CN113404978A - Pipeline robot with pipe diameter self-adaptation function - Google Patents
Pipeline robot with pipe diameter self-adaptation function Download PDFInfo
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- CN113404978A CN113404978A CN202110782022.8A CN202110782022A CN113404978A CN 113404978 A CN113404978 A CN 113404978A CN 202110782022 A CN202110782022 A CN 202110782022A CN 113404978 A CN113404978 A CN 113404978A
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- rack
- rod
- auxiliary
- robot
- rotating
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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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- 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
- B08B9/027—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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of a robot, in particular to a pipeline robot with a pipe diameter self-adaption function, which comprises a rack, wherein the rack is in a triangular prism shape; auxiliary device, stabilising arrangement, internal stay device, rotatory scraping device, the gettering device, its characterized in that, internal stay device includes: drive arrangement, drive arrangement are located the inside of auxiliary device, and drive arrangement's length is unanimous with auxiliary device's length, expands mobile device, and rotatory scraping device includes: first rotary device, clearing device set up in first rotary device's output, and the gettering device includes: the second rotary device, the second rotary device sets up in auxiliary device's the other end, inhales grey device and sets up the output of second rotary device, and through above-mentioned operation, the robot can be according to the work pipe diameter, and the pipe diameter of the different pipelines of the independently flexible adaptation has strengthened the usability of robot, has also reduced enterprise research and development cost simultaneously, has reduced enterprise economic spending.
Description
Technical Field
The invention relates to the technical field of robot receiving, in particular to a pipeline robot with a pipe diameter self-adaption function.
Background
The pipeline is used as a life line of a city, plays an increasingly important role in daily life, conveys strategic materials such as petroleum and natural gas, plays an irreplaceable role in industries such as water supply and drainage, municipal administration and electric power, and needs to be regularly detected, repaired and the like in order to maintain the daily normal operation of the pipeline.
At present, pipelines with different purposes are different in diameter, in order to adapt to the diameters of the pipelines independently and reduce the types of robots, a pipe diameter adapting mechanism suitable for a pipeline robot needs to be invented, and the robot can adapt to reducing automatically according to different diameters of the pipelines and is suitable for working pipelines.
Disclosure of Invention
In order to solve the technical problem, a pipeline robot with a pipe diameter self-adaption function is provided.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a pipeline robot with a pipe diameter self-adapting function comprises,
the rack is in a triangular prism shape;
the auxiliary devices penetrate through the two ends of the rack, and the distances from the two ends of the auxiliary devices to the two ends of the rack are consistent;
the stabilizing device is provided with three surfaces which are arranged on the long side of the rack at equal intervals;
the inner supporting devices are arranged at two ends of the auxiliary device;
the rotary scraping device is arranged at one end of the auxiliary device;
the absorbing and removing device is arranged at the other end of the auxiliary device;
it is characterized in that the preparation method is characterized in that,
the internal stay device includes:
the driving device penetrates through the middle part of the rack, is positioned inside the auxiliary device, and has the length consistent with that of the auxiliary device;
the expansion moving devices are provided with a pair of expansion moving devices and are arranged at two ends of the rotary driving device;
the rotary scraping device comprises:
the first rotating device is arranged at one end of the auxiliary device;
the clearing device is arranged at the output end of the first rotating device;
the suction device includes:
the second rotating device is arranged at the other end of the auxiliary device;
and the dust suction device is provided with an output end of the second rotating device.
Preferably, the auxiliary device comprises:
the auxiliary rods horizontally penetrate through two ends of the rack, and are distributed at equal intervals along the axial lead of the rack;
the guard plate, the guard plate is equipped with two, and two guard plates are vertical overlap respectively and locate the both ends of auxiliary rod.
Preferably, the drive means comprises;
the bidirectional screw rod horizontally penetrates through the middle part of the rack, and two ends of the bidirectional screw rod are in shaft connection with the two protection plates;
the spur gear is sleeved at one end of the bidirectional screw rod, and one end of the spur gear is rotatably connected with one end of the rack;
the rotary driver is arranged in the rack, and the output end of the rotary driver is meshed with the spur gear box;
the two sliding plates are respectively sleeved at the two ends of the bidirectional screw rod, the periphery of each sliding plate is sleeved on the auxiliary rod, and the end parts of the sliding plates are provided with first hinging blocks.
