CN212525290U

CN212525290U - Pipeline cleaning robot

Info

Publication number: CN212525290U
Application number: CN202020516774.0U
Authority: CN
Inventors: 刘灏霖; 李助军; 罗锡才; 苏丹; 刘怡飞; 刘付伟夫; 黄兹好
Original assignee: Guangzhou Railway Polytechnic
Current assignee: Guangzhou Railway Polytechnic
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-02-12
Anticipated expiration: 2030-04-09

Abstract

The utility model belongs to the technical field of the robot, more specifically relates to a pipeline cleaning robot. Comprises a first power unit and a second power unit; the first power unit comprises a first driving mechanism, a camera and a controller; the second power unit comprises a second driving mechanism, a second shaft pipe and a second centrifugal brush; the controller is arranged on the first driving mechanism, and the camera, the first driving mechanism and the second driving mechanism are electrically connected with the controller; the camera is arranged at the top of the first driving mechanism, and the bottom of the first driving mechanism is connected with one end of the second shaft pipe; the other end of the second shaft pipe is connected with the top of the second driving mechanism, the second centrifugal brush sleeve is arranged on the second shaft pipe and positioned between the first driving mechanism and the second driving mechanism, and a plurality of small holes for spraying steam are arranged on the second shaft pipe at intervals. The utility model provides a pair of pipeline cleaning robot, simple structure, convenient operation can effectual washing pipeline, solves the difficult problem of pipeline cleaning.

Description

Pipeline cleaning robot

Technical Field

The utility model belongs to the technical field of the robot, more specifically relates to a pipeline cleaning robot.

Background

The most commonly used transportation tools for the travel of the masses comprise buses, long-distance passenger cars, tourism buses and the like, and the transportation tools have the common characteristics of high use frequency, large personnel mobility, easy pollution to the air environment in the vehicles, and easy adhesion of dust and germs to ventilation and air conditioning pipelines of the vehicles. The method for cleaning and maintaining the ventilation pipeline of the vehicle by the vehicle management department is to clean the air inlet and the air outlet, and the middle pipeline is not cleaned effectively and can only be replaced in a whole piece during overhaul. The overhaul period of the vehicle is set to 3-5 years according to different manufacturers and models, so that the air in the vehicle is difficult to keep clean.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an overcome the defect among the above-mentioned prior art, provide a pipeline cleaning robot, inside being convenient for wash the pipeline, effectively solve the difficult abluent problem of air pipe.

In order to solve the technical problem, the utility model discloses a technical scheme is: a pipeline cleaning robot comprises a first power unit and a second power unit; the first power unit comprises a first driving mechanism, a camera and a controller; the second power unit comprises a second driving mechanism, a second shaft pipe and a second centrifugal brush; the controller is arranged on the first driving mechanism, and the camera, the first driving mechanism and the second driving mechanism are electrically connected with the controller; the camera is arranged at the top of the first driving mechanism, and the bottom of the first driving mechanism is connected with one end of the second shaft pipe; the other end of the second shaft pipe is connected with the top of the second driving mechanism, the second centrifugal brush is sleeved on the second shaft pipe and positioned between the first driving mechanism and the second driving mechanism, and a plurality of small holes for spraying steam or water are arranged on the second shaft pipe at intervals. When the device is used, the controller controls the first driving mechanism and the second driving mechanism to operate, the whole device is driven by the first driving mechanism and the second driving mechanism to move back and forth in the pipeline, and the second centrifugal brush brushes the inner wall of the pipeline in the moving process to clean the pipeline; in the cleaning process, one end of the second shaft pipe, which is connected with the second driving mechanism, is connected with a steam pipeline or a water pipe, in the moving process, steam or water is continuously input to the second shaft pipe shaft, and the steam or water is sprayed out from the small holes of the second shaft pipe, so that the purpose of flushing water at one time is realized, and the inner wall of the pipeline can be effectively cleaned by brushing through the second centrifugal brush at the other time; moreover, the most front end of the device is also provided with a camera which can shoot pictures in the pipeline in real time; the camera is connected with an external computer or a mobile phone, so that pictures shot by the camera can be sent to the computer or the mobile phone in real time, and an operator can monitor the cleaning condition of the pipeline and the moving condition of the robot in the pipeline in real time.

In one embodiment, the centrifugal brush further comprises a third power unit, wherein the third power unit comprises a third driving mechanism, a third shaft tube and a third centrifugal brush; the third driving mechanism is electrically connected with the controller; one end of the third shaft tube is connected with the bottom of the second driving mechanism through a connecting piece; the other end of the third shaft tube is connected with the top of the third driving mechanism; the third centrifugal brush is sleeved on the third shaft tube and is positioned between the second driving mechanism and the third driving mechanism; the third central siphon on the interval be equipped with a plurality of apertures that are used for spraying steam goods water, the third central siphon pass through connecting pipe and second central siphon intercommunication. And a third power unit is additionally arranged behind the second power unit, so that the cleaning effect can be improved.

In one embodiment, two or more third power units are provided, the third power units are connected in series through connecting pieces, and two third shaft pipes connected in series are communicated with each other through connecting pipes. In a specific operation, a plurality of third power units can be selected to be additionally arranged according to the length of a pipeline and the like.

