CN210936283U - Pipeline inner wall cleaning robot - Google Patents
Pipeline inner wall cleaning robot Download PDFInfo
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- CN210936283U CN210936283U CN201921206871.3U CN201921206871U CN210936283U CN 210936283 U CN210936283 U CN 210936283U CN 201921206871 U CN201921206871 U CN 201921206871U CN 210936283 U CN210936283 U CN 210936283U
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Abstract
The utility model provides a pipeline inner wall cleans machine people belongs to pipeline cleaning device technical field, including fan, first spring, elastic leg, gyro wheel, cleaning head and actuating mechanism. A protective shell is covered outside the fan; the two connecting blocks are respectively arranged on two sides of the protective shell, the connecting blocks are provided with a plurality of elastic supporting legs, and tail end rollers of the elastic supporting legs; the two cleaning heads are respectively arranged at one side of the two connecting blocks; two driving mechanisms are respectively arranged on the protective shell and used for driving the cleaning head to rotate. The utility model provides a pipeline inner wall cleans machine people, this device removes under the drive of a plurality of gyro wheels, advances inside the pipeline, need not artifical handheld, and when this device was advanced in crooked pipeline, two first springs can be according to trend self of pipeline and buckle, make advance in the crooked pipeline that this device can be smooth, utilize a plurality of brushes of rotatory to clear away the stubborn dust of pipeline inner wall, cooperate the fan to leave over the dust of pipeline inner wall after will clearing away simultaneously and blow off the pipeline.
Description
Technical Field
The utility model belongs to the technical field of the pipeline cleaning equipment, more specifically say, relate to a pipeline inner wall cleans machine people.
Background
Pipelines are devices for transporting gases, liquids or fluids with solid particles, are used in a wide variety of applications, mainly in water supply, drainage, heating, gas supply, long-distance transportation of oil and gas, agricultural irrigation, hydraulic engineering and various industrial devices.
Dust can adhere to the inner wall of the pipeline after the pipeline is stored for a period of time, and for the shorter pipeline, a worker can directly hold the long rod with the brush to clean the inner wall of the pipeline; for longer pipelines or bent pipelines, the cleaning mode of the handheld brush is difficult to realize, a dust collector is usually arranged at the end part of the pipeline to suck out dust, or a fan is arranged at the end part of the pipeline to blow out dust, but the stubborn dust on the inner walls of the longer pipelines and the bent pipelines cannot be thoroughly removed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a pipeline inner wall cleans machine people aims at solving the problem that the stubborn dust of longer pipeline or crooked pipeline inner wall is difficult to clear away.
In order to achieve the above object, the utility model adopts the following technical scheme: provided is a pipe inner wall cleaning robot, including:
the outer side of the fan is covered with a protective shell;
the two connecting blocks are respectively installed on two sides of the protective shell through first springs, a plurality of elastic supporting legs are uniformly installed on the connecting blocks in the circumferential direction, the tail ends of the elastic supporting legs are provided with rollers driven by a first motor, and the rollers are respectively used for abutting against the inner wall of the pipeline through the elastic supporting legs;
the two cleaning heads are respectively arranged on one sides of the two connecting blocks, which are far away from the fan, and a plurality of brushes for sweeping the inner wall of the pipeline are circumferentially arranged on the cleaning heads;
and the two driving mechanisms are respectively arranged on two sides of the protective shell and are respectively positioned in the two first springs, and the two driving mechanisms are respectively used for driving the cleaning head to rotate.
Further, the pipe inner wall cleaning robot further comprises:
and the two end covers are respectively arranged at the tail ends of the cleaning heads, and the end covers are used for mounting cameras.
Further, the cleaning head includes:
the first connecting part is rotatably arranged at one end of the connecting block, which is far away from the first spring;
the second connecting part is inserted into one end of the first connecting part, which is far away from the connecting block;
the end cover is arranged at one end of the third connecting part, which is far away from the second connecting part;
a plurality of connection springs respectively used for connecting the first connection part and the connection block and connecting the first connection part and the second connection part;
a plurality of mounting holes for mounting the hairbrush are formed in the circumferential directions of the first connecting portion, the second connecting portion and the third connecting portion.
Further, the elastic leg includes:
the sleeve is fixedly arranged on the side wall of the connecting block;
the supporting rod penetrates through the sleeve, and the roller is arranged at one end of the supporting rod, which is far away from the sleeve;
and the second spring is arranged in the sleeve and close to one side of the connecting block and is used for abutting against the supporting rod.
