CN114247714A - Intelligent pipeline maintenance robot - Google Patents
Intelligent pipeline maintenance robot Download PDFInfo
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- CN114247714A CN114247714A CN202111536515.XA CN202111536515A CN114247714A CN 114247714 A CN114247714 A CN 114247714A CN 202111536515 A CN202111536515 A CN 202111536515A CN 114247714 A CN114247714 A CN 114247714A
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- support
- roller
- cleaning
- state
- gyro wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
- B05C1/04—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length
- B05C1/08—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating for applying liquid or other fluent material to work of indefinite length using a roller or other rotating member which contacts the work along a generating line
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The application relates to an intelligent pipeline maintenance robot which comprises a robot body and a plurality of cleaning components, wherein each cleaning component comprises a supporting plate, a first driving mechanism and a second driving mechanism; the second driving mechanism is connected with the cleaning mechanism and the supporting plate and is used for driving the cleaning mechanism to be close to or far away from the supporting plate. This pipeline intelligence dimension robot can expand and contract to set up gyro wheel mechanism and remove, conveniently clean pipeline inside, second actuating mechanism can drive clean mechanism and expand simultaneously, consequently can avoid cleaning once more to need not clear guide rail, has reduced the waste of resource.
Description
Technical Field
The application relates to the field of pipeline maintenance, in particular to an intelligent pipeline maintenance robot.
Background
At present, the maintenance work of the pipeline is mostly finished manually, and the operating environment is very bad because the diameter of the pipeline is small, the length of the pipeline is long, and the bad smell of the mixture of the metamorphic lubricating grease and the seawater exists in the pipeline. The operation space of an operator in the pipeline is narrow, the pipeline is airtight and air-tight, the inner cylinder is dark and other adverse factors, and the maintenance work is very difficult.
Disclosure of Invention
The embodiment of the application provides a pipeline intelligent maintenance robot to solve the problem that manual maintenance work on a pipeline guide rail is very difficult in the related art.
The utility model provides an intelligent pipeline maintenance robot, which comprises a robot body;
a plurality of clean subassembly, it locates on the fuselage, clean subassembly includes:
-a support plate on which a cleaning mechanism and a roller mechanism are arranged;
-a first drive mechanism connected to the body and to the support plate for driving the support plate towards or away from the body;
-a second drive mechanism connecting the cleaning mechanism and the support plate and for driving the cleaning mechanism towards or away from the support plate.
In some embodiments, the first driving mechanism includes an X-shaped lifting bracket and a first electric push rod, the X-shaped lifting bracket includes two connecting rods which are rotatably connected with each other, and the first electric push rod is located on the machine body and connected with one of the connecting rods and used for driving the connecting rod to approach or separate from the other connecting rod.
In some embodiments, the cleaning mechanism includes at least two cloth wheels, a first support and a cleaning cloth wound around the cloth wheels, the number of the first support corresponds to the number of the cloth wheels, the cloth wheels rotate with the first support through a first rotating shaft, the first support is rotatably connected with the support plate through a second rotating shaft, and the second driving mechanism is connected with the first support and is used for driving the first support to rotate so as to drive the cloth wheels to approach or leave the support plate.
In some embodiments, the second driving mechanism includes a second electric push rod, a first connecting wire, and a first torsion spring, the first torsion spring is sleeved on the second rotating shaft and has a twisted state and a non-twisted state, the first connecting wire is connected with the first bracket, the second electric push rod is connected with the first connecting wire, and when the second electric push rod pulls the first connecting wire to enable the cleaning mechanism to approach the supporting plate, the first torsion spring is in the twisted state;
when the second electric push rod does not pull the first connecting wire, the first torsion spring is in a non-torsion state, so that the cleaning mechanism is far away from the supporting plate.
In some embodiments, the sidewall of the first bracket is provided with a first notch;
the first rotating shaft is clamped in the first notch;
the robot further comprises a fastener, the fastener is provided with a locking state extending into the first notch and an unlocking state far away from the first notch, when the fastener is in the locking state, the fastener limits the first rotating shaft to be separated from the first notch, and when the fastener is in the unlocking state, the first rotating shaft can be separated from the first notch.
