CN206824340U - A kind of pipeline cleaning robot based on parallel institution - Google Patents

A kind of pipeline cleaning robot based on parallel institution Download PDF

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Publication number
CN206824340U
CN206824340U CN201720685858.5U CN201720685858U CN206824340U CN 206824340 U CN206824340 U CN 206824340U CN 201720685858 U CN201720685858 U CN 201720685858U CN 206824340 U CN206824340 U CN 206824340U
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China
Prior art keywords
coverboard
iii
motor
parallel
transfer
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Expired - Fee Related
Application number
CN201720685858.5U
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Chinese (zh)
Inventor
张家俊
叶淑源
苏生鹏
李宝
李晓垚
颜智慧
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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Priority to CN201720685858.5U priority Critical patent/CN206824340U/en
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Abstract

It the utility model is related to energy-conserving and environment-protective field, specifically a kind of pipeline cleaning robot based on parallel institution, including head end fixing device, transfer in parallel, auxiliary propulsion plant and cleaning device, it is characterised in that:Described head end fixing device is located at robot body's head end;Described transfer in parallel is divided into inside and outside two parts, and transfer in parallel is connected with head end fixing device end;Described auxiliary propulsion plant is located at transfer rear end in parallel, is fixedly connected with transfer in parallel;Described cleaning device is located at robot body end, and cleaning device is connected with transfer in parallel.The utility model has the characteristics that compact-sized, low manufacture cost, cleaning performance are good, can effectively reduce cleaning difficulty, improves pipe cleanness.

Description

A kind of pipeline cleaning robot based on parallel institution
Technical field
It the utility model is related to pipeline cleaning field, specifically a kind of pipeline cleaning machine based on parallel institution People.
Background technology
At present, with the fast development of global industry chemical industry, it is dirty that chemical plant will discharge substantial amounts of gas and solid Thing is contaminated, if these pollutants without timely handling, can not only accelerate the extent of corrosion of pipeline, and the backflow of pollutant Harm will be produced to machinery equipment, factory is existing to carry out cleaning nursing frequently with pipeline cleaning robot to the dirt of pipeline.
However, the pipeline cleaning robot for handling pipeline pollutant at present has, cleaning effect is poor, clean rate is low, path The limitation defect such as greatly, therefore, according to the weak point of existing pipeline cleaning robot, there is an urgent need to a kind of scope of application it is big, The high pipeline cleaning robot of degree of cleaning, i.e., a kind of pipeline cleaning robot based on parallel institution, can realize to it is a variety of not High-efficiency washing is carried out with radius and the industrial pipeline of track, improves the clean-up performance of industrial pipeline, extension device life-span.
It is and traditional
The content of the invention
To make up the deficiencies in the prior art, the utility model provides a kind of pipeline cleaning machine based on parallel institution People, robot architecture is optimized, improve the degree and efficiency of pipeline cleaning.
Technical scheme is used by the utility model solves its technical problem:A kind of pipeline cleaning based on parallel institution Robot, including head end fixing device, transfer in parallel, auxiliary propulsion plant and cleaning device, it is characterised in that:Described Head end fixing device is located at robot body's head end;Described transfer in parallel is divided into inside and outside two parts, transfer in parallel It is connected with head end fixing device end;Described auxiliary propulsion plant is located at transfer rear end in parallel, with transfer in parallel It is fixedly connected with;Described cleaning device is located at robot body end, and cleaning device is connected with transfer in parallel.
