CN208495265U - A kind of pipe variable diameter cleaning robot - Google Patents
A kind of pipe variable diameter cleaning robot Download PDFInfo
- Publication number
- CN208495265U CN208495265U CN201820715901.2U CN201820715901U CN208495265U CN 208495265 U CN208495265 U CN 208495265U CN 201820715901 U CN201820715901 U CN 201820715901U CN 208495265 U CN208495265 U CN 208495265U
- Authority
- CN
- China
- Prior art keywords
- wheel
- support
- cleaning
- support frame
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of pipe variable diameter cleaning robot, the robot includes the wiper mechanism for being used to support and driving the support driving mechanism of entire robot and carry out rotary-cleaning to inner wall of the pipe, is rotatably connected between support driving mechanism and wiper mechanism.The support wheel of the pipe variable diameter cleaning robot of the utility model can be stretched by compressed spring encountering foreign matter or pipe deforming, advanced and stablized, and the scope of application is more extensive；Support wheel mechanism and driving mechanism synchronous diameter, adapt to the pipeline of different-diameter；Drive three driving wheel rotations simultaneously by a motor, it is compact-sized and stable；Cleaning structure clean and dredge blocking up to pipeline, to guarantee the normal use and safety of pipeline.
Description
Technical field
The utility model belongs to pipeline cleaning robot field, and in particular to a kind of pipe variable diameter cleaning robot.
Background technique
Important carrier of the pipeline as oil gas long distance delivery, deposition, the corrosion etc. for managing interior impurity can cause to block up to pipeline
Plug and damage, will affect the efficiency and safety of conduit running if cleaning not in time to pipeline.However locating for pipeline
Environment is not easy directly to reach or does not allow people to be directly entered, and cleaning difficulty is very big.Further, since geographic factor or pipeline weldering
Construction or technologic reason are connect, there are some crooked pipelines and tapered pipelines.Existing some pipeline cleaning robots are not
Pipeline can be cleaned well, such as application publication number is the application for a patent for invention of CN102671898A, discloses one kind
" cleaning plant of the variable pipeline cleaning robot of internal diameter ", but the device only has the length of cleaning hairbrush scalable, machine
The diameter of human body can not change；And authorizing publication No. is the application for a patent for invention of CN106140746A, discloses a kind of " pipe
Road cleaning robot ", using track drive, using excessive motor, structure is excessively complicated, it is difficult to ensure that the consistency of operation.It removes
Except this, presently, there are some robot patents do not account for generally robot encounter in the duct foreign matter or piping failure without
The case where method is advanced.
Utility model content
Aiming at the shortcomings in the prior art, the utility model provides a kind of pipe variable diameter cleaning robot, particular technique
Scheme is as follows:
A kind of pipe variable diameter cleaning robot, which is characterized in that the robot includes being used to support and driving entire machine
The support driving mechanism of device people and the wiper mechanism that rotary-cleaning is carried out to inner wall of the pipe, the support driving mechanism and cleaning
It is rotatably connected between mechanism；
The support driving mechanism includes walking support frame, the first stepper motor, the first stepping motor support frame, pressure
Lid, long lead screw, slide bar, the first feed screw nut, wheel device, the second feed screw nut, slide bar spring, driving wheel, driving wheel branch
Support, driving wheel wheel carrier, neck bush, second stepper motor, belt, driven wheel of differential, drive bevel gear, gear wheel, pinion gear,
Drive pulley, driven pulley；
The first stepping motor support frame is fixedly connected on the left side of gland, and first stepper motor passes through the
One stepper motor support frame is fixed on gland, and motor shaft is fixedly connected with to the right the left end of long lead screw by the through-hole of gland；Institute
The walking support frame stated is fixedly connected on the right side of gland, and the inside for support frame of walking is arranged neck bush, walking support frame and
The circumferentially fixed connection of neck bush, the circumferential direction of the walking support frame are offered along axial long stripes through hole, the long filament