Further, the elastic leg further comprises:
the sliding block is arranged at one end of the supporting rod penetrating into the sleeve and is arranged in the sleeve in a sliding manner;
and the blocking ring is arranged at one end, close to the supporting rod, of the sleeve and used for blocking the sliding block from sliding out of the sleeve.
Furthermore, the sleeve is a rectangular tube, and the sliding block is a rectangular block matched with the inner cavity of the sleeve.
Further, the drive mechanism includes:
the control box is fixedly arranged on one side of the protective shell;
the second motor is arranged in the control box;
and the transmission assembly is connected with the driving end of the second motor and the cleaning head and is used for driving the cleaning head to rotate.
Further, the transmission assembly includes:
the transmission sections are axially connected in series, and the transmission sections at two ends are respectively connected with the driving end of the second motor and the cleaning head;
the two ends of the transmission joint are provided with cross beams, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged on the two ends of the transmission joint, one cross beam of the transmission joint is located between two adjacent cross beams of the transmission joint, and one connecting rod of the transmission joint is located between two adjacent connecting rods of the transmission joint.
Further, still be equipped with in the control box:
a first reel rotatably provided in the control box;
one end of each first traction wire is fixedly wound on a middle shaft of the first reel, and the other end of each first traction wire penetrates through the sleeves of the same connecting block and is connected to one end, close to the connecting block, of the supporting rod to drive the supporting rod to compress the second spring;
a second reel rotatably provided in the control box;
and one end of the second traction wire is fixedly wound on a middle shaft of the second reel, and the other end of the second traction wire sequentially penetrates through the plurality of transmission sections on the same side of the connecting block and the end cover connected with the cleaning head and used for driving the end cover to compress the plurality of connecting springs.
Further, the support perpendicular to the length direction of the elastic supporting legs is installed at the tail ends of the elastic supporting legs, the rolling wheels are rotatably arranged in the middle of the support, bent portions bent towards one side of the connecting block are arranged at two ends of the support, and auxiliary wheels are rotatably arranged on the two bent portions.
The utility model provides a pipeline inner wall cleans machine people's beneficial effect lies in: compared with the prior art, the utility model discloses the pipeline inner wall cleans machine people, this device removes under the drive of a plurality of gyro wheels, advances inside the pipeline, need not artifical handheld, and when this device was advanced in the bent pipe, two first springs can be according to trend self of pipeline and buckle, make advance in the bent pipe that this device can be smooth, utilize a plurality of brushes of rotatory to clear away the stubborn dust of pipeline inner wall, cooperate the fan to leave over the dust at pipeline inner wall after will clearing away simultaneously and blow off the pipeline.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a pipeline inner wall cleaning robot provided in an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
fig. 3 is a schematic structural view of an elastic leg of a cleaning robot for an inner wall of a pipeline according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a connecting block, an elastic leg and a cleaning head of the pipe inner wall cleaning robot provided in the embodiment of the present invention;
fig. 5 is a first schematic structural diagram of a fan and a driving mechanism of a pipeline inner wall cleaning robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram ii of a fan and a driving mechanism of a pipeline inner wall cleaning robot according to an embodiment of the present invention;
fig. 7 is a control diagram of a controller of a pipeline inner wall cleaning robot according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating the operation of the cleaning robot for cleaning the inner wall of the pipe according to the embodiment of the present invention.
In the figure: 1. a fan; 2. a protective shell; 3. connecting blocks; 4. a first spring; 5. an elastic leg; 501. a sleeve; 502. a support bar; 503. a second spring; 504. a slider; 505. a baffle ring; 6. a first motor; 7. a roller; 8. a cleaning head; 801. a first connection portion; 802. a second connecting portion; 803. a third connecting portion; 804. a connecting spring; 805. mounting holes; 9. a drive mechanism; 901. a control box; 9011. a first reel; 9012. a second reel; 902. a second motor; 903. a transmission assembly; 9031. a transmission section; 10. an end cap; 11. a support; 12. an auxiliary wheel.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is now clear that the utility model provides a pipeline inner wall cleans machine people explains. Referring to fig. 1 and 2, the robot for cleaning the inner wall of the pipeline includes a fan 1, a protective shell 2, a connecting block 3, a first spring 4, elastic legs 5, rollers 7, a cleaning head 8, and a driving mechanism 9.
