CN116550703A - Robot device for cleaning pipe in pipeline - Google Patents
Robot device for cleaning pipe in pipeline Download PDFInfo
- Publication number
- CN116550703A CN116550703A CN202310551994.5A CN202310551994A CN116550703A CN 116550703 A CN116550703 A CN 116550703A CN 202310551994 A CN202310551994 A CN 202310551994A CN 116550703 A CN116550703 A CN 116550703A
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- Prior art keywords
- piece
- hole
- spike
- hole opening
- column
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- 238000004140 cleaning Methods 0.000 title claims abstract description 60
- 239000012535 impurity Substances 0.000 claims description 52
- 230000008878 coupling Effects 0.000 claims description 23
- 238000010168 coupling process Methods 0.000 claims description 23
- 238000005859 coupling reaction Methods 0.000 claims description 23
- 230000009193 crawling Effects 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000003912 environmental pollution Methods 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 4
- 239000000126 substance Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 239000007787 solid 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
- B08B9/049—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
Abstract
The invention relates to a pipe cleaning robot device in a pipeline, which belongs to the technical field of pipe cleaning robot devices and comprises a first barrel, wherein a rotary column is rotatably connected to the inside of one end of the first barrel, a pulling column is fixedly connected to the outside of the rotary column, a first limiting block is arranged at one end of the pulling column, the first limiting block is rotatably connected with a second barrel, one end of the second barrel, which is deviated from the first limiting block, is provided with a turntable, and one end of the turntable is connected with a first servo motor. The invention solves the problems that the manufacturing and carrying costs are too high, the existing cleaning device can generate very loud sound in the cleaning process, and the transmission distance of the sound is greatly increased because of an elongated channel in the structure of the pipeline, so that serious environmental pollution is caused.
Description
Technical Field
The invention belongs to the technical field of pipe cleaning robot devices, and particularly relates to a pipe cleaning robot device in a pipeline.
Background
The pipeline transportation is a transportation mode for long-distance transportation of liquid and gas materials by using pipelines as transportation means, is a transportation mode for transporting petroleum, coal and chemical products to markets by production places, and is a special component of dry line transportation in a unified transportation network; sometimes, the pneumatic tube can also work similarly, the solid cabin is conveyed by compressed gas, and the goods are filled in the pneumatic tube; pipeline transportation of petroleum products is more costly than water transportation, but still cheaper than rail transportation; most pipelines are used by their owners to transport self-contained products;
the pipeline transportation is often in a blocking accident, at this moment, the related cleaning device is required to clean the pipeline, the impurity removing components with different sizes are replaced for adapting to different pipeline cleaning requirements, so that the pipeline cleaning device is suitable for pipelines with different inner diameters, a plurality of impurity removing components with different specifications are required to be carried at any time, so that manufacturing and carrying costs are too high, the conventional cleaning device is required to generate very loud sound in the cleaning process, and due to the fact that a slender channel exists in the structure of the pipeline, the propagation distance of the sound is greatly increased, and serious environmental pollution is caused.
Disclosure of Invention
The invention provides a pipeline cleaning robot device in a pipeline, which aims to solve the problems that in order to adapt to different pipeline cleaning requirements, impurity removing components with different sizes are replaced, and the pipeline cleaning robot device is adapted to pipelines with different inner diameters, so that a plurality of impurity removing components with different specifications are required to be carried at any time, the manufacturing and carrying costs are too high, the existing cleaning device is required to generate very loud sound in the cleaning process, and the transmission distance of the sound is greatly increased due to the fact that a slender channel exists in the structure of the pipeline.
The invention provides a robot device for cleaning a pipe in a pipeline, which comprises a first barrel, wherein a rotary column is rotatably connected to the inside of one end of the first barrel, a pulling column is fixedly connected to the outside of the rotary column, a first limiting block is arranged at one end of the pulling column, the first limiting block is rotatably connected with a second barrel, one end of the second barrel, which is deviated from the first limiting block, is provided with a turntable, one end of the turntable is connected with a first servo motor, a rotating shaft of the first servo motor is connected with the turntable, and one end of the turntable is provided with a cleaning assembly;
the outer periphery of the first cylinder body is provided with three first walking components at equal intervals, each first walking component comprises a telescopic rod, a second crawling wheel and a gas spring, the first cylinder body is hinged with the telescopic rod and the gas spring, the outer side of the telescopic rod is hinged with the movable end of the gas spring, and the second crawling wheel is hinged with the movable end of the telescopic rod;
the walking assembly I is arranged at the top of the barrel II, the walking assemblies II are arranged at the bottom of the barrel II, the walking assemblies II comprise a crawling wheel I and a wheel frame, the crawling wheel I is arranged at one end of the wheel frame, the wheel frame is arranged on the barrel II, and the crawling wheel I is hemispherical.
Further, the walking assembly II further comprises a power column, a movable cavity, a motor II, a push rod, a movable block and a servo electric cylinder, the movable cavity is reserved in the barrel II, two movable blocks are arranged on the inner side of the movable cavity, the motor II is arranged on the inner side of the movable block, a rotating shaft of the motor II is fixedly connected with the power column, the power column stretches into a wheel frame, one end of the power column deviating from the motor II is in friction connection with the bottom of the inner wall of the wheel frame, the power column is in variable connection with the wheel frame, the servo electric cylinder is arranged on the top of the movable cavity, two push rods are hinged to the bottom of the movable end of the servo electric cylinder, the push rods are respectively matched with the movable blocks, and the push rods are hinged to the matched movable blocks.
