CN201177140Y - Cleaning robot for large-sized ventilating duct - Google Patents
Cleaning robot for large-sized ventilating duct Download PDFInfo
- Publication number
- CN201177140Y CN201177140Y CNU2008200793446U CN200820079344U CN201177140Y CN 201177140 Y CN201177140 Y CN 201177140Y CN U2008200793446 U CNU2008200793446 U CN U2008200793446U CN 200820079344 U CN200820079344 U CN 200820079344U CN 201177140 Y CN201177140 Y CN 201177140Y
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- mobile platform
- cylinder
- extending arm
- joint
- camera
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Abstract
The utility model provides a cleaning robot for a large ventilation pipeline, which belongs to the environmental protection equipment field and comprises a mobile platform, wherein the mobile platform comprises a mobile platform body and a crawler type unit module, and the unit module is connected with the mobile platform body through an angle module; the mobile platform body is provided with a plurality of stretching arms and a plurality of cylinders, the cylinders are arranged on the stretching arms, the connection between the stretching arms is hinge type connection, one end of each stretching arm is connected with the mobile platform body, while the other end is provided with a front joint which is connected with an operating brush body through a 90 DEG reversing arrangement, and the cylinders drive the stretching arms, the front joints and the 90 DEG reversing arrangements to move. Therefore, the cleaning robot for the large ventilation pipeline has a simple structure, relatively small volume, and flexible and accurate operation, has the characteristics of strong cleaning function in longitudinal and transverse directions, complete cleaning, convenient use and good continuity, and is suitable for cleaning square and round pipelines.
Description
Technical field
The utility model relates to environmental protection equipment, particularly a kind of wash machine people who is used for large-scale ventilation duct.
Background technique
Development along with modern society, increasing building adopt central air-conditioning system, the temperature of indoor air, humidity, airspeed etc. are effectively regulated, but because the efficient of its filter can not reach 100%, also can get rusty and crystallization etc. in air-conditioning equipment inside, long-term heap-shaped becomes dust and the pollutant in the airduct.If the ventilation duct of central air conditioning can not be cleaned in time, then can be owing to the increasing of windage energy loss, indoor air is polluted, bring out bacteria breed, communicate illness has a strong impact on people's quality of life.Because traditional manual work engineering work load is big, working efficiency is low, and effect is unsatisfactory, has produced some air channel cleaning equipments thus.Air channel cleaning equipment in the market exists complex structure, bulky, awkward shortcoming.Though it has roof and diapire cleans advantage easily, horizontal sidewall is to use the oblique hair of planting in the hairbrush outside to clean, owing to can not adjust the direction of hairbrush, laterally cleaning face is little, has the defective of convenience and poor continuity; The wheel of this kind equipment can not angle changing in addition, is not easy to clean in circular pipe.
Summary of the invention
The purpose of this utility model is the defective at above-mentioned prior art, a kind of wash machine people who is used for large-scale ventilation duct is provided, have simple in structure, volume is small and exquisite relatively, flexible operation and accurately, strong to washing function in length and breadth, clean thoroughly, ease of use and continuity are good, and are fit to the cleaning of square and circular pipe.
The technological scheme taked of the utility model is to achieve these goals: a kind of wash machine people who is used for large-scale ventilation duct, comprise mobile platform, described mobile platform comprises mobile platform main body and caterpillar unit module, and unit module is connected with the mobile platform main body by the angle assembly; The mobile platform main body is provided with a plurality of extending arms and a plurality of cylinder, cylinder is arranged on the extending arm, connect for hinge type between the extending arm, one end of extending arm links to each other with the mobile platform main body, the other end is provided with the joint, forward position, the joint, forward position connects the operation brush body by 90 ° of reversing arrangements, and cylinder drives extending arm, joint, forward position and 90 ° of reversing arrangement motions.Flexible by adjusting cylinder drive extending arm, reach the cleaning that the purpose of adjusting height adapts to the various forms pipeline; By changing the angle of angle assembly, make unit module be easy to the cleaning of walking realization circular pipe in circular pipe; Make 0-90 ° of scope of operation brush body commutate by 90 ° of reversing arrangements, be convenient to horizontal cleaning; Can be convenient to the operator by camera and adjust motion state of the present utility model.So the utlity model has simple in structure, the small and exquisite relatively advantage of volume.
