CN210546838U - Wireless pipeline cleaning robot - Google Patents
Wireless pipeline cleaning robot Download PDFInfo
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- CN210546838U CN210546838U CN201920976998.7U CN201920976998U CN210546838U CN 210546838 U CN210546838 U CN 210546838U CN 201920976998 U CN201920976998 U CN 201920976998U CN 210546838 U CN210546838 U CN 210546838U
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Abstract
The utility model provides a wireless pipeline cleaning robot, which comprises a machine body and a control system thereof, wherein an opening and closing mechanism and a disinfection pressing mechanism are added to realize the functions of foreign matter removal and disinfection, and a crawler-type structure is adopted to increase the contact area between the robot and the ground, increase the adhesive force, effectively avoid skidding, and overcome the problems of poor obstacle crossing capability and the like; thirdly, the collecting device adopts a dust collecting bag, so that the load of the robot can be effectively reduced, the working time of the robot is increased, the robot is easy to replace, and the operation is simple; meanwhile, the human-computer interaction unit, the automatic detection unit, the wireless charging and other technologies are integrated, and the problem that cleaning dust can be achieved only by dragging an electric wire or a dust collector pipeline by the existing pipeline cleaning robot is solved.
Description
Technical Field
The utility model relates to an engineering service robot field is to pipeline cleaning's a wireless pipeline cleaning robot very much.
Background
The cleaning of the ventilation pipeline draws more and more attention of people, the indoor air quality can be effectively improved by regularly cleaning the ventilation pipeline, and the energy-saving effect is achieved. However, the environment of the pipeline is complicated and harsh or the pipeline is not allowed to be directly accessed, and the detection and cleaning difficulty is high, so that it is necessary to design a pipeline cleaning robot for the ventilation pipeline to replace manual cleaning.
However, the current pipeline cleaning robot has the following problems that the purpose of cleaning dust in a pipeline can be achieved only by dragging an electric wire or a dust collector pipeline, the robot does not have the functions of removing and disinfecting foreign matters, and the obstacle crossing capability is poor.
Disclosure of Invention
The utility model provides a wireless pipeline cleaning robot, which abandons the constraint of electric wires and dust collector pipelines, is provided with a high-energy battery and integrates a dust collector into the robot, and ensures that the pipeline cleaning is more convenient and simpler than the traditional robot; a foreign matter removing and disinfecting mechanism is added, so that the robot has more comprehensive functions; and a crawler-type moving mechanism is adopted, so that the obstacle crossing capability is improved.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a wireless pipeline cleaning robot comprises a machine body and a control system thereof, wherein a cleaning brush is arranged at the front end of the machine body, a robot opening and closing mechanism and a disinfection pressing mechanism are arranged at the rear end of the machine body, crawler belt moving structures are arranged on two sides of the machine body, a rolling brush is arranged at the bottom of the machine body and connected with a dust collector, the dust collector is provided with a dust collection bag, and a movable cover plate is arranged above the dust collection bag;
the opening and closing mechanism comprises a rotating shaft, a driving motor, a steel wire, a rolling wheel rotating shaft and a rotating part, wherein the driving motor rotates, the rolling wheel is connected with the steel wire to drive the rotating shaft to rotate, the rotating shaft is fixed on the rotating part, the rotating part rotates in the opening direction when the rotating shaft rotates, the opening and closing mechanism is opened, and after a foreign body approaches, the rotating part of the opening and closing mechanism rotates in the closing direction to push the foreign body into the fixing part, and the opening and closing mechanism is closed;
the disinfection pressing mechanism comprises a supporting part, a pressing part and an electric push rod, the pressing part is connected with the electric push rod, the supporting part is used for placing disinfection liquid, the electric push rod acts to drive the pressing part to do up-and-down linear motion to press the disinfection liquid, and the disinfection liquid is sprayed out.
