CN208503768U - A kind of thin stifled cleaning robot of creeping motion type pipeline - Google Patents
A kind of thin stifled cleaning robot of creeping motion type pipeline Download PDFInfo
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- CN208503768U CN208503768U CN201820715881.9U CN201820715881U CN208503768U CN 208503768 U CN208503768 U CN 208503768U CN 201820715881 U CN201820715881 U CN 201820715881U CN 208503768 U CN208503768 U CN 208503768U
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Abstract
The utility model discloses a kind of thin stifled cleaning robot of creeping motion type pipeline, it walks support device, cleaning device, auxiliary support apparatus, flexible feed screw assembly, right lateral and walks support device and thin block apparatus along the axial direction left lateral that is fixedly connected sequentially, left lateral walks support device and right lateral walks support device and is used to support and drives the Robot pipe walking, cleaning device is in the process of walking cleaning pipeline, it dredges block apparatus and is used for unclog the pipe, auxiliary support apparatus is used to provide Auxiliary support to entire robot.The robot of the utility model using creeping motion type advance, avoid driving device advance during encounter pipeline foreign matter or pipe deforming when it is stuck, can not by situation, and can along long range bending, deformable duct move ahead, it is applied widely；And can be adaptive to tapered pipeline realization, foreign matter blocking or pipe deforming are encountered, wheel, which can be carried out, to be stretched adaptively, carries out cleaning and dredge to block 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 thin stifled cleaning robot of creeping motion type pipeline
People.
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 carrying out dredging stifled and cleaning not in time to pipeline.However pipeline
Locating environment is not easy directly to reach or does not allow people to be directly entered, and dredges that stifled, cleaning difficulty is very big.In addition, for over long distances
Pipeline, geographic factor or pipeline welding or it is technologic due to, there are some crooked pipelines and tapered pipelines.It is existing
The some pipeline cleanings having can only clean straight pipeline or cannot effective variable diameter.
Utility model content
In view of the shortcomings of the prior art, the utility model provides a kind of creeping motion type pipelines to dredge stifled cleaning robot,
A kind of thin stifled cleaning robot of creeping motion type pipeline, which is characterized in that the Robot was axially fixedly connected sequentially
Left lateral walks support device, cleaning device, auxiliary support apparatus, flexible feed screw assembly, right lateral and walks support device and thin block apparatus, institute
The left lateral stated walks support device and right lateral walks support device and is used to support and drives the Robot pipe walking, described
For cleaning device for cleaning in the process of walking to pipeline, the thin block apparatus is used for unclog the pipe, the auxiliary
Support device is used to provide Auxiliary support to entire robot.
Preferably, it includes first motor branch fastener, the first stepper motor, the first walking branch that the left lateral, which walks support device,
Support arrangement support frame, the first long lead screw nut, the second long lead screw nut, third long lead screw nut, the braking dress of long lead screw one, first
It sets, the first caster device；
From left to right along axial direction, the first motor branch fastener, the first stepper motor, the first walking support device
Frame is fixedly connected sequentially, and the first walking support device frame is set on the long lead screw one, and the length
One one end of lead screw is connect with first stepper motor, and the other end is connect with the cleaning device；First walking
Support device frame includes being located at the first sleeve at both ends and second sleeve and being fixedly connected between two sleeves
Polished rod, the first long lead screw nut, the second long lead screw nut, third long lead screw nut are set on the polished rod；
The axial direction of the long lead screw one includes successively three sections of screw threads, and first segment, the thread rotary orientation of second segment are identical, with the
Three sections oppositely oriented, and the first long lead screw nut, the second long lead screw nut, third long lead screw nut are successively screwed at three sections
On screw thread；
First brake apparatus includes the first brake block and the left and right system for being supported on the first brake block both ends
Motion block support frame and left and right brake anchor pin bar, described left brake anchor pin frame one end and first brake block are hinged,
The other end is hinged on the first long lead screw nut, one end of the left brake anchor pin bar and the left brake block
Support frame is hinged, and the other end is hinged with polished rod, provides support for the left brake anchor pin frame；The right brake anchor pin
Frame one end and first brake block are hinged, and the other end is hinged on the second long lead screw nut, right brake anchor pin
Bar one end and right brake anchor pin frame are hinged, and the other end is hinged with polished rod；
First caster device includes the first walking wheeling supporting frame, the first traveling wheel and the support of the first traveling wheel
Bar, first traveling wheel are connected to one end of the first walking wheeling supporting frame, the other end of the first walking wheeling supporting frame and the
Three long lead screw nuts are hinged, and the first described traveling wheel support rod one end and the first walking wheeling supporting frame are hinged, another
It holds hinged with the polished rod.