A protective shell 2 covers the outer side of the fan 1; the two connecting blocks 3 are respectively installed on two sides of the protective shell 2 through first springs 4, a plurality of elastic supporting legs 5 are uniformly installed on the connecting blocks 3 in the circumferential direction, rollers 7 driven by a first motor 6 are arranged at the tail ends of the elastic supporting legs 5, and the rollers 7 are respectively used for abutting against the inner wall of the pipeline through the elastic supporting legs 5; the two cleaning heads 8 are respectively arranged at one side of the two connecting blocks 3 away from the fan 1, and a plurality of brushes for cleaning the inner wall of the pipeline are circumferentially arranged on the cleaning heads 8; two actuating mechanism 9 install respectively in the both sides of protecting crust 2, and lie in two first springs 4 respectively, and two actuating mechanism 9 are used for driving cleaner head 8 respectively and rotate.
One end of the elastic supporting leg 5, which is far away from the connecting block 3, is fixedly welded with a first motor 6, the driving end of the first motor 6 is connected with a roller 7, the roller 7 is a Mecanum wheel, can realize omnibearing movement, is similar to a universal wheel in function, and consists of a plurality of wheel peripheral wheel shafts and a central wheel, and the wheel peripheral wheel shafts with angles convert a part of wheel steering force to a wheel normal force. Depending on the direction and speed of the respective wheels, the resulting combination of these forces produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided. The envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel axle, so that the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. The elastic supporting legs 5 utilize elasticity of the elastic supporting legs to support the rollers 7 on the inner portion of the pipeline, the first motor 6 drives the rollers 7 to rotate, and the rollers 7 can realize the all-directional movement function more flexibly and conveniently, so that the device can realize movement in all directions in the pipeline.
The cleaning head 8 is inserted in the connecting block 3, a plurality of brushes with proper length can be installed in the circumferential direction of the cleaning head 8 according to the inner diameter of the pipeline, the brushes are supported on the inside of the pipeline, and the driving mechanisms 9 installed on the two sides of the protective shell 2 respectively drive the cleaning head 8 to rotate, so that the plurality of brushes are installed in a driving mode.
The utility model provides a pipeline inner wall cleans machine people, compares with prior art, the utility model discloses pipeline inner wall cleans machine people, and this device removes under the drive of a plurality of gyro wheels 7, marchs inside the pipeline, need not artifical handheld, and when this device marchs in the bent pipeline, two first springs 4 can self buckle according to the trend of pipeline, make and advance in the bent pipeline that this device can be smooth, utilize a plurality of brushes of rotatory to clear away the stubborn dust of pipeline inner wall, cooperate fan 1 to leave over the dust of pipeline inner wall after will clearing away simultaneously and blow off the pipeline.
As a specific embodiment of the present invention, please refer to fig. 1 and 2, the cleaning robot for the inner wall of the pipeline further includes an end cover 10.
Two end caps 10 are respectively arranged at the tail ends of the cleaning heads 8, and the end caps 10 are used for mounting the camera. In this embodiment, end cover 10 is pyramid shell structure, one end with the installation of cleaner 8 is equipped with the connecting rod, the connecting rod is pegged graft in cleaner 8, the camera is installed in end cover 10's the outside, a condition for observing in the pipeline, in time discover the foreign matter that influences this device and march in the pipeline, if the toy, stone or thick debris etc., avoid this device to be difficult to the foreign matter of cleaing away to damage this device or influence this device normal operating, equally, the light can also be installed in end cover 10's the outside, a space in for illuminating, guarantee the definition of camera.
As an embodiment of the present invention, please refer to fig. 4, the cleaning head 8 includes a first connecting portion 801, a second connecting portion 802, a third connecting portion 803, a connecting spring 804 and a mounting hole 805.
