CN209124550U - A kind of pipeline cleaning machine people - Google Patents
A kind of pipeline cleaning machine people Download PDFInfo
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- CN209124550U CN209124550U CN201821925749.7U CN201821925749U CN209124550U CN 209124550 U CN209124550 U CN 209124550U CN 201821925749 U CN201821925749 U CN 201821925749U CN 209124550 U CN209124550 U CN 209124550U
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Abstract
A kind of pipeline cleaning machine people, including fuselage and walking mechanism, tube cleaning mechanism, camera, driving mechanism and control mechanism, fuselage are the cuboid of inner hollow, and bottom is equipped with support base and bracket；Walking mechanism is arranged below fuselage, drives walking mechanism to advance in pipeline, retreat or turn according to the operating path control instruction received；Tube cleaning mechanism is set to fuselage roof and extends in front of fuselage, for being moved to specified position and clearing up duct wall according to the cleaning instruction received；Driving mechanism is used to control the speed and steering of driving motor；And rotation speed and the direction of the direction of motion and control hand of driving rotating arm and double leval jib mechanical arm；The utility model respectively drives walking mechanism with two driving motors, it realizes that robot smoothly turns at pipeline turning, avoids turning on one's side, only achieve that inner wall of the pipe is cleared up with a cleaning mechanism, simplify robot architecture, adapts to the cleaning operation of different tube diameters variation.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of pipeline cleaning machine people.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, under the remote control operation or computer controlled automatic of staff, carries out a series of integration system of pipeline operations
System.There are many research achievement of pipe robot both at home and abroad at present, but (such as tapered pipeline has in microtubule, special pipeline
The pipeline of U-tube) it detected, repair and go back ground zero, since such pipeline is in the extensive use of every field, research and development should
Class robot market has a extensive future.Since the equipment price of external inlet pipeline cleaning aspect is expensive, independent research pipeline is needed
Cleaning robot solves the problems, such as currently to be faced, current pipeline cleaning machine people some only pass through a driving motor band
Multiple walking mechanisms are moved to move forward or back, the operation angular speed of two sides walking mechanism is consistent, when encountering turning, traveling-capability in elbow
Difference is easily turned on one's side, the prune job being unable to complete in various pipelines, and structure is complicated for some tube cleaning mechanisms used,
There are multiple cleaning mechanisms for pipe side wall and bottom design respectively, cause robot architecture cumbersome, load is big, at high cost.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of pipeline cleaning machine people, pass through drive
Motivation structure drives walking mechanism and tube cleaning mechanism is mobile or rotation is cleaned to designated position, realizes walking mechanism
The functions such as speed regulation, start and stop, positive and negative rotation, turning generate different angle and rotate using steering engine and motor driving tube cleaning mechanism, right
Inner wall of the pipe carries out fixed point cleaning, and by camera real-time Transmission image, remotely controls convenient for staff, completes pipeline inspection
It surveys and clears up.
Purpose of the utility model is realized as follows:
A kind of pipeline cleaning machine people, including fuselage and the walking mechanism being fixed on fuselage, tube cleaning mechanism, camera shooting
Head, driving mechanism and control mechanism, the fuselage are the cuboid of inner hollow, and the arranged on left and right sides of bottom oliquely downward extends
Bracket equipped with support base and installation driving motor；
The walking mechanism is arranged below fuselage, is sequentially connected with driving motor, by driving motor supplies power, according to
The operating path control instruction received drives walking mechanism to advance in pipeline, retreat or turn；
The tube cleaning mechanism is set to fuselage roof and extends in front of fuselage, including being vertically placed in fuselage interior
One end of rotating arm and the double leval jib mechanical arm connecting with rotating arm, the double leval jib mechanical arm is equipped with hand, connects for basis
The cleaning instruction received, is moved to specified position for hand and clears up duct wall；
The driving mechanism includes motor drive module, steering engine module and motor, and the motor drive module is set to fuselage
Hollow portion, for controlling the speed and steering of left and right two driving motors；The steering engine module and rotating arm and double leval jib are mechanical
Arm rotation connection, for controlling and driving the direction of motion of rotating arm and double leval jib mechanical arm；The motor is set to double leval jib machine
Tool arm one end is simultaneously sequentially connected with hand, controls rotation speed and the direction of hand；
Preferably, the fuselage roof is placed in parallel wound in ring flange by affixed ring flange at front end, the rotating arm
Blue disk axial-rotation is also fixedly connected with support rod, the hollow bottom of the fuselage interior between the support base and walking mechanism
Face forward, which extends, is equipped with mounting plate, and the camera is fixed on a mounting board, for acquiring the image in pipeline and transmitting number
According to.
