CN207195949U - Segment type clean robot for central air-conditioning pipe - Google Patents

Abstract

The segment type clean robot for central air-conditioning pipe is the utility model is related to, the both ends of propulsion die are equipped with walking module；Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on the head nut of reverse-flighted screw one end, is spun on the tail nut of the reverse-flighted screw other end, the multigroup scissor brace component being circumferentially evenly arranged；Cleaning module is arranged in walking module, in umbrella be distributed multiple stretch one's arms be hinged on substrate; umbrella handle is fixed on substrate; the end of umbrella handle is provided with boss; along umbrella handle axial movement piston bush be mounted in umbrella handle on, be sleeved on the first spring on umbrella handle between boss and piston, one end of linking arm is hinged on piston; the other end of linking arm is hinged on stretch one's arms on, hairbrush is hinged on the end stretched one's arms.The clean robot can be walked in pipeline internal and clean the inwall of pipeline, belong to the technical field of cleaning in pipeline.

Description

Segment type clean robot for central air-conditioning pipe

Technical field

The technical field of cleaning in pipeline is the utility model is related to, the segment type of more particularly, to central air-conditioning pipe is clear Clean robot.

Background technology

With the development of China's economy and science and technology, the use of central air-conditioning is more and more, at present, for air conditioner ventilation The cleaning of pipeline, danger is big by the way of manually cleaning, the amount of labour is big, operating efficiency is low, cost is high, and dust is to human body Harm is also very big, and the ventilation shaft of pipe with small pipe diameter is crossed for some, artificial cleaning can not be also carried out, so central air-conditioning pipe is clear Clean robot is a new research direction, has huge market prospects.

The pipe robot developed at present can be divided into medium differential pressure driving, in-wheel driving by the difference of type of drive, climb 7 kinds, wherein wheeled pipe robot such as line driving, the driving of stomach wall formula, walking driving, creeping motion type driving and spiral driving Drive efficiency highest.《Experimental technique and management》" design of pipeline internal robot walking " one that the 5th phase of volume 8 in 2014 delivers Text discloses a kind of wheeled pipe robot.Design to ensure the premise of wheeled pipe robot drive efficiency and stability Under, further expand the caliber accommodation of robot, this paper presents introduce a kind of tandem in robot wheel leg structure Double parallel quadrangular mechanism scheme.It is above-mentioned as a result of running on wheels structure, thus be clearly present following deficiencies：1st, can not be right Vertical pipe is climbed；2nd, bend pipe can not be adapted to very well；3rd, the pipeline to be changed for caliber, robot may be made Axis deviation conduit axis, other contacts site are caused not contact very well.

Utility model content

For technical problem present in prior art, the purpose of this utility model is：One kind is provided and is used for central air-conditioning The segment type clean robot of pipeline, the clean robot can be walked in pipeline internal and clean the inwall of pipeline.

In order to achieve the above object, the utility model adopts the following technical scheme that：

For the segment type clean robot of central air-conditioning pipe, including propulsion die, walking module, cleaning module；Push away The both ends for entering module are equipped with walking module；

Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on the head of reverse-flighted screw one end Nut, the tail nut of the reverse-flighted screw other end is spun on, the multigroup scissor brace component being circumferentially evenly arranged；Scissor supports Arm component includes the first brace and the second brace being hinged, and one end of the first brace is hinged on head nut, the first brace The other end be in contact by elastic ball with inner-walls of duct, one end of the second brace is hinged on tail nut, the second brace it is another One end is in contact by elastic ball with inner-walls of duct；

Cleaning module is arranged in walking module, and cleaning module includes umbrella handle, piston, hairbrush, the first spring, substrate, more Individual linking arm, multiple stretch one's arms；Multiple stretch one's arms being distributed in umbrella is hinged on substrate, and umbrella handle is fixed on substrate, the end of umbrella handle Portion is provided with boss, and along the piston bush of umbrella handle axial movement on umbrella handle, the first spring being sleeved on umbrella handle is located at boss Between piston, one end of linking arm is hinged on piston, the other end of linking arm is hinged on stretch one's arms on, hairbrush, which is hinged on, stretches one's arms End.

