CN115846319A - A new type of portable pipeline cleaning robot - Google Patents

Abstract

The invention provides a new type of portable pipe cleaning robot, which includes a central body, a rotating device and an advancing device, and the rotating device and the advancing device are respectively installed on both sides of the central body; A plurality of first friction wheel rotation mechanisms around the mounting plate are used for circumferential rotation against the inner wall of the pipeline; the advancing device includes a second mounting plate and a plurality of second friction wheels arranged around the second mounting plate to rotate The mechanism is used for advancing and moving along the axial direction against the inner wall of the pipe. The invention can advance smoothly in the pipeline, push out the sundries in the pipeline, realize the dredging of the pipeline, and effectively solve the environmental cleaning problem of the sewer and sewage pipelines such as restaurants and kitchens. It is small in size and easy to carry, compared with manual cleaning. Low cost and high security.

Description

A new type of portable pipeline cleaning robot

technical field

The invention relates to the technical field of pipeline dredging, and mainly relates to a novel portable pipeline cleaning robot.

Background technique

Pipeline robot is a kind of machine, electricity and instrument that can walk automatically along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under the remote control of the staff or the automatic control of the computer. system. With the rapid development of human society, the deployment and control of large kitchens and canteens and urban sewage treatment pipelines are particularly specific.

In today's daily production and life, the use of pipelines is manifested in all aspects. Due to the openness and long-term use of underground pipelines, residual oil and various residues will enter the pipeline through the entrance, which will block the pipeline over time and affect its use. Considering a series of problems such as pipeline design and environmental safety, if it is handled by manual cleaning, the operation will be difficult, and the safety will not be guaranteed in complex situations, the labor cost will be high, and the risk and cost will be greatly increased; The special working environment has extremely high requirements on operators, and there are fewer employees. Therefore, it is necessary to propose a portable cleaning device that can replace manual work, so that the inside of the pipeline can be dredged and cleaned.

Related patents about pipeline dredging have been published. For example, the Chinese patent application number CN202020196294.0 discloses a pipeline cleaning and dredging device, which includes a driving mechanism. The driving mechanism includes a delivery pipe, a motor base, a motor, a driving pulley, and a transmission belt. There is the motor base, the motor is arranged on the top of the motor base, the driving pulley is arranged on the output shaft of the motor, the driven pulley is arranged under the driving pulley, and the driven pulley The transmission belt is provided on the outside of the driving pulley, the bottom of the delivery pipe is provided with a discharge pipe near one side, and the driving mechanism is provided with a dredging mechanism and a moving mechanism, and the dredging mechanism includes a rotating shaft, a feeding paddle, A crushing knife and a drill bit, the driven pulley is connected with the rotating shaft through a key, and the feeding paddle is welded on the outside of the rotating shaft. Although this application can clean and dredge the pipeline, due to its overall structural shape, it is inconvenient to move forward in the pipeline, and at the same time it cannot bring out the debris blocked inside the pipeline, the cleaning effect is limited, and it is flexible to use The performance is poor, and its overall structure needs to be further improved.

Contents of the invention

The invention provides a new type of portable pipeline cleaning robot, which can advance smoothly in the pipeline, push out the sundries in the pipeline, realize the dredging of the pipeline, and effectively solve the environmental cleaning problem of the sewer and sewage pipelines such as restaurants and kitchens. It is small in size and easy to carry , compared with manual cleaning, the cost is lower and the safety is higher.

In order to achieve the above object, the present invention adopts the following technical solutions: a new type of portable pipeline cleaning robot, including a central body, a rotating device and an advancing device, the rotating device and the advancing device are respectively installed on both sides of the central body; the rotating device It includes a first mounting plate and a plurality of first friction wheel rotating mechanisms arranged around the first mounting plate, which are used for circumferential rotation against the inner wall of the pipeline; the advancing device includes a second mounting plate and a A plurality of second friction wheel rotating mechanisms around are used to advance and move along the axial direction against the inner wall of the pipeline.