Through adopting above-mentioned scheme, walking subassembly II can drive barrel II and walk in the pipeline, place the device in the pipeline that needs the clearance, every telescopic link is extruded to the gas spring, make every wheel II of crawling hug closely the inner wall of pipeline, servo electric jar control push rod sways, push rod promotes extrusion movable block, motor II and power post and removes, utilize power post extrusion wheel frame and wheel I of crawling to remove, make wheel I of crawling extrude, hug closely the pipeline inner wall, thereby make wheel I of crawling obtain sufficient ground force, motor II utilizes power post and wheel frame to indirectly control wheel I of crawling to rotate, make barrel II remove, barrel II is pulling barrel I and is removing, the steering column between barrel I and the barrel II, pulling post and stopper I make barrel I and barrel II can turn round, thereby make the device pass through the pipeline bend.
Further, the cleaning assembly comprises a coupling block, a first motor, a coupling, a rotating column and a cleaning frame, wherein the coupling block is arranged in the turntable, the first motor is fixedly connected with the coupling block, a rotating shaft of the coupling block is provided with the coupling, one end of the coupling is fixedly connected with the rotating column, the cleaning frame is arranged on the peripheral surface of the rotating column, and the cleaning frame comprises a first hole opening piece, a second hole opening piece and a third hole opening piece; the first hole opening piece is sleeved on the rotating column, the second hole opening piece is arranged on the periphery of the first hole opening piece, and the third hole opening piece is arranged on the periphery of the second hole opening piece;
the cleaning frame can be divided into three types according to different structures: the device comprises a first impurity removing component, a second impurity removing component and a third impurity removing component;
the rotating column, the first outer cylinder, the first hole-forming piece and the second hole-forming piece form a first impurity-removing component, the rotating column, the first outer cylinder, the first hole-forming piece and the second hole-forming piece form a second impurity-removing component, and the rotating column, the first outer cylinder, the first hole-forming piece, the second hole-forming piece and the third hole-forming piece form a third impurity-removing component.
By adopting the scheme, the first impurity removing component, the second impurity removing component and the third impurity removing component can remove obstacles and accessory crops on the inner wall of the pipeline, the second hole opening component or the third hole opening component can be connected to the first impurity removing component or the second impurity removing component in a variable mode, the size of the impurity removing component is controlled by adjusting the connection condition of the second hole opening component and the third hole opening component so as to adapt to the cleaning requirements of pipelines with different inner diameters, on the other hand, when the pipelines are completely blocked, the impurity removing components with different sizes are used for opening holes on the blocking objects respectively for multiple times, so that the blocking objects are removed successively, the inner diameter of the holes reaches a critical value convenient to remove, the cleaning range is enlarged gradually, and the pollution to the environment caused by overlarge sound generated by operation can be avoided;
the second hole opening piece and the third hole opening piece are all right-handed, and the second hole opening piece and the third hole opening piece are relatively small in mass, so that manufacturing and moving difficulties can be reduced, and capital cost is reduced.
Further, a plurality of clamping cavities are reserved on the periphery of the first hole-opening part in the extending direction of the rotating column, staggered holes are concavely formed in the bottoms of the clamping cavities, the staggered holes penetrate through the first hole-opening part, the first hole-opening part extends towards the extending direction of the rotating column, embedded pits are concavely formed in the clamping cavities, a plurality of linkage handles are arranged on the peripheral wall of the inner side wall of the second hole-opening part at equal intervals, and the linkage handles and the embedded pits are arranged in a matched mode;
the first outer cylinder is sleeved on the outer wall surface of the rotating column, a plurality of first linkage frames are arranged on the first outer cylinder at equal intervals in the extending direction of the rotating column, a jogging block is preset at one end of the first linkage frame, a rectangular pit is chiseled at the top of the jogging block, the jogging block is matched with the clamping cavity, and the rectangular pit is matched with the jogging pit, and the staggered holes are matched with the linkage handles;
two ends of the outer cylinder I are respectively provided with a first through hole in a concave manner, every two first through holes are in a pair, the rotation center lines of the two first through holes in each pair are coincident, and the rotation center lines of the two adjacent first through holes in the pair are crossed;
the rotary column is concavely provided with a plurality of through holes II, the through holes II are matched with the through holes I, the matched through holes II and the matched through holes I penetrate through the same connecting screw rod I, and the outer cylinder I is connected with the rotary column by the connecting screw rod I;
the first hole-forming piece is provided with a first spike piece at one end far away from the coupler, the second hole-forming piece is provided with a second spike piece at one end, the first spike piece and the second spike piece are indirectly connected by utilizing an n-shaped clamp and a first combination strip, the n-shaped clamp is connected with a first locking bolt, and the angle between any two consecutive staggered holes is 2 pi/3 degrees.
By adopting the scheme, after the second hole opening part is arranged on the device, the connecting lines of the adjacent staggered holes are intersected with the rotation center line of the rotating column, so that broken materials generated in the process of screwing the first hole opening part into the holes can be prevented from straightly and continuously penetrating through the adjacent staggered holes and interfering with the obstacle clearance rate;
the first outer cylinder is required to be connected to the periphery of the rotating column in a hooping mode by arranging the first hole opening piece, the first linkage frame is clamped to the inner side of the first outer cylinder, then the first outer cylinder and the rotating column are locked by inserting the first connecting screw rod into the second penetrating hole, the embedded block at one end of the first linkage frame can extend into the matched clamping cavity, the embedded block seals the embedded pit, and the phenomenon that crushed aggregates enter the embedded pit to affect functions of the embedded pit can be reduced.
Further, a clamping channel is reserved at the periphery of the second hole opening part, a plurality of limiting holes are concavely formed in one side of the clamping channel, the limiting holes are arranged at equal intervals, clamping strips are preset on the inner peripheral surface of the third hole opening part, a plurality of locking holes are arranged at equal intervals on the clamping strips, the clamping strips and the clamping channels are arranged in a matched mode, the third hole opening part and the second hole opening part are connected in a linked mode, a single limiting hole is matched with one of the second locking holes, and the second locking bolt penetrates through the limiting holes and the second locking holes to enable the second locking bolt to be connected;
and a third spike piece is arranged at one end of the third hole piece, and the third spike piece and the second spike piece are linked by utilizing a second combination strip, an n-shaped clamp and a first locking bolt.
