CN114798620B - Become pipe diameter cleaning robot - Google Patents
Become pipe diameter cleaning robot Download PDFInfo
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- CN114798620B CN114798620B CN202210753746.4A CN202210753746A CN114798620B CN 114798620 B CN114798620 B CN 114798620B CN 202210753746 A CN202210753746 A CN 202210753746A CN 114798620 B CN114798620 B CN 114798620B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 90
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 238000010276 construction Methods 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000002347 injection Methods 0.000 description 9
- 239000007924 injection Substances 0.000 description 9
- 239000007789 gas Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005406 washing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000007605 air drying Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003518 caustics Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004939 coking Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
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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
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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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the field of cleaning robot manufacturing, and discloses a variable-pipe-diameter cleaning robot which comprises a shell, a front support building module, a rear support building module, a cleaning module and an auxiliary cleaning module, wherein the auxiliary cleaning module is installed in the shell, the shell is connected with the rear support structure building module, the front support building module is connected with the rear support structure building module through a ball screw motor I, and the cleaning module is arranged on the front support structure building module. Its advantage lies in, realizes the continuous operation of incessant in the pipeline, and can be suitable for the cleanness of different pipe diameters.
Description
Technical Field
The invention belongs to the field of cleaning robot manufacturing, and particularly relates to a variable-pipe-diameter cleaning robot.
Background
The pipeline has wide application range in industrial and agricultural production and daily life. In the use process of the pipeline, pipeline blockage, pipeline failure and damage can be caused, and regular maintenance, overhauling and the like are needed. In the process of transferring liquid and gas in pipelines for petroleum, natural gas, even civil water and sewage and the like, due to different temperatures and pressures and physical and chemical actions between media and the pipelines, high-temperature coking is often generated, oil dirt and water scale are generated, sediments, corrosive substances and the like are reserved, so that the effective transmission pipe diameter is reduced, the efficiency is reduced, the material consumption and the energy consumption are increased, the process flow is interrupted, equipment fails, and safety accidents occur.
The pipeline cleaning robot replaces manual operation, and health risks of sewage, sand and stone and toxic gas to submerging dredging workers are reduced. The cleaning module in the prior art can only realize the cleanness of fixed pipe diameter, and different pipe diameters need cleaning robots of different sizes, cause the waste of resources.
Disclosure of Invention
Based on the above problem, the application provides a wriggling is advanced or is retreated stability higher, clean effect is good, and can be applicable to the variable pipe diameter cleaning robot of different pipe diameters, its efficient, with low costs. The technical scheme is that the method comprises the following steps of,
the utility model provides a become pipe diameter cleaning robot, includes shell, preceding support construction module, back support construction module, washing module and supplementary clean module, supplementary clean module installation is in the shell, the shell is connected with back support structure modeling piece, be connected through ball screw motor one between preceding support construction module and the back support structure modeling piece, be equipped with the washing module on the preceding support structure modeling piece.
Preferably, preceding supporting structure modeling block includes preceding supporting framework one, preceding supporting framework two, ball motor two, slider two and supporting wheel one, be equipped with two mounts of a plurality of ball motor between preceding supporting framework one and the preceding supporting framework two, install ball motor two on the two mounts of ball motor, ball motor two is connected with the bottom sprag post through slider two, the bottom sprag post is articulated with the bottom sprag post, the bottom sprag post is connected with preceding supporting framework one, be equipped with wheel support spare one and electro-magnet mounting one on the bottom sprag post respectively, be equipped with supporting wheel one on the wheel support spare one, be equipped with the electro-magnet on the electro-magnet mounting one, be equipped with range finding sensor, camera and lighting device on the preceding supporting framework two.
Preferably, the cleaning module comprises a cleaning disc, a gear wheel and a pinion, the gear wheel is fixed on the cleaning disc, the gear wheel is meshed with the pinion, the pinion is connected with a stepping motor, the stepping motor is fixed on a front support frame I which supports the construction module in front, cleaning connecting rods are arranged around the cleaning disc, brushes are arranged on the cleaning connecting rods, and extension springs are arranged between the cleaning disc and the cleaning connecting rods.
