CN201720225U - Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot - Google Patents
Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot Download PDFInfo
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- CN201720225U CN201720225U CN2010202611505U CN201020261150U CN201720225U CN 201720225 U CN201720225 U CN 201720225U CN 2010202611505 U CN2010202611505 U CN 2010202611505U CN 201020261150 U CN201020261150 U CN 201020261150U CN 201720225 U CN201720225 U CN 201720225U
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Abstract
The utility model discloses a multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot, which comprises a traveling apparatus and a hairbrush cleaning mechanism; the hairbrush cleaning mechanism includes an upper mechanical arm, a front mechanical arm, a hairbrush assembly and a rotation base capable rotating by 360 DEG; the rotation base is mounted on the traveling apparatus; the lower end of the upper mechanical arm is hinged on the rotation base; the upper end of the upper mechanical arm is hinged with the lower end of the front mechanical arm; and the hairbrush assembly is mounted on the front mechanical arm. The multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot achieves the advantages of multiple free degrees, flexible cleaning orientations, and high cleaning efficiency; and can avoid secondary pollution.
Description
Technical field
The utility model relates to the central air-conditioning wind-pipe sweeping device, relates in particular to the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom that carries out comprehensive continuous cleaning work at the heavy caliber central air-conditioning ventilation shaft with complicated shape, labyrinth.
Background technology
According to national relevant regulations, the central air-conditioning ventiduct system of interior of building should regularly clean by the national standard requirement.But central air-conditioning ventilation shaft complex structure, size shape are various, and the cleaning difficulty is very big.At present, no matter be pipeline cleaning robot import or homemade, cleaning agency ubiquity structure is single, the free degree is few, cleaning range is little and the shortcoming of universal flexible difference.The structure of one pipeline cleaning robot is that a cleaning rolling brush is installed on the lifting arm of single-degree-of-freedom, the every walking of sweeping robot once, can only clean the part of a side of square-section pipeline, cleaning to a side just needs to come and go repeatedly, stay the dead angle easily, and powerless to other shape pipelines.Like this cleaning agency be used for the central air-conditioning pipe-line purging not only working strength be big, inefficiency, energy consumption cost height, and cause secondary pollution easily.
The utility model content
The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, provides the central air-conditioning airduct sweeping robot multiple degrees of freedom that a kind of free degree is many, transfer flexibly in the cleaning orientation, sweeping efficiency is high, can avoid secondary pollution three-dimensional hairbrush clearing apparatus.
For solving the problems of the technologies described above, the utility model by the following technical solutions:
The three-dimensional hairbrush clearing apparatus of a kind of central air-conditioning airduct sweeping robot multiple degrees of freedom, comprise running gear and hairbrush cleaning agency, described hairbrush cleaning agency comprises mechanical arm, preceding mechanical arm, hairbrush assembly and can make the rotating base of 360 ° of rotations, described rotating base is installed on the running gear, the described mechanical arm lower end of going up is articulated on the rotating base, the described mechanical arm upper end of going up is hinged with described preceding mechanical arm lower end, and described hairbrush assembly is installed on the preceding mechanical arm.
Described rotating base bottom is equiped with the base drive motors that is used to drive the rotating base rotation, described upward mechanical arm is hinged by shoulder joint bearing pin and rotating base, described shoulder joint bearing pin is connected with and is used to drive the shoulder joint drive motors that mechanical arm rotates, mechanical arm is hinged by elbow joint bearing pin and last mechanical arm before described, the elbow joint drive motors that mechanical arm rotated before described elbow joint bearing pin was connected with and is used to drive.
Described hairbrush assembly comprises hairbrush body, hairbrush drive motors and mount pad, and described hairbrush drive motors is fixed on the mount pad, and described hairbrush body links to each other with the output of hairbrush drive motors, and described mount pad is fixed on the preceding mechanical arm by securing member.
Described hairbrush body is provided with one, and the rotating shaft of described hairbrush body is connected with the output shaft of hairbrush drive motors is coaxial.
Described hairbrush body is provided with two, and the rotating shaft of described hairbrush body is connected through the output shaft of bevel-gear sett with the hairbrush drive motors.
