CN112224296A - Crawling robot for cleaning outer surface of pipeline - Google Patents
Crawling robot for cleaning outer surface of pipeline Download PDFInfo
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- CN112224296A CN112224296A CN202010954457.1A CN202010954457A CN112224296A CN 112224296 A CN112224296 A CN 112224296A CN 202010954457 A CN202010954457 A CN 202010954457A CN 112224296 A CN112224296 A CN 112224296A
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- cleaning
- pipeline
- gripper
- crawling robot
- gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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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
- B08B9/023—Cleaning the external surface
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to the technical field of cleaning equipment, and particularly relates to a crawling robot for cleaning the outer surface of a pipeline. This a robot of crawling for cleaning pipeline surface, first gripper, second gripper, third gripper and the contact of pipeline surface, from last forward movement, the robot of crawling upwards crawls along the pipeline surface, and along with the robot upward movement of crawling drives the washing silk floss and also upward movement along the pipeline surface, clean pipeline surface.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a crawling robot for cleaning the outer surface of a pipeline.
Background
People living in the building are more and more at present, a long pipe or other pipelines are arranged on the walls of the side surfaces of a plurality of buildings, the long pipe or other pipelines are arranged on the walls of the side surfaces of the buildings, the long pipe or other pipelines are arranged on the top of the building, rainwater in summer and snow water in winter are not easy to flow down, certain pressure can be applied to floor slabs after a long time, and the firmness degree of the building is influenced, so that; the other pipes at the back have different functions, the pipes are usually arranged on the wall, but most of the pipes are longer and fixed on the wall of a higher floor, although the installation is favorable for saving space and not hindering the installation of other equipment, the pipes are not favorable for cleaning, the time for placing the pipes outside is long, because the external environment and the functions of the pipes are influenced, dirt carried by rainwater flowing from a roof, air pollution caused by industrial modernization, particularly in a metropolitan area, over-standard discharge of automobile exhaust gas and industrial waste gas increases carbon dioxide and sulfur dioxide in the air, generally called urban acid rain, strong local erosion is caused on the outer surface of the pipe, rust spots are formed on the outer surface of the pipe by the air pollution, thicker dust is accumulated on the outer surface of the pipe, and insect debris which collides the wall after flying at high speed and adheres to the pipe after death, if the pipe is not cleaned regularly, the pipe body is corroded in the past, and the service life of the pipe is influenced; the pipeline is timely and regularly cleaned, the appearance of the pipeline can be beautified, and the functions of enhancing the weathering resistance of the pipeline and prolonging the surface aging speed can be achieved.
The existing cleaning technology for the outer surface of the pipeline generally utilizes a manual climbing wall surface to move around the pipeline along a pipeline track, cleans the pipeline and cleans the outer surface of the pipeline, and also has a hanging plate mode, wherein a hanging rope and a hanging plate are used for hanging workers to a working position for cleaning, the mode is simpler, the cost is low, the cleaning technology can be carried out as long as the quality of the workers is good and the connection of the rope is firm, but the operation of the mode needs to make safety measures in place, otherwise, the danger is very high, and casualty accidents are caused by the improper safety measures; and also use the single hoist of seat plate type to suspend the operation way, the worker uses the hanger plate (rope) to slip to the assigned position and carry on the construction operation; the construction method is a hanging basket mode, a hanging basket is erected on the roof to convey workers to a specified position for construction operation, and the construction method is low in cleaning efficiency and high in cost; the high-altitude spider car uses platform equipment such as spider cars, lift trucks and the like to convey workers to a specified position for construction operation, and the construction mode has large limitation, is generally suitable for high-difficulty projects with the height of below 36 meters, and is rarely adopted due to high cost.
The above modes of cleaning the pipeline are the existing modes generally applied, but all the modes have a common point and are that the pipeline is cleaned by manually climbing a wall surface or the pipeline, but the operation risk coefficient is too high, and accidents are easy to happen. To address this problem, a crawling robot for cleaning the outer surface of a pipe is now designed.
Disclosure of Invention
Based on the technical problem that accidents are easy to happen due to the fact that the danger coefficient of the pipeline is high when the pipeline is manually climbed and cleaned in the prior art, the invention provides a crawling robot for cleaning the outer surface of the pipeline.
