CN114011815A - A cleaning robot for rectangular ventilation ducts - Google Patents
A cleaning robot for rectangular ventilation ducts Download PDFInfo
- Publication number
- CN114011815A CN114011815A CN202111297942.7A CN202111297942A CN114011815A CN 114011815 A CN114011815 A CN 114011815A CN 202111297942 A CN202111297942 A CN 202111297942A CN 114011815 A CN114011815 A CN 114011815A
- Authority
- CN
- China
- Prior art keywords
- dust
- motor
- cleaning
- frame
- fixedly connected
- 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.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 50
- 238000009423 ventilation Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 239000000428 dust Substances 0.000 claims abstract description 70
- 210000004081 cilia Anatomy 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 4
- 230000001886 ciliary effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003670 easy-to-clean Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/02—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area using chambers or hoods covering the area
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种用于矩形通风管道的清洁机器人，属于管道清洁技术领域。该清洁机器人包括变径机构、移动与转向机构、清灰与吸尘机构。变径机构包括丝杠滑块机构、平行四杆机构，可使机器人适应不同高度的管道。移动与转向机构通过齿轮齿条传动，实现机器人在管道内的移动与转向。清灰与吸尘机构包括清灰机构与吸尘机构，上侧与下侧的清灰机构与右平行四杆同步运动，前侧与后侧的清灰毛刷位置依据管道宽度可调；吸尘机构包括吸尘电机、吸尘槽口、软管、集尘箱，吸尘槽口与左平行四杆机构同步运动，通过软管连接至集尘箱，基于吸尘器原理收集管内灰尘。本发明能够适应不同高度的管道、能够在管内可自由移动和转向以及有效清除并收集管内灰尘。
The invention discloses a cleaning robot for rectangular ventilation ducts, belonging to the technical field of duct cleaning. The cleaning robot includes a reducing mechanism, a moving and steering mechanism, and a dust-cleaning and dust-absorbing mechanism. The reducing mechanism includes a lead screw slider mechanism and a parallel four-bar mechanism, which can make the robot adapt to pipes of different heights. The moving and steering mechanism is driven by rack and pinion to realize the movement and steering of the robot in the pipeline. The dust cleaning and vacuuming mechanism includes a dust cleaning mechanism and a dust vacuuming mechanism. The dust cleaning mechanism on the upper side and the lower side moves synchronously with the right parallel four bars, and the position of the dust cleaning brush on the front side and the rear side is adjustable according to the width of the pipe; The dust mechanism includes a vacuum motor, a vacuum slot, a hose, and a dust box. The vacuum slot moves synchronously with the left parallel four-bar mechanism, and is connected to the dust box through a hose to collect dust in the tube based on the principle of a vacuum cleaner. The invention can adapt to pipes of different heights, can move and turn freely in the pipes, and can effectively remove and collect dust in the pipes.
Description
The technical field is as follows:
the invention belongs to the technical field of pipeline cleaning, and particularly relates to a cleaning robot for a rectangular ventilation pipeline. The robot drives a driving wheel through a driving motor, the robot moves in a pipe by matching with a driven wheel, and a steering motor realizes steering motion of the robot through gear and rack transmission; the robot can adapt to pipelines with different heights by reducing the diameters of the screw rod sliding block mechanism and the parallel four-bar mechanism; through the cooperation work of deashing brush and dust absorption motor, can effectively clear away intraductal dust.
Background art:
ventilation ducts, which are used for air circulation in industrial and civil buildings and for reducing the concentration of harmful gases, are one of the infrastructures of our country. Due to the relative sealed environment, a large amount of dust is easy to accumulate in the ventilating duct, so that the accumulated dust in the ventilating duct needs to be cleaned regularly, and residents are prevented from being polluted by indoor air. The indoor ventilation is mostly realized by adopting rectangular pipelines with low height and long width due to the limitation of the height of a floor, and the height and the width of the pipelines are not unified, so that the interior of the pipelines is not easy to clean. The existing pipeline cleaning robot has poor adaptability, can only clean pipelines with fixed sizes, and can not collect dust. The cleaning robot for the rectangular ventilating duct provided by the invention can adapt to the ducts with different sizes by utilizing the reducing mechanism, can effectively remove dust in the ducts by matching the dust cleaning brush with the dust collection motor, and can collect the dust in the ducts to the dust collection box based on the principle of a dust collector.
