CN203400910U - Intelligent cleaning and detecting robot system for air pipeline - Google Patents
Intelligent cleaning and detecting robot system for air pipeline Download PDFInfo
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- CN203400910U CN203400910U CN201320486788.2U CN201320486788U CN203400910U CN 203400910 U CN203400910 U CN 203400910U CN 201320486788 U CN201320486788 U CN 201320486788U CN 203400910 U CN203400910 U CN 203400910U
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Abstract
The utility model relates to an intelligent cleaning and detecting robot system for an air pipeline. The intelligent cleaning and detecting robot system is low in manufacturing cost, high in cleaning efficiency and high in intelligence. The intelligent cleaning and detecting robot system comprises a mechanical structure portion and an electrical control driving and displaying portion. The mechanical structure portion comprises a cleaning robot, a detecting robot, a cleaning flexible shaft and a dirt collecting device. The electrical control driving and displaying portion comprises a main control box, a flexible shaft control box, a communicating circuit and a single chip microcomputer system. The main control box controls the detecting robot to detect the situation of the pipeline and then controls the cleaning robot and the cleaning flexible shaft to clean the pipeline. After cleaning, the dirt collecting device is used for collecting dust and dirt, and the whole process is monitored in real time and videoed to be stored. After pollutants are cleaned up, disinfectants are sprayed to kill harmful virus and bacteria leaving in the pipeline. Finally, the air pipeline is sampled to acquire detecting data and analyze cleaning and disinfecting effects on the air pipeline.
Description
Technical field
The utility model relates to a kind of pipe clearing apparatus, particularly relates to the cleaning of a kind of wind pipeline intelligence and detects robot system.
Background technology
In recent years; undergoing an unusual development of China's cleaning and sterilizing industry is active; successively in Beijing, the ground such as Shanghai, Guangzhou, the Wuhan industry that occurs keeping a public place clean; but be to use mop, rag manually at air pipe feeding port, to clean substantially; it is healthy that the cleaning and sterilizing standard that cannot reach national regulation also endangers street cleaner, and central air-conditioning pipeline system cleaning problems is badly in need of solving.
Also there are in the market some automation duct cleaning instruments, but because cost is too high, be difficult to realize marketing, cannot meet the clean demand of current central air-conditioning pipeline system, this also directly causes the low one of the main reasons of China's current central air-conditioning pipeline cleaning rate.And wind pipeline in the market cleaning system all exists, and intellectuality is lower, operation number is more, there will be the problems such as clean dead angle, cleaning efficiency are not high after clean.
Utility model content
The technical problems to be solved in the utility model is to provide the wind pipeline intelligence cleaning that a kind of cost is low, simple to operate, cleaning rate is high, intelligent degree is high and detects robot system.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, comprises frame for movement part, automatically controlled driving and display section, wherein:
Frame for movement partly comprises: sweeping robot, detection robot, cleaning flexible axle, dirt capturing device.
Sweeping robot comprises: the first traveling crawler, the first front camera, brush sweeper, hollow round bar, cleaning motor, lifting arm, carrying handle, rear cradle head camera, first are controlled cable.Lifting arm lower end is fixed on sweeping robot front portion, lifting arm upper end is fixed with hollow round bar, hollow round bar inside is provided with cleaning motor, two shaft, between electric machine main shaft and two shaft, be connected with transmission device, two shafts two ends are provided with brush sweeper, hollow round bar below is provided with the first front camera, the first front camera is positioned at below brush sweeper, sweeping robot top rear is installed The Cloud Terrace, rear cradle head camera is installed on The Cloud Terrace, and the front end of front camera and rear camera is all equipped with the LED lamp of high brightness.
Detection robot comprises: the second traveling crawler, the second front camera, assist illuminator, rear camera, second are controlled cable.Detect robot top front end the second front camera is installed, the second front camera can rotate with horizontal plane angle-5 ° to the scope of 90 °, crown center position is provided with two assist illuminators, after detection robot, rear camera is installed, the front end of front camera and rear camera is all equipped with the LED lamp of high brightness.