The first connecting part 801 is rotatably arranged at one end of the connecting block 3 far away from the first spring 4; the second connecting part 802 is inserted into one end of the first connecting part 801 far away from the connecting block 3; the third connecting part 803 is inserted into one end of the second connecting part 802 away from the first connecting part 801, and the end cover 10 is arranged at one end of the third connecting part 803 away from the second connecting part 802; the plurality of connecting springs 804 are respectively used for connecting the first connecting part 801 and the connecting block 3 and connecting the first connecting part 801 and the second connecting part 802; a plurality of mounting holes 805 for mounting the brush are formed in the circumferential direction of the first connecting portion 801, the second connecting portion 802 and the third connecting portion 803. In this embodiment, the connecting block 3 is a multi-section structure, and includes a first connecting portion 801 rotatably engaged with the open end of the connecting block 3, and the first connecting portion 801 is connected to the connecting block 3 by a deep groove ball bearing, so as to ensure that the working posture of the connecting block 3 is not affected when the first connecting portion 801 rotates. The inner ring of the deep groove ball bearing is fixed on the connecting block 3, and the outer ring is connected with the first connecting part 801. A plurality of grafting complex second connecting portion 802 each other, and a second connecting portion 802 farthest from first connecting portion 801 grafting complex third connecting portion 803, end cover 10 is pegged graft and is installed on third connecting portion 803, a plurality of connecting portions reduce gradually from the one end size of connecting block 3, be the open other end confined prismatic structure of one end, peg graft the cooperation each other, a plurality of connecting portions can realize moving along axis length direction, but the faceted pebble structure can restrict adjacent connecting portion axial and rotate, realize that a plurality of connecting portions can rotate simultaneously under actuating mechanism 9's drive, thereby drive the synchronous rotation of the brush on a plurality of connecting portions, constantly rub with the pipeline inside, get rid of the dust of pipeline inner wall, connect through coupling spring 804 between the adjacent connecting portion, can realize whole cleaning head 8 length direction's change. Similarly, the closed surface of the connecting part is also provided with a plurality of through holes for allowing the air blown out by the fan 1 to pass through, so that the air is blown out from the inside of the cleaning head 8, and the dust removing effect is better.
As a specific embodiment of the present invention, please refer to fig. 3, the elastic leg 5 includes a sleeve 501, a support rod 502 and a second spring 503.
The sleeve 501 is fixedly arranged on the side wall of the connecting block 3; the supporting rod 502 is arranged in the sleeve 501 in a penetrating mode, and the roller 7 is arranged at one end, far away from the sleeve 501, of the supporting rod 502; a second spring 503 is disposed in the sleeve 501 near one side of the connecting block 3 for abutting against the supporting rod 502. In this embodiment, a plurality of sleeve pipes 501 evenly distributed is on the outer wall of two connecting blocks 3, the sleeve pipe 501 that is located on a connecting block 3 has at least three, guarantee connecting block 3's stability, a plurality of sleeve pipes 501 welded fastening respectively and penetrate in connecting block 3, press a plurality of bracing pieces 502 to the sleeve pipe 501 in, second spring 503 compresses, second spring 503 can change according to the different degree of compression that the size of pipeline internal diameter received, the outline that makes the terminal gyro wheel 7 of a plurality of bracing pieces 502 form is less than the pipeline internal diameter, shrink a plurality of elastic support leg 5 and place in the pipeline simultaneously, after getting into the pipeline, a plurality of elastic support leg 5 kick-backs under the effect of self elasticity, gyro wheel 7 through elastic support leg 5 end supports and leans on the pipeline inner wall, thereby make this device remain stable in the pipeline.
As a specific embodiment of the present invention, please refer to fig. 3, the elastic leg 5 further includes a slider 504 and a stop ring 505.
The sliding block 504 is arranged at one end of the supporting rod 502 penetrating into the sleeve 501 and is arranged in the sleeve 501 in a sliding manner; a stop ring 505 is disposed at an end of the sleeve 501 near the support rod 502 for stopping the sliding block 504 from sliding out of the sleeve 501. In this embodiment, the sliding block 504 can only slide along the length direction of the sleeve 501, and the sliding block 504 can not rotate relative to the sleeve 501, and is a polygonal sliding fit, the sliding block 504 and the supporting rod 502 are integrally formed, and the cross section of the supporting rod 502 is smaller than that of the sliding block 504, so that when the sliding block 504 slides along the sleeve 501, the supporting rod 502 cannot interfere with the sleeve 501. In addition, the opening of one end of the sleeve 501 far away from the connecting block 3 is welded with a baffle ring 505, and the inner hole of the baffle ring 505 is smaller than the outer contour of the sliding block 504 and larger than the cross section of the supporting rod 502, so that the sliding block 504 penetrating into the sleeve 501 cannot fall off from the sleeve 501.
As a specific embodiment of the present invention, please refer to fig. 3, the sleeve 501 is a rectangular tube, and the sliding block 504 is a rectangular block matching with the inner cavity of the sleeve 501. In this embodiment, the sliding block 504 is matched with the sleeve 501, the sliding block 504 slides along the length direction of the sleeve 501, and the sliding block 504 does not rotate relative to the axial direction of the sleeve 501, so that the influence on the running of the device in the pipeline caused by the rotation of the supporting rod 502 relative to the sleeve 501 when the device runs in the pipeline is avoided.
