CN116550701A - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
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- CN116550701A CN116550701A CN202310351617.7A CN202310351617A CN116550701A CN 116550701 A CN116550701 A CN 116550701A CN 202310351617 A CN202310351617 A CN 202310351617A CN 116550701 A CN116550701 A CN 116550701A
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- crawler
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- 238000004140 cleaning Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 231100000481 chemical toxicant Toxicity 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
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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
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/0436—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes provided with mechanical cleaning tools, e.g. scrapers, with or without additional fluid jets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline cleaning robot which comprises a front machine body, a rear machine body, a crawler rotating mechanism, two groups of supporting leg stretching mechanisms, two groups of crawler traveling mechanisms, a plurality of stepping motors and a robot vision and detection control system, wherein a rotating scraper mechanism is arranged on the rear machine body of the front machine body and a dredging element reamer head is arranged on the front machine body of the front machine body and the rear machine body; the front and rear machine bodies are connected with the supporting leg stretching mechanism; the two groups of crawler-type travelling mechanisms are connected with the front machine body of the front machine body and the rear machine body and the middle connecting piece of the supporting leg stretching mechanisms through the two groups of supporting leg stretching mechanisms; the desilting element reamer head is connected with a first stepping motor which is arranged in the front machine body by a screw. The pipeline robot integrally adopts an electric drive control system, so that the environment pollution is considered while the pipeline robot is clean, and the energy utilization rate is improved. The machine body has simple structure, compact modular design and arrangement and good operation flexibility.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline cleaning robot.
Background
In the fields of industry, natural gas transportation, military and the like, the pipeline has wide application due to large transportation quantity, high economic benefit and other factors. However, the pipeline is most likely to be blocked due to accumulation of the conveying materials due to the influence of chemical corrosion, unresistable natural disasters and defects of the pipeline, and serious accidents can be caused by long-time blocking. Cleaning and inspection maintenance of the interior of the pipe is required at regular intervals. Traditional pipeline detection is implemented by related personnel, and is large in workload and low in efficiency. And some pipeline position personnel cannot reach to carry out monitoring, such as conveying toxic chemicals or pipelines with complicated and narrow internal structures, so pipeline robots are generated.
However, the existing pipeline robot has certain problems in the aspects of specification, use limitation, sensitivity and the like, and mainly presents the problems of excessively heavy robots and poor environment adaptability, so that a pipeline cleaning robot with higher practicability is provided.
Disclosure of Invention
The invention aims to provide a pipeline cleaning robot which solves the existing problems.
In order to achieve the above purpose, the present invention provides the following technical solutions: the pipeline cleaning robot comprises a front machine body, a rear machine body, a crawler rotating mechanism, two groups of supporting leg stretching mechanisms, two groups of crawler traveling mechanisms, a plurality of stepping motors and a robot vision and detection control system, wherein a rotating scraper mechanism is arranged on the rear machine body of the front machine body and the rear machine body, and a dredging element reamer head is arranged on the front machine body of the front machine body and the rear machine body;
the front and rear machine bodies are connected with the supporting leg stretching mechanism;
the two groups of crawler-type travelling mechanisms are connected with the front machine body of the front machine body and the rear machine body and the middle connecting piece of the supporting leg stretching mechanisms through the two groups of supporting leg stretching mechanisms;
the desilting element reamer head is connected with a first stepping motor which is arranged in the front machine body by a screw;
the rotary scraper of the rotary scraper mechanism is connected with a second circular stepping motor which is arranged in the rear machine body through a screw.
Preferably, the front and rear bodies include a front body, a front body rear cover disposed at a rear portion of the front body, a rear body, and a rear body cover disposed at a rear portion of the rear body.
Preferably, the crawler rotating mechanism comprises two stepping motors and two circular stepping motors;
the front machine body is internally provided with a first stepping motor and a second stepping motor with a screw rod, and the first stepping motor and the second stepping motor with the screw rod are fixed in the front machine body through screws;
the inside of back fuselage is provided with first circular stepper motor and second circular stepper motor, first circular stepper motor passes through the screw fixation with second circular stepper motor in the back fuselage.