The right end of thick stick is rotatably supported on neck bush, and there are the identical spiral shell of one section of rotation direction in the left and right ends of the long lead screw respectively
Line, first feed screw nut and the second feed screw nut are by the way that successively spiral is on long lead screw, in gland right side and neck bush
More slide bars are arranged in parallel between left side, and the slide bar passes through two feed screw nuts, in the right end of the first feed screw nut
Wheel device is arranged in face, and the wheel device includes support wheel wheel carrier, support wheel and support wheel wheel carrier support rod, described
Support wheel wheel carrier one end be rotatably connected support wheel be set on the right side of the first feed screw nut, support wheel wheel carrier, support
It takes turns wheel carrier support rod and provides support for support wheel wheel carrier；Two slide bar sliding sleeves, two slide bar sliding sleeves are set on the slide bar
Between be fixedly installed slide bar spring, the first slide bar sliding sleeve and support wheel wheel carrier support rod are hinged, and the second slide bar sliding sleeve is fixed on cunning
On bar；
The right side of second feed screw nut, which is rotatably connected, drives wheeling supporting frame, and be rotatably connected institute on the neck bush
The driving wheel wheel carrier stated, the other end of the driving wheeling supporting frame is rotatably connected at the middle part of driving wheel wheel carrier, for driving
It takes turns wheel carrier and support is provided；
The second stepper motor is fixed in neck bush, the right side of the neck bush be provided with L shape side plate and
The parallel side plate extended axially outwardly, the L shape side plate axially extend on one side, and another side is parallel with right side, institute
The two sides in the coaxially connected face parallel with right side in L shape side plate of the pinion gear and drive bevel gear stated, driven wheel of differential and
The two sides in the coaxially connected face axially extended in L shape side plate of drive pulley, the motor axis connection of second stepper motor are big
Gear, gear wheel are engaged with pinion gear, and pinion gear drives drive bevel gear rotation, and drive bevel gear is engaged with driven wheel of differential,
Driven wheel of differential drives drive pulley, and drive pulley is driven by belt and driven pulley, the driven pulley
It is connected on the driving wheel wheel carrier, the coaxially connected driving wheel of driven pulley；
The wiper mechanism includes cleaning device walking support frame, linking axis, third stepping motor support frame, third stepping
Motor, gear, main shaft, cleaning structure and auxiliary wheel structure, from left to right along axial direction, linking axis one end stretch out cleaning device walking
The left end of support frame, connect with gimbal coupling, and the other end is fixedly connected with third stepping motor support frame, third stepper motor
It is placed in third stepping motor support frame, the axis of third stepper motor and one end of main shaft connect, the other end support of main shaft
In the right end of cleaning device walking support frame, gear is set on main shaft, and outer gear rim is interior with cleaning device walking support frame
Wall engagement；The described cleaning device walking support frame be arranged respectively inwards at axially different position the first boss with through-hole and
Second boss, the cleaning structure are placed in first boss, and the auxiliary wheel structure is placed in second boss；It is described
Cleaning structure include the first spring, cleaning rod and cleaning brush, first spring is placed in through-hole, and cleaning brush setting exists
The outside wall surface of cleaning device walking support frame, one end of cleaning rod pass through through-hole and compress the first spring, the fixed cleaning of the other end
Brush；
The auxiliary wheel structure includes auxiliary wheel wheel carrier, auxiliary wheel and second spring, and the second spring is placed on
In through-hole, the outside wall surface of cleaning device walking support frame is arranged in auxiliary wheel, and one end of auxiliary wheel wheel carrier passes through through-hole and compresses
Second spring, the fixed auxiliary wheel of the other end of auxiliary wheel wheel carrier.
Further, the slide bar is 3, and the wheel device is 3, is uniformly distributed circumferentially.