Preferably, the expanding movement device comprises:
the lifting rods are three, one end of each lifting rod is hinged with the three end parts of one end of the rack, and a second hinge block is arranged on the inner side of one end, close to the rack, of each lifting rod;
the number of the connecting rods corresponds to that of the lifting rods one by one, one end of each connecting rod is connected with the second hinge block of each lifting rod, and the other end of each connecting rod is connected with the first hinge block of the sliding plate;
the number of the wheels corresponds to the number of the lifting rods one by one, and the wheels are arranged at the other end of the lifting rods.
Preferably, the side of a wheel is equipped with and is used for driving the wheel to carry out rotary motion's power device, and power device includes:
one end of the first rotating rod is connected with the wheel;
the first bevel gear is horizontally sleeved on the first rotating rod;
the first motor is arranged at one end, far away from the rack, of the lifting rod;
one end of the second rotating rod is connected with the output end of the first motor;
and the second bevel gear is sleeved at the other end of the second rotating rod and is meshed with the first bevel gear.
Preferably, the first rotating means comprises;
the second motor is horizontally arranged at one end of one protection plate, which is far away from the rack;
and one end of the first connecting plate is connected with the output end of the second motor.
Preferably, the removing means comprises:
the first limiting frame is vertically arranged at the other end of the first connecting rod, and a first rectangular groove is formed in one end, close to the rack, of the first limiting frame;
the lifting plate is embedded in the first limiting frame;
the end part of the electric push rod is hinged with the lifting plate in the first rectangular groove, and the tail part of the electric push rod is hinged with the top part of the first connecting plate;
the scraper is vertically arranged at the top end of the lifting plate.
Preferably, the second rotating means comprises;
the third motor is arranged at one end of the other protection plate, which is far away from the rack;
one end of the second joint rod is connected with the output end of the third motor;
and the bottom of the linear driver is connected with the other end of the second connecting joint plate.
Preferably, the dust suction device includes:
the dust collector is arranged at the output end of the linear driver;
the collecting box is horizontally arranged in the rack;
the dust collection pipe is arranged at the bottom of the dust collector;
one end of the dust conveying pipe is connected with the dust collector, and the other end of the dust conveying pipe penetrates through the side wall of the rack to be connected with the collecting box.
Preferably, the stabilizing means comprises:
the second limiting frame is arranged on the outer side of the rack, and a second rectangular groove is formed in one end of the second limiting frame;
the moving plate is embedded in the second limiting frame;
the sucker is arranged at the top of the movable plate;
the end part of the long shaft cylinder is hinged with the movable plate in the second rectangular groove, and the bottom of the long shaft cylinder is hinged with the surface of the rack.
Compared with the prior art, the invention has the beneficial effects that:
1. through the operation, the robot can be according to the work pipe diameter, and the usability of robot has been strengthened to the pipe diameter of the different pipelines of the independently flexible adaptation, has also reduced enterprise research and development cost simultaneously, has reduced enterprise economic spending.
2. The auxiliary rod provides a moving track when the inner supporting device is unfolded, and meanwhile, the inner supporting device is also stable, and the unfolding size of the inner supporting device is limited by the protection plate.
3. The setting of the driving device drives the expansion moving device to expand simultaneously and then to be tightly attached to the inner wall of the pipeline.
4. The expansion moving device enables the robot to automatically adjust according to the inner diameter of the pipeline, so that the robot adapts to pipelines with different pipe diameters.
5. The power device is arranged to drive the robot to automatically move in the pipeline.
6. The clearing device is arranged, so that the robot can adapt to pipelines with different pipe diameters when clearing, and the working efficiency is greatly improved.