The invention content is as follows:
the invention provides a cleaning robot for a rectangular ventilation pipeline, aiming at the technical problems of the existing pipeline cleaning robot. The invention provides a pipeline cleaning robot, which comprises a diameter changing mechanism 1, a moving and steering mechanism 2 and an ash cleaning and dust collecting mechanism 3.
The diameter-changing mechanism 1 comprises a right parallel four-bar mechanism, a left parallel four-bar mechanism and a lead screw slider mechanism; the two sets of screw rod sliding block mechanisms are arranged symmetrically left and right and comprise connecting round rods 11, elastic supporting rods 12, rotating holders 13, holder motors 14, fixing frames 15, bearings 16, sliding blocks 17, screw rods 18, reducing motors 19 and racks 20.
The rack 20 is of a rectangular frame structure, the middle parts of the left and right side surfaces of the rack are respectively provided with a motor output shaft round hole 2001, the front end of the left side surface is provided with two rack air inlet round holes 2002, the middle rear part of the rack 20 is provided with a motor fixing plate 2003, the rear end of the bottom surface is provided with a rack air outlet round hole 2004, and two ends of the upper surface and the lower surface of the rack 20 are respectively provided with 4 fixing hinged supports 2005; an output shaft of the reducing motor 19 penetrates through the motor output shaft round hole 2001 in the middle of the rack 20, and the reducing motor 19 is fixedly connected with the rack 20 through screws; the fixed frame 15 consists of a square plate and a square stool structural part which are horizontally placed, the square plate is provided with a mounting hole, and a bearing seat is arranged on the inner side of the square stool structural part; the fixed frame 15 is fixedly connected with the frame 20 through four legs in the square stool structural member, the pan/tilt motor 14 is fixedly connected with the square plate in the fixed frame 15, and an output shaft of the pan/tilt motor 14 is fixedly connected with the rotating pan/tilt 13; the bearing 16 is in interference fit with the bearing seat on the inner side of the fixed frame 15; one end of the lead screw 18 is in clearance fit with the bearing 16, and the other end of the lead screw 18 is fixedly connected with an output shaft of the reducing motor 19; the sliding block 17 is of a cuboid structure, a threaded through hole matched with the lead screw 18 is formed in the middle of the sliding block 17, and two fixed hinged bases are respectively arranged on the upper end face and the lower end face of the sliding block 17; the elastic support rod 12 is a cylindrical rod piece with a spring in the middle, one end of the elastic support rod 12 is hinged to the sliding block 17, and the other end of the elastic support rod 12 is hinged to the connecting round rod 11.
Two sets of right parallel four-bar mechanisms are symmetrically arranged front and back, and each right parallel four-bar mechanism comprises a third connecting rod 6, a fourth connecting rod 7 and a fifth connecting rod 10; the third connecting rod 6 and the fifth connecting rod 10 are hinged to the fixed hinge seats 2005 at the front side and the rear side of the upper end of the frame 20, one end of the fourth connecting rod 7 is hinged to the middle of the third connecting rod 6, and the other end of the fourth connecting rod 7 is hinged to the middle of the fifth connecting rod 10; two ends of the connecting round rod 11 are hinged to the middle lower part of the fifth connecting rod 10 which is symmetrically arranged front and back.
The two sets of the left parallel four-bar mechanisms are symmetrically arranged front and back, and each left parallel four-bar mechanism comprises a first connecting rod 4, a second connecting rod 5 and a driving mounting plate 29; one end of the first connecting rod 4 and one end of the second connecting rod 5 are respectively hinged with the fixed hinged supports 2005 at the front side and the rear side of the upper end of the rack 20, and the other end of the first connecting rod 4 and the other end of the second connecting rod 5 are respectively hinged on the pin shafts at the front end face and the rear end face of the driving mounting plate 29 in the moving and steering mechanism 2.