Preferably, back supporting mechanism modeling block includes back supporting framework one and back supporting framework two, is equipped with three mounts of a plurality of ball screw motors between the two, be equipped with ball screw motor three on the three mounts of ball screw motor, ball screw motor three is connected with the side support column through slider one, the side support column is connected with the side support pole, the side support pole is connected with back supporting framework one, be equipped with wheel support piece two and electromagnet mounting two on the side support pole respectively, be equipped with supporting wheel two on the wheel support piece two, be equipped with the electro-magnet on the electromagnet mounting two.
Preferably, the auxiliary cleaning module comprises an annular gas and water delivery pipeline and a supporting pipe, the gas and water delivery pipeline is uniformly distributed with jet pipes, the supporting pipe is provided with springs, the top of the supporting pipe is communicated with a pipe supporting frame, the pipe supporting frame is communicated with the gas and water delivery pipeline, the jet pipes are provided with adjusting frames, the supporting pipe is connected with a motor through a winding piece, the motor is fixed on a rear supporting frame I of the rear supporting construction module, and the supporting pipe is connected with an air pump and a water pump.
Preferably, the shell is provided with an injection pipe installation groove and a separation blade, the separation blade is sleeved on the adjusting frame, and the upper end face of the shell is connected with a rear support framework I of the rear support construction module.
Preferably, the relationship between the rotation speed of the stepping motor and the diameter of the pipeline during cleaning is fitted as follows:
whereinnIs the rotating speed of the stepping motor,F 0 The centrifugal force provided for the stepper motor,mas for the mass of all the brushes,Dthe diameter of the cleaning disc and the stiffness coefficient of the tension spring are fixed values for the diameter of the pipe.
Advantageous effects
The pipeline cleaning robot can replace manual work to enter pipelines with different diameters for cleaning, and the creeping forward or backward stability of the robot is high by utilizing the dual functions of the ball screw motor I and the electromagnet; the stepping motor provides different centrifugal forces for the cleaning disc, so that the brushes on the cleaning connecting rod can be cleaned in different pipe diameters, and the cleaning effect is better; the first supporting wheel and the second supporting wheel can realize the crossing of the barrier; ultrasonic detector and camera can observe the pipeline internal environment at any time, and the distance of robot washing work in the pipeline is held more easily simultaneously.
Drawings
Fig. 1 is a schematic diagram of the structure of the present application.
Fig. 2 is a schematic diagram of the rear support structure modeling block structure.
FIG. 3 is a schematic diagram of a front support structure building block.
Fig. 4 is a schematic structural view of a cleaning module.
Fig. 5 is a schematic structural diagram of an auxiliary cleaning module.
FIG. 6 is a view showing the connection between the housing and the auxiliary cleaning module.
In the figure, 1-shell, 101-injection pipe installation groove, 102-baffle plate, 2-ball screw motor I, 3-camera, 4-lighting device, 5-ultrasonic ranging sensor, 6-flying ring, 7-ball bearing, 8-brush, 9-cleaning connecting rod, 10-tension spring, 11-cleaning disk, 12-stepping motor, 131-small gear, 132-large gear, 141-rear supporting framework I, 142-rear supporting framework II, 15-ball screw motor III, 16-slider I, 17-side supporting column, 181-electromagnet fixing part II, 182-electromagnet fixing part I, 19-side supporting rod, 201-front supporting framework I, 202-front supporting framework II, 21-bottom supporting rod, 22-bottom supporting column, 231-wheel supporting component I, 232-wheel supporting component II, 241-supporting wheel I, 242-supporting wheel II, 25-slider II, 26-ball screw motor II, 27-spring, 271-supporting pipe, 271-281, 28-injection pipe, 282-wheel supporting rack, 282-pipeline supporting rack, 29-air conveying motor, 30-33-rope and rope.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application.