In one embodiment, the first driving mechanism, the second driving mechanism and the third driving mechanism are the same and comprise a mounting bracket, a wheel and a first motor; the mounting bracket is provided with support legs for mounting wheels, the wheels are mounted on the support legs, the first motor is mounted on the support legs and is electrically connected with the wheels, the first driving mechanism, the second driving mechanism and the third driving mechanism are electrically connected with the controller through the first motor, one end of the second shaft pipe is connected with the mounting bracket of the first driving mechanism, and the other end of the second shaft pipe is connected with the mounting bracket of the second driving mechanism; one end of the third shaft tube is connected with the mounting bracket of the second driving mechanism, and the other end of the third shaft tube is connected with the mounting bracket of the third driving mechanism. The first motor is electrically connected with the controller and drives the wheels to roll.

In one embodiment, the number of the support legs is at least 4, the 4 support legs are arranged in a central symmetry manner, each support leg is provided with a wheel, and each wheel is correspondingly and electrically connected with a first motor. Most pipelines are cylindrical, and 4 wheels are arranged in a central symmetry manner, namely in a cross shape, so that the pipeline structure is adapted, and the robot can move in the pipelines conveniently. Preferably, the distance between two symmetrically arranged wheels is equal to the diameter of the pipe.

In one embodiment, each support leg is further provided with a compression spring, one end of the compression spring is connected with one end of the support leg close to the wheel, and the other end of the compression spring is connected with the mounting bracket. The two symmetrically arranged support legs are movable or elastic, and the distance between the two support legs is adjusted by compressing the elastic sheet, so that the distance between the two support legs can be automatically adjusted according to the inner diameter of the pipeline to adapt to pipelines with different sizes; simultaneously, the setting of compression shell fragment, the compression shell fragment gives two stabilizer blade opposite effort in real time for wheel on two stabilizer blades can be tightly paste tightly with the pipeline inner wall, guarantees that the wheel can contact with the pipeline inner wall in real time.

In one embodiment, the connecting member is a cardan shaft. The two power units are connected through the universal shaft, so that the power units can conveniently pass through a curve in a pipeline.

In one embodiment, the second centrifugal brush and the third centrifugal brush are both electric centrifugal brushes, and the second centrifugal brush and the third centrifugal brush are both electrically connected with the controller.

In one embodiment, the system further comprises a remote controller, and the remote controller is in wireless communication connection with the controller. The operator can control the robot to move forward, backward or stop by controlling the remote controller.

Compared with the prior art, the beneficial effects are: the utility model provides a pair of pipeline cleaning robot, simple structure, convenient operation can effectual washing pipeline, solves the difficult problem of pipeline cleaning.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot of the present invention.

Fig. 2 is a schematic structural view of the robot of the present invention provided with two third power units.

Fig. 3 is a schematic structural diagram of the first drive mechanism, the second drive mechanism, or the third drive mechanism.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the invention; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the invention.

Example 1:

as shown in fig. 1 and 2, a pipe cleaning robot includes a first power unit 1 and a second power unit 2; the first power unit 1 includes a first driving mechanism 11, a camera 12, and a controller 13; the second power unit 2 comprises a second driving mechanism 21, a second shaft pipe 22 and a second centrifugal brush 23; the controller 13 is installed on the first driving mechanism 11, and the camera 12, the first driving mechanism 11 and the second driving mechanism 21 are all electrically connected with the controller 13; the camera 12 is installed at the top of the first driving mechanism 11, and the bottom of the first driving mechanism 11 is connected with one end of the second shaft pipe 22; the other end of the second shaft pipe 22 is connected with the top of the second driving mechanism 21, the second centrifugal brush 23 is sleeved on the second shaft pipe 22 and is positioned between the first driving mechanism 11 and the second driving mechanism 21, and a plurality of small holes for spraying steam or water are arranged on the second shaft pipe 22 at intervals. When the device is used, the controller 13 controls the first driving mechanism 11 and the second driving mechanism 21 to operate, the whole device is driven by the first driving mechanism 11 and the second driving mechanism 21 to move back and forth, and the second centrifugal brush 23 brushes the inner wall of the pipeline in the moving process to clean; in the cleaning process, one end of the second shaft pipe 22, which is connected with the second driving mechanism 21, is connected with a steam pipeline or a water pipe, in the moving process, steam or water is continuously input to the second shaft pipe 22, and the steam or water is sprayed out from the small hole of the second shaft pipe 22, so that the purpose of flushing water at one side and brushing the inner wall of the pipeline at the other side through the second centrifugal brush 23 can be effectively cleaned; moreover, the most front end of the device is also provided with a camera 12, and the camera 12 can shoot pictures in the pipeline in real time; the camera 12 is connected with an external computer or a mobile phone, so that the picture shot by the camera 12 can be sent to the computer or the mobile phone in real time, and an operator can monitor the cleaning condition of the pipeline and the moving condition of the robot in the pipeline in real time.