Preferably, the walking mechanism includes driving wheel, driven wheel and the crawler belt engaged with driving wheel, the driving wheel with
The driving motor transmission connection being fixed on bracket, is driven by motor module control left and right driving motor, and driving walking mechanism is complete
It is moved at start and stop, positive and negative rotation, turning etc., the driven wheel is fixedly connected by support rod with supporting fuselage seat.Use an electricity
Machine drive module controls two driving motors, and the speed of two driving motors can be set separately, and realizes putting down when robot turning
Weighing apparatus is stablized, and avoids turning on one's side.
Preferably, the steering engine module includes the steering engine a with rotating arm rotation connection, is rotatablely connected with double leval jib mechanical arm
Steering engine b, steering engine c, the steering engine a is set to below rotating arm and is fixed on vacancy in fuselage interior, drive rotating arm rotation, institute
Steering engine b is stated at the top of rotating arm, is rotatablely connected with extending arm one end of double leval jib mechanical arm, the steering engine c is set to double leval jib
The extending arm of mechanical arm and the junction of adjutage, driving adjutage rotation, the steering engine a, steering engine b and steering engine c are by control
Mechanism is controlled, and realizes 0 ° of -120 ° of rotation.
Preferably, the control mechanism is set to fuselage roof rear end, and the signal for sending host computer is transmitted to driving
Mechanism, camera drive walking mechanism and tube cleaning mechanism are mobile or rotation to designated position is cleaned.
Preferably, the hand uses spherical structure, surface inserting high density nylon feeler.
It preferably, is 120 ° positioned at the crawler belt relative angle of fuselage arranged on left and right sides.Guarantee the crawler belt contact bigger with tube wall
Area, can more stably leaping over obstacles and steering.
By adopting the above-described technical solution, the utility model has the following beneficial effects:
1, left and right two driving motors are controlled using a motor drive module, the rotation of driving motor can be set separately
Direction and steering angular velocity realize that robot smoothly turns at pipeline turning using the rotational speed difference of left and right driving motor,
It avoids turning on one's side, realizes the functions such as speed regulation, start and stop, positive and negative rotation, the turning of walking mechanism, control more stable.
2, the cleaning mechanism using rotating arm, double leval jib mechanical arm and hand structure as robot, and pass through three rudders
Machine controls the direction of motion of rotating arm, double leval jib mechanical arm respectively, is able to achieve cleaning mechanism in the rotation of longitudinal direction and pitch orientation,
Cleaning robot cleaning range is increased, only achieves that the cleaning to pipe side wall, top and bottom with a cleaning mechanism,
Pipe robot structure is simplified, cleaning operation and the recovery processing of different tube diameters variation are adapted to；
3, using the hand of ball scrub-brush form, the motor of separately installed 360 ° of circulation rotatings, to deposit in pipeline
It is cleared up.Hair on hairbrush has certain hardness and length, can solve the feelings that hand or arm and tube wall rub
Condition, moreover it is possible to keep biggish contact area with circular arc type inner wall, can preferably carry out prune job.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structure diagram of the utility model；
Fig. 3 is the control mechanism figure of the utility model；
Fig. 4 is the overall procedure schematic diagram of the utility model.