It is further：Propulsion die includes the first motor, unidirectional screw rod, link, the drive being arranged on inside link Dynamic nut, the first universal joint, the second universal joint；Drive nut is spun on unidirectional screw rod, and one end of the first universal joint is connected to it In a walking module support body on, the other end of the first universal joint is connected on link, and the first motor is arranged on another On the support body of walking module, one end of the second universal joint is connected on unidirectional screw rod, the other end of the second universal joint and the first electricity The output end of machine connects.Propulsion die can drive the walking module of upper end and the walking module of lower end to be sequentially advanced.

It is further：Support body includes head plate, afterbody flat board, connects the connection frame of head plate and afterbody flat board； Connection inframe, which is provided with, to be used to scissor brace component and does open with the strip notch of closed action, the first brace being hinged and the Two braces pass through strip notch.The overall structure of support body is simple, and strip notch can prevent the first brace and the second brace from rocking, and make Obtaining the first brace and the second brace can only rotate upwardly and downwardly.

It is further：Walking module is also including multigroup haptic feedback component and for driving the second of reverse-flighted screw rotation Motor, the second motor are arranged on support body；The end of first brace and the end of the second brace are mounted on one group of haptic feedback Component；Haptic feedback component includes receiver, elastic ball, pressure sensor, lid；Pressure sensor includes what is linked together Stripes and annular portion, pressure sensor are connected with the second motor signal, and receiver is provided with cavity, the annular portion of pressure sensor It is placed in the cavity of receiver, the elastic ball for squeeze pressure sensor annular portion is placed on the cavity of receiver, and lid is solid The end of receiver is scheduled on, a part for elastic ball exposes lid；The strip of the pressure sensor of each group of haptic feedback component Portion is arranged in the first brace or the second brace, and the receiver of each group of haptic feedback component is hinged on the first brace or the second support On arm.Pressure sensor can feed back corresponding signal, and the feedback signal is ultimately used to control the second motor, then the second motor Final driving scissor brace component continues locking or lasting opening.Elastic ball is in contact with the inwall of pipeline, meanwhile, receiver It is hinged in brace, receiver can rotate within the specific limits, it is easier to adapt to the situation in pipeline.

It is further：Clean robot also includes the multigroup auxiliary support assemblies being circumferentially evenly arranged, auxiliary Support component is helped to include matrix, sleeve, boom, directive wheel, guiding wheel seat, second spring；Matrix is fixed on the frame of walking module On body, the end of sleeve is provided with end plate, and end plate is fixed on matrix, and the end of boom is provided with end block, is oriented to wheel seat and is fixed on end On block, directive wheel is pivotally arranged on and is oriented on wheel seat, and second spring is sleeved on sleeve, the inside of boom insertion sleeve, The end plate of sleeve is located at the side of second spring, and the end block of boom is located at the opposite side of second spring.Auxiliary support assemblies ensure Clean robot axle center is stable, keeps whole clean robot not rocked in pipeline.

It is further：The circumference side of boom is provided with strip projected parts, is provided with sleeve and is mutually fitted with boom and strip projected parts The groove answered.Strip projected parts prevent the relative rotation of boom and sleeve so that boom can only straight line be back and forth in the groove of sleeve It is mobile.

It is further：Support body also includes accessory plate, and accessory plate is bolted on support body by strip, Auxiliary support group The matrix of part is fixed on the auxiliary board.Accessory plate can be used for install corresponding motor, auxiliary support assemblies and other electrically set It is standby.

It is further：Cleaning module also includes the 3rd motor and connecting shaft, and the 3rd motor is arranged on the frame of walking module On body, one end of connecting shaft is connected with the output end of the 3rd motor, the other end and substrate connection of connecting shaft.3rd motor passes through Connecting shaft can drive whole cleaning module unitary rotation.