The invention provides a crawling robot for cleaning the outer surface of a pipeline, which comprises a wall body and the pipeline, the pipeline is fixed on one surface of the wall body through a plurality of pipe hoops, a crawling robot is arranged above the pipeline, a cavity is arranged in the crawling robot, a driving device is arranged in the cavity, one end of the crawling robot is fixedly provided with a tail part, a storage tank is arranged on one surface of the tail part, a cleaning tank is screwed on the tail part through threads, cleaning liquid is filled in the cleaning tank, the cleaning tank is communicated with the storage tank, a cleaning ring is fixedly communicated with one surface of the tail part, the cleaning ring is of a C-shaped structure, cleaning cotton is fixedly adhered to two ends of each cleaning ring, the cleaning cotton is made of sponge, two adjacent cleaning cotton and the cleaning rings form an annular structure and are located on the peripheral side face of the pipeline, and a cleaning device is arranged in each cleaning ring.
Preferably, drive arrangement includes the motor, motor fixed mounting is in the cavity, the motor is dual output shaft motor, the equal fixed mounting in motor both ends has the pivot, two the equal fixed mounting in pivot one end has first gear, and is two adjacent first gear is located the robot both sides of crawling.
Preferably, first gear side surface meshing has the second gear, and is two adjacent the second gear passes through first transmission shaft fixed connection, first transmission shaft rotates with a robot surface of crawling and cup joints, second gear side surface meshing has the third gear, and is two adjacent the third gear passes through second transmission shaft fixed connection, the second transmission shaft rotates with a robot surface of crawling and cup joints, third gear side surface meshing has the fourth gear, and is two adjacent the fourth gear passes through third transmission shaft fixed connection, the third transmission shaft rotates with a robot surface of crawling and cup joints, fourth gear side surface meshing has the fifth gear, and is two adjacent the fifth gear passes through fourth transmission shaft fixed connection, the fourth transmission shaft rotates with a robot surface of crawling and cup joints.
Preferably, two adjacent second gears, third gears, fourth gears and fifth gears are located on two sides of the crawling robot, and the first gears, the second gears, the third gears, the fourth gears and the fifth gears are in meshing transmission.
Preferably, a first fixing bolt is fixedly sleeved on one surface of the first gear, a first driving rod is movably hinged at one end of the first fixing bolt, a first fixing rod is movably hinged at one end of the first driving rod, one end of the first fixing rod is movably sleeved with the peripheral side surface of the second transmission shaft, a second fixing bolt is fixedly sleeved at one end of the second transmission shaft, a second driving rod is movably hinged at one end of the second fixing bolt, a second fixing rod is movably hinged at one end of the second driving rod, one end of the second fixing rod is movably sleeved with the peripheral side surface of the fourth transmission shaft, a third fixing bolt is fixedly sleeved at one end of the fourth transmission shaft, a third driving rod is movably hinged at one end of the third fixing bolt, a third fixing rod is movably hinged at one end of the third driving rod, the third fixing rod is movably hinged with one surface of the crawling robot, and the first fixing bolt and one end of the third fixing bolt point in the same direction, the first fixing rod and the third fixing bolt point in opposite directions.
Preferably, a first gripper is fixedly mounted at the other end of the first driving rod, a second gripper is fixedly mounted at the other end of the second driving rod, a third gripper is fixedly mounted at one end of the third driving rod, the first gripper, the second gripper and the third gripper are all arc-shaped structures, the two adjacent first gripper, the second gripper and the third gripper are located on two sides of the pipeline, and the first gripper, the second gripper and the third gripper are in close contact with the outer surface of the pipeline.
Preferably, a plurality of suckers are fixedly arranged on one surface of each of the first gripper, the second gripper and the third gripper, and are in close contact with the outer surface of the pipeline.
Preferably, a limiting groove is formed in one surface of the tail portion, the limiting groove is communicated with the storage groove, a limiting plate is slidably mounted in the limiting groove, one end of the limiting plate is slidably clamped with the inner wall of the limiting groove, and a first hydraulic cylinder is fixedly mounted at the other end of the limiting plate.
Preferably, belt cleaning device includes clean groove, clean groove has seted up clean ring a surface, clean groove is C type structure, clean groove and hold up tank intercommunication, clean groove notch fixed mounting has the filter plate, the filtration pore has been seted up on a surface of filter plate, the filtration pore array is on a surface of filter plate, clean inslot wall slidable mounting has the washing silk floss, and two are adjacent the washing silk floss constitutes C type structure, it is sponge material to wash silk floss material, wash silk floss fixed surface and install the second pneumatic cylinder, second pneumatic cylinder one end and clean inslot wall fixed mounting, the second pneumatic cylinder surface has all been coated with waterproof paint.