Preferably, the polished rod in the described first walking support device frame is root, be arranged in parallel within two sleeves it
Between；First brake apparatus and the first caster device is to be uniformly distributed along the axial direction that left lateral walks support device.
Preferably, the cleaning device include cleaning device shell, first linking axis, second stepper motor support frame,
Second stepper motor, first gear, main shaft one, cleaning structure, along axial direction, outside the first described linking axis one end and cleaning device
Shell connection, the other end are fixedly connected with second stepper motor support frame, and second stepper motor is placed on second stepper motor support
In frame, the axis of second stepper motor is connect with one end of main shaft one, and the other end of main shaft one is connected on cleaning device shell；The
One gear is set on main shaft one, and first gear outer rim is engaged with the inner wall of cleaning device shell, and the cleaning structure includes
The boss with through-hole is inwardly arranged in spring, cleaning rod and cleaning brush, the cleaning device shell, and the spring is placed on logical
In hole, one end of cleaning rod passes through through-hole and compressed spring, the fixed cleaning brush of the other end of cleaning rod.
Preferably, the cleaning structure is a, is uniformly distributed along axial direction.
Preferably, the auxiliary support apparatus includes sleeve, the first Auxiliary support running gear, the first sliding sleeve compression bullet
Spring, the second Auxiliary support running gear, the second sliding sleeve compressed spring,
The sleeve is divided into three sections of left, center, right, and the diameter in middle section is greater than the diameter of two sections of left and right, the first Auxiliary support
Running gear and the first sliding sleeve compressed spring are placed in left section, the first Auxiliary support running gear include first sleeve wheel carrier,
First sleeve wheel carrier support rod, the first auxiliary wheel and the first sliding sleeve, the first auxiliary wheel are connected on first sleeve wheel carrier, first set
The other end of cylinder wheel carrier and the left end of sleeve are rotatably connected, and first sleeve wheel carrier support rod one end can turn with first sleeve wheel carrier
Dynamic connection, the other end are rotatably connected with the first sliding sleeve, and the first sliding sleeve is fixedly connected with the first sliding sleeve compressed spring；Second auxiliary
Support running gear identical as the first Auxiliary support running gear structure, but the second sleeve wheel carrier other end can turn with sleeve middle section
Dynamic connection.
Preferably, the sleeve wheel carrier support rod, the one end being connect with sleeve wheel carrier be provided with along axial sliding slot and
Circular hole places elastic component in the sliding slot and circular hole, and the sleeve wheel carrier is set in socket wheel by connecting rod thereon
On frame support rod, the spring is used to support connecting rod.
Preferably, the flexible feed screw assembly includes flexible feed screw, flexible feed screw nut, gimbal coupling and third
Stepper motor, the flexible feed screw nut screw on flexible feed screw, and one end of flexible feed screw extends to auxiliary support apparatus
It is interior, and flexible feed screw nut is fixed on the right side of sleeve, the other end of flexible feed screw passes through gimbal coupling and third step
It is connected into motor, third stepper motor right end is fixedly connected with the left side that right lateral walks support device.
Preferably, dredging block apparatus includes dredging block apparatus shell, the second linking axis, the 5th stepper motor support frame, the 5th step
Into motor, second gear, main shaft two, short lead screw, short feed screw nut, cutter support rod, cutter support base, cutter, along axial direction,
One end of two linking axis is connected on thin block apparatus shell, and the other end is fixedly connected with the 5th stepper motor support frame, the 5th step
It is placed in the 5th stepper motor support frame into motor, the axis of the 5th stepper motor is connect with one end of main shaft two, second gear
It being set on main shaft two, the outer rim of gear is engaged with the inside of thin block apparatus shell, and the one of the other end of main shaft two and short lead screw
End connection, short feed screw nut screw on short lead screw, the other end of short lead screw and thin block apparatus cage connection；Dredge block apparatus shell
Right side be uniformly provided with a radially distributed sliding slot, the cutter support base is arranged in sliding slot, can slide along the chute
Dynamic, cutter is fixed on cutter support base, and cutter support rod one end is rotatably connected with short feed screw nut, the other end and cutter branch
Support seat is rotatably connected.
The utility model has the beneficial effects that the creeping motion type pipeline of the utility model dredges stifled cleaning robot using before creeping motion type
Into, avoid driving device advance during encounter pipeline foreign matter or pipe deforming when it is stuck, can not by situation,
Advance and stablize, and can move ahead along long range bending, deformable duct, the scope of application is more extensive；And it can be to tapered pipeline
Realization is adaptive, encounters foreign matter blocking or pipe deforming, and wheel, which can be carried out, to be stretched adaptively, carries out cleaning and dredge to block up to pipeline,
To guarantee the normal use and safety of pipeline.