It is further：Piston includes cylinder, round platform, the multiple lateral mass being made into integration；Round platform is arranged on the end of cylinder, Lateral mass is arranged on the circumference side of cylinder, and multiple lateral mass are uniformly distributed along the circumferencial direction of cylinder, and lateral mass is provided with connecting Connect the be hinged through hole of arm and the straight trough rotated for linking arm.The structure of piston can realize that the be hinged and linking arm of linking arm turns It is dynamic

It is further：Hairbrush is hinged on the end stretched one's arms by hinged block, hinged block include the cylinder being made into integration and Lateral mass, cylinder are regularly sleeved on the brush axle of hairbrush, and lateral mass is arranged on the circumference side of cylinder, and lateral mass is provided with opening The be hinged through hole of arm and the straight trough for rotation of stretching one's arms.The structure of hinged block can be realized to stretch one's arms to be turned with the be hinged and relative of contiguous block It is dynamic.

Generally speaking, the utility model has the following advantages that：

1st, cleaning module can adapt to the change of pipe radius automatically, without the hairbrush for manually changing different dimensions.

2nd, dead point is not present in cleaning module, is not in the situation of reducing disabler in the course of the work.

3rd, it can guarantee that the hairbrush moment is adjacent to duct wall.

4th, cleaning module can adapt to environment of the crooked pipeline with parallel straight pipeline.

5th, hairbrush is fixed for impermanency, and after a period of time, hairbrush will damage because of friction, now by hairbrush from Hinged block is removed, and can improve cleaning effect by the method for more Brusher being able to change bristles, convenient and efficient.

6th, this clean robot can be walked in pipeline internal, can be horizontal straight tube, side bend, horizontal variable diameter straight tube, non- The pipelines such as horizontal straight tube, non-horizontal bend pipe, non-horizontal variable diameter straight tube, adapt to the situation of pipe radius change.Can be stably With circular pipe of the ground into any angle in move, while the change of caliber can also be adapted within the specific limits, it is right There is stronger adaptability in working environment.

Brief description of the drawings

Fig. 1 is the structural representation of clean robot, is not drawn into cleaning module.

Fig. 2 is the structural representation at walking module.

Fig. 3 is haptic feedback component and the structural representation of the first brace or the second brace.

Fig. 4 is the structural representation of auxiliary support assemblies.

Fig. 5 is the structural representation of sleeve and end plate.

Fig. 6 is the structural representation of boom and end block.

Fig. 7 is the structural representation of propulsion die.

Fig. 8 is the front view of cleaning module.

Fig. 9 is the stereogram of cleaning module.

Figure 10 is the structural representation of piston.

Figure 11 is the structural representation stretched one's arms.

Figure 12 is the structural representation of linking arm.

Figure 13 is the structural representation of hinged block.

Figure 14 is the structural representation of clean robot.

Wherein, 1 is walking module, and 2 be propulsion die, and 3 be auxiliary support assemblies, and 4 be cleaning module, and 1-1 is anti-for contact Component is presented, 1-2 be the second brace, and 1-3 be the first brace, and 1-4 is the head plate of support body, and 1-5 is the afterbody flat board of support body, 1- 6 be the connection frame of support body, and 1-7 is strip notch, and 1-8 is head nut, and 1-9 is tail nut, and 1-10 is reverse-flighted screw, supplemented by 1-11 Plate is helped, 1-12 is strip bolt, and 1-1-1 is receiver, and 1-1-2 is elastic ball, and 1-1-3 is lid, and 1-1-4 is pressure sensor Annular portion, 1-1-5 is the stripes of pressure sensor, and 1-1-6 be bit-avoiding slot mouth, and 1-1-7 is the cavity of receiver, and 2-1 is Second universal joint, 2-2 are unidirectional screw rod, and 2-3 is drive nut, and 2-4 is drive nut, and 2-5 is the first universal joint, and 3-1 is base Block, 3-2 are sleeve, and 3-3 is end plate, and 3-4 is second spring, and 3-5 is boom, and 3-6 is end block, and to be oriented to wheel seat, 3-8 is 3-7 Directive wheel, 3-9 are the groove in sleeve, and 3-10 is strip projected parts, and 4-1 is umbrella handle, and 4-2 is piston, and 4-3 is linking arm, and 4-4 is Stretch one's arms, 4-5 is hinged-support, and 4-6 is flange, and 4-7 is hinged block, and 4-8 is hairbrush, and 4-9 is the first spring, and 4-10 is substrate, 4- 11 be the boss on umbrella handle, and 4-12 is the cylinder of piston, and 4-13 is the round platform of piston, and 4-14 is the lateral mass of piston, and 4-15 is to live The through hole on lateral mass is filled in, 4-16 is the straight trough on piston lateral mass, and 4-17 is the through hole on stretching one's arms, and 4-18 is that interior rectangle of stretching one's arms leads to Groove, 4-19 are the through hole on linking arm, and 4-20 is the cylinder of hinged block, and 4-21 is the lateral mass of hinged block, and 4-22 is hinged block side Through hole on block, 4-23 are the straight trough on hinged block lateral mass, and 4-24 is connecting shaft.