The utility model provides a become pipe diameter cleaning robot, includes shell 1, preceding support construction module, back support construction module, washing module and supplementary clean module, supplementary clean module is installed in shell 1, shell 1 is connected with back support construction module, be connected through ball screw motor 2 between preceding support construction module and the back support construction module, be equipped with the washing module on the preceding support construction module.
The front support structure modeling block comprises a first front support structure 201, a second front support structure 202, two ball screw motors 26, two sliders 25 and a first supporting wheel 241, two three ball screw motor fixing frames are arranged between the first front support structure 201 and the second front support structure 202, two ball screw motors 26 are installed on the two ball screw motor fixing frames, each two ball screw motors 26 are connected with a bottom supporting column 22 through two sliders 25, the bottom supporting column 22 is hinged to the bottom supporting rod 21, the front ends of the three bottom supporting rods 21 are connected with the first front support structure 201, a first wheel support member 231 is arranged at the tail end of one bottom supporting rod 21, a first supporting wheel 241 is arranged on the first wheel support member 231, a first electromagnet fixing member 181 is arranged at the tail ends of the other two bottom supporting rods 21, an electromagnet is arranged on the first electromagnet fixing member 181, and a distance measuring sensor (an ultrasonic distance measuring sensor 5), a camera 3 and a lighting device 4 are arranged on the second front support structure 202.
The cleaning module comprises a cylindrical cleaning disc 11, a large gear 132 and a small gear 131, the large gear 132 is fixed on the cleaning disc 11, the large gear 132 is meshed with the small gear 131, the small gear 131 is connected with a stepping motor 12, the stepping motor 12 is fixed on a front support frame 201 supporting the construction module in the front, the cleaning disc 11 is provided with a cleaning connecting rod 9 all around, a brush 8 is arranged on the cleaning connecting rod 9, the cleaning disc 11 and the cleaning connecting rod 9 are both provided with a lifting ring 6, and a stretching spring 10 is arranged on the lifting ring 6.
The back supporting structure modeling block includes back supporting framework 141 and back supporting framework two 142, is equipped with three mounts of ball screw motor between the two, all is equipped with three 15 of ball screw motor on the three mount of three ball screw motor, three 15 of ball screw motor are connected with side support column 17 through slider 16, side support column 17 is connected with side support pole 19, and three side support pole 19's front end all is connected with back supporting framework 141, is equipped with two 232 of wheel support spare on one of them side support pole 19's the end, be equipped with supporting wheel two 242 on two 232 of wheel support spare, be equipped with two 182 of electro-magnet mountings on all the other two 19 of side support poles's the end. The side support bar 19 is installed corresponding to the bottom support bar 21, and the second support wheel 242 is installed corresponding to the first support wheel 241.
The auxiliary cleaning module comprises an annular gas and water conveying pipeline 29 and a supporting pipe 271, wherein the spraying pipes 28 are uniformly distributed on the gas and water conveying pipeline 29, a spring 27 is arranged on the supporting pipe 271, the top of the supporting pipe 271 is communicated with a pipeline supporting frame 282, the pipeline supporting frame 282 is communicated with the gas and water conveying pipeline 29, an adjusting frame 281 is arranged on the spraying pipe 28, the supporting pipe 271 is connected with a motor 30 through a winding piece (a rope 33), the motor 30 is fixed on a first supporting frame 141 of the rear supporting construction module, and the supporting pipe 271 is connected with an air pump and a water pump.
The injection pipe installation groove 101 and the blocking piece 102 are arranged on the shell 1, the blocking piece 102 penetrates through the adjusting frame 281, and the upper end face of the shell 1 is connected with a first rear supporting framework 141 of the rear supporting construction module.