Compared with prior art, advantage of the present utility model is:
The three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model, by last mechanical arm, preceding mechanical arm and rotating base are realized the Pose Control of three-freedom mechanical arm, reach the purpose that the position of hairbrush assembly on the preceding mechanical arm is adjusted flexibly, particularly for the obstacle of some pipe interiors, the dead angle, can be by adjusting the mechanical arm pose, the angle that changes the hairbrush assembly is carried out deep cleaning, thereby can be in the pipeline scope that sweeping robot passes through the disposable cleaning work of finishing each orientation of pipeline, also be convenient to simultaneously combine with the control program of setting at different pipelines, along cleaning path of setting and cleaning order each node in the pipeline is all done once and only does cleaning work one time, this operating type is called as the traversal cleaning work, it not only can avoid repeating cleaning, improve sweeping efficiency greatly, cut down the consumption of energy, reduce labour intensity, but also can effectively avoid secondary pollution; When the needs obstacle detouring, rotating base and running gear are split and whole hairbrush cleaning agency can be unloaded from running gear, whole hairbrush cleaning agency can be passed through the quick and running gear assembling of rotating base again behind the obstacle detouring, easy and simple to handle.Rotating base and each joint module are equipped with drive motors respectively, by controlling the angle that each motor turns over, regulate the angle of whole hairbrush cleaning agency rotation and the position of hairbrush assembly, can realize each face of different cross section ventilation shaft is traveled through cleaning work simultaneously continuously, turning and position, obstacle dead angle can thoroughly be cleaned simultaneously.Before the mount pad of hairbrush assembly is fixed in by securing member on the mechanical arm, determine the type and size of required hairbrush body according to the shape and size of ventilation shaft after, can carry out disassembling, assembling and replacing to hairbrush easily and efficiently.Can reasonably select quantity, arrangement and the shape of hairbrush body at difform ventilation shaft, flexibility and adaptive capacity are very strong.The three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model is simple to operate, high efficiency, can reduce the cleaning time, reduce cleaning cost and labour cost, and adaptive capacity is strong, the cleaning effect is good, do not stay the dead angle, do not cause secondary pollution.
Description of drawings
Fig. 1 is the main TV structure schematic diagram of the utility model hairbrush clearing apparatus embodiment;
Fig. 2 is the right TV structure schematic diagram of the utility model hairbrush clearing apparatus embodiment;
Fig. 3 is the structural representation of another embodiment of the utility model hairbrush clearing apparatus.
Each label is represented among the figure:
1, running gear; 2, hairbrush cleaning agency; 21, rotating base; 22, go up mechanical arm; 23, preceding mechanical arm; 24, hairbrush assembly; 211, base drive motors; 221, shoulder joint bearing pin; 222, shoulder joint drive motors; 231, elbow joint bearing pin; 232, elbow joint drive motors; 241, hairbrush body; 242, hairbrush drive motors; 243, mount pad.
The specific embodiment
Fig. 1 and Fig. 2 show the three-dimensional hairbrush clearing apparatus of a kind of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model embodiment, this device comprises running gear 1 and hairbrush cleaning agency 2, hairbrush cleaning agency 2 comprises mechanical arm 22, preceding mechanical arm 23, hairbrush assembly 24 and the rotating base 21 that can do 360 ° of rotations, rotating base 21 is installed on the running gear 1, last mechanical arm 22 lower ends are articulated on the rotating base 21, last mechanical arm 22 upper ends and preceding mechanical arm 23 lower ends are hinged, hairbrush assembly 24 is installed on the preceding mechanical arm 23, by last mechanical arm 22, preceding mechanical arm 23 and rotating base 21 are realized the Pose Control of three-freedom mechanical arm, reach the purpose that the position of hairbrush assembly 24 on the preceding mechanical arm 23 is adjusted flexibly, particularly for the obstacle of some pipe interiors, the dead angle, can be by adjusting the mechanical arm pose, the angle that changes hairbrush assembly 24 is carried out deep cleaning, thereby can be in the pipeline scope that sweeping robot passes through the disposable cleaning work of finishing each orientation of pipeline, also be convenient to simultaneously combine with the control program of setting at different pipelines, along cleaning path of setting and cleaning order each node in the pipeline is all done once and only does cleaning work one time, this operating type is called as the traversal cleaning work, it not only can avoid repeating cleaning, improve sweeping efficiency greatly, cut down the consumption of energy, reduce labour intensity, but also can effectively avoid secondary pollution; When the needs obstacle detouring, rotating base 21 and running gear 1 are split and whole hairbrush cleaning agency 2 can be unloaded from running gear 1, whole hairbrush cleaning agency 2 can be passed through rotating base 21 quick and running gear 1 assemblings again behind the obstacle detouring, easy and simple to handle.In the present embodiment, rotating base 21 bottoms are equiped with the base drive motors 211 that is used to drive rotating base 21 rotations, last mechanical arm 22 is hinged by shoulder joint bearing pin 221 and rotating base 21, shoulder joint bearing pin 221 is connected with and is used to drive the shoulder joint drive motors 222 that mechanical arm 22 rotates, preceding mechanical arm 23 is hinged by elbow joint bearing pin 231 and last mechanical arm 22, the elbow joint drive motors 232 that mechanical arm 23 rotated before elbow joint bearing pin 231 was connected with and is used to drive, needs according to rotating speed and moment transmission, between each motor and corresponding bearing pin, also be provided with gearbox, by controlling the angle that each motor turns over, regulate the angle of whole hairbrush cleaning agency 2 rotations and the position of hairbrush assembly 24, can realize each face of different cross section ventilation shaft is traveled through cleaning work simultaneously continuously, turning and position, obstacle dead angle can thoroughly be cleaned simultaneously.Hairbrush assembly 24 comprises hairbrush body 241, hairbrush drive motors 242 and mount pad 243, hairbrush drive motors 242 is fixed on the mount pad 243, mount pad 243 is fixed on the preceding mechanical arm 23 by securing member, easy accessibility, can determine type, size and the quantity of required hairbrush body 241 according to the shape and size of ventilation shaft, in the present embodiment, hairbrush body 241 is provided with two, and hairbrush body 241 is a column ball-type end face brush, and the rotating shaft of hairbrush body 241 is connected through the output shaft of bevel-gear sett with hairbrush drive motors 242.The three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model adaptive capacity is strong, simple to operate, high efficiency, can reduce the cleaning time, reduce cleaning cost and labour cost, and the cleaning effect good, do not stay the dead angle, do not cause secondary pollution.
