CN114273352B - Pipeline defect cleaning robot - Google Patents
Pipeline defect cleaning robot Download PDFInfo
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- CN114273352B CN114273352B CN202111595064.7A CN202111595064A CN114273352B CN 114273352 B CN114273352 B CN 114273352B CN 202111595064 A CN202111595064 A CN 202111595064A CN 114273352 B CN114273352 B CN 114273352B
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Abstract
The invention discloses a pipeline defect cleaning robot, which comprises a vehicle shell, a camera fixedly connected to the front end of the vehicle shell, and wheels arranged below the vehicle shell and used for driving the vehicle shell to move; a top plate is longitudinally connected above the vehicle shell in a sliding manner; the top plate is rotatably connected with an upper roller; a lifting assembly for driving the top plate to lift is installed in the vehicle shell; the lifting assembly comprises two longitudinal moving disks, two screws and synchronous rotating disks which are respectively in transmission connection with the screws and used for driving the top plate to lift; a cleaning assembly for cleaning a pipeline is arranged below the vehicle shell; one side of the longitudinal moving disk is rotatably connected with an inner gear ring which is in transmission connection with each screw and is coaxially arranged with the longitudinal moving disk; because this scheme roof can reciprocate, so when the roof was located below extreme position, this scheme is whole small, portable.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a pipeline defect cleaning robot.
Background
Chinese patent document No. CN110465525a discloses a cleaning robot, more specifically a cleaning robot for inner wall of pipeline, which comprises a telescopic device, a moving device, an angle adjusting device, a cleaning device and a camera, wherein the position of the moving device is controlled by the telescopic device to adapt to pipelines with different diameters, the moving device drives the whole robot to move in the pipeline, the angle adjusting device adjusts the angle between the devices so as to turn in the pipeline, and the cleaning device has the functions of cleaning foreign garbage on the inner wall of a computer, and the like, and is characterized in that: the mobile device is fixedly installed on the telescopic device, the angle adjusting device is fixedly installed on the mobile device, the cleaning device is fixedly installed on the angle adjusting device, and the camera is fixedly installed on the telescopic device.
In the above patent, the robot can only move in the pipeline, and cannot move on the flat ground, so that the robot has lower adaptability and cannot enter the pipeline which can be entered after passing through the narrow flat ground. Moreover, the machine is large in size and inconvenient to carry.
Chinese patent document No. CN112517566a discloses a self-adaptive pipeline cleaning robot, which includes: the cleaning device comprises a left vehicle body, a right vehicle body, a left cleaning rocker arm, a right cleaning rocker arm, a left upper cleaning cross arm, a right upper cleaning cross arm, a dust collection module, a control and communication module and a driving mechanism, wherein the left vehicle body and the right vehicle body are arranged in parallel at intervals; the left vehicle body and the right vehicle body can transversely stretch and retract, and the left cleaning rocker arm and the right cleaning rocker arm can tilt relative to the left vehicle body and the right vehicle body to adapt to pipelines with different sizes. According to the invention, the self-adaptive pipeline cleaning robot which can automatically deform, is light in weight, can deform, can clean four surfaces of a rectangular pipeline simultaneously, is provided with a dust collecting device, has low dust emission and is high in efficiency is provided.
Among the above-mentioned patent, the robot is bulky whole bulky, is not convenient for move to because this robot width direction span is great, make can't wash the minimum under the pipeline when clean, the suitability is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the defects in the prior art, the pipeline defect cleaning robot is small in size, can move on the ground and can clean any position in a pipeline.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose: the utility model provides a pipeline defect cleaning robot, is including car shell, fixed connection be in the camera of car shell front end, install the wheel that is used for driving the car shell and removes in car shell below.
A top plate is longitudinally connected above the vehicle shell in a sliding manner; the top plate is rotatably connected with an upper roller; and a lifting assembly for driving the top plate to lift is arranged in the vehicle shell.
The lifting assembly comprises two longitudinal moving disks, two screw rods and synchronous rotating disks, wherein the two longitudinal moving disks are arranged along the front and rear directions of a rotating shaft respectively and rotatably connected to the front end and the rear end in the shell, the two screw rods are respectively and rotatably connected between the two longitudinal moving disks and arranged along the front and rear directions, and the synchronous rotating disks are respectively in transmission connection with the screw rods and are used for driving the top plate to lift; the rotating shafts of the two screws are not coincident with the rotating shaft of the longitudinal moving disc.
A cleaning assembly for cleaning a pipeline is arranged below the vehicle shell; a cleaning driving assembly for driving the cleaning assembly to move up and down is arranged in the vehicle shell; the cleaning driving assembly comprises a cleaning rotary disc which is rotatably connected in the vehicle shell and is coaxial with the longitudinal moving disc.
And one side of the longitudinal moving disc is rotatably connected with an inner gear ring which is in transmission connection with each screw and is coaxially arranged with the longitudinal moving disc.
When the inner gear ring rotates, the screw rotates to drive the synchronous rotating disc to move back and forth, and then the top plate rises or falls; when the internal gear ring rotates to the top plate and is located the top or below extreme position, the internal gear ring continues to rotate along the original direction, and the screw rod can not continue to rotate along the axis of the screw rod, so that the internal gear ring drives the longitudinal moving plate, each screw rod and the cleaning turntable to rotate, and further drives the cleaning assembly to move.
And a lifting motor for driving the inner gear ring to rotate is arranged in the vehicle shell.
As a preferable scheme: the upper side and the lower side of the longitudinal moving plate in the vehicle shell are respectively connected with a reset plate capable of driving the longitudinal moving plate to move up and down in a longitudinal sliding mode; and a return spring is connected between one side of each return plate, which is far away from the longitudinal moving plate, and the shell.
The cleaning driving assembly further comprises a longitudinal moving block which is longitudinally and slidably connected with the position, opposite to the cleaning turntable, in the vehicle shell; a moving block abutting surface abutting against the outer wall of the cleaning turntable is formed at the upper end of the longitudinal moving block; a stop plate sliding frame connected with the longitudinal moving block in a sliding manner is formed in the vehicle shell.
The side wall of the longitudinal moving block, which is opposite to the end face of the cleaning turntable, is connected with a magnetic bolt in a sliding manner along the front and back directions; one end of the cleaning turntable, which is close to the magnetic bolt, is uniformly formed with a stop jack which can be fixedly inserted with the magnetic bolt along the circumferential direction.
And a moving block spring which enables the longitudinal moving block to be always abutted against the cleaning turntable is connected between the lower end of the longitudinal moving block and the inner bottom of the vehicle shell.