Described extending arm is that two, cylinder are four, all according to from the bottom to top order setting; Wherein, the end of No. two extending arms is provided with sliding-rail groove, is provided with the joint, forward position in it, one end of a cylinder connects the bottom of mobile platform main body, an extending arm of the other end connection, No. two cylinder one end connects the bottom of an extending arm, the bottom that the other end connects No. two extending arms, and No. three cylinder one end connects the middle part of No. two extending arms, the joint, forward position in the other end connection sliding-rail groove; Described 90 ° of reversing arrangements are arranged in the sliding-rail groove of No. two extending arm ends, No. four cylinders, chain and sprocket wheels comprising, and the two ends of No. four cylinders are connected with chain respectively and drive its motion, and sprocket wheel and operation brush body are set to one, and chain is meshed with sprocket wheel; Described operation brush body is two, and uniform along the center.
Described angle assembly comprises the supporting element B of linkage unit module, the supporting element A that connects mobile platform and dismemberent axle, and the end of supporting element B and supporting element A all is connected with the dismemberent axle respectively by joint shaft bearing.By changing the angle that the length of dismembering axle drives supporting element B and unit module, conveniently enter circular pipe and clean.
Be equipped with camera on described mobile platform and the stretching, extension wall, described camera be three be arranged on a camera on the mobile platform respectively, be arranged on No. one on the extending arm No. two cameras and be arranged on No. three cameras on the extending arm No. two, wherein camera and No. two corresponding both sides that are arranged on mobile platform of camera.A camera is observed the dead ahead of mobile platform, and No. two cameras are observed the dead astern of mobile platform, and one No. two two camera matches, and makes operator observe surrounding environment, freely advances thereby handle mobile platform; No. three cameras are observed the runnability of operation brush bodies, are convenient to the work of operator's control operation brush body, therefore have flexible operation and advantage accurately.
Described cylinder can also be replaced by air-leg or electronic cylinder.
The beneficial effects of the utility model are:
1) compared to existing technology, the utility model has adopted cylinder to drive the flexible structure of extending arm, and to drive extending arm flexible by adjusting cylinder, reaches the purpose of adjusting height, adapt to the various forms pipeline cleaning and simple in structure, volume is small and exquisite;
2) compared to existing technology, the utility model has adopted the angle modular construction, by changing the angle of angle assembly, makes that unit module is easy to walk in circular pipe, especially is fit to the cleaning of circular pipe;
3) compared to existing technology, the utility model adopts 90 ° of reversing arrangement structures, makes the operation brush body 0-90 ° of scope to commutate, and has strengthened horizontal washing function, has the convenience and the good advantage of continuity of horizontal cleaning.
4) adopt mobile platform and extending arm that the structure of camera is set, can be convenient to the operator by camera and adjust motion state of the present utility model, flexible operation is accurate.
Therefore the utlity model has simple in structure, volume is small and exquisite relatively, flexible operation and accurately, and is strong to washing function in length and breadth, cleans thoroughly, ease of use and continuity are good, and are fit to the cleaning of square and circular pipe.
Description of drawings
Fig. 1 is the structural representation of the utility model closed state;
Fig. 2 is the structural representation of the utility model extended configuration;
Fig. 3 is the side view of Fig. 2;
Fig. 4 is the partial sectional view of Fig. 3;
Fig. 5 is the schematic representation of Fig. 4 unit module angle of swing;
Fig. 6 is the schematic representation of brush body described in the utility model.
Among the figure: 1 unit module, 2 mobile platform main bodys, No. 3 cylinders, No. 4 extending arms, 5 No. two cylinders, No. 6.1 cameras, 6.2 No. two cameras, 6.3 No. three cameras, 7 No. two extending arms, 8 No. three cylinders, 9.90 ° of reversing arrangements, 9.1 No. four cylinders, 9.2 chains, 9.3 sprocket wheels, 10 operation brush bodies, joint, 11 forward position, 12 angle assemblies, 12.1 supporting element A, 12.2 dismember axle, 12.3 supporting element B.
Embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments, but not as to qualification of the present utility model.
A kind of wash machine people who is used for large-scale ventilation duct shown in Fig. 1,2 and 3 comprises mobile platform main body 2, cylinder 3,5,8,9.1, extending arm 4,7 and about two operation brush bodies 10.Described cylinder can also be substituted by air-leg or electronic cylinder.The power of operation brush body 10 is provided by cylinder, and drives its 10 horizontal vertical direction rotation by the pneumatic mode of cylinder.The sidepiece of described mobile platform main body 2 is provided with crawler unit module 1, and unit module 1 is connected with mobile platform main body 2 by angle assembly 12.The power of unit module 1 is provided by motor.As shown in Figure 5, described angle assembly 12 comprises the supporting element B 12.3 of linkage unit module 1, the supporting element A 12.1 that connects mobile platform 2 and dismemberent axle 12.2, and the end of supporting element B 12.3 and supporting element A 12.1 all is connected with dismemberent axle 12.2 respectively by joint shaft bearing.Form the angle of inclination by changing joint shaft bearing with long and short drive supporting element B 12.3 motions of dismembering axle 12.2 and with unit module 1, make things convenient for the utility model to enter circular pipe and clean.