Preferably, an electrode of the motor forward rotation switch is electrically connected with an electrode of the second hydraulic cylinder opening switch, an electrode of the motor reverse rotation switch is electrically connected with an electrode of the first hydraulic cylinder opening switch, an electrode of the second hydraulic cylinder closing switch of the motor reverse rotation switch is electrically connected, and an electrode of the second hydraulic cylinder opening switch is electrically connected with the timing switch.
The beneficial effects of the invention are as follows:
1. by arranging the driving device, rotating shafts are fixedly arranged at two ends of the motor, first gears are fixedly arranged at one ends of the two rotating shafts, two adjacent first gears are positioned at two sides of the crawling robot, the first gears, the second gears, the third gears, the fourth gears and the fifth gears are in meshing transmission, the crawling robot is fixed on the pipeline by enabling suckers on the surfaces of the first mechanical claw, the second mechanical claw and the third mechanical claw to be in close contact with the outer surface of the pipeline through the suckers on the surfaces of the first mechanical claw, the second mechanical claw and the third mechanical claw, the first driving rod and the third driving rod are driven to rotate by the motor, the moving tracks of the first driving rod and the third driving rod are the same, when the first mechanical claw and the second mechanical claw rotate 180 degrees, the first mechanical claw and the second mechanical claw leave the surface of the pipeline and move forwards from top, and when the first driving rod and the third driving rod rotate 180 degrees again on the basis of, the second gripper leaves pipeline surface from the top and moves along this moment, so relapse, and the purpose of crawling is upwards crawled along the pipeline surface to the high accident that takes place easily problem of the artifical clean pipeline danger coefficient of climbing of current utilization has been solved.
2. By arranging the cleaning device, the cleaning groove is communicated with the storage groove, a filter plate is fixedly arranged at the notch of the cleaning groove, one surface of the filter plate is provided with a filter hole, cleaning cotton is slidably arranged on the inner wall of the cleaning groove, two adjacent cleaning cotton form a C-shaped structure, the cleaning cotton is made of sponge material, a second hydraulic cylinder is fixedly arranged on one surface of the cleaning cotton, one end of the second hydraulic cylinder is fixedly arranged on the inner wall of the cleaning groove, the surface of the second hydraulic cylinder is coated with waterproof paint, the purpose that the second hydraulic cylinder is driven to extend forwards when the motor is started, the second hydraulic cylinder extends forwards to push out the cleaning cotton in the cleaning groove, two adjacent cleaning cotton wrap the outer surface of the pipeline, the cleaning cotton is driven to move upwards along the outer surface of the pipeline along with the upward movement of the crawling robot, and the outer surface of the pipeline is wiped and cleaned, thereby solved current utilization artifical climbing clean pipe danger coefficient height and taken place accident's problem easily.
3. By arranging the tail part, a limiting groove is arranged on one surface of the tail part, the limiting groove is communicated with the storage groove, a limiting plate is arranged in the limiting groove in a sliding way, one end of the limiting plate is connected with the inner wall of the limiting groove in a sliding way, a first hydraulic cylinder is fixedly arranged at the other end of the limiting plate, the cleaning solution is filled into the cleaning tank, the cleaning solution flows into the storage groove, the cleaning tank is screwed down by screw threads and fixed with the tail part of the crawling robot, the cleaning solution flows into the storage groove, the cleaning solution in the storage groove gradually flows into the cleaning groove through the limiting groove and the filter holes of the filter plate, the cleaning cotton in the cleaning groove is soaked, the first hydraulic cylinder is driven to extend forwards when the motor rotates reversely, the limiting plate is pushed forwards to coincide with, the purpose of not continuing to contact with the cleaning cotton when not needed is achieved, and therefore the problem that cleaning liquid needs to be carried by workers when the pipeline is cleaned is solved.
Drawings
Fig. 1 is a schematic view of a crawling robot for cleaning the outer surface of a pipeline according to the present invention;
FIG. 2 is a right side view of a pipe structure of a crawling robot for cleaning an outer surface of a pipe according to the present invention;
fig. 3 is a perspective view illustrating a construction of a crawling robot of the crawling robot for cleaning the outer surface of a pipeline according to the present invention;
fig. 4 is a cross-sectional view illustrating a cleaning ring structure of a crawling robot for cleaning the outer surface of a pipeline according to the present invention;
fig. 5 is a structural sectional view of a crawling robot of the crawling robot for cleaning the outer surface of a pipeline according to the present invention;
FIG. 6 is an enlarged view of the structure at A of FIG. 5 of a crawling robot for cleaning the outer surface of a pipeline according to the present invention;
fig. 7 is a front view showing a construction of a crawling robot for cleaning an outer surface of a pipeline according to the present invention.