Detailed description of the invention
Fig. 1 is the overall structure diagram that the creeping motion type pipeline of the utility model dredges stifled cleaning robot；
Fig. 2 is that left lateral walks support device structure diagram；
Fig. 3 is cleaning device structural schematic diagram；
Fig. 4 is auxiliary support device structure diagram；
Fig. 5 is the structural schematic diagram of the sleeve wheel carrier support rod in auxiliary support apparatus；
Fig. 6 is flexible feed screw assembly structure schematic diagram；
Fig. 7 is to dredge block apparatus structural schematic diagram；
Fig. 8 is to dredge block apparatus right view；
1- left lateral walks support device, 2- cleaning device, 3- auxiliary support apparatus, 4- flexible feed screw assembly, and 5- right lateral walks branch
Support arrangement, 6- dredge block apparatus, 101- first motor branch fastener, the first stepper motor of 102-, the walking support device branch of 103- first
Support, 104- the first long lead screw nut, 105- the second long lead screw nut, 106- third long lead screw nut, 107- long lead screw one,
The first brake apparatus of 108-, the first brake block of 1081-, the left brake anchor pin frame of 1082-, the left brake anchor pin bar of 1083-,
The right brake anchor pin frame of 1084-, the right brake anchor pin bar of 1085-, the first caster device of 109-, the first traveling wheel of 1091-,
The walking wheeling supporting frame of 1092- first, 1093- the first traveling wheel support rod, 201- cleaning device shell, 202- first are connected axis,
203- second stepper motor support frame, 204- second stepper motor, 206- first gear, 207- main shaft one, 208- cleaning structure,
2081- spring, 2082- cleaning rod, 2083- cleaning brush, 301- sleeve, 302- the first Auxiliary support running gear, 3021- first
Sleeve wheel carrier, 3022- first sleeve wheel carrier support rod, the first auxiliary wheel of 3023-, the first sliding sleeve of 3024-, 303- the first sliding sleeve pressure
Contracting spring, 304- the second Auxiliary support running gear, 3041- second sleeve wheel carrier, the second auxiliary wheel of 3042-, second set of 3043-
Cylinder wheel carrier support rod, the second sliding sleeve of 3044-, 305- the second sliding sleeve compressed spring, 307- elastic component, 401- flexible feed screw, 402-
Flexible feed screw nut, 403- gimbal coupling, 404- third stepper motor, 601- dredge block apparatus shell, and 602- second is connected
Axis, the 5th stepper motor support frame of 603-, the 5th stepper motor of 604-, 606- second gear, 607- main shaft two, the short silk of 609-
Thick stick, the short feed screw nut of 610-, 611- cutter support rod, 612- cutter support base, 613- cutter.
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 creeping motion type pipeline dredges stifled cleaning robot, the left side which is axially fixedly connected sequentially
Walking support device 1, cleaning device 2, auxiliary support apparatus 3, flexible feed screw assembly 4, right lateral walk support device 5 and thin block apparatus
6, the left lateral walks support device 1 and right lateral walks support device 5 and is used to support and drives the Robot pipe walking,
For the cleaning device 2 for cleaning in the process of walking to pipeline, the thin block apparatus 6 is used for unclog the pipe, institute
The auxiliary support apparatus 3 stated is used to provide Auxiliary support to entire robot；
Wherein, as shown in Fig. 2, left lateral walk support device 1 include first motor branch fastener 101, the first stepper motor 102,
First walking support device frame 103, the first long lead screw nut 104, the second long lead screw nut 105, third long lead screw nut
106, long lead screw 1, the first brake apparatus 108, the first caster device 109；
From left to right along axial direction, the first motor branch fastener 101, the first stepper motor 102, first walking support dress
It sets support frame 103 to be fixedly connected sequentially, the first walking support device frame 103 is set in the long lead screw one
On 107, and described one 107 one end of long lead screw is connect with first stepper motor 102, and the other end and the cleaning fill
Set 2 connections；The described first walking support device frame 103 include be located at first sleeve and the second sleeve at both ends with
And it is fixedly connected on the polished rod between two sleeves, polished rod is 3, is arranged in parallel between two sleeves；Described first is long
Feed screw nut 104, the second long lead screw nut 105, third long lead screw nut 106 are set on the polished rod；
The axial direction of the long lead screw 1 includes successively three sections of screw threads, and first segment, the thread rotary orientation of second segment are identical,
It is oppositely oriented with third section, the first long lead screw nut 104, the second long lead screw nut 105, third long lead screw nut 106
It successively screws on three sections of screw threads；
First brake apparatus 108 is including the first brake block 1081 and is supported on the first brake block both ends
Left and right brake anchor pin frame 1082,1084 and left and right brake anchor pin bar 1083,1085, the left brake anchor pin frame
1082 one end and first brake block 1081 are hinged, and the other end is hinged on the first long lead screw nut 104, described
Left brake anchor pin bar 1083 one end and the left brake anchor pin frame 1082 it is hinged, the other end and the polished rod are cut with scissors
It connects, provides support for the left brake anchor pin frame 1082；Described right 1084 one end of brake anchor pin frame and described the
One brake block 1081 is hinged, and the other end is hinged on the second long lead screw nut 105, right 1085 one end of brake anchor pin bar
Hinged with right brake anchor pin frame 1084, the other end and the polished rod are hinged；
First caster device 109 includes the first walking wheeling supporting frame 1092, the first traveling wheel 1091 and first
Traveling wheel support rod 1093, first traveling wheel 1091 are connected to one end of the first walking wheeling supporting frame 1092, the first row
Walk the other end of wheeling supporting frame 1092 and 1093 one end of the first traveling wheel support rod that third long lead screw nut 106 is hinged, described
Hinged with the first walking wheeling supporting frame 1092, the other end and the polished rod are hinged.
