CN202606459U - Cleaning device for high-pressure water-shooting air pipe - Google Patents
Cleaning device for high-pressure water-shooting air pipe Download PDFInfo
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- CN202606459U CN202606459U CN 201220259271 CN201220259271U CN202606459U CN 202606459 U CN202606459 U CN 202606459U CN 201220259271 CN201220259271 CN 201220259271 CN 201220259271 U CN201220259271 U CN 201220259271U CN 202606459 U CN202606459 U CN 202606459U
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Abstract
The utility model provides a cleaning device for a high-pressure water-shooting air pipe. The cleaning device for the high-pressure water-shooting air pipe comprises a continuous track marching mechanism, a parallelogram support frame, a micro process personal computer (PC) machine and a water tank. A front drive motor and a rear drive motor are arranged in the continuous track marching mechanism. The front drive motor is connected with a front continuous track drive wheel through a cone gear transmission pair. The rear drive motor is connected with a rear continuous track drive wheel through a cone gear transmission pair. The parallelogram support frame arranged on the continuous track marching mechanism is provided with a control module. The front of the parallelogram support frame is provided with a spraying head and a camera. The micro process PC machine is connected with the control module through a data line. The water tank is connected with a spray head through a water pump and a delivery pipe. The control module is connected with the front drive motor, the rear drive motor, the camera and the water pump to control a work state of the control module. The cleaning device is good in adaptive capacity to environment, low in cost, high in intellectualization, strong in adaptive capacity to environment, multi-tasking in operation function, high in cleaning efficiency, good in effect, and low in energy consumption.
Description
Technical field
The utility model relates to cleaning device, says it is the high-pressure water shot formula airduct cleaning device that low, the intelligent height of a kind of cost, environment-adapting ability are strong, have the Multi-Tasking function in detail.
Background technology
Along with popularizing of central air-conditioning, developing steps are not but caught up with in its management maintenance work.The management maintenance that lags behind usually causes such as airduct obstruction, air-conditioning power consumption and increases, becomes problems such as room air pollution source, even cause hostdown.No matter from economic, energy-conservation, public health equal angles, this has all brought huge harm.
Summary of the invention
The purpose of the utility model is the deficiency that solves above-mentioned prior art, provide a kind of cost low, intelligent high, environment-adapting ability is strong, have the Multi-Tasking function, cleaning efficiency is high, effective, the high-pressure water shot formula airduct cleaning device of low power consuming.
The technical scheme that deficiency adopted that the utility model solves above-mentioned prior art is:
A kind of high-pressure water shot formula airduct cleaning device comprises the crawler belt walking mechanism, parallelogram bracing frame, little processing PC and water tank; It is characterized in that being provided with in the crawler belt walking mechanism front wheel driving motor and rear drive motor; The front wheel driving motor links to each other with preceding crawler driving whell through the Bevel Gear Transmission pair, the rear drive motor through the Bevel Gear Transmission pair with after crawler driving whell link to each other, the parallelogram bracing frame is arranged on the crawler belt walking mechanism; The parallelogram bracing frame is provided with control module; Parallelogram bracing frame front portion is provided with shower nozzle and image pick-up device, and little processing PC links to each other with control module through data wire, and water tank links to each other with shower nozzle through water pump, water-supply-pipe; Control module links to each other with front wheel driving motor, rear drive motor, image pick-up device, water pump respectively, is used to control its duty.
The gripper shoe of the crawler belt walking mechanism described in the utility model is provided with two groups of motor fixing frames; Be respectively equipped with front wheel driving motor and rear drive motor on two groups of motor fixing frames, secondary through the Bevel Gear Transmission respectively rotating shaft with preceding crawler driving whell of the output shaft of front wheel driving motor and rear drive motor with after the rotating shaft of crawler driving whell be connected.
Parallelogram bracing frame described in the utility model is arranged on the gripper shoe of crawler belt walking mechanism through connecting pin.
The utility model particular structure makes it have good adaptive capacity to environment, can under the different operating environment, accomplish each task.Both sides adopt the compound barrier getting over mechanism of the overhead connecting rod of parallelogram and crawler belt as the sidepiece driving mechanism.The both sides motor uses independent control to be implemented in the motion of complex environment; During use, the front wheel driving motor is connected power supply with the rear drive motor through power line, and control module can realize turning to function through the front wheel driving motor of control both sides and the crawler belt counter motion that the rear drive motor makes both sides.The control mode that cleaning device adopts host computer to combine with the slave computer actuation means is directly controlled cleaning device through serial communication with little processing PC.In view of the environment that cleans, adopt large pipeline high-pressure rotating water jet shower nozzle.Camera can directly link to each other with little processing PC, is used to observe pipeline scale and dirt layer cleaning degree.The utility model cost is low, intellectuality is high, environment-adapting ability is strong, have the Multi-Tasking function, cleaning efficiency is high, effective, power consumption is low.