In the figure: 1. a wall body; 2. a pipeline; 3. a pipe hoop; 4. a crawling robot; 401. a cavity; 402. a tail portion; 403. a storage tank; 404. cleaning the tank; 405. cleaning the ring; 406. cleaning cotton; 407. a limiting groove; 408. a limiting plate; 409. a first hydraulic cylinder; 5. a motor; 501. a rotating shaft; 502. a first gear; 503. a second gear; 504. a first drive shaft; 505. a third gear; 506. a second drive shaft; 507. a fourth gear; 508. a third drive shaft; 509. a fifth gear; 5010. a fourth drive shaft; 6. a first securing latch; 601. a first drive lever; 602. a first fixing lever; 603. a second securing latch; 604. a second drive lever; 605. a second fixing bar; 606. a third securing latch; 607. a third drive lever; 608. a third fixing bar; 7. a first gripper; 701. a second gripper; 702. a third gripper; 703. a suction cup; 8. cleaning the tank; 801. filtering the plate; 802. filtering holes; 803. cleaning cotton; 804. and a second hydraulic cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-7, a crawling robot for cleaning the outer surface of a pipeline comprises a wall 1 and a pipeline 2, the pipeline 2 is fixed on one surface of the wall 1 through a plurality of pipe hoops 3, the crawling robot 4 is arranged above the pipeline 2, a cavity 401 is formed in the crawling robot 4, a driving device is arranged in the cavity 401, a tail 402 is fixedly installed at one end of the crawling robot 4, a storage tank 403 is formed in one surface of the tail 402, a cleaning tank 404 is screwed through threads in the tail 402, cleaning liquid is filled in the cleaning tank 404, the cleaning tank 404 is communicated with the storage tank 403, a cleaning ring 405 is fixedly communicated with one surface of the tail 402, the cleaning ring 405 is of a C-shaped structure, cleaning cotton 406 is fixedly adhered to two ends of the cleaning ring 405, the cleaning cotton 406 is made of sponge, two adjacent cleaning cotton 406 and the cleaning ring 405 form an annular structure and are located on the peripheral side surface of the pipeline 2.
Further, the driving device comprises a motor 5, the motor 5 is fixedly installed in the cavity 401, the motor 5 is a motor with double output shafts, rotating shafts 501 are fixedly installed at two ends of the motor 5, first gears 502 are fixedly installed at one ends of the two rotating shafts 501, and the two adjacent first gears 502 are located on two sides of the crawling robot 4.
Furthermore, a second gear 503 is meshed with the side surface of the first gear 502, two adjacent second gears 503 are fixedly connected through a first transmission shaft 504, the first transmission shaft 504 is rotatably sleeved with one surface of the crawling robot 4, a third gear 505 is meshed with the side surface of the second gear 503, two adjacent third gears 505 are fixedly connected through a second transmission shaft 506, the second transmission shaft 506 is rotatably sleeved with one surface of the crawling robot 4, a fourth gear 507 is meshed with the side surface of the third gear 505, two adjacent fourth gears 507 are fixedly connected through a third transmission shaft 508, the third transmission shaft 508 is rotatably sleeved with one surface of the crawling robot 4, a fifth gear 509 is meshed with the side surface of the fourth gear 507, two adjacent fifth gears 509 are fixedly connected through a fourth transmission shaft 5010, and the fourth transmission shaft 5010 is rotatably sleeved with one surface of the crawling robot 4.
Further, two adjacent second gears 503, third gears 505, fourth gears 507 and fifth gears 509 are located on two sides of the crawling robot 4, and the first gears 502, the second gears 503, the third gears 505, the fourth gears 507 and the fifth gears 509 are in meshing transmission.
Further, a first fixed bolt 6 is fixedly sleeved on one surface of the first gear 502, one end of the first fixed bolt 6 is movably hinged with a first driving rod 601, one end of the first driving rod 601 is movably hinged with a first fixed rod 602, one end of the first fixed rod 602 is movably sleeved with the peripheral side of the second transmission shaft 506, one end of the second transmission shaft 506 is fixedly sleeved with a second fixed bolt 603, one end of the second fixed bolt 603 is movably hinged with a second driving rod 604, one end of the second driving rod 604 is movably hinged with a second fixed rod 605, one end of the second fixed rod 605 is movably sleeved with the peripheral side of the fourth transmission shaft 5010, one end of the fourth transmission shaft 5010 is fixedly sleeved with a third fixed bolt 606, one end of the third fixed bolt 606 is movably hinged with a third driving rod 607, one end of the third driving rod 607 is movably hinged with a third fixed rod 608, the third fixed rod 608 is movably hinged with one surface of the crawling robot 4, one end of the first fixed bolt 6 and one end, the first fixing rod 602 and the third fixing rod 606 are directed in opposite directions.
