CN211304118U - Pipeline cleaning robot - Google Patents

Abstract

The utility model relates to a pipeline clarification plant field especially relates to a pipeline cleans machine people. The cleaning device comprises a motor, a flexible shaft, a brush head and a brush rod, wherein the motor is positioned on the main body, one end of the flexible shaft, which penetrates through the brush rod, is connected with the brush head, the other end of the flexible shaft is connected with an output shaft of the motor, and the brush rod is rotatably connected with the main body; one end of the first traction device is connected with the brush rod, and the other end of the first traction device is connected with the main body, so that the brush rod is stably connected with the main body in a rotating way due to the fact that the first traction device pulls the plunger; the anti-collision device is arranged on the main body so as to be in contact collision with the inner wall of the pipeline firstly when the pipeline runs; the running mechanisms are respectively positioned on two sides of the main body, and each side is respectively provided with a driving motor. Through the scheme the utility model discloses make the pipeline clean the robot and provide certain buffering when bumping in the pipeline, avoid direct collision or impact to through the driving motor who sets up respectively, let the pipeline clean the robot advance more nimble in the pipeline.

Description

Pipeline cleaning robot

Technical Field

The utility model relates to a pipeline clarification plant field especially relates to a pipeline cleans machine people.

Background

The pipeline is easy to produce many pollutants in the use of the pipeline throughout the year, for example, the central air-conditioning air pipe can produce many germs, dust, fibers and other harmful substances which are not beneficial to the respiratory tract of a human body in the use process, so that the pipeline is very important to be cleaned regularly. However, the cleaning robot for cleaning the pipe is often inaccessible by manpower, so the pipe cleaning robot is a commonly used pipe cleaning device, but when the pipe cleaning robot cleans the pipe, due to the fact that much garbage is left in the pipe, the trend of the pipe is complex, and the like, the cleaning part or the cleaning part of the robot is easy to collide violently, especially when the rigid cleaning part at present contacts with the part in the pipe, the cleaning part is directly broken due to difficulty in cleaning, and in addition, the existing cleaning part is usually fixedly connected with the main body or only has a little flexibility and freedom degree, the cleaning robot is certainly and directly damaged when the rigid and hard garbage is cleaned, and the pipe or the pipe cleaning robot can be damaged due to violent rigid collision or impact between the pipe cleaning robot and the pipe or the garbage inside, affecting the service life.

SUMMERY OF THE UTILITY MODEL

The to-be-solved problem of the utility model is to provide a pipeline cleaning robot to the above-mentioned not enough that exists among the prior art, carrying out the in-process that the pipeline cleaned, probably cause pipeline or pipeline cleaning robot to damage's technical problem when producing violent collision in the pipeline.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pipe cleaning robot comprising: the cleaning device comprises a motor, a flexible shaft, a brush head and a brush rod, wherein the motor is positioned on the main body, one end of the flexible shaft, which penetrates through the brush rod, is connected with the brush head, the other end of the flexible shaft is connected with an output shaft of the motor, and the brush rod is rotatably connected with the main body;

one end of the first traction device is connected with the brush rod, and the other end of the first traction device is connected with the main body, so that the brush rod is obliquely arranged due to the fact that the first traction device pulls the plunger;

the anti-collision device is arranged on the main body so as to be in contact collision with the inner wall of the pipeline firstly when the pipeline runs;

the walking mechanisms are respectively positioned on two sides of the main body, and each side is respectively provided with a driving motor.

Through adopting above-mentioned technical scheme, when pipeline cleaning robot marchd in the pipeline, the output shaft of the motor in the main part drives the flexible axle rotation in the brush-holder stud, and the brush head that the other end that the flexible axle drove is connected rotates, cleans the pipeline inner wall. The brush rod is rotationally connected with the main body through the first traction device, so that the brush rod is obliquely arranged due to the fact that the first traction device pulls the plunger, the cleaning device has higher flexibility and can clean a larger area, in addition, in order to maintain the reliability of the rotary connection between the brush rod and the main body and ensure that the brush rod can realize stable rotary connection with the main body as much as possible, so as to avoid the overlarge rotation angle range caused by the natural excessive sagging of the brush rod and the flexible shaft due to the self gravity, so that the cleaning is not facilitated when the flexibility is too large, and particularly, a first traction device is arranged between the brush rod and the main body to play a certain role in restraining the movement amplitude of the brush rod, the rotary connection state between the brush rod and the main body is stabilized as much as possible, a certain buffering effect is achieved when the cleaning device is in violent extrusion contact with the inner wall of the pipeline, and the brush rod is prevented from being damaged due to direct strong collision on the inner wall of the pipeline. And simultaneously, the utility model discloses a still be provided with buffer stop in the main part, buffer stop can guarantee that the pipeline cleans the robot and takes place the time collision with the pipeline inner wall earlier with the pipeline inner wall contact, avoids the pipeline to clean the direct inner wall production collision with the pipeline of main part of robot. Running gear in the main part is located the both sides of main part, and both sides all are equipped with driving motor, and the differential operation through two driving motor realizes turning to of pipeline cleaning robot, lets the pipeline cleaning robot more nimble of marcing in the pipeline, avoids the pipeline cleaning robot to bump in the pipeline as far as possible.