Further, by pinion gear, drive bevel gear, driven wheel of differential, drive pulley, driven pulley, driving wheel
The driving mechanism of composition shares 3 sets, is uniformly distributed circumferentially.
Further, the cleaning rod is T shape.
Further, the belt is vee-belt.
The utility model has the beneficial effects that the support wheel of the pipe variable diameter cleaning robot of the utility model encounter it is different
Object or pipe deforming can be stretched by compressed spring, advanced and stablized, and the scope of application is more extensive；Support wheel mechanism and drive
Motivation structure synchronous diameter, adapts to the pipeline of different-diameter；Drive three driving wheel rotations simultaneously by a motor, structure is tight
It gathers and stable；Cleaning structure clean and dredge blocking up to pipeline, to guarantee the normal use and safety of pipeline.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of pipe variable diameter cleaning robot of the utility model；
Fig. 2 is the structural schematic diagram for supporting driving structure；
Fig. 3 is support driving structure schematic three dimensional views；
Fig. 4 is the structural schematic diagram of wiper mechanism；
Fig. 5 is support driving mechanism structural side view；
Fig. 6 is walking support frame structure diagram；
Fig. 7 is the structural schematic diagram that neck bush is matched with support frame of walking；
Fig. 8 is liner structure schematic diagram；
1. support driving mechanism, 2. wiper mechanisms, 101. walking support frames, 102. first stepper motors, 103. first steps
Into motor support frame, 104. glands, 105. long lead screws, 106. slide bars, 107. first feed screw nuts, 108. wheel devices,
109. the second feed screw nut, 110. first slide bar sliding sleeves, 111. second slide bar sliding sleeves, 112. slide bar springs, 113. driving wheels,
114. driving wheeling supporting frame, 115. driving wheel wheel carriers, 116. neck bush, 117. second stepper motors, 118. belts, 119. is driven
Bevel gear, 120. drive bevel gears, 121. gear wheels, 122. pinion gears, 123. drive pulleys, 124. driven pulleies；
Specific embodiment
The utility model is described in detail below according to attached drawing and preferred embodiment, the purpose of this utility model and effect will become
It must be more clearly understood that, below in conjunction with drawings and examples, the present invention will be further described in detail.It should be appreciated that herein
Described specific embodiment is only used to explain the utility model, is not used to limit the utility model.
As shown in Figure 1, a kind of pipe variable diameter cleaning robot comprising be used to support and drive the branch of entire robot
It supports driving mechanism 1 and carries out the wiper mechanism 2 of rotary-cleaning to inner wall of the pipe；The support driving mechanism 1 and wiper mechanism 2 it
Between connected by gimbal coupling, be adapted to the flexion torsion of pipeline to a certain extent；
As shown in Fig. 2, the support driving mechanism 1 includes walking support frame 101, the first stepper motor 102, the first step
Into motor support frame 103, gland 104, long lead screw 105, slide bar 106, the first feed screw nut 107, wheel device 108, second
Feed screw nut 109, slide bar spring 112, driving wheel 113, driving wheeling supporting frame 114, driving wheel wheel carrier 115, neck bush 116, the
Two stepping motor 117, belt 118, driven wheel of differential 119, drive bevel gear 120, gear wheel 121, pinion gear 122, active skin
Belt wheel 123, driven pulley 124；
The first stepping motor support frame 103 is fixedly connected on the left side of gland 104, first stepper motor
102 are fixed on gland 104 by the first stepping motor support frame 103, and motor shaft is fixed to the right by the through-hole of gland 104
Connect the left end of long lead screw 105；The walking support frame 101 is fixedly connected on the right side of gland 104, support frame of walking
Neck bush 116 is arranged in 101 inside, walk support frame 101 and the circumferentially fixed connection of neck bush 116, the walking support frame