Further, a first gripper 7 is fixedly mounted at the other end of the first driving rod 601, a second gripper 701 is fixedly mounted at the other end of the second driving rod 604, a third gripper 702 is fixedly mounted at one end of the third driving rod 607, the first gripper 7, the second gripper 701 and the third gripper 702 are all arc-shaped structures, two adjacent first grippers 7, the second gripper 701 and the third gripper 702 are all located on two sides of the pipeline 2, and the first gripper 7, the second gripper 701 and the third gripper 702 are in close contact with the outer surface of the pipeline 2.
Furthermore, the suction cups 703 are fixedly installed on one surface of each of the first gripper 7, the second gripper 701 and the third gripper 702, and the suction cups 703 are in close contact with the outer surface of the pipeline 2;
by arranging the driving device, the two ends of the motor 5 are fixedly provided with the rotating shafts 501, one end of each of the two rotating shafts 501 is fixedly provided with the first gear 502, the two adjacent first gears 502 are positioned at the two sides of the crawling robot 4, the first gear 502, the second gear 503, the third gear 505, the fourth gear 507 and the fifth gear 509 are in meshing transmission, the crawling robot 4 is fixed on the pipeline 2 by the fact that the suckers 703 on the surfaces of the first mechanical claw 7, the second mechanical claw 701 and the third mechanical claw 702 are in tight contact with the outer surface of the pipeline 2, the motor 5 drives the rotating shafts 501 to rotate to drive the first gear 502 to rotate, the moving tracks of the first driving rod 601 and the third driving rod 607 are the same, when the first mechanical claw 7 and the second mechanical claw 701 move forwards from the upper part away from the surface of the pipeline 2 when the first mechanical claw 601 and the third driving rod 607 rotate by 180 degrees, first gripper 7, second gripper 701 contact with 2 surface contact on the pipeline again, and second gripper 701 leaves 2 surface from the top forward movements on the pipeline this moment, so relapse, and the purpose of crawling is upwards crawled along 2 surface on the pipeline to the robot 4 of crawling to the problem of the high accident that easily takes place of the clean 2 danger coefficient of pipeline of current utilization artifical climbing has been solved.
Further, a limiting groove 407 is formed in one surface of the tail 402, the limiting groove 407 is communicated with the storage groove 403, a limiting plate 408 is slidably mounted in the limiting groove 407, one end of the limiting plate 408 is slidably clamped with the inner wall of the limiting groove 407, and a first hydraulic cylinder 409 is fixedly mounted at the other end of the limiting plate 408;
by arranging the tail part, a limiting groove 407 is arranged on one surface of the tail part 402, the limiting groove 407 is communicated with the storage groove 403, a limiting plate 408 is arranged in the limiting groove 407 in a sliding manner, one end of the limiting plate 408 is clamped with the inner wall of the limiting groove 407 in a sliding manner, a first hydraulic cylinder 409 is fixedly arranged at the other end of the limiting plate 408, the cleaning liquid is filled into the cleaning tank 404, the cleaning liquid flows into the storage groove 403, the cleaning tank 404 is fixed with the tail part 402 of the crawling robot 4 by screwing through threads, the cleaning liquid flows into the storage groove 403, the cleaning liquid in the storage groove 403 gradually flows into the cleaning groove 8 through the limiting groove 407 and the filter holes 802 of the filter plate 801, the cleaning cotton 803 in the cleaning groove 8 is soaked, the first hydraulic cylinder 409 is driven to extend forwards by the motor 5 when the motor 5 rotates reversely, the limiting plate 408 is pushed forwards to coincide with the limiting groove 407, the cleaning liquid is prevented from continuously flowing, thereby the problem that the workman need carry the cleaning solution when having solved clearance pipeline 2.
Further, the cleaning device comprises a cleaning tank 8, the cleaning tank 8 is provided with a surface of a cleaning ring 405, the cleaning tank 8 is of a C-shaped structure, the cleaning tank 8 is communicated with the storage tank 403, a filter plate 801 is fixedly installed at the notch of the cleaning tank 8, a filter hole 802 is formed in one surface of the filter plate 801, the filter hole 802 is arrayed on one surface of the filter plate 801, cleaning cotton 803 is slidably installed on the inner wall of the cleaning tank 8, two adjacent cleaning cotton 803 form the C-shaped structure, the cleaning cotton 803 is made of sponge material, a second hydraulic cylinder 804 is fixedly installed on one surface of the cleaning cotton 803, one end of the second hydraulic cylinder 804 is fixedly installed on the inner wall of the cleaning tank 8, and the surface of the second hydraulic cylinder 804.