The control system comprises a central control unit, a wireless communication unit, an execution unit, a mobile unit, a man-machine interaction unit, an image identification unit, a detection unit and a power supply unit; the central control unit is connected with the execution unit, the mobile unit, the wireless communication unit, the image recognition unit, the detection unit and the power supply unit,
the central control unit adopts a microprocessor and is used for controlling each unit to complete related functions;
the wireless communication unit comprises a WIFI module and a wireless video transmission module and is used for communication between the lower robot computer and the upper control system computer;
the execution unit is used for completing the functions of cleaning the pipeline, removing foreign matters and disinfecting;
the moving unit moves in a crawler type and is used for moving the robot in the pipeline;
the human-computer interaction unit realizes information exchange between the human and the robot;
the image recognition unit is used for real-time camera monitoring and three-dimensional scanning of the interior of the pipeline;
the detection unit is used for temperature and humidity detection of the environment, detection of environmental obstacles and direction identification;
the power supply unit is used for supplying power to the whole system of the robot, converting voltage and detecting residual electric quantity, and charging the robot to a specified area.
The front end of the machine body is also provided with a front camera, and the rear end of the machine body is provided with a rear camera, and the upper part of the machine body is provided with a mechanical arm camera and an LED lamp.
The image identification unit comprises a high-definition camera, an image identification card, a 3D laser scanning module and a transmission module.
The wireless video transmission module is used for uploading the robot body image and transmitting the robot body image to the handheld video display for display; the wireless remote control module is used for sending a remote control command and controlling the robot body motion system by holding the liquid crystal touch screen.
The detection unit comprises a temperature and humidity sensor, a laser range finder, an acceleration sensor, a gyroscope, a speedometer, an ultrasonic sensor and a falling-proof sensor, and the temperature and the humidity of the environment are detected through the temperature and humidity sensor; detecting obstacles and identifying direction and position and self state by a laser range finder, an acceleration sensor, a gyroscope, a speedometer and an ultrasonic sensor; the robot is prevented from falling and being damaged in the process of traveling by the falling prevention sensor.
The power supply unit comprises a high-performance lithium battery pack, a battery charger, a voltage converter, a power supply detection controller and charging area identification, wherein the charging area identification adopts active RFID positioning.
The utility model has the advantages that: the wireless pipeline cleaning robot solves the problem that the existing pipeline robot can clean dust only by dragging an electric wire or a dust collector pipeline; the utility model increases the functions of foreign matter removal and disinfection; the utility model adopts a crawler-type structure, increases the contact area between the robot and the ground, increases the adhesive force, effectively avoids skidding, and can overcome the problems of poor obstacle crossing capability and the like; the collecting device of the utility model adopts the dust collecting bag, which can effectively reduce the load of the robot, increase the working time of the robot, is easy to replace and has simple operation; the utility model discloses integrated techniques such as human-computer interaction unit, automatic checkout unit, wireless charging, it is intelligent higher.
Drawings
FIG. 1 is a schematic diagram of the control system of the present invention;
fig. 2 is a schematic diagram of the operation of the wireless communication unit of the present invention;
fig. 3 is a schematic diagram of the overall structure of the robot of the present invention 1;
fig. 4 is a schematic diagram of the overall structure of the robot of the present invention 2;
FIG. 5 is a schematic view of the cleaning structure of the execution unit of the present invention;
FIG. 6 is a schematic view of the structure of the execution unit for removing foreign matter and sterilizing;
fig. 7 is the main interface schematic diagram of the robot upper computer software of the utility model.
Detailed Description
The present invention will be further described with reference to the accompanying drawings to explain the technical solution in detail.
As shown in fig. 1, the utility model relates to a wireless pipeline cleaning robot is by central control unit 20, wireless communication unit 21, execution unit 22, mobile unit 23, human-computer interaction unit 24, image recognition unit 25, detecting element 26, power supply unit 27 connects, accomplishes the information acquisition and the processing control of each unit, realizes that wireless pipeline cleaning robot cleans, clears away the foreign matter, disinfects, detects the function such as.