Further, the structures of the first spike piece, the second spike piece and the third spike piece are consistent, the first spike piece comprises a base and spikes, the base is arranged at one end of the first hole-forming piece, two spikes are arranged at one side of the base, and the spikes are respectively arranged at two ends of the base.
By adopting the scheme, the spike enables the hole of the cleaning component to be more efficient in cleaning.
Further, two ends of the first combination strip are respectively connected with the first spike piece and the second spike piece, one side of the first spike piece is connected with the first combination strip, two ends of the second combination strip are respectively connected with the second spike piece and the third spike piece, the first combination strip and the second combination strip are partially overlapped, n-shaped cards are distributed on the first spike piece, the second spike piece and the third spike piece, two ends of the n-shaped cards are respectively provided with a spike connected with the same base, and the n-shaped cards are fixedly connected with the first combination strip, the base and the second combination strip by using the first locking bolt.
By adopting the scheme, the first locking bolt enables the n-shaped clamp to be firmly connected with the first combination strip, the base and the second combination strip.
Further, the first spike member and the third spike member are distributed at two ends of the second spike member to form a group of spike components, the number of the spike components is even, and the spike components are distributed at equal intervals.
By adopting the scheme, the spike assemblies are distributed at equal intervals, so that the cleaning assemblies are dynamically balanced.
Further, one end of the first hole opening piece is concavely provided with a clamping cavity, one side of the inner wall of the clamping cavity deviating from the embedded pit is preset to be a slope surface II, one end of the embedded block is reserved with the slope surface I, the slope surface I is matched with the slope surface II, the other end of the embedded block is reserved with a slope surface III, and the part of the slope surface III is arranged on the inner side of the clamping cavity.
Through adopting above-mentioned scheme, dismouting hole spare two needs to rotate urceolus first, causes the gomphosis piece to take place to remove, be close to domatic second, and domatic a moment clears away the material on the joint chamber to make domatic first can smooth and easy removal, and then make hole spare second can assemble smoothly or install, and the use of domatic third leads to the one end of gomphosis piece to be less than hole spare first, thereby makes hole spare first can smooth and easy transport material.
The head part of the rotating column, which deviates from the clearing frame, is provided with a short-distance first hole opening part, a short-distance second hole opening part and a short-distance third hole opening part, the fan-shaped central angles corresponding to the first hole opening part, the second hole opening part and the third hole opening part are within pi/3, the assembly method of the first hole opening part, the second hole opening part and the third hole opening part is identical to that of the first hole opening part, the second hole opening part and the third hole opening part, and the first spike part, the second spike part and the third spike part can be arranged on the short-distance first hole opening part, the second hole opening part and the third hole opening part;
the angle between two adjacent clamping cavities or linkage handles is 2 pi/3, and a linkage handle is arranged on the second short-distance hole-opening part.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial technical effects:
1. according to the invention, the second travelling assembly can drive the first travelling wheel to pass through the pipeline, so that the device flexibly moves in the pipeline to be cleaned, each second travelling wheel is tightly attached to the inner wall of the pipeline by the gas spring, the servo electric cylinder controls the push rod to swing, the push rod pushes the extrusion moving block, the second motor and the power column to move, the wheel frame and the first travelling wheel are extruded by the power column to move, the first travelling wheel is tightly attached to the inner wall of the pipeline, and therefore the first travelling wheel obtains enough ground grabbing force, the second motor controls the first travelling wheel to rotate by the power column and the wheel frame, so that the second travelling wheel moves, the first travelling wheel pulls the first travelling wheel to move, and the first travelling column, the first pulling column and the first limiting block between the first travelling wheel and the second travelling wheel can bend, so that the device can pass through the bending part of the pipeline;
2. according to the invention, the first impurity removing component, the second impurity removing component and the third impurity removing component can remove obstacles and auxiliary objects on the inner wall in the pipeline, the second hole opening component or the third hole opening component can be connected to the first impurity removing component or the second impurity removing component in a variable mode, the size of the impurity removing component is controlled by adjusting the connection condition of the second hole opening component and the third hole opening component, so that the impurity removing component is suitable for pipelines with different inner diameters, and the mode can be suitable for cleaning requirements of pipelines with different sizes;
3. according to the invention, the impurity removing components with different specifications can be changed in size by quickly assembling part structures, so that the manufacturing and moving difficulties can be reduced, the fund cost is reduced, holes can be formed in the plugs through the impurity removing components with different specifications respectively for multiple times, the plugs are gradually removed, the inner diameters of the holes reach the critical value convenient to remove, and the removal range is gradually enlarged;
4. in the invention, the second hole-forming piece has moderate size and proper structural strength, is easy to assemble by utilizing the matching assembly of the linkage handle and the clamping cavity, and has stable and firm connection; the size of the hole part III is maximum, the structural strength is relatively poor, and the clamping channel and the clamping strip are required to be matched, so that the clamping channel and the clamping strip are screwed into the clamping joint, and the connection is stable and firm.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a diagram showing the connection relationship between the first outer cylinder and the rotating column;
FIG. 3 is a schematic view of the internal structure of a second barrel of the present invention;
FIG. 4 is a schematic view of the internal structure of the first cylinder of the present invention;
FIG. 5 is a schematic view of a cleaning assembly according to the present invention;
FIG. 6 is a diagram showing the connection relationship between the first interlocking frame and the embedded block according to the present invention;
FIG. 7 is a diagram showing the connection relationship between the first hole-forming member and the rotating column according to the present invention;
FIG. 8 is a diagram showing a connection relationship between a first linking frame and a hole opening member according to the present invention;
FIG. 9 is a schematic view of a second structure of the hole forming member according to the present invention;
FIG. 10 is a schematic view of a three-structure hole-opening member according to the present invention;
FIG. 11 is a schematic view of the structure of the spike assembly of the present invention 1;
FIG. 12 is a schematic view of the spike assembly of the present invention in a configuration 2;
FIG. 13 is a diagram showing the connection between the spike and the base of the present invention;
FIG. 14 is a diagram showing a connection relationship between the engaging block and the hole forming member according to the present invention.