Preferably, the crawler rotating mechanism further comprises six rotating sliding blocks, two rotating drives, four connecting columns, four rear connecting columns and two cylindrical gears;
the output end of the first circular stepping motor is connected with a second cylindrical gear which is meshed with the first cylindrical gear,
the first cylindrical gear is meshed with the large rotary drive, and the second cylindrical gear is meshed with the small rotary drive;
the rotary slide block at the front part of the front machine body is connected with the rotary slide block at the rear part of the front machine body through four connecting columns.
Preferably, the supporting leg stretching mechanism comprises two supporting legs, two middle connecting keys and two crawler cover plates;
supporting legs are arranged on two sides of the front part of the front machine body, and the two supporting legs are respectively connected with a rotary sliding block and a crawler cover plate which are arranged on the front part of the front machine body;
two sides of the rear part of the front machine body are respectively provided with two supporting legs and two supporting legs, the two supporting legs are respectively connected with the rotary sliding blocks and the crawler cover plate at the rear part of the front machine body, and the two supporting legs are respectively connected with the rotary sliding blocks and the crawler cover plate on the middle connecting key;
the large rotary drive and the small rotary drive are connected with the middle connecting piece and the rotary sliding block on the rear part of the front machine body through four rear connecting rods.
Preferably, the crawler-type travelling mechanism comprises a crawler, a driving wheel, a driven wheel, a motor base, a 20 stepping motor, two conical gears, three cylindrical gears and two gear shafts;
the crawler belt is characterized in that crawler belt cover plates are arranged on two sides of the crawler belt, a driving wheel and a driven wheel are respectively arranged on two sides of the inside of the crawler belt, a motor base and a 20 stepping motor are arranged on the motor base, the 20 stepping motor is connected with the motor base through screws, the output end of the 20 stepping motor is connected with a first bevel gear which is meshed with a second bevel gear, the output shaft of the second bevel gear is connected with a first gear which is meshed with a second gear, the second gear is meshed with a third gear, and the output shaft of the third gear is fixedly connected with the driving wheel;
the driving wheel and the driven wheel are respectively connected with the driving wheel and the driven wheel through the output shafts and the crawler cover plates on the two sides;
the caterpillar band is contacted with the driving wheel and the driven wheel.
Preferably, the rotary scraper mechanism comprises a cleaning disc, three cleaning posts and three cleaning rods;
the cleaning disc is connected with a second round stepping motor, three cleaning columns are connected to the cleaning disc, one ends of the cleaning columns are connected with the cleaning disc through screws, and the other ends of the cleaning columns are connected with cleaning rods through screws.
Preferably, the robot vision and detection system comprises a robot control system, two sensors, a camera and a camera fixing hoop;
the camera is connected with the front machine body through a camera fixing hoop;
the two sensors are respectively connected with the front machine body.
Compared with the prior art, the invention has the following beneficial effects:
the invention can be used for complex three-dimensional full-type industrial pipeline networks, such as loop systems formed by corresponding pipelines and valves of nuclear power stations, large hydraulic engineering pipeline networks, urban water supply and drainage system pipelines and the like, and the pipelines themselves have defects, such as cracks, weld failure and the like, and various accidents are easy to occur after the pipelines are influenced by external factors such as vibration, pressure, corrosion and the like for a long time in the actual working process.
The invention provides a pipeline cleaning robot, which uses a plain reamer head without cutter teeth, prolongs the service life of a reamer, is more environment-friendly, has large and stable supporting area of a crawler-type travelling mechanism, and can enhance the adaptability of the robot to unknown complex terrains; the track rotating mechanism and the supporting leg mechanism can enable the robot to flexibly change the diameter and rotate according to the condition of the inner wall of an actual pipeline; the telescopic rotary scraper can clean various dirt in the pipeline wall indiscriminately, and the four mechanisms are mutually matched, so that the working capacity of the robot in an unknown environment is enhanced jointly. The robot control system can realize real-time positioning of the robot, and the robot vision and detection system can feed back the condition of the pipeline inner wall accessory to a robot operator in real time through the camera and the sensor carried by the robot, so that man-machine interaction and operation capability are enhanced.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the front and rear airframe structure of the present invention;
FIG. 3 is a schematic view of a track rotation mechanism according to the present invention;
FIG. 4 is a schematic view of a leg extension mechanism according to the present invention;
FIG. 5 is a schematic view of the crawler travel mechanism of the present invention;
FIG. 6 is a schematic top view of the robot of the present invention;
fig. 7 is a schematic diagram of a robot vision and detection control system according to the present invention.