101 circumferential direction is offered along axial long stripes through hole, and the right end of the long lead screw 105 is rotatably supported at neck bush
On 116, there are the identical screw thread of one section of rotation direction, first feed screw nut 107 in the left and right ends of the long lead screw 105 respectively
Successively spiral is put down between 116 left side of 104 right side of gland and neck bush on long lead screw 105 with the second feed screw nut 112
Row more slide bars 106 of setting, and the slide bar 106 passes through two feed screw nuts, sets in the right side of the first feed screw nut 107
Wheel device 108 is set, the wheel device 108 includes support wheel wheel carrier 1081, support wheel 1083 and support wheel wheel carrier
Support rod 1082, described 1081 one end of support wheel wheel carrier are rotatably connected in the right side of the first feed screw nut 107, support wheel
Support wheel 1083 is set on wheel carrier 1081, and support wheel wheel carrier support rod 1082 is that support wheel wheel carrier 1081 provides support；Described
Slide bar 106 on two slide bar sliding sleeves are set, slide bar spring 112, the first slide bar sliding sleeve are fixedly installed between two slide bar sliding sleeves
110 and support wheel wheel carrier support rod 1082 it is hinged, the second slide bar sliding sleeve 111 is fixed on slide bar 106；Second feed screw nut 109
Right side be rotatably connected and drive wheeling supporting frame 114, be rotatably connected the driving wheel carrier 115 on the neck bush,
The other end of the driving wheeling supporting frame 114 is rotatably connected at the middle part of driving wheel wheel carrier 115, mentions for driving wheel carrier 115
For support；
When operating, first stepper motor 102 opens operation, drives long lead screw 105 forward or reverse, passes through spiral
Transmission drives the first feed screw nut 107 and the second feed screw nut 109 on the long lead screw 106 to be moved to the left or move right,
Stretching out or shrinking for support wheel 1083 and driving wheel 113 is driven, to adapt to the pipeline of different tube diameters；When encounter pipeline deposition or
When pipe deforming, slide bar spring 112 can be compressed by support wheel wheel carrier support rod 1082 to control support wheel 1083 and driving wheel
113 contraction, passes through pipe robot.
As shown in Figure 3 and Figure 5, the second stepper motor 117 is fixed in neck bush 116, the neck bush 116
Right side be provided with L shape side plate and the parallel side plate that extends axially outwardly, the one side of the L shape side plate is prolonged along axial direction
Stretch, another side is parallel with right side, the pinion gear 122 and drive bevel gear 120 it is coaxially connected L shape side plate and right end
The two sides in the parallel face in face, driven wheel of differential 119 and coaxially connected the axially extending in L shape side plate of drive pulley 123
The two sides in face, the motor axis connection gear wheel 121 of second stepper motor 117, gear wheel 121 is engaged with pinion gear 122, pinion gear
122 drive drive bevel gear 120 to rotate, and drive bevel gear 120 is engaged with driven wheel of differential 119, and driven wheel of differential 119 drives master
Dynamic belt pulley 123, drive pulley 123 are driven by belt 118 and driven pulley 124, and the driven pulley 124 connects
It connects on the driving wheel wheel carrier 115, the coaxially connected driving wheel 113 of driven pulley 124；
When operating, second stepper motor 117 is opened, and is connected by key and gear wheel 121 is driven to rotate, to drive three
Pinion gear 122 rotates, and the pinion gear 122 and drive bevel gear 120 are coaxially connected, and drive bevel gear 120 is driven to rotate, thus
Drive the rotation of driven wheel of differential 119, driven wheel of differential 119 and, drive pulley 123 coaxially connected with drive pulley 123
Driven pulley 124 is driven to rotate by belt 118, so that the rotation of driving wheel 113 is driven, before finally driving entire machine
Row.