First brake apparatus 108 and the first caster device 109 is 3, walks support device 1 along left lateral
Axially it is uniformly distributed.
When first stepper motor 102 rotates forward, long lead screw 1 is driven to rotate, long lead screw 1 is matched by spiral
It closes that the first long lead screw nut 104 and the second long lead screw nut 105 is driven to be moved to the left, drives the right third long lead screw nut
106 move right, to drive the contraction of first brake block 1081 and the elongation of the first traveling wheel 1091, left lateral is walked at this time
The braking of support device 1 is unclamped, and movement is prepared；When first stepper motor 102 reversion, long lead screw 1 is driven to rotate, it is long
Lead screw 1 drives moving right for the left side the first long lead screw nut 104 and the second long lead screw nut 105 by threaded engagement
It is dynamic, drive the right third long lead screw nut 106 to be moved to the left, to drive the elongation and the first row of first brake block 1081
The contraction of wheel 1091 is walked, left lateral walks the braking tensioning of support device 1 at this time, stops movement.
As shown in figure 3, the cleaning device 2 includes that cleaning device shell 201, first is connected axis 202, the second stepping electricity
Machine support frame 203, second stepper motor 204, first gear 206, main shaft 1, cleaning structure 208, from left to right along axial direction,
First linking 202 one end of axis is connect with cleaning device shell 201, and is stretched out cleaning device shell 201 and passed through with long lead screw 1
Shaft coupling connection；The other end is fixedly connected with second stepper motor support frame 203, and second stepper motor 204 is placed on second step
Into in motor support frame 203, the axis of second stepper motor 204 is connect with one end of main shaft 1, the other end of main shaft 1
It is connected on cleaning device shell 201, and stretches out shell 201 and connect with auxiliary support apparatus 3；First gear 206 is set in master
On axis 1,206 outer rim of first gear is engaged with the inner wall of cleaning device shell 201, and the cleaning structure 208 includes bullet
Spring 2081, cleaning rod 2082 and cleaning brush 2083, the boss with through-hole is inwardly arranged in the cleaning device shell 201, described
Spring 2081 be placed in through-hole, one end of cleaning rod 2082 passes through through-hole and compressed spring 2081, cleaning rod 2082 it is another
Cleaning brush 2083 is fixed in one end.
Cleaning structure 208 is 3, is uniformly distributed along axial direction.
It when stepper motor 204 rotates, drives entire cleaning device 2 to rotate by gear 206, will be cleaned by centrifugal force
Structure 208 pushes out, and so that it is held out against inner wall of the pipe while rotating, achievees the effect that clean inner wall, can be according in pipeline
Stepper motor revolving speed is adjusted in the size of diameter.
Here cleaning device has cleverly used centrifugal force, not only reduces the complexity of device, also saves space,
Improve operational efficiency.