In the figure: the robot comprises a front body 1, a rear body 1-1, a front body rear cover 1-2, a rear body cover 1-3, a rear body 1-4, a crawler rotating mechanism 2, a 28 stepping motor 2-1, a second 28 stepping motor 2-2 with a screw rod, a first circular stepping motor 2-3, a second circular stepping motor 2-4, a rotary slide block 2-5, a large rotary drive 2-6, a small rotary drive 2-7, a connecting column 2-8, a rear connecting column 2-9, a first cylindrical gear 2-10, a second cylindrical gear 2-11, a supporting leg stretching mechanism 3, a supporting leg 3-1, a supporting leg 3-2, a supporting leg 3-3, a middle connecting key 3-4, a crawler cover plate 3-5, a crawler traveling mechanism 4, a crawler 4-1, a driving wheel 4-2, a driven wheel 4-3, a motor base 4-4, a 20 stepping motor 4-5, a first bevel gear 4-7, a first bevel gear 4-8, a second bevel gear 4-9, a third gear 4-10, a rotary scraper 5-1, a cleaning column 5-1, a cleaning head 2-6, a cleaning head 6, a camera head sensor system 2-6, a camera head sensor 3-6, a camera head 3 and a camera head 3.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
As shown in fig. 1, 2 and 3, a pipeline cleaning robot comprises a front body 1, a rear body 1, a track rotating mechanism 2, two groups of supporting leg stretching mechanisms 3, two groups of track type travelling mechanisms 4, a plurality of stepping motors and a robot vision and detection control system 7, wherein a rotating scraper mechanism 5 is arranged on a rear body 1-4 of the front body 1 and a rear body 1, and a desilting reamer head 6 is arranged on a front body 1-1 of the front body 1 and the rear body 1;
the front and rear machine body 1 is connected with a supporting leg stretching mechanism 3;
the two groups of crawler-type travelling mechanisms 4 are connected with the front machine body 1-1 of the front machine body 1 and the rear machine body 1 and the middle connecting piece 3-4 of the supporting leg stretching mechanisms 3 through the two groups of supporting leg stretching mechanisms 3;
the desilting element reamer head 6 is connected with a first 28 stepping motor 2-1 which is arranged in the front machine body 1-1 by screws;
when the pipeline cleaning robot works, aiming at various blocked pipelines, the robot drives the dredging element reamer head 6 to rotate through a first 28 stepping motor 2-1 arranged in the front machine body so as to break blocked silt and other sundries, and the element reamer head without cutter teeth is used, so that the pipe wall is not damaged, and the damage is avoided;
the rotary scraper of the rotary scraper mechanism 5 is connected with a second circular stepping motor 2-2 which is arranged in the rear machine body 1-4 through a screw;
the tubular front and rear machine body 1 is a robot main body, the crawler rotating mechanism 2 and two groups of supporting leg stretching mechanisms 3 are distributed on two sides of the front and rear machine body 1, and the two groups of crawler traveling mechanisms 4 are connected with the front and rear machine body through the two groups of supporting leg mechanisms 3 by using nut columns, so that the traveling mechanism of the invention is formed together; the desilting element reamer head 6 arranged at the front end of the robot is connected with a first 28 stepping motor 2-1 arranged in the front machine body; the rotary scraper mechanism 5 arranged at the rear end of the robot is connected with the second round stepping motor 2-4, and the desilting element reamer head 6 is matched with the rotary scraper mechanism 5 to finish desilting operation together.
As shown in fig. 2, a pipe cleaning robot, a front and rear body 1 includes a front body 1-1, a front body rear cover 1-2 provided at the rear of the front body 1-1, a rear body 1-4, and a rear body cover 1-3 provided at the rear of the rear body 1-4.
As shown in fig. 3, a pipe cleaning robot, the track rotating mechanism 2 comprises two 28 stepping motors and two circular stepping motors;
the inside of the front machine body 1-1 is provided with a first 28 stepping motor 2-1 and a second 28 stepping motor 2-2 with a screw rod, and the first 28 stepping motor 2-1 and the second 28 stepping motor 2-2 with the screw rod are fixed in the front machine body 1-1 through screws;
the inside of the rear machine body 1-4 is provided with a first circular stepping motor 2-3 and a second circular stepping motor 2-4, and the first circular stepping motor 2-3 and the second circular stepping motor 2-4 are fixed in the rear machine body 1-4 through screws;
the utility model provides a pipeline cleaning robot studio, is located the surperficial silt that can't clean of desilting plain reamer head 6 of pipe wall, installs in the rotatory scraper mechanism 5 of back fuselage and begins work, and the whole rotatory scraper mechanism 5 of second circular stepper motor 2-4 drive rotates, scrapes away silt from closing, conveniently carries out follow-up desilting operation.