7. The stabilizing device is arranged to guarantee the stability of the robot and prevent the robot from shaking during operation, so that the operation efficiency is prevented from being influenced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a perspective view of the auxiliary device of the present invention;
FIG. 3 is a perspective view of the stabilization device of the present invention;
FIG. 4 is a perspective view of the expanding mobile device of the present invention;
FIG. 5 is a perspective view of the power plant of the present invention;
FIG. 6 is a perspective view of the driving device of the present invention;
FIG. 7 is a perspective view of a first rotating device according to the present invention;
FIG. 8 is a perspective view of the cleaning device of the present invention;
FIG. 9 is a perspective view of a second rotating device according to the present invention;
fig. 10 is a perspective view of the ash suction device of the present invention.
The reference numbers in the figures are:
1-a frame;
2-an auxiliary device; 2 a-an auxiliary rod; 2 b-protective plate;
3-a stabilizing device; 3 a-a second limiting frame; 3 b-moving the plate; 3 c-a suction cup; 3 d-long axis cylinder;
4-a drive device; 4 a-a bidirectional screw rod; 4 b-spur gears; 4 c-a rotary drive; 4 d-sliding plate;
5-expanding the mobile device; 5 a-lifting rod; 5 b-a connecting rod; 5 c-a wheel;
5c 1-power plant; 5c11 — first rotating lever; 5c12 — first bevel gear; 5c13 — first motor; 5c 14-second rotating lever; 5c 15-second bevel gear;
6-a first rotating means; 6 a-a second motor; 6 b-a first connector tile;
7-a clearing device; 7 a-a first limit bracket; 7 b-a lifter plate; 7 c-an electric push rod; 7 d-a scraper;
8-a second rotating means; 8 a-a third motor; 8 b-a second engagement rod; 8 c-linear drive;
9-an ash suction device; 9 a-a vacuum cleaner; 9 b-a collection box; 9 c-a dust suction pipe; 9 d-dust conveying pipe.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
In order to solve the technical problem that the robot adapts to pipelines with different pipe diameters, as shown in fig. 1 to 10, the following technical scheme is provided: a pipeline robot with a pipe diameter self-adapting function comprises,
the device comprises a rack 1, wherein the rack 1 is in a triangular prism shape;
the auxiliary devices 2 are arranged at the two ends of the rack 1 in a penetrating manner, and the distances from the two ends of the auxiliary devices 2 to the two ends of the rack 1 are consistent;
the stabilizing device 3 is provided with three surfaces which are arranged on the long side of the frame 1 at equal intervals;
the inner supporting devices are arranged at two ends of the auxiliary device 2;
the rotary scraping device is arranged at one end of the auxiliary device 2;
the suction device is arranged at the other end of the auxiliary device 2;
it is characterized in that the preparation method is characterized in that,
the internal stay device includes:
the driving device 4 is arranged in the middle of the rack 1 in a penetrating manner, the driving device 4 is positioned inside the auxiliary device 2, and the length of the driving device 4 is consistent with that of the auxiliary device 2;
an expanding and moving device 5, wherein the expanding and moving device 5 is provided with a pair and is arranged at two ends of the rotary driving device 4;
the rotary scraping device comprises:
the first rotating device 6, the first rotating device 6 is arranged at one end of the auxiliary device 2;
the clearing device 7, the clearing device 7 is arranged at the output end of the first rotating device 6;
the suction device includes:
a second rotating device 8, wherein the second rotating device 8 is arranged at the other end of the auxiliary device 2;
and the dust sucking device 9, wherein the dust sucking device 9 is provided with an output end of the second rotating device 8.
Firstly, the robot is placed in a pipeline to be cleaned, then the expanding and moving device 5 is driven by the driving device 4 to expand until the robot is attached to the inner surface of the pipeline, the pipe is then moved inside by moving the stent, when moved to the area to be cleaned, the stabilizing device 3 is propped open and firmly attached to the interior of the pipeline, the clearing device 7 is moved to the surface of the pipeline needing clear flow, the first rotating device 6 drives the removing device 7 to rotate to scrape off solid adhesive substances on the inner wall of the pipeline, the mechanical person after scraping moves forwards to enable the scraped solid waste to be positioned below the absorbing device, then the dust suction device 9 sucks, and at the same time, the second rotating device 8 sucks the solid waste better by adjusting the position of the dust suction device, and after the solid waste is sucked, the robot moves forwards to clean the solid waste.