As shown in figure 4, the wiper mechanism 2 includes cleaning device walking support frame 201, linking axis 202, third stepping electricity
Machine support frame 203, third stepper motor 204, gear 205, main shaft 206, cleaning structure 207 and auxiliary wheel structure 208, along axial direction
From left to right, the left end of cleaning device walking support frame 201 is stretched out in linking 202 one end of axis, connect with gimbal coupling, another
End is fixedly connected with third stepping motor support frame 203, and third stepper motor 204 is placed in third stepping motor support frame 203,
The axis of third stepper motor 204 is connect with one end of main shaft 206, and the other end of main shaft 206 is supported on cleaning device walking support
The right end of frame 201, gear 205 are set on main shaft 206, and 205 outer rim of gear and the inner wall of cleaning device walking support frame 201 are nibbled
It closes；The described cleaning device walking support frame 201 be arranged respectively inwards at axially different position the first boss with through-hole and
Second boss, the cleaning structure 207 are placed in first boss, and the auxiliary wheel structure 208 is placed on second boss
It is interior；The cleaning structure 207 includes the first spring 2071, cleaning rod 2072 and cleaning brush 2073, first spring
2071 are placed in through-hole, and the outside wall surface of cleaning device walking support frame 201 is arranged in cleaning brush 2073, cleaning rod 2072
One end passes through through-hole and compresses the first spring 2071, the fixed cleaning brush 2073 of the other end；
The auxiliary wheel structure 208 includes auxiliary wheel wheel carrier 2081, auxiliary wheel 2082 and second spring 2083, described
Second spring 2083 is placed in through-hole, and the outside wall surface of cleaning device walking support frame 201, auxiliary wheel is arranged in auxiliary wheel 2082
One end of wheel carrier 2081 passes through through-hole and compresses second spring 2083, the fixed auxiliary wheel of the other end of auxiliary wheel wheel carrier 2081
2082。
When wiper mechanism works, the rotation of third stepper motor 204 drives entire cleaning device walking support by gear 205
The rotation of frame 201；Cleaning rod 2072 and cleaning brush 2073 are tightly attached in inner wall of the pipe by the centrifugal force that rotation generates, Bian Xuan
Turn side to be cleaned；First spring 2071 is connect with cleaning rod 2072, is responsible for retracting cleaning rod.It can control third stepping electricity
The size of the revolving speed control centrifugal force of machine 204, enables cleaning brush 2073 to clean the inner wall of the pipe of different tube diameters.Auxiliary wheel 2082
It is pressed in inner wall of the pipe always by the elastic force of second spring 2083.
Fig. 6 is the schematic three dimensional views of walking support frame 101, and left side is provided with 4 bolts hole, solid by bolt and gland 104
It is fixed；Rectangular strip there are three circumferentially uniformly being opened on lateral surface, in order to auxiliary wheel mechanism 108, driving wheel wheel carrier 115, driven skin
The stretching and movement of belt wheel 124 and driving wheel 113；
As shown in fig. 7, the center outer surface of the walking support frame 101 is circumferentially uniformly opened, there are three bolts hole；It is described
Bolt hole there are three circumferentially uniformly being opened on 116 periphery of neck bush；It will walking support frame 101 and neck bush by three bolts
116 are fixed together.
Fig. 8 is the schematic three dimensional views of neck bush, there are two boss, is bolted bearing (ball) cover on first boss
For fixing long lead screw 105；Second stepper motor 117 is mounted on second boss after good bearing (ball) cover to be installed.
It will appreciated by the skilled person that the foregoing is merely the preferred embodiments of utility model, and do not have to
In limitation utility model, although utility model is described in detail referring to previous examples, for those skilled in the art
Member for, can still modify to the technical solution of aforementioned each case history, or to part of technical characteristic into
Row equivalent replacement.With within principle, modification, equivalent replacement for being made etc. should be included in practical new all spirit in utility model
Within the protection scope of type.