And the stop plate sliding frame is fixedly connected with a stop magnet which can repel the magnetic bolt and rotating magnets which are respectively positioned at the upper side and the lower side of the stop magnet and attract the magnetic bolt.
The upper end of the vehicle shell is fixedly connected with an upper shell; a top plate groove for the top plate to pass through is formed at the upper end of the upper shell; and a lower abutting plate which can abut against the lower end face of the top plate is fixedly connected to the position, opposite to the top plate groove, of the lower end of the upper shell.
When no interaction force exists between the top plate and the lower abutting plate or between the top plate and the inner wall of the pipeline, the longitudinal moving disc is located in the middle position, the magnetic bolt is opposite to the stop magnet, the magnetic bolt is inserted into the stop jack under the repulsive force of the stop magnet, and the cleaning rotary disc cannot rotate.
When the pipeline produced decurrent effort to the roof, the roof was located the top extreme position, and the pipeline makes the vertical migration dish downstream to the magnetism bolt just right with the rotation magnet of below to the effort of roof, and the magnetism bolt is just opposite with the locking jack separation under the attractive force effect of rotation magnet, and clean carousel can rotate this moment.
When the lower abutting plate generates an upward acting force on the top plate, the top plate is located at the lower limit position, the acting force of the lower abutting plate on the top plate enables the longitudinal moving disc to move upwards until the magnetic bolt is opposite to the rotating magnet above, the magnetic bolt is separated from the stop jack under the action of the attraction force of the rotating magnet, and the cleaning rotating disc can rotate at the moment.
As a preferable scheme: a driving ring sliding frame which is vertically arranged is respectively formed at two sides of the synchronous rotating disc in the car shell; a top plate driving ring is connected between the two driving ring sliding frames in a sliding mode along the front and back direction.
An inner rotating ring is formed on the inner wall of the top plate driving ring; and a synchronous groove rotationally connected with the inner rotating ring is formed in the middle of the outer wall of the synchronous rotating disc.
The left side wall and the right side wall of the top plate are respectively and rotatably connected with a top plate connecting plate; and a connecting plate rotating seat which is rotatably connected with one side of the top plate connecting plate far away from the top plate is formed on the top plate driving ring.
As a preferable scheme: the rotating shaft of the upper roller is parallel to the front and back direction.
The lower end of the vehicle shell is rotatably connected with a wheel mounting rack with a plurality of rotating shafts vertically arranged; the wheels are rotatably connected to one side of the wheel mounting rack, and the rotating shafts of the wheels are perpendicular to the rotating shafts of the wheel mounting rack.
And a wheel steering assembly for driving the wheel mounting frame to rotate is arranged in the vehicle shell.
When the wheel steering assembly is located at the first position, the rotating shaft of each wheel is parallel to the width direction of the vehicle shell, and at the moment, the wheels work to drive the vehicle shell to move back and forth.
When the wheel steering assembly is located at the second position, the rotating shafts of the wheels are parallel to the front and back direction and tangent to the circumferential direction of the pipeline, and at the moment, if the upper rollers are abutted to the top of the pipeline, the wheels work, so that the shell moves along the circumferential direction of the pipeline.
As a preferable scheme: each wheel mounting bracket is fixedly connected with a wheel motor for driving wheels to rotate.
The wheel steering assembly comprises wheel driving plates which are connected to the inner bottom of the vehicle shell in a sliding mode in the front-back direction and are the same as the wheels in number, and synchronizing gears which drive the wheel driving plates to move synchronously.
A wheel driving column is arranged at an eccentric position above the wheel mounting frame; and a wheel sliding groove in sliding connection with the wheel driving column is formed at the upper end of the wheel driving plate.
When the synchronous gears rotate, the wheel driving plates slide along the front and back directions, and then the wheel mounting rack is driven to rotate.
As a preferable scheme: lifting seat sliding grooves are formed in the lower end of the car shell along the front and rear sides; the cleaning assembly comprises two lifting seats and a cleaning roller, wherein the two lifting seats are respectively connected in a lifting seat sliding groove in a longitudinal sliding mode, and the cleaning roller is rotatably connected between the two lifting seats.
And a transmission part for driving the cleaning roller to rotate is rotationally connected in the vehicle shell.
A switching gear is rotationally connected in the vehicle shell; and the lower end of the switching gear and the bottom in the shell are connected with a switching gear spring for driving the switching gear to move upwards.
When the top plate is located at the lower limit position, the top plate enables the switching gear to be located at the lower limit position, and the switching gear is in transmission connection with the synchronous gear.
When the top plate moves upwards to the upper part of the vehicle shell, the switching gear is positioned at the upper limit position under the action of the switching gear spring, and the switching gear is in transmission connection with the transmission part.
And a switching gear motor in transmission connection with a switching gear is fixedly connected in the vehicle shell.
As a preferable scheme: the switching gear is positioned in the center of the shell; a driving inclined block is formed on one side of the top plate driving ring close to the center of the shell; and a driving inclined plane for driving the switching gear to move downwards is formed on one side of the driving inclined block close to the center of the shell.
When the top plate abuts against the lower abutting plate, the driving inclined plane abuts against the upper end face of the switching gear, and the switching gear is located at the lower limit position.
As a preferable scheme: a transmission mounting groove is formed in one end, away from the center of the vehicle shell, of each lifting seat sliding groove at the bottom in the vehicle shell; a connecting through groove communicated with the lifting seat sliding groove is formed in the side wall, close to the lifting seat sliding groove, of the transmission mounting groove; and a lifting seat connecting column which is in sliding connection with the connecting through groove is formed on the side wall of the lifting seat close to the connecting through groove.
The side wall of the transmission mounting groove is rotationally connected with a synchronous belt rotating column; a linkage synchronous belt is connected between the cleaning turntable and the synchronous belt rotating column; the lifting seat connecting column is fixedly connected with the linkage synchronous belt.
As a preferable scheme: one of the lifting seats is a driving lifting seat; a cleaning roller driving part with a rotating shaft longitudinally arranged is rotationally connected in the lifting seat; the lower end of the cleaning roller driving part is fixedly connected with a driving bevel gear which is coaxially arranged; and a cleaning roller helical gear in meshed transmission connection with the driving helical gear is formed in the center of one end of the cleaning roller, which is close to the driving lifting seat.
A driving part connecting groove with a non-circular section is formed in the center of the upper end of the cleaning roller driving part; the transmission portion lower extreme shaping has the transmission portion inserted bar of pegging graft with drive division spread groove for transmission portion and cleaning roller drive division circumference synchronous revolution, axial relative slip.