Through the operation, the robot can be according to the work pipe diameter, and the usability of robot has been strengthened to the pipe diameter of the different pipelines of the independently flexible adaptation, has also reduced enterprise research and development cost simultaneously, has reduced enterprise economic spending.
Further:
in order to solve the technical problem of stability when the internal support device is expanded, as shown in fig. 2, the following technical scheme is provided:
the assist device 2 includes:
the auxiliary rods 2a are arranged in three, the auxiliary rods 2a horizontally penetrate through two ends of the rack 1, and the three auxiliary rods 2a are distributed at equal intervals along the axial lead of the rack 1;
two protection plates 2b are arranged, and the two protection plates 2b are vertically sleeved at two ends of the auxiliary rod 2a respectively.
The auxiliary rod 2a provides a moving track for the inner support device to be unfolded, meanwhile, the inner support device is also stable, and the unfolding size of the inner support device is limited by the protection plate 2 b.
Further:
in order to solve the technical problem of simultaneous expansion of two expansion moving devices 5, as shown in fig. 6, the following technical solutions are provided: the drive device 4 comprises;
the bidirectional screw rod 4a horizontally penetrates through the middle part of the rack 1, and two ends of the bidirectional screw rod 4a are in shaft connection with the two protection plates 2 b;
the spur gear 4b is sleeved at one end of the bidirectional screw rod 4a, and one end of the spur gear 4b is rotatably connected with one end of the rack 1;
a rotation driver 4c, wherein the rotation driver 4c is arranged inside the machine frame 1, and the output end of the rotation driver 4c is meshed with the spur gear 4b box;
the two sliding plates 4d are respectively sleeved at two ends of the bidirectional screw rod 4a, the periphery of the sliding plate 4d is sleeved on the auxiliary rod 2a, and the end parts of the sliding plates 4d are provided with first hinging blocks.
The output end of the rotary driver 4c drives the spur gear 4b meshed with the output end to rotate, the spur gear 4b rotates to further drive the bidirectional screw rod 4a to rotate, the bidirectional screw rod 4a rotates to further drive the sliding plates 4d sleeved on the two ends of the bidirectional screw rod to rotate, and the two sliding plates 4d are restricted by the auxiliary rod 2a and can only move in opposite directions, so that the two sliding plates 4d move in opposite directions to drive the expansion moving device 5 to move in opposite directions.
The setting of the driving device 4 drives the expanding and moving device 5 to expand simultaneously and then to be tightly attached to the inner wall of the pipeline.
Further:
in order to solve the technical problem of the robot attaching to the interior of the pipeline, as shown in fig. 4, the following technical scheme is provided: the expanding and moving device 5 includes:
the number of the lifting rods 5a is three, one end of each lifting rod 5a is hinged with three end parts of one end of the rack 1, and the inner side of one end, close to the rack 1, of each lifting rod 5a is provided with a second hinge block;
the number of the connecting rods 5b corresponds to that of the lifting rods 5a one by one, one end of each connecting rod 5b is connected with the second hinge block of each lifting rod 5a, and the other end of each connecting rod 5b is connected with the first hinge block of the sliding plate 4 d;
the number of the wheels 5c is one-to-one corresponding to that of the lifting rods 5a, and the wheels 5c are arranged at the other ends of the lifting rods 5 a.
The sliding plate 4d moves towards the rack 1, and then the connecting rod 5b is driven to move towards the rack 1 by the movement of the sliding plate 4d, so that the lifting rod 5a is opened outwards through the movement of the connecting rod 5b until the lifting rod is attached to the inner wall of the pipeline.
And the expansion moving device 5 enables the robot to automatically adjust according to the inner diameter of the pipeline, so that the robot adapts to pipelines with different pipe diameters.