As shown in fig. 3, the track rotating mechanism 2 of the pipeline cleaning robot further comprises six rotating slide blocks 2-5, two rotating drives, four connecting columns 2-8, four rear connecting columns 2-9 and two cylindrical gears;
the output end of the first circular stepping motor 2-3 is connected with a second cylindrical gear 2-11, the second cylindrical gear 2-11 is meshed with the first cylindrical gear 2-10,
the first cylindrical gear 2-10 is meshed with the large rotation drive 2-6, and the second cylindrical gear 2-11 is meshed with the small rotation drive 2-7;
the rotary slide blocks 2-5 at the front part of the front body 1-1 are connected with the rotary slide blocks 2-5 at the rear part of the front body 1-1 through four connecting posts 2-8.
As shown in fig. 4, a pipe cleaning robot, a supporting leg stretching mechanism 3 comprises two supporting legs 3-1, two supporting legs 3-2, two supporting legs 3-3, two middle connecting keys 3-4 and two crawler cover plates 3-5;
the two sides of the front part of the front machine body 1-1 are provided with supporting legs 3-1, and the two supporting legs 3-1 are respectively connected with a rotary sliding block 2-5 and a crawler cover plate 3-5 which are arranged on the front part of the front machine body 1-1;
two sides of the rear part of the front machine body 1-1 are respectively provided with two supporting legs 3-2 and two supporting legs 3-3, the two supporting legs 3-2 are respectively connected with a rotary sliding block 2-5 and a crawler cover plate 3-5 at the rear part of the front machine body 1-1, and the two supporting legs 3-3 are respectively connected with the rotary sliding block 2-5 and the crawler cover plate 3-5 on the middle connecting key 3-4;
the large rotary drive 2-6 and the small rotary drive 2-7 are connected with the middle connecting piece 3-4 and the rotary slide block 2-5 on the rear part of the front machine body 1-1 through four rear connecting rods 2-8.
As shown in fig. 5, a pipe cleaning robot, a crawler type traveling mechanism 4 comprises a crawler 4-1, a driving wheel 4-2, a driven wheel 4-3, a motor base 4-4, a 20 step motor 4-5, two bevel gears, three cylindrical gears and two gear shafts;
the two sides of the crawler belt 4-1 are respectively provided with a crawler belt cover plate 3-5, two sides of the inside of the crawler belt 4-1 are respectively provided with a driving wheel 4-2 and a driven wheel 4-3, the inside of the crawler belt 4-1 is provided with a motor base 4-4, a 20 stepping motor 4-5 arranged on the motor base 4-4 is connected with the motor base 4-4 through screws, the output end of the 20 stepping motor 4-5 is connected with a first bevel gear 4-6, the first bevel gear 4-6 is meshed with a second bevel gear 4-7, the output shaft of the second bevel gear 4-7 is connected with a first gear 4-8, the first gear 4-8 is meshed with a second gear 4-9, the second gear 4-9 is meshed with a third gear 4-10, and the output shaft of the third gear 4-10 is fixedly connected with the driving wheel 4-2;
the driving wheel 4-2 and the driven wheel 4-3 are respectively connected with the driving wheel 4-2 and the driven wheel 4-3 through the output shafts and the crawler cover plates 3-5 on the two sides and the output shafts of the driving wheel 4-2 and the driven wheel 4-3;
the crawler belt 4-1 is contacted with the driving wheel 4-2 and the driven wheel 4-3;
when the pipeline cleaning robot enters a pipeline, the second 28 stepping motor 2-2 with the screw rod rotates, the connecting piece 3-4 in the driving process moves on the screw rod, so that the two groups of supporting leg stretching mechanisms 3 adjust stretching angles according to pipe diameters, the two groups of tracks are attached to the pipe wall, extremely strong adsorption force exists in the pipe, meanwhile, the track rotating mechanism 2 is designed through an ingenious mechanism, the track 4-1 is rotatable, and the robot can conveniently enter a complex industrial pipe network to operate;
when the pipeline cleaning robot works, the two 20 stepping motors 4-5 of the two groups of crawler-type travelling mechanisms 4 drive the driving wheels 4-2 to rotate through the gear trains, so that the crawler 4-1 is driven to rotate, and the robot moves in the pipe.