When the diameter of the cleaning disc is fixed during cleaning, the relationship between the rotating speed of the stepping motor and the diameter of the pipeline is fitted as follows:
wherein,nis the rotating speed of the stepping motorr/min）、F 0 The centrifugal force provided for the stepper motor,mthe mass (kg) of all the brushes,Dis the diameter of the pipe.
The diameter of the cleaning disc is 240mm, the stiffness coefficient of the extension spring is 33.19g/mm, the mass of all brushes is 0.05kg, if the diameter of the cleaning pipe is 500mm, the rotating speed of the stepping motor is 480r/min, the extension spring extends by 57mm, if the diameter of the cleaning pipe is 400mm, the rotating speed of the stepping motor is 360r/min, and the extension spring extends by 24mm; if the diameter of the cleaning pipe is 300mm, the rotating speed of the stepping motor is 240r/min, and the extension spring extends by 9.5mm. The extension length of the extension spring can be obtained by geometric operation by utilizing the prior art.
Principle of operation
The creeping advance of the robot is realized by switching on and off the electromagnet. When the robot is used, the third ball screw motor 15 and the second ball screw motor 26 are electrified firstly, so that the electromagnets are completely attached to the pipe wall, the electromagnets are electrified, the electromagnets can be adsorbed on the inner wall of the pipeline, two degrees of freedom in the vertical plane of the robot are limited by the supporting force of the side supporting rods 19 and the bottom supporting rod 21, and the electromagnets can generate friction force in the horizontal direction when adsorbed on the pipe wall, and the degrees of freedom of the robot in the horizontal direction are limited by the friction force.
And the electromagnet on the electromagnet fixing piece I181 is powered off, the electromagnet of the bottom supporting rod 21 is separated from the pipe wall by the ball screw motor II 26, meanwhile, the ball screw motor I2 is powered on to start rotating, and the screw motion of the screw can generate thrust in the horizontal direction to push the rear support construction module to move in the horizontal direction. After the front support structure modeling device moves for a certain distance (the distance cannot exceed the lead of a first ball screw motor 2, the power supply for the first ball screw motor 2 is stopped, the electromagnet modeled by the front support structure is attached to the pipe wall through a second ball screw motor 26 and supplies power to the electromagnet to be adsorbed on the pipe wall, the electromagnet modeled by the rear support structure is powered off and leaves the pipe wall through a third ball screw motor 15, at the moment, the first ball screw motor 2 is electrified and begins to reverse, the front support structure modeling and the rear support structure modeling are drawn close. After a certain distance, repeating the operation to make the robot move forward. In the creeping advance process of the robot, the stepping motor 12 drives the cleaning disc 11 and the brush 8 to clean the inner wall of the pipeline.
When cleaning, the auxiliary cleaning module comprises a gas and water transmission pipeline 29, an injection pipe 28, a motor 30 and a spring 27, and the structure is matched with a three-way valve connected with a water pump and an air pump to realize that clear water and air are respectively injected into the inner wall of the pipeline; when the robot works, clear water is injected to be matched with the hairbrush 8 to achieve a better cleaning effect, and air is injected to achieve air drying of the inner wall of the pipeline on the way of returning the robot so as to preserve the best cleaning effect. The structure can adjust the angle of the injection pipe 28 by the mutual matching of the motor 30 and the spring 27 so as to adapt to the requirements of different working pipe diameters; the cord 33 is opened by the normal rotation of the motor 30 to extend the spring and adjust the angle of the injection tube to be larger, and the injection tube is always in a stretched state by the force of the stopper 102 when the motor rotates reversely, and the angle of the injection tube is adjusted to be smaller by the elastic force of the spring 27. Meanwhile, the pinion 131 is fixed with the stepping motor 12 in a matching way, and is meshed with the gearwheel 132 of the cleaning disc 11, the lifting ring 6 is fixed on the cleaning disc 11 and the cleaning connecting rod 9 through the positioning threaded holes on the cleaning disc 11 and the cleaning connecting rod 9 respectively, the cleaning disc 11 is connected with the lifting ring 6 on the cleaning connecting rod 9 through the extension spring 10, when the stepping motor 12 does not work, the extension spring 10 is in a natural state, the cleaning connecting rod 9 and the hairbrush 8 can be adjusted to be in a state with smaller diameter, the rotating speed of the stepping motor 12 is adjusted during working, different centrifugal forces are provided for the cleaning disc 11, the length of the extension spring 10 is different under different working pipe diameters, and therefore the change of the cleaning pipe diameter is realized. Extension spring 10 still has limiting displacement, prevents that step motor 12 centrifugal force is too big to wash connecting rod 9 and excessively appears rocking, causes the loss. The inner diameter of the ball bearing 7 is matched with the front support frame, and the outer diameter is matched with the inner ring of the cleaning disc 11; the motion principle is that the stepping motor 12 drives the pinion 131 to rotate, the cleaning disc 11 rotates through the meshing of the two gears, and then the cleaning connecting rod 9 and the brush 8 are driven to clean the inner wall of the pipeline.