In some embodiments, the fastening member is a screw rod, the screw rod is in threaded connection with the first bracket, and when the screw rod rotates towards the bracket, the screw rod is inserted into the first notch and abuts against the first rotating shaft so as to limit the first rotating shaft from being separated from the first notch;
when the screw rod rotates towards the direction far away from the first support, the screw rod is separated from the first notch.
In some embodiments, further comprising:
the oil smearing device is arranged on the supporting plate and is used for smearing oil to the guide rail of the pipeline; and the number of the first and second groups,
and the third driving mechanism is connected with the oil smearing device and the supporting plate and is used for driving the oil smearing device to be close to or far away from the supporting plate.
In some embodiments, the oil applying device includes an oil applying roller and a second bracket, the oil applying roller is rotatably connected to the second bracket, the second bracket and the supporting plate rotate through a third rotating shaft, and the third driving mechanism is connected to the second bracket and is configured to drive the second bracket to rotate so as to drive the oil applying roller to approach or leave the supporting plate.
In some embodiments, the third driving mechanism includes a third electric push rod, a second connecting wire and a second torsion spring, the second torsion spring is sleeved on the third rotating shaft and has a torsional state and a non-torsional state, the second connecting wire is connected to the second bracket, the third electric push rod is connected to the second connecting wire, and when the third electric push rod pulls the second connecting wire to make the oiling device approach to the supporting plate, the second torsion spring is in the torsional state;
when the third electric push rod does not pull the second connecting wire, the second torsion spring is in a non-torsional state, so that the oil smearing device is far away from the supporting plate.
In some embodiments, the roller mechanism in the cleaning assembly at the lower end of the body comprises a first roller, a first roller bracket and a first motor, wherein the first roller is rotatably arranged on the first roller bracket, the first roller bracket is fixedly connected with the supporting plate, and the first motor is connected with the first roller and used for driving the first roller to rotate;
the gyro wheel mechanism that is arranged in the clean subassembly of fuselage lateral wall includes second gyro wheel, second gyro wheel support and second motor, the second gyro wheel rotates and sets up on the second gyro wheel support, the second gyro wheel support with the backup pad passes through the gyro wheel pivot and rotates the connection, the second motor with the second gyro wheel is connected, and is used for the drive the second gyro wheel rotates, be provided with the third torsional spring in the gyro wheel pivot, the third torsional spring winds the gyro wheel pivot has torsional state and non-torsional state, and works as when the third torsional spring is in non-torsional state, the second gyro wheel is kept away from the backup pad.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides an intelligent pipeline maintenance robot, because a plurality of cleaning components are arranged on a machine body, each cleaning component comprises a cleaning mechanism and a roller mechanism, a first driving mechanism is used for enabling a supporting plate to be close to the inner wall of a pipeline, so that the cleaning mechanism and the roller mechanism are close to the pipe wall, then a second driving mechanism is used for driving the cleaning mechanism to be unfolded, so that the cleaning mechanism is in a working state, the moving range of the cleaning mechanism is reduced, the cleaning mechanism can quickly clean a guide rail, and because the second driving mechanism can drive the cleaning mechanism to be unfolded, the guide rail is not cleaned in the moving process of the roller mechanism, through the design, the guide rail which does not need to be cleaned can be prevented from being cleaned again, the waste of resources is reduced, and because the whole cleaning component can be close to or far away from the machine body, therefore, the occupied space of the whole device is reduced, the roller mechanism can play a certain guiding role, and the derailment of the robot in the cleaning process is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of an intelligent pipeline maintenance robot provided in an embodiment of the present application;
FIG. 2 is a schematic structural view of a cleaning assembly at a lower end of a fuselage provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a cleaning assembly at a lower end of a machine body according to an embodiment of the present application.