Described head end fixing device include six arc support plates, six roots of sensation connecting rod I, leading screw I, movable sleeving I, cloche I, Motor I, motor rack I, coverboard I, six fixed-hinged supports, support bar, bevel gear system I and coverboard II and fixed seat, described six Root connecting rod I carries out pin with six arc support plates and movable sleeving I respectively and is connected, and is used on the outside of described six arc support plates Elastomeric material;Described leading screw I is threadedly coupled with movable sleeving I;Described leading screw I is consolidated by fixed seat and coverboard II Even;Described motor rack I and coverboard I is fixedly connected with, and motor I is fixed on motor rack I;Described coverboard I and coverboard II passes through branch Strut is fixedly connected with;Described bevel gear system I is axially engaged with motor I and bevel gear system I respectively;Described cloche I's Both ends are engaged with coverboard I and coverboard II respectively;Six described fixed-hinged supports are located on the outside of coverboard I and are connected with it, and six Angularly for array on the outside of coverboard I, angle is 60 degree to individual fixed-hinged support, and is welded with coverboard I.
Described transfer in parallel include six fixing rod Is, six connecting rod II, six trundles, six connecting rod III, Six little axle sleeves, six springs, coverboard III, three hinged-support I, three cylinders and three hinged-support II, described six fixations Bar I is connected with coverboard I and coverboard III respectively;Six described springs are respectively fitted in six fixing rod Is, six springs Both ends be engaged respectively with six little axle sleeves, described six connecting rod III both ends respectively with six little axle sleeves and six companies Bar II middle part carries out pin connection, and described connecting rod II one end carries out pin with trundle and is connected, and the other end and fixation are hinged Seat carries out pin connection;Three described cylinder one end are connected by three hinged-support I and coverboard III respectively, the other end It is connected respectively by three hinged-support II and coverboard I.
Described auxiliary propulsion plant includes bolt, hydraulic cylinder, ball pivot, four positioning screws, motor rack II, motor II, bevel gear system II, grid spacer, coverboard IV, movable sleeving II, leading screw II, four connecting rod III, eight axle beds, eight screw rods, Four supporting legs, cloche II, four axle sleeves and coverboard V, described bolt is connected with hydraulic cylinder head end, described Ball pivot both ends are fixedly connected with hydraulic cylinder and coverboard V respectively;Described grid spacer, coverboard IV and coverboard V is fixed commonly through four Position screw rod is attached, and is wherein positioned between grid spacer and coverboard V by four axle sleeves;Described motor rack II and shell It is welded to connect between plate V, described motor II is fixed on motor rack II;Described leading screw II respectively with grid spacer and Pin connection is carried out between coverboard IV, described bevel gear system II is connected with leading screw II and motor II respectively;Described movable sleeving II is threadedly coupled with leading screw II;Eight described axle beds are averagely fixed in grid spacer and coverboard IV;Described four Connecting rod III one end carries out pin with movable sleeving II and is connected, and four connecting rod III other ends carry out pin company with four supporting legs respectively Connect;Four described supporting legs are fixedly connected with two screw rods respectively, two on described supporting leg piece screw rod respectively with two axles Seat carries out axial connection;Described cloche II both ends are engaged with coverboard IV and coverboard V respectively, and cloche II is in four branch Support leg part carries out perforate.
Described cleaning device include beam barrel, 20 removable electric brush, 20 spring II, brush cylinder, 20 Hairbrush groove, inner gear housing, gear, motor rack III and motor III, described beam barrel are welded to connect with motor rack III;Institute The 20 removable electric brush and 20 spring II stated are connected, and gap is formed between removable electric brush and hairbrush groove and is matched somebody with somebody Close;20 described hairbrush grooves are angularly distributed on the inside of brush cylinder, and described 20 removable electric brush pass through 20 Individual spring II and 20 hairbrush grooves are connected with brush cylinder;Described inner gear housing carries out bolt company with brush cylinder Connect, described gear carries out gear with inner gear housing and is connected;Described motor III and motor rack III is connected, described tooth Wheel axially engages with motor III.
The beneficial effects of the utility model are:
(1) a kind of pipeline cleaning robots based on parallel institution of, the shock-damping structure of transfer in parallel can effectively delay Vibration influence of the internal diameter of the pipeline change to robot body is solved, makes operation more stable.