As a preferable scheme: one lifting seat is a waterway lifting seat; the cleaning roller is hollow inside; and a water injection pipe communicated with the interior of the cleaning roller is formed in the center of one end of the cleaning roller, which is close to the waterway lifting seat.
One end of the waterway lifting seat close to the cleaning roller is formed with a water injection pipe connecting hole which is in sealed rotary sleeve joint with the water injection pipe; a water passing channel communicated with the water injection pipe connecting hole is formed at the upper end of the waterway lifting seat; the water passing channel is communicated with an external water source through a hose.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the movement of the top plate driving ring is controlled, so that the top plate drives the upper idler wheels to tightly abut against the inner top of the pipeline, the shell can conveniently rotate along the circumferential direction of the pipeline to clean a larger area, and the switching gear can be driven to move, so that the switching gear drives each wheel mounting rack to rotate or drives the cleaning roller to rotate.
According to the pipeline cleaning device, the lifting assembly can drive the top plate to move upwards, so that the upper roller is abutted against the inner top of the pipeline, and the cleaning turntable can be driven to rotate after the upper roller is abutted against the pipeline or the lower abutting plate, so that the cleaning roller is abutted against or separated from the inner wall of the pipeline, and cleaning is facilitated.
In the invention, the wheels can drive the shell to move forwards and backwards and can also drive the shell to move along the circumferential direction of the pipeline so as to clean a large area.
The cleaning roller can move back and forth in the pipeline or on the flat ground and can also move along the circumferential direction of the pipeline, so that the cleaning roller can clean most of the position in the pipeline, the cleaning area is increased, and the cleaning roller can be adapted to pipelines with different diameters due to different rising distances of the top plate.
The cleaning roller can clean any position in the pipeline by controlling the vehicle shell to rotate along the circumferential direction of the pipeline.
Because this scheme roof can reciprocate, so when the roof was located below extreme position, this scheme is whole small, portable.
Drawings
Fig. 1 is an exploded view of the present invention.
Fig. 2 is a schematic view of the present invention in operation within a pipeline.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 and 5 are schematic structural views of the vehicle body shell of the invention.
Fig. 6 is an exploded view of the lift assembly of the present invention.
Fig. 7 is a schematic view of the structure of the top plate drive ring of the present invention.
Fig. 8 and 9 are schematic exploded views of the cleaning driving assembly of the present invention.
FIG. 10 is a schematic view of an internal gear ring configuration of the present invention.
Figure 11 is an exploded view of the cleaning assembly of the present invention.
Fig. 12 is a schematic view of the structure of the switching gear of the present invention.
Fig. 13 is a schematic view of the structure of the wheel of the present invention.
Fig. 14 is a schematic view of the construction of the wheel steering assembly of the present invention.
Fig. 15 and 16 are schematic sectional views in the initial state of the present invention.
Fig. 17 and 18 are schematic sectional views showing the cleaning of the pipe according to the present invention.
1. A vehicle shell; 101. an upper housing; 1011. a roof plate groove; 1012. a lower support plate; 102. a camera; 11. a wheel mounting hole; 12. a wheel slide positioning bracket; 131. a synchronous gear shaft; 132. a drive ring carriage; 14. a mobile tray mounting frame; 141. a mounting bracket connection hole; 15. a stop plate carriage; 151. a stopper magnet; 152. rotating the magnet; 16. a switching gear rotating column; 161. rotating the column upper resisting plate; 17. cleaning a synchronous belt rotating column; 18. a transmission mounting groove; 181. connecting the through grooves; 19. a lifting seat chute; 191. a chute connecting hole;
21. a top plate; 211. a roller seat; 212. a top plate drive slot; 22. an upper roller;
3. a lifting assembly; 301. a lifting motor; 302. an inner gear ring; 303. lifting a synchronous belt; 31. a screw; 311. a thread; 312. a screw gear; 32. a top plate drive ring; 321. a connecting plate rotating seat; 322. an inner rotating ring; 323. driving the swash block; 3231. a drive ramp; 33. a longitudinally moving tray; 34. a synchronous rotating disk; 341. a synchronization slot; 342. a threaded hole; 35. a top plate connecting plate; 36. a reset plate; 361. a rotation stopping slide bar; 362. a return spring;
4. a cleaning drive assembly; 41. cleaning the turntable; 411. a turntable connecting hole; 412. a stop jack; 42. a longitudinal moving block; 421. a latch chute; 422. a moving block abutting surface; 43. a magnetic latch; 44. linking a synchronous belt; 45. a tension wheel; 46. a moving block spring;
5. a cleaning assembly; 50. cleaning a synchronous belt; 51. a cleaning roller; 511. a water injection pipe; 512. cleaning the roller bevel gear; 513. a cleaning roller rotating groove; 515. a cleaning section; 52. a waterway lifting seat; 521. a connecting column of the lifting seat; 522. a water passage; 523. connecting holes of the water injection pipe; 53. driving the lifting seat; 531. a cleaning roller rotating ring; 532. a connecting groove of the lifting seat; 54. a cleaning roller driving part; 541. driving the helical gear; 542. a driving part connecting groove; 55. a transmission section; 511. a transmission part inserted rod;
6. a wheel steering assembly; 61. a wheel drive plate; 611. a wheel chute; 612. a wheel synchronization rack; 62. a synchronizing gear; 63. a wheel synchronous belt;
7. a wheel; 71. a wheel mounting bracket; 72. a wheel motor; 711. a wheel rotating seat; 712. a wheel drive column;
8. a switching gear; 81. a transition groove; 82. an upper positioning groove; 83. a switching gear spring;
9. the gear motor is switched.
Detailed Description
Example 1
As shown in fig. 1 to 18, the robot for cleaning defects of a pipeline according to the embodiment includes a shell 1, a camera fixedly connected to a front end of the shell, and a wheel 7 installed below the shell and used for driving the shell to move
A top plate 21 is longitudinally connected above the vehicle shell in a sliding manner; the top plate is rotatably connected with an upper roller 22.
And a lifting component 3 for driving the top plate to lift is arranged in the vehicle shell.
The lifting assembly comprises two longitudinal moving disks 33 which are respectively and rotatably connected with the front end and the rear end of the inside of the shell and are arranged along the front and rear direction, two screw rods 31 which are respectively and rotatably connected between the two longitudinal moving disks and are arranged along the front and rear direction, and a synchronous rotating disk 34 which is respectively in transmission connection with each screw rod and is used for driving the top plate to lift; the rotating shafts of the two screws are not coincident with the rotating shaft of the longitudinal moving disc.