Reference numerals: a cylinder body 1, a telescopic rod 2, a climbing wheel 3, a gas spring 2, a cylinder body 5, a rotary table 6, a rotary column 7, a pulling column 8, a limiting block 9, a climbing wheel 10, a coupling block 12, a motor 13, a coupler 14, a rotary column 15, a cleaning frame 16, a cleaning frame and a cleaning frame a connecting screw rod 1-17, an outer cylinder 1-18, a hole-forming piece 1-19, a hole-forming piece three-20, a hole-forming piece second-21, a through hole first-22, a linkage frame first-23, a jogged block 24, a rectangular pit 25, a slope first-26, a through hole second-27, a jogged pit 28, a staggered hole 29 the device comprises a clamping cavity-30, a slope surface-31, a spike piece-32, a spike piece-33, a base-34, a spike-35, a linkage handle-36, a clamping channel-37, a limiting hole-38, a spike piece-39, a limiting hole-40, a clamping strip-41, a spike piece-42, a combined strip-43, an n-shaped clamp-44, a locking bolt-45, a combined strip-46, a locking bolt-47, a slope surface-48, a cleaning wheel-49, a servo electric cylinder-50, a moving block-51, a push rod-52, a motor-53, a movable cavity-54, a power column-55 and a wheel frame-56.
Detailed Description
In order to make the objects, technical solutions and advantages of the technical solutions of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention. Like reference numerals in the drawings denote like parts. It should be noted that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
As shown in fig. 1-14, the invention provides a robot device for cleaning a pipe in a pipeline, which comprises a first cylinder body 1, wherein the interior of one end of the first cylinder body 1 is rotatably connected with a rotary column 7, the outer side of the rotary column 7 is fixedly connected with a pulling column 8, one end of the pulling column 8 is provided with a first limiting block 9, the first limiting block 9 is rotatably connected with a second cylinder body 5, one end of the second cylinder body 5, which is deviated from the first limiting block 9, is provided with a rotary table 6, one end of the rotary table 6 is connected with a first servo motor, a rotary shaft of the first servo motor is connected with the rotary table 6, and one end of the rotary table 6 is provided with a cleaning component;
three first walking components are arranged at equal intervals on the periphery of the first cylinder body 1, each first walking component comprises a telescopic rod 2, a second climbing wheel 3 and a gas spring 2, the telescopic rod 2 and the gas spring 2 are hinged to the first cylinder body 1, the movable ends of the gas springs 2 and the outer sides of the telescopic rods 2 are hinged, and the second climbing wheel 3 is hinged to the movable ends of the telescopic rods 2;
the walking assembly I is arranged at the top of the cylinder body II 5, the two walking assemblies II are arranged at the bottom of the cylinder body II 5, each walking assembly II comprises a crawling wheel I10 and a wheel frame 56, the crawling wheel I10 is arranged at one end of the wheel frame 56, the wheel frame 56 is arranged on the cylinder body II 5, and the crawling wheel I10 is hemispherical.
The walking assembly II further comprises a power column 55, a movable cavity 54, a motor II 53, a push rod 52, a movable block 51 and a servo electric cylinder 50, wherein the movable cavity 54 is reserved in the cylinder II 5, two movable blocks 51 are arranged on the inner side of the movable cavity 54, the motor II 53 is arranged on the inner side of the movable block 51, a rotating shaft of the motor II 53 is fixedly connected with the power column 55, the power column 55 stretches into a wheel frame 56, one end of the power column 55 deviating from the motor II 53 is in friction connection with the bottom of the inner wall of the wheel frame 56, the power column 55 is in variable connection with the wheel frame 56, the servo electric cylinder 50 is arranged at the top of the movable cavity 54, two push rods 52 are hinged to the bottom of the movable end of the servo electric cylinder 50, the push rods 52 are respectively matched with the movable blocks 51, and the push rods 52 are hinged with the matched movable blocks 51;
the second travelling assembly can drive the first travelling wheel 5 to pass through the pipeline, the device is placed in the pipeline to be cleaned, the gas spring 2 extrudes each telescopic rod 2, each second travelling wheel 3 is tightly attached to the inner wall of the pipeline, the servo electric cylinder 50 controls the push rod 52 to swing, the push rod 52 pushes the extrusion moving block 51, the second motor 53 and the power column 55 to move, the power column 55 is utilized to extrude the wheel frame 56 and the first crawling wheel 10 to move, the first crawling wheel 10 is enabled to extrude and tightly attach to the inner wall of the pipeline, the second motor 53 indirectly controls the first crawling wheel 10 to rotate through the power column 55 and the wheel frame 56, the second telescopic rod 5 is enabled to move, the second telescopic rod 5 pulls the first telescopic rod 1 to move, and the rotary column 7, the pull column 8 and the first limiting block 9 between the first telescopic rod 1 and the second telescopic rod 5 enable the first telescopic rod 1 and the second telescopic rod 5 to bend, and the second telescopic rod 5 to enable the device to pass through the bent position of the pipeline.