In the figure: 1. a body; 2. a support plate; 3. a cleaning mechanism; 30. a cloth wheel; 31. a first bracket; 32. a cleaning cloth; 4. a roller mechanism; 401. a first roller; 402. a first roller bracket; 411. a second roller; 412. a second roller bracket; 413. a roller shaft; 414. a third torsion spring; 5. a first drive mechanism; 50. an X-shaped lifting bracket; 51. a first electric push rod; 6. a second drive mechanism; 60. a second electric push rod; 61. a first connecting wire; 7. a first rotating shaft; 8. a second rotating shaft; 9. a first torsion spring; 100. a first notch; 200. a fastener; 300. an oil applying device; 310. an oil applying roller; 320. a second bracket; 330. a third rotating shaft; 400. a third drive mechanism; 410. a third electric push rod; 420. a second connecting wire; 500. a second torsion spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a pipeline intelligence maintenance robot, which can solve the problem that the maintenance work of a pipeline guide rail is very difficult manually in the related art.
Referring to fig. 1-3, to solve the above technical problems, the present application provides an intelligent pipeline maintenance robot, which includes a robot body 1 and a plurality of cleaning assemblies, wherein the cleaning assemblies are disposed on the robot body 1, each cleaning assembly includes a supporting plate 2, a first driving mechanism 5 and a first driving mechanism 5, and a cleaning mechanism 3 and a roller mechanism 4 are disposed on the supporting plate 2; the first driving mechanism 5 is connected with the machine body 1 and the supporting plate 2 and is used for driving the supporting plate 2 to be close to or far away from the machine body 1; the second driving mechanism 6 is connected to the cleaning mechanism 3 and the support plate 2, and is configured to drive the cleaning mechanism 3 to move closer to or away from the support plate 2.
In a specific embodiment, because a plurality of cleaning assemblies are arranged on the machine body 1, each cleaning assembly comprises a cleaning mechanism 3 and a roller mechanism 4, the first driving mechanism 5 is used for enabling the supporting plate 2 to approach the inner wall of the pipeline so as to enable the cleaning mechanism 3 and the roller mechanism 4 to approach the pipe wall, and then the second driving mechanism 6 is used for driving the cleaning mechanism 3 to unfold so as to enable the cleaning mechanism 3 to be in a working state, the moving range of the cleaning mechanism 3 is reduced, the cleaning mechanism 3 can quickly clean the guide rail, and because the second driving mechanism 6 can drive the cleaning mechanism 3 to unfold, the roller mechanism 4 can not clean the guide rail in the moving process, by the design, the guide rail which does not need to be cleaned can be unnecessarily cleaned, the waste of resources is reduced, and because the whole cleaning assembly can approach or be far away from the machine body, therefore, the occupied space of the whole device is reduced, the roller mechanism 4 can play a certain guiding role, and the derailment of the robot in the cleaning process is avoided.
Further, the first driving mechanism 5 includes an X-shaped lifting bracket 50 and a first electric push rod 51, the X-shaped lifting bracket 50 includes two connecting rods rotatably connected to each other, and the first electric push rod 51 is located on the machine body 1, connected to one of the connecting rods, and used for driving the connecting rod to move closer to or away from the other connecting rod.
It should be understood that not only the first electric push rod 51 can be used, but also the form of the air cylinder, the hydraulic cylinder or the screw sliding table can be selected according to actual conditions, and is particularly set according to the actual conditions, which will not be explained much here.
In this application, the X type lifting support 50 who adopts goes up and down, promotes two connecting rods through first electric putter 51 and is close to each other, realizes the expansion of whole robot, and first electric putter 51 drives two connecting rods and keeps away from each other, realizes the withdrawal of whole robot.
Further, the cleaning mechanism 3 includes at least two cloth wheels 30, a first bracket 31 and a cleaning cloth 32 wound on the cloth wheels 30, the number of the first brackets 31 corresponds to the number of the cloth wheels 30, the cloth wheels 30 rotate with the first brackets 31 through a first rotating shaft 7, the first brackets 31 are rotatably connected with the support plate 2 through a second rotating shaft 8, and the second driving mechanism 6 is connected with the first brackets 31 and is used for driving the first brackets 31 to rotate so as to drive the cloth wheels 30 to approach or leave the support plate 2.