Further, the electrode of the forward rotation switch of the motor 5 is electrically connected with the electrode of the on switch of the second hydraulic cylinder 804, the electrode of the reverse rotation switch of the motor 5 is electrically connected with the electrode of the on switch of the first hydraulic cylinder 409, the electrode of the off switch of the second hydraulic cylinder 804 of the electrode of the reverse rotation switch of the motor 5 is electrically connected with the electrode of the on switch of the second hydraulic cylinder 804, and the electrode of the on switch of the second hydraulic cylinder 804 is electrically connected with the timing switch.
By arranging the cleaning device, the cleaning tank 8 is communicated with the storage tank 403, a filter plate 801 is fixedly arranged at the notch of the cleaning tank 8, a filter hole 802 is formed in one surface of the filter plate 801, a cleaning sponge 803 is slidably arranged on the inner wall of the cleaning tank 8, two adjacent cleaning sponges 803 form a C-shaped structure, the cleaning sponge 803 is made of sponge material, a second hydraulic cylinder 804 is fixedly arranged on one surface of the cleaning sponge 803, one end of the second hydraulic cylinder 804 is fixedly arranged on the inner wall of the cleaning tank 8, waterproof paint is coated on the surface of the second hydraulic cylinder 804, the motor 5 is driven to drive the second hydraulic cylinder 804 to extend forwards when being opened, the second hydraulic cylinder 804 extends forwards to push out the cleaning sponge 803 in the cleaning tank 8, the two adjacent cleaning sponges 803 wrap the outer surface of the pipeline 2, and the cleaning sponge 803 is driven to move upwards along the outer surface of the pipeline 2 along with the upward movement, thereby solved current utilization artifical climbing clean 2 problem that the high accident that takes place easily of danger coefficient.
The working principle is as follows:
when the outer surface of the pipeline 2 needs to be cleaned, the crawling robot 4 is placed on the outer surface of the pipeline 2, the first gripper 7, the second gripper 701 and the third gripper 702 on two sides of the crawling robot 4 wrap the outer surface of the pipeline 2, the crawling robot 4 is fixed on the pipeline 2 through the tight contact of the suckers 703 on the surfaces of the first gripper 7, the second gripper 701 and the third gripper 702, the cleaning liquid is filled into the cleaning tank 404, the cleaning tank 404 is fixed with the tail 402 of the crawling robot 4 through screw tightening, the cleaning liquid flows into the storage tank 403 to provide power for the motor 5, the motor 5 drives the rotating shaft 501 to rotate to drive the first gear 502 to rotate, the first gear 502, the second gear 503, the third gear 505, the fourth gear 507 and the fifth gear 509 are in meshing transmission through forward rotation, the first gear 502 drives the second gear 503 to rotate reversely, the second gear 503 drives the third gear 505 through reverse rotation, the third gear 505 rotates forward to drive the fourth gear 507 to rotate backward, the fourth gear 507 rotates backward to drive the fifth gear 509 to rotate forward, the first gear 502 rotates to drive the first fixing bolt 6 to rotate and simultaneously drive the first driving rod 601 to rotate around one end of the first fixing bolt 6, the moving tracks of the first driving rod 601 and the third driving rod 607 are the same, when the first mechanical claw 7 and the second mechanical claw 701 rotate 180 degrees, the first mechanical claw 7 and the second mechanical claw 701 move from top to bottom away from the surface of the pipeline 2, when the first mechanical claw 7 and the second mechanical claw 701 leave the surface of the pipeline 2, the third mechanical claw 702 contacts with the surface of the pipeline 2 to stabilize the crawling robot 4, when the first driving rod 601 and the third driving rod 607 rotate 180 degrees, the first mechanical claw 7 and the second mechanical claw 701 contact the outer surface of the pipeline 2 again, at this time, the second mechanical claw 701 leaves the outer surface of the pipeline 2 to move from top to top again, and so on the basis of 180 degrees, the crawling robot 4 crawls upwards along the outer surface of the pipeline 2;