Appended drawing reference
In attached drawing, 1 is fuselage, and 2 be walking mechanism, and 3 be tube cleaning mechanism, and 4 be camera, and 5 be driving mechanism, and 6 are
Control mechanism, 7 be driving motor, and 8 be ring flange, and 9 be support rod
11 be support base, and 12 be bracket, and 13 be mounting plate,
21 be driving wheel, and 22 be driven wheel, and 23 be crawler belt
31 be rotating arm, and 32 be hand, and 33 be extending arm, and 34 be adjutage,
51 be motor drive module, and 52 be steering engine a, and 53 be steering engine b, and 54 be steering engine c, and 55 be motor
Specific embodiment
The embodiments of the present invention are described in further detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of pipeline cleaning machine people, including fuselage 1 and fixed walking mechanism 2 on the fuselage 1,
Tube cleaning mechanism 3, camera 4, driving mechanism 5 and control mechanism 6, the fuselage 1 are the cuboid of inner hollow, bottom
Arranged on left and right sides oliquely downward extends the bracket 12 for being equipped with support base 11 and installing driving motor；At the top of fuselage 1 at front end
Affixed ring flange 8 is also fixedly connected with support rod 9 between support base 11 and walking mechanism 2, the hollow bottom surface of fuselage interior is forward
Fang Yanshen is equipped with mounting plate 13, and the camera 4 is fixed on mounting plate 13, for acquiring the image in pipeline and transmitting data
To staff, image has dedicated software to be received, and carries out cloud storage to image document.
The walking mechanism 2 of the utility model is arranged below fuselage 1, is sequentially connected with driving motor 7, by driving motor 7
Power is provided, drives walking mechanism 2 to advance in pipeline, retreat or turn according to the operating path control instruction received；?
In the present embodiment, the walking mechanism 2 includes driving wheel 21, driven wheel 22 and the crawler belt 23 engaged with driving wheel 21, driving
Wheel 21 is sequentially connected with the driving motor 7 being fixed on fuselage support 12, and module 51 is driven by motor and controls left and right driving motor
7, driving walking mechanism 2 completes the movement such as start and stop, positive and negative rotation, turning, and driving wheel 21 has sawtooth, convenient for driving 23 turns of crawler belt
It is dynamic, it realizes steady mobile.Driven wheel 22 is fixedly connected by support rod 9 with supporting fuselage seat 11, and a motor driven mould is passed through
Block 51 controls two driving motors 7, and the speed of two driving motors can be set separately, and balance when realizing robot turning is steady
It is fixed, it avoids turning on one's side, to guarantee crawler belt 23 and the bigger contact area of tube wall, more stably leaping over obstacles and steering, are located at
23 relative angle of crawler belt of fuselage arranged on left and right sides is 120 °
The tube cleaning mechanism 3 of the utility model is set to 1 top of fuselage and extends in front of fuselage, including is vertically placed in
One end of the rotating arm 31 of fuselage interior and the double leval jib mechanical arm connecting with rotating arm 31, the double leval jib mechanical arm is equipped with hand
Portion 32, for hand 32 being moved to specified position and is cleared up duct wall according to the cleaning instruction received；In this reality
It applies in example, rotating arm 31 is placed in 8 axial-rotation of parallel wound orchid disk in ring flange 8, since rotating arm 31 needs to bear double leval jib machine
The weight of tool arm and hand 32, and need to guarantee the positioning accuracy of rotating arm 31 in motion process, in addition pipeline space is limited,
The weight and length of rotating arm 31 must all control, and mitigate operation difficulty, therefore rotating arm 31 uses cylindrical structure form；For
Deposit in pipeline is cleared up, using the hand of the scrub-brush form of spherical structure, surface inserting high density nylon feeler, installation
The motor of 360 ° of circulation rotatings drives hand rotation, keeps biggish contact area with circular arc type inner wall, can preferably carry out
Prune job.
The driving mechanism of the utility model includes motor drive module 51, steering engine module and motor 55, the motor driven
Module 51 is set to fuselage hollow portion, and for controlling the speed and steering of left and right two driving motors 7, motor drive module is selected
L298N model；The steering engine module and rotating arm 31 and double leval jib mechanical arm are rotatablely connected, for controlling and driving rotating arm 31
With the direction of motion of double leval jib mechanical arm；The motor 55 is set to double leval jib mechanical arm one end and is sequentially connected with hand 32, control
The rotation speed of hand 32 processed and direction；In the present embodiment, steering engine module includes the steering engine being rotatablely connected with rotating arm 31
A52, steering engine b53, steering engine c54 with the rotation connection of double leval jib mechanical arm, steering engine a52 are set to 31 lower section of rotating arm and are fixed on machine
At body inner hollow, drive rotating arm 31 that can realize rotation around longitudinal；Steering engine b53 is set to 31 top of rotating arm, with double leval jib machine
33 one end of extending arm of tool arm is rotatablely connected, and steering engine c54 is set to the connection of the extending arm 33 and adjutage 34 of double leval jib mechanical arm
Place, steering engine b53 and steering engine c54 drive the extending arm 33 of double leval jib mechanical arm and adjutage 34 to realize pitch orientation rotation, steering engine
A52, steering engine b53 and steering engine c54 are controlled by control mechanism 6, are realized 0 ° of -120 ° of rotation, are selected JX6221 large torque gold
Belong to steering engine.