It should be understood that, in this embodiment, when there are two cloth wheels 30, one is a driving wheel and one is a driven wheel, and a motor is integrated inside the driving wheel to drive the driving wheel to rotate, which is a prior art, so that it is not explained much here, in the using process, referring to fig. 3, after the cleaning cloth 32 is cleaned, since the cloth wheels 30 rotate, the cleaned side is rolled up and always cleaned by the clean side, and after a long time use, the cleaning cloth can be cleaned and replaced.
Further, the second driving mechanism 6 includes a second electric pushing rod 60, a first connecting wire 61 and a first torsion spring 9, the first torsion spring 9 is sleeved on the second rotating shaft 8 and has a twisted state and a non-twisted state, the first connecting wire 61 is connected with the first bracket 31, the second electric pushing rod 60 is connected with the first connecting wire 61, and when the second electric pushing rod 60 pulls the first connecting wire 61 to enable the cleaning mechanism 3 to approach the supporting plate 2, the first torsion spring 9 is in the twisted state;
when the second electric push rod 60 does not pull the first connecting wire 61, the first torsion spring 9 is in a non-twisted state, so that the cleaning mechanism 3 is away from the support plate 2.
Referring to fig. 2-3, the cleaning mechanism 3 has an operating state and a non-operating state, when the cleaning mechanism 3 is in the operating state, that is, the cleaning mechanism 3 is far away from the supporting plate 2, when the cleaning mechanism 3 is in the non-operating state, when the cleaning mechanism 3 is in the operating state, the first torsion spring 9 is in the non-twisting state, when the cleaning mechanism 3 is in the non-operating state, the first torsion spring 9 is in the twisting state, it should be understood that when the first torsion spring 9 is in the twisting state, the first connection wire 61 is pulled by the second electric pushing rod 60, and when the second electric pushing rod 60 is rapidly returned, the first connection wire 61 is not pulled, so that the first torsion spring 9 can be rapidly returned from the twisting state to the non-twisting state.
In the actual process, in order to ensure the cleaning force, the cloth wheel 30 is in certain contact with the pipeline guide rail, and the first torsion spring 9 is in a micro-torsion state, so that the friction between the cloth wheel 30 and the pipeline guide rail is increased, and the cleaning force is improved.
In the cleaning process, the cleaning cloth which is cleaned is wound on one cloth wheel 30 all the time, so that the diameter of the cloth wheel 30 and the cleaning cloth on the cloth wheel is larger, if the cleaning cloth is not processed in time, huge friction is generated, and the whole robot fails, therefore, when the number of the wound cleaning cloth is larger, the first torsion spring 9 is twisted, and the position of the cloth wheel 30 is actively adjusted.
This design can be aimed at some special areas, when cleaning is not needed, the first connecting wire 61 can be pulled, so that the cleaning mechanism 3 is in a non-working state.
On the basis of the previous embodiment, the side wall of the first bracket 31 is provided with a first notch 100;
the first rotating shaft 7 is clamped in the first notch 100;
the robot further comprises a fastener 200, wherein the fastener 200 has a locking state extending into the first notch 100 and an unlocking state far away from the first notch 100, when the fastener 200 is in the locking state, the fastener 200 limits the first rotating shaft 7 to be disengaged from the first notch 100, and when the fastener 200 is in the unlocking state, the first rotating shaft 7 can be disengaged from the first notch 100.
Preferably, the fastening member 200 is a screw, the screw is in threaded connection with the first bracket 31, and when the screw rotates towards the bracket, the screw is inserted into the first notch 100 and abuts against the first rotating shaft 7, so as to limit the first rotating shaft 7 from being separated from the first notch 100;
when the screw rod is rotated in a direction away from the first bracket 31, the screw rod is disengaged from the first notch 100.
