CN115178546A - Bionic pipeline cleaning robot based on motion mode of earthworms - Google Patents
Bionic pipeline cleaning robot based on motion mode of earthworms Download PDFInfo
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- CN115178546A CN115178546A CN202210953349.1A CN202210953349A CN115178546A CN 115178546 A CN115178546 A CN 115178546A CN 202210953349 A CN202210953349 A CN 202210953349A CN 115178546 A CN115178546 A CN 115178546A
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- push rod
- rod mechanism
- link
- spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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Abstract
The invention provides a bionic pipeline cleaning robot based on an earthworm motion mode, which comprises a peristaltic device and a cleaning device. The peristaltic device comprises a main spring, a link framework, a front push rod mechanism and a rear push rod mechanism; the link framework is at least arranged on the main body spring in three links, the front push rod mechanism acts on the first link of the link framework to drive the head part of the main body spring to stretch and deform, the rear push rod mechanism is used for the last link of the link framework to drive the tail part of the main body spring to stretch and deform, and when the peristaltic device moves, the front push rod mechanism and the rear push rod mechanism perform stretching actions according to a preset stretching sequence to drive the peristaltic device to move along a pipeline; the cleaning device comprises an annular hairbrush wound on the main body spring and a dust suction mechanism arranged in the main body spring. The robot is simple in overall structure, easy to manufacture and low in cost, the main spring is the robot body, and the dust and garbage cleaning device is wound on the annular hairbrush.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a bionic pipeline cleaning robot based on an earthworm motion mode.
Background
The use of current underground transportation pipeline and all kinds of machine air pipe increases gradually, also more and more flourishing to the demand of pipeline clearance, and the main direction of development of clearing up the pipeline carries out the clearance of automizing for adopting the robot at present to practice thrift the manpower, promote clearance effect and cleaning efficiency, at present, pipeline robot mainly divide into wheeled, wriggling formula, crawler-type, foot formula. The research on the pipeline cleaning robot at home and abroad has achieved certain achievements, and some domestic scientific research units have developed the pipeline cleaning robot one after another. These pipeline robot automobile body majority that have now are applicable to bigger pipeline and carry out washing formula clearance, and fresh air pipeline diameter is less, and the environment is dry mainly is granule such as dust, the inconvenient contact inspection of pipeline pipe wall, the difficult clean up in corner, consequently need a section be applicable to the robot of the small-size pipeline clearance of dry environment such as new trend pipeline.
In view of this, the present application is presented.
Disclosure of Invention
The invention discloses a bionic pipeline cleaning robot based on an earthworm motion mode, which aims to solve the problem that small pipelines in dry environments such as a fresh air pipeline are difficult to clean.
A bionic pipeline cleaning robot based on an earthworm motion mode comprises a peristaltic device and a cleaning device.
The peristaltic device comprises a main spring, a link framework, a front push rod mechanism and a rear push rod mechanism; the link skeleton is three link at least and installs on the main part spring, preceding push rod mechanism acts on the first link of link skeleton to the flexible deformation of prelude that drives the main part spring, back push rod mechanism is used for the last link of link skeleton to the flexible deformation of afterbody that drives the main part spring, when the peristaltic device removed, preceding push rod mechanism and back push rod mechanism carried out flexible action according to predetermined flexible order and followed pipe motion with drive peristaltic device.
The cleaning device comprises an annular hairbrush wound on the main body spring and a dust suction mechanism arranged at the rear end of the main body spring.
As a further improvement, the link of the link frame is composed of a long frame and a short frame, the long frame is radially arranged in the main body spring, a plurality of short frames are hinged with each other to form a frame chain, and the head and the tail of each frame chain are hinged on two adjacent long frames to form a link; the skeleton chain is located one side of main part spring, and each short skeleton has a spacing hole, every circle spring that main part spring is located between each link is located in proper order every short skeleton spacing downthehole.
As a further improvement, one end of the long framework is provided with a hinge part perpendicular to the long framework main body part, and the other end of the long framework is provided with a balance bar perpendicular to the long framework main body part.
As a further improvement, two ends of the front push rod mechanism are respectively hinged to two adjacent long frameworks of the first link; two ends of the rear push rod mechanism are respectively hinged to two adjacent long frameworks of the last link.
As a further improvement, the front push rod mechanism and the rear push rod mechanism are both push rod motors.
As a further improvement, each backbone chain has at least 3 short backbones.
As a further improvement, the limiting hole of the short framework comprises a limiting groove and a detachable packaging plate.
As a further improvement, the peristaltic device comprises an integrated circuit board for controlling the front push rod mechanism and the rear push rod mechanism, and the integrated circuit board is arranged in the middle of the main body spring.
As a further improvement, the integrated circuit board is provided with a wireless signal transmission component.
As a further improvement, a camera is arranged at the front end of the main body spring.
By adopting the technical scheme, the invention can obtain the following technical effects: the robot has simple integral structure, easy manufacture and low cost; the main spring of the robot is a robot body, and is wound with an annular brush to form a dust and garbage cleaning device; the robot has stronger motility and garbage cleaning capability at corners, and the dust collection mechanism of the robot can efficiently adsorb the particles on the inner wall of the pipeline cleaned by the annular brush; the robot can clean garbage on the inner walls of pipelines with different sizes, particularly garbage in small pipelines.
Drawings
Fig. 1 is a schematic structural diagram of a bionic pipeline cleaning robot based on an earthworm motion mode according to a first view angle in the embodiment of the invention;
fig. 2 is a schematic structural diagram of a second view angle of the bionic pipeline cleaning robot based on the movement mode of the earthworms according to the embodiment of the invention;
fig. 3 is a schematic structural view of the link frame, the front push rod mechanism and the rear push rod mechanism of fig. 1.
Fig. 4 is a partially enlarged view of fig. 1 at a.
An icon: 1-main body spring, 2-link skeleton, 3-front push rod mechanism, 4-rear push rod mechanism, 5-dust absorption mechanism, 6-long skeleton, 61-hinge part, 62-balance rod, 7-short skeleton, 71-limit groove, 72-packaging plate, 8-integrated circuit board and 9-camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Examples
With reference to fig. 1 to 4, a bionic pipeline cleaning robot based on the movement mode of earthworms comprises a peristaltic device and a cleaning device.
The peristaltic device comprises a main spring 1, a link framework 2, a front push rod mechanism 3 and a rear push rod mechanism 4. Link skeleton 2 is three link and installs on main part spring 1, preceding push rod mechanism 3 acts on the first link of link skeleton 2 to the flexible deformation of prelude that drives main part spring 1, back push rod mechanism 3 is used for the last link of link skeleton 2 to the flexible deformation of afterbody that drives main part spring 1, when the peristaltic motion was removed, preceding push rod mechanism 3 and back push rod mechanism 4 carried out flexible action according to predetermined flexible order and followed the pipe motion with the drive peristaltic system.
The cleaning device comprises an annular brush (not shown) wound on the main body spring 1, and a dust suction mechanism 5 arranged in the main body spring 1.
The peristaltic device imitates the movement principle of earthworms, when earthworms advance, setae at the rear part of a body are nailed into the soil and do not move, then transverse muscles contract and longitudinal muscles relax, the body extends forwards, and then setae at the front end of the body are nailed into the soil and do not move, then the longitudinal muscles contract and the transverse muscles relax, and the body shortens forwards and advances.
The main body spring 1 of this embodiment adopts scalable deformable metal spring, and cooperation link skeleton 2 has simulated the link outer wall of earthworm. The front and rear push rod mechanisms are used as power control peristaltic devices to control the longitudinal and transverse muscle stretching similar to earthworms. The rear end of the main body spring 1 is provided with a dust suction mechanism which can be used for absorbing dust powder in the ventilation pipeline and is similar to a mouth device of earthworms.
The robot has the advantages of simple overall structure, easy manufacture, low cost and good popularization value; the main spring of the robot is a robot body, and is wound with an annular brush to form a dust and garbage cleaning device; the robot has stronger motility and garbage cleaning capability at corners, and a dust collection mechanism of the robot can efficiently adsorb the particles on the inner wall of the pipeline cleaned by the annular brush; the robot can clean garbage on the inner walls of pipelines with different sizes, particularly garbage in small pipelines.
Adopt metal spring to make the main part of robot for this robot realizes the clearance function in air pipe, turns in the return bend and has stronger motility, and the dust granule that the clearance air pipe corner position that the brush that sets up in main part spring 1 outside can be nimble.
Referring to fig. 1 to 4, the links of the link frame 2 are formed by long frames 6 and short frames 7, the long frames 6 are radially disposed in the main body spring 1, a plurality of short frames 7 are hinged to each other to form frame chains, and the head and the tail of each frame chain are hinged to two adjacent long frames 6 to form a link.
The skeleton chain is located one side of main part spring 1, and each short skeleton 7 has a spacing hole, every circle spring that main part spring 1 is located between each link is located in proper order every short skeleton 7 spacing downthehole. According to the structure of the skeleton chain and the connection mode of the main body spring 1 and the short skeleton 7, when the push rod mechanism extends, the short skeleton 7 is stretched into a straight line, the outer diameter of the whole main body spring 1 is slightly reduced, and the main body spring is in an extension state, similar to contraction of transverse muscles and relaxation of longitudinal muscles of earthworms. When the push rod mechanism contracts, the short framework 7 is folded in the radial direction, namely the outer diameter of the main body spring 1 extends, the short framework is in contact with the inner diameter of a pipeline, and the friction is large, like the relaxation of transverse muscles of earthworms and the contraction of longitudinal muscles.
In the present embodiment, the number of short strands 7 per strand is 3, and in other embodiments, the number of short strands 7 per strand is any one of 3 or more, and among them, the number of short strands 7 per strand is preferably an odd number.
Referring to fig. 3, one end of the long framework 6 is provided with a hinge 61 perpendicular to the main body of the long framework 6, the hinge 61 can be used for being hinged with the short framework 7, the other end of the long framework 6 is provided with a balance bar 62 perpendicular to the main body of the long framework 6, and the arrangement of the hinge 61 and the balance bar 62 can enable the long framework 6 to keep a direction approximately parallel to the radial direction of the pipeline when the peristaltic device moves in the pipeline, so that the short frameworks 7 between different rings can not interfere with each other when the framework chain is straightened and folded.
In this embodiment, the front push rod mechanism 3 and the rear push rod mechanism 4 are both push rod motors, and two ends of the front push rod mechanism 3 are respectively hinged to two adjacent long frameworks 6 of the first link; two ends of the rear push rod mechanism 4 are respectively hinged with two adjacent long frameworks 6 of the last link. Therefore, when push rod mechanism is in the contraction state, the articulated structure in many places lets adjacent two long skeletons 6 be being kept away from skeleton chain one end and being close to each other, and the skeleton that drives first link or last link is the hunch-up form together with the main part spring on the whole to longitudinal muscle shrink, the transverse muscle diastole when more similar earthworm is contracting.
Furthermore, the hinge point of the push rod motor and the long framework 6 is arranged on one side close to the framework chain, so that the first link or the last link can be arched faster when the push rod motor contracts.
In this embodiment, dust absorption mechanism 5 sets up in main part spring 1 rear end, can better high-efficient absorption by the pipeline inner wall granule that annular brush cleared up out at the afterbody of wriggling device. Wherein, dust absorption collecting box is arranged in the dust absorption mechanism 5, which can store a large amount of particles, and the rear end of the main spring 1 is also provided with a rubber pad for increasing friction force.
The robot moves in a process that the front push rod mechanism 3 pushes a first link structure of the link framework 2 to drive the front of the main body spring 1 to extend forwards, the rear push rod mechanism 4 pushes a last link of the link framework 2 to drive the rear end of the main body spring 1 to extend backwards, and the main body spring 1 is pushed to move forwards under the action of a counterforce; the front push rod mechanism 3 contracts and pulls back the first link structure of the link framework 2 to drive the front of the main body spring 1 to contract, so that the arch is fixed with the pipeline; the last link structure of link skeleton 2 is drawn back in the shrink of back push rod mechanism 4 drives the spring main part at the back and contracts towards first link direction, makes main part spring 1 wholly move forward at the pipeline, can move along the pipeline.
When the elbow moves in the elbow, the front push rod mechanism 3 pushes the first link structure of the link framework 2 to drive the front of the main body spring 1 to extend forwards, and the rear push rod mechanism 4 pushes the last link of the link framework 2 to drive the rear main body of the spring to extend backwards, so that the outer ring of the main body spring generates friction with the pipeline, and the spring moves forwards in the elbow. The first link structure of the front push rod mechanism 3 contraction pull-back link framework 2 drives the front of the main spring 1 to contract backwards to be arched and fixed with the pipeline, and the last link structure of the rear push rod mechanism 4 contraction pull-back link framework 2 drives the main spring to contract forwards in the direction of the front push rod mechanism 3, so that the main spring 1 integrally advances in the pipeline and can move along the pipeline.
In a preferred embodiment, the peristaltic device comprises a rubber pad arranged on the outer side of the skeleton chain of the first link. In other embodiments, the rubber pad may be disposed on the outer ring of the head position of the spring body, and also has the effect of increasing the friction force at the head position of the spring body. And a rubber pad can be arranged on the outer side of the skeleton chain of the last link, so that the friction coefficient between the peristaltic device and the pipeline during movement is increased. In the experiment of the embodiment, the friction coefficient between the rubber pad and the pipe wall is about 0.33, so that the friction self-locking angle is about 18 degrees, namely, the robot of the embodiment can realize self-locking at least in the pipe with the gradient less than 18 degrees.
Referring to fig. 4, for the convenience of installation, the limiting hole of the short framework 7 includes a limiting groove 71 and a detachable packaging plate 72.
In this embodiment, be equipped with the control in the wriggling device preceding handspike mechanism 3 with integrated circuit board 8 of back handspike mechanism 4, integrated circuit board 8 set up in the middle part of main part spring 1, the inside integrated level of this robot is high, can independently not run with the wiring completely. The push rod mechanism adopts a push rod motor, and the power battery is fixed in the main body spring 1 through a link framework.
In a preferred embodiment, the integrated circuit board 8 is provided with a wireless signal transmission component for convenient control.
In this embodiment, a camera 9 is mounted on the front end of the main spring 1. The robot head is provided with a camera 9, so that the condition inside the pipeline can be monitored conveniently in real time.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides a bionical pipeline cleaning robot based on motion mode of earthworm which characterized in that includes:
the peristaltic device comprises a main spring, a link framework, a front push rod mechanism and a rear push rod mechanism; the link framework is at least arranged on the main body spring in three links, the front push rod mechanism acts on the first link of the link framework to drive the head part of the main body spring to stretch and deform, the rear push rod mechanism is used for the last link of the link framework to drive the tail part of the main body spring to stretch and deform, and when the peristaltic device moves, the front push rod mechanism and the rear push rod mechanism perform stretching actions according to a preset stretching sequence to drive the peristaltic device to move along a pipeline;
the cleaning device comprises an annular hairbrush wound on the main body spring and a dust suction mechanism arranged at the rear end of the main body spring.
2. The bionic pipe cleaning robot as claimed in claim 1, wherein the links of the link skeleton are composed of long skeletons and short skeletons, the long skeletons are radially arranged in the main body spring, a plurality of short skeletons are hinged with each other to form skeleton chains, and the head and the tail of each skeleton chain are hinged on two adjacent long skeletons to form a link; the skeleton chain is located one side of main part spring, and each short skeleton has a spacing hole, every circle spring that main part spring is located between each link is located in proper order every short skeleton spacing downthehole.
3. The biomimetic conduit cleaning robot of claim 2, wherein one end of the long skeleton has a hinged portion perpendicular to the long skeleton main portion, and the other end of the long skeleton has a balancing bar perpendicular to the long skeleton main portion.
4. The bionic pipeline cleaning robot as claimed in claim 2, wherein two ends of the front push rod mechanism are respectively hinged to two adjacent long frameworks of the first link; two ends of the rear push rod mechanism are respectively hinged to two adjacent long frameworks of the last link.
5. The biomimetic pipeline cleaning robot of claim 4, wherein the front push rod mechanism and the rear push rod mechanism are both push rod motors.
6. The biomimetic pipe cleaning robot of claim 2, wherein each skeletal chain has at least 3 short skeletons.
7. The biomimetic pipeline cleaning robot of claim 2, wherein the limiting hole of the short skeleton comprises a limiting groove and a detachable packaging plate.
8. The biomimetic tube cleaning robot of claim 1, wherein the peristaltic device comprises an integrated circuit board controlling the front push rod mechanism and the rear push rod mechanism, the integrated circuit board being disposed in a middle portion of the main body spring.
9. The bionic pipeline cleaning robot as claimed in claim 8, wherein a wireless signal transmission part is arranged on the integrated circuit board.
10. The bionic pipeline cleaning robot as claimed in claim 1, wherein a camera is mounted at the front end of the main body spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210953349.1A CN115178546B (en) | 2022-08-10 | 2022-08-10 | Bionic pipeline cleaning robot based on motion mode of earthworms |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210953349.1A CN115178546B (en) | 2022-08-10 | 2022-08-10 | Bionic pipeline cleaning robot based on motion mode of earthworms |
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| CN115178546A true CN115178546A (en) | 2022-10-14 |
| CN115178546B CN115178546B (en) | 2023-04-07 |
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| CN114367965A (en) * | 2022-02-28 | 2022-04-19 | 复旦大学 | Earthworm-imitating plane mobile robot |
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| US20220242505A1 (en) * | 2019-07-28 | 2022-08-04 | Hystrix Technologies Ltd. | Surface Traversing Engine |
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2022
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Patent Citations (9)
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|---|---|---|---|---|
| US20100295417A1 (en) * | 2009-05-21 | 2010-11-25 | President And Fellows Of Harvard College | Multi-Segmented Spine with Integrated Actuation |
| CN101973320A (en) * | 2010-09-21 | 2011-02-16 | 上海大学 | Simulation wriggling walking device |
| US20220242505A1 (en) * | 2019-07-28 | 2022-08-04 | Hystrix Technologies Ltd. | Surface Traversing Engine |
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