The robot uses a microcontroller chip to complete data acquisition and processing through the central control unit 20, and controls each unit to complete related functions.
As shown in fig. 2, the robot wireless communication unit 21 implements various wireless communications through a wireless module. The wireless video transmission module is used for uploading the robot body image and transmitting the robot body image to the handheld video display for display; the wireless remote control module is used for sending a remote control command and controlling the robot body motion system by holding the liquid crystal touch screen.
As shown in fig. 3, 4 and 5, a wireless pipeline cleaning robot comprises a body, wherein a cleaning brush 311 is arranged at the front end of the body, a robot opening and closing mechanism 32 and a disinfection pressing mechanism 33 are arranged at the rear end of the body, crawler moving structures 4 are arranged on two sides of the body, a rolling brush 312 is arranged at the bottom of the body, the rolling brush 312 is connected with a dust collector 313, the dust collector 313 is provided with a dust collection bag 3141, and a movable cover plate 3142 is arranged above the dust collection bag 3141; the sweeping brushes 311 are symmetrically designed and connected by a connecting structure 315.
The opening and closing mechanism 32 comprises a rotating shaft 323, a driving motor 324, a steel wire 325, a rolling wheel 326, a rotating shaft 323 and a rotating part 321, wherein the driving motor 324 rotates, the rolling wheel 326 is connected with the steel wire 325 to drive the rotating shaft 323 to rotate, the rotating shaft 323 is fixed on the rotating part 321, the rotating part 321 rotates towards an opening direction when the rotating shaft 323 rotates, the opening and closing mechanism 32 is opened, after a foreign body approaches, the rotating part 321 of the opening and closing mechanism 32 rotates towards a closing direction to push the foreign body into the fixing part 322, and the opening and closing mechanism 32 is closed;
the disinfection pressing mechanism 33 comprises a supporting part 331, a pressing part 332 and an electric push rod 334, the pressing part 332 is connected with the electric push rod 334, the supporting part 331 is used for placing a disinfectant placing box 333, the electric push rod 334 acts to drive the pressing part 332 to move up and down linearly to press the disinfectant placing box 333, and the disinfectant is sprayed out.
In the specific implementation: the robot performing unit 22 is used to complete the cleaning of the pipeline. When the robot runs, the cleaning brush 311 rotates towards the inner side of the robot, and dust is brushed below the robot; the rolling brush 312 rotates counterclockwise brushing dust toward the cleaner 313; the dust is transported by the vacuum cleaner 313 into the dust bag 3141 of the collecting device 314; the dust collector 313 adopts a double-air-duct or multi-air-duct design, so that the dust collector can have enough suction; the collecting device 314 is designed by adopting the dust collecting bag 3141, the load of the robot is lightened, the working time of the robot can be prolonged, the movable cover plate 3142 is arranged on the robot, the dust collecting bag can be conveniently replaced, and the operation difficulty of the robot is simplified.
As shown in fig. 6, the robot executing unit 22 is used for removing and sterilizing foreign matters in the pipeline. When the robot detects a foreign object, the robot opening and closing mechanism 32 operates, the robot opening and closing mechanism is rotated by a driving motor 324, a rotating shaft 323 is driven to rotate through a rolling wheel 326 and a connecting steel wire 325, the rotating shaft 323 and a rotating part 321 are fixed, the rotating part 321 rotates towards an opening direction when the rotating shaft 323 rotates, the opening and closing mechanism 32 is opened, after the foreign object is approached, the rotating part 321 of the opening and closing mechanism 32 rotates towards a closing direction, the foreign object is pushed into the fixing part 322, and the opening and closing mechanism 32 is closed; after the foreign matters are collected, the disinfection pressing mechanism 33 is used for spraying disinfection liquid to disinfect the foreign matters, the supporting part 331 is used for placing the disinfection liquid placing box 333, when disinfection is carried out, the electric push rod 334 acts to drive the pressing part 332 to move linearly up and down to press the disinfection liquid placing box 333, and the disinfection liquid is sprayed out to finish disinfection work. The execution unit dust collector adopts a double-air-duct or multi-air-duct design, so that the dust collector can have enough suction.