The moving and steering mechanism 2 comprises a driven wheel 8, a steering motor 21, a driving motor 22, a driving wheel 23, a gear fixing seat 24, a rack 25, a first gear 26, a steering support 27, a second gear 28 and a driving mounting plate 29; the driven wheel 8 is hinged with the tail end of the third connecting rod 6 through a rotating shaft; the driving mounting plate 29 is a T-shaped square plate, the front end surface and the rear end surface of the driving mounting plate 29 are respectively provided with two pin shafts, the total number of the four pin shafts is four, the front part and the rear part of the upper end surface of the driving mounting plate 29 are respectively provided with a step hole, and the middle part of the upper end surface of the driving mounting plate 29 is provided with a circular through hole; the four pin shafts on the front end surface and the rear end surface of the driving mounting plate 29 are respectively hinged with the two first connecting rods 4 and the two second connecting rods 5; rack fixing base 24 is opened there is T type spout, and with drive mounting panel 29 links firmly through the screw, the bottom of rack 25 is equipped with T type step, T type step with rack fixing base 24's T type spout is clearance fit, rack 25 can move in rack fixing base 24's T type spout.
The steering support 27 is of an up-and-down structure, the upper part of the steering support is an L-shaped support, the lower part of the steering support is a supporting circular table and a gear connecting shaft, and the supporting circular table of the steering support 27 is in transition fit with a stepped hole of the driving mounting plate 29; the driving motor 22 is mounted on an L-shaped bracket of the steering bracket 27 through a screw, and the driving wheel 23 is fixedly connected with an output shaft of the driving motor 22; the steering support 27, the driving motor 22 and the driving wheel 23 are respectively provided with two sets and are symmetrically arranged on the front side and the rear side of the driving mounting plate 29; the first gear 26 is fixedly connected with a gear connecting shaft of the steering bracket 27, and the first gear 26 is meshed with the rack 25; the output shaft of the steering motor 21 penetrates through the circular through hole in the middle of the upper end face of the driving mounting plate 29, the output shaft of the steering motor 21 is fixedly connected with the second gear 28, and the second gear 28 is meshed with the rack 25.
The ash cleaning and dust collecting mechanism 3 comprises four sets of ash cleaning mechanisms and two sets of dust collecting mechanisms; the upper side and the lower side are respectively provided with 1 set of ash removing mechanism which is arranged up and down symmetrically, and the ash removing mechanisms positioned on the upper side and the lower side comprise first brushes 9; the front side and the rear side are respectively provided with 1 set of ash removal mechanism and are symmetrically arranged front and back, and the ash removal mechanisms positioned on the front side and the rear side comprise a second brush 32, an ash removal connecting rod 33, an ash removal motor 34 and a cover plate 35; the upper side and the lower side of each dust suction mechanism 1 are arranged up and down symmetrically, and the dust suction mechanisms positioned on the upper side and the lower side comprise dust suction notches 30, hoses 31, dust collection boxes 36 and dust suction motors 37.
The cover plate 35 is T-shaped and is formed by fixedly connecting a side square plate and a horizontal square plate, and a round hole is formed in the middle of the horizontal square plate; the side square plate of the cover plate 35 is fixedly connected with the frame 20 through a screw, and the ash removal motor 34 is fixedly connected below the horizontal square plate of the cover plate 35; the first brush 9 is a cylindrical structure with flexible cilia arranged in the circumferential direction, and two ends of the first brush 9 are respectively hinged with the two fifth connecting rods 10; the second brush 32 is a cylindrical structure with flexible cilia arranged in the circumferential direction, one end of the ash removal connecting rod 33 is hinged with the second brush 32, and the other end of the ash removal connecting rod 33 is fixedly connected with an output shaft of the ash removal motor 34; the dust collection motor 37 is fixedly connected with a motor fixing plate 2003 of the frame 20 through screws, the dust collection box 36 is a hollow cuboid mechanism, two dust collection box air inlet round holes 3601 are formed in the left side wall, a filter screen 3602 is arranged at the middle rear part, a dust collection box air outlet round hole 3603 is formed in the rear side wall, and the dust collection box 36 is fixedly connected with the frame 20 through screws; the dust absorption notch 30 is of a cuboid groove structure, and flexible cilia are arranged on the periphery of the top of the dust absorption notch; one end of the hose 31 is fixedly connected with the dust collection box air inlet round hole 3601, and the other end of the hose 31 is fixedly connected with the dust collection notch 30 through the rack air inlet round hole 2002.