As shown in Figure 1, 2, mobile platform main body 2 is provided with 4,7 and four cylinders 3,5,8,9.1 of two extending arms, and cylinder is connected on the extending arm, connects for hinge type between the extending arm.The upper end that the bottom of an extending arm is provided with 4.1, No. two extending arms 8 of side plate is provided with sliding-rail groove, is provided with joint, forward position 11 in the sliding-rail groove, and joint, forward position 11 front ends are connected with 90 ° of reversing arrangements 9.Wherein, cylinder 3 one ends connect side plate 4.1 bottoms of mobile platform main body 2, an extending arm 4 of the other end connection, No. two cylinder 5 one ends connect side plate 4.1 middle parts of an extending arm 4, the bottom that the other end connects No. two extending arms 7, and No. three cylinder 8 one ends connect middle part, the other end connection joint, forward position 11 of No. two extending arms 7.The ditrigon Support is stablized in extending arm of the common drive of a cylinder 3 and No. two cylinders 54 and formation.Another effect of No. two cylinders 5 is to drive No. two extending arm 7 swings.The effect of No. three cylinders 8 is to drive 11 motions of joint, forward position, drives the longitudinal oscillation of operation brush body 10 indirectly.As shown in Figure 4, described 90 ° of reversing arrangements 9 comprise that the two ends of No. four cylinders 9.1, chain 9.2 and 9.3, No. four cylinders 9.1 of sprocket wheel are connected with chain 9.2, chain 9.2 engagement sprocket wheels 9.3, and sprocket wheel 9.3 is structure as a whole with brush body 10.Drive chain 9.2 motions by horizontally slipping of No. four cylinders 9.1, by chain 9.2 engagement sprocket wheels 9.3, make that sprocket wheel 9.3 rotates, operation brush body 10 0 ° of-90 ° of scope inward turnings conversion to, therefore laterally washing function strengthens, has whole cleaning thoroughly, the advantage that ease of use and continuity are good.
Operator's control for convenience, as shown in Figure 1, 2, described mobile platform main body 2 and stretching, extension wall 4,7 are provided with camera.Described camera is three, be arranged on a camera 6.1 on the mobile platform main body 2 respectively, be arranged on No. one on the extending arm 4 No. two cameras 6.2 and be arranged on No. three cameras 6.3 on the extending arm 7 No. two, wherein camera 6.1 and No. two camera 6.2 corresponding both sides that are arranged on mobile platform 2.A camera 6.1 is observed the dead ahead of mobile platform 2, and No. two cameras 6.2 are observed the dead astern of mobile platform 2, and one, No. two two camera 6.1,6.2 matches, and makes operator observe surrounding environment, freely advances thereby handle mobile platform; The runnability of No. three camera 6.3 observation operation brush bodies 10 is convenient to 10 work of operator's control operation brush body.
Working principle of the present utility model: as shown in Figure 1, the utility model runs in the ventilation duct to be cleaned, cylinder 3,5,8 elongations and motion put in place extending arm 4,7 are launched, No. three cylinders 8 drive the roof and the diapire of joint, forward position 11 and interlock operation brush body 10 swing cleaning ventilation ducts, 90 ° of reversing arrangements by No. four cylinder 9.1 drives turn to then, and operation brush body 10 angle of swing are carried out the cleaning of lateral sidewalls.
Therefore the utility model is simple in structure, volume is small and exquisite relatively, flexible operation and accurately, has by force to washing function in length and breadth, cleans thoroughly, and the characteristics that ease of use and continuity are good are fit to the cleaning of square and circular pipe.
Above-described embodiment, the utility model embodiment a kind of more preferably just, the common variation that those skilled in the art carries out in the technical solutions of the utility model scope and replacing all should be included in the protection domain of the present utility model.
Claims (5)
1. a wash machine people who is used for large-scale ventilation duct comprises mobile platform and operation brush body, it is characterized in that: described mobile platform comprises mobile platform main body and caterpillar unit module, and unit module is connected with the mobile platform main body by the angle assembly; The mobile platform main body is provided with a plurality of extending arms and a plurality of cylinder, cylinder is arranged on the extending arm, connect for hinge type between the extending arm, one end of extending arm links to each other with the mobile platform main body, the other end is provided with the joint, forward position, the joint, forward position connects the operation brush body by 90 ° of reversing arrangements, and cylinder drives extending arm, joint, forward position and 90 ° of reversing arrangement motions.