Referring to fig. 5 and 6, as an embodiment of the present invention, the driving mechanism 9 includes a control box 901, a second motor 902 and a transmission assembly 903.
The control box 901 is fixedly arranged on one side of the protective shell 2; the second motor 902 is installed in the control box 901; a drive assembly 903 couples the drive end of the second motor 902 to the cleaner head 8 for driving the cleaner head 8 in rotation. In this embodiment, control box 901 includes box and the lid of lock at the box open end, control box 901 passes through the bolt and installs the one side at protecting crust 2, the open end of box is located the one side of keeping away from protecting crust 2, second motor 902 passes through the bolt fastening at the lid medial surface, second motor 902 is two, be used for driving the rotatory motor that cleans of cleaning head 8 respectively, the rotation wheel is still installed at the middle part of lid medial surface, the drive wheel with this rotation wheel meshing is installed to the drive end of second motor 902, be used for driving the rotation of rotation wheel, transmission assembly 903 installs the lateral surface at the lid, cleaning head 8 is connected to one end, the other end passes through the connecting axle and connects the rotation wheel, the drive wheel rotates under the drive of second motor 902, it rotates to drive the rotation wheel, thereby make transmission assembly 903 rotate, it is rotatory along 3 circumference of connecting block to.
Referring to fig. 5, as an embodiment of the present invention, the transmission element 903 includes a plurality of transmission joints 9031.
The plurality of transmission joints 9031 are axially connected in series, and the transmission joints 9031 at the two ends are respectively connected with the driving end of the second motor 902 and the cleaning head 8; both ends of the transmission joint 9031 are provided with cross beams, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged, one cross beam of the transmission joint 9031 is positioned between two cross beams of the adjacent transmission joint 9031, and one connecting rod of the transmission joint 9031 is positioned between two adjacent connecting rods of the adjacent transmission joint 9031. In this embodiment, the transmission joints 9031 are of a closed frame structure, the adjacent transmission joints 9031 penetrate through each other, after the transmission joints 9031 rotate by a certain angle, the connecting rod abuts against the cross beam of the adjacent transmission joint 9031, so that the adjacent transmission joints 9031 are driven to rotate, the transmission joints 9031 are connected in sequence, and flexible transmission of axial rotating force of the transmission joints 9031 can be achieved. Simultaneously, adjacent and the transmission festival 9031 internally mounted who runs through each other has a spring, the degree of depth that adjacent transmission festival 9031 penetrated each other can be adjusted to drive cleaner head 8 flexible or extension, connecting spring 804 is used for injecing the flexible length of each adjacent connecting portion between each connecting portion on multistage cleaner head 8, avoids adjacent connecting portion the condition of deviating from to appear.
As an embodiment of the present invention, referring to fig. 5, a first reel 9011 and a second reel 9012 are further provided in the control box 901.
A first reel 9011 is rotatably provided in the control box 901; one end of each of the first traction wires is fixedly wound on a central shaft of the first reel 9011, and the other end of each of the first traction wires penetrates through the sleeves 501 of the same connecting block 3 and is connected to one end of the support rod 502 close to the connecting block 3 to drive the support rod 502 to compress the second spring 503; a second reel 9012 is rotatably provided in the control box 901; one end of the second traction wire is fixedly wound on a middle shaft of the second reel 9012, and the other end of the second traction wire sequentially penetrates through the plurality of transmission sections 9031 and the cleaning head 8 on the same side of the connecting block 3 to be connected with the end cover 10 and is used for driving the end cover 10 to compress the plurality of connecting springs 804. In this embodiment, the first reel 9011 and the second reel 9012 are rotatably mounted in the box of the control box 901, located on both sides of the box and driven to rotate by two lateral control motors, respectively, a cross beam is mounted on the inner side of the end cap 10, a deep groove ball bearing is mounted on the cross beam, an inner ring of the deep groove ball bearing is fixed on the center of the cross beam, an outer ring is connected with one end of a first traction wire, the other end of the first traction wire is connected with the first reel 9011, a through hole is formed in the bottom of the casing 501, the other end of the first traction wire penetrates through the first spring 4 on one side and the connecting block 3 on one side and is divided into a plurality of branch wires, the through hole penetrating through the bottom of the casing 501 is connected with one end of the support rod 502 close to the connecting block 3, the first reel 9011 is driven to rotate by two lateral control motors, respectively, and drives the plurality of support rods, or move outwards along the sleeve 501 to extend the first spring 4, so that the support is not required to be manually compressed into the sleeve 501 at the same time, and the rod is convenient to operate. Rotate the first pull wire of pulling through the transverse control motor, in the synchronous income sleeve pipe 501 of bracing piece 502 under the drive of first pull wire, get into the pipeline inner wall after, transverse control motor antiport, bracing piece 502 is under the elasticity of first spring 4, and the top leans on inside the pipeline to accomplish the installation of this device in the pipeline, needn't press a plurality of elastic leg 5 simultaneously manually, it is more convenient to operate. Second reel 9012 is connected to the one end of second pull wire, the through-hole has been seted up to a plurality of transmission sections 9031's axial, the through-hole has been seted up to the cleaner head 8 axial that is equipped with multistage connecting portion, the other end of second pull wire runs through a plurality of transmission sections 9031 and multistage connecting portion connects on the connecting rod of end cover 10, second reel 9012 rotates under the drive through two vertical control motors respectively, the second pull wire that drives both ends is retrieved, pulling end cover 10, connecting spring 804 between the multistage connecting portion of end cover 10 continuous compression, can adjust cleaner head 8 length according to the particular case of the inside dust of pipeline and debris.
As a specific embodiment of the present invention, please refer to fig. 1 to 4, the end of the elastic supporting leg 5 is installed with a support 11 perpendicular to the length direction of the elastic supporting leg 5, the roller 7 is rotatably disposed at the middle of the support 11, two ends of the support 11 are provided with a bending portion bending to one side of the connecting block 3, and two bending portions are rotatably provided with the auxiliary wheel 12. In this embodiment, the support 11 is welded and fixed on the side wall of the end of the elastic supporting leg 5, the first motor 6 for driving the roller 7 to rotate is welded at the end of the elastic supporting leg 5, the driving end of the first motor 6 penetrates through the support 11 and is connected with the center shaft of the roller 7, the two bending parts of the support 11 are respectively and rotatably provided with the auxiliary wheels 12, and when a bulge or variable diameter cliff type change occurs in the pipeline, the roller 7 can pass through the auxiliary wheels 12 on the two sides.
As a specific embodiment of the present invention, please refer to fig. 7, in order to provide the automatic control function of the present device, a controller can be selected to control the operation of a plurality of motors and the sequential operation relationship of the plurality of motors, and the controller can be installed on the device body and electrically connected to each motor, such as the fan 1, the protective shell 2 or the connecting block 3; the controller can also be connected in a wireless mode, wireless connection between each motor and the progressive motor controller is achieved, and operation of operators is facilitated.
The controller selects an ATmega128 type single chip microcomputer in AVR as a main control processor, the FPGA operates in a mode matched with the main control processor, the FPGA selects a Cyclone series EP1C6Q240 chip of Altera company, an LCD display screen and an operation control panel are additionally arranged, the LCD display screen selects a 10.4-inch industrial control module AT104XH11 type display screen of Mitsubishi company, the real scene condition in the pipeline can be observed AT any time through the LCD display screen, the device can be started through the control panel, the robot is controlled to move forwards and backwards in the pipeline, and the adjustment and the like when an obstacle is met are realized.
Please refer to fig. 8, the utility model discloses a concrete operation process, before using this device to carry out the pipeline cleaning, measure the internal diameter of waiting to clean the pipeline, utilize controller control lateral adjustment motor according to the size of pipeline internal diameter, lateral adjustment motor rotates and drives the first pull wire in two connecting blocks 3 respectively and retrieves, draw in a plurality of elastic leg 5 in the connecting block 3 simultaneously to first pull wire, eight elastic leg 5 on two connecting blocks 3 are respectively taken in the connecting block 3 that corresponds, make the terminal profile of a plurality of elastic leg 5 be less than the pipeline internal diameter, put into the one end of pipeline with this device along the pipeline axial.
This device gets into the inside back of pipeline one end, retrieves the unwrapping wire through controller control horizontal adjustment motor drive first pull wire, and a plurality of elastic support legs 5 simultaneously push up under the spring action of first spring 4 and lean on the pipeline inner wall, and 5 terminal gyro wheels 7 tops of elastic support legs promptly lean on the pipeline inner wall, guarantee this dress stability in the pipeline.