Two threads 311 with opposite rotation directions are formed on the screw rod; two synchronous rotating discs are arranged in the vehicle shell; and a threaded hole 342 in transmission connection with the thread is formed in the synchronous rotating disc.
A cleaning assembly 5 for cleaning a pipeline is arranged below the vehicle shell; cleaning driving components 4 for driving the cleaning components to move up and down are respectively arranged at the front side and the rear side of the cleaning components in the vehicle shell; the cleaning driving assembly comprises a cleaning rotary disc 41 which is rotatably connected in the vehicle shell and is coaxially arranged with the longitudinal moving disc; one end of the cleaning turntable is formed with a turntable connecting hole 411 which is rotationally connected with each screw.
A screw gear 312 is formed on the outer wall of the screw; one side of the longitudinal moving disk is rotatably connected with an inner gear ring 302 which is in meshed transmission connection with each screw gear and is coaxially arranged with the longitudinal moving disk.
When the inner gear ring rotates, the screw rotates to drive the synchronous rotating disc to move back and forth, and then the top plate rises or falls.
When the internal gear ring rotates to the top plate and is located the top or below extreme position, the internal gear ring continues to rotate along the original direction, and the screw rod can not continue to rotate along the axis of the screw rod at the moment, so that the internal gear ring drives the longitudinal moving plate, each screw rod and the cleaning turntable to rotate, and further drives the cleaning assembly to move.
A lifting motor 301 for driving the inner gear ring to rotate is arranged in the vehicle shell; the lifting motor is in transmission connection with the inner gear ring through a lifting synchronous belt 303.
The upper side and the lower side of the longitudinal moving plate in the vehicle shell are respectively connected with a reset plate 36 capable of driving the longitudinal moving plate to move up and down in a longitudinal sliding manner; a return spring 362 is connected between one side of each return plate, which is far away from the longitudinal moving plate, and the shell.
A movable plate mounting rack 14 which is longitudinally arranged is respectively formed in the middle parts of the front side wall and the rear side wall in the vehicle shell; the longitudinal moving plate and the reset plate are connected in the moving plate mounting frame in a sliding manner; a mounting bracket connecting hole 141 longitudinally penetrating through the movable disc mounting bracket is formed at the upper end of the movable disc mounting bracket; the one end shaping that the board that resets was kept away from longitudinal movement dish has the rotation stopping slide bar 361 with mounting bracket connecting hole slip grafting for the board that resets only longitudinal movement in the removal dish mounting bracket, the board rotation that resets relatively can be moved to the longitudinal movement dish.
The cleaning driving assembly further comprises a longitudinal moving block 42 which is longitudinally and slidably connected with the position, opposite to the longitudinal direction of the cleaning turntable, in the vehicle shell; a moving block abutting surface 422 abutting against the outer wall of the cleaning turntable is formed at the upper end of the longitudinal moving block; a chock plate sliding frame 15 connected with the longitudinal moving block in a sliding manner is formed in the vehicle shell.
The side wall of the longitudinal moving block, which is opposite to the end face of the cleaning turntable, is connected with a magnetic bolt 43 in a sliding manner along the front and back directions; and one end of the cleaning turntable, which is close to the magnetic bolt, is uniformly formed with a stop jack 412 which can be fixedly plugged with the magnetic bolt along the circumferential direction.
A moving block spring 46 which enables the longitudinal moving block to be always abutted against the cleaning turntable is connected between the lower end of the longitudinal moving block and the inner bottom of the vehicle shell.
And a stop magnet 151 which can repel the magnetic bolt and a rotating magnet 152 which is respectively positioned at the upper side and the lower side of the stop magnet and mutually attracted with the magnetic bolt are fixedly connected to the stop plate sliding frame.
A bolt sliding groove 421 connected with the magnetic bolt in a sliding manner is formed on the longitudinal moving block.
The upper end of the vehicle shell is fixedly connected with an upper shell 101; a top plate groove 1011 for the top plate to pass through is formed at the upper end of the upper shell; and a lower abutting plate 1012 which can abut against the lower end face of the top plate is fixedly connected to the position, opposite to the top plate groove, of the lower end of the upper shell.
When no interaction force exists between the top plate and the lower abutting plate or between the top plate and the inner wall of the pipeline, the longitudinal moving disc is located in the middle position, the magnetic bolt is opposite to the stop magnet, the magnetic bolt is inserted into the stop jack under the repulsive force of the stop magnet, and the cleaning rotary disc cannot rotate.
When the pipeline produced decurrent effort to the roof, the roof was located the top extreme position, and the pipeline makes the vertical migration dish downstream to the magnetism bolt just right with the rotation magnet of below to the effort of roof, and the magnetism bolt is just opposite with the locking jack separation under the attractive force effect of rotation magnet, and clean carousel can rotate this moment.
When the lower abutting plate generates upward acting force on the top plate, the top plate is located at the limit position below, the acting force of the lower abutting plate on the top plate enables the longitudinal moving disc to move upwards until the magnetic bolt is opposite to the rotating magnet above, the magnetic bolt is separated from the stop jack under the action of the attraction force of the rotating magnet, and at the moment, the cleaning rotating disc can rotate.
A driving ring sliding frame 132 which is vertically arranged is respectively formed at two sides of the synchronous rotating disc in the vehicle shell; a top plate drive ring 32 is slidably connected between the two drive ring sliding frames in the front-rear direction.
An inner rotating ring 322 is formed on the inner wall of the top plate driving ring; a synchronous groove 341 rotationally connected with the inner rotating ring is formed in the middle of the outer wall of the synchronous rotating disc, so that the synchronous rotating disc can axially and synchronously move relative to the top plate driving ring and can circumferentially and relatively rotate; the inside of the vehicle shell is provided with two top plate driving rings which are respectively in one-to-one correspondence with the two synchronous rotating disks.
The left side wall and the right side wall of the top plate are respectively and rotatably connected with a top plate connecting plate 35; and a connecting plate rotating seat 321 which is rotatably connected with one side of the top plate connecting plate far away from the top plate is formed on the top plate driving ring.
The rotating shaft of the upper roller is parallel to the front and back directions; two roller seats 211 are formed at the upper end of the top plate; an upper roller 22 is rotatably connected in each roller seat.
The lower end of the vehicle shell is rotatably connected with a wheel mounting rack 71 with a plurality of rotating shafts vertically arranged; the wheels are rotatably connected to one side of the wheel mounting rack, and the rotating shafts of the wheels are perpendicular to the rotating shafts of the wheel mounting rack.