2. the wash machine people who is used for large-scale ventilation duct according to claim 1 is characterized in that: described extending arm is that two, cylinder are four, all according to from the bottom to top order setting; Wherein, the end of No. two extending arms is provided with sliding-rail groove, is provided with the joint, forward position in it, one end of a cylinder connects the bottom of mobile platform main body, an extending arm of the other end connection, No. two cylinder one end connects the bottom of an extending arm, the bottom that the other end connects No. two extending arms, and No. three cylinder one end connects the middle part of No. two extending arms, the joint, forward position in the other end connection sliding-rail groove; No. four cylinders, chain and sprocket wheels that described 90 ° of reversing arrangements comprise, the two ends of No. four cylinders are connected with chain respectively and drive its motion, and sprocket wheel and operation brush body are set to one, and chain is meshed with sprocket wheel; Described operation brush body is two, and uniform along the center.
3. the wash machine people who is used for large-scale ventilation duct according to claim 1, it is characterized in that: described angle assembly, comprise the supporting element B of linkage unit module, the supporting element A that connects mobile platform and dismemberent axle, the end of supporting element B and supporting element A all is connected with the dismemberent axle respectively by joint shaft bearing.
4. according to the described wash machine people who is used for large-scale ventilation duct of the arbitrary claim of claim 1-3, it is characterized in that: be equipped with camera on described mobile platform and the stretching, extension wall, described camera be three be arranged on a camera on the mobile platform respectively, be arranged on No. one on the extending arm No. two cameras and be arranged on No. three cameras on the extending arm No. two, wherein camera and No. two corresponding both sides that are arranged on mobile platform of camera.
5. the wash machine people who is used for large-scale ventilation duct according to claim 4 is characterized in that: described cylinder is air-leg or electronic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200793446U CN201177140Y (en) | 2008-03-12 | 2008-03-12 | Cleaning robot for large-sized ventilating duct |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200793446U CN201177140Y (en) | 2008-03-12 | 2008-03-12 | Cleaning robot for large-sized ventilating duct |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201177140Y true CN201177140Y (en) | 2009-01-07 |
Family
ID=40217156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200793446U Expired - Lifetime CN201177140Y (en) | 2008-03-12 | 2008-03-12 | Cleaning robot for large-sized ventilating duct |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201177140Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| WO2015011302A1 (en) * | 2013-07-24 | 2015-01-29 | Eliot Systems, S.L. | Washing system that can be installed on robotic devices for cleaning metal surfaces |
| CN106719564A (en) * | 2016-11-19 | 2017-05-31 | 冯增瑞 | Flame kills mouse robot in a kind of rat hole |
| CN107990084A (en) * | 2017-12-26 | 2018-05-04 | 连建腾 | A kind of air-conditioning duct detects cleaning system |
| RU196982U1 (en) * | 2019-09-17 | 2020-03-23 | Общество с ограниченной ответственностью "Газпром трансгаз Томск" (ООО "Газпром трансгаз Томск") | Mounting device for the receiver of the electromagnetic control system of an in-tube X-ray flaw detector, such as a crawler |
-
2008
- 2008-03-12 CN CNU2008200793446U patent/CN201177140Y/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| WO2015011302A1 (en) * | 2013-07-24 | 2015-01-29 | Eliot Systems, S.L. | Washing system that can be installed on robotic devices for cleaning metal surfaces |
| CN106719564A (en) * | 2016-11-19 | 2017-05-31 | 冯增瑞 | Flame kills mouse robot in a kind of rat hole |
| CN106719564B (en) * | 2016-11-19 | 2019-12-10 | 温州翰轩林工业设计有限公司 | Fire-spraying deratization robot in rat hole |
| CN107990084A (en) * | 2017-12-26 | 2018-05-04 | 连建腾 | A kind of air-conditioning duct detects cleaning system |
| RU196982U1 (en) * | 2019-09-17 | 2020-03-23 | Общество с ограниченной ответственностью "Газпром трансгаз Томск" (ООО "Газпром трансгаз Томск") | Mounting device for the receiver of the electromagnetic control system of an in-tube X-ray flaw detector, such as a crawler |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: BEIJING FUCHENLONG TECHNOLOGY DEVELOPMENT CO., LTD Free format text: FORMER NAME: BEIJING GUOJING IMPORT AND EXPORT CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 100101 Beijing Chaoyang District Anli Road, Sunshine Plaza, No. 68 D2 block 1402 Patentee after: BEIJING FORTUNATE DRAGON CO., LTD. Address before: 100101 Beijing Chaoyang District Anli Road, Sunshine Plaza, No. 68 D2 block 1402 Patentee before: BEIJING GUOJING IMPORT AND EXPORT Co., LTD. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20090107 |