CN208341288U - A kind of clearing apparatus of pipe detection sweeping robot - Google Patents

A kind of clearing apparatus of pipe detection sweeping robot Download PDF

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Publication number
CN208341288U
CN208341288U CN201820361121.2U CN201820361121U CN208341288U CN 208341288 U CN208341288 U CN 208341288U CN 201820361121 U CN201820361121 U CN 201820361121U CN 208341288 U CN208341288 U CN 208341288U
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China
Prior art keywords
motor
pedestal
base
striker
limit switch
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CN201820361121.2U
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Chinese (zh)
Inventor
史聪灵
胡鹄
车洪磊
王文伟
李建
胥旋
吴墀忠
杨勇智
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China Academy of Safety Science and Technology CASST
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China Academy of Safety Science and Technology CASST
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Abstract

The utility model discloses a kind of clearing apparatus of pipe detection sweeping robot, is related to sweeping robot technical field, is mainly made of five shaft mechanical arms, hairbrush, infrared camera, vacuum absorption device and dust arrester etc..The utility model cooperates the walking of robot by first motor, it can carry out the adjustment that position is cleaned in horizontal direction, the adjustment that position is cleaned on vertical direction is carried out by the second motor, third motor and the 4th motor, entire mechanical arm position adjustment is flexible, so that cleaning without dead angle, helping to improve sweeping efficiency and cleaning quality;Further, the dust hit down in air hose is sucked out vacuum absorption device, and dust particles are collected by dust arrester, avoids dust from flying.