The execution unit collection device is designed by adopting a dust collection bag, the dust collection bag is made of polyacrylonitrile, the air permeability of the polyacrylonitrile is 14M3/M2 min @200Pa, the instantaneous working temperature is 140 ℃, the normal working temperature is 120 ℃, and the polyacrylonitrile-based carbon fiber composite material has excellent chemical resistance and hydrolysis resistance. The design of the collecting device reduces the load of the robot and can increase the working time of the robot; and the robot is easy to replace, and the operation difficulty of the robot is simplified.
As shown in fig. 4, the robot moving unit 23 moves using a crawler type 4. Including 2 direct current servo motor, 2 reduction gears, 2 rotary encoder, 2H bridge motor PWM drive circuit, motor current detection overcurrent protection circuit, 2 synchronous track 2, 2 action wheels, 2 driven wheels, 1 main shaft, 1 spur gear, 1 conical gear. The H-bridge motor PWM circuit is connected and controlled by the central controller; each speed reducer is connected with each power wheel; each direct current servo motor is connected with a speed reducer, a rotary encoder and an H-bridge motor PWM driving circuit to form two sets of mobile power devices; 2 action wheels are as the power wheel of robot, drive the removal of synchronous track 2 through the rotation of 2 action wheels, accomplish advancing, retreat, turning to of robot.
The robot-to-robot interaction unit 24 enables information exchange between the robot and the person. The operator performs relevant operations through the liquid crystal touch display screen, an operation instruction is transmitted to the central control unit 20 of the robot, the microphone and the voice recognition module transmit voice information of the operator to the central control unit 20, and the central control unit 20 processes the received information to complete display of the liquid crystal display screen and playing of the voice player.
The robot image recognition unit 25 collects images through the high-definition camera 51, the image recognition card and the LED lamp 54, transmits the images to the central control unit 20 through the transmission module, and displays the images on the liquid crystal display of the man-machine interaction unit 24 after processing, wherein the high-definition camera 51 comprises a front camera 511, a rear camera 512 and a mechanical arm camera 513. In the automatic mode, after data are collected by the 3D laser 53, internal algorithm processing is carried out, three-dimensional parameters inside the pipeline are obtained and drawn into a graph, and automatic cleaning path planning is carried out according to the three-dimensional graph.
The robot detection unit 26 detects the temperature and humidity of the environment by temperature and humidity sensors. The laser distance measuring instrument, the acceleration sensor, the gyroscope, the odometer and the ultrasonic sensor 52 are used for detecting obstacles, identifying direction positions and self states, and other units complete corresponding work after being processed by the central control unit 20. The robot is prevented from falling by the falling-prevention sensor. In fig. 3 and 4, 521 and 522 are a front ultrasonic sensor and a rear ultrasonic sensor, respectively.
The robot power supply unit 27 is used for supplying power to the whole robot system, converting voltage and detecting remaining power, and automatically completing charging to a designated area. And the high-performance lithium battery pack provides electric energy for the whole system of the robot. The battery pack charger is used for completing the connection and charging of the battery pack, and when the battery pack is required to continuously operate, the battery pack can be detached and replaced. The voltage and current of various parameters are converted by the voltage converter, and the voltage and current required by the operation of each module of the system are ensured. The power supply detection controller is used for detecting the electric quantity of the lithium battery pack, and whether charging and charging completion are prompted through the residual electric quantity. The charging area identification adopts an active RFID positioning technology, the RFID tag of the charging area is read by an RFID reader arranged on the robot for identification, and the interface butt joint is automatically completed for charging.