Claims (5)
1. a kind of pipe variable diameter cleaning robot, which is characterized in that the robot includes being used to support and driving entire machine
The support driving mechanism (1) of people and the wiper mechanism (2) that rotary-cleaning is carried out to inner wall of the pipe, the support driving mechanism
(1) it is rotatably connected between wiper mechanism (2)；
The support driving mechanism (1) includes walking support frame (101), the first stepper motor (102), the first stepper motor branch
Support (103), gland (104), long lead screw (105), slide bar (106), the first feed screw nut (107), wheel device (108),
Second feed screw nut (109), slide bar spring (112), driving wheel (113), driving wheeling supporting frame (114), driving wheel wheel carrier
(115), neck bush (116), second stepper motor (117), belt (118), driven wheel of differential (119), drive bevel gear
(120), gear wheel (121), pinion gear (122), drive pulley (123), driven pulley (124)；
The first stepping motor support frame (103) is fixedly connected on the left side of gland (104), first stepper motor
(102) be fixed on gland (104) by the first stepping motor support frame (103), motor shaft by the through-hole of gland (104) to
The right side is fixedly connected with the left end of long lead screw (105)；The walking support frame (101) is fixedly connected on the right side of gland (104),
Neck bush (116) are arranged in the inside of walking support frame (101), support frame (101) and neck bush (116) circumferentially fixed company of walking
It connects, the circumferential direction of the walking support frame (101) is offered along axial long stripes through hole, the right side of the long lead screw (105)
End is rotatably supported on neck bush (116), and the left and right ends of the long lead screw (105) have one section of rotation direction identical respectively
Screw thread, first feed screw nut (107) and the second feed screw nut (109) are being pressed on long lead screw (105) by successively spiral
More slide bars (106) are arranged in parallel between lid (104) right side and neck bush (116) left side, and the slide bar (106) is worn
Two feed screw nuts are crossed, wheel device (108) are set in the right side of the first feed screw nut (107), the support wheel dress
Setting (108) includes support wheel wheel carrier (1081), support wheel (1083) and support wheel wheel carrier support rod (1082), the support wheel
Wheel carrier (1081) one end, which is rotatably connected on the right side of the first feed screw nut (107), support wheel wheel carrier (1081), is arranged branch
Support wheel (1083), support wheel wheel carrier support rod (1082) are that support wheel wheel carrier (1081) provide support；In the slide bar (106)
Slide bar spring (112) are fixedly installed between two slide bar sliding sleeves in two slide bar sliding sleeves of upper setting, the first slide bar sliding sleeve (110) and
Hingedly, the second slide bar sliding sleeve (111) is fixed on slide bar (106) support wheel wheel carrier support rod (1082)；
The right side of second feed screw nut (109), which is rotatably connected, to be driven wheeling supporting frame (114), can be rotated on the neck bush
The connection driving wheel wheel carrier (115), the other end of the driving wheeling supporting frame (114) are rotatably connected in driving wheel wheel
The middle part of frame (115) provides support for driving wheel wheel carrier (115)；
The second stepper motor (117) is fixed in neck bush (116), the right side setting of the neck bush (116)
The parallel side plate for having L shape side plate and extending axially outwardly, the L shape side plate axially extend on one side, another side and the right side
End face is parallel, and the pinion gear (122) and drive bevel gear (120) are coaxially connected in the parallel with right side of L shape side plate
The two sides in face, driven wheel of differential (119) and the coaxially connected face axially extended in L shape side plate of drive pulley (123)
Two sides, the motor axis connection gear wheel (121) of second stepper motor (117), gear wheel (121) is engaged with pinion gear (122), small