And a wheel steering assembly 6 for driving the wheel mounting frame to rotate is arranged in the shell.
When the wheel steering assembly is located at the first position, the rotating shaft of each wheel is parallel to the width direction of the vehicle shell, and at the moment, the wheels work to drive the vehicle shell to move back and forth.
When the wheel steering assembly is located at the second position, each rotating shaft of the wheel is parallel to the front and back direction and tangent to the circumferential direction of the pipeline, and at the moment, if the upper roller is abutted to the top of the pipeline, each wheel works, so that the shell moves along the circumferential direction of the pipeline, and the cleaning assembly can clean different positions of the circumferential direction of the pipeline.
Each wheel mounting bracket is fixedly connected with a wheel motor 72 for driving wheels to rotate.
The wheel steering assembly comprises wheel driving plates 61 which are connected to the inner bottom of the vehicle shell in a sliding mode along the front-back direction and are the same as the wheels in number, and synchronizing gears 62 which drive the wheel driving plates to move synchronously.
A wheel driving column 712 is arranged at an eccentric position above the wheel mounting frame; the upper end of the wheel driving plate is formed with a wheel sliding groove 611 connected with the wheel driving column in a sliding manner.
When the synchronous gears rotate, the wheel driving plates slide along the front and back directions, and then the wheel mounting rack is driven to rotate.
Four wheels are installed below the vehicle shell and are evenly installed at the lower end of the vehicle shell. Wheel mounting holes 11 are formed in the four corners of the bottom in the vehicle shell respectively; the upper end of the wheel mounting frame is fixedly connected with a wheel rotating seat 711 which is rotatably connected with the wheel mounting hole; the wheel driving column is formed on the wheel rotating seat.
Two wheel driving plates are arranged on two sides of the car shell along the width direction respectively; a wheel synchronous rack 612 which is horizontally arranged is formed on the wheel driving plate; two synchronizing gears 62 are arranged in the vehicle shell; each synchronous gear is respectively in transmission connection with the two synchronous racks of the wheels; the two synchronous gears are in transmission connection through a wheel synchronous belt 63; and a synchronous gear rotating shaft 131 which is rotationally connected with the synchronous gear is formed at the bottom in the vehicle shell.
And a wheel sliding positioning frame 12 connected with the wheel driving plate in a sliding manner is formed at the bottom in the vehicle shell.
Lifting seat sliding grooves 19 are formed in the lower end of the vehicle shell along the front and rear sides; the cleaning assembly comprises two lifting seats and a cleaning roller 51, wherein the two lifting seats are respectively connected in a sliding groove of the lifting seat in a longitudinal sliding mode, and the cleaning roller 51 is rotatably connected between the two lifting seats.
A transmission part 55 for driving the cleaning roller to rotate is rotatably connected in the vehicle shell.
A switching gear 8 is rotationally connected in the vehicle shell; the lower end of the switching gear and the bottom in the vehicle shell are connected with a switching gear spring 83 for driving the switching gear to move upwards.
When the top plate is located at the lower limit position, the top plate enables the switching gear to be located at the lower limit position, and the switching gear is in transmission connection with the synchronous gear.
When the top plate moves upwards to the upper part of the vehicle shell, the switching gear is positioned at the upper limit position under the action of the switching gear spring, and the switching gear is in transmission connection with the transmission part.
And a switching gear motor 9 in transmission connection with a switching gear is fixedly connected in the vehicle shell.
A switching gear rotating column 16 which is rotationally connected with the switching gear is formed at the center of the bottom in the vehicle shell; an upper positioning groove 82 is formed at the upper end of the switching gear; the upper end of the switching gear rotating column is fixedly connected with a rotating column upper abutting plate 161 which can abut against the bottom in the upper positioning groove; when the switching gear is located at the upper limit position, the upper abutting plate of the rotating column abuts against the bottom in the upper positioning groove, and therefore the switching gear is prevented from continuously moving upwards.
The bottom in the shell is rotationally connected with a cleaning synchronous belt rotating column 17; a cleaning synchronous belt 50 is arranged between the cleaning synchronous belt rotating column and the transmission part; a transition groove 81 is formed at the upper part of the outer wall of the switching gear; the wheel synchronous belt is positioned below the cleaning synchronous belt.
When switching gear is located below extreme position, switching gear is connected with wheel synchronous belt drive, and clean hold-in range is just right with crossing the aqueduct, and clean hold-in range is not connected with switching gear drive, switches the gear and only drives wheel synchronous belt motion this moment promptly, and then drives the wheel mounting bracket and rotate.
When the switching gear is located the top extreme position, the switching gear is not connected with wheel synchronous belt drive, and clean hold-in range is connected with switching gear drive, and the switching gear only drives clean hold-in range motion this moment, and then drives the cleaning roller and rotate.
The switching gear is positioned in the center of the shell; a driving inclined block 323 is formed on one side of the top plate driving ring close to the center of the shell; a driving inclined surface 3231 for driving the switching gear to move downwards is formed on one side of the driving inclined block close to the center of the shell.
When the top plate abuts against the lower abutting plate, the driving inclined plane abuts against the upper end face of the switching gear, and the switching gear is located at the lower limit position.
A transmission mounting groove 18 is formed in one end, away from the center of the vehicle shell, of each lifting seat sliding groove at the bottom in the vehicle shell; a connecting through groove 181 communicated with the lifting seat sliding groove is formed in the side wall of the transmission mounting groove, which is close to the lifting seat sliding groove; the side wall of the lifting seat close to the connecting through groove is formed with a lifting seat connecting column 521 which is in sliding connection with the connecting through groove.
The side wall of the transmission mounting groove is rotationally connected with a synchronous belt rotating column; a linkage synchronous belt 44 is connected between the cleaning turntable and the synchronous belt rotating column; the lifting seat connecting column is fixedly connected with the linkage synchronous belt.
And a tension wheel 45 tightly abutted to the linkage synchronous belt is installed in the transmission installation groove, so that when the cleaning turntable moves up and down, the linkage synchronous belt is always in transmission connection with the cleaning turntable and the lifting seat connecting column.
One of the lifting bases is a driving lifting base 53; a cleaning roller driving part 54 with a rotating shaft longitudinally arranged is rotationally connected in the lifting seat; the lower end of the cleaning roller driving part is fixedly connected with a driving bevel gear 541 which is coaxially arranged; and a cleaning roller helical gear 512 in meshed transmission connection with the driving helical gear is formed at the center of one end of the cleaning roller close to the driving lifting seat.