Cleaning flexible axle comprises: casing, drive motors, bearing bracket stand, driven by quill shaft connection-core, flexible axle input adapter, Bowden cable core, fixture, hairbrush joint, the 3rd are controlled cable.Casing one end has circular hole, driven by quill shaft connection-core passes from circular hole, driven by quill shaft connection-core end is connected with drive motors, front end is connected with flexible axle input adapter, the other end of flexible axle input adapter is connected with Bowden cable core, the other end of Bowden cable core is connected with hairbrush joint, in the junction of junction, Bowden cable core and the hairbrush joint of flexible axle input adapter and Bowden cable core, is separately installed with fixture.
Automatically controlled driving and display section comprise: main control box, flexible axle control cabinet, circuit board terminal, communicating circuit, SCM system.
Main control box comprises: casing, case lid, panel, circuit board terminal, display, shift knob.On panel, be provided with power switch, DVR infrared remote control window, DVR power switch, control cable plug, robot ambulation direction control rocking bar, lifting arm control rocking bar, hairbrush rotating knob, illuminating lamp knob, front camera and rear camera switch knob, camera cradle head control rocking bar.
Flexible axle control cabinet comprises: casing, case lid, panel, circuit board terminal, frequency converter, rotary knob.On panel, be provided with cleaning flexible axle total power switch knob, operational mode knob, switch mode knob, direction of rotation knob, switching time knob, rotary speed knob, control cable plug.
Control case power-supply system and be connected with display screen, DVR, robot respectively, be used to three to power; Display screen is connected with DVR, for showing the content of video recorder typing; DVR with control case control module and be connected, for DVR is controlled; Control unit and be connected with robot, for the exercises to robot, control.The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and the cleaning motor of wherein said sweeping robot is DC hollow cup reducing motor.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and the crown center position of wherein said sweeping robot is provided with carrying handle, and the cleaning motor that sweeping robot is used is DC hollow cup reducing motor.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, in wherein said cleaning flexible axle, the fixture of the junction of flexible axle input adapter and Bowden cable core is: cabinet wall place compresses driven by quill shaft connection-core by bearing, bearing bracket stand, cabinet exterior place is fixed with the outer pipe connector sleeves of flexible axle, the outer pipe connector sleeves front end of flexible axle is by the fixing flexible axle outer tube locking head of check lock lever, flexible axle outer tube locking head front end is fixed with flexible axle outer tube hold-down head, by the fixing flexible axle crust of flexible axle outer tube hold-down head.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, in wherein said cleaning flexible axle, the fixture of the junction of Bowden cable core and hairbrush joint is: the junction of Bowden cable core and hairbrush joint is provided with flexible axle outer tube hold-down head, flexible axle outer tube hold-down head front end is fixed with flexible axle bearing head, between flexible axle bearing head and hairbrush joint, is provided with bearing.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, respectively adopts a set of SCM system that voltage monitor circuit is installed between wherein said control cabinet and robot, passes through serial port communication between system.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and the interface circuit in wherein said circuit board terminal adopts RS422 interface circuit.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and the circuit board terminal of wherein said main control box and flexible axle control cabinet is arranged on box house, and display is arranged on case lid inner side, is provided with USB socket on main control box panel.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and the power supply that wherein said power device connects is 24V dc source, and the isolating transformer of 50HZ is installed between dc source and 220V AC network.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, and wherein said sweeping robot adopts CCD colour imagery shot with the camera that detects robot.