The cleaning assembly comprises a coupling block 12, a first motor 13, a coupling 14, a rotating column 15 and a cleaning frame 16, wherein the coupling block 12 is arranged in the turntable 6, the first motor 13 is fixedly connected with the coupling block 12, the coupling 14 is arranged on a rotating shaft of the coupling block 12, one end of the coupling 14 is fixedly connected with the rotating column 15, the cleaning frame 16 is arranged on the outer circumferential surface of the rotating column 15, and the cleaning frame 16 comprises a first hole opening piece 19, a second hole opening piece 21 and a third hole opening piece 20; the first hole opening piece 19 is sleeved on the rotary column 15, the second hole opening piece 21 is arranged on the periphery of the first hole opening piece 19, and the third hole opening piece 20 is arranged on the periphery of the second hole opening piece 21;
the cleaning rack 16 can be divided into three types according to the structure: the device comprises a first impurity removing component, a second impurity removing component and a third impurity removing component;
the rotating column 15, the first outer cylinder 18 and the first hole-forming piece 19 form a first impurity-removing component, the rotating column 15, the first outer cylinder 18, the first hole-forming piece 19 and the second hole-forming piece 21 form a second impurity-removing component, and the rotating column 15, the first outer cylinder 18, the first hole-forming piece 19, the second hole-forming piece 21 and the third hole-forming piece 20 form a third impurity-removing component;
the first impurity removing component, the second impurity removing component and the third impurity removing component can remove obstacles and auxiliary crops on the inner wall of the pipeline, the second hole forming component 21 or the third hole forming component 20 can be connected to the first impurity removing component or the second impurity removing component in a variable mode, the size of the second impurity removing component is controlled by adjusting the connection condition of the second hole forming component 21 and the third hole forming component 20 so as to adapt to the cleaning requirements of pipelines with different inner diameters, on the other hand, when the pipeline is completely blocked, the impurity removing components with different sizes are used for respectively and repeatedly forming holes on the blocking objects, so that the blocking objects are gradually removed, the inner diameter of the holes reaches a critical value convenient to remove, the cleaning range is gradually enlarged, and the pollution to the environment caused by overlarge sound generated by operation can be avoided;
the second hole-forming piece 21 and the third hole-forming piece 20 are all right-handed, and the second hole-forming piece 21 and the third hole-forming piece 20 are relatively small in mass, so that manufacturing and moving difficulties can be reduced, and therefore capital cost is reduced.
The periphery of the first hole part 19 is reserved with a plurality of clamping cavities 30 in the extending direction of the rotary column 15, the bottoms of the clamping cavities 30 are concavely provided with staggered holes 29, the staggered holes 29 penetrate through the first hole part 19, the first hole part 19 extends towards the extending direction of the rotary column 15, the clamping cavities 30 are concavely provided with embedded pits 28, the peripheral wall of the inner side wall of the second hole part 21 is provided with a plurality of linkage handles 36 at equal intervals, and the linkage handles 36 and the embedded pits 28 are arranged in a matching way;
the first outer cylinder 18 is sleeved on the outer wall surface of the rotary column 15, a plurality of first linkage frames 23 are arranged on the first outer cylinder 18 at equal intervals in the extending direction of the rotary column 15, one end of each first linkage frame 23 is provided with a jogging block 24, a rectangular pit 25 is cut on the top of each jogging block 24, the jogging blocks 24 are matched with the clamping cavities 30, and the rectangular pits 25 are matched with the jogging pits 28, and the staggered holes 29 are matched with the linkage handles 36;
two ends of the outer cylinder I18 are respectively provided with a first through hole 22 in a concave manner, every two first through holes 22 are in a pair, the rotation center lines of the two first through holes 22 in each pair coincide, and the rotation center lines of the two adjacent first through holes 22 in the pair are crossed;
the rotary column 15 is concavely provided with a plurality of through holes II 27, the through holes II 27 and the through holes I22 are matched, the matched through holes II 27 and the matched through holes I22 penetrate through the same connecting screw rod I17, and the outer cylinder I18 and the rotary column 15 are connected by the connecting screw rod I17;
a first spike piece 32 is arranged at one end of the first hole piece 19 far away from the coupling 14, a second spike piece 39 is arranged at one end of the second hole piece 21, the first spike piece 32 and the second spike piece 39 are indirectly connected by an n-shaped clamp 44 and a first combination strip 43, the n-shaped clamp 44 is connected with a first locking bolt 45, and the angle between any two consecutive staggered holes 29 is 2 pi/3 degrees;
after the second hole-forming member 21 is arranged on the device, the connecting lines of the adjacent staggered holes 29 are crossed with the rotation center line of the rotary column 15, so that broken materials generated in the process of screwing the first hole-forming member 19 into holes can be prevented from straightly and continuously penetrating through the adjacent staggered holes 29 and interfering with the obstacle clearance rate;
the first hole forming piece 19 is arranged, the first outer cylinder 18 is required to be hooped on the periphery of the rotary column 15, the first linkage frame 23 is clamped on the inner side of the first outer cylinder 18, then the first connecting screw 17 is inserted into the second through hole 27 to lock the first outer cylinder 18 and the rotary column 15, the embedded block 24 at one end of the first linkage frame 23 can extend into the matched clamping cavity 30, the embedded block 24 seals the embedded pit 28, and the crushed aggregates entering the embedded pit 28 can be reduced, so that the functions of the embedded pit are affected.
A clamping channel 37 is reserved at the periphery of the second hole opening piece 21, a plurality of limiting holes 38 are concavely formed in one side of the clamping channel 37, the limiting holes 38 are arranged at equal intervals, clamping strips 41 are preset on the inner peripheral surface of the third hole opening piece 20, a plurality of second locking holes are arranged at equal intervals on the clamping strips 41, the clamping strips 41 and the clamping channel 37 are arranged in a matched mode, the third hole opening piece 20 and the second hole opening piece 21 are linked, a single limiting hole 38 is matched with one of the second locking holes, and the second locking bolt 47 penetrates through the limiting holes 38 and the second locking holes to connect the two;
a third spike member 42 is arranged at one end of the third hole member 20, and the third spike member 42 and the second spike member 39 are linked by a second combination strip 46, an n-shaped clamp 44 and a first locking bolt 45.