2-3, through the tightening of fastener 200, can restrict first pivot 7 and break away from first breach 100, through unscrewing fastener 200, can make first pivot 7 conveniently break away from first breach 100, moreover because first breach 100 on this first support 31 exists, can install other mechanisms according to the actual conditions, for example oil spout, water spray, mechanism such as polishing, can set up according to the actual conditions specifically.
Furthermore, the robot further comprises an oil applying device 300 and a third driving mechanism 400, wherein the oil applying device 300 is arranged on the supporting plate 2 and is used for applying oil to the guide rail of the pipeline and lubricating and protecting the guide rail of the pipeline; the third driving mechanism 400 is connected to the oil applying device 300 and the supporting plate 2, and is used for driving the oil applying device 300 to be close to or far away from the supporting plate 2, so that the change of the oil applying amount can be realized, when the oil applying amount is close to the supporting plate 2, the oil applying amount is reduced, when the oil applying amount is far away from the supporting plate 2, namely, when the oil applying amount is closer to the guide rail, the oil applying amount is increased, and it is understood that the oil applying amount in the embodiment refers to the oil applying amount on the guide rail.
After the cleaning, the oil applying device 300 is used for applying oil to the guide rail of the pipeline to protect the guide rail of the pipeline, and the third driving mechanism 400 can drive the oil applying device 300 to be close to or far away from the support plate 2, so that when the oil applying device 300 and the cleaning mechanism 3 are used in a matched mode, the oil applying device 300 is close to the support plate 2 through the third driving mechanism 400, namely, the oil applying device 300 is in a non-working state, then the cleaning mechanism 3 is in a working state, after the cleaning mechanism 3 is cleaned, the cleaning mechanism is in a non-working state, and then the oil applying device 300 is far away from the support plate 2, so that the oil applying device 300 is in a working state to apply oil to the pipeline, and therefore, the guide rail of the pipeline can be well cleaned and maintained through the matched use of the oil applying device 300 and the cleaning mechanism 3.
Further, the oil applying device 300 comprises an oil applying roller 310 and a second support 320, the oil applying roller 310 is rotatably connected with the second support 320, the second support 320 is rotated with the support plate 2 through a third rotating shaft 330, and the third driving mechanism 400 is connected with the second support 320 and is used for driving the second support 320 to rotate so as to drive the oil applying roller 310 to approach or leave the support plate 2.
Further, the third driving mechanism 400 includes a third electric push rod 410, a second connecting wire 420 and a second torsion spring 500, the second torsion spring 500 is sleeved on the third rotating shaft 330 and has a torsional state and a non-torsional state, the second connecting wire 420 is connected to the second bracket 320, the third electric push rod 410 is connected to the second connecting wire 420, and when the third electric push rod 410 pulls the second connecting wire 420 to make the oil applying device 300 approach the supporting plate 2, the second torsion spring 500 is in the torsional state;
when the third electric push rod 410 does not pull the second connecting wire 420, the second torsion spring 500 is in a non-twisted state, so that the oil applying device 300 is away from the supporting plate 2.
It can be understood that the principle of the oil applying device 300 is the same as that of the cleaning mechanism 3, and the state of the oil applying device 300 is represented by the state of the torsion spring, that is, when the second torsion spring 500 is in a torsional state, the oil applying device 300 is in a non-working state, when the second torsion spring 500 is in the non-torsional state, the oil applying device 300 is in a working state, and when the third electric push rod 410 pulls the second connecting wire 420, the second torsion spring 500 is in a torsional state, when the third electric push rod 410 is pulled, the second torsion spring 500 is in a torsional state, and when the third electric push rod is not pulled, the second torsion spring 500 is in a non-torsional state.
In the application, the number of the whole cleaning assembly is preferably 4, the roller mechanism 4 in the cleaning assembly at the lower end of the machine body 1 comprises a first roller 401, a first roller bracket 402 and a first motor, the first roller 401 is rotatably arranged on the first roller bracket 402, the first roller bracket 402 is fixedly connected with the supporting plate 2, and the first motor is connected with the first roller 401 and is used for driving the first roller 401 to rotate;
the roller mechanism 4 at the bottom end of the body 1 does not need to be arranged by a torsion spring, and only provides certain traction force.