A driving part connecting groove 542 with a non-circular section is formed in the center of the upper end of the cleaning roller driving part; the transmission part lower extreme shaping has the transmission part inserted bar 511 of pegging graft with drive division spread groove for transmission part and scrub roller drive division circumference synchronous revolution, axial relative slip.
A lifting seat connecting groove 532 rotationally connected with the cleaning roller driving part is formed at the upper end of the driving lifting seat; a coaxially arranged cleaning roller rotating groove 513 is formed at one end of the cleaning roller close to the driving lifting seat; and a cleaning roller rotating ring 531 which is rotationally inserted with the cleaning roller rotating groove is formed at one end of the driving lifting seat, which is close to the cleaning roller.
A chute connecting hole 191 is formed in the top of the inner chute of the lifting seat; and one sliding chute connecting hole close to the driving lifting seat is rotatably connected with the transmission part.
One of the lifting bases is a waterway lifting base 52; the cleaning roller is hollow inside; and a water injection pipe 511 communicated with the interior of the cleaning roller is formed in the center of one end of the cleaning roller, which is close to the waterway lifting seat.
A water injection pipe connecting hole 523 which is in sealed rotary sleeve joint with a water injection pipe is formed at one end of the waterway lifting seat close to the cleaning roller; a water passing channel 522 communicated with the water injection pipe connecting hole is formed at the upper end of the waterway lifting seat; the water passing channel is communicated with an external water source through a hose.
The hose passes through the chute connecting hole positioned above the waterway lifting seat.
The side wall of the cleaning roller is uniformly formed with water through holes; the outer wall of the cleaning roller is fixedly connected with a cleaning part 515 used for wiping a pipeline.
The cleaning part is made of cleaning articles such as sponge and cloth.
A controller is arranged in the vehicle shell; the camera, the lifting motor, the wheel motor and the switching gear motor are respectively and electrically connected with the controller; the device also comprises a control console; the controller is electrically connected with the console through wireless signals or electric wires.
An observation camera used for observing the working condition of the cleaning roller is installed at the lower end of the car shell.
Under the initial condition, the axis of each wheel sets up along left right direction, and the roof is located below extreme position, and does not have the interact power between roof and the lower support board, and magnetism bolt is just right with locking magnet, and magnetism bolt and locking jack peg graft, and the cleaning turntable can't rotate, switches the gear and is located below extreme position, switches the gear and is connected with wheel synchronous belt transmission.
When the automobile shell is used, the automobile shell is placed on the ground, and a user controls the wheels to work through the operating platform to drive the automobile shell to move into the pipeline and drive the automobile shell to run in the pipeline.
When the car shell moves to a position to be cleaned, controlling the switching gear motor to work for a specified time to drive the switching gear to rotate, so that the switching gear drives the synchronous gear to rotate through the wheel synchronous belt; each wheel drive plate of synchro-gear drive slides, and then makes the wheel mounting bracket take place to rotate, and after the appointed time, the wheel mounting bracket rotates 90, and the pivot of each wheel is parallel with left right direction.
Then user control elevator motor work, it rotates to drive the positive direction of internal gear ring, because clean carousel can't rotate this moment, so internal gear ring rotates and only drives two screw rods and rotates along self axis, and then drive two synchronous rotating disks, the roof driving ring is kept away from each other, and then make the roof drive the gyro wheel upward movement, meanwhile, because two roof driving rings are kept away from each other, make the drive inclined plane no longer offset with switching gear up end, switching gear rebound to extreme position under switching gear spring's effect, the switching gear does not be connected with wheel synchronous belt drive this moment, only be connected with clean synchronous belt drive.
When the top plate rises to the limit position, the upper roller is abutted to the top in the pipeline, the top plate cannot continue to move upwards, the inner gear ring continues to rotate forwards, the top in the pipeline generates downward thrust to the upper roller, the longitudinal moving disc moves downwards, when the longitudinal moving disc moves downwards to the position where the magnetic bolt is aligned with the rotating magnet below, the rotating magnet and the magnetic bolt attract each other, the magnetic bolt is separated from the locking jack, the cleaning rotary disc can rotate, the inner gear ring continues to rotate at the moment to drive the two screw rods to rotate along the axis of the longitudinal moving disc, and then the cleaning rotary disc is driven to rotate, the cleaning rotary disc drives the linkage synchronous belt to move, so that the lifting seat fixedly connected with the linkage synchronous belt moves downwards, and then the cleaning roller moves downwards, a user checks the condition that the cleaning roller moves downwards by using the observation camera, and when seeing that the cleaning roller moves to be in contact with the bottom in the pipeline, the lifting motor is controlled to stop working.
Above-mentioned in-process because the internal gear ring lasts forward rotation for the roof has the trend of upward movement all the time, and then guarantees that the top makes longitudinal movement dish be located the below to the reaction force of roof in the pipeline all the time, and the locking bolt is just right with the rotation magnet of below all the time.
Then, outside water enters the cleaning roller through the hose and the water passing channel and flows to the wiping part through the water passing hole, the gear switching motor is controlled to work, the gear switching motor rotates, the transmission part is driven to rotate through the cleaning synchronous belt, the cleaning roller rotates through transmission of the cleaning roller driving part, and then the pipeline is cleaned through friction.
When the user sees the cleaning roller both sides through observing the camera and still need clean, control each wheel and rotate, this moment because each wheel and last gyro wheel all offset with the pipeline inner wall, and each wheel all is tangent (as shown in figure 2) with the pipeline with the gyro wheel for each wheel rotates this moment and can drives the hull and take place to rotate along pipeline circumference, and then makes the cleaning roller can clean the position along the circumference difference in the pipeline, increase clean area.
After the work is finished, the gear motor is switched to stop working, and each wheel is controlled to rotate, so that the vehicle shell is positioned at the bottom in the pipeline.
Then the lifting motor is controlled to work, so that the inner gear ring rotates reversely, the top plate has the trend of moving downwards, the acting force between the top plate and the inner top of the pipeline is reduced, the longitudinal moving plate moves upwards under the action of the reset spring, the stop bolt is opposite to the stop magnet, the stop bolt is inserted into the stop jack, the cleaning turntable cannot rotate, the inner gear ring rotates continuously in the reverse direction, the screw rod is driven to rotate along the axis of the inner gear ring, the two top plate driving rings move oppositely, and the top plate descends.
When the top plate descends to the lower limit position, the top plate is not extruded when being contacted with the lower abutting plate, the driving inclined planes on the two top plate driving rings enable the switching gear to move to the lower limit position, and the switching gear is in transmission connection with the wheel synchronous belt.