As shown in figure 4, auxiliary support apparatus 3 includes sleeve 301, the first Auxiliary support running gear 302, the first sliding sleeve pressure
Contracting spring 303, the second Auxiliary support running gear 304, the second sliding sleeve compressed spring 305,
The sleeve 301 divides for three sections of left, center, right, and the diameter in middle section is greater than the diameter of two sections of left and right, the first auxiliary branch
Support running gear 302 and the first sliding sleeve compressed spring 303 are placed in left section, and the first Auxiliary support running gear 302 includes the
One sleeve wheel carrier 3021, first sleeve wheel carrier support rod 3022, the first auxiliary wheel 3023 and the first sliding sleeve 3024, the first auxiliary wheel
3023 are connected on first sleeve wheel carrier 3021, and the other end of first sleeve wheel carrier 3021 rotatably connects with the left end of sleeve 301
It connects, 3022 one end of first sleeve wheel carrier support rod is rotatably connected with first sleeve wheel carrier 3021, the other end and the first sliding sleeve
3024 are rotatably connected, and the first sliding sleeve 3024 is fixedly connected with the first sliding sleeve compressed spring 303；Second Auxiliary support running gear
304 is identical as 302 structure of the first Auxiliary support running gear, but 3041 other end of second sleeve wheel carrier and 301 middle section of sleeve can
Rotation connection.
Sleeve 301 is hollow structure inside, and left end is used to support main shaft 1, and right end allows flexible feed screw assembly 4 to exist
It stretches in hollow structure；
Preferably, as shown in figure 5, the sleeve wheel carrier support rod 3022,3043 respectively with sleeve wheel carrier 3021,3041
One end of connection, which is provided with along axial sliding slot and circular hole, the sliding slot and circular hole, places elastic component 307, the sleeve
Wheel carrier 3021,3041 is respectively sleeved on sleeve wheel carrier support rod 3022,3043 by connecting rod thereon, and the spring is used
In supporting linkage.
In order to be oriented to the first Auxiliary support running gear 302 and the second Auxiliary support running gear 304, in sleeve
It offers on left section and right section of 301 along axial keyway 306, the first sliding sleeve 3024 and the second sliding sleeve 3044 accordingly also open up
There is keyway, the first sliding sleeve 3024 and the second sliding sleeve 3044 are oriented to by feather key, prevent it from axially rotating.
The utility model whole device is longer, by increasing auxiliary support apparatus, can guarantee whole device to neutrality,
Guarantee the normal work of flexible feed screw；Auxiliary support apparatus point or so two parts auxiliary wheel can achieve auxiliary due to there is spring
Corresponding sleeve wheel carrier support rod can be compressed when encountering pipeline foreign matter or pipe deforming by taking turns the effect compressed to inner wall of the pipe
In spring 307, shrink corresponding auxiliary wheel achieve the effect that by.
When work, the first auxiliary wheel 3023 and the second auxiliary wheel 3042 are bonded with inner wall of the pipe always, when pipeline reducing diameter,
First sliding sleeve 3024 and the second sliding sleeve 3044 are by compressed spring, so that first sleeve wheel carrier 3021 and second sleeve wheel carrier 3041
Rotation, makes auxiliary wheel stretch to adapt to different internal diameter of the pipeline.
As shown in fig. 6, the flexible feed screw assembly 4 includes flexible feed screw 401, flexible feed screw nut 402, universal joint connection
Axis device 403 and third stepper motor 404, the flexible feed screw nut 402 screw on flexible feed screw 401, flexible feed screw 401
One end extend in auxiliary support apparatus 3, and flexible feed screw nut 402 is fixed on the right side of sleeve 301, flexible feed screw
401 other end is connected by gimbal coupling 403 and third stepper motor 404,404 right end of third stepper motor and right lateral
The left side for walking support device 5 is fixedly connected.
Right lateral walks 5 structure of support device and walks that 2 structure of support device is identical with left lateral, and right lateral walks the long lead screw of support device 5
Pass through the axis connection of shaft coupling and thin block apparatus 6；
As shown in fig. 7, dredging block apparatus 6 includes dredging block apparatus shell 601, second to be connected axis 602, the support of the 5th stepper motor
Frame 603, the 5th stepper motor 604, second gear 606, main shaft 2 607, short lead screw 609, short feed screw nut 610, cutter support
Bar 611, cutter support base 612, cutter 613, along axial direction, one end of the second linking axis 602 is connected to thin block apparatus shell 601
On, and stretch out and dredge block apparatus shell 601, it is connect by shaft coupling with the long lead screw that right lateral walks support device 5, the other end and the 5th
Stepper motor support frame 603 is fixedly connected, and the 5th stepper motor 604 is placed in the 5th stepper motor support frame 603, the 5th step
Axis into motor 604 is connect with one end of main shaft 2 607, and second gear 606 is set on main shaft 2 607, the outer rim of gear 606
It is engaged with the inside of thin block apparatus shell 601, the other end of main shaft 2 607 is connect with one end of short lead screw 609, short feed screw nut
610 screw on short lead screw 609, and the other end of short lead screw 609 is connect with thin block apparatus shell 601；Dredge block apparatus shell 601
Right side is uniformly provided with 3 radially distributed sliding slots, as shown in figure 8, the cutter support base 612 is arranged in sliding slot
In, it can slide along the chute, cutter 613 is fixed on cutter support base 612,611 one end of cutter support rod and short feed screw nut 610
It is rotatably connected, the other end is rotatably connected with cutter support base 612.