Description

A kind of clearing apparatus of pipe detection sweeping robot
Technical field
The utility model relates to sweeping robot technical field more particularly to a kind of cleanings of pipe detection sweeping robot Device.
Background technique
Subway ventilation air-conditioning duct can accumulate many dusts, germ and radiation etc. in long-term use, these nuisances Matter just polluted air in air supply process, be sucked for a long time by human body, will endanger public health, be easy for meeting in air hose The harmful substances such as a large amount of deleterious particle and dust, dust mite, bacterium, virus and carbon radiation are bred and gather, after air-conditioning is opened, It will be blown to interior during air-supply with the dust and germ being attached on dirt filtrating screen in air hose, once touch human body Skin is deposited in respiratory tract after being inhaled into vivo, it is possible to make one to generate sneezing, skin disturb itch, have a stuffy nose, asthma etc. no It is suitable, or even respiratory disease can be caused, seriously endanger human health.Based on this, pipeline cleaning robot comes into being.Machine The clearing apparatus of device people is the direct executing agency of cleaning movement, and the reasonability of structure directly affects the sweeping efficiency of robot With cleaning quality.How to design a kind of cleaning angles and positions it is easy to adjust, clean the pipe detection sweeping robot without dead angle Clearing apparatus be technical problem to be solved in the utility model.
Utility model content
Easy to adjust, cleaning that in view of the shortcomings of the prior art, the utility model provides a kind of cleaning angles and positions is without dead The clearing apparatus of the pipe detection sweeping robot at angle.
The utility model is realized by following technological means solves above-mentioned technical problem:
A kind of clearing apparatus of pipe detection sweeping robot, including five shaft mechanical arms, vacuum absorption device and dust arrester, The five shaft mechanical arms include first base, second base, third pedestal, the 4th pedestal and the 5th pedestal, and described second Pedestal is rotatably mounted in first base, between the second base, third pedestal, the 4th pedestal and the 5th pedestal according to It is secondary hinged, the first electricity is separately installed on the first base, second base, third pedestal, the 4th pedestal and the 5th pedestal Machine, the second motor, third motor, the 4th motor and the 5th motor, the output shaft of the first motor are mounted in second base, Second base rotation is driven, second motor, third motor, the 4th motor are separately mounted to second base and third bottom The hinged place of seat, third pedestal and the 4th pedestal, the 4th pedestal and the 5th pedestal is equipped with hairbrush on the 5th pedestal, institute The 5th motor stated is connected by synchronous pulley and synchronous belt with hairbrush, the first base, second base, third pedestal and 4th is respectively arranged on the base with the first striker, the second striker, third striker and the 4th striker, the second base, third Pedestal, the 4th pedestal and the 5th are respectively arranged on the base with the first limit switch, the second limit switch, third limit switch and Four limit switches, first striker, the second striker, third striker and the 4th striker respectively with the first limit switch, second Limit switch, third limit switch and the 4th limit switch are arranged in a one-to-one correspondence.
Preferably, a kind of clearing apparatus of pipe detection sweeping robot, the hairbrush include hairbrush shaft And bristle, the hair brushing cloth are set to around hairbrush shaft, the hairbrush shaft passes through synchronous pulley and synchronous belt and the 5th Motor connection.
Preferably, the clearing apparatus of a kind of pipe detection sweeping robot, the first motor, the second electricity Retarder is all connected on machine, third motor, the 4th motor and the 5th motor.
Preferably, the clearing apparatus of a kind of pipe detection sweeping robot is provided on the 4th pedestal Support frame is equipped with infrared camera on the support frame.
Preferably, the clearing apparatus of a kind of pipe detection sweeping robot, the first base, vacuum suction Device and dust arrester are all mounted on robot body, and the vacuum absorption device is connected with dust arrester.
Preferably, a kind of clearing apparatus of pipe detection sweeping robot, the vacuum absorption device include Vacuum pump and vacuum cups group, the vacuum cups group are connected with vacuum pump, and the dust arrester is connected with vacuum pump.
Utility model has the advantages that the utility model cooperates the walking of robot by first motor, water can be carried out Square upwards clean position adjustment, by the second motor, third motor and the 4th motor carry out vertical direction on clean position Adjustment, the adjustment of entire mechanical arm position flexibly so that cleaning without dead angle, helping to improve sweeping efficiency and cleaning quality.
Further, the dust hit down in air hose is sucked out vacuum absorption device, and dust particles are collected, keep away by dust arrester Exempt from dust from flying.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the 5th base position of the utility model.
Fig. 3 is the utility model vacuum absorption device and dust arrester position view.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to The range of the utility model protection.
A kind of clearing apparatus of pipe detection sweeping robot, including five shaft mechanical arms, vacuum absorption device 1 and dust arrester 2, the five shaft mechanical arms include first base 3, second base 4, third pedestal 5, the 4th pedestal 6 and the 5th pedestal 7, described Second base 4 be rotatably mounted in first base 3, the second base 4, third pedestal 5, the 4th pedestal 6 and It is successively hinged between five pedestals 7, first base 3, second base 4, third pedestal 5, the 4th pedestal 6 and the 5th pedestal 7 On be separately installed with first motor 8, the second motor 9, third motor 10, the 4th motor 11 and the 5th motor 12, first electricity The output shaft of machine 8 is mounted in second base 4, and driving second base 4 rotates, second motor 9, third motor 10, the Four motors 11 are separately mounted to second base 4 and third pedestal 5, third pedestal 5 and the 4th pedestal 6, the 4th pedestal 6 and the 5th bottom The hinged place of seat 7, is equipped with hairbrush 13 on the 5th pedestal 7, and the 5th motor 12 passes through synchronous pulley 14 and synchronous Band 15 and hairbrush 13 connect, and the is respectively arranged on the first base 3, second base 4, third pedestal 5 and the 4th pedestal 6 One striker 16, the second striker, third striker and the 4th striker, the second base 4, third pedestal 5, the 4th pedestal 6 and Be respectively arranged on five pedestals 7 first limit switch 17, the second limit switch, third limit switch and the 4th limit switch (by It is former in the second striker, third striker and the 4th striker and the second limit switch, third limit switch and the cooperation of the 4th limit switch Manage it is identical, so only marked the first striker and the first limit switch in attached drawing, the second striker, third striker, the 4th striker, Do not marked in two limit switches, third limit switch and the 4th limit switch figure), first striker 16, the second striker, Three strikers and the 4th striker respectively with the first limit switch 17, the second limit switch, third limit switch and the 4th limit switch It is arranged in a one-to-one correspondence.
Five shaft mechanical arms drive the revolution of entire mechanical arm to act by first motor, and first base is equipped with the first striker, The first limit switch is equipped in second base, when revolution, revolution stops when the first striker encounters the first limit switch, does not exist Do the movement of over-travel;The revolution of the second above mechanical arm of motor driven second base acts, and second base is equipped with second Axis striker is equipped with the second limit switch on third pedestal, and when revolution, revolution stops when the second striker encounters the second limit switch Only, not in the movement for doing over-travel;The revolution of the above mechanical arm of third motor driven third pedestal acts, and sets on third pedestal There is third striker, third limit switch is equipped on the 4th pedestal, when revolution, third striker returns when encountering third limit switch Turn to stop, not in the movement for doing over-travel;The revolution of the 4th above mechanical arm of pedestal of 4th motor driven acts, the 4th pedestal On be provided with the 4th striker, be provided with the 4th limit switch on the 5th pedestal, when revolution when, the 4th striker encounter the 4th limit It turns round and stops when switch, not in the movement for doing over-travel;5th motor driven cleans shaft revolution movement, cleaning shaft driving Hairbrush carries out pipe-line purging;The utility model cooperates the walking of robot by first motor, can carry out cleaning in horizontal direction The adjustment of position carries out the adjustment that position is cleaned on vertical direction, entire machine by the second motor, third motor and the 4th motor The adjustment of tool arm position flexibly, so that cleaning without dead angle, helps to improve sweeping efficiency and cleaning quality.
Preferably, the hairbrush 13 includes hairbrush shaft 18 and bristle 19, and the bristle 19 is laid in hairbrush shaft Around 18, the hairbrush shaft 18 passes through synchronous pulley 14 and the connection of synchronous belt 15 and the 5th motor 12.
Preferably, on the first motor 8, the second motor 9, third motor 10, the 4th motor 11 and the 5th motor 12 All it is connected with retarder.
Preferably, it is provided with support frame 20 on the 4th pedestal, infrared camera is installed on the support frame 20 21。
Infrared camera can carry out captured in real-time to cleaning process, the control for facilitating cleaning to act.
Preferably, the first base 3, vacuum absorption device 1 and dust arrester 2 are all mounted on robot body, institute Vacuum absorption device 1 and dust arrester 2 connection stated;The vacuum absorption device 1 includes vacuum pump 22 and vacuum cups group 23, The vacuum cups group 23 and vacuum pump 22 connect, and the dust arrester 2 and vacuum pump 22 connect.
The dust hit down in air hose is sucked out vacuum absorption device, and dust particles are collected by dust arrester, avoids dust It flies upward.
The utility model cooperates the walking of robot by first motor, can carry out the tune that position is cleaned in horizontal direction It is whole, the adjustment that position is cleaned on vertical direction, entire mechanical arm position are carried out by the second motor, third motor and the 4th motor Adjustment flexibly, so that cleaning without dead angle, helps to improve sweeping efficiency and cleaning quality;Further, vacuum absorption device is by wind The dust hit down in pipe is sucked out, and dust particles are collected by dust arrester, avoids dust from flying.
It should be noted that, in this document, such as first and second or the like relational terms are used merely to one if it exists A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in the process, method, article or apparatus that includes the element.
Above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations;Although referring to aforementioned reality Example is applied the utility model is described in detail, those skilled in the art should understand that: it still can be to preceding Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features;And these It modifies or replaces, the spirit and model of various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution It encloses.