After the device is stabilized in the pipeline, the controller controls the longitudinal adjusting motor to drive the second traction wire to be recovered, the second traction wire drives the end cover 10 to compress the connecting spring 804 between the multilevel connecting parts, so that the overall length of the cleaning head 8 is shortened, similarly, if the second traction wire is continuously recovered, the first spring 4 is contracted under the pressure of the cleaning head 8 part to further reduce the length of the device, the controller controls the longitudinal adjusting motor to drive the second traction wire to pay off, the end cover 10 is subject to the elasticity of the connecting spring 804 to enable the end cover 10 to move outwards, so that the overall length of the cleaning head 8 is prolonged, the longitudinal adjusting motor is used for adjusting the length of the device, the adjustment of the length of the device can be determined according to the specific conditions of dust and sundries in the pipeline, when the dust and the impurities in the pipeline are more, the longitudinal adjusting motor is used for contracting the cleaning head 8 to intensively clean the brushes on the cleaning head 8, the cleaning effect is better; when dust and impurities in the pipeline are less, the cleaning head 8 is extended by longitudinally adjusting the motor, the brush on the cleaning head 8 is dispersedly cleaned, and the cleaning efficiency is higher.
After the device is properly adjusted, the controller controls the fan motor to start before, and the wind generated by the fan blows out floating dust or sundries in the pipeline, so that the phenomenon that the travelling of the device is influenced by excessive sundries is avoided, and meanwhile, the small animals possibly existing in the pipeline can be frightened by the wind. Then, the cleaning motor and the first motors 6 (the front-section motor and the rear-section motor) are controlled by the controller to be started simultaneously, and the cleaning head 8 is driven by the cleaning motor to rotate along the inner wall of the pipeline, so that the brush continuously rotates to remove dust and impurities on the inner wall of the pipeline; a plurality of first motors 6 (anterior segment motor and back end motor) start, and a plurality of first motors 6 drive the gyro wheel 7 rotation that corresponds simultaneously, and a plurality of gyro wheels 7 rotate and drive this dress and advance in the pipeline, and the change of the rotational speed of gyro wheel 7 is realized to the rotational speed through controller control first motor 6 to realize the speed of marcing of whole device in the pipeline.
When the device advances in the pipeline, pictures in the transmission pipeline are transmitted after the cameras at the tail ends of the two cleaning heads 8, so that personnel who conveniently operate the device know the conditions in the pipeline and timely make corresponding adjustment.
This device accomplishes when the pipeline cleans and reachs the pipeline other end, controller control lateral adjustment motor, lateral adjustment motor rotates and drives the first pull wire of two connecting blocks 3 interior respectively and retrieves, draw in a plurality of elastic leg 5 in the connecting block 3 simultaneously to first pull wire, eight elastic leg 5 on two connecting blocks 3 are respectively taken in the connecting block 3 that corresponds, and break away from with the pipeline inner wall, make the terminal profile of a plurality of elastic leg 5 be less than the pipeline internal diameter, take out this device from the other end of pipeline, thereby accomplish the operation of cleaning of whole pipeline.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Pipeline inner wall cleans machine people, its characterized in that includes:
the outer side of the fan is covered with a protective shell;
the two connecting blocks are respectively installed on two sides of the protective shell through first springs, a plurality of elastic supporting legs are uniformly installed on the connecting blocks in the circumferential direction, the tail ends of the elastic supporting legs are provided with rollers driven by a first motor, and the rollers are respectively used for abutting against the inner wall of the pipeline through the elastic supporting legs;
the two cleaning heads are respectively arranged on one sides of the two connecting blocks, which are far away from the fan, and a plurality of brushes for sweeping the inner wall of the pipeline are circumferentially arranged on the cleaning heads;
and the two driving mechanisms are respectively arranged on two sides of the protective shell and are respectively positioned in the two first springs, and the two driving mechanisms are respectively used for driving the cleaning head to rotate.
2. The pipe inner wall cleaning robot according to claim 1, further comprising:
and the two end covers are respectively arranged at the tail ends of the cleaning heads, and the end covers are used for mounting cameras.
3. The pipe inner wall cleaning robot according to claim 2, wherein the cleaning head comprises:
the first connecting part is rotatably arranged at one end of the connecting block, which is far away from the first spring;
the second connecting part is inserted into one end of the first connecting part, which is far away from the connecting block;
the end cover is arranged at one end of the third connecting part, which is far away from the second connecting part;
a plurality of connection springs respectively used for connecting the first connection part and the connection block and connecting the first connection part and the second connection part;
a plurality of mounting holes for mounting the hairbrush are formed in the circumferential directions of the first connecting portion, the second connecting portion and the third connecting portion.