As shown in fig. 6, a pipe cleaning robot, a rotary scraper mechanism 5 includes a cleaning tray 5-1, three cleaning posts 5-2, three cleaning bars 5-3;
the cleaning disc 5-1 is connected with the second circular stepping motor 2-4, three cleaning posts 5-2 are connected to the cleaning disc 5-1, one end of each cleaning post 5-2 is connected with the cleaning disc 5-1 through a screw, and the other end of each cleaning post is connected with the cleaning rod 5-3 through a screw.
As shown in fig. 7, a pipe cleaning robot, a robot vision and detection system 7 comprises a robot control system, two sensors 6-1, a camera 6-2, and a camera fixing hoop 6-3;
the camera 6-2 is connected with the front machine body 1-1 through a camera fixing hoop 6-3;
the two sensors 6-1 are respectively connected with the front body 1-1;
when the pipeline cleaning robot works, aiming at the two groups of different working environments, the robot can receive signals of the sensor 6-1 and the camera 6-2 through the robot vision and inspection system 7, reasonably plan a working route by combining the control of a land end worker, and simultaneously or time-division work of the front desilting element reamer head 6 and the rear rotary scraper mechanism 5, so that the efficiency of the robot is improved and energy is saved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The pipeline cleaning robot is characterized by comprising a front machine body (1), a rear machine body (1), a crawler rotating mechanism (2), two groups of supporting leg stretching mechanisms (3), two groups of crawler traveling mechanisms (4), a plurality of stepping motors and a robot vision and detection control system (7), wherein a rotating scraper mechanism (5) is arranged on the rear machine body (1-4) of the front machine body (1) and the rear machine body (1), and a dredging element reamer head (6) is arranged on the front machine body (1-1) of the front machine body and the rear machine body (1);
the front and rear machine body (1) is connected with the supporting leg stretching mechanism (3);
the two groups of crawler-type travelling mechanisms (4) are connected with the front machine body (1-1) of the front machine body and the rear machine body (1) and the middle connecting piece (3-4) of the supporting leg stretching mechanisms (3) through the two groups of supporting leg stretching mechanisms (3);
the desilting element reamer head (6) is connected with a first 28 stepping motor (2-1) which is arranged in the front machine body (1-1) by screws;
the rotary scraper of the rotary scraper mechanism (5) is connected with a second round stepping motor (2-2) which is arranged in the rear machine body (1-4) through screws.
2. A pipe cleaning robot according to claim 1, wherein the front and rear bodies (1) comprise a front body (1-1), a front body rear cover (1-2) provided at the rear of the front body (1-1), a rear body (1-4), and a rear body cover (1-3) provided at the rear of the rear body (1-4).
3. A pipe cleaning robot according to claim 1, characterized in that the track rotation mechanism (2) comprises two 28 stepper motors, two circular stepper motors;
a first 28 stepping motor (2-1) and a second 28 stepping motor (2-2) with a screw rod are arranged in the front machine body (1-1), and the first 28 stepping motor (2-1) and the second 28 stepping motor (2-2) with the screw rod are fixed in the front machine body (1-1) through screws;
the novel electric motor is characterized in that a first circular stepping motor (2-3) and a second circular stepping motor (2-4) are arranged in the rear machine body (1-4), and the first circular stepping motor (2-3) and the second circular stepping motor (2-4) are fixed in the rear machine body (1-4) through screws.
4. A pipe cleaning robot according to claim 1, characterized in that the track rotation mechanism (2) further comprises six rotation sliders (2-5), two rotation drives, four connection posts (2-8), four rear connection posts (2-9), two cylindrical gears;
the output end of the first circular stepping motor (2-3) is connected with a second cylindrical gear (2-11), the second cylindrical gear (2-11) is meshed with the first cylindrical gear (2-10),
the first cylindrical gear (2-10) is meshed with the large rotary drive (2-6), and the second cylindrical gear (2-11) is meshed with the small rotary drive (2-7);
the rotary sliding block (2-5) at the front part of the front machine body (1-1) is connected with the rotary sliding block (2-5) at the rear part of the front machine body (1-1) through four connecting columns (2-8).