Further:
in order to solve the technical problem of the robot moving inside the pipeline, as shown in fig. 5, the following technical solutions are provided: a power device 5c1 is disposed beside the wheel 5c for driving the wheel 5c to rotate, the power device 5c1 includes:
a first rotating lever 5c11, one end of the first rotating lever 5c11 being connected to the wheel 5 c;
a first bevel gear 5c12, wherein the first bevel gear 5c12 is horizontally sleeved on the first rotating rod 5c 11;
the first motor 5c13, the first motor 5c13 is arranged at one end of the lifting rod 5a far away from the frame 1;
a second rotating lever 5c14, one end of the second rotating lever 5c14 being connected to the output terminal of the first motor 5c 13;
a second bevel gear 5c15, a second bevel gear 5c15 is sleeved at the other end of the second rotating rod 5c14, and the second bevel gear 5c15 is engaged with the first bevel gear 5c 12.
The output end of the first motor 5c13 drives the second rotating rod 5c14 with one end connected with the second rotating rod to rotate, the second rotating rod 5c14 rotates to drive the second bevel gear 5c15 sleeved on the second rotating rod to rotate, the second bevel gear 5c15 rotates to drive the first bevel gear 5c12 engaged with the second bevel gear to rotate, the first bevel gear 5c12 rotates to drive the wheel 5c connected with the first bevel gear to rotate, and the wheel 5c rotates to drive the other wheels 5c to rotate to drive the robot to move.
The power device 5c1 is set up to drive the robot to move automatically in the pipeline.
Further:
in order to solve the technical problem of cleaning the inner wall of the pipeline by driving the cleaning device 7, as shown in fig. 7, the following technical solutions are provided: the first rotating means 6 comprise;
the second motor 6a is horizontally arranged at one end of one protection plate 2b far away from the rack 1;
and a first linkage plate 6b, one end of the first linkage plate 6b being connected to an output terminal of the second motor 6 a.
The output end of the second motor 6a drives the first connecting plate 6b connected with the second motor to rotate, and the first connecting plate 6b moves to further drive the cleaning device 7 to rotate at a high speed so as to clean the inner wall of the pipeline.
Further:
in order to solve the technical problem that the robot cleans the inner walls of the pipelines with different pipe diameters, as shown in fig. 8, the following technical scheme is provided: the purge device 7 includes:
the first limiting frame 7a is vertically arranged at the other end of the first connecting rod, and a first rectangular groove is formed in one end, close to the rack 1, of the first limiting frame 7 a;
the lifting plate 7b is embedded in the first limiting frame 7 a;
the end part of the electric push rod 7c is hinged with the lifting plate 7b in the first rectangular groove, and the tail part of the electric push rod 7c is hinged with the top part of the first connecting plate 6 b;
The output end of the electric push rod 7c extends outwards to further push the lifting plate 7b to move longitudinally, and the lifting plate 7b moves to drive the scraper 7d to move to the inner wall of the pipeline and to be attached to the inner wall of the pipeline.
The clearing device 7 is arranged, so that the robot can adapt to pipelines with different pipe diameters when clearing, and the working efficiency is greatly improved.
Further:
in order to solve the technical problem that the dust suction device 9 is positioned at the bottom of the inner wall of the pipeline with different pipe diameters, as shown in fig. 9, the following technical scheme is provided: the second rotating means 8 comprise;
the third motor 8a is arranged at one end, far away from the rack 1, of the other protection plate 2 b;
one end of the second joint rod 8b is connected with the output end of the third motor 8 a;
and a linear actuator 8c, the bottom of the linear actuator 8c being connected to the other end of the second connector tile.
Drive through linear drive and inhale grey device 9 and carry out the regulation of co-altitude, drive the second through the output of third motor 8a and link up the fishplate bar and rotate after that, thereby it is rotatory that the rotation of second link up the fishplate bar drives linear actuator 8c and produces, and linear actuator 8 c's rotation drives inhales grey device 9 and carries out the horizontal rotation to the messenger inhales grey device 9 can absorb the solid waste of different positions.
Further:
in order to solve the technical problem of solid waste collection after scraping, as shown in fig. 10, the following technical solutions are provided: the dust suction device 9 includes:
the dust collector 9a, the dust collector 9a is arranged at the output end of the linear driver 8 c;
the collecting box 9b is horizontally arranged inside the rack 1;
a dust suction pipe 9c, the dust suction pipe 9c is arranged at the bottom of the dust collector 9 a;
one end of the dust conveying pipe 9d is connected with the dust collector 9a, and the other end of the dust conveying pipe 9d penetrates through the side wall of the machine frame 1 and is connected with the collecting box 9 b.