Gear (122) drives drive bevel gear (120) rotation, and drive bevel gear (120) is engaged with driven wheel of differential (119), from mantle
Gear (119) drives drive pulley (123), and drive pulley (123) is passed by belt (118) and driven pulley (124)
Dynamic, the driven pulley (124) is connected on the driving wheel wheel carrier (115), and driven pulley (124) is coaxially connected
Driving wheel (113)；
The wiper mechanism (2) includes cleaning device walking support frame (201), linking axis (202), third stepping motor support frame
(203), third stepper motor (204), gear (205), main shaft (206), cleaning structure (207) and auxiliary wheel structure (208), edge
Axially from left to right, the left end of cleaning device walking support frame (201) is stretched out in linking axis (202) one end, with gimbal coupling
Connection, the other end are fixedly connected with third stepping motor support frame (203), and third stepper motor (204) is placed on third stepping electricity
In machine support frame (203), the axis of third stepper motor (204) is connect with one end of main shaft (206), the other end of main shaft (206)
It is supported on the right end of cleaning device walking support frame (201), gear (205) is set on main shaft (206), gear (205) outer rim
It is engaged with the inner wall of cleaning device walking support frame (201)；Cleaning device walking support frame (201) is in axially different position
First boss and second boss with through-hole is arranged in the place of setting respectively inwards, and the cleaning structure (207) is placed on first boss
Interior, the auxiliary wheel structure (208) is placed in second boss；The cleaning structure (207) includes the first spring
(2071), cleaning rod (2072) and cleaning brush (2073), first spring (2071) are placed in through-hole, cleaning brush
(2073) outside wall surface in cleaning device walking support frame (201) is set, and one end of cleaning rod (2072) passes through through-hole and compresses
First spring (2071), the other end are fixed cleaning brush (2073)；
The auxiliary wheel structure (208) includes auxiliary wheel wheel carrier (2081), auxiliary wheel (2082) and second spring (2083), institute
The second spring (2083) stated is placed in through-hole, and auxiliary wheel (2082) setting is in the outer of cleaning device walking support frame (201)
Wall surface, one end of auxiliary wheel wheel carrier (2081) pass through through-hole and compress second spring (2083), auxiliary wheel wheel carrier (2081) it is another
One end is fixed auxiliary wheel (2082).
2. pipe variable diameter cleaning robot according to claim 1, which is characterized in that the slide bar (106) is 3
Root, the wheel device (108) are 3, are uniformly distributed circumferentially.
3. pipe variable diameter cleaning robot according to claim 1, which is characterized in that by pinion gear (122), initiative taper
The drive of gear (120), driven wheel of differential (119), drive pulley (123), driven pulley (124), driving wheel (113) composition
Motivation structure shares 3 sets, is uniformly distributed circumferentially.
4. pipe variable diameter cleaning robot according to claim 1, which is characterized in that the cleaning rod (2072) is
T shape.
5. pipe variable diameter cleaning robot according to claim 1, which is characterized in that the belt (118) is V-arrangement
Belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820715901.2U CN208495265U (en) | 2018-05-15 | 2018-05-15 | A kind of pipe variable diameter cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820715901.2U CN208495265U (en) | 2018-05-15 | 2018-05-15 | A kind of pipe variable diameter cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208495265U true CN208495265U (en) | 2019-02-15 |
Family
ID=65298832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820715901.2U Active CN208495265U (en) | 2018-05-15 | 2018-05-15 | A kind of pipe variable diameter cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208495265U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109958183A (en) * | 2019-03-29 | 2019-07-02 | 沈阳航空航天大学 | A kind of pipeline icebreaking device |
| CN110006988A (en) * | 2019-05-22 | 2019-07-12 | 吕政� | Oil-gas pipeline leaks high-precision floating formula and magnetizes detection device |