The cleaning of a kind of wind pipeline of the utility model intelligence detects robot system, and the illuminating lamp of wherein said detection robot adopts high-capacity LED warm white light source.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system and can carry out cleaning and sterilizing up hill and dale to centralized air ventilation system, and effect can reach the relevant criterion of health ministry.And use robot in ventilation shaft, to carry out cleaning and sterilizing operation, the camera that application activity scope is very large carries out shooting and detection in pipeline, utilize computer to carry out complete monitoring, brush sweeper has single shaft, two shaft, three shafts, robot can carry out cleaning and sterilizing operation in non-horizontal pipe inner support, adapts to the cleaning and sterilizing work of various central air conditioning ventilation shafts.This Project Product is compared with same kind of products at abroad, has that volume is little, price is low, an advantage such as easy to use, stable performance, cleaning and sterilizing are effective.Visible, adopt Status of air duct cleaning disinfection robot complete set of equipments to there is obvious product competition advantage, if can promote the clean industry of whole central air-conditioning, there is very significantly economic benefit and social benefit.The cleaning and sterilizing of the ventilating duct of central air conditioner of the shapes such as that this Project Product is applicable to is square, circular, oval, spirality and sampling detect, improve air-conditioning and construction thing inner air quality, for the people that work avoid " air conditioner disease ", provide reliable guarantee in central air conditioning ventilated environment, compared with prior art there is obvious advantage.
Below in conjunction with accompanying drawing, a kind of wind pipeline intelligence cleaning detection robot system of the present utility model is described further.
Accompanying drawing explanation
Fig. 1 is the front view that the cleaning of a kind of wind pipeline intelligence of the utility model detects the sweeper of robot system;
Fig. 2 is the top view that the cleaning of a kind of wind pipeline intelligence of the utility model detects the sweeper of robot system;
Fig. 3 is the front view that the cleaning of a kind of wind pipeline intelligence of the utility model detects the inspection vehicle of robot system;
Fig. 4 is the top view that the cleaning of a kind of wind pipeline intelligence of the utility model detects the inspection vehicle of robot system;
Fig. 5 is the cleaning flexible axle structural representation that the cleaning of a kind of wind pipeline intelligence of the utility model detects robot system;
Fig. 6 is the main control box panel schematic diagram that the cleaning of a kind of wind pipeline intelligence of the utility model detects robot system;
Fig. 7 is the flexible axle control cabinet panel schematic diagram that the cleaning of a kind of wind pipeline intelligence of the utility model detects robot system;
Fig. 8 is the circuit connection block diagram that the cleaning of a kind of wind pipeline intelligence of the utility model detects robot system.
The specific embodiment
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system, comprises frame for movement part, automatically controlled driving and display section.Wherein:
Frame for movement partly comprises: sweeping robot, detection robot, cleaning flexible axle, dirt capturing device.
As shown in Figure 1 and Figure 2, sweeping robot comprises: the front camera 2 of the first traveling crawler 1, first, brush sweeper 3, hollow round bar 4, DC hollow cup reducing motor, lifting arm 5, carrying handle 6, rear cradle head camera 7, first are controlled cable 8.Sweeping robot bottom is provided with the first movable motor and the first traveling crawler 1, and the two connects by transmission device, and the first movable motor rotarily drives the first traveling crawler 1 walking.Lifting arm 5 lower ends are fixed on sweeping robot front portion by the moving son of shipping and reselling on another market, lifting arm 5 upper ends are fixed with hollow round bar 4, hollow round bar 4 inside are provided with DC hollow cup reducing motor, reducing motor main shaft one end is provided with the first bevel gear, the first bevel gear and the engagement of the second bevel gear, two shafts are installed on the second bevel gear, two shafts two ends are provided with brush sweeper 3, DC hollow cup reducing motor rotates and drives brush sweeper 3 rotations, hollow round bar 4 belows are provided with front camera 2, front camera 2 is positioned at below brush sweeper 3, front camera 2 can rotate to an angle along rotating shaft.Sweeping robot crown center position is provided with carrying handle 6, is convenient to a dead lift.Sweeping robot top rear is provided with rear cradle head camera 7, and rear cradle head camera 7 can around check in the dome-type space of 180 ° sweeper under The Cloud Terrace drives, and the front end of front camera and rear camera is all provided with the LED lamp of high brightness.After sweeping robot, being connected with the first control cable 8, the first controls cables 8 and puts in that sweeping robot is inner to be connected with camera, the first movable motor, DC hollow cup reducing motor.