The dust collector 9a sucks the waste through a dust collection pipe 9c, and then conveys the waste to the inside of a collection box 9b for collection through a dust conveying pipe 9d, wherein the dust conveying pipe 9d is a plastic hose.
Further:
in order to solve the technical problem that the robot keeps self-stability during cleaning, as shown in fig. 3, the following technical scheme is provided: the stabilization device 3 includes:
the second limiting frame 3a is arranged on the outer side of the rack 1, and a second rectangular groove is formed in one end of the second limiting frame 3 a;
the moving plate 3b is embedded in the second limiting frame 3 a;
the sucker 3c is arranged at the top of the moving plate 3 b;
and the end part of the long shaft cylinder 3d is hinged with the moving plate 3b in the second rectangular groove, and the bottom of the long shaft cylinder 3d is hinged with the surface of the rack 1.
The output end of the long shaft cylinder 3d extends outwards to push the movable plate 3b to extend out of the second limiting frame 3a, and the movable plate 3b extends out to drive the sucker 3c to move towards the inner wall of the pipeline until the sucker clings to the inner wall of the pipeline.
The arrangement of the stabilizing device 3 provides guarantee for the stability of the robot, and prevents the robot from shaking during operation, thereby influencing the operation efficiency.
Firstly, the robot is placed in a pipeline to be cleaned, then the output end of a rotary driver 4c drives a spur gear 4b meshed with the spur gear to rotate, the spur gear 4b rotates to drive a bidirectional screw rod 4a to rotate, the bidirectional screw rod 4a rotates to drive sliding plates 4d sleeved on two ends of the bidirectional screw rod to rotate, the two sliding plates 4d are restricted by an auxiliary rod 2a and only can move oppositely, the two sliding plates 4d move oppositely to drive an expansion moving device 5 to move oppositely, the sliding plates 4d move towards a rack 1, the sliding plates 4d move to drive a connecting rod 5b to move towards the rack 1, so that a lifting rod 5a is outwards opened through the movement of the connecting rod 5b until the lifting rod is attached to the inner wall of the pipeline, and then the output end of a first motor 5c13 drives a second rotary rod 5c14 connected with the lifting rod to rotate, the rotation of the second rotating rod 5c14 further drives the second bevel gear 5c15 sleeved thereon to rotate, the rotation of the second bevel gear 5c15 further drives the first bevel gear 5c12 engaged therewith to rotate, the rotation of the first bevel gear 5c12 further drives the wheel 5c connected therewith to rotate, and the rotation of the wheel 5c further drives the other wheels 5c to rotate so as to drive the robot to move.
And step two, when the robot moves to an area needing cleaning, the output end of the long shaft cylinder 3d extends outwards to push the movable plate 3b to extend out of the second limiting frame 3a, and the movable plate 3b extends out to drive the sucker 3c to move towards the inner wall of the pipeline until the sucker is tightly attached to the inner wall of the pipeline.
Step three, the output end of the electric push rod 7c extends outwards to further push the lifting plate 7b to move longitudinally, so that the lifting plate 7b moves to drive the scraper 7d to move to the inner wall of the pipeline and be attached to the inner wall of the pipeline, then the output end of the second motor 6a drives the first connecting plate 6b connected with the scraper to rotate, and the first connecting plate 6b moves to further drive the clearing device 7 to rotate at a high speed so as to clear the inner wall of the pipeline.
Step four, after the cleaning, the stabilizing device 3 is released to stabilize the robot, the robot moves forwards to enable the scraped solid waste to be located below the absorbing device, the ash absorbing device 9 is driven to carry out adjustment of different heights through linear driving, then the output end of the third motor 8a drives the second connecting plate to rotate, the rotation of the second connecting plate drives the linear driver 8c to rotate, the rotation of the linear driver 8c drives the ash absorbing device 9 to horizontally rotate, and therefore the ash absorbing device 9 can absorb the solid waste at different positions.