As shown in FIG. 7, an operator can install upper computer software on own handheld equipment to operate the robot, the operator needs to log in with a job number and a password, and can check data such as mode selection, electric quantity check, running records and reports after logging in, and can click to use help and explanation to learn if the operation is not possible, and can check common problems and process and finish simple processing when encountering simple faults.
The pipeline cleaning robot can select modes, and the modes include a manual mode and an automatic mode. The manual mode requires functions such as an operator's operation on a console or a hand-held device. Under the automatic mode operation, the robot plans a cleaning route according to the image information acquired by the image identification unit 25 and the conditions such as the pipeline condition, the self electric quantity and the like after being analyzed by the central control unit 20, returns to a cleaning starting point after the cleaning is finished, is convenient for an operator to take the robot to finish cleaning, replacing a battery, replacing a collecting device and the like, has a recording function, and can avoid repeated cleaning for many times; in the automatic mode, according to the battery power detected by the power detection controller and the distance between the robot and the cleaning starting point measured by the odometer, after data are processed by the central control unit 20, whether the battery power is sufficient or not is judged, if the battery power is insufficient, the robot sends out a power shortage alarm and automatically returns to the cleaning starting point, and when the battery power is sufficient and cleans again, the robot automatically returns to the position where cleaning is interrupted last time, and the region which is not cleaned is completed.
Claims (7)
1. A wireless pipeline cleaning robot comprises a machine body and a control system thereof, and is characterized in that a cleaning brush (311) is arranged at the front end of the machine body, a robot opening and closing mechanism (32) and a disinfection pressing mechanism (33) are arranged at the rear end of the machine body, crawler moving structures (4) are arranged on two sides of the machine body, a rolling brush (312) is arranged at the bottom of the machine body, the rolling brush (312) is connected with a dust collector (313), the dust collector (313) is provided with a dust collection bag (3141), and a movable cover plate (3142) is arranged above the dust collection bag (3141);
the opening and closing mechanism (32) comprises a rotating shaft (323), a driving motor (324), a steel wire (325), a rolling wheel (326), a rotating shaft (323) and a rotating part (321), wherein the driving motor (324) rotates, the rolling wheel (326) is connected with the steel wire (325) to drive the rotating shaft (323) to rotate, the rotating shaft (323) is fixed on the rotating part (321), the rotating part (321) rotates towards an opening direction when the rotating shaft (323) rotates, the opening and closing mechanism (32) is opened, and after a foreign body is approached, the rotating part (321) of the opening and closing mechanism (32) rotates towards a closing direction to push the foreign body into the fixing part (322), and the opening and closing mechanism (32) is closed;
wherein, disinfection pressing means (33) are including supporting part (331), press part (332) and electric putter (334), press part (332) and be connected with electric putter (334), supporting part (331) are used for placing the antiseptic solution and place box (333), and electric putter (334) action drives pressing part (332) up and down linear motion and presses antiseptic solution and place box (333), with the antiseptic solution blowout.
2. The wireless pipeline cleaning robot according to claim 1, wherein the control system comprises a central control unit, a wireless communication unit, an execution unit, a mobile unit, a human-computer interaction unit, an image recognition unit, a detection unit and a power supply unit; the central control unit is connected with the execution unit, the mobile unit, the wireless communication unit, the image recognition unit, the detection unit and the power supply unit,
the central control unit adopts a microprocessor and is used for controlling each unit to complete related functions;
the wireless communication unit comprises a WIFI module and a wireless video transmission module and is used for communication between the lower robot computer and the upper control system computer;
the execution unit is used for completing the functions of cleaning the pipeline, removing foreign matters and disinfecting;
the moving unit moves in a crawler type and is used for moving the robot in the pipeline;
the human-computer interaction unit realizes information exchange between the human and the robot;
the image recognition unit is used for real-time camera monitoring and three-dimensional scanning of the interior of the pipeline;
the detection unit is used for temperature and humidity detection of the environment, detection of environmental obstacles and direction identification;
the power supply unit is used for supplying power to the whole system of the robot, converting voltage and detecting residual electric quantity, and charging the robot to a specified area.