5. A pipe cleaning robot according to claim 4, characterized in that the support leg extension mechanism (3) comprises two support legs (3-1), two support legs (3-2), two support legs (3-3), two middle connection keys (3-4), two track cover plates (3-5);
supporting legs (3-1) are arranged on two sides of the front part of the front machine body (1-1), and the two supporting legs (3-1) are respectively connected with a rotary sliding block (2-5) and a crawler cover plate (3-5) which are arranged on the front part of the front machine body (1-1);
two sides of the rear part of the front machine body (1-1) are respectively provided with two supporting legs (3-2) and two supporting legs (3-3), the two supporting legs (3-2) are respectively connected with a rotary sliding block (2-5) and a crawler cover plate (3-5) at the rear part of the front machine body (1-1), and the two supporting legs (3-3) are respectively connected with the rotary sliding block (2-5) and the crawler cover plate (3-5) on the middle connecting key (3-4);
the large rotary drive (2-6) and the small rotary drive (2-7) are connected with the middle connecting piece (3-4) and the rotary slide block (2-5) on the rear part of the front machine body (1-1) through four rear connecting rods (2-8).
6. A pipe cleaning robot according to claim 5, characterized in that the crawler running mechanism (4) comprises a crawler (4-1), a driving wheel (4-2), a driven wheel (4-3), a motor base (4-4), a 20 step motor (4-5), two bevel gears, three cylindrical gears, two gear shafts;
the crawler belt is characterized in that crawler belt cover plates (3-5) are arranged on two sides of the crawler belt (4-1), a driving wheel (4-2) and a driven wheel (4-3) are respectively arranged on two sides of the inside of the crawler belt (4-1), a motor base (4-4) and a 20 stepping motor (4-5) arranged on the motor base (4-4) are arranged in the crawler belt (4-1), the 20 stepping motor (4-5) is connected with the motor base (4-4) through screws, a first bevel gear (4-6) is connected with an output end of the 20 stepping motor (4-5), the first bevel gear (4-6) is meshed with a second bevel gear (4-7), an output shaft of the second bevel gear (4-7) is connected with a first gear (4-8), the first gear (4-8) is meshed with a second gear (4-9), the second gear (4-9) is meshed with a third gear (4-10), and an output shaft of the third gear (4-10) is fixedly connected with the driving wheel (4-2);
the driving wheel (4-2) and the driven wheel (4-3) are respectively connected with the driving wheel (4-2) and the driven wheel (4-3) through the output shaft and the crawler cover plates (3-5) on the two sides through the driving wheel (4-2) and the output shaft of the driven wheel (4-3);
the crawler belt (4-1) is contacted with the driving wheel (4-2) and the driven wheel (4-3).
7. A pipe cleaning robot according to claim 1, characterized in that the rotary scraper mechanism (5) comprises one cleaning disc (5-1), three cleaning posts (5-2), three cleaning bars (5-3);
the cleaning disc (5-1) is connected with the second circular stepping motor (2-4), three cleaning columns (5-2) are connected to the cleaning disc (5-1), one ends of the cleaning columns (5-2) are connected with the cleaning disc (5-1) through screws, and the other ends of the cleaning columns are connected with cleaning rods (5-3) through screws.
8. A pipe cleaning robot according to claim 1, characterized in that the robot vision and detection system 7 comprises a robot control system, two sensors (6-1), one camera (6-2), one camera fixation hoop (6-3);
the camera (6-2) is connected with the front machine body (1-1) through a camera fixing hoop (6-3);
the two sensors (6-1) are respectively connected with the front machine body (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310351617.7A CN116550701A (en) | 2023-04-04 | 2023-04-04 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310351617.7A CN116550701A (en) | 2023-04-04 | 2023-04-04 | Pipeline cleaning robot |
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| CN116550701A true CN116550701A (en) | 2023-08-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117046837A (en) * | 2023-10-11 | 2023-11-14 | 江苏宝辰环保科技有限公司 | Flue gas discharge pipeline cleaning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117046837A (en) * | 2023-10-11 | 2023-11-14 | 江苏宝辰环保科技有限公司 | Flue gas discharge pipeline cleaning device |
| CN117046837B (en) * | 2023-10-11 | 2023-12-19 | 江苏宝辰环保科技有限公司 | Flue gas discharge pipeline cleaning device |
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