The foregoing has described the general principles, principal 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 (10)
1. A pipeline robot with a pipe diameter self-adapting function comprises,
the rack (1), the rack (1) is in the shape of a triangular prism;
the auxiliary devices (2) penetrate through two ends of the rack (1), and the distances from the two ends of the auxiliary devices (2) to the two ends of the rack (1) are consistent;
the stabilizing device (3) is provided with three surfaces which are arranged on the long side of the rack (1) at equal intervals;
the inner supporting devices are arranged at two ends of the auxiliary device (2);
the rotary scraping device is arranged at one end of the auxiliary device (2);
the absorbing and removing device is arranged at the other end of the auxiliary device (2);
it is characterized in that the preparation method is characterized in that,
the internal stay device includes:
the driving device (4) penetrates through the middle of the rack (1), the driving device (4) is positioned inside the auxiliary device (2), and the length of the driving device (4) is consistent with that of the auxiliary device (2);
the expansion moving devices (5), the expansion moving devices (5) are provided with a pair and are arranged at two ends of the rotary driving device (4);
the rotary scraping device comprises:
the first rotating device (6), the first rotating device (6) is arranged at one end of the auxiliary device (2);
the clearing device (7), the clearing device (7) is arranged at the output end of the first rotating device (6);
the suction device includes:
the second rotating device (8), the second rotating device (8) is arranged at the other end of the auxiliary device (2);
and the dust suction device (9), wherein the dust suction device (9) is provided with an output end of the second rotating device (8).
2. The pipe robot with pipe diameter adaptive function according to claim 1, wherein the auxiliary device (2) comprises:
the auxiliary rods (2 a) are arranged in three numbers, the auxiliary rods (2 a) horizontally penetrate through two ends of the rack (1), and the three auxiliary rods (2 a) are distributed at equal intervals along the axial lead of the rack (1);
two protection plates (2 b) are arranged, and the two protection plates (2 b) are vertically sleeved at two ends of the auxiliary rod (2 a).
3. The pipe robot with pipe diameter self-adapting function according to claim 1, wherein the driving device (4) comprises;
the bidirectional screw rod (4 a) horizontally penetrates through the middle part of the rack (1), and two ends of the bidirectional screw rod (4 a) are in shaft connection with the two protection plates (2 b);
the spur gear (4 b), the spur gear (4 b) is sleeved at one end of the bidirectional screw rod (4 a), and one end of the spur gear (4 b) is rotatably connected with one end of the rack (1);
the rotary driver (4 c), the rotary driver (4 c) is arranged in the frame (1), and the output end of the rotary driver (4 c) is meshed with the spur gear (4 b) box;
the two ends of the two-way screw rod (4 a) are sleeved with the two sliding plates (4 d), the periphery of each sliding plate (4 d) is sleeved with the auxiliary rod (2 a), and the end parts of the sliding plates (4 d) are provided with first hinging blocks.
4. The pipe robot having a pipe diameter adaptive function according to claim 1, wherein the expanding moving means (5) comprises:
the number of the lifting rods (5 a) is three, one end of each lifting rod (5 a) is hinged with three end parts of one end of the rack (1), and a second hinge block is arranged on the inner side of one end, close to the rack (1), of each lifting rod (5 a);
the number of the connecting rods (5 b) corresponds to that of the lifting rods (5 a), one end of each connecting rod (5 b) is connected with the second hinging block of each lifting rod (5 a), and the other end of each connecting rod (5 b) is connected with the first hinging block of the sliding plate (4 d);
the number of the wheels (5 c) is in one-to-one correspondence with the number of the lifting rods (5 a), and the wheels (5 c) are arranged at the other end of the lifting rods (5 a).
5. The pipe robot with pipe diameter self-adapting function according to claim 4, wherein a power device (5 c 1) for driving the wheel (5 c) to rotate is arranged beside one wheel (5 c), and the power device (5 c 1) comprises:
a first rotating lever (5 c 11), one end of the first rotating lever (5 c 11) being connected to the wheel (5 c);
the first bevel gear (5 c 12), the first bevel gear (5 c 12) is horizontally sleeved on the first rotating rod (5 c 11);
the first motor (5 c 13), the first motor (5 c 13) is arranged at one end of the lifting rod (5 a) far away from the frame (1);
a second rotating rod (5 c 14), one end of the second rotating rod (5 c 14) is connected with the output end of the first motor (5 c 13);
and the second bevel gear (5 c 15), the second bevel gear (5 c 15) is sleeved at the other end of the second rotating rod (5 c 14), and the second bevel gear (5 c 15) is meshed with the first bevel gear (5 c 12).
6. The pipe robot with pipe diameter self-adapting function according to claim 1, wherein the first rotating means (6) comprises;
the second motor (6 a), the second motor (6 a) is horizontally arranged at one end, far away from the rack (1), of one protection plate (2 b);
a first connecting plate (6 b), and one end of the first connecting plate (6 b) is connected with the output end of the second motor (6 a).
7. The pipe robot with pipe diameter self-adapting function according to claim 6, characterized in that the clearing device (7) comprises:
the first limiting frame (7 a) is vertically arranged at the other end of the first connecting rod, and a first rectangular groove is formed in one end, close to the rack (1), of the first limiting frame (7 a);
the lifting plate (7 b), the lifting plate (7 b) is embedded in the first limiting frame (7 a);
the end part of the electric push rod (7 c) is hinged with the lifting plate (7 b) in the first rectangular groove, and the tail part of the electric push rod (7 c) is hinged with the top part of the first connecting plate (6 b);
scraper (7 d), scraper (7 d) are vertical setting in the top of lifter plate (7 b).
8. The pipe robot with pipe diameter self-adapting function according to claim 1, wherein the second rotating means (8) comprises;
the third motor (8 a), the third motor (8 a) is arranged at one end, far away from the rack (1), of the other protection plate (2 b);
one end of the second joint rod (8 b) is connected with the output end of the third motor (8 a);
and a linear actuator (8 c), the bottom of the linear actuator (8 c) being connected to the other end of the second connector tile.
9. The pipe robot with pipe diameter self-adapting function according to claim 8, wherein the dust suction device (9) comprises:
the dust collector (9 a), the dust collector (9 a) is arranged at the output end of the linear driver (8 c);
the collecting box (9 b), the collecting box (9 b) is horizontally arranged in the rack (1);
a dust suction pipe (9 c), wherein the dust suction pipe (9 c) is arranged at the bottom of the dust collector (9 a);
one end of the dust conveying pipe (9 d) is connected with the dust collector (9 a), and the other end of the dust conveying pipe (9 d) penetrates through the side wall of the rack (1) to be connected with the collecting box (9 b).
10. The pipe robot with pipe diameter adaptive function according to claim 1, characterized in that the stabilizing means (3) comprises:
the second limiting frame (3 a) is arranged on the outer side of the rack (1), and one end of the second limiting frame (3 a) is provided with a second rectangular groove;
the moving plate (3 b), the moving plate (3 b) is embedded in the second limiting frame (3 a);
the sucker (3 c) is arranged at the top of the moving plate (3 b);
the end part of the long shaft cylinder (3 d) is hinged with the moving plate (3 b) in the second rectangular groove, and the bottom of the long shaft cylinder (3 d) is hinged with the surface of the rack (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110782022.8A CN113404978A (en) | 2021-07-12 | 2021-07-12 | Pipeline robot with pipe diameter self-adaptation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110782022.8A CN113404978A (en) | 2021-07-12 | 2021-07-12 | Pipeline robot with pipe diameter self-adaptation function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113404978A true CN113404978A (en) | 2021-09-17 |
Family
ID=77685910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110782022.8A Withdrawn CN113404978A (en) | 2021-07-12 | 2021-07-12 | Pipeline robot with pipe diameter self-adaptation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113404978A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114345851A (en) * | 2022-01-12 | 2022-04-15 | 湖南信息职业技术学院 | Pipeline cleaning and detecting robot with self-adaptive function |
-
2021
- 2021-07-12 CN CN202110782022.8A patent/CN113404978A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114345851A (en) * | 2022-01-12 | 2022-04-15 | 湖南信息职业技术学院 | Pipeline cleaning and detecting robot with self-adaptive function |
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Application publication date: 20210917 |