Wherein the first motor and the second motor are integrated inside the first wheel 401 and the second wheel 411, respectively, to provide a driving force, which is prior art and thus will not be explained much herein.
In the other three cleaning assemblies, the roller rotating shaft 413 is provided with a third torsion spring 414, and due to the existence of the third torsion spring 414, the second roller 411 can cling to the inner wall of the pipeline when the robot is unfolded.
It should be understood that, when the third torsion spring 414 is in a non-twisting state, the second roller 411 is far away from the supporting plate 2, but is affected by the inner wall of the pipeline, and in order to make the second roller 411 tightly attached to the inner wall of the pipeline, under the squeezing action of the pipeline, the third torsion spring 414 is in a twisting state, so that the third torsion spring 414 provides a certain pre-tightening force, and the second roller 411 is not easily detached from the pipeline guide rail.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The intelligent maintenance robot for the pipeline is characterized by comprising a robot body (1);
a plurality of cleaning assembly, it locates on fuselage (1), cleaning assembly includes:
-a support plate (2), on which support plate (2) a cleaning mechanism (3) and a roller mechanism (4) are arranged;
-a first driving mechanism (5), said first driving mechanism (5) being connected to said body (1) and to a support plate (2) and being adapted to drive said support plate (2) towards or away from said body (1);
-a second driving mechanism (6), said second driving mechanism (6) being connected to said cleaning mechanism (3) and to said support plate (2) and being adapted to drive said cleaning mechanism (3) closer to or further from said support plate (2).
2. The pipeline intelligent maintenance robot of claim 1, wherein:
the first driving mechanism (5) comprises an X-shaped lifting support (50) and a first electric push rod (51), the X-shaped lifting support (50) comprises two connecting rods which are rotatably connected with each other, and the first electric push rod (51) is located on the machine body (1), connected with one of the connecting rods and used for driving the connecting rod to be close to or far away from the other connecting rod.
3. The pipeline intelligent maintenance robot of claim 1, wherein:
the cleaning mechanism (3) comprises at least two cloth wheels (30), a first support (31) and cleaning cloth (32) wound on the cloth wheels (30), the number of the first support (31) corresponds to that of the cloth wheels (30), the cloth wheels (30) rotate with the first support (31) through a first rotating shaft (7), the first support (31) is rotatably connected with the support plate (2) through a second rotating shaft (8), and a second driving mechanism (6) is connected with the first support (31) and used for driving the first support (31) to rotate so as to drive the cloth wheels (30) to be close to or far away from the support plate (2).
4. The pipeline intelligent maintenance robot of claim 3, wherein:
the second driving mechanism (6) comprises a second electric push rod (60), a first connecting wire (61) and a first torsion spring (9), the first torsion spring (9) is sleeved on the second rotating shaft (8) and has a torsional state and a non-torsional state, the first connecting wire (61) is connected with the first support (31), the second electric push rod (60) is connected with the first connecting wire (61), and when the second electric push rod (60) pulls the first connecting wire (61) to enable the cleaning mechanism (3) to be close to the support plate (2), the first torsion spring (9) is in the torsional state;
when the second electric push rod (60) does not pull the first connecting wire (61), the first torsion spring (9) is in a non-twisting state, so that the cleaning mechanism (3) is far away from the support plate (2).
5. The pipeline intelligent maintenance robot of claim 3, wherein:
a first notch (100) is formed in the side wall of the first bracket (31);
the first rotating shaft (7) is clamped in the first notch (100);
the robot further comprises a fastener (200), the fastener (200) has a locking state extending into the first notch (100) and an unlocking state far away from the first notch (100), when the fastener (200) is in the locking state, the fastener (200) limits the first rotating shaft (7) to be separated from the first notch (100), and when the fastener (200) is in the unlocking state, the first rotating shaft (7) can be separated from the first notch (100).