Preferably, the first friction wheel rotation mechanism includes a first connecting rod, a first biaxial motor and a first rubber friction wheel, a plurality of mounting holes are uniformly arranged around the first mounting plate, and the first connecting The rod is correspondingly installed in the mounting hole, the outer end of the first connecting rod is correspondingly installed with a first biaxial motor, and the output shafts of the top and bottom of the first biaxial motor are respectively equipped with a first rubber friction wheel , a plurality of first rubber friction wheels are correspondingly distributed in a ring shape.

Preferably, the first connecting rod adopts a telescopic structure, the telescopic end of which is correspondingly installed with a first biaxial motor; a buffer mechanism is correspondingly provided between the first biaxial motor and its corresponding mounting hole.

Preferably, the middle part of the outer end surface of the first mounting plate is correspondingly provided with an identification mechanism, and the periphery of the identification mechanism is correspondingly provided with an illumination mechanism.

Preferably, the second friction wheel rotation mechanism includes a second connecting rod, a second biaxial motor and a second rubber friction wheel, and a plurality of second connecting rods are uniformly arranged around the second mounting plate, and the second One end of the connecting rod is correspondingly installed on the side of the second installation plate, and the other end is correspondingly installed with a second double-axis motor; the output shafts on the left and right sides of the second double-axis motor are correspondingly installed with a second rubber through the transmission mechanism. As for the friction wheel, a plurality of second rubber friction wheels are correspondingly distributed in a ring shape.

Preferably, the transmission mechanism is a bevel gear transmission mechanism, including two bevel gears, one of which is correspondingly installed on the output shaft of the second biaxial motor, and the other is correspondingly installed on one end of the installation shaft, and the two bevel gears are The gears are meshed, and the intersection angle between the two shafts of the two bevel gears is less than 90°, and the second rubber friction wheel is correspondingly installed on the other end of the installation shaft.

Preferably, the second connecting rod adopts a telescopic structure, and a second biaxial motor is correspondingly installed at the telescopic end.

Preferably, the middle part of the outer end face of the second double-axis motor is correspondingly provided with a spray hole, and the high-pressure spray liquid is correspondingly installed in the second mounting plate, and the spray holes are connected with the high-pressure spraying liquid in the second mounting plate. The spraying liquid is connected so as to spray the cleaning liquid to the inner wall of the pipeline.

Preferably, three first friction wheel rotation mechanisms evenly distributed in the circumferential direction are correspondingly provided around the first mounting plate, and three second friction wheel rotation mechanisms evenly distributed in the circumferential direction are correspondingly provided around the advancing device.

Preferably, a power supply and a core control mechanism are correspondingly provided inside the central body, the power supply can be used to supply power to the rotating device and the advancing device, and the core control mechanism can be used to control the operation of the rotating device and the advancing device.

Compared with prior art, the beneficial effect of the present invention is:

In the present invention, a rotating device and an advancing device are correspondingly arranged on both sides of the central body, and the specific structures of the rotating device and the advancing device are optimized. When in use, the robot is correspondingly put into the pipeline to be cleaned, and the rotating device As the front part, the advancing device is used as the rear part, using the first rubber friction wheel in the rotating device to rotate circumferentially against the inner wall of the pipe, and at the same time using the second rubber friction wheel in the advancing device to move forward along the axial direction against the inner wall of the pipe , so that the robot advances smoothly in the pipeline, and the sundries in the pipeline are ejected through the rotating device to realize the dredging of the pipeline, which effectively solves the cleaning and dredging work of various oily sewage pipelines. It is small in size and easy to carry. Compared with The cost of manual cleaning is low and the safety is higher.

Description of drawings

Fig. 1 is a structural schematic view of the pipe cleaning robot of the present invention when it is assembled;

Fig. 2 is a schematic structural view of the pipe cleaning robot of the present invention when it is not assembled;

Fig. 3 is the structural representation of rotating device of the present invention;

Fig. 4 is a structural schematic diagram of the advancing device of the present invention.