Then the internal gear ring continues to rotate reversely, the lower abutting plate generates upward acting force on the top plate, and the top plate cannot move downwards continuously at the moment, so that the longitudinal moving plate drives the screw rod to move upwards, when the longitudinal moving plate moves upwards to the position where the stop bolt is aligned with the rotating magnet above, the stop bolt is separated from the stop jack, and the internal gear ring rotates reversely to drive the cleaning turntable to rotate reversely, so that the cleaning roller moves upwards.
When a user sees that the cleaning roller is completely separated from the pipeline through the observation camera, the lifting motor is controlled to work, the inner gear ring rotates forwards for a certain time, the longitudinal moving disc moves downwards until the stop bolt is right opposite to the stop magnet, the stop bolt is inserted into the stop jack, and the cleaning rotary disc cannot rotate and is restored to the initial state.
The user then controls the wheels to rotate, move to the next location to be cleaned or leave the conduit.
According to the invention, the movement of the top plate driving ring is controlled, so that the top plate drives the upper idler wheels to tightly abut against the inner top of the pipeline, the shell can conveniently rotate along the circumferential direction of the pipeline to clean a larger area, and the switching gear can be driven to move, so that the switching gear drives each wheel mounting rack to rotate or drives the cleaning roller to rotate.
According to the pipeline cleaning device, the lifting assembly can drive the top plate to move upwards, so that the upper roller is abutted against the inner top of the pipeline, and the cleaning turntable can be driven to rotate after the upper roller is abutted against the pipeline or the lower abutting plate, so that the cleaning roller is abutted against or separated from the inner wall of the pipeline, and cleaning is facilitated.
In the invention, the wheels can drive the shell to move forward and backward and can also drive the shell to move along the circumferential direction of the pipeline, so that large-area cleaning can be carried out.
The cleaning roller can move back and forth in the pipeline or on the flat ground and can also move along the circumferential direction of the pipeline, so that the cleaning roller can clean most of the position in the pipeline, the cleaning area is increased, and the cleaning roller can be adapted to pipelines with different diameters due to different rising distances of the top plate.
The cleaning roller can clean any position in the pipeline by controlling the vehicle shell to rotate along the circumferential direction of the pipeline.
Because this scheme roof can reciprocate, so when the roof was located below extreme position, this scheme was whole small, portable.
Claims (8)
1. A pipeline defect cleaning robot comprises a vehicle shell, a camera fixedly connected to the front end of the vehicle shell, and wheels arranged below the vehicle shell and used for driving the vehicle shell to move; the method is characterized in that: a top plate is longitudinally connected above the vehicle shell in a sliding manner; the top plate is rotatably connected with an upper roller; a lifting assembly for driving the top plate to lift is installed in the vehicle shell; the lifting assembly comprises two longitudinal moving discs, two screw rods and a synchronous rotating disc, wherein the longitudinal moving discs are respectively rotatably connected with the front end and the rear end of the inside of the shell, the rotating shafts are arranged along the front and the rear directions, the screw rods are respectively rotatably connected between the two longitudinal moving discs and are arranged along the front and the rear directions, and the synchronous rotating discs are respectively in transmission connection with the screw rods and are used for driving the top plate to lift; the rotating shafts of the two screws are not superposed with the rotating shaft of the longitudinal moving disc; a cleaning assembly for cleaning a pipeline is arranged below the vehicle shell; a cleaning driving assembly for driving the cleaning assembly to move up and down is arranged in the vehicle shell; the cleaning driving assembly comprises a cleaning rotary disc which is rotatably connected in the vehicle shell and is coaxial with the longitudinal moving disc; one side of the longitudinal moving disk is rotatably connected with an inner gear ring which is in transmission connection with each screw and is coaxially arranged with the longitudinal moving disk; when the inner gear ring rotates, the screw rotates to drive the synchronous rotating disc to move back and forth, and then the top plate rises or falls; when the inner gear ring rotates to the limit position that the top plate is positioned above or below, the inner gear ring continues to rotate along the original direction, the screw cannot continue to rotate along the axis of the screw, and the inner gear ring drives the longitudinal moving plate, each screw and the cleaning rotating plate to rotate so as to drive the cleaning assembly to move; a lifting motor for driving the inner gear ring to rotate is arranged in the vehicle shell;
lifting seat sliding grooves are formed in the lower end of the car shell along the front and rear sides; the cleaning assembly comprises two lifting seats and a cleaning roller, wherein the two lifting seats are respectively connected in a sliding groove of the lifting seat in a longitudinal sliding mode, and the cleaning roller is rotatably connected between the two lifting seats; a transmission part for driving the cleaning roller to rotate is rotationally connected in the vehicle shell;
a switching gear is rotationally connected in the vehicle shell; the lower end of the switching gear and the bottom in the shell are connected with a switching gear spring for driving the switching gear to move upwards; when the top plate is located at the lower limit position, the top plate enables the switching gear to be located at the lower limit position, and the switching gear is in transmission connection with the synchronous gear at the moment; when the top plate moves upwards to the upper part of the vehicle shell, the switching gear is positioned at the upper limit position under the action of the switching gear spring, and the switching gear is in transmission connection with the transmission part; a switching gear motor in transmission connection with a switching gear is fixedly connected in the vehicle shell;
a transmission mounting groove is formed in one end, away from the center of the vehicle shell, of each lifting seat sliding groove at the bottom in the vehicle shell; a connecting through groove communicated with the lifting seat sliding groove is formed in the side wall, close to the lifting seat sliding groove, of the transmission mounting groove; a lifting seat connecting column which is in sliding connection with the connecting through groove is formed on the side wall of the lifting seat close to the connecting through groove; the side wall of the transmission mounting groove is rotationally connected with a synchronous belt rotating column; a linkage synchronous belt is connected between the cleaning turntable and the synchronous belt rotating column; the lifting seat connecting column is fixedly connected with the linkage synchronous belt.