Fig. 3 shows the three-dimensional hairbrush clearing apparatus of another kind of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model embodiment, a present embodiment and a last embodiment are basic identical, difference only is that the hairbrush body 241 in the hairbrush assembly 24 is made as one, and be dish formula round brush, the rotating shaft of hairbrush body 241 is connected with the output shaft of hairbrush drive motors 242 is coaxial.It is convenient that hairbrush assembly 24 is changed, and the quantity of hairbrush body 241 and shape can reasonably be selected at difform ventilation shaft.
When adopting the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom of the present utility model to carry out central air-conditioning ventilation shaft cleaning work, earlier this device is connected to robot control system, suitable hairbrush body 241 is adorned in caliber size size choosing according to the central air-conditioning ventilation shaft, and adjust hairbrush cleaning agency 2 flexible scopes and horizontally rotate the angle scope, according to the speed of travel of setting brush sweeper rotary speed of the pollution condition in the ventilation shaft and running gear 1, the start-up control system carries out solid traversal cleaning work to each face in the ventilation shaft.When ventilation shaft size during much larger than the size of brush sweeper, can be close to pipeline one skidding and walk, sweeping robot is covered a stroke, just can finish the continuous stereo cleaning work of two sides simultaneously; When line size was within the scope that the flexible rotation of cleaning agency is reached, sweeping robot can walk in the middle of the pipeline, and a stroke can be finished the continuous stereo cleaning work of three sides simultaneously; When running into the airduct width when big especially, can increase back and forth walking number of times by adjusting the sweeping robot walking position, finish the cleaning task.
Above-mentioned is preferred embodiment of the present utility model, is not the utility model is done any pro forma restriction.Though the utility model discloses as above with preferred embodiment, yet be not in order to limit the utility model.Any those of ordinary skill in the art, under the situation that does not break away from the technical solutions of the utility model scope, all can utilize the technology contents of above-mentioned announcement that technical solutions of the utility model are made many possible changes and modification, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical solutions of the utility model, all should drop in the scope of technical solutions of the utility model protection any simple modification, equivalent variations and modification that above embodiment did according to the utility model technical spirit.
Claims (5)
1. the three-dimensional hairbrush clearing apparatus of a central air-conditioning airduct sweeping robot multiple degrees of freedom, comprise running gear (1) and hairbrush cleaning agency (2), it is characterized in that: described hairbrush cleaning agency (2) comprises mechanical arm (22), preceding mechanical arm (23), hairbrush assembly (24) and can make the rotating base (21) of 360 ° of rotations, described rotating base (21) is installed on the running gear (1), described mechanical arm (22) lower end of going up is articulated on the rotating base (21), described mechanical arm (22) upper end of going up is hinged with described preceding mechanical arm (23) lower end, and described hairbrush assembly (24) is installed on the preceding mechanical arm (23).
2. the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom according to claim 1, it is characterized in that: described rotating base (21) bottom is equiped with the base drive motors (211) that is used to drive rotating base (21) rotation, described upward mechanical arm (22) is hinged by shoulder joint bearing pin (221) and rotating base (21), described shoulder joint bearing pin (221) is connected with and is used to drive the shoulder joint drive motors (222) that mechanical arm (22) rotates, mechanical arm (23) is hinged by elbow joint bearing pin (231) and last mechanical arm (22) before described, and described elbow joint bearing pin (231) is connected with and is used to drive the elbow joint drive motors (232) that preceding mechanical arm (23) rotates.