Embodiment

Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail.

With reference to shown in Fig. 1 to Fig. 7, for the segment type clean robot of central air-conditioning pipe, including propulsion die, walking Module, cleaning module；The present embodiment is first described to propulsion die and walking module, and then cleaning module is described again.Push away The both ends for entering module are equipped with walking module, i.e. a walking module is arranged on one end of propulsion die, another walking module Installed in the other end of propulsion die.Walking module includes support body, reverse-flighted screw, head nut, tail nut, multigroup scissor brace group Part.Reverse-flighted screw is pivotally mounted at the inside of support body, and reverse-flighted screw is located at the center inside support body, head nut and tail spiral shell Female to coordinate with reverse-flighted screw screw thread, head nut is spun on one end (upper end of reverse-flighted screw in Fig. 1) of reverse-flighted screw, the rotation of tail nut In the other end (lower end of reverse-flighted screw in Fig. 1) of reverse-flighted screw, multigroup scissor brace component is circumferentially evenly arranged, In the utility model, scissor brace component has 3 groups, 3 groups of scissor brace components using reverse-flighted screw as axis circumferentially It is evenly arranged.Scissor brace component includes the first brace and the second brace being hinged, and one end of the first brace is hinged on head On nut, the other end of the first brace is in contact by elastic ball with inner-walls of duct, and one end of the second brace is hinged on tail nut On, the other end of the second brace is in contact by elastic ball with inner-walls of duct；With reference to shown in Fig. 2, the first brace and the second brace Hinged as scissors, the upper end of the first brace is hinged on head nut, and the lower end of the second brace is hinged on tail nut On, the upper end of the lower end of the first brace and the second brace is equipped with haptic feedback component, is included in haptic feedback component flexible The upper end of ball, the lower end of the first brace and the second brace is in contact by elastic ball with inner-walls of duct.

With reference to shown in Fig. 7, propulsion die includes the first motor, unidirectional screw rod, link, the drive being arranged on inside link Dynamic nut, the first universal joint, the second universal joint.Drive nut is spun on unidirectional screw rod, and drive nut and unidirectional screw flight are matched somebody with somebody Close, during the rotation of unidirectional screw rod, drive nut can move along the axial direction of unidirectional screw rod, i.e. in Fig. 7, drive nut can be with Move up and down.One end of first universal joint is connected on the support body of one of walking module, and the other end of the first universal joint connects It is connected on link, the first motor is arranged on the support body of another walking module, and one end of the second universal joint is connected to unidirectionally On screw rod, the other end of the second universal joint connects with the output end of the first motor；With reference to shown in Fig. 7, the lower end of the first universal joint It is connected on the support body of the walking module of lower end, the upper end of the first universal joint is connected on link, and the first motor is arranged on upper On the support body of the walking module at end, the lower end of the second universal joint is connected on unidirectional screw rod, the upper end of the second universal joint and first The output end of motor connects.First motor selects stepper motor, and the technology of the unidirectional screw rod rotation of the first motor control belongs to existing Technology, unidirectional screw rod are multithreading screw thread, on the premise of ensureing to meet output torque, from the electricity that rotational speed regulation scope is larger Machine, such drive nut are moved in larger distance on unidirectional screw rod, reduce the working time of propulsion die.

Walking module also includes being used for the second motor for driving reverse-flighted screw to rotate, and the second motor is arranged on support body.The During two motor forward or reverse, it can drive head nut and tail nut is located remotely from each other or close to each other.Second motor control is two-way The technology of screw rod rotation belongs to prior art.