To sum up, the utility model discloses a beneficial technological effect does: through setting up between brush-holder stud and main part through buffer stop in first tractive device and main part for the pipeline cleans the robot and provides certain buffering when bumping in the pipeline, avoid violently colliding or assaulting the damage that pipeline cleaned robot or pipeline caused as far as possible, and set up driving motor respectively through the articulated connection between flexible axle and brush-holder stud and main part and the running gear in the main part both sides, let the pipeline clean the robot can adapt to the different environment in the pipeline, reduce the pipeline and clean the possibility that the robot takes place violent collision in the pipeline.

Drawings

Fig. 1 is a schematic structural view of the pipe cleaning robot of the present invention.

Fig. 2 is a plan view of the pipe cleaning robot of the present invention.

Fig. 3 is a schematic view of a connection structure between the camera, the main body, and the second pulling device of the present invention.

Fig. 4 is a partially enlarged view of the pipe cleaning robot a shown in fig. 1.

Fig. 5 is a schematic view of a connection structure of the first pulling device, the bolt and the main body according to the present invention.

Fig. 6 is a schematic view of a state of adjusting the first pulling device in fig. 5.

Fig. 7 is a top view of the fastening device.

In the figure, 100, a main body, 111, a driving motor, 112, a driving gear set, 113, driving wheels, 114, a crawler belt, 115, a bearing wheel, 121, a connecting piece, 122, a rotary joint, 123, a brush rod support, 130, an anti-collision wheel, 140, a camera, 141, a connecting shaft, 142, a connecting plate, 211, a motor, 212, a flexible shaft, 213, a brush rod, 214, a brush head, 310, a first pulling device, 320, a second pulling device, 410, a first bearing, 420, a second bearing, 430, a third bearing, 510, a bolt, 520, a fastening device, 521, a pushing piece, 522, a fixing piece, 523, a fastening piece, 524 and an elastic piece.

Detailed Description

In order to make the utility model realize that technical means, creation characteristics, achievement purpose and effect are clearer and easily understand, it is right to combine below the figure and the detailed implementation mode the utility model discloses do further explanation:

referring to fig. 1, for the utility model discloses a pipeline cleaning robot, including main part 100, and the cleaning device who sets up in main part 100, running gear, buffer stop, and a draw-off gear 310, cleaning device has included motor 211 in main part 100, the output shaft of motor 211 is connected with the one end of flexible axle 212, the other end of flexible axle passes brush-holder stud 213 and is connected with brush head 214, the rotation through motor 211 output shaft drives flexible axle 212 and rotates, rethread flexible axle 212 drives brush head 214, the rotation of brush head 214 realizes cleaning to pipeline inner wall.

The brush bar 213 is rotatably coupled to the main body 100, for example, in a vertical direction. And the first pulling device 310 connects the body 100 and the brush bar 213 such that the brush bar 213 is subjected to a force of the first pulling device 310 pulling the plunger, so that the brush bar 213 is disposed obliquely with respect to the body 100, i.e., substantially, the brush bar 213 is pulled by the first pulling device 310 such that the brush bar 213 can be relatively stably located at a certain inclination angle or within a certain range of inclination angles. Meanwhile, as the brush rod 213 is rotatably connected with the main body 100 instead of fixedly connected with the main body, the pipe cleaning robot can adaptively provide certain buffering together with the pulling device when colliding in the pipe, so as to avoid direct and violent collision between the brush rods 213 and 214 and the inner wall of the pipe, and reduce the possibility of damage to the inner wall of the pipe and the pipe cleaning robot due to direct collision or impact. The first pulling means may be a spring, an elastic cord or the like having a certain elasticity, and the number and elasticity thereof are selected according to the need, and generally, in order to maintain the stability of the brush rod, it is preferable to use a spring or the like having a large stiffness coefficient, and the number should be at least three.