The structures of the first spike piece 32, the second spike piece 39 and the third spike piece 42 are consistent, the first spike piece 32 comprises a base 34 and spikes 35, one end of the first hole-forming piece 19 is provided with the base 34, one side of the base 34 is provided with two spikes 35, and the spikes 35 are respectively arranged at two ends of the base 34;
spike 35 makes the clearing of the holes of the clearing assembly more efficient.
Two ends of the first combination strip 43 are respectively connected with the first spike piece 32 and the second spike piece 39, one side of the first spike piece 32 is connected with the first combination strip 43, two ends of the second combination strip 46 are respectively connected with the second spike piece 39 and the third spike piece 42, the first combination strip 43 and the second combination strip 46 are partially overlapped, n-shaped cards 44 are distributed on the first spike piece 32, the second spike piece 39 and the third spike piece 42, two ends of the n-shaped cards 44 are respectively provided with a spike 35 connected with the same base 34, and the n-shaped cards 44 are fixedly connected with the first combination strip 43, the base 34 and the second combination strip 46 by using a locking bolt 45;
the first locking bolt 45 firmly connects the n-shaped card 44 with the first combination bar 43, the base 34 and the second combination bar 46.
The first spike member 32 and the third spike member 42 are distributed at two ends of the second spike member 39 to form a group of spike components, the number of spike components is even, and the spike components are distributed at equal intervals.
The spike components are distributed at equal intervals to balance the cleaning components.
One end of the first hole-forming piece 19 is concavely provided with a clamping cavity 30, one side, deviating from the embedded pit 28, of the inner wall of the clamping cavity 30 is preset to be a slope surface II 31, one end of the embedded block 24 is reserved with a slope surface I26, the slope surface I26 is matched with the slope surface II 31, the other end of the embedded block 24 is reserved with a slope surface III 48, and a part of the slope surface III 48 is arranged on the inner side of the clamping cavity 30.
The outer cylinder 18 needs to be rotated to disassemble and assemble the second hole-forming element 21, so that the embedded block 24 moves and approaches to the second slope surface 31, the first slope surface 26 can remove substances on the clamping cavity 30, so that the first slope surface 26 can move smoothly, the second hole-forming element 21 can be assembled or installed smoothly, the third slope surface 48 is used, one end of the embedded block 24 is lower than the first hole-forming element 19, and the first hole-forming element 19 can convey substances smoothly.
The head of the rotary column 15, deviating from the clearing frame 16, is provided with a short-distance first hole opening part 19, a second hole opening part 21 and a third hole opening part 20, the corresponding fan-shaped central angles of the first hole opening part 19, the second hole opening part 21 and the third hole opening part 20 are within pi/3, the assembly method of the first hole opening part 19, the second hole opening part 21 and the third hole opening part 20 is the same as that of the first hole opening part 19, the second hole opening part 21 and the third hole opening part 20, and the first spike part 32, the second spike part 39 and the third spike part 42 can be arranged on the short-distance first hole opening part 19, the second hole opening part 21 and the third hole opening part 20;
the angle between two adjacent clamping cavities 30 or linkage handles 36 is 2 pi/3, and a linkage handle 36 is arranged on the second short-distance hole-opening part 21.
The outer wall of the rotary column 15 is sleeved with a cleaning wheel 49, and the cleaning wheel 49 rotates to rub against the pipeline, so that the inner wall of the pipeline is cleaned;
the first hole opening piece 19, the third hole opening piece 20 and the second hole opening piece 21 are auger blades.
The implementation mode specifically comprises the following steps: the second travelling assembly can drive the first travelling wheel 10 to travel in the pipeline, the device is placed in the pipeline to be cleaned, the gas spring 2 extrudes each telescopic rod 2, each second travelling wheel 3 is tightly attached to the inner wall of the pipeline, the servo electric cylinder 50 controls the push rod 52 to swing, the push rod 52 pushes the extrusion moving block 51, the second motor 53 and the power column 55 to move, the power column 55 extrudes the wheel frame 56 and the first crawling wheel 10 to enable the first travelling wheel 10 to extrude and tightly attach to the inner wall of the pipeline, so that the first travelling wheel 10 obtains enough ground grabbing force, the motor 53 indirectly controls the first travelling wheel 10 to rotate by the power column 55 and the wheel frame 56, the second travelling wheel 5 is enabled to move, the second travelling wheel 5 pulls the first travelling wheel 1 to move, and the rotary column 7, the pull column 8 and the first limiting block 9 between the first travelling wheel 1 and the second travelling wheel 5 enable the first travelling wheel 1 and the second travelling wheel 5 to bend, and the device can pass through the bent part of the pipeline;
the device moves to a blocking position to clean up obstacles and crops attached to the pipe wall, the first motor 13 controls the rotation of the rotation column 15, and the rotation column 15 adjusts the direction of the first impurity removing component, the second impurity removing component or the third impurity removing component to align with the obstacles and clean up the obstacles;
the first impurity removing component, the second impurity removing component and the third impurity removing component can remove obstacles in the pipeline and attached crops on the inner wall, and the first impurity removing component, the second impurity removing component and the third impurity removing component can be selected according to the use condition;
the first servo motor can control the rotary table 6 to rotate, and the orientations of the first impurity removing component, the second impurity removing component and the third impurity removing component are adjusted so as to clean the pipeline better;
the second hole opening piece 21 or the third hole opening piece 20 can be connected to the first impurity removing component or the second impurity removing component, the size of the impurity removing component is controlled by adjusting the connection condition of the second hole opening piece 21 and the third hole opening piece 20, so that pipelines with different inner diameters can be adapted, on the other hand, when the pipelines are completely blocked, the impurity removing components with different sizes are adopted to open holes on the blocking objects for multiple times respectively, so that the blocking objects are changed into broken residues to be separated from the blocking objects and attached to the inner walls of the pipelines, the blocking objects are removed successively, the inner diameters of the holes reach a critical value convenient to remove, the removal range is enlarged gradually, the sound generated by operation can be reduced, and the pollution to the environment is further reduced;