With reference to shown in Fig. 2 and Fig. 3, walking module also includes multigroup haptic feedback component, the end (lower end) of the first brace One group of haptic feedback component is mounted on the end (upper end) of the second brace.Haptic feedback component include receiver, elastic ball, Pressure sensor, lid.Pressure sensor includes the stripes and annular portion to link together, pressure sensor and the second motor Signal connects.Receiver generally cube shape, receiver are provided with cavity, and the annular portion of pressure sensor is placed in the cavity of receiver Interior, the elastic ball for squeeze pressure sensor annular portion is placed on the cavity of receiver, i.e., first by the annulus of pressure sensor Portion is placed in the cavity of receiver, and then elastic ball press against the annular portion of pressure sensor, and both are placed on receiver together Cavity in, lid is fixed on the end of receiver, and lid is provided with circular hole, and a part for elastic ball exposes lid.Each group The stripes of the pressure sensor of haptic feedback component are arranged in the first brace or the second brace, each group of haptic feedback component Receiver be hinged in the first brace or the second brace；First brace and the second brace are referred to as brace, i.e. pressure sensor Stripes be arranged in brace, receiver is hinged on the end of brace, so as to which receiver can be around brace in certain limit Interior rotation, the size of brace is smaller, and the scope that receiver rotates is bigger.

The sidepiece of receiver is provided with bit-avoiding slot mouth, and bit-avoiding slot mouth and cavity can be connected to logical, pressure sensor annulus Portion and the joint of pressure sensor stripes are located at bit-avoiding slot mouth, during the annular portion of elastic ball squeeze pressure sensor, annulus Portion and the joint of stripes, stripes will not touch the outline of receiver, so as to protect pressure sensor.

With reference to shown in Fig. 1 and Fig. 4, clean robot also includes multigroup auxiliary support assemblies, and auxiliary support assemblies are arranged on On support body, multigroup auxiliary support assemblies are circumferentially evenly arranged on support body.Auxiliary support assemblies include matrix, set Cylinder, boom, directive wheel, guiding wheel seat, second spring.Matrix is a L-type steel, and matrix is fixed on the support body of walking module, The end of sleeve is provided with end plate, and end plate and sleeve are fixed relationships, and end plate is fixed on matrix, and the end of boom is provided with end block, End block and boom are fixed relationships, are oriented to wheel seat and are fixed on end block, and directive wheel is pivotally arranged on and is oriented on wheel seat, second For spring housing on sleeve, the inside of boom insertion sleeve, the end plate of sleeve is located at the side of second spring, the end block position of boom In the opposite side of second spring, one end of second spring can be connected on end plate, and the other end of second spring can be connected to On end block.

With reference to shown in Fig. 5 and Fig. 6, the circumference side of boom is provided with strip projected parts, axial direction side of the strip projected parts along boom To extension, the groove adaptable with boom and strip projected parts is provided with sleeve.Boom and strip projected parts are together inside insertion sleeve Groove in, when boom moves back and forth in the groove of sleeve inner, strip projected parts can play a part of preventing rotating, and prevent from stretching The relative rotation of bar and sleeve so that boom straight line can only move back and forth in the groove of sleeve.

Support body includes head plate, afterbody flat board, connects the connection frame of head plate and afterbody flat board.Connect the upper end of frame Fixed with head plate, the lower end and afterbody flat board for connecting frame are fixed, and connection inframe, which is provided with to do for scissor brace component, opens With the strip notch of closed action, the first brace and the second brace being hinged pass through strip notch.Strip notch is rectangular Shape, strip notch can also play spacing effect, when the first brace and the second brace are opened or closed, can prevent the first support Arm or the second brace are rocked, while the first brace, the second brace and connection frame can be hinged together, the first brace and the Two braces can only rotate upwardly and downwardly.

With reference to shown in Fig. 1, support body also includes accessory plate, and accessory plate is bolted on support body by strip, and accessory plate leads to Crossing strip bolt can be connected on head plate or afterbody flat board, if also needing to greater number of accessory plate, second piece Accessory plate is bolted on first piece of accessory plate by strip again, and the matrix of auxiliary support assemblies is fixed on the auxiliary board.It is auxiliary Support component, the first motor and the second motor is helped to may be mounted on suitable accessory plate, head plate or afterbody flat board, the Do not marked in one motor and the second motor figure.The both ends of propulsion die can also be connected on corresponding accessory plate.