Referring to fig. 5, a bolt 510 is provided on the main body 100, and the first drawing device 310 connects the brush bar 213 with the bolt 510. When the bolt 510 of the main body 100 is adjusted, the bolt 510 drives the first pulling device 310 to adjust the direction of the brush rod 213. As shown in fig. 6, when the bolt 510 of the main body 100 is tightened, the brush bar 213 is pulled by the first pulling means 310, thereby changing the direction of the brush bar 213. Thereby accommodating different cleaning scenarios.

Since the main body 100 is usually a metal sheet and the housing is thin, the screw hole of the main body 100 for the bolt 510 to be screwed into is shallow, so that the bolt 510 is easily loosened when screwed into the screw hole, and therefore the bolt 510 needs to be fastened. Referring also to fig. 7, a fastening device 520 is further provided between the bolt 510 and the body 100, and the fastening device 520 includes a pusher 521, a fixing member 522, and a fastening member 523. The threads of the pushing element 521 penetrate through the fixing element 522 fixed on the main body 100 to push the fastening element 523, a groove for accommodating the bolt 510 is formed in the middle of the fastening element 523, the fastening element 523 is attached to the thread of the bolt 510 by rotating the pushing element 521, so that the connection between the bolt 510 and the main body 100 is firmer, and the overall stability of the pipeline cleaning robot is improved.

Furthermore, the surface of the fastener 523, which is in contact with the bolt 510, is provided with an elastic member 524, so that the elastic member 524 can relieve the loss of the fastener 523 and the bolt 510 due to long-term direct contact, and can also relieve the impact force between the remaining bolts 510 of the fastener 523. The elastic member 524 is preferably rubber.

The anti-collision mechanism arranged on the main body 100 has the main effects that when the main body 100 part of the pipeline cleaning robot collides with the inner wall of the pipeline, the anti-collision device can firstly collide with the inner wall of the pipeline, so that the main body 100 part of the pipeline cleaning robot is prevented from directly colliding with the inner wall of the pipeline, and the possibility of damage caused by collision or impact on the inner wall of the pipeline cleaning robot is further reduced.

The traveling mechanisms are respectively located at both sides of the main body 100, and the driving motor 111 is respectively installed at the traveling mechanism at each side. In the advancing process of the pipeline cleaning robot, the steering of the pipeline cleaning robot is realized through the differential speed of the driving motors 111 on the two sides of the main body 100, the advancing of the pipeline cleaning robot in a pipeline is more flexible, and the dead-angle-free cleaning of all angles of the inner wall of the pipeline can be realized through the steering. The rotation flexibility caused by the differential speed of the two driving motors 111 can be utilized, so that the collision possibility between the main body 100 of the pipeline cleaning robot and the inner wall of the pipeline is greatly reduced in the advancing process of the pipeline cleaning robot in the pipeline.

Furthermore, in practical application, the traveling mechanism is preferably made into the following structure: each side of the walking mechanism further comprises a driving gear set 112 and a driving wheel 113, the driving motor 111 drives the driving wheel 113 to drive the pipeline robot to advance through the driving gear set 112, power is transmitted through the gears, transmission between the driving motor 111 and the driving wheel is more stable while transmission efficiency is guaranteed, and the pipeline cleaning robot can be guaranteed to advance stably in the pipeline.

Preferably, the driving gear set 112 is two bevel gears engaged with each other, and the two bevel gears are respectively connected with an output shaft of the driving motor 111 and the driving wheel 113.