installing a second hole opening part 21: the locking of the rotary column 15 and the connecting screw rod I17 is released, the outer cylinder I18 is rotated to enable the rectangular pit 25 on the embedded block 24 to be matched with the staggered hole 29 on the first hole opening piece 19, then the second hole opening piece 21 is controlled to be assembled on the first hole opening piece 19, the first through hole 22 and the second through hole 27 are overlapped while the outer cylinder I18 is rotated, the first through hole 22 and the second through hole 27 are fixedly connected with the outer cylinder I18 and the rotary column 15 through the connecting screw rod I17, then the interlocking handle 36 passes through the matched staggered hole 29 and the rectangular pit 25, the second hole opening piece 21 is controlled to change until the interlocking handle 36 is spliced with the embedded pit 28, then the locking of the connecting screw rod I17 is released, the first outer cylinder 18 is controlled to rotate, the first through hole 22 is caused to change in position, the staggered hole 29 and the rectangular pit 25 are staggered, the first through hole 22 and the second through hole 27 are overlapped, then the connecting screw rod I17 passes through the locking rotary column 15 and the first outer cylinder 18, the embedded block 24 and the interlocking handle 36 are abutted and locked, finally, the spike II 39 is installed, and the spike I32 is connected with the first connecting bolt 32 through the combined clamp strip 43 and the locking pin 45;
and a step of installing the third hole part 20, wherein the third hole part 20 is controlled to enable the clamping strip 41 to be matched with the clamping channel 37, the third hole part 20 is rotated to enable the clamping strip 41 to be abutted against the clamping channel 37 and relatively move and clamped, the third hole part 20 and the second hole part 21 are relatively locked, the second locking bolt 47 is used for penetrating through the clamping strip 41 and the clamping channel 37, the third hole part 20 and the second hole part 21 are enabled to be linked and fixedly connected, finally, the third spike part 42 is installed, and the first spike part 42 is connected with the second spike part 39 by utilizing the first combination strip 43, the n-shaped clamp 44 and the first locking bolt 45.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The robot device for cleaning the pipe in the pipeline comprises a first barrel (1), and is characterized in that a rotary column (7) is rotatably connected to the inside of one end of the first barrel (1), a pulling column (8) is fixedly connected to the outside of the rotary column (7), a first limiting block (9) is arranged at one end of the pulling column (8), the first limiting block (9) is rotatably connected with a second barrel (5), one end of the second barrel (5) deviating from the first limiting block (9) is provided with a rotary table (6), and one end of the rotary table (6) is provided with a cleaning component;
three first walking components are arranged on the periphery of the first cylinder body (1) at equal intervals;
the first walking assembly comprises a telescopic rod (2), a second crawling wheel (3) and a gas spring (2), the telescopic rod (2) and the gas spring (2) are hinged to the first cylinder body (1), the movable end of the gas spring (2) is hinged to the outer side of the telescopic rod (2), and the second crawling wheel (3) is hinged to the movable end of the telescopic rod (2);
the top of the second cylinder body (5) is provided with a first traveling assembly, and the bottom of the second cylinder body (5) is provided with a second traveling assembly;
the two walking components comprise a first crawling wheel (10) and a wheel frame (56), the first crawling wheel (10) is arranged at one end of the wheel frame (56), the wheel frame (56) is arranged on the second cylinder (5), and the first crawling wheel (10) is hemispherical.
2. A pipeline cleaning robot apparatus as claimed in claim 1, wherein: the walking assembly II further comprises a power column (55), a movable cavity (54), a motor II (53), a push rod (52), a moving block (51) and a servo electric cylinder (50), wherein the movable cavity (54) is reserved in the cylinder II (5), two moving blocks (51) are arranged on the inner side of the movable cavity (54), the motor II (53) is arranged on the inner side of the moving block (51), and a rotating shaft of the motor II (53) is fixedly connected with the power column (55);
the power column (55) stretches into the wheel frame (56), one end of the power column (55) deviating from the motor II (53) is in friction connection with the bottom of the inner wall of the inner side of the wheel frame (56), the power column (55) is in variable connection with the wheel frame (56), the servo electric cylinder (50) is arranged at the top of the movable cavity (54), two push rods (52) are hinged to the bottom of the movable end of the servo electric cylinder (50), the push rods (52) are respectively matched with the movable blocks (51), and the push rods (52) are hinged to the matched movable blocks (51).
3. A pipeline cleaning robot apparatus as claimed in claim 1, wherein: the cleaning assembly comprises a coupling block (12), a first motor (13), a coupling (14), a rotating column (15) and a cleaning frame (16), wherein the coupling block (12) is arranged in the turntable (6), the first motor (13) is fixedly connected with the coupling block (12), the coupling (14) is arranged on a rotating shaft of the coupling block (12), one end of the coupling (14) is fixedly connected with the rotating column (15), the cleaning frame (16) is arranged on the outer peripheral surface of the rotating column (15), and the cleaning frame (16) comprises a first hole opening part (19), a second hole opening part (21) and a third hole opening part (20);
the first hole opening piece (19) is sleeved on the rotating column (15), the second hole opening piece (21) is arranged on the periphery of the first hole opening piece (19), and the third hole opening piece (20) is arranged on the periphery of the second hole opening piece (21);
the cleaning frame (16) can be divided into three types according to different structures: the device comprises a first impurity removing component, a second impurity removing component and a third impurity removing component;
the rotating column (15), the first outer cylinder (18) and the first hole-forming piece (19) form a first impurity-removing component, the rotating column (15), the first outer cylinder (18), the first hole-forming piece (19) and the second hole-forming piece (21) form a second impurity-removing component, and the rotating column (15), the first outer cylinder (18), the first hole-forming piece (19), the second hole-forming piece (21) and the third hole-forming piece (20) form a third impurity-removing component.