The walking principle of clean robot：Walking working condition of the clean robot in pipeline is, with upper and lower two rows The structure for walking module is all loosened as the second motor rotating forward of original state, first control upper end walking module, drive reverse-flighted screw Rotation so that head nut and tail nut are located remotely from each other, and then make the scissor brace component of upper end walking module persistently open, elasticity The inwall of ball then continuous extrusion pipeline, the feedback signal until receiving pressure sensor, the second motor stalls, now bullet Property ball press the inwall of pipeline, the whole walking module of upper end is fixed, i.e., the whole walking module of upper end is in tensioning State.Then the first motor is rotated forward, and the first motor is rotated forward by the unidirectional screw rod of the second universal joint drive, and then promotes to drive Nut advances and (moved toward the walking module direction of upper end) together with link, then drives the whole walking module of lower end to transport forward It is dynamic, when the first motor reaches design number of turns threshold values, stop operating.Then, the second motor of lower end walking module is controlled to rotate forward, Drive reverse-flighted screw rotation so that head nut and tail nut are located remotely from each other, and then make the scissor brace component of lower end walking module Lasting to open, the inwall of elastic ball then continuous extrusion pipeline, the feedback signal until receiving pressure sensor, the second motor stops Rotation stop is moved, and now elastic ball presses the inwall of pipeline, and the whole walking module of lower end is fixed, i.e. the whole walking of lower end Module is in tensioning state.Then, the second motor reversal of upper end walking module is controlled, then continues scissor brace component locking (doing closed action), until pressure sensor feedback pressure signal is 0 (is considered as and loosens completely).Subsequently, the first motor Reversion, the first motor are rotated backward by the unidirectional screw rod of the second universal joint drive, and then are praised upper end walking module and advanced.So Back and forth, walking task of the clean robot in pipeline is completed.

Auxiliary support assemblies play a part of Auxiliary support when scissor brace component loosens and (loses main support), Ensure that clean robot axle center is stable.When directive wheel is not in contact with the inwall of pipeline, second spring promotes boom so that End block makes directive wheel be in contact again with the inwall of pipeline away from end plate, keep whole clean robot in pipeline not It can rock.

This clean robot is walked in pipeline internal, can be horizontal straight tube, side bend, horizontal variable diameter straight tube, non-horizontal The pipelines such as straight tube, non-horizontal bend pipe, non-horizontal variable diameter straight tube.

Cleaning module is described in detail below：

With reference to shown in Fig. 8 to Figure 13, cleaning module includes umbrella handle, piston, hairbrush, the first spring, substrate, multiple connections Arm, multiple stretch one's arms.Multiple stretch one's arms being distributed in umbrella is hinged on substrate, i.e., multiple stretch one's arms circumferentially is uniformly distributed, Umbrella handle can open or be condensed so as to realize around substrate rotating in all centers stretched one's arms, all stretching one's arms.Umbrella handle One end is fixed on substrate, and the end (other end of umbrella handle) of umbrella handle is provided with boss, is set with along the piston of umbrella handle axial movement On umbrella handle, i.e., through hole is provided with piston, piston can be enclosed on umbrella handle and can be moved along the axial direction of umbrella handle.Suit The first spring on umbrella handle is between boss and piston, and one end of the first spring can be connected on boss, the first spring The other end be then connected on the round platform of piston.One end of linking arm is hinged on piston, and the other end of linking arm, which is hinged on, to be opened On arm, hairbrush is hinged on the end stretched one's arms.

With reference to shown in Figure 10, for the structure of piston：Piston includes cylinder, round platform, the multiple lateral mass being made into integration, i.e., round Cylinder, round platform and lateral mass are an entirety, are integrally formed.Round platform is arranged on the end of cylinder, and lateral mass is arranged on the circle of cylinder On all sides, multiple lateral mass are uniformly distributed along the circumferencial direction of cylinder, and lateral mass is provided with the through hole being hinged with linking arm and use Intersected vertically in the through hole and straight trough opened on the straight trough that linking arm rotates, lateral mass, a total of 3 of the lateral mass on piston, correspondingly, It is also 3 to stretch one's arms with the quantity of linking arm；The cylinder and round platform of piston are enclosed on umbrella handle, and can be moved on umbrella handle.