Description of drawings
Fig. 1 is a kind of structural representation of the utility model.
Fig. 2 is the A-A cutaway view of Fig. 1.
The specific embodiment
High-pressure water shot formula airduct cleaning device as shown in the figure; Comprise the crawler belt walking mechanism; Parallelogram bracing frame 6, little processing PC 9 and water tank 10; Be provided with front wheel driving motor 19 and rear drive motor 14 in the crawler belt walking mechanism, front wheel driving motor 19 links to each other with preceding crawler driving whell through Bevel Gear Transmission secondary 20, rear drive motor 14 through Bevel Gear Transmission pair 13 with after crawler driving whell 8 link to each other; As can be seen from Figure 2; The gripper shoe 7 of crawler belt walking mechanism is provided with on 18,15, two groups of motor fixing frames 18,15 of two groups of motor fixing frames and is respectively equipped with front wheel driving motor and rear drive motor, the output shaft of front wheel driving motor and rear drive motor respectively through the rotating shaft 21 of Bevel Gear Transmission secondary 20,13 and preceding crawler driving whell with after the rotating shaft 12 of crawler driving whell be connected.The parallelogram bracing frame is arranged on the crawler belt walking mechanism; As can be seen from Figure 1 parallelogram bracing frame 6 is arranged on the gripper shoe of crawler belt walking mechanism 7 through connecting pin; The rotating shaft 21 of gripper shoe crawler driving whell before bearing is located at after in the rotating shaft 12 of crawler driving whell, this is a prior art.The parallelogram bracing frame is provided with control module 3; Parallelogram bracing frame front portion is provided with shower nozzle 1 and image pick-up device 2; Little processing PC 9 links to each other with control module 3 through data wire 5; Water tank 10 links to each other with shower nozzle 1 through water pump 11, water-supply-pipe 4, and control module links to each other with front wheel driving motor, rear drive motor, image pick-up device, water pump respectively, is used to control its duty.
The utility model particular structure makes it have good adaptive capacity to environment, can under the different operating environment, accomplish each task.Both sides adopt the compound barrier getting over mechanism of the overhead connecting rod of parallelogram and crawler belt as the sidepiece driving mechanism.The both sides motor uses independent control to be implemented in the motion of complex environment; During use, front wheel driving motor 19 is connected power supply with rear drive motor 14 through power line 17,16, and control module can realize turning to function through the front wheel driving motor of control both sides and the crawler belt counter motion that the rear drive motor makes both sides.The control mode that cleaning device adopts host computer to combine with the slave computer actuation means is directly controlled cleaning device through serial communication with little processing PC.In view of the environment that cleans, adopt large pipeline high-pressure rotating water jet shower nozzle.Camera can directly link to each other with little processing PC, is used to observe pipeline scale and dirt layer cleaning degree.The utility model cost is low, intellectuality is high, environment-adapting ability is strong, have the Multi-Tasking function, cleaning efficiency is high, effective, power consumption is low.
The utility model is mainly used in the cleaning and the collection of airduct internal contamination thing.Obstacle performance that the utility model is good and stronger adaptive capacity to environment make cleaning device through a little repacking, can be applicable in other various pipelines, and like blow-off pipe, industrial pipeline etc.In addition, cleaning device is through installing various functional modules additional, and like chlorination equipment, failure detector etc. can be realized various additional functions, have boundless prospect.
Walking function: adopt overhead connecting rod of parallelogram and the compound motion of crawler belt, make each wheel can distinguish climbing barrier, in the functions such as road conditions realization climbing of complicacy.
Detecting function: utilize video heads to realize shooting and transmission to image scene.
Cleaning function: adopt the high-pressure water jet machine to cooperate and accomplish cleaning task with cleaning device.
The cleaning device body part adopts overhead connecting rod of parallelogram and the compound mechanism of crawler belt, and two crawler belts drive with two individual motor.Dolly itself more similarly is a platform, and various modules such as camera, detector, inductor can be installed above that, to realize concrete function.
These mechanism kinematic characteristics of cleaning device employing are that rigidity is big, Stability Analysis of Structures, and the fine motion precision is high, and exercise load is little, is prone to be fit to the complicated motion form, and the not high bigger working space of difficulty that is adapted at of space requirement environment is moved.Self adopt crawler belt more to guarantee the requirement of strength of motion.
Cleaning device has the shooting acquisition function, and the phenomenon in the airduct is fed back, and has realized the function of man-machine interaction.
Cleaning device adopts high-pressure water jet to carry out washing and cleaning operation.Water jet has characteristics such as cleaning efficiency height, effective, low power consuming, low water consumption, is particularly suitable for various pipes and cleans.