As shown in Figure 3, Figure 4, detecting robot comprises: the front camera 10 of the second traveling crawler 9, second, assist illuminator 11, rear camera 12, second are controlled cable 13.Detect robot bottom the second movable motor and the second traveling crawler 9 are installed, the two connects by transmission device, and the second movable motor rotarily drives the second traveling crawler 9 walkings.Detect robot top front end the second front camera 10 is installed, the second front camera 10 can be done with horizontal plane angle-5 ° to 90 ° move both vertically, crown center position is provided with two assist illuminators 11, after detection robot, rear camera 12 is installed, the front end of front camera and rear camera is all provided with the LED lamp of high brightness.Detect and to be connected with the second control cable 13, the second after robot and to control cables 13 and put in that sweeping robot is inner to be connected with camera, assist illuminator, the second movable motor.
As shown in Figure 5, cleaning flexible axle comprises: casing 14, three phase alternating current motor 15, belt pulley 16, bearing bracket stand 17, bearing bracket stand end cap 18, driven by quill shaft connection-core 19, check lock lever 20, flexible axle input adapter 21, flexible axle outer tube locking head, flexible axle outer tube hold-down head, Bowden cable core 24, flexible axle crust 25, flexible axle bearing head 26, hairbrush joint 27, the outer pipe connector sleeves 29 of flexible axle, the 3rd are controlled cable 30.Casing 14 one end offer circular hole, driven by quill shaft connection-core 19 passes from circular hole, be positioned on the driven by quill shaft connection-core 19 of box house belt pulley 16 is installed, the end of driven by quill shaft connection-core 19 is connected with three phase alternating current motor 15, near cabinet wall place, by bearing, bearing bracket stand 17, compress driven by quill shaft connection-core 19, prevent radial motion and the axial float of driven by quill shaft connection-core 19, bearing bracket stand 17 is provided with bearing bracket stand end cap 18 away from circular hole one side.Casing 14 outer wall places are fixed with the outer pipe connector sleeves 29 of flexible axle, outer pipe connector sleeves 29 front ends of flexible axle pass through fixedly flexible axle outer tube locking head 22 of check lock lever 20, flexible axle outer tube locking head 22 front ends are fixed with flexible axle outer tube hold-down head 28, by the fixing flexible axle crust 25 of flexible axle outer tube hold-down head 28.The front end of driven by quill shaft connection-core 19 is connected with flexible axle input adapter 21 by square interface outward at casing, the other end of flexible axle input adapter 21 is connected with Bowden cable core 24, the other end of Bowden cable core 24 is provided with flexible axle outer tube hold-down head 23, flexible axle outer tube hold-down head 23 front ends are fixed with flexible axle bearing head 26, flexible axle bearing head 26 front ends are connected with hairbrush joint 27, between flexible axle bearing head 26 and hairbrush joint 27, are provided with bearing.Bowden cable core 24 outer surfaces are surrounded by flexible axle crust 25, and casing 14 bottoms are connected with the 3rd and control cable 30.Belt pulley 16 and 19 rotations of driven by quill shaft connection-core under the drive of three phase alternating current motor, thus make Bowden cable core 24 and brush head 27 rotations, wind pipeline is cleaned.Cleaning flexible axle can be with manually controlling rotating and timing controlled rotating.
Automatically controlled driving and display section comprise: main control box, flexible axle control cabinet, circuit board terminal, communicating circuit, SCM system.