Further, each side of the traveling mechanism further includes a track 114 and a wheel 115, and the wheel 115 is located at the bottom of the main body 100 to support the entire pipe-cleaning robot. The driving wheel 113 drives the rotation of the bearing wheel 115 through the track 114, thereby driving the entire body 100 to travel. The contact area between the pipeline cleaning robot and the pipeline in the advancing process is larger through the crawler belt 114 and the bearing wheels 115, the friction force is large relative to a wheel type structure, the pipeline cleaning robot is not easy to slip in the pipeline, the dynamic property is better, and the pipeline cleaning robot can run in the pipeline more stably and safely. And steering is achieved by differential motion between the driving motors 111 respectively mounted to each side running gear. The principle is as follows: when the driving motors 111 on both sides are operated at different speeds, the driving wheels 113 drive the caterpillar track 114 at different speeds. For example, a tank, which side of the track has a relatively slow moving speed, and which side of the vehicle body turns. If the crawler on one side is in a stationary state, pivot steering can be realized by the rotation of the crawler on the other side. Of course, the track 114 may also be a belt or other drive element.

Referring to fig. 2, the anti-collision device is a circular plate-shaped anti-collision wheel 130 shown in the figure, the anti-collision wheel 130 is rotatably connected to four corners of the top of the main body 100, the four anti-collision wheels 130 are horizontally arranged, and the rim of each anti-collision wheel extends out of the main body 100.

Referring to fig. 3, in addition, the cleaning device further comprises a second pulling device 320 and a camera 140, the camera 140 is hinged to one end of the top of the main body 100 close to the cleaning device, one end of the second pulling member 320 is connected with the camera 140, and the other end is connected with the brush rod 213; in a specific manufacturing process, a connecting plate 142 is fixed on the rotating shaft 141 of the camera, one end of the second pulling member 320 is connected to the edge of the connecting plate, and the other end of the second pulling member 320 is connected to the brush bar 213, so that the camera 140 can be pulled to rotate. When the brush bar 213 moves, the camera 140 is driven by the second pulling member 320 to move along the moving direction of the brush bar 213. The second pulling member 320 enables the camera 140 to monitor the cleaning of the pipe cleaning robot in real time along with the direction of the brush bar 213, thereby enabling the cleaning state of the inner wall of the pipe to be known more intuitively. The second pulling device 320 may be a spring, an elastic rope or the like having a certain elasticity, and the number and elasticity thereof are selected according to the requirement, and generally, in order to maintain the stability of the brush rod, it is preferable to use a spring or the like having a large stiffness coefficient, and the number should be at least three, or a connecting member such as a rope having no elasticity may be used.

Preferably, the camera 140 is hinged to the main body 100 in such a manner that the camera 140 only rotates in a horizontal plane, and the camera 140 moves in the horizontal plane to ensure that the camera is in a stable rotating position and always in a best shooting position, thereby providing a best monitoring picture. Certainly, when the rotation flexibility of the camera 140 needs to be improved to obtain a wider shooting field of view, the camera 140 and the main body 100 may be hinged by a spherical hinge element, and the spherical hinge is more flexible in movement relative to the rotation connection manner of the horizontal movement, so as to capture a cleaning condition in a wider range, but the camera 140 with excessive flexibility may cause shaking during image capture, which may affect image quality. It should be noted that, for selecting the horizontal plane moving or spherical hinge, depending on the environment inside the pipeline and the requirement for the quality of the shot, the skilled person can flexibly select the horizontal plane moving or spherical hinge.

Further, in order to avoid the camera 140 shaking caused by the flexibility of the rotational connection between the camera 140 and the main body 100 when the camera 140 moves along with the brush bar 213, the hinge connection between the camera 140 and the main body 100 of the present embodiment is preferably a damping hinge connection, that is, the hinge connection between the camera 140 and the main body 100 further has a damping connection member to provide resistance to the rotation of the camera 140 relative to the main body 100, so as to reduce the power and vibration generated during the rotation, so that the rotation of the camera 140 is more stable, and the stability of the image provided by the camera 140 is ensured. The above-described hinge elements and damping elements can be used with prior art damping, hinge elements.

Furthermore, a camera is also disposed at an end of the top of the main body 100, which is far away from the cleaning device, to provide a picture behind the pipe cleaning robot, and further monitor the operation of the pipe cleaning robot in the pipe.