When stepper motor 604 rotates, main shaft 1 is driven to rotate, the main shaft 1 is connected by key band moving gear
606 drive thin block apparatus shell 601 to rotate in turn, while the rotation of the short lead screw 609 of rotation drive of main shaft 1, described short
Lead screw 609 drives short feed screw nut 610 to move left and right by worm drive, eventually by cutter support rod 611 with cutter branch
Support seat 612 radially slides in sliding slot, realizes the variable diameter circumgyration incision of cutter.
The working principle that the creeping motion type pipeline of the utility model dredges stifled cleaning robot is as follows:
1. adjusting traveling wheel 1091 and auxiliary wheel 3023,3042 according to the internal diameter of the pipeline to be cleaned first, it is made to hold out against pipe
Whole device is sent into pipeline by road inner wall；
2. opening the second stepper motor 204 in cleaning device 2, cleaning structure 208 is released and held out against by centrifugal force
Inner wall of the pipe, while entire cleaning device 2 is rotated, and is cleaned to inner wall of the pipe；Open the 5th step dredged in block apparatus 6
Into motor 604, motor carries out positive and negative rotation according to the sinusoidal rule of setting, flexible with cutter 613, while entirely dredging block apparatus
6 are rotated, and it is stifled to achieve the effect that the full diameter cutting of full pipeline is dredged.
3. the first stepper motor 102 that left lateral walks support device 1 rotates forward, traveling wheel 1091 is shunk, the first brake block 1081
Until withstanding inner wall of the pipe, the first stepper motor 102 stops rotating for elongation.
4. the third stepper motor 404 in flexible feed screw assembly 4 rotates forward, right lateral is driven to walk support device 5 and thin block apparatus 6
It moves right, third stepper motor 404 stops rotating after mobile distance to a declared goal；
5. left lateral walks the first stepper motor 102 reversion of support device 1, the elongation of traveling wheel 1091 is until withstand in pipeline
Wall, the first brake block 1081 are shunk, and the first stepper motor 102 stops rotating；Right lateral walks the 4th stepper motor in support device 5
Main story, traveling wheel are shunk, until withstanding inner wall of the pipe, stepper motor stops rotating for brake block elongation.
6. the third stepper motor 404 in flexible feed screw assembly 4 inverts, left lateral is driven to walk support device 1, cleaning device 2
It moves right with auxiliary walking support device 3, third stepper motor 404 stops rotating after mobile distance to a declared goal；
7. repeating step 3,4,5,6.
The creeping motion type pipeline of the utility model is dredged stifled cleaning robot and is advanced using creeping motion type, and driving device advance is avoided
It is stuck when encountering pipeline foreign matter or pipe deforming in the process, can not by situation, advance and stablize, and can be along
Bending, deformable duct move ahead over long distances, and the scope of application is more extensive；And tapered pipeline can be realized adaptively, encounter foreign matter resistance
Gear or pipe deforming, wheel can be carried out it is flexible adaptive, pipeline clean and dredge it is stifled, to guarantee the normal use of pipeline
And safety.
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 (9)
1. a kind of creeping motion type pipeline dredges stifled cleaning robot, which is characterized in that the left side that the Robot is axially fixedly connected sequentially
Walking support device (1), cleaning device (2), auxiliary support apparatus (3), flexible feed screw assembly (4), right lateral walk support device (5)
With thin block apparatus (6), the left lateral walks support device (1) and right lateral walks support device (5) and is used to support and drives described
Robot pipe walking, for the cleaning device (2) for cleaning in the process of walking to pipeline, described dredges stifled dress
(6) are set for unclog the pipe, the auxiliary support apparatus (3) is used to provide Auxiliary support to entire robot.