With reference to shown in Figure 13, hairbrush is hinged on the end stretched one's arms by hinged block, for the structure of hinged block：Hinged block bag The cylinder and lateral mass being made into integration are included, cylinder is regularly sleeved on the brush axle of hairbrush, and cylinder and brush axle are fixed relationships, Cylinder and brush axle can be fixed by modes such as bearing pin or bolts, it is necessary to during more Brusher being able to change bristles, can be taken apart brush axle and cylinder, side Block is arranged on the circumference side of cylinder, and lateral mass is provided with and be hinged through hole and the straight trough for rotation of stretching one's arms of stretching one's arms.

With reference to shown in Figure 11, stretch one's arms in shaft-like, the both ends stretched one's arms are provided with through hole, stretch one's arms in be provided with rectangular through slot, linking arm One end be located in rectangular through slot and be hinged on and stretch one's arms on.There is rectangular through slot in stretching one's arms so that the rotation of linking arm is unobstructed.

With reference to shown in Figure 12, linking arm is in shaft-like, and the both ends of linking arm are provided with through hole.The through hole and piston of linking arm one end Through hole on lateral mass coordinates, and so as to by together with linking arm and piston hinge, and has straight trough on piston lateral mass so that linking arm Rotate unobstructed.

Substrate is provided with hinged-support, and the one end stretched one's arms is hinged on hinged-support, and the other end stretched one's arms is hinged on hinged block On lateral mass.

Umbrella handle is fixed on substrate by flange.

With reference to shown in Figure 14, cleaning module also includes the 3rd motor and connecting shaft, and the 3rd motor is arranged on walking module On support body, one end of connecting shaft is connected with the output end of the 3rd motor, the other end and substrate connection of connecting shaft.Connecting shaft can be with From positive coupling, the output end of the 3rd motor drives substrate rotating by shaft coupling, so as to drive cleaning module integrally to revolve Turn.

When pipe radius changes from small to big, duct wall to the feedback pressure of hairbrush by stretching one's arms, linking arm be delivered to piston Place, due to the feedback pressure as pipe radius change is gradually reduced greatly, so that the elastic force of the first spring is more than the feedback Stress, then the first spring promotion boss (i.e. Fig. 9, piston move down) of the piston away from umbrella handle, then stretch one's arms and do expansion action, directly Be adjacent to duct wall to hairbrush, make feedback pressure again with the first spring dynamic balance.

When pipe radius from large to small when, duct wall to the feedback pressure of hairbrush by stretching one's arms, linking arm be delivered to piston Place, because the feedback pressure gradually increases as pipe radius diminishes, so that the elastic force of the first spring is less than the feedback Stress, make piston close to the boss (i.e. Fig. 9, piston move up) of umbrella handle and extrude the first spring, then stretch one's arms and do contractive action, Until pipe radius no longer changes, piston no longer extrudes the first spring, make feedback pressure again with the first spring power Balance.

Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.

Claims (10)

1. the segment type clean robot for central air-conditioning pipe, it is characterised in that：Including propulsion die, walking module, clearly Clean module；The both ends of propulsion die are equipped with walking module；

Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on the head nut of reverse-flighted screw one end, The tail nut of the reverse-flighted screw other end is spun on, the multigroup scissor brace component being circumferentially evenly arranged；Scissor brace group Part includes the first brace and the second brace that are hinged, and one end of the first brace is hinged on head nut, the first brace it is another One end is in contact by elastic ball with inner-walls of duct, and one end of the second brace is hinged on tail nut, the other end of the second brace It is in contact by elastic ball with inner-walls of duct；

Cleaning module is arranged in walking module, and cleaning module includes umbrella handle, piston, hairbrush, the first spring, substrate, Duo Gelian Connect arm, multiple stretch one's arms；Multiple stretch one's arms being distributed in umbrella is hinged on substrate, and umbrella handle is fixed on substrate, and the end of umbrella handle is set There is boss, along the piston bush of umbrella handle axial movement on umbrella handle, the first spring being sleeved on umbrella handle is located at boss and work Between plug, one end of linking arm is hinged on piston, the other end of linking arm is hinged on stretch one's arms on, hairbrush is hinged on the end stretched one's arms Portion.

2. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Propulsion module Block includes the first motor, and unidirectional screw rod, link, the drive nut being arranged on inside link, the first universal joint, second is universal Section；Drive nut is spun on unidirectional screw rod, and one end of the first universal joint is connected on the support body of one of walking module, and first The other end of universal joint is connected on link, and the first motor is arranged on the support body of another walking module, the second universal joint One end be connected on unidirectional screw rod, the other end of the second universal joint connects with the output end of the first motor.

3. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Support body bag Include head plate, afterbody flat board, connect the connection frame of head plate and afterbody flat board；Connection inframe, which is provided with, is used for scissor brace group Part does the strip notch opened with closed action, and the first brace and the second brace being hinged pass through strip notch.

4. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Walking mould Block also includes multigroup haptic feedback component and the second motor for driving reverse-flighted screw to rotate, and the second motor is arranged on support body On；The end of first brace and the end of the second brace are mounted on one group of haptic feedback component；Haptic feedback component includes receiving Case, elastic ball, pressure sensor, lid；Pressure sensor includes the stripes and annular portion to link together, pressure sensing Device is connected with the second motor signal, and receiver is provided with cavity, and the annular portion of pressure sensor is placed in the cavity of receiver, is used for The elastic ball of squeeze pressure sensor annular portion is placed on the cavity of receiver, and lid is fixed on the end of receiver, elastic ball A part expose lid；The stripes of the pressure sensor of each group of haptic feedback component are arranged on the first brace or second In brace, the receiver of each group of haptic feedback component is hinged in the first brace or the second brace.

5. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Cleaner Device people also includes the multigroup auxiliary support assemblies being circumferentially evenly arranged, and auxiliary support assemblies include matrix, sleeve, stretched Bar, directive wheel, it is oriented to wheel seat, second spring；Matrix is fixed on the support body of walking module, and the end of sleeve is provided with end plate, end Plate is fixed on matrix, and the end of boom is provided with end block, is oriented to wheel seat and is fixed on end block, directive wheel is pivotally arranged on and led To on wheel seat, second spring is sleeved on sleeve, the inside of boom insertion sleeve, and the end plate of sleeve is located at the one of second spring Side, the end block of boom are located at the opposite side of second spring.

6. according to the segment type clean robot for central air-conditioning pipe described in claim 5, it is characterised in that：Boom Circumference side is provided with strip projected parts, and the groove adaptable with boom and strip projected parts is provided with sleeve.

7. according to the segment type clean robot for central air-conditioning pipe described in claim 5, it is characterised in that：Support body is also Including accessory plate, accessory plate is bolted on support body by strip, and the matrix of auxiliary support assemblies is fixed on the auxiliary board.

8. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Clean mould Block also includes the 3rd motor and connecting shaft, and the 3rd motor is arranged on the support body of walking module, one end of connecting shaft and the 3rd electricity The output end connection of machine, the other end and substrate connection of connecting shaft.

9. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Piston bag Include the cylinder being made into integration, round platform, multiple lateral mass；Round platform is arranged on the end of cylinder, and lateral mass is arranged on the circumference side of cylinder On, multiple lateral mass are uniformly distributed along the circumferencial direction of cylinder, and lateral mass is provided with the through hole be hinged with linking arm and for being connected The straight trough that arm rotates.

10. according to the segment type clean robot for central air-conditioning pipe described in claim 1, it is characterised in that：Hairbrush The end stretched one's arms is hinged on by hinged block, hinged block includes the cylinder and lateral mass being made into integration, and cylinder is regularly sleeved on hair On the brush axle of brush, lateral mass is arranged on the circumference side of cylinder, and lateral mass is provided with and the be hinged through hole and for stretching one's arms of stretching one's arms The straight trough of rotation.