The pipeline cleaning cleaning device belongs to a kind of of mobile cleaning device; The existing move mode that moves cleaning device mainly contains creeping, elastic vibration walking, crawler type, wheel formula and leg foot formula, and wherein crawler type, wheel formula and three kinds of move mode structures of leg foot formula are simple relatively and be easier to realize.
Caterpillar dolly has following characteristics than wheeled and the sufficient formula dolly of leg:
1. stable drive, crawler belt has increased stability in the process of walking;
2. the adaptability to complex road surface is strong.When wheeled carriage was walked on road surface muddy, hollow, wheel was prone to be absorbed in wherein, and caterpillar big with the contact area road surface, is easier to break through these obstructions;
3. obstacle climbing ability is strong.Experimental verification when the length of wagon of dolly equates, uses caterpillar mode higher than wheeled obstacle clearing capability, and obstacle climbing ability is strong more.
Article two, crawler belt adopts the advantage of individual motor driving to be to utilize the backward rotation of Electric Machine Control both sides crawler belt to realize turning to function, and it is more flexible that it is turned to.Independent motor drives and can be good at adapting to the complex situations of dolly both sides landform when inconsistent in addition.
Because the crawler type walking mechanism has Area of bearing big; Obstacle climbing ability is strong; Be difficult for characteristics such as shake during cleaning; So this cleaning device adopts two crawler belt walking mechanisms, left and right sides crawler belt each by a motor-driven, use differential regulate just can realize the advancing of cleaning device, retreat, turn left, right-hand rotation and various curvilinear motion.
The type of drive of existing tube cleaning arrangement mobile vehicle has: modes such as motor-driven, hydraulic-driven, air pressure driving, Piezoelectric Driving and Electromagnetic Drive.Wherein more general employing be that motor-driven, hydraulic-driven and air pressure drive these three kinds of type of drive.Consider that this tube cleaning arrangement is operated in the airtight air conditioning wind pipe, circumstance complication the time will be confirmed as the case may be to advance in work, retreats, quickens, various motions such as deceleration and pivot turn; And hydraulic pressure and air pressure type of drive need be furnished with auxiliary equipment such as power source, conveying loop; Complex structure is realized difficulty, and opposite motor-driven is easier to realize speed regulating control; Easy to operate and design size can reach requirement, so the mobile vehicle of this cleaning device adopts the motorized motions mode.Motor-driven mainly contains stepper motor, direct current generator and alternating current generator.The motor driven systems of tube cleaning arrangement will have fast characteristics such as response performance, speed-regulating range width, high reliability and volume mass be little.Three kinds of motors of comprehensive contrast, the drive motors of this tube cleaning arrangement mobile vehicle adopts the direct current generator type of drive.
The mode that cleaning device adopts the high-pressure water jet machine to match with cleaning device is carried out washing and cleaning operation; Wherein the high-pressure water shot fluid system is made up of main frame pump, regulator, flexible pipe and hard tube, nozzle and control device etc.; Wherein shower nozzle is installed on the cleaning device, drives shower nozzle by cleaning device and in pipeline, carries out washing and cleaning operation.
The control system of cleaning device is the core of whole cleaning device, and its main task is to accomplish data acquisition, transmission, decision-making and control four big tasks.Through real-time collection external environment and displacement status data, realize real-time control to cleaning device.The control system of high-pressure water jet airduct cleaning device adopts the system architecture and the idea of modular of upper and lower machine to develop, to guarantee the reliability of system development.Host computer adopts microcomputer, through image processing software and serial communication control software slave computer is controlled.Slave computer comprises vehicle control syetem and video control system, and slave computer adopts the STC89C52 single-chip microcomputer, realizes the direct current generator of advancing, camera are rotated the control with stepper motor, lighting device, serial communication, image signal transmission etc.Vehicle control syetem is installed and is sealed in the cleaning device body, and video frequency monitoring system is monitored the working condition of cleaning device in real time, and can on PC, show through video terminal.Host computer and slave computer adopt the mode of operation of the RS-485 serial communication that circuit is simple, noise inhibiting ability is strong; The motion state of cleaning device main body can show on PC with the data that collect in real time; Host computer just can move by the Long-distance Control cleaning device like this, to eliminate its self-adjusting control dead band.
Vehicle control syetem is made up of direct current generator driver module, step motor drive module, RS-485 serial communication module, lighting module.It can be controlled the track drive motor and accomplish elemental motions such as advancing, retreating of cleaning device and turning.Vehicle control syetem also will be accepted the control command of main control box through the serial communication module, and the movable information of cleaning device main body is fed back to master console, is the pith of The whole control system to cleaning device both sides track drive circuit control.