As shown in figure 3, the control mechanism 6 of the utility model is set to 1 top rear of fuselage, the letter for sending host computer
Number be transmitted to driving mechanism 5, camera 4, drive walking mechanism 2 and tube cleaning mechanism 3 it is mobile or rotate to designated position into
Row cleans.In the present embodiment, control mechanism 6 uses Arduino single-chip microcontroller, is single-chip microcontroller power supply by power supply, by single-chip microcontroller
It completes various signal transmission and receives, it is final to realize that control pipeline cleaning machine people completes the work such as pipe detection, cleaning.Monolithic
It is also plugged with the modules such as temperature sensor, liquid crystal display and infrared signal transceiver on machine, is sent for receiving host computer
Signal and execute corresponding movement.
As shown in figure 4, pipeline cleaning machine people overview flow chart move summary are as follows: when robot in pipeline normal work
When making, the program of label two automatically begins to run when power supply is connected；When needing to be implemented cleaning operation, robot stops, label
One program operation, steering engine rotation, control mechanical arm reach operating point；When robot generation shock or generation built-in system are disorderly
Random situation under robot is uncontrolled, starts the program of label three, by force Interrupt Control System, and restart and restore each function
Energy.
The motion process of the pipeline cleaning machine people of the utility model is as follows:
Power on, control mechanism brings into operation, and robot enters working condition, and staff is driven by upper computer software
The driving wheel rotation of dynamic arranged on left and right sides, robot walks forward；Left side drive wheel is driven, robot turns left；The driving of driving right side
Wheel, robot turn right.There is temperature sensor to detect pipeline inner ring border temperature during robot ambulation, and shows and feed back to
Controlling terminal；Camera always can be in running order, and real-time Transmission image is to staff, image have dedicated software into
Row receives, and carries out cloud storage to image document.When from transmission image detection to the rubbish handled, robot stops
It moves ahead, after locking operating point, staff manipulates steering engine rotation again, and control tube cleaning mechanism Each part generates different angles
Degree rotation, makes hand contact operating point, then opens motor and carry out rotation cleaning, scale removal.Pipeline cleaning after completion cleaning work
Mechanism returns to initial position, and robot continues to move ahead, situation in detection pipe, and cleaning next time is waited to make.
Finally, it is stated that preferred embodiment above is only used to illustrate the technical scheme of the present invention and not to limit it, although logical
It crosses above preferred embodiment the utility model is described in detail, however, those skilled in the art should understand that, can
To make various changes to it in the form and details, without departing from defined by the utility model claims book
Range.
Claims (7)
1. a kind of pipeline cleaning machine people, including fuselage and the walking mechanism being fixed on fuselage, tube cleaning mechanism, camera shooting
Head, driving mechanism and control mechanism, it is characterised in that: the fuselage is the cuboid of inner hollow, the arranged on left and right sides of bottom to
Obliquely downward extends the bracket for being equipped with support base and installing driving motor；
The walking mechanism is arranged below fuselage, is sequentially connected with driving motor, by driving motor supplies power, according to reception
The operating path control instruction arrived drives walking mechanism to advance in pipeline, retreat or turn；
The tube cleaning mechanism is set to fuselage roof and extends in front of fuselage, the rotation including being vertically placed in fuselage interior
One end of arm and the double leval jib mechanical arm connecting with rotating arm, the double leval jib mechanical arm is equipped with hand, receives for basis
Cleaning instruction, hand is moved to specified position, duct wall is cleared up；
The driving mechanism includes motor drive module, steering engine module and motor, and it is hollow that the motor drive module is set to fuselage
Portion, for controlling the speed and steering of left and right two driving motors；The steering engine module and rotating arm and double leval jib mechanical arm turn
Dynamic connection, for controlling and driving the direction of motion of rotating arm and double leval jib mechanical arm；The motor is set to double leval jib mechanical arm
One end is simultaneously sequentially connected with hand, controls rotation speed and the direction of hand.