4. The pipe inner wall cleaning robot according to claim 3, wherein the elastic leg includes:
the sleeve is fixedly arranged on the side wall of the connecting block;
the supporting rod penetrates through the sleeve, and the roller is arranged at one end of the supporting rod, which is far away from the sleeve;
and the second spring is arranged in the sleeve and close to one side of the connecting block and is used for abutting against the supporting rod.
5. The pipe inner wall cleaning robot according to claim 4, wherein the elastic leg further comprises:
the sliding block is arranged at one end of the supporting rod penetrating into the sleeve and is arranged in the sleeve in a sliding manner;
and the blocking ring is arranged at one end, close to the supporting rod, of the sleeve and used for blocking the sliding block from sliding out of the sleeve.
6. The robot for cleaning inner wall of pipeline according to claim 5, wherein said sleeve is rectangular tube, and said slide block is rectangular block matching with inner cavity of said sleeve.
7. The pipe inner wall cleaning robot according to claim 4, wherein the driving mechanism comprises:
the control box is fixedly arranged on one side of the protective shell;
the second motor is arranged in the control box;
and the transmission assembly is connected with the driving end of the second motor and the cleaning head and is used for driving the cleaning head to rotate.
8. The pipe inner wall cleaning robot according to claim 7, wherein the transmission assembly comprises:
the transmission sections are axially connected in series, and the transmission sections at two ends are respectively connected with the driving end of the second motor and the cleaning head;
the two ends of the transmission joint are provided with cross beams, a plurality of cross beam tail end connecting rods used for connecting the two ends are axially arranged on the two ends of the transmission joint, one cross beam of the transmission joint is located between two adjacent cross beams of the transmission joint, and one connecting rod of the transmission joint is located between two adjacent connecting rods of the transmission joint.
9. The pipe inner wall cleaning robot according to claim 8, wherein:
a first reel rotatably provided in the control box;
one end of each first traction wire is fixedly wound on a middle shaft of the first reel, and the other end of each first traction wire penetrates through the sleeves of the same connecting block and is connected to one end, close to the connecting block, of the supporting rod to drive the supporting rod to compress the second spring;
a second reel rotatably provided in the control box;
and one end of the second traction wire is fixedly wound on a middle shaft of the second reel, and the other end of the second traction wire sequentially penetrates through the plurality of transmission sections on the same side of the connecting block and the end cover connected with the cleaning head and used for driving the end cover to compress the plurality of connecting springs.
10. The robot for cleaning the inner wall of the pipe according to claim 1, wherein a support is installed at the end of the elastic leg in a direction perpendicular to the length direction of the elastic leg, the roller is rotatably installed at the middle of the support, bent portions bent toward one side of the connecting block are installed at both ends of the support, and auxiliary wheels are rotatably installed at both the bent portions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921206871.3U CN210936283U (en) | 2019-07-29 | 2019-07-29 | Pipeline inner wall cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921206871.3U CN210936283U (en) | 2019-07-29 | 2019-07-29 | Pipeline inner wall cleaning robot |
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| CN210936283U true CN210936283U (en) | 2020-07-07 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN111874264A (en) * | 2020-07-08 | 2020-11-03 | 北京空间飞行器总体设计部 | Two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels |
| CN113427491A (en) * | 2021-06-19 | 2021-09-24 | 四川大学 | Climbing type pipeline outer surface surrounding inspection/cleaning robot and pipeline surface cleaning method |
| CN118002575A (en) * | 2024-04-09 | 2024-05-10 | 山东和光智慧能源科技有限公司 | Cleaning device and method for gas equipment |
-
2019
- 2019-07-29 CN CN201921206871.3U patent/CN210936283U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN111874264A (en) * | 2020-07-08 | 2020-11-03 | 北京空间飞行器总体设计部 | Two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels |
| CN111874264B (en) * | 2020-07-08 | 2021-11-16 | 北京空间飞行器总体设计部 | Two-degree-of-freedom sleeve type unfolding mechanism based on Mecanum wheels |
| CN113427491A (en) * | 2021-06-19 | 2021-09-24 | 四川大学 | Climbing type pipeline outer surface surrounding inspection/cleaning robot and pipeline surface cleaning method |
| CN118002575A (en) * | 2024-04-09 | 2024-05-10 | 山东和光智慧能源科技有限公司 | Cleaning device and method for gas equipment |
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