2. A pipe defect cleaning robot as recited in claim 1, wherein: the upper side and the lower side of the longitudinal moving plate in the vehicle shell are respectively connected with a reset plate capable of driving the longitudinal moving plate to move up and down in a longitudinal sliding mode; a return spring is connected between one side of each return plate, which is far away from the longitudinal moving plate, and the shell; the cleaning driving assembly further comprises a longitudinal moving block which is longitudinally and slidably connected with the position, opposite to the cleaning turntable, in the vehicle shell; a moving block abutting surface abutting against the outer wall of the cleaning turntable is formed at the upper end of the longitudinal moving block; a stop plate sliding frame connected with the longitudinal moving block in a sliding manner is formed in the vehicle shell; the side wall of the longitudinal moving block, which is opposite to the end face of the cleaning turntable, is connected with a magnetic bolt in a sliding manner along the front and back directions; one end of the cleaning turntable, which is close to the magnetic bolt, is uniformly formed with stop jacks capable of being fixedly inserted with the magnetic bolt along the circumferential direction; a moving block spring which enables the longitudinal moving block to be always abutted against the cleaning turntable is connected between the lower end of the longitudinal moving block and the inner bottom of the vehicle shell; the stop plate sliding frame is fixedly connected with a stop magnet which can repel the magnetic bolt and rotating magnets which are respectively positioned at the upper side and the lower side of the stop magnet and attract the magnetic bolt; the upper end of the vehicle shell is fixedly connected with an upper shell; a top plate groove for the top plate to pass through is formed at the upper end of the upper shell; a lower abutting plate which can abut against the lower end face of the top plate is fixedly connected to the position, opposite to the top plate groove, of the lower end of the upper shell; when no interaction force exists between the top plate and the lower abutting plate or the inner wall of the pipeline, the longitudinal moving disc is located at the middle position, the magnetic bolt is opposite to the stop magnet, the magnetic bolt is inserted into the stop jack under the repulsive force of the stop magnet, and the cleaning rotating disc cannot rotate; when the pipeline generates downward acting force on the top plate, the top plate is located at the upper limit position, the longitudinal moving disc moves downwards under the acting force of the pipeline on the top plate until the magnetic bolt is opposite to the rotating magnet below, the magnetic bolt is separated from the stop jack under the attraction of the rotating magnet, and the cleaning rotating disc can rotate; when the lower abutting plate generates upward acting force on the top plate, the top plate is located at the limit position below, the acting force of the lower abutting plate on the top plate enables the longitudinal moving disc to move upwards until the magnetic bolt is opposite to the rotating magnet above, the magnetic bolt is separated from the stop jack under the action of the attraction force of the rotating magnet, and at the moment, the cleaning rotating disc can rotate.
3. A pipe defect cleaning robot as recited in claim 2, wherein: a driving ring sliding frame which is vertically arranged is respectively formed at two sides of the synchronous rotating disc in the car shell; a top plate driving ring is connected between the two driving ring sliding frames in a sliding manner along the front and back directions; an inner rotating ring is formed on the inner wall of the top plate driving ring; a synchronous groove rotationally connected with the inner rotating ring is formed in the middle of the outer wall of the synchronous rotating disc; the left side wall and the right side wall of the top plate are respectively and rotatably connected with a top plate connecting plate; and a connecting plate rotating seat which is rotatably connected with one side of the top plate connecting plate far away from the top plate is formed on the top plate driving ring.
4. A pipe defect cleaning robot as defined in claim 1, wherein: the rotating shaft of the upper roller is parallel to the front and back directions; the lower end of the vehicle shell is rotatably connected with a wheel mounting rack with a plurality of rotating shafts vertically arranged; the wheels are rotatably connected to one side of the wheel mounting rack, and rotating shafts of the wheels are perpendicular to the rotating shafts of the wheel mounting rack; a wheel steering assembly for driving the wheel mounting frame to rotate is mounted in the vehicle shell; when the wheel steering assembly is located at the first position, the rotating shaft of each wheel is parallel to the width direction of the shell, and the wheels work to drive the shell to move back and forth; when the wheel steering assembly is located at the second position, the rotating shafts of the wheels are parallel to the front and back direction and tangent to the circumferential direction of the pipeline, and at the moment, if the upper rollers are abutted to the top of the pipeline, the wheels work, so that the shell moves along the circumferential direction of the pipeline.
5. A pipe defect cleaning robot as defined in claim 4, wherein: each wheel mounting rack is fixedly connected with a wheel motor for driving wheels to rotate; the wheel steering assembly comprises wheel driving plates which are connected to the bottom in the shell in a sliding mode along the front-back direction and are the same as the wheels in number, and synchronous gears which drive the wheel driving plates to move synchronously; a wheel driving column is arranged at an eccentric position above the wheel mounting frame; a wheel sliding groove in sliding connection with the wheel driving column is formed at the upper end of the wheel driving plate; when the synchronous gears rotate, the wheel driving plates slide along the front and back directions, and then the wheel mounting rack is driven to rotate.
6. A pipe defect cleaning robot as recited in claim 1, wherein: the switching gear is positioned in the center of the shell; a driving inclined block is formed on one side of the top plate driving ring close to the center of the shell; a driving inclined plane for driving the switching gear to move downwards is formed on one side, close to the center of the shell, of the driving inclined block; when the top plate abuts against the lower abutting plate, the driving inclined plane abuts against the upper end face of the switching gear, and the switching gear is located at the lower limit position.
7. A pipe defect cleaning robot as recited in claim 1, wherein: one of the lifting seats is a driving lifting seat; a cleaning roller driving part with a rotating shaft longitudinally arranged is rotationally connected in the lifting seat; the lower end of the cleaning roller driving part is fixedly connected with a driving bevel gear which is coaxially arranged; a cleaning roller bevel gear in meshing transmission connection with the driving bevel gear is formed in the center of one end, close to the driving lifting seat, of the cleaning roller; a driving part connecting groove with a non-circular section is formed in the center of the upper end of the cleaning roller driving part; the transmission portion lower extreme shaping has the transmission portion inserted bar of pegging graft with drive division spread groove for transmission portion and cleaning roller drive division circumference synchronous revolution, axial relative slip.
8. A pipe defect cleaning robot as recited in claim 1, wherein: one lifting seat is a waterway lifting seat; the cleaning roller is hollow inside; a water injection pipe communicated with the interior of the cleaning roller is formed in the center of one end of the cleaning roller, which is close to the waterway lifting seat; one end of the waterway lifting seat close to the cleaning roller is formed with a water injection pipe connecting hole which is in sealed rotary sleeve joint with the water injection pipe; a water passing channel communicated with the water injection pipe connecting hole is formed at the upper end of the waterway lifting seat; the water passing channel is communicated with an external water source through a hose.
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| CN202111595064.7A CN114273352B (en) | 2021-12-24 | 2021-12-24 | Pipeline defect cleaning robot |
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| CN202111595064.7A CN114273352B (en) | 2021-12-24 | 2021-12-24 | Pipeline defect cleaning robot |
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| CN114273352A (en) | 2022-04-05 |
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