2. a kind of pipeline cleaning machine people according to claim 1, it is characterised in that: the fuselage roof is at front end
Affixed ring flange, the rotating arm are set to parallel wound orchid disk axial-rotation in ring flange, the support base and walking mechanism it
Between be also fixedly connected with support rod, the hollow bottom surface of the fuselage interior extends forwards is equipped with mounting plate, and the camera is solid
Determine on a mounting board, for acquiring the image in pipeline and transmitting data.
3. a kind of pipeline cleaning machine people according to claim 2, it is characterised in that: the walking mechanism includes driving
Wheel, driven wheel and the crawler belt engaged with driving wheel, the driving wheel is sequentially connected with the driving motor being fixed on bracket, by electricity
Machine drive module controls left and right driving motor, and driving walking mechanism completes the movement such as start and stop, positive and negative rotation, turning, the driven wheel
It is fixedly connected by support rod with supporting fuselage seat.
4. a kind of pipeline cleaning machine people according to claim 1, it is characterised in that: the steering engine module includes and rotation
The steering engine a of arm rotation connection is set to rotating arm lower section with steering engine b, the steering engine c, the steering engine a of the rotation connection of double leval jib mechanical arm
And it is fixed on vacancy in fuselage interior, rotating arm rotation is driven, the steering engine b is set at the top of rotating arm, with double leval jib mechanical arm
The rotation connection of extending arm one end, the steering engine c is set to the extending arm of double leval jib mechanical arm and the junction of adjutage, and driving prolongs
Semi-girder rotation, the steering engine a, steering engine b and steering engine c are controlled by control mechanism, realize 0 ° of -120 ° of rotation.
5. a kind of pipeline cleaning machine people according to claim 1, it is characterised in that: the control mechanism is set to fuselage top
Portion rear end, the signal for sending host computer are transmitted to driving mechanism, camera, drive walking mechanism and tube cleaning mechanism
Mobile or rotation to designated position is cleaned.
6. a kind of pipeline cleaning machine people according to claim 1, it is characterised in that: the hand uses spherical structure,
Surface inserting high density nylon feeler.
7. a kind of pipeline cleaning machine people according to claim 3, it is characterised in that: positioned at the shoe of fuselage arranged on left and right sides
Band relative angle is 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821925749.7U CN209124550U (en) | 2018-11-22 | 2018-11-22 | A kind of pipeline cleaning machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821925749.7U CN209124550U (en) | 2018-11-22 | 2018-11-22 | A kind of pipeline cleaning machine people |
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| CN209124550U true CN209124550U (en) | 2019-07-19 |
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ID=67246144
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821925749.7U Active CN209124550U (en) | 2018-11-22 | 2018-11-22 | A kind of pipeline cleaning machine people |
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| CN (1) | CN209124550U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113483195A (en) * | 2021-06-17 | 2021-10-08 | 中广核研究院有限公司 | Pipeline robot |
| CN113534573A (en) * | 2021-06-02 | 2021-10-22 | 重庆科技学院 | Industrial camera protection device with self-cleaning function |
| CN115218174A (en) * | 2022-06-27 | 2022-10-21 | 国能寿光发电有限责任公司 | Pipeline cleaning device |
| CN115415909A (en) * | 2022-09-15 | 2022-12-02 | 上海第二工业大学 | Crane maintenance robot |
-
2018
- 2018-11-22 CN CN201821925749.7U patent/CN209124550U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534573A (en) * | 2021-06-02 | 2021-10-22 | 重庆科技学院 | Industrial camera protection device with self-cleaning function |
| CN113534573B (en) * | 2021-06-02 | 2022-10-18 | 重庆科技学院 | Industrial camera protection device with self-cleaning function |
| CN113483195A (en) * | 2021-06-17 | 2021-10-08 | 中广核研究院有限公司 | Pipeline robot |
| CN115218174A (en) * | 2022-06-27 | 2022-10-21 | 国能寿光发电有限责任公司 | Pipeline cleaning device |
| CN115415909A (en) * | 2022-09-15 | 2022-12-02 | 上海第二工业大学 | Crane maintenance robot |
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