As shown in Figure 6, main control box comprises: casing, case lid, panel 31, circuit board terminal, display, shift knob.Circuit board terminal is arranged on box house, display is arranged on case lid inner side, on panel 31, be provided with power switch 32, DVR infrared remote control window 33, DVR power switch 34, control cable plug 35, robot ambulation direction control rocking bar 36, lifting arm control rocking bar 37, hairbrush rotating knob 38, illuminating lamp knob 39, front camera and rear camera switch knob 40, camera cradle head control rocking bar 41, be also provided with in addition USB socket 42.
As shown in Figure 7, flexible axle control cabinet comprises: casing, case lid, panel 43, circuit board terminal, frequency converter, rotary knob.Circuit board terminal is arranged on box house, display is arranged on case lid inner side, on panel 43, be provided with cleaning flexible axle total power switch knob 44, operational mode knob 45, switch mode knob 46, direction of rotation knob 47, switching time knob 48, rotary speed knob 49, control cable plug 50.
As shown in Figure 8, for circuit of the present utility model connects block diagram.Controlling case power-supply system and be connected with LED display, DVR, robot respectively, is three's power supply.LED display is connected with DVR, shows video recording content.DVR with control case control module and be connected, for DVR is controlled.Control unit and be connected with robot, for the exercises to robot, control.
Control cabinet and robot respectively adopt a set of SCM system that voltage monitor circuit is installed, between system, pass through serial port communication, electric current loop interface circuit in circuit board adopts RS422 interface circuit, serial order data refresh with 50 times per second, greatly improved the intelligent degree of product, reduce the wire diameter of cable simultaneously, improved the reliability of communication.Camera adopts CCD colour imagery shot, illuminating lamp adopts LED warm white light source, in body, video parts is all isolated with body insulation, so not only having avoided video image to be subject to motor in body disturbs, and improved the quality of color video frequency image, make cleaning control process more accurate, visual range further expands.
Operating process of the present utility model is:
Open after main control box, first connect 24V dc source, between 24V dc source and 220V AC network, be equiped with the isolating transformer of 50HZ, form dual resisteance.Control cable plug on control cabinet is connected with robot by controlling cable, turn on the power switch, detection robot is placed in wind pipeline, open video recording power supply, video knob, illumination knob, by robot ambulation direction, control rocking bar and control detection robot ambulation, utilize front camera and rear camera switch knob, camera cradle head control rocking bar to control camera, observe situation in wind pipeline, and observation situation is deposited in DVR.After detection, exit detection robot, close respective switch, unload control cable, will control cable plug and be connected with sweeping robot, turn on the power switch, by robot ambulation direction, controlling rocking bar control sweeping robot walks, utilize front camera and rear camera to find and need to clean behind position, by regulating lifting arm to control the length that rocking bar is controlled lifting arm, by hairbrush rotating knob, control the direction of rotation of hairbrush.
When wind pipeline is vertical long pipeline, can utilize cleaning flexible axle to clean wind pipeline.Open after flexible axle control cabinet, first connect 24V dc source, control cable plug on control cabinet is connected with cleaning flexible axle by controlling cable, turn on the power switch, cleaning flexible axle is put into wind pipeline, by the knob on control flexible axle control cabinet, control cleaning flexible axle wind pipeline is cleaned.
Sweeping robot can change the cleaning tool heads such as power shovel, high frequency vibrating brush, three shaft synchronous rotary brushes, electric soft shaft washer, multifunctional cleaner, purgative gas whip into the brush sweeper of cleaning flexible axle, after wind pipeline inner wall cleaning is clean, with dirt capturing device dust suction trapped dirt.Whole process can be monitored in real time, and to the effect before and after cleaning record a video contrast, file.Pollutant carries out spray disinfectant agent operation after cleaning out, kill residual harmful virus mushroom in air channel, finally carries out air channel sampling, obtains detection data, analyzes air-duct cleaning, Disinfection Effect.