Referring to fig. 4, the main body 100 further includes a connecting assembly for connecting the output shaft of the motor with the flexible shaft 212 and connecting the brush rod 213 with the main body 100, the connecting assembly includes a connecting member 121, a rotary joint 122 and a brush rod support 123, two ends of the connecting member 121 respectively have an inner space or a hole for accommodating the output shaft of the motor 211 and the rotary joint 122, and the connecting member 121 is connected with the brush rod support 123, preferably, the connecting member 121 is connected with the brush rod support through a flange structure. The brush rod 213 is rotatably connected to the brush rod support 123, the flexible shaft 212 is connected to the rotary joint 122 through the brush rod 213 and the brush rod support 123, and the rotary joint 122 has two ends respectively connected to the flexible shaft 212 and the connecting member 121. An output shaft of a motor 211 in the connecting piece 121 rotates to drive the rotary joint 122 to rotate, and the rotary joint 122 drives the flexible shaft 212 to realize the operation of the cleaning device. The power provided by the motor 211 for the cleaning device is transmitted through the whole connecting assembly, so that the vibration or shake generated in the power transmission process is reduced, and the whole power transmission process is more stable and safer. The pipeline cleaning robot is more stable and reliable.

Further, the coupling member 121, the rotary joint 123, and the brush bar 213 are provided with a first bearing 410, a second bearing 420, and a third bearing 430, respectively. The load generated by the rotation in the components is reduced through the bearing, the loss of the components caused by the rotation in the components is reduced, and the service life of the pipeline cleaning robot is prolonged.

Preferably, the rotary joint 122 is compressed by hydraulic pliers to tightly hold the flexible shaft 212, so as to ensure the stable connection between the rotary joint 122 and the flexible shaft 212.

Preferably, the brush bar 213 is rotatably coupled to the brush bar support 123 by a pin.

Preferably, the head 214 is a brush.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims (10)

1. A pipe cleaning robot comprising: the main part and setting are in running gear and cleaning device in the main part, its characterized in that: the cleaning device comprises a motor, a flexible shaft, a brush head and a brush rod, the motor is positioned on the main body, one end of the flexible shaft, which penetrates through the brush rod, is connected with the brush head, the other end of the flexible shaft is connected with an output shaft of the motor, and the brush rod is rotatably connected with the main body;

one end of the first traction device is connected with the brush rod, and the other end of the first traction device is connected with the main body, so that the brush rod is obliquely arranged due to the fact that the first traction device pulls the plunger;

the anti-collision device is arranged on the main body so as to contact and collide with the inner wall of the pipeline firstly when the robot travels;

the traveling mechanisms are located on two sides of the main body, each side is provided with a driving motor, and steering traveling of the traveling mechanisms is achieved through differential speed of the driving motors on the two sides.

2. The pipe cleaning robot according to claim 1, wherein: each side running gear still includes drive gear group, drive wheel, drive motor passes through when rotating drive gear group drives the drive wheel and rotates.

3. The pipe cleaning robot according to claim 2, wherein: the walking mechanism further comprises a crawler belt and a bearing wheel, the bearing wheel is located at the bottom of the main body, and the driving wheel drives the bearing wheel to rotate through the crawler belt so as to drive the whole main body to advance.

4. The pipe cleaning robot according to claim 2, wherein: the driving gear set comprises two bevel gears which are meshed with each other, and the two bevel gears are respectively connected with an output shaft of the driving motor and the driving wheel.

5. The pipe cleaning robot according to claim 1, wherein: the anti-collision device is a circular plate-shaped anti-collision wheel, the anti-collision wheel is rotatably mounted at four corners of the top of the main body, and the anti-collision wheel is horizontally arranged.

6. The pipe cleaning robot according to claim 1, wherein: still include second tractive device and camera, the camera is located the main part top is close to cleaning device's one end, the camera with the main part is articulated to be installed, just the camera pass through second tractive device with the brush-holder stud is connected to make the camera along with the moving direction removal of brush-holder stud.

7. The pipe cleaning robot according to claim 6, wherein: the camera is hinged to the body in such a way that the camera only rotates in a horizontal plane.

8. The pipe cleaning robot according to claim 6, wherein: the camera with the main part is connected through spherical articulated part.

9. A pipe cleaning robot according to claim 7 or 8, wherein: the camera is hinged with the main body in a damping mode.

10. The pipe cleaning robot according to claim 1, wherein: the main part still includes the coupling assembling of being connected brush-holder stud and main part, flexible axle and motor output shaft, coupling assembling includes connecting piece, rotary joint and brush-holder stud support, the output shaft of motor passes through the connecting piece with rotary joint connects, the connecting piece with the brush-holder stud support is connected, the brush-holder stud with brush-holder stud support rotatable coupling, the flexible axle passes through the brush-holder stud and the brush-holder stud support with rotary joint connects.

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