4. A pipeline cleaning robot apparatus as claimed in claim 3, wherein: the periphery of the first hole opening piece (19) is reserved with a plurality of clamping cavities (30) in the extending direction of the rotating column (15), the bottom of each clamping cavity (30) is concavely provided with a staggered hole (29), each staggered hole (29) penetrates through the first hole opening piece (19), the first hole opening piece (19) extends towards the extending direction of the rotating column (15), each clamping cavity (30) is concavely provided with a jogging pit (28), the peripheral wall of the inner side wall of the second hole opening piece (21) is provided with a plurality of linkage handles (36) at equal intervals, and the linkage handles (36) and the jogging pits (28) are arranged in a matched mode;
the first outer cylinder (18) is sleeved on the outer wall surface of the rotary column (15), a plurality of first linkage frames (23) are arranged on the first outer cylinder (18) at equal intervals in the extending direction of the rotary column (15), a jogging block (24) is preset at one end of each first linkage frame (23), a rectangular pit (25) is chiseled out of the top of each jogging block (24), the jogging blocks (24) are matched with the clamping cavities (30), and the rectangular pits (25) are matched with the jogging pits (28), and staggered holes (29) are matched with the linkage handles (36);
a first through hole (22) is concavely formed in two ends of the first outer cylinder (18), a plurality of second through holes (27) are concavely formed in the rotary column (15), the second through holes (27) are matched with the first through holes (22), the matched second through holes (27) and the matched first through holes (22) penetrate through the same first connecting screw (17), and the first outer cylinder (18) and the rotary column (15) are connected through the first connecting screw (17);
the first hole forming piece (19) is provided with a first spike piece (32) at one end far away from the coupler (14), the second hole forming piece (21) is provided with a second spike piece (39) at one end, the first spike piece (32) and the second spike piece (39) are indirectly connected through an n-shaped clamp (44) and a first combined strip (43), the n-shaped clamp (44) is connected with a first locking bolt (45), and the angle between any two continuous staggered holes (29) is 2 pi/3 degrees.
5. An in-pipeline pig robot apparatus according to claim 4, wherein: the periphery of the second hole opening part (21) is reserved with a clamping channel (37), one side of the clamping channel (37) is provided with a plurality of limiting holes (38) in a concave mode, the limiting holes (38) are arranged at equal intervals, the inner peripheral surface of the third hole opening part (20) is provided with clamping strips (41), the clamping strips (41) are provided with a plurality of second locking holes at equal intervals, the clamping strips (41) and the clamping channel (37) are arranged in a matched mode, the third hole opening part (20) and the second hole opening part (21) are in linkage, one limiting hole (38) and one second locking hole are matched, and the second locking bolt (47) penetrates through the limiting holes (38) and the second locking holes to enable the third hole opening part and the second locking hole to be connected.
6. A pipeline cleaning robot apparatus as claimed in claim 3, wherein: the structure of the first spike piece (32), the second spike piece (39) and the third spike piece (42) is consistent, the first spike piece (32) comprises a base (34) and spikes (35), one end of the first hole-forming piece (19) is provided with the base (34), one side of the base (34) is provided with two spikes (35), and the spikes (35) are respectively arranged at two ends of the base (34);
two ends of the first combination strip (43) are respectively connected with the first spike piece (32) and the second spike piece (39), one side of the first spike piece (32) is connected with the first combination strip (43), two ends of the second combination strip (46) are respectively connected with the second spike piece (39) and the third spike piece (42), the first combination strip (43) and the second combination strip (46) are partially overlapped, n-shaped cards (44) are distributed on the first spike piece (32), the second spike piece (39) and the third spike piece (42), two ends of each n-shaped card (44) are respectively provided with a spike (35) connected to the same base (34), and the n-shaped cards (44) are fixedly connected with the first combination strip (43), the base (34) and the second combination strip (46) by using locking bolts (45).
7. A pipeline cleaning robot apparatus as claimed in claim 3, wherein: one end of the first hole opening piece (19) is concavely provided with a clamping cavity (30), one side of the inner wall of the clamping cavity (30) deviating from the embedded pit (28) is preset to be a slope surface II (31), one end of the embedded block (24) is reserved with a slope surface I (26), the slope surface I (26) is matched with the slope surface II (31), the other end of the embedded block (24) is reserved with a slope surface III (48), and the part of the slope surface III (48) is arranged on the inner side of the clamping cavity (30).
8. An in-pipeline pig robot apparatus according to claim 4, wherein: every two through holes (22) are in a pair, the rotation center lines of every two through holes (22) in each pair coincide, and the rotation center lines of two adjacent through holes (22) in each pair are crossed.
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| CN202310551994.5A CN116550703B (en) | 2023-05-17 | 2023-05-17 | Robot device for cleaning pipe in pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310551994.5A CN116550703B (en) | 2023-05-17 | 2023-05-17 | Robot device for cleaning pipe in pipeline |
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| CN116550703B CN116550703B (en) | 2023-10-27 |
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| WO1989012513A1 (en) * | 1988-06-13 | 1989-12-28 | Hans Norberg | Apparatus for cleaning pipes |
| JP2018130678A (en) * | 2017-02-15 | 2018-08-23 | 学校法人立命館 | Air duct cleaning robot |
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| CN116550703B (en) | 2023-10-27 |
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