The diameter-changing mechanism in the invention enables the robot to adapt to pipelines with different heights, the moving and steering mechanism enables the robot to freely move and steer in the pipeline, and the ash cleaning and dust collecting mechanism can effectively remove and collect dust in the pipeline.
Description of the drawings:
fig. 1 is a schematic view of the general structure of a cleaning robot for a rectangular ventilation duct of the present invention;
FIG. 2 is a schematic view of a half-section of a cleaning robot for a rectangular ventilation duct according to the present invention;
FIG. 3 is a schematic cross-sectional view of a frame of a cleaning robot for a rectangular ventilation duct according to the present invention;
FIG. 4 is a schematic view of the connection between the fixed frame and the rotating pan/tilt head of the cleaning robot for the rectangular ventilation duct according to the present invention;
FIG. 5 is a schematic structural view of a moving and steering mechanism in a cleaning robot for a rectangular ventilation duct according to the present invention;
FIG. 6 is a schematic structural view of a dust cleaning and collecting mechanism of a cleaning robot for a rectangular ventilation duct according to the present invention.
In the figure: 1: a diameter-changing mechanism; 2: a moving and steering mechanism; 3: a dust cleaning and absorbing mechanism; 4: a first link; 5: a second link; 6: a third link; 7: a fourth link; 8: a driven wheel; 9: a first brush; 10: a fifth link; 11: connecting the round rod; 12: an elastic support bar; 13: rotating the holder; 14: a holder motor; 15: a fixed mount; 16: a bearing; 17: a slider; 18: a lead screw; 19: a variable diameter motor; 20: a frame; 2001: a circular hole of an output shaft of the motor; 2002: a frame air inlet circular hole; 2003: a motor fixing plate; 2004: a rack air outlet circular hole; 2005: fixing a hinged support; 21: a steering motor; 22: a drive motor; 23: a driving wheel; 24: a rack fixing seat; 25: a rack; 26: a first gear; 27: a steering bracket; 28: a second gear; 29: driving the mounting plate; 30: a dust collection notch; 31: a hose; 32: a second brush; 33: a dust removal connecting rod; 34: a dust removal motor; 35: a cover plate; 36: a dust collection box; 3601: a dust box air inlet circular hole; 3602: filtering with a screen; 3603: an air outlet circular hole of the dust collection box; 37: dust-collecting motor
The specific implementation mode is as follows:
the invention provides a cleaning robot for a rectangular ventilation pipeline, which drives a driving wheel through a driving motor to realize the movement of the robot in the pipeline, and a steering motor realizes the steering movement of the robot through the transmission of a gear and a rack; the robot can adapt to pipelines with different heights by reducing the diameters of the screw rod sliding block mechanism and the parallel four-bar mechanism; through the cooperation work of deashing brush and dust absorption motor, can effectively clear away and collect intraductal dust.
The working principle of the invention is as follows:
1. the working principle of the reducing mechanism is as follows: the reducing motor 19 drives the lead screw 18 to rotate, the lead screw 18 rotates to enable the sliding block 17 to move axially along the lead screw 18, the sliding block 17 moves to enable the parallel four-bar mechanism to rotate through the elastic supporting rod 12 and the connecting round rod 11, the positions of the driving wheel 8 and the first hairbrush 9 are further changed, when the positions of the driving wheel 8 and the first hairbrush 9 are matched with the size of a pipeline, the reducing motor 19 stops working, and reducing is completed.
2. The working principle of the moving and steering mechanism is as follows: the steering motor 21 drives the second gear 28 to rotate, so that the rack 25 axially moves in the T-shaped chute of the rack fixing seat 24, the rack 25 drives the first gear 26 to rotate, so as to drive the steering support 27 to rotate, the driving motor 22 drives the driving wheel 23 to move, the driving motor 22 is matched with the steering motor 21, and the robot moves and steers in the pipeline.