(2) a kind of pipeline cleaning robots based on parallel institution of, the design of the reducing hairbrush of cleaning device make this work Product can be adapted to a variety of radius pipelines, saved cost, improved the market value of the present apparatus.
(3) a kind of pipeline cleaning robots based on parallel institution of, transfer in parallel use parallel institution, and structure is steady Fixed, load-bearing rigidity is big, turns to flexible.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is dimensional structure diagram of the present utility model;
Fig. 2 is head end fixing device dimensional structure diagram;
Fig. 3 is transfer dimensional structure diagram in parallel;
Fig. 4 is auxiliary propulsion plant dimensional structure diagram;
Fig. 5 is cleaning device dimensional structure diagram;
In figure:1. head end fixing device, 2. transfers in parallel, 3. auxiliary propulsion plants, 4. and cleaning device, 101. arcs Shape supporting plate, 102. connecting rod I, 103. leading screw I, 104. movable sleeving I, 105. cloche I, 106. motor I, 107. motor rack I, 108. coverboard I, 1081. fixed-hinged supports, 109. support bars, 110. bevel gear system I, 111. coverboard II, 112. fixed seats, 201. Fixing rod I, 202. connecting rod II, 203. trundles, 204. connecting rod III, 205. little axle sleeves, 206. springs, 207. coverboard III, 208. hinged-support I, 209. cylinders, 210. hinged-support II, 301. bolts, 302. hydraulic cylinders, 303. ball pivots, 304. positioning spiral shells Bar, 305. motor rack II, 306. motor II, 307. bevel gear system II, 308. grid spacers, 309. coverboard IV, 310. movable sleevings II, 311. leading screw II, 312. connecting rod III, 313. axle beds, 314. screw rods, 315. supporting legs, 316. cloche II, 317. axle sleeves, 318. coverboard V, 401. beam barrels, 402. removable electric brush, 403. spring II, 404. brush cylinders, 4041. hairbrush grooves, in 405. Geared sleeve, 406. gears, 407. motor rack III, 408. motor III.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, under Face combines and is specifically illustrating, and this is expanded on further using new.
As shown in figure 1, a kind of pipeline cleaning robot based on parallel institution described in the utility model, including head end are consolidated Determine device 1, transfer in parallel 2, auxiliary propulsion plant 3 and cleaning device 4, it is characterised in that:Described head end fixing device 1 Positioned at robot body's head end;Described transfer in parallel 2 divides to be fixed for inside and outside two parts, transfer 2 in parallel with head end The end of device 1 is connected;Described auxiliary propulsion plant 3 is located at the rear end of transfer 2 in parallel, is fixedly connected with transfer 2 in parallel; Described cleaning device 4 is located at robot body end, and cleaning device 4 is connected with transfer 2 in parallel.
As shown in Fig. 2 described head end fixing device 1 includes six arc support plates 101, six roots of sensation connecting rod I 102, leading screw 108, six I 103, movable sleeving I 104, cloche I 105, motor I 106, motor rack I 107, coverboard I fixed-hinged supports 1081st, support bar 109, bevel gear system I 110 and coverboard II 111 and fixed seat 112, described six roots of sensation connecting rod I 102 respectively with Six arc support plates 101 carry out pin with movable sleeving I 104 and connected;Described leading screw I 103 and movable sleeving I 104 carries out spiral shell Line connects;Described leading screw I 103 is connected by fixed seat 112 and coverboard II 111;Described motor rack I 107 and shell Plate I 108 is fixedly connected with, and motor I 106 is fixed on motor rack I 107;Described coverboard I 108 and coverboard II 111 passes through branch Strut 109 is fixedly connected with;Described bevel gear system I 110 is axially engaged with motor I 106 and bevel gear system I 110 respectively; Described cloche I 105 both ends are engaged with coverboard I 108 and coverboard II 111 respectively;Six described fixed-hinged supports 1081 are connected positioned at the outsides of coverboard I 108 and with it.