Video acquisition system passes through software-driven camera collection image information, and feeds back to the host computer image processing software, import information into serial communication control software simultaneously, and then the adjustment cleaning device carries out operation.
In order to guarantee the stability work of The whole control system, must carry out Anti-interference Design to hardware system.The interference protection measure of in the native system hardware circuit being taked has:
1. the hardware with vehicle control syetem is divided into control panel, and three of drive plate and communication boards be circuit board independently, reduces the influence of power circuit to digital circuit and analog circuit, avoids this several sections to be coupled.
2. add filter circuit to motor, attention electric capacity, inductance leads will be lacked as far as possible.
3. the single chip part signal can the enhancing signal driving force through the chip amplification.
The idle IO mouth of single-chip microcomputer put low, to avoid the influence of not clear pin level.
5. adopt PCB making sheet, avoid 90 ° of angle wirings as far as possible.
Control module described in the utility model is a slave computer; Described little processing PC is a host computer.
Claims (2)
1. a high-pressure water shot formula airduct cleaning device comprises the crawler belt walking mechanism, parallelogram bracing frame, little processing PC and water tank; It is characterized in that being provided with in the crawler belt walking mechanism front wheel driving motor and rear drive motor; The front wheel driving motor links to each other with preceding crawler driving whell through the Bevel Gear Transmission pair, the rear drive motor through the Bevel Gear Transmission pair with after crawler driving whell link to each other, the parallelogram bracing frame is arranged on the crawler belt walking mechanism; The parallelogram bracing frame is provided with control module; Parallelogram bracing frame front portion is provided with shower nozzle and image pick-up device, and little processing PC links to each other with control module through data wire, and water tank links to each other with shower nozzle through water pump, water-supply-pipe; Control module links to each other with front wheel driving motor, rear drive motor, image pick-up device, water pump respectively, is used to control its duty.
2. high-pressure water shot formula airduct cleaning device according to claim 1; The gripper shoe that it is characterized in that described crawler belt walking mechanism is provided with two groups of motor fixing frames; Be respectively equipped with front wheel driving motor and rear drive motor on two groups of motor fixing frames, secondary through the Bevel Gear Transmission respectively rotating shaft with preceding crawler driving whell of the output shaft of front wheel driving motor and rear drive motor with after the rotating shaft of crawler driving whell be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220259271 CN202606459U (en) | 2012-06-04 | 2012-06-04 | Cleaning device for high-pressure water-shooting air pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220259271 CN202606459U (en) | 2012-06-04 | 2012-06-04 | Cleaning device for high-pressure water-shooting air pipe |
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| Publication Number | Publication Date |
|---|---|
| CN202606459U true CN202606459U (en) | 2012-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220259271 Expired - Fee Related CN202606459U (en) | 2012-06-04 | 2012-06-04 | Cleaning device for high-pressure water-shooting air pipe |
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| CN (1) | CN202606459U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103962352A (en) * | 2014-04-22 | 2014-08-06 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning device and adaptive control method thereof |
| CN105414118A (en) * | 2015-12-23 | 2016-03-23 | 国家电网公司 | Fixed-point flushing robot for mud barriers in electric pipeline |
| CN107839230A (en) * | 2017-11-08 | 2018-03-27 | 陈静 | A kind of three-dimensional printer and its Method of printing |
| CN109604271A (en) * | 2018-12-25 | 2019-04-12 | 嵊州市越通非开挖建设有限公司 | A kind of movable tube cleaning device |
| CN111346884A (en) * | 2020-03-30 | 2020-06-30 | 温州大学 | Pipeline high pressure cleaning device |
-
2012
- 2012-06-04 CN CN 201220259271 patent/CN202606459U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103962352A (en) * | 2014-04-22 | 2014-08-06 | 深圳市中航大记工程制品有限公司 | Pipeline cleaning device and adaptive control method thereof |
| CN103962352B (en) * | 2014-04-22 | 2015-11-25 | 深圳市中航大记工程制品有限公司 | Tube cleaning arrangement and automatically-adaptive control method thereof |
| CN105414118A (en) * | 2015-12-23 | 2016-03-23 | 国家电网公司 | Fixed-point flushing robot for mud barriers in electric pipeline |
| CN107839230A (en) * | 2017-11-08 | 2018-03-27 | 陈静 | A kind of three-dimensional printer and its Method of printing |
| CN109604271A (en) * | 2018-12-25 | 2019-04-12 | 嵊州市越通非开挖建设有限公司 | A kind of movable tube cleaning device |
| CN111346884A (en) * | 2020-03-30 | 2020-06-30 | 温州大学 | Pipeline high pressure cleaning device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121219 Termination date: 20130604 |