Claims (6)

1. a kind of clearing apparatus of pipe detection sweeping robot, it is characterised in that: including five shaft mechanical arms, vacuum absorption device And dust arrester, the five shaft mechanical arms include first base, second base, third pedestal, the 4th pedestal and the 5th pedestal, institute The second base stated rotatably is mounted in first base, the second base, third pedestal, the 4th pedestal and the 5th bottom Between seat successively hingedly, it is installed respectively on the first base, second base, third pedestal, the 4th pedestal and the 5th pedestal There are first motor, the second motor, third motor, the 4th motor and the 5th motor, the output shaft of the first motor is mounted on On two pedestals, driving second base rotation, second motor, third motor, the 4th motor are separately mounted to second base With the hinged place of third pedestal, third pedestal and the 4th pedestal, the 4th pedestal and the 5th pedestal, it is equipped on the 5th pedestal Hairbrush, the 5th motor are connected by synchronous pulley and synchronous belt with hairbrush, the first base, second base, the Three pedestals and the 4th are respectively arranged on the base with the first striker, the second striker, third striker and the 4th striker, second bottom Seat, third pedestal, the 4th pedestal and the 5th are respectively arranged on the base with the first limit switch, the second limit switch, third limit Switch and the 4th limit switch, first striker, the second striker, third striker and the 4th striker are opened with the first limit respectively Pass, the second limit switch, third limit switch and the 4th limit switch are arranged in a one-to-one correspondence.
2. a kind of clearing apparatus of pipe detection sweeping robot according to claim 1, it is characterised in that: the hair Brush includes hairbrush shaft and bristle, and the hair brushing cloth is set to around hairbrush shaft, and the hairbrush shaft passes through synchronous pulley And synchronous belt and the 5th motor connect.
3. a kind of clearing apparatus of pipe detection sweeping robot according to claim 1, it is characterised in that: described Retarder is all connected on one motor, the second motor, third motor, the 4th motor and the 5th motor.
4. a kind of clearing apparatus of pipe detection sweeping robot according to claim 1, it is characterised in that: described It is provided with support frame on four pedestals, infrared camera is installed on the support frame.
5. a kind of clearing apparatus of pipe detection sweeping robot according to claim 1, it is characterised in that: described One pedestal, vacuum absorption device and dust arrester are all mounted on robot body, and the vacuum absorption device and dust arrester connect It connects.
6. a kind of clearing apparatus of pipe detection sweeping robot according to claim 5, it is characterised in that: described is true Suction adsorption device includes vacuum pump and vacuum cups group, and the vacuum cups group is connected with vacuum pump, the dust arrester and Vacuum pump connection.
CN201820361121.2U 2018-03-16 2018-03-16 A kind of clearing apparatus of pipe detection sweeping robot Active CN208341288U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820361121.2U CN208341288U (en) 2018-03-16 2018-03-16 A kind of clearing apparatus of pipe detection sweeping robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820361121.2U CN208341288U (en) 2018-03-16 2018-03-16 A kind of clearing apparatus of pipe detection sweeping robot

Publications (1)

Publication Number Publication Date
CN208341288U true CN208341288U (en) 2019-01-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201820361121.2U Active CN208341288U (en) 2018-03-16 2018-03-16 A kind of clearing apparatus of pipe detection sweeping robot

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110193502A (en) * 2019-05-31 2019-09-03 南京涵铭置智能科技有限公司 Pipeline cleaning robot and control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110193502A (en) * 2019-05-31 2019-09-03 南京涵铭置智能科技有限公司 Pipeline cleaning robot and control method

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