As shown in figure 3, described transfer in parallel 2 includes six connecting rod II 202, six of fixing rod I 201, six 207, three 205, six springs 206 of the little axle sleeves of connecting rod III 204, six of trundle 203, six, coverboard III hinged-support I 208th, three cylinders 209 and three hinged-support II 210, described six fixing rod Is 201 respectively with coverboard I 108 and coverboard III 207 is connected;Six described springs 206 are respectively fitted in six fixing rod Is 201, the both ends of six springs 206 Be engaged respectively with six little axle sleeves 205, described six connecting rod III 204 both ends respectively with six little axle sleeves 205 and six Individual connecting rod II 202 middle part carries out pin connection, and described one end of connecting rod II 202 carries out pin with trundle 203 and is connected, separately One end carries out pin with fixed-hinged support 1081 and is connected;Three described one end of cylinder 209 pass through three hinged-support I 208 respectively It is connected with coverboard III 207, the other end is connected by three hinged-support II 210 and coverboard I 108 respectively.
Determine as shown in figure 4, described auxiliary propulsion plant 3 includes bolt 301, hydraulic cylinder 302, ball pivot 303, four Position screw rod 304, motor rack II 305, motor II 306, bevel gear system II 307, grid spacer 308, coverboard IV 309, movement Cover II 310, leading screw II 311, four connecting rod III 312, eight axle bed 313, eight screw rod 314, four supporting leg 315, glass 316, four axle sleeves 317 of glass cover II and coverboard V 318, described bolt 301 are connected with the head end of hydraulic cylinder 302, institute The both ends of ball pivot 303 stated are fixedly connected with hydraulic cylinder 302 and coverboard V 318 respectively;Described grid spacer 308, coverboard IV 309 It is attached commonly through four positioning screws 304 with coverboard V 318, wherein passes through between grid spacer 308 and coverboard V 318 Four axle sleeves are positioned;It is welded to connect between described motor rack II 305 and coverboard V 318, described motor II 306 are fixed on motor rack II 305;Described leading screw II 311 is carried out between grid spacer 308 and coverboard IV 309 respectively Pin connects, and described bevel gear system II 307 is connected with leading screw II 311 and motor II 306 respectively;Described movable sleeving II 310 are threadedly coupled with leading screw II 311;Eight described axle beds 313 are averagely fixed on grid spacer 308 and coverboard IV On 309;Four described one end of connecting rod III 312 carry out pin with movable sleeving II 310 and are connected, and four connecting rod III 312 are another End carries out pin with four supporting legs 315 respectively and is connected;Four described supporting legs 315 are fixedly connected with two screw rods 314 respectively, Two screw rods 314 on described supporting leg 315 carry out axial connection with two axle beds 313 respectively;Described cloche II 316 both ends are engaged with coverboard IV 309 and coverboard V 318 respectively.
As shown in figure 5, described cleaning device includes 402,20 spring II of the removable electric brush of beam barrel 401,20 403rd, 404,20 hairbrush grooves 4041 of brush cylinder, inner gear housing 405, gear 406, motor rack III 407 and motor III 408, described beam barrel 401 is welded to connect with motor rack III 407;20 described removable electric brush 402 and 20 Individual spring II 403 is connected;20 described hairbrush grooves 4041 are angularly distributed in the inner side of brush cylinder 404, described 20 removable electric brush 402 are consolidated by 20 spring II 403 and 20 hairbrush grooves 4041 with brush cylinder 404 Even;Described inner gear housing 405 carries out bolt connection with brush cylinder 404, and described gear 406 is carried out with inner gear housing 405 Gear connects;Described motor III 408 and motor rack III 407 is connected, described gear 406 and motor III 408 Axially engage.