When the robot meets an obstacle in the moving process, the robot can cross the obstacle through the circular motion of the first support wheel 241 and the second support wheel 242.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (6)
1. The variable-pipe-diameter cleaning robot is characterized by comprising a shell, a front support building module, a rear support building module, a cleaning module and an auxiliary cleaning module, wherein the auxiliary cleaning module is installed in the shell, the shell is connected with the rear support building module, the front support building module is connected with the rear support building module through a ball screw motor I, and the cleaning module is arranged on the front support building module;
the front support structure modeling block comprises a first front support structure, a second ball screw motor, a second sliding block and a first supporting wheel, a plurality of second ball screw motor fixing frames are arranged between the first front support structure and the second front support structure, the second ball screw motor is installed on the second ball screw motor fixing frames, the second ball screw motor is connected with a bottom supporting column through the second sliding block, the bottom supporting column is hinged to the bottom supporting rod, the bottom supporting rod is connected with the first front support structure, a first wheel support member and a first electromagnet fixing member are arranged on the bottom supporting rod respectively, the first wheel support member is provided with the first supporting wheel, the first electromagnet fixing member is provided with an electromagnet, and the second front support structure is provided with a distance measuring sensor, a camera and a lighting device.
2. The cleaning robot with variable pipe diameter according to claim 1, wherein the cleaning module comprises a cleaning disc, a gearwheel and a pinion, the gearwheel is fixed on the cleaning disc, the gearwheel is meshed with the pinion, the pinion is connected with a stepping motor, the stepping motor is fixed on a first front support frame of the front support building module, a cleaning connecting rod is arranged around the cleaning disc, a brush is arranged on the cleaning connecting rod, and an extension spring is arranged between the cleaning disc and the cleaning connecting rod.
3. The cleaning robot with the variable pipe diameter according to claim 1, wherein the rear support construction module comprises a first rear support frame and a second rear support frame, a plurality of three ball screw motor fixing frames are arranged between the first rear support frame and the second rear support frame, a third ball screw motor is arranged on the three ball screw motor fixing frames, the third ball screw motor is connected with the side support columns through a first sliding block, the side support columns are connected with the side support rods, the side support rods are connected with the first rear support frame, a second wheel support member and a second electromagnet fixing member are respectively arranged on the side support rods, a second support wheel is arranged on the second wheel support member, and an electromagnet is arranged on the second electromagnet fixing member.
4. The cleaning robot with the variable pipe diameter according to claim 1, wherein the auxiliary cleaning module comprises an annular gas and water delivery pipe and a support pipe, the gas and water delivery pipe is uniformly provided with spray pipes, the support pipe is provided with springs, the top of the support pipe is communicated with a pipe support frame, the pipe support frame is communicated with the gas and water delivery pipe, the spray pipes are provided with adjusting frames, the support pipe is connected with a motor through a winding piece, the motor is fixed on a first rear support frame of the rear support building module, and the support pipe is connected with an air pump and a water pump.
5. The cleaning robot with the variable pipe diameter according to claim 4, wherein the casing is provided with a jet pipe installation groove and a blocking piece, the blocking piece is sleeved on the adjusting frame, and the upper end surface of the casing is connected with a first rear support frame of the first rear support building module.
6. The cleaning robot with variable pipe diameter according to claim 2, wherein the relationship between the rotating speed of the stepping motor and the diameter of the pipeline is fitted as follows:
whereinnIs the rotating speed of the stepping motor,F 0 The centrifugal force provided for the stepper motor,mas for the mass of all the brushes,Dthe diameter of the cleaning disc and the stiffness coefficient of the tension spring are fixed values for the diameter of the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210753746.4A CN114798620B (en) | 2022-06-30 | 2022-06-30 | Become pipe diameter cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210753746.4A CN114798620B (en) | 2022-06-30 | 2022-06-30 | Become pipe diameter cleaning robot |
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| CN114798620A CN114798620A (en) | 2022-07-29 |
| CN114798620B true CN114798620B (en) | 2022-10-21 |
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| CN202210753746.4A Active CN114798620B (en) | 2022-06-30 | 2022-06-30 | Become pipe diameter cleaning robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115452175B (en) * | 2022-09-05 | 2023-09-01 | 徐州盛安化工科技有限公司 | Pipeline temperature detection device for natural gas sub-station |
| CN117019793B (en) * | 2023-10-09 | 2024-01-26 | 天津滨电电力工程有限公司 | Cable pipe arranging robot with variable diameter, and use method and application thereof |
| CN117900215B (en) * | 2024-03-20 | 2024-05-17 | 山西建筑工程集团有限公司 | Pipeline cleaning device for sewage treatment pipeline |
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| US3525111A (en) * | 1967-06-28 | 1970-08-25 | Paul Von Arx | Apparatus for treating the inner wall surface of a generally cylindrical duct |
| CN107470280A (en) * | 2017-08-04 | 2017-12-15 | 成都兆丰斯诺科技有限公司 | A kind of cleaning device for inner wall of pipeline |
| CN108188118A (en) * | 2018-01-02 | 2018-06-22 | 京东方科技集团股份有限公司 | Line clear device |
| CN109985866A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of nuclear power station three-level cooling water circulation loop pipeline cleaning robot |
| CN209849478U (en) * | 2019-03-26 | 2019-12-27 | 长沙智能机器人研究院有限公司 | Pipeline cleaning robot |
| JP2021007924A (en) * | 2019-07-02 | 2021-01-28 | 渡邊 保夫 | Air robot system for cleaning an air-conditioning duct in railway vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11560977B2 (en) * | 2019-07-23 | 2023-01-24 | General Electric Company | Systems and methods for maintaining pipes |
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2022
- 2022-06-30 CN CN202210753746.4A patent/CN114798620B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3525111A (en) * | 1967-06-28 | 1970-08-25 | Paul Von Arx | Apparatus for treating the inner wall surface of a generally cylindrical duct |
| CN107470280A (en) * | 2017-08-04 | 2017-12-15 | 成都兆丰斯诺科技有限公司 | A kind of cleaning device for inner wall of pipeline |
| CN109985866A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of nuclear power station three-level cooling water circulation loop pipeline cleaning robot |
| CN108188118A (en) * | 2018-01-02 | 2018-06-22 | 京东方科技集团股份有限公司 | Line clear device |
| CN209849478U (en) * | 2019-03-26 | 2019-12-27 | 长沙智能机器人研究院有限公司 | Pipeline cleaning robot |
| JP2021007924A (en) * | 2019-07-02 | 2021-01-28 | 渡邊 保夫 | Air robot system for cleaning an air-conditioning duct in railway vehicle |
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| CN114798620A (en) | 2022-07-29 |
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