2. creeping motion type pipeline according to claim 1 dredges stifled cleaning robot, which is characterized in that the left lateral walks support
Device (1) include first motor branch fastener (101), the first stepper motor (102), first walking support device frame (103),
First long lead screw nut (104), the second long lead screw nut (105), third long lead screw nut (106), long lead screw one (107),
One brake apparatus (108), the first caster device (109)；
From left to right along axial direction, the first motor branch fastener (101), the first stepper motor (102), the first walking support dress
It sets support frame (103) to be fixedly connected sequentially, first walking support device frame (103) is set in the long lead screw
On one (107), and described long lead screw one (107) one end is connect with first stepper motor (102), the other end with it is described
Cleaning device (2) connection；First walking support device frame (103) includes the first sleeve for being located at both ends
And second sleeve and the polished rod being fixedly connected between two sleeves, the first long lead screw nut (104), the second long filament
Thick stick nut (105), third long lead screw nut (106) are set on the polished rod；
The axial direction of the long lead screw one (107) includes successively three sections of screw threads, and first segment, the thread rotary orientation of second segment are identical, with
Third section is oppositely oriented, the first long lead screw nut (104), the second long lead screw nut (105), third long lead screw nut
(106) it successively screws on three sections of screw threads；
First brake apparatus (108) is including the first brake block (1081) and is supported on the first brake block both ends
Left and right brake anchor pin frame (1082,1084) and left and right brake anchor pin bar (1083,1085), the left brake anchor pin
Hingedly, the other end is hinged on the first long lead screw nut for frame (1082) one end and first brake block (1081)
(104) on, one end of the left brake anchor pin bar (1083) and the left brake anchor pin frame (1082) are hingedly, another
End is hinged with polished rod, provides support for the left brake anchor pin frame (1082)；The right brake anchor pin frame (1084)
Hingedly, the other end is hinged on the second long lead screw nut (105), right system for one end and first brake block (1081)
Hingedly, the other end is hinged with polished rod for motion block support rod (1085) one end and right brake anchor pin frame (1084)；
First caster device (109) includes the first walking wheeling supporting frame (1092), the first traveling wheel (1091) and the
One traveling wheel support rod (1093), first traveling wheel (1091) are connected to the one of the first walking wheeling supporting frame (1092)
End, first walking wheeling supporting frame (1092) the other end and third long lead screw nut (106) hingedly, the first traveling wheel branch
Hingedly, the other end and the polished rod are hinged for strut (1093) one end and first walking wheeling supporting frame (1092).
3. creeping motion type pipeline according to claim 2 dredges stifled cleaning robot, which is characterized in that the first walking branch
Polished rod in support arrangement support frame (103) is 3, is arranged in parallel between two sleeves；First brake apparatus (108)
It is 3 with the first caster device (109), is uniformly distributed along the axial direction that left lateral walks support device (1).
4. creeping motion type pipeline according to claim 1 dredges stifled cleaning robot, which is characterized in that the cleaning device
It (2) include cleaning device shell (201), the first linking axis (202), second stepper motor support frame (203), second stepper motor
(204), first gear (206), main shaft one (207), cleaning structure (208), along axial direction, the first linking axis (202) one
End is connect with cleaning device shell (201), and the other end is fixedly connected with second stepper motor support frame (203), the second stepping electricity
Machine (204) is placed in second stepper motor support frame (203), the axis of second stepper motor (204) and the one of main shaft one (207)
End connection, the other end of main shaft one (207) are connected on cleaning device shell (201)；First gear (206) is set in main shaft one
(207) on, first gear (206) outer rim is engaged with the inner wall of cleaning device shell (201), the cleaning structure (208) packet
Spring (2081), cleaning rod (2082) and cleaning brush (2083) are included, band through-hole is inwardly arranged in the cleaning device shell (201)
Boss, the spring (2081) is placed in through-hole, and one end of cleaning rod (2082) passes through through-hole and compressed spring
(2081), the other end of cleaning rod (2082) is fixed cleaning brush (2083).
5. creeping motion type pipeline according to claim 4 dredges stifled cleaning robot, which is characterized in that the cleaning structure
(208) it is 3, is uniformly distributed along axial direction.
6. creeping motion type pipeline according to claim 1 dredges stifled cleaning robot, which is characterized in that the Auxiliary support dress
Setting (3) includes sleeve (301), the first Auxiliary support running gear (302), the first sliding sleeve compressed spring (303), the second auxiliary branch
Running gear (304), the second sliding sleeve compressed spring (305) are supportted,
The sleeve (301) is divided into three sections of left, center, right, and the diameter in middle section is greater than the diameter of two sections of left and right, the first Auxiliary support
Running gear (302) and the first sliding sleeve compressed spring (303) are placed in left section, the first Auxiliary support running gear (302) packet
Include first sleeve wheel carrier (3021), first sleeve wheel carrier support rod (3022), the first auxiliary wheel (3023) and the first sliding sleeve
(3024), the first auxiliary wheel (3023) is connected on first sleeve wheel carrier (3021), the other end of first sleeve wheel carrier (3021)
It is rotatably connected with the left end of sleeve (301), first sleeve wheel carrier support rod (3022) one end and first sleeve wheel carrier (3021)
It is rotatably connected, the other end is rotatably connected with the first sliding sleeve (3024), the first sliding sleeve (3024) and the first sliding sleeve compressed spring
(303) it is fixedly connected；Second Auxiliary support running gear (304) is identical as the first Auxiliary support running gear (302) structure, but
Second sleeve wheel carrier (3041) other end is rotatably connected with sleeve (301) middle section.