the cleaning liquid in the storage tank 403 gradually flows into the cleaning tank 8 through the limiting groove 407 and the filtering holes 802 of the filtering plate 801 to soak the cleaning sponge 803 in the cleaning tank 8, the motor 5 drives the second hydraulic cylinder 804 to extend forward when being started, the second hydraulic cylinder 804 extends forward to push out the cleaning sponge 803 in the cleaning tank 8, two adjacent cleaning sponges 803 wrap the outer surface of the pipeline 2, the cleaning sponge 803 is driven to move upward along the outer surface of the pipeline 2 along with the upward movement of the crawling robot 4, the cleaning sponge 406 moves upward along the outer surface of the pipeline 2 while the outer surface of the pipeline 2 is cleaned by the cleaning liquid, the outer surface of the pipeline 2 is cleaned, and when the pipe hoop 3 of the fixed pipeline 2 is encountered, the cleaning sponge 406 fixed to the two ends of the cleaning ring 405 is squeezed, and the cleaning sponge 406 is squeezed to the two sides to allow the cleaning ring 405 to move forward;
when the crawling robot 4 crawls to the top end of the pipeline 2, the motor 5 is controlled to rotate reversely, the first mechanical claw 7, the second mechanical claw 701 and the third mechanical claw 702 move backwards and downwards to drive the crawling robot 4 to move downwards, the original path returns, the motor 5 rotates reversely and drives the first hydraulic cylinder 409 to extend forwards, the limiting plate 408 is pushed forwards to coincide with the limiting groove 407 to prevent the cleaning liquid from continuously flowing into the cleaning groove 8, the second hydraulic cylinder 804 retracts backwards to drive the cleaning cotton 803 to coincide with the cleaning groove 8, the cleaning cotton 803 is larger in volume after being wetted by the cleaning liquid, the inner wall of the cleaning groove 8 extrudes the cleaning cotton 803 after retracting back to the cleaning groove 8 again, the cleaning cotton 803 is wrung, the timing switch is set in advance to control the second hydraulic cylinder 804 to extend forwards, the timing switch controls the second hydraulic cylinder 804 to extend forwards after the cleaning cotton 803 finishes the wringing action, and the dry cleaning cotton 803 is pushed out from the cleaning groove 8, the cleaning sponge 803 is in close contact with the outer surface of the pipeline 2, and also wipes downwards along the outer surface of the pipeline 2 along with the downward movement of the crawling robot 4, so as to wipe water stains flowing downwards by the cleaning liquid, and finish the cleaning of the outer surface of the pipeline 2.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A crawling robot for cleaning the outer surface of a pipeline, comprising a wall body (1) and a pipeline (2), characterized in that: pipeline (2) are fixed on wall body (1) a surface through a plurality of ferrule (3), pipeline (2) top is provided with crawl robot (4), cavity (401) have been seted up in crawl robot (4), be provided with drive arrangement in cavity (401), crawl robot (4) one end fixed mounting has afterbody (402), reserve tank (403) have been seted up on afterbody (402) a surface, afterbody (402) are screwed up through the screw thread and are had clean jar (404), be filled into the cleaning solution in clean jar (404), clean jar (404) and reserve tank (403) intercommunication, afterbody (402) a fixed surface intercommunication has clean ring (405), clean ring (405) are C type structure, clean ring (405) both ends all are fixed to be stained with clean cotton (406), clean cotton (406) material is the sponge, and two are adjacent clean cotton (406) constitute the annular structure with clean ring (405) and lie in pipeline (2) face And a cleaning device is arranged in the cleaning ring (405).
2. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 1, wherein: drive arrangement includes motor (5), motor (5) fixed mounting is in cavity (401), motor (5) are dual output shaft motor, the equal fixed mounting in motor (5) both ends has pivot (501), two the equal fixed mounting in pivot (501) one end has first gear (502), and is two adjacent first gear (502) are located crawling robot (4) both sides.
3. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 2, wherein: a second gear (503) is meshed with the side surface of the first gear (502), two adjacent second gears (503) are fixedly connected through a first transmission shaft (504), the first transmission shaft (504) is rotatably sleeved with one surface of the crawling robot (4), a third gear (505) is meshed with the side surface of the second gear (503), two adjacent third gears (505) are fixedly connected through a second transmission shaft (506), the second transmission shaft (506) is rotatably sleeved with one surface of the crawling robot (4), a fourth gear (507) is meshed with the side surface of the third gear (505), two adjacent fourth gears (507) are fixedly connected through a third transmission shaft (508), the third transmission shaft (508) is rotatably sleeved with one surface of the crawling robot (4), and a fifth gear (509) is meshed with the side surface of the fourth gear (507), two adjacent fifth gears (509) are fixedly connected through a fourth transmission shaft (5010), and the fourth transmission shaft (5010) is rotatably sleeved on one surface of the crawling robot (4).
4. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 3, wherein: the two adjacent second gears (503), third gears (505), fourth gears (507) and fifth gears (509) are located on two sides of the crawling robot (4), and the first gears (502), the second gears (503), the third gears (505), the fourth gears (507) and the fifth gears (509) are in meshing transmission.
5. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 2, wherein: the fixed cover in first gear (502) one surface has been connect first gim peg (6), first gim peg (6) one end activity articulates there is first actuating lever (601), first actuating lever (601) one end activity articulates there is first dead lever (602), first dead lever (602) one end and second transmission shaft (506) week side activity cup joint, the fixed cover in second transmission shaft (506) one end has been connect second gim peg (603), second gim peg (603) one end activity articulates there is second actuating lever (604), second actuating lever (604) one end activity articulates there is second dead lever (605), second dead lever (605) one end and fourth transmission shaft (5010) week side activity cup joint, fourth transmission shaft (5010) one end fixed cup joint has third gim peg (606), third gim peg (606) one end activity articulates there is third actuating lever (607), one end of the third driving rod (607) is movably hinged with a third fixing rod (608), the third fixing rod (608) is movably hinged with one surface of the crawling robot (4), one end of the first fixing bolt (6) and one end of the third fixing bolt (606) point to the same direction, and the other end of the first fixing rod (602) and the other end of the third fixing bolt (606) point to the opposite direction.
6. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 5, wherein: first actuating lever (601) other end fixed mounting has first gripper (7), second actuating lever (604) other end fixed mounting has second gripper (701), third actuating lever (607) one end fixed mounting has third gripper (702), first gripper (7), second gripper (701), third gripper (702) are the arc type structure, and two are adjacent first gripper (7), second gripper (701), third gripper (702) all are located pipeline (2) both sides, first gripper (7), second gripper (701), third gripper (702) and pipeline (2) surface in close contact with.
7. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 6, wherein: suction cups (703) are fixedly arranged on the surfaces of the first mechanical claw (7), the second mechanical claw (701) and the third mechanical claw (702), and the suction cups (703) are tightly contacted with the outer surface of the pipeline (2).
8. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 1, wherein: spacing groove (407) have been seted up on afterbody (402) one surface, spacing groove (407) and hold up tank (403) intercommunication, slidable mounting has limiting plate (408) in limiting groove (407), limiting plate (408) one end and limiting groove (407) inner wall slip joint, limiting plate (408) other end fixed mounting has first pneumatic cylinder (409).
9. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 1, wherein: the cleaning device comprises a cleaning groove (8), the cleaning groove (8) is provided with a surface of a cleaning ring (405), the cleaning tank (8) is of a C-shaped structure, the cleaning tank (8) is communicated with the storage tank (403), a filter plate (801) is fixedly arranged at the notch of the cleaning groove (8), a filter hole (802) is arranged on one surface of the filter plate (801), the filter holes (802) are arrayed on one surface of the filter plate (801), the inner wall of the cleaning groove (8) is provided with cleaning cotton (803) in a sliding way, two adjacent cleaning cotton (803) form a C-shaped structure, the cleaning cotton (803) is made of sponge material, a second hydraulic cylinder (804) is fixedly arranged on one surface of the cleaning cotton (803), one end of the second hydraulic cylinder (804) is fixedly installed on the inner wall of the cleaning groove (8), and waterproof paint is coated on the surface of the second hydraulic cylinder (804).
10. The crawling robot for cleaning the outer surface of a pipeline as claimed in claim 2, wherein: the electrode of the motor (5) forward rotation switch is electrically connected with the electrode of the second hydraulic cylinder (804) opening switch, the electrode of the motor (5) reverse rotation switch is electrically connected with the electrode of the first hydraulic cylinder (409) opening switch, the electrode of the second hydraulic cylinder (804) closing switch of the motor (5) reverse rotation switch is electrically connected, and the electrode of the second hydraulic cylinder (804) opening switch is electrically connected with the timing switch.
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| CN202010954457.1A CN112224296B (en) | 2020-09-11 | 2020-09-11 | Crawling robot for cleaning outer surface of pipeline |
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| CN202010954457.1A CN112224296B (en) | 2020-09-11 | 2020-09-11 | Crawling robot for cleaning outer surface of pipeline |
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| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113294772A (en) * | 2021-05-08 | 2021-08-24 | 大唐东北电力试验研究院有限公司 | Crawling microwave oscillation oxide skin cleaning system |
| CN113926786A (en) * | 2021-08-27 | 2022-01-14 | 华能南京金陵发电有限公司 | Electrode cleaning treatment equipment for ion concentration measurement |
| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
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| CN112224296B (en) | 2021-08-10 |
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