3. The working principle of the ash cleaning and dust collecting mechanism is as follows: the first brush 9 and the right parallel four-bar mechanism synchronously move to remove dust on the pipe walls of the upper side and the lower side, the ash removal motor 34 drives the second brush 32 to move through the ash removal connecting rod 33, the position of the second brush 32 is adjusted according to the width of the pipe, and the dust on the pipe walls of the front side and the rear side is removed; the dust suction motor 37 supplies wind power, and dust is collected to the dust box 36 through the dust suction slot 30 and the hose 31.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111297942.7A CN114011815A (en) | 2021-11-04 | 2021-11-04 | A cleaning robot for rectangular ventilation ducts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111297942.7A CN114011815A (en) | 2021-11-04 | 2021-11-04 | A cleaning robot for rectangular ventilation ducts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114011815A true CN114011815A (en) | 2022-02-08 |
Family
ID=80060507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111297942.7A Withdrawn CN114011815A (en) | 2021-11-04 | 2021-11-04 | A cleaning robot for rectangular ventilation ducts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114011815A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115945473A (en) * | 2023-02-07 | 2023-04-11 | 中建八局第一建设有限公司 | Dirt cleaning equipment for ventilating duct |
| CN116532446A (en) * | 2023-06-07 | 2023-08-04 | 夏菱空调邯郸有限责任公司 | Air conditioner pipeline cleaning device |
| CN117531789A (en) * | 2024-01-09 | 2024-02-09 | 广州博旺环保科技发展有限公司 | Multifunctional cleaning equipment based on central air conditioner pipeline cleaning |
-
2021
- 2021-11-04 CN CN202111297942.7A patent/CN114011815A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115945473A (en) * | 2023-02-07 | 2023-04-11 | 中建八局第一建设有限公司 | Dirt cleaning equipment for ventilating duct |
| CN116532446A (en) * | 2023-06-07 | 2023-08-04 | 夏菱空调邯郸有限责任公司 | Air conditioner pipeline cleaning device |
| CN116532446B (en) * | 2023-06-07 | 2024-01-05 | 夏菱空调邯郸有限责任公司 | Air conditioner pipeline cleaning device |
| CN117531789A (en) * | 2024-01-09 | 2024-02-09 | 广州博旺环保科技发展有限公司 | Multifunctional cleaning equipment based on central air conditioner pipeline cleaning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114011815A (en) | A cleaning robot for rectangular ventilation ducts | |
| CN101408326B (en) | Rolling and automatic cleaning device for filter screen of split floor type air conditioner | |
| CN213421330U (en) | Multilayer purifies new trend clearing machine | |
| CN110773519A (en) | Dust collector for machining and dust collection structure thereof | |
| CN215339767U (en) | Atmosphere detection equipment with automatic dust cleaning function | |
| CN210059237U (en) | Dust collector for air conditioner air duct | |
| CN112815447A (en) | Self-cleaning type ventilation equipment | |
| CN210497517U (en) | Rectangular pipeline dust removal device | |
| CN110142267A (en) | A pipe cleaning robot | |
| CN114535231A (en) | Pipeline attachment cleaning device for indoor fresh air system | |
| CN213901388U (en) | Air filtering and purifying device | |
| CN219560852U (en) | Dust removal mechanism for production workshop | |
| CN219607287U (en) | Purifying ventilation pipe for purifying room | |
| CN219663188U (en) | Dust remover capable of avoiding dust accumulation and blockage | |
| CN218282776U (en) | Dust collector for new trend system | |
| CN217133117U (en) | A detector for air quality detection | |
| CN216178075U (en) | Metal leveling device for machining | |
| CN215777754U (en) | Floating type efficient dust collector floor brush | |
| CN214226879U (en) | Wafer dust collector | |
| CN112902375B (en) | Dust cleaning device for air filter | |
| CN201101925Y (en) | Rolling and automatic cleaning device for filter screen of split floor type air conditioner | |
| CN221858818U (en) | Air conditioning filter assembly with self-cleaning effect | |
| CN116532446B (en) | Air conditioner pipeline cleaning device | |
| CN220049187U (en) | Dust removing device for electrical engineering | |
| CN222266560U (en) | Dust collector of chemical industry electric instrument installation maintenance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20220208 |