During work, pipe robot is positioned by the parallel institution of transfer in parallel to advance route first;Machine When device people advances, robot makes six arc support plates be fixed on pipeline by the motor of head end fixing device by linkage Inner side, now the six of transfer in parallel trundle is contacted with insides of pipes, while the motor of auxiliary propulsion plant Supporting leg is accepted, drives cleaning device latter half to advance by the contraction of hydraulic cylinder;During robot Cleaning pipes, electricity Machine III controls pinion rotation, and so as to drive brush cylinder to rotate by inner gear housing, the hairbrush in hairbrush groove is by centrifugal force The constraint that spring is broken away from effect is pushed outwardly, until the bristle of removable electric brush outer rim is in contact with insides of pipes, and passes through rolling The rotary motion of cylinder is cleaned to insides of pipes, so as to complete the workflow of complete set.Pass through pipeline cleaning robot Cleaning, the cleannes of insides of pipes are effectively lifted.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry It should be appreciated that the utility model is not limited to the embodiments described above, the description in above-mentioned embodiment and specification is Illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model also has respectively Kind changes and improvements, these changes and improvements are both fallen within claimed the scope of the utility model.The requires of the utility model is protected Scope is protected by appended claims and its equivalent thereof.

Claims (4)

1. a kind of pipeline cleaning robot based on parallel institution, including it is head end fixing device (1), transfer in parallel (2), auxiliary Help propulsion plant (3) and cleaning device (4), it is characterised in that:Described head end fixing device (1) is located at robot body head End;Described transfer in parallel (2) is divided into inside and outside two parts, and transfer (2) in parallel and head end fixing device (1) end are solid Even;Described auxiliary propulsion plant (3) is located at transfer in parallel (2) rear end, is fixedly connected with transfer in parallel (2);It is described Cleaning device (4) be located at robot body end, cleaning device (4) is connected with transfer in parallel (2);Wherein:
Described head end fixing device (1) includes six arc support plates (101), six roots of sensation connecting rod I (102), leading screw I (103), shifting Dynamic set I (104), cloche I (105), motor I (106), motor rack I (107), coverboard I (108), six fixed-hinged supports (1081), support bar (109), bevel gear system I (110) and coverboard II (111) and fixed seat (112), described six roots of sensation connecting rod I (102) pin is carried out with six arc support plates (101) and movable sleeving I (104) respectively to be connected;Described leading screw I (103) is with moving Dynamic set I (104) is threadedly coupled;Described leading screw I (103) is connected by fixed seat (112) and coverboard II (111); Described motor rack I (107) and coverboard I (108) is fixedly connected with, and motor I (106) is fixed on motor rack I (107);Described shell Plate I (108) and coverboard II (111) are fixedly connected with by support bar (109);Described bevel gear system I (110) respectively with motor I (106) axially engaged with bevel gear system I (110);Described cloche I (105) both ends respectively with coverboard I (108) and Coverboard II (111) is engaged;Six described fixed-hinged supports (1081) are located on the outside of coverboard I (108) and are connected with it.
A kind of 2. pipeline cleaning robot based on parallel institution according to claim 1, it is characterised in that:It is described and Joining transfer (2) includes six fixing rod Is (201), six connecting rod II (202), six trundles (203), six connecting rod III (204), six little axle sleeves (205), six springs (206), coverboard III (207), three hinged-support I (208), three cylinders (209) and three hinged-support II (210), described six fixing rod Is (201) respectively with coverboard I (108) and coverboard III (207) It is connected;Six described springs (206) are respectively fitted on six fixing rod Is (201), the both ends point of six springs (206) Be not engaged with six little axle sleeves (205), the both ends of described six connecting rod III (204) respectively with six little axle sleeves (205) and The middle part of six connecting rod II (202) carries out pin connection, and described connecting rod II (202) one end carries out pin with trundle (203) Connection, the other end carry out pin with fixed-hinged support (1081) and are connected;Three described cylinder (209) one end pass through three respectively Hinged-support I (208) and coverboard III (207) is connected, and the other end passes through three hinged-support II (210) and coverboard I respectively (108) it is connected.