3. The wireless pipe cleaning robot as claimed in claim 1, wherein the front end of the machine body is further provided with a front camera (511), the rear end of the machine body is provided with a rear camera (512), and the upper part of the machine body is provided with a mechanical arm camera (513) and an LED lamp (54).
4. The wireless pipe cleaning robot of claim 2, wherein the image recognition unit comprises a high-definition camera, an image recognition card, a 3D laser scanning module, and a transmission module.
5. The wireless pipeline cleaning robot according to claim 2, wherein the wireless video transmission module is used for uploading images of the robot body and transmitting the images to a handheld video display for display; the wireless remote control module is used for sending a remote control command and controlling the robot body motion system by holding the liquid crystal touch screen.
6. The wireless pipeline cleaning robot according to claim 2, wherein the detection unit comprises a temperature and humidity sensor, a laser range finder, an acceleration sensor, a gyroscope, a speedometer, an ultrasonic sensor and a drop-proof sensor, and the temperature and the humidity of the environment are detected through the temperature and humidity sensor; detecting obstacles and identifying direction and position and self state by a laser range finder, an acceleration sensor, a gyroscope, a speedometer and an ultrasonic sensor; the robot is prevented from falling and being damaged in the process of traveling by the falling prevention sensor.
7. The wireless pipeline cleaning robot according to claim 2, wherein the power supply unit comprises a high-performance lithium battery pack, a battery charger, a voltage converter, a power detection controller and a charging area identification, and the charging area identification is positioned by active RFID.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920976998.7U CN210546838U (en) | 2019-06-27 | 2019-06-27 | Wireless pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920976998.7U CN210546838U (en) | 2019-06-27 | 2019-06-27 | Wireless pipeline cleaning robot |
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| CN210546838U true CN210546838U (en) | 2020-05-19 |
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| CN201920976998.7U Active CN210546838U (en) | 2019-06-27 | 2019-06-27 | Wireless pipeline cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142265A (en) * | 2019-06-27 | 2019-08-20 | 陕西中建建乐智能机器人有限公司 | A kind of wireless pipe cleaning robot |
| CN111530861A (en) * | 2020-05-27 | 2020-08-14 | 厦门佰欧环境智能科技有限公司 | Cleaning robot capable of automatically jumping obstacles |
| CN113546932A (en) * | 2021-06-18 | 2021-10-26 | 江苏永胜海洋工程有限公司 | Novel ventilating duct cleaning robot and using method thereof |
-
2019
- 2019-06-27 CN CN201920976998.7U patent/CN210546838U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142265A (en) * | 2019-06-27 | 2019-08-20 | 陕西中建建乐智能机器人有限公司 | A kind of wireless pipe cleaning robot |
| CN111530861A (en) * | 2020-05-27 | 2020-08-14 | 厦门佰欧环境智能科技有限公司 | Cleaning robot capable of automatically jumping obstacles |
| CN113546932A (en) * | 2021-06-18 | 2021-10-26 | 江苏永胜海洋工程有限公司 | Novel ventilating duct cleaning robot and using method thereof |
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Address after: 710000 Room N706, Innovation Building, No. 25 Zhangbajie High-tech Road, Xi'an High-tech Zone, Shaanxi Province Patentee after: Shaanxi Zhongjian Jianle intelligent robot Co.,Ltd. Address before: 710000 Room N706, Innovation Building, No. 25 Zhangbajie High-tech Road, Xi'an High-tech Zone, Shaanxi Province Patentee before: Shaanxi Zhongjianle Intelligent Robot Co.,Ltd. |