The cleaning of a kind of wind pipeline intelligence of the utility model detects robot system and can carry out cleaning and sterilizing up hill and dale to centralized air ventilation system.Use robot in ventilation shaft, to carry out cleaning and sterilizing operation, the camera that application activity scope is very large carries out shooting and detection in pipeline, utilize computer to carry out complete monitoring, brush sweeper has single shaft, two shaft, three shafts, robot can carry out cleaning and sterilizing operation in non-horizontal pipe inner support, adapts to the cleaning and sterilizing work of various central air conditioning ventilation shafts.This Project Product is compared with same kind of products at abroad, has that volume is little, price is low, an advantage such as easy to use, stable performance, cleaning and sterilizing are effective.Visible, adopt Status of air duct cleaning disinfection robot complete set of equipments to there is obvious product competition advantage, if can promote the clean industry of whole central air-conditioning, there is very significantly economic benefit and social benefit.The cleaning and sterilizing of the ventilating duct of central air conditioner of the shapes such as that this Project Product is applicable to is square, circular, oval, spirality and sampling detect, improve air-conditioning and construction thing inner air quality, for the people that work avoid " air conditioner disease ", provide reliable guarantee in central air conditioning ventilated environment, compared with prior art there is obvious advantage.
Above-described embodiment is described preferred embodiment of the present utility model; not scope of the present utility model is limited; do not departing under the prerequisite of the utility model design spirit; various distortion and improvement that those of ordinary skills make the technical solution of the utility model, all should fall in the definite protection domain of the utility model claims.
Claims (10)
1. the cleaning of wind pipeline intelligence detects a robot system, comprises frame for movement part, automatically controlled driving and display section, it is characterized in that:
Frame for movement partly comprises: sweeping robot, detection robot, cleaning flexible axle, dirt capturing device;
Sweeping robot comprises: the first traveling crawler, the first front camera, brush sweeper, hollow round bar, cleaning motor, lifting arm, carrying handle, rear cradle head camera, first controls cable, lifting arm lower end is fixed on sweeping robot front portion, lifting arm upper end is fixed with hollow round bar, hollow round bar inside is provided with cleaning motor, two shafts, between electric machine main shaft and two shaft, be connected with transmission device, two shafts two ends are provided with brush sweeper, hollow round bar below is provided with the first front camera, the first front camera is positioned at below brush sweeper, sweeping robot top rear is installed The Cloud Terrace, rear cradle head camera is installed on The Cloud Terrace, the front end of front camera and rear camera is all equipped with the LED lamp of high brightness,
Detection robot comprises: the second traveling crawler, the second front camera, assist illuminator, rear camera, second are controlled cable, detect robot top front end the second front camera is installed, the second front camera can rotate with horizontal plane angle-5 ° to the scope of 90 °, crown center position is provided with two assist illuminators, after detection robot, rear camera is installed, the front end of front camera and rear camera is all equipped with the LED lamp of high brightness;
Cleaning flexible axle comprises: casing, drive motors, bearing bracket stand, driven by quill shaft connection-core, flexible axle input adapter, Bowden cable core, fixture, hairbrush joint, the 3rd controls cable, casing one end has circular hole, driven by quill shaft connection-core passes from circular hole, driven by quill shaft connection-core end is connected with drive motors, front end is connected with flexible axle input adapter, the other end of flexible axle input adapter is connected with Bowden cable core, the other end of Bowden cable core is connected with hairbrush joint, junction at flexible axle input adapter and Bowden cable core, the junction of Bowden cable core and hairbrush joint is separately installed with fixture,
Automatically controlled driving and display section comprise: main control box, flexible axle control cabinet, circuit board terminal, communicating circuit, SCM system;
Main control box comprises: casing, case lid, panel, circuit board terminal, display, shift knob, be provided with power switch, DVR infrared remote control window, DVR power switch, control cable plug, robot ambulation direction control rocking bar, lifting arm control rocking bar, hairbrush rotating knob, illuminating lamp knob, front camera and rear camera switch knob, camera cradle head control rocking bar on panel;
Flexible axle control cabinet comprises: casing, case lid, panel, circuit board terminal, frequency converter, rotary knob, on panel, be provided with cleaning flexible axle total power switch knob, operational mode knob, switch mode knob, direction of rotation knob, switching time knob, rotary speed knob, control cable plug;
Control case power-supply system and be connected with display screen, DVR, robot respectively, be used to three to power; Display screen is connected with DVR, for showing the content of video recorder typing; DVR with control case control module and be connected, for DVR is controlled; Control unit and be connected with robot, for the exercises to robot, control.
2. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: the crown center position of described sweeping robot is provided with carrying handle, and the cleaning motor that sweeping robot is used is DC hollow cup reducing motor.
3. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: in described cleaning flexible axle, the fixture of the junction of flexible axle input adapter and Bowden cable core is: cabinet wall place compresses driven by quill shaft connection-core by bearing, bearing bracket stand, cabinet exterior place is fixed with the outer pipe connector sleeves of flexible axle, the outer pipe connector sleeves front end of flexible axle is by the fixing flexible axle outer tube locking head of check lock lever, flexible axle outer tube locking head front end is fixed with flexible axle outer tube hold-down head, by the fixing flexible axle crust of flexible axle outer tube hold-down head.
4. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: in described cleaning flexible axle, the fixture of the junction of Bowden cable core and hairbrush joint is: the junction of Bowden cable core and hairbrush joint is provided with flexible axle outer tube hold-down head, flexible axle outer tube hold-down head front end is fixed with flexible axle bearing head, between flexible axle bearing head and hairbrush joint, is provided with bearing.
5. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: between described control cabinet and robot, respectively adopt a set of SCM system that voltage monitor circuit is installed, pass through serial port communication between system.
6. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: the interface circuit in described circuit board terminal adopts RS422 interface circuit.
7. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: the circuit board terminal of described main control box and flexible axle control cabinet is arranged on box house, display is arranged on case lid inner side, is provided with USB socket on main control box panel.
8. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: the power supply that described power device connects is 24V dc source, and the isolating transformer of 50HZ is installed between dc source and 220V AC network.
9. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: described sweeping robot adopts CCD colour imagery shot with the camera that detects robot.
10. a kind of wind pipeline intelligence according to claim 1 cleaning detects robot system, it is characterized in that: the illuminating lamp of described detection robot adopts high-capacity LED warm white light source.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320486788.2U CN203400910U (en) | 2013-08-09 | 2013-08-09 | Intelligent cleaning and detecting robot system for air pipeline |
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| CN201320486788.2U CN203400910U (en) | 2013-08-09 | 2013-08-09 | Intelligent cleaning and detecting robot system for air pipeline |
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| CN201320486788.2U Expired - Fee Related CN203400910U (en) | 2013-08-09 | 2013-08-09 | Intelligent cleaning and detecting robot system for air pipeline |
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Cited By (15)
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| CN103831259A (en) * | 2014-03-05 | 2014-06-04 | 国家电网公司 | Electric insulator cleaning arm |
| CN106140747A (en) * | 2016-07-05 | 2016-11-23 | 宿州市航宇塑胶贸易有限公司 | A kind of automatic pipeline cleaning plant |