In the figure: 1. Central body; 2. Rotating device; 21. First mounting plate; 211. Mounting hole; 22. Lighting mechanism; 23. Identification mechanism; 24. First connecting rod; 25. First biaxial motor; 26, the first rubber friction wheel; 3, the advancing device; 31, the second installation plate; 32, the second connecting rod; 33, the second biaxial motor; 34, the installation shaft; 35, the second rubber friction wheel.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

Please refer to Figures 1-4, a new type of portable pipeline cleaning robot in this embodiment includes a central body 1, a rotating device 2 and an advancing device 3, and the rotating device 2 and the advancing device 3 are respectively installed on both sides of the central body 1 . The rotating device 2 includes a first mounting plate 21 and a plurality of first friction wheel rotating mechanisms arranged around the first mounting plate 21 for circumferential rotation against the inner wall of the pipeline. The advancing device 3 includes a second mounting plate 31 and a plurality of second friction wheel rotating mechanisms arranged around the second mounting plate 31 for moving forward along the axial direction against the inner wall of the pipe.

Specifically, the first friction wheel rotation mechanism includes a first connecting rod 24, a first biaxial motor 25 and a first rubber friction wheel 26, and a plurality of installation holes 211 are uniformly arranged around the first installation plate 21, The first connecting rod 24 is correspondingly installed in the installation hole 211 , and the outer end of the first connecting rod 25 is correspondingly installed with a first biaxial motor 26 . First rubber friction wheels 27 are correspondingly installed on the top and bottom output shafts of the first biaxial motor 26 , and a plurality of first rubber friction wheels 27 are correspondingly distributed in a ring shape. At the same time, the first double-axis motor 26 is turned on, so that the plurality of first rubber friction wheels 27 rotate, and the plurality of first rubber friction wheels 27 are attached to the inner wall of the pipe to perform circumferential rotation. The first connecting rod 25 adopts a telescopic structure, and the telescopic structure can specifically adopt existing telescopic equipment such as electric telescopic rods or cylinders, and its telescopic end is correspondingly equipped with a first biaxial motor 26. By adopting a telescopic first Connecting rod 25, so that this robot can be applicable to the pipeline of different pipe diameters, improves its universal applicability. A buffer mechanism is correspondingly provided between the first biaxial motor 26 and its corresponding mounting hole 211. The buffer mechanism can directly adopt a buffer spring or other existing buffer structures. By setting the buffer mechanism, the first rubber friction wheel 27 It plays a buffering role when it rotates circumferentially against the inner wall of the pipe.

An identification mechanism 23 is correspondingly provided in the middle of the outer end surface of the first mounting plate 21 , and an illumination mechanism 22 is correspondingly provided around the identification mechanism 23 . The lighting mechanism 22 can specifically adopt LED lamps, and the identification mechanism 23 can specifically adopt a micro-hole camera or a multi-eye camera. By setting the lighting mechanism 22 and the identification mechanism 23, it can be used to know the internal conditions of the pipeline.

The second friction wheel rotation mechanism includes a second connecting rod 32, a second biaxial motor 33 and a second rubber friction wheel 35, and a plurality of second connecting rods 32 are uniformly arranged around the second mounting plate 31. One end of the second connecting rod 32 is correspondingly installed on the side of the second mounting plate 31 , and the other end is correspondingly installed with the second double-axis motor 33 . The output shafts on the left and right sides of the second biaxial motor 33 are respectively equipped with second rubber friction wheels 35 through transmission mechanisms, and a plurality of second rubber friction wheels 35 are correspondingly distributed in a ring shape. The transmission mechanism is specifically a bevel gear transmission mechanism, and a gear connection design is adopted to ensure the continuity of product movement. The bevel gear transmission mechanism includes two bevel gears, wherein one bevel gear is correspondingly installed on the output shaft of the second biaxial motor 33, and the other bevel gear is correspondingly installed on one end of the installation shaft 34, and the two bevel gears are meshed, so The second rubber friction wheel 35 is correspondingly installed on the other end of the installation shaft 34 . The intersection angle between the two shafts of the two bevel gears is less than 90°, specifically 15°-60°, preferably 30°, so that the second rubber friction wheel 35 can better adhere to the inner wall of the pipe. At the same time, the second double-axis motor 33 is turned on, so that the plurality of second rubber friction wheels 35 rotate, and the plurality of second rubber friction wheels 35 move forward along the axial direction against the inner wall of the pipeline, so that the robot advances. The second connecting rod 32 adopts a telescopic structure, which specifically can adopt existing telescopic equipment such as electric telescopic rods or cylinders, and its telescopic end is correspondingly equipped with a second biaxial motor 33, by adopting a telescopic second Connecting rod 32, so that its second rubber friction wheel 35 can effectively adhere to the inner wall of pipes with different pipe diameters, so that the robot can be applied to various pipes and improve its universal applicability.