| CN110216118A (en) * | 2019-06-04 | 2019-09-10 | 邵帅 | A kind of inner wall of the pipe cleaning robot |
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
| CN110653230A (en) * | 2019-10-08 | 2020-01-07 | 许金芝 | Pipeline cleaning robot |
| CN112474650A (en) * | 2020-11-16 | 2021-03-12 | 中国能源建设集团山西省电力勘测设计院有限公司 | A high-efficient convenient clear tub device of walking certainly that is used for long distance heat supply pipe network of heavy-calibre |
| CN114680749A (en) * | 2022-03-21 | 2022-07-01 | 广东工业大学 | Deformable floor brush and cleaning device and method with same |
| CN115488866A (en) * | 2022-10-11 | 2022-12-20 | 吉林大学 | Self-adaptive multifunctional snake-shaped robot |
-
2018
- 2018-05-15 CN CN201820715901.2U patent/CN208495265U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109958183A (en) * | 2019-03-29 | 2019-07-02 | 沈阳航空航天大学 | A kind of pipeline icebreaking device |
| CN109958183B (en) * | 2019-03-29 | 2023-11-10 | 沈阳航空航天大学 | Pipeline icebreaking device |
| CN110006988A (en) * | 2019-05-22 | 2019-07-12 | 吕政� | Oil-gas pipeline leaks high-precision floating formula and magnetizes detection device |
| CN110216118A (en) * | 2019-06-04 | 2019-09-10 | 邵帅 | A kind of inner wall of the pipe cleaning robot |
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
| CN110653230A (en) * | 2019-10-08 | 2020-01-07 | 许金芝 | Pipeline cleaning robot |
| CN112474650A (en) * | 2020-11-16 | 2021-03-12 | 中国能源建设集团山西省电力勘测设计院有限公司 | A high-efficient convenient clear tub device of walking certainly that is used for long distance heat supply pipe network of heavy-calibre |
| CN114680749A (en) * | 2022-03-21 | 2022-07-01 | 广东工业大学 | Deformable floor brush and cleaning device and method with same |
| CN114680749B (en) * | 2022-03-21 | 2023-03-21 | 广东工业大学 | Deformable floor brush and cleaning device and method with same |
| CN115488866A (en) * | 2022-10-11 | 2022-12-20 | 吉林大学 | Self-adaptive multifunctional snake-shaped robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208495265U (en) | A kind of pipe variable diameter cleaning robot | |
| CN108480333A (en) | A kind of pipe variable diameter cleaning robot | |
| CN108554955A (en) | A kind of diameter changeable pipeline cleaning robot | |
| CN206425311U (en) | Self-adapting pipe clears up robot | |
| CN108443642A (en) | A kind of thin stifled cleaning robot of creeping motion type pipeline | |
| CN109253342A (en) | A kind of pipe walking robot | |
| CN208503768U (en) | A kind of thin stifled cleaning robot of creeping motion type pipeline | |
| CN208495264U (en) | A kind of diameter changeable pipeline cleaning robot | |
| CN109174851A (en) | One kind can turn tube cleaning device people | |
| CN110566753B (en) | Self-adaptive autonomous steering wheel type pipeline robot | |
| CN108672423A (en) | A kind of pipeline cleaning system and cleaning method based on unpowered pipeline cleaning robot | |
| CN103754713B (en) | A kind of capstan arrangement for condenser cleaning robots system | |
| CN107421387A (en) | A kind of cleaning bore of cannon robot | |
| CN112077088A (en) | Pipe diameter surface cleaning device for different pipelines | |
| CN111715638A (en) | Cleaning device used for adjusting inner diameters of different pipelines | |
| CN108772390A (en) | A kind of unpowered pipeline cleaning robot | |
| CN208991400U (en) | A kind of unpowered pipeline cleaning robot | |
| CN113752107A (en) | Automatic grinding device of pipeline for ocean engineering | |
| CN110274124A (en) | A kind of reducing power driven pipeline cleaning machine people | |
| CN102873066B (en) | Planetary self-adaptive pipeline cleaning robot | |
| CN114087452B (en) | Reinforced hose bending device for non-excavation pipeline repair and repair method | |
| CN209113006U (en) | A kind of roller line clearing apparatus | |
| CN212121099U (en) | Municipal administration water supply and drainage pipeline exempts from to excavate inner wall belt cleaning device | |
| CN208680066U (en) | A kind of interior clearing apparatus of FRPP pipe | |
| CN216666890U (en) | Non-excavation pipeline is restoreed with reinforcing hose device that bends |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |