a camera 28 for observing the inside of the pipeline is disposed at the center of the disk 241, sliding grooves 242 are disposed on two sides of the output end 24, and the sliding grooves 242 are slidably connected to the sliding blocks 263 on the inner wall of the rotating ring 26. The setting of camera 28 is used for outside operating personnel to the observation of inside, and the spout 242 has been seted up to the straight-bar outer wall of output 24 to the timely inside of being convenient for is operated for carry on spacingly to swivel becket 26, and help swivel becket 26 rotates, realizes the rotation of whole stirring claw.
The outer wall of the rotating ring 26 is provided with three second rotating seats 261 for rotatably connecting with one end of the connecting piece 27, the inner wall of the rotating ring 26 is provided with an annular groove 262, and the inside of the groove 262 is slidably connected with a convex ring 151 arranged at one end of the accommodating tube 15. The groove 262 and the convex ring 151 are used for fixedly mounting the rotating ring 26 and providing a fulcrum for the connecting piece 27, by using the connecting piece 27 as a fulcrum of the clamping piece 25 to provide support and assistance for opening and closing of the stirring claws.
The retractable ring 11 comprises an outer ring 111 and an inner ring 112 which are arranged at intervals, a first spring 113 is arranged inside the outer ring 111, an inner rod 142 of the retractable rod 14 is fixedly connected to the inner wall of the outer ring 111, the retractable rod 14 further comprises an outer rod 141, the outer rod 141 is sleeved outside the inner rod 142, and a second spring 143 is arranged between the outer rod 141 and the inner rod 142. The rubber material of the inner ring 112 has certain flexible deformation performance, so that when the receiving and releasing ring 11 is expanded, the inner ring 112 can be deformed and expanded outwards at will under the action of the first inner spring 113, so that the receiving and releasing ring 11 drives the driving wheel 12 and the driven wheel 13 to be attached to the inner wall of the pipeline, otherwise, when the receiving and releasing ring 11 is contracted, the outer rings 111 are simultaneously extruded manually, and the inner ring 112 is received by the outer rings 111 to compress the first inner spring 113; in the same way, the extension and contraction between the inner rod 142 and the outer rod 141 are also completed through the second spring 143 to adapt to pipelines with different pipe diameters, the inner ring 112 has the function of ensuring that the expansion radiuses of the individual outer rings 111 are the same as much as possible, and the driving wheel 12 and the driven wheel 13 in each direction can contact the inner wall of the pipeline conveniently.
When walking: put ring 11 with two receipts of pipeline robot and press and make both contractions, place the pipeline of waiting to clear up with the pipeline robot afterwards, the pipeline robot is when the pipeline is inside, receive and release ring 11 automatic expansion, make action wheel 12 and follow the inner wall of driving wheel 13 all laminating and pipeline, start action wheel 12 afterwards, the rotation of driving wheel 12 drives and puts ring 11 and remove, thereby receive and put ring 11 and drive two other follow rotations of driving wheel 13, carry out the antedisplacement with whole pipeline robot.
When rotating and cleaning: the motor 21 in the containing pipe 15 is started, the motor 21 drives the rotary table 22 to rotate, the rotary table 22 drives the hydraulic cylinder 23 to rotate, the hydraulic cylinder 23 drives the three clamping pieces 25 to rotate through the output end 24, meanwhile, the output end 24 also drives the rotary ring 26 to rotate at one end of the containing pipe 15, the rotary ring 26 also drives the clamping pieces 25 through the connecting pieces 27, then the whole stirring claw is rotated, sundries in the front of the pipeline are stirred and cut, and the front side of the pipeline is cleaned while the front side of the pipeline is moved forward.
When clamping and cleaning: start hydraulic cylinder 23, the output 24 extension of hydraulic cylinder 23, promote each clamping piece 25 and rotate on connection piece 27 is the fulcrum, open whole stirring claw, the pipeline robot antedisplacement is like the stone parcel with the stereoplasm debris in front afterwards, then pneumatic cylinder 23 moves backward, contract output 24, each clamping piece 25 of pulling rotates on connection piece 27, the realization is to the shrink centre gripping of stirring claw, control pipeline robot moves backward afterwards, take out the stereoplasm debris in the place ahead.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a pipeline cleaning robot which characterized in that: including running gear (1), the place ahead of running gear (1) is rotated and is provided with clearance subassembly (2) and is used for stirring the clearance to the inside debris of pipeline, clearance subassembly (2) set up to the clamping jaw form and are used for carrying out the centre gripping to the inside stereoplasm debris that can't be stirred the clearance of pipeline and take out.
2. The pipe cleaning robot of claim 1, wherein: the walking assembly (1) comprises a retracting ring (11) capable of automatically adjusting the diameter, a driving wheel (12) and a driven wheel (13) are mounted on the side face of the retracting ring (11) and used for moving the inside of a pipeline, and an accommodating pipe (15) used for protecting the cleaning assembly (2) is arranged in the center of the retracting ring (11) through a telescopic rod (14).
3. The pipe cleaning robot of claim 2, wherein: clearance subassembly (2) including installing motor (21) of accommodating pipe (15) inside, motor (21) fixedly connected with carousel (22), the fixed surface of carousel (22) is connected with pneumatic cylinder (23), the front end of pneumatic cylinder (23) sets up stirring claw.
4. A pipe cleaning robot as claimed in claim 3, wherein: the stirring claw comprises three bent clamping pieces (25), one end of each clamping piece (25) is rotatably arranged at the output end (24) of the hydraulic cylinder (23), the corners of the clamping pieces (25) are rotatably connected with the outer side wall of a rotating ring (26) which is used for accommodating the pipe (15) to rotate through connecting pieces (27), and the inner wall of the rotating ring (26) is slidably connected with the outer wall of the output end (24).
5. The pipe cleaning robot of claim 4, wherein: output (24) include disc (241), the surface of disc (241) through three first seat (243) of rotating with the one end of clamping piece (25) is rotated and is connected, the central point department of disc (241) is provided with camera (28) that are used for observing inside the pipeline, spout (242) have been seted up to the both sides of output (24), and this spout (242) with slider (263) looks sliding connection of rotating ring (26) inner wall.
6. The pipe cleaning robot of claim 5, wherein: the outer wall of the rotating ring (26) is provided with three second rotating seats (261) which are used for being rotatably connected with one end of the connecting sheet (27), the inner wall of the rotating ring (26) is provided with an annular groove (262), and the inner part of the groove (262) is slidably connected with a convex ring (151) arranged at one end of the accommodating pipe (15).
7. The pipe cleaning robot of claim 2, wherein: receive and release ring (11) including outer ring (111) and inner ring (112) that the interval set up, the inside of outer ring (111) is provided with first spring (113), the inner wall fixedly connected with of outer ring (111) interior pole (142) of telescopic link (14), telescopic link (14) still include outer pole (141), outer pole (141) cover is established the outside of interior pole (142) and be provided with second spring (143) between the two, inner ring (112) are the rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010662060.5A CN112139168A (en) | 2020-07-10 | 2020-07-10 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010662060.5A CN112139168A (en) | 2020-07-10 | 2020-07-10 | Pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112139168A true CN112139168A (en) | 2020-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010662060.5A Pending CN112139168A (en) | 2020-07-10 | 2020-07-10 | Pipeline cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112139168A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333407A (en) * | 2021-06-08 | 2021-09-03 | 南方科技大学台州研究院 | Pipeline robot auxiliary facility for cleaning large obstacles such as gravel in pipeline |
| CN116481741A (en) * | 2023-06-21 | 2023-07-25 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333407A (en) * | 2021-06-08 | 2021-09-03 | 南方科技大学台州研究院 | Pipeline robot auxiliary facility for cleaning large obstacles such as gravel in pipeline |
| CN116481741A (en) * | 2023-06-21 | 2023-07-25 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
| CN116481741B (en) * | 2023-06-21 | 2023-09-26 | 深圳市勘察研究院有限公司 | Intelligent automatic inspection robot for pipeline |
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Application publication date: 20201229 |
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| RJ01 | Rejection of invention patent application after publication |