The rotation axis of the first rubber friction wheel 27 is vertical, the rotation axis of the second rubber friction wheel 35 is horizontal, and the rotation axes of the first rubber friction wheel 27 and the second rubber friction wheel 35 are perpendicular to each other. The present invention provides a pipeline cleaning robot with strong compatibility, safety, environmental protection and high portability. When in use, the robot can be put into the pipeline to be cleaned correspondingly, with the rotating device 2 as the front part and the advancing device 3 as the rear part. The first rubber friction wheel 26 in the rotating device 2 is used to rotate circumferentially against the inner wall of the pipe, and at the same time, the second rubber friction wheel 35 in the advancing device 3 is used to move forward along the axial direction against the inner wall of the pipe, so that the The robot advances smoothly in the pipeline, and pushes out the sundries in the pipeline through the rotating device 2 to realize the dredging of the pipeline, which effectively solves the cleaning and dredging work of various oily sewer pipelines. It is small in size and easy to carry. Low language cost and higher security.

A high-pressure spraying mechanism is correspondingly provided around the second mounting plate 31 . Specifically, the middle part of the outer end surface of the second double-axis motor 33 can also be provided with a spray pipe correspondingly, and the spray hole on the outside of the spray pipe points to the inner wall of the pipeline; Spray liquid, which can be equipped with a small high-pressure pump correspondingly, and the spray pipes are all connected with the high-pressure spray liquid in the second mounting plate 31, and the high-pressure spray liquid in the second mounting plate 31 can be sprayed The hole is ejected to spray the cleaning fluid on the inner wall of the pipe.

Considering the installation, cost and use effect of the robot, it is preferable that three circumferentially evenly distributed first friction wheel rotating mechanisms are correspondingly provided around the first mounting plate 21, and three circumferentially uniformly distributed first friction wheel rotating mechanisms are correspondingly provided around the advancing device 3. Second friction wheel rotation mechanism.

A power supply and a core control mechanism are correspondingly provided inside the central body 1 . The power supply can be used for the first biaxial motor 26 of the rotating device 2, the lighting mechanism 22, the identification mechanism 23, the telescopic first connecting rod 25, the second biaxial motor 33 of the advancing device 3, the telescopic second The high-pressure pump in the connecting rod 32 and the second mounting plate 31 supplies power. The core control mechanism can adopt a PLC controller or a single-chip microcomputer, which is used to control the first biaxial motor 26 of the rotating device 2, the lighting mechanism 22, the identification mechanism 23, the retractable first connecting rod 25 and the second of the advancing device 3. The high-pressure pump in the biaxial motor 33, the retractable second connecting rod 32, and the second mounting plate 31 works. When it is in use, the identification mechanism 23 is used to cooperate with PLC or single-chip microcomputer to identify the dirt and cooperate with the rubber friction wheel and the high-pressure spray mechanism. to clean up.