A kind of 3. pipeline cleaning robot based on parallel institution according to claim 1, it is characterised in that:Described is auxiliary Propulsion plant (3) is helped to include bolt (301), hydraulic cylinder (302), ball pivot (303), four positioning screws (304), motor racks II (305), motor II (306), bevel gear system II (307), grid spacer (308), coverboard IV (309), movable sleeving II (310), Leading screw II (311), four connecting rod III (312), eight axle beds (313), eight screw rods (314), four supporting legs (315), glass Glass cover II (316), four axle sleeves (317) and coverboard V (318), described bolt (301) enter with hydraulic cylinder (302) head end Row is connected, and described ball pivot (303) both ends are fixedly connected with hydraulic cylinder (302) and coverboard V (318) respectively;Described grid spacer (308), coverboard IV (309) and coverboard V (318) is attached commonly through four positioning screws (304), wherein grid spacer (308) positioned between coverboard V (318) by four axle sleeves;Between described motor rack II (305) and coverboard V (318) It is welded to connect, described motor II (306) is fixed on motor rack II (305);Described leading screw II (311) is respectively with determining Position dividing plate (308) and coverboard IV (309) between progress pin connection, described bevel gear system II (307) respectively with leading screw II (311) it is connected with motor II (306);Described movable sleeving II (310) is threadedly coupled with leading screw II (311);Described eight Individual axle bed (313) is averagely fixed in grid spacer (308) and coverboard IV (309);Four described connecting rod III (312) one end Pin is carried out with movable sleeving II (310) to be connected, four connecting rod III (312) other ends enter marketing with four supporting legs (315) respectively Nail connection;Four described supporting legs (315) are fixedly connected with two screw rods (314) respectively, and two on described supporting leg (315) Root screw rod (314) carries out axial connection with two axle beds (313) respectively;Described cloche II (316) both ends respectively with shell Plate IV (309) and coverboard V (318) are engaged.
A kind of 4. pipeline cleaning robot based on parallel institution according to claim 1, it is characterised in that:Described is clear Cleaning device includes beam barrel (401), 20 removable electric brush (402), 20 spring II (403), brush cylinder (404), two Ten hairbrush grooves (4041), inner gear housing (405), gear (406), motor rack III (407) and motor III (408), it is described Beam barrel (401) is welded to connect with motor rack III (407);20 described removable electric brush (402) and 20 springs II (403) is connected;20 described hairbrush grooves (4041) are angularly distributed on the inside of brush cylinder (404), described 20 removable electric brush (402) pass through 20 spring II (403) and 20 hairbrush grooves (4041) and brush cylinder (404) It is connected;Described inner gear housing (405) carries out bolt connection, described gear (406) and internal tooth with brush cylinder (404) Wheel case (405) carries out gear connection;Described motor III (408) and motor rack III (407) is connected, described gear (406) axially engaged with motor III (408).
CN201720685858.5U 2017-06-13 2017-06-13 A kind of pipeline cleaning robot based on parallel institution Expired - Fee Related CN206824340U (en)

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Application Number Priority Date Filing Date Title
CN201720685858.5U CN206824340U (en) 2017-06-13 2017-06-13 A kind of pipeline cleaning robot based on parallel institution

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108687071A (en) * 2018-05-15 2018-10-23 黄乞珠 Environment-friendly type petroleum pipeline washer
CN109793462A (en) * 2019-01-21 2019-05-24 浙江绿宇装饰有限公司 Indoor decorating automation is laid with step carpet machinery and its clearing apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108687071A (en) * 2018-05-15 2018-10-23 黄乞珠 Environment-friendly type petroleum pipeline washer
CN109793462A (en) * 2019-01-21 2019-05-24 浙江绿宇装饰有限公司 Indoor decorating automation is laid with step carpet machinery and its clearing apparatus

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