| CN106475846A (en) * | 2016-07-22 | 2017-03-08 | 苏州布德机电设备有限公司 | Cleaning device suitable for numerically controlled automatic equipment |
| CN106493131A (en) * | 2016-12-12 | 2017-03-15 | 广东齐创科技投资管理有限公司 | Clean flexible axle, pipe-line purging system and pipe-line purging method |
| CN105772422B (en) * | 2014-12-25 | 2018-02-23 | 福建宁德核电有限公司 | A kind of nuclear power generating equipment cleaning device |
| CN108685527A (en) * | 2018-04-03 | 2018-10-23 | 黄永怀 | A kind of intelligent robot for dedusting |
| CN109663768A (en) * | 2019-01-28 | 2019-04-23 | 广州清新环保科技有限公司 | A kind of cleaning disinfection robot |
| CN109675843A (en) * | 2019-01-28 | 2019-04-26 | 广州清新环保科技有限公司 | A kind of Status of air duct cleaning system and method |
| CN110142265A (en) * | 2019-06-27 | 2019-08-20 | 陕西中建建乐智能机器人有限公司 | A kind of wireless pipe cleaning robot |
| CN110280517A (en) * | 2019-07-29 | 2019-09-27 | 杭州鑫赐贸易有限公司 | A kind of comprehensive clearing apparatus of central air-conditioning |
| CN111151528A (en) * | 2020-02-25 | 2020-05-15 | 浙江康华物联科技有限公司 | Automatic production line of solar street lamp |
| CN112692009A (en) * | 2020-12-11 | 2021-04-23 | 东北石油大学 | Can realize abluent pipeline cleaning device of fixed point |
| CN113020152A (en) * | 2021-03-23 | 2021-06-25 | 魏桥纺织股份有限公司 | Robot for cleaning air duct |
| CN113933015A (en) * | 2021-11-29 | 2022-01-14 | 中国航天空气动力技术研究院 | Cleaning robot for high-energy pulse shock tunnel |
| TWI805920B (en) * | 2020-05-07 | 2023-06-21 | 正修學校財團法人正修科技大學 | In-tube cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103831259A (en) * | 2014-03-05 | 2014-06-04 | 国家电网公司 | Electric insulator cleaning arm |
| CN105772422B (en) * | 2014-12-25 | 2018-02-23 | 福建宁德核电有限公司 | A kind of nuclear power generating equipment cleaning device |
| CN106140747A (en) * | 2016-07-05 | 2016-11-23 | 宿州市航宇塑胶贸易有限公司 | A kind of automatic pipeline cleaning plant |
| CN106475846A (en) * | 2016-07-22 | 2017-03-08 | 苏州布德机电设备有限公司 | Cleaning device suitable for numerically controlled automatic equipment |
| CN106493131A (en) * | 2016-12-12 | 2017-03-15 | 广东齐创科技投资管理有限公司 | Clean flexible axle, pipe-line purging system and pipe-line purging method |
| CN106493131B (en) * | 2016-12-12 | 2018-11-27 | 广东齐创科技投资管理有限公司 | Clean flexible axle, pipe-line purging system and pipe-line purging method |
| CN108685527A (en) * | 2018-04-03 | 2018-10-23 | 黄永怀 | A kind of intelligent robot for dedusting |
| CN109675843A (en) * | 2019-01-28 | 2019-04-26 | 广州清新环保科技有限公司 | A kind of Status of air duct cleaning system and method |
| CN109663768A (en) * | 2019-01-28 | 2019-04-23 | 广州清新环保科技有限公司 | A kind of cleaning disinfection robot |
| CN110142265A (en) * | 2019-06-27 | 2019-08-20 | 陕西中建建乐智能机器人有限公司 | A kind of wireless pipe cleaning robot |
| CN110280517A (en) * | 2019-07-29 | 2019-09-27 | 杭州鑫赐贸易有限公司 | A kind of comprehensive clearing apparatus of central air-conditioning |
| CN111151528A (en) * | 2020-02-25 | 2020-05-15 | 浙江康华物联科技有限公司 | Automatic production line of solar street lamp |
| CN111151528B (en) * | 2020-02-25 | 2021-04-16 | 浙江康华物联科技有限公司 | Automatic production line of solar street lamp |
| TWI805920B (en) * | 2020-05-07 | 2023-06-21 | 正修學校財團法人正修科技大學 | In-tube cleaning robot |
| CN112692009A (en) * | 2020-12-11 | 2021-04-23 | 东北石油大学 | Can realize abluent pipeline cleaning device of fixed point |
| CN113020152A (en) * | 2021-03-23 | 2021-06-25 | 魏桥纺织股份有限公司 | Robot for cleaning air duct |
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