7. creeping motion type pipeline according to claim 6 dredges stifled cleaning robot, which is characterized in that the sleeve wheel carrier branch
One end that strut (3022,3043) is connect with sleeve wheel carrier (3021,3041) is provided with along axial sliding slot and circular hole, described
Elastic component (307) are placed in sliding slot and circular hole, the sleeve wheel carrier (3021,3041) is set in by connecting rod thereon
On cylinder wheel carrier support rod (3022,3043), the spring is used to support connecting rod.
8. creeping motion type pipeline according to claim 1 dredges stifled cleaning robot, which is characterized in that the flexible feed screw is total
It include flexible feed screw (401), flexible feed screw nut (402), gimbal coupling (403) and third stepper motor at (4)
(404), the flexible feed screw nut (402) screws on flexible feed screw (401), and one end of flexible feed screw (401) extends to
In auxiliary support apparatus (3), and flexible feed screw nut (402) is fixed on the right side of sleeve (301), flexible feed screw (401)
The other end is connected by gimbal coupling (403) and third stepper motor (404), third stepper motor (404) right end and the right side
The left side of walking support device (5) is fixedly connected.
9. creeping motion type pipeline according to claim 1 dredges stifled cleaning robot, which is characterized in that dredging block apparatus (6) includes
Dredge block apparatus shell (601), second linking axis (602), the 5th stepper motor support frame (603), the 5th stepper motor (604),
Second gear (606), main shaft two (607), short lead screw (609), short feed screw nut (610), cutter support rod (611), cutter branch
Seat (612), cutter (613) are supportted, along axial direction, one end of the second linking axis (602) is connected on thin block apparatus shell (601), separately
One end is fixedly connected with the 5th stepper motor support frame (603), and the 5th stepper motor (604) is placed on the support of the 5th stepper motor
In frame (603), the axis of the 5th stepper motor (604) is connect with one end of main shaft two (607), and second gear (606) is set in master
On axis two (607), the outer rim of second gear (606) is engaged with the inside of thin block apparatus shell (601), main shaft two (607) it is another
One end is connect with the one end of short lead screw (609), and short feed screw nut (610) screws on short lead screw (609), short lead screw (609)
The other end is connect with thin block apparatus shell (601)；The right side for dredging block apparatus shell (601) is uniformly provided with 3 and radially divides
The sliding slot of cloth, the cutter support base (612) are arranged in sliding slot, can slide along the chute, cutter (613) is fixed on cutter branch
It supports on seat (612), cutter support rod (611) one end is rotatably connected with short feed screw nut (610), the other end and cutter support base
(612) it is rotatably connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820715881.9U CN208503768U (en) | 2018-05-15 | 2018-05-15 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
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| CN201820715881.9U CN208503768U (en) | 2018-05-15 | 2018-05-15 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307443A (en) * | 2019-07-10 | 2019-10-08 | 集美工业学校 | A kind of circular pipe inner wall detection device |
| CN110906107A (en) * | 2019-12-02 | 2020-03-24 | 珠海格力电器股份有限公司 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
| CN112427424A (en) * | 2020-10-31 | 2021-03-02 | 湖南达道新能源开发有限公司 | Pipeline inner wall descaling and anti-blocking device for pumping geothermal water |
| CN114704707A (en) * | 2022-03-21 | 2022-07-05 | 上海乐通管道工程有限公司 | Device is eradicateed to welt pipe in sewer |
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2018
- 2018-05-15 CN CN201820715881.9U patent/CN208503768U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307443A (en) * | 2019-07-10 | 2019-10-08 | 集美工业学校 | A kind of circular pipe inner wall detection device |
| CN110307443B (en) * | 2019-07-10 | 2020-08-18 | 集美工业学校 | Circular pipeline inner wall detection device |
| CN110906107A (en) * | 2019-12-02 | 2020-03-24 | 珠海格力电器股份有限公司 | Control method of peristaltic pipeline robot and peristaltic pipeline robot |
| CN112427424A (en) * | 2020-10-31 | 2021-03-02 | 湖南达道新能源开发有限公司 | Pipeline inner wall descaling and anti-blocking device for pumping geothermal water |
| CN112427424B (en) * | 2020-10-31 | 2022-08-09 | 湖南达道新能源开发有限公司 | Pipeline inner wall descaling and anti-blocking device for pumping geothermal water |
| CN114704707A (en) * | 2022-03-21 | 2022-07-05 | 上海乐通管道工程有限公司 | Device is eradicateed to welt pipe in sewer |
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