In order to solve the problem of cleaning up oily garbage in underground pipelines, the present invention controls the work of the robot through plc or a single-chip microcomputer, uses the rotating device 2 and the advancing device 3 to realize the forward movement of the robot, cooperates with the recognition mechanism 23 and the high-pressure spray structure to control the inner side of the pipeline. The wall realizes active spray disinfection, and at the same time, it is equipped with multiple sets of rubber friction wheels to use its high friction to remove the dirt on the inner wall of the pipeline, and the retractable first connecting rod 24 and the second connecting rod 32 allow the robot to operate in various models Used under pipeline conditions, the highly integrated design facilitates the replacement and maintenance of consumables and greatly improves portability. In addition, the pipeline cleaning robot can adopt wireless charging to ensure product sealing. The design considers the water resistance of the product, and rubber gaskets can be used to seal and block water at the structural joints. It is worth noting that this pipeline cleaning robot is mainly suitable for cleaning blockages in straight pipelines. It has high integration, portability, and strong compatibility. When used, it can clean parts that cannot be cleaned by traditional manual labor. Efficient use.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1. A new type of portable pipeline cleaning robot, characterized in that it includes a central body (1), a rotating device (2) and an advancing device (3), and the rotating device (2) and the advancing device (3) are respectively installed on Both sides of the central body (1); the rotating device (2) includes a first mounting plate (21) and a plurality of first friction wheel rotating mechanisms arranged around the first mounting plate (21), for sticking to the inner side of the pipe The wall rotates in the circumferential direction; the advancing device (3) includes a second mounting plate (31) and a plurality of second friction wheel rotation mechanisms arranged around the second mounting plate (31), for sticking to the inner wall of the pipe along the axis Direction forward movement. 2. A new type of portable pipe cleaning robot according to claim 1, characterized in that: the first friction wheel rotation mechanism includes a first connecting rod (24), a first biaxial motor (25) and a first rubber Friction wheel (26), a plurality of installation holes (211) are uniformly arranged around the first installation disk (21), the first connecting rod (24) is correspondingly installed in the installation holes (211), the first The outer end of a connecting rod (25) is correspondingly installed with a first biaxial motor (26), and the output shafts at the top and bottom of the first biaxial motor (26) are respectively equipped with first rubber friction wheels (27 ), a plurality of first rubber friction wheels (27) are correspondingly distributed in a ring shape. 3. A new type of portable pipeline cleaning robot according to claim 2, characterized in that: the first connecting rod (25) adopts a telescopic structure, and a first biaxial motor (26) is correspondingly installed at its telescopic end; A buffer mechanism is correspondingly provided between the first biaxial motor (26) and its corresponding installation hole (211). 4. A new type of portable pipeline cleaning robot according to claim 1, characterized in that: the middle part of the outer end face of the first installation plate (21) is correspondingly provided with an identification mechanism (23), and the identification mechanism (23) A lighting mechanism (22) is correspondingly arranged around it. 5. A new type of portable pipeline cleaning robot according to any one of claims 1-4, characterized in that: the second friction wheel rotation mechanism includes a second connecting rod (32), a second biaxial motor ( 33) and the second rubber friction wheel (35), a plurality of second connecting rods (32) are uniformly arranged around the second mounting plate (31), and one end of the second connecting rod (32) is correspondingly installed on the first The side of the second mounting plate (31), the other end of which is correspondingly installed with a second double-axis motor (33); the output shafts on the left and right sides of the second double-axis motor (33) are correspondingly installed with second two-axis motors (33) through transmission mechanisms. The rubber friction wheel (35), and a plurality of second rubber friction wheels (35) are correspondingly distributed in a ring shape. 6. A new type of portable pipeline cleaning robot according to claim 5, characterized in that: the transmission mechanism is a bevel gear transmission mechanism, including two bevel gears, one of which is correspondingly installed on the second biaxial motor ( On the output shaft of 33), another bevel gear is installed on one end of the installation shaft (34). (35) is correspondingly installed on the other end of the installation shaft (34). 7. A new type of portable pipe cleaning robot according to claim 6, characterized in that: the second connecting rod (32) adopts a telescopic structure, and a second biaxial motor (33) is correspondingly installed at the telescopic end. 8. A new type of portable pipeline cleaning robot according to claim 7, characterized in that: the middle part of the outer end face of the second biaxial motor (33) is correspondingly provided with a spray hole, and the second mounting plate (31 ) is correspondingly equipped with a high-pressure spray washing liquid, and the spray holes are all connected with the high-pressure spray washing liquid in the second installation plate (31), so as to spray the cleaning liquid to the inner wall of the pipeline. 9. A new type of portable pipe cleaning robot according to claim 1, characterized in that: three first friction wheel rotation mechanisms evenly distributed in the circumferential direction are correspondingly provided around the first installation plate (21), and the forward The device (3) is correspondingly provided with three second friction wheel rotation mechanisms evenly distributed in the circumferential direction. 10. A new type of portable pipeline cleaning robot according to claim 1, characterized in that: the center body (1) is also equipped with a power supply and a core control mechanism, and the power supply can be used to power the rotating device (2) and the power supply of the advancing device (3), the core control mechanism can be used to control the operation of the rotating device (2) and the advancing device (3).

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