6. The pipeline intelligent maintenance robot of claim 5, wherein:
the fastening piece (200) adopts a screw rod, the screw rod is in threaded connection with the first support (31), and when the screw rod rotates towards the support, the screw rod is inserted into the first notch (100) and abuts against the first rotating shaft (7) so as to limit the first rotating shaft (7) to be separated from the first notch (100);
when the screw rod rotates towards the direction far away from the first bracket (31), the screw rod is separated from the first notch (100).
7. The pipeline intelligent maintenance robot of claim 1, further comprising:
the oil smearing device (300) is arranged on the supporting plate (2) and is used for smearing oil on the guide rail of the pipeline; and the number of the first and second groups,
the third driving mechanism (400) is connected with the oil applying device (300) and the supporting plate (2), and is used for driving the oil applying device (300) to be close to or far away from the supporting plate (2).
8. The pipeline intelligent maintenance robot of claim 7, wherein:
the device (300) of putting oil on is including putting oil roller (310) and second support (320) on, put oil roller (310) and second support (320) and rotate and be connected, second support (320) with backup pad (2) are rotated through third pivot (330), third actuating mechanism (400) with second support (320) are connected, are used for the drive second support (320) rotate to it is close to or keeps away from to drive to put oil roller (310) on the drive backup pad (2).
9. The pipeline intelligent maintenance robot of claim 8, wherein:
the third driving mechanism (400) comprises a third electric push rod (410), a second connecting wire (420) and a second torsion spring (500), the second torsion spring (500) is sleeved on the third rotating shaft (330) and has a torsional state and a non-torsional state, the second connecting wire (420) is connected with the second bracket (320), the third electric push rod (410) is connected with the second connecting wire (420), and when the third electric push rod (410) pulls the second connecting wire (420) to enable the oiling device (300) to be close to the supporting plate (2), the second torsion spring (500) is in the torsional state;
when the third electric push rod (410) does not pull the second connecting wire (420), the second torsion spring (500) is in a non-torsion state, so that the oil applying device (300) is far away from the support plate (2).
10. The pipeline intelligent maintenance robot of claim 1, wherein:
the roller mechanism (4) in the cleaning assembly at the lower end of the machine body (1) comprises a first roller (401), a first roller bracket (402) and a first motor, wherein the first roller (401) is rotatably arranged on the first roller bracket (402), the first roller bracket (402) is fixedly connected with the supporting plate (2), and the first motor is connected with the first roller (401) and used for driving the first roller (401) to rotate;
roller mechanism (4) that are arranged in the cleaning assembly of fuselage (1) lateral wall include second gyro wheel (411), second gyro wheel support (412) and second motor, second gyro wheel (411) rotate to set up on second gyro wheel support (412), second gyro wheel support (412) with backup pad (2) are connected through gyro wheel pivot (413) rotation, the second motor with second gyro wheel (411) are connected, and are used for the drive second gyro wheel (411) rotate, be provided with third torsional spring (414) on gyro wheel pivot (413), third torsional spring (414) wind gyro wheel pivot (413) have torsional mode and non-torsional mode, and work as when third torsional spring (414) is in the non-torsional mode, second gyro wheel (411) are kept away from backup pad (2).
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| CN212018820U (en) * | 2020-04-09 | 2020-11-27 | 季维龙 | Cleaning device for building water supply and drainage pipeline |
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| FR2782284A1 (en) * | 1998-08-14 | 2000-02-18 | Sita | MOBILE DEVICE FOR CLEANING FLUIDS, ESPECIALLY SEWERS |
| CN2468618Y (en) * | 2001-03-20 | 2002-01-02 | 孟铁军 | Roller type electronic pipeline cleaning device |
| CN202683518U (en) * | 2012-07-12 | 2013-01-23 | 东莞市中港净化用品科技有限公司 | Body of screen cleaner |
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| CN114247714B (en) | 2022-12-09 |
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