3. the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom according to claim 1 and 2, it is characterized in that: described hairbrush assembly (24) comprises hairbrush body (241), hairbrush drive motors (242) and mount pad (243), described hairbrush drive motors (242) is fixed on the mount pad (243), described hairbrush body (241) links to each other with the output of hairbrush drive motors (242), and described mount pad (243) is fixed on the preceding mechanical arm (23) by securing member.
4. the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom according to claim 3, it is characterized in that: described hairbrush body (241) is provided with one, the coaxial connection of output shaft of the rotating shaft of described hairbrush body (241) and hairbrush drive motors (242).
5. the three-dimensional hairbrush clearing apparatus of central air-conditioning airduct sweeping robot multiple degrees of freedom according to claim 3, it is characterized in that: described hairbrush body (241) is provided with two, and the rotating shaft of described hairbrush body (241) is connected through the output shaft of bevel-gear sett with hairbrush drive motors (242).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202611505U CN201720225U (en) | 2010-07-16 | 2010-07-16 | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202611505U CN201720225U (en) | 2010-07-16 | 2010-07-16 | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot |
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| CN201720225U true CN201720225U (en) | 2011-01-26 |
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| CN2010202611505U Expired - Fee Related CN201720225U (en) | 2010-07-16 | 2010-07-16 | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105916601A (en) * | 2014-05-30 | 2016-08-31 | T&A技术与环境股份公司 | Device for the maintenance of tanks and cisterns designed to contain dangerous products |
| CN108102671A (en) * | 2017-12-11 | 2018-06-01 | 上海应用技术大学 | A kind of coke oven stokehold cleaning equipment |
| CN108480330A (en) * | 2018-03-05 | 2018-09-04 | 李明科 | A kind of central air-conditioner pipeline cleaning robot |
| CN108787652A (en) * | 2018-05-29 | 2018-11-13 | 芜湖金茂包装制品有限公司 | A kind of turnover box cleaning equipment |
| CN110125111A (en) * | 2019-06-24 | 2019-08-16 | 陕西中建建乐智能机器人有限公司 | A kind of pipeline cleaning intelligent robot optimizing structure |
| CN111533281A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Pipeline dredging and purifying robot adopting microorganism embedding technology |
| CN111533282A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Dredging and purifying method for drainage pipe and canal |
| CN111547833A (en) * | 2020-05-12 | 2020-08-18 | 上海市政工程设计研究总院（集团）有限公司 | Self-generating disinfection robot for pressure pipeline |
-
2010
- 2010-07-16 CN CN2010202611505U patent/CN201720225U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| EP3025795A1 (en) * | 2013-07-24 | 2016-06-01 | Eliot Systems, S.L. | Washing system that can be installed on robotic devices for cleaning metal surfaces |
| EP3025795A4 (en) * | 2013-07-24 | 2017-03-29 | Eliot Technology International Limited | Washing system that can be installed on robotic devices for cleaning metal surfaces |
| CN105916601A (en) * | 2014-05-30 | 2016-08-31 | T&A技术与环境股份公司 | Device for the maintenance of tanks and cisterns designed to contain dangerous products |
| CN108102671A (en) * | 2017-12-11 | 2018-06-01 | 上海应用技术大学 | A kind of coke oven stokehold cleaning equipment |
| CN108480330A (en) * | 2018-03-05 | 2018-09-04 | 李明科 | A kind of central air-conditioner pipeline cleaning robot |
| CN108787652A (en) * | 2018-05-29 | 2018-11-13 | 芜湖金茂包装制品有限公司 | A kind of turnover box cleaning equipment |
| CN110125111A (en) * | 2019-06-24 | 2019-08-16 | 陕西中建建乐智能机器人有限公司 | A kind of pipeline cleaning intelligent robot optimizing structure |
| CN111533281A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Pipeline dredging and purifying robot adopting microorganism embedding technology |
| CN111533282A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Dredging and purifying method for drainage pipe and canal |
| CN111547833A (en) * | 2020-05-12 | 2020-08-18 | 上海市政工程设计研究总院（集团）有限公司 | Self-generating disinfection robot for pressure pipeline |
| CN111547833B (en) * | 2020-05-12 | 2021-03-19 | 上海市政工程设计研究总院（集团）有限公司 | Self-generating disinfection robot for pressure pipeline |
| CN111533281B (en) * | 2020-05-12 | 2021-03-19 | 上海市政工程设计研究总院（集团）有限公司 | Pipeline dredging and purifying robot adopting microorganism embedding technology |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110126 Termination date: 20120716 |