In one of the embodiments, a third power unit 3 is further included, the third power unit 3 including a third driving mechanism 31, a third shaft tube 32, and a third centrifugal brush 33; the third driving mechanism 31 is electrically connected with the controller 13; one end of the third shaft tube 32 is connected with the bottom of the second driving mechanism 21 through the connecting piece 4; the other end of the third shaft tube 32 is connected with the top of the third driving mechanism 31; the third centrifugal brush 33 is sleeved on the third shaft tube 32 and is positioned between the second driving mechanism 21 and the third driving mechanism 31; the third shaft tube 32 is provided with a plurality of small holes for spraying steam or water at intervals, and the third shaft tube 32 is communicated with the second shaft tube 22 through the connecting tube 5. And a third power unit 3 is additionally arranged behind the second power unit 2, so that the cleaning effect can be improved.

In another embodiment, as shown in fig. 2, two or more third power units 3 are provided, the respective third power units 3 are connected in series with each other by a connecting member 4, and two third shaft pipes 32 connected in series with each other are communicated with each other by a connecting pipe 5. In a specific operation, it is possible to select to add several third power units 3 according to the length of the pipeline and the like.

In some embodiments, as shown in fig. 3, the first drive mechanism 11, the second drive mechanism 21, and the third drive mechanism 31 are identical, each including a mounting bracket 101, a wheel 102, and a first motor 103; the mounting bracket 101 is provided with a supporting leg 104 for mounting the wheel 102, the wheel 102 is mounted on the supporting leg 104, the first motor 103 is mounted on the supporting leg 104 and electrically connected with the wheel 102, the first driving mechanism 11, the second driving mechanism 21 and the third driving mechanism 31 are electrically connected with the controller 13 through the first motor 103, one end of the second shaft pipe 22 is connected with the mounting bracket 101 of the first driving mechanism 11, and the other end is connected with the mounting bracket 101 of the second driving mechanism 21; one end of the third shaft tube 32 is connected to the mounting bracket 101 of the second drive mechanism 21, and the other end is connected to the mounting bracket 101 of the third drive mechanism 31. The first motor 103 is electrically connected to the controller 13, and the first motor 103 drives the wheel 102 to roll.

In some embodiments, at least 4 of the support legs 104 are provided, the 4 support legs 104 are arranged in a central symmetry, each support leg 104 is provided with a wheel 102, and each wheel 102 is correspondingly electrically connected to a first motor 103. Most of the pipelines are cylindrical, and the 4 wheels 102 are arranged in a central symmetry manner, namely in a cross shape, so as to adapt to the structure of the pipelines and facilitate the movement of the robot in the pipelines. Preferably, the distance between the two symmetrically arranged wheels 102 is equal to the diameter of the pipe.

In some embodiments, each leg 104 is further provided with a compression spring 105, one end of the compression spring 105 is connected to one end of the leg 104 close to the wheel 102, and the other end of the compression spring 105 is connected to the mounting bracket 101. The two symmetrically arranged support legs 104 are movably arranged, and the distance between the two support legs 104 is adjusted by compressing the elastic sheet 105, so that the distance between the two support legs 104 can be automatically adjusted according to the inner diameter of the pipeline to adapt to pipelines with different sizes; meanwhile, due to the arrangement of the compression elastic sheet 105, the compression elastic sheet 105 provides opposite acting forces for the two support legs 104 in real time, so that the wheels 102 on the two support legs 104 can be tightly attached to the inner wall of the pipeline, and the wheels 102 can be guaranteed to be in contact with the inner wall of the pipeline in real time.

In one embodiment, the connection 4 is a cardan shaft. The two power units are connected through the universal shaft, so that the power units can conveniently pass through a curve in a pipeline.

In another embodiment, the second centrifugal brush 23 and the third centrifugal brush 33 are both electric centrifugal brushes, and the second centrifugal brush 23 and the third centrifugal brush 33 are both electrically connected to the controller 13.

In one embodiment, a remote controller is also included, and the remote controller is connected with the controller 13 in a wireless communication manner. The operator can control the robot to move forward, backward or stop by controlling the remote controller.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pipe cleaning robot, characterized by comprising a first power unit (1) and a second power unit (2); the first power unit (1) comprises a first driving mechanism (11), a camera (12) and a controller (13); the second power unit (2) comprises a second driving mechanism (21), a second shaft pipe (22) and a second centrifugal brush (23); the controller (13) is arranged on the first driving mechanism (11), and the camera (12), the first driving mechanism (11) and the second driving mechanism (21) are electrically connected with the controller (13); the camera (12) is arranged at the top of the first driving mechanism (11), and the bottom of the first driving mechanism (11) is connected with one end of the second shaft pipe (22); the other end of the second shaft pipe (22) is connected with the top of the second driving mechanism (21), the second centrifugal brush (23) is sleeved on the second shaft pipe (22) and is positioned between the first driving mechanism (11) and the second driving mechanism (21), and a plurality of small holes for spraying steam or water are arranged on the second shaft pipe (22) at intervals.

2. The pipe cleaning robot according to claim 1, further comprising a third power unit (3), wherein the third power unit (3) comprises a third driving mechanism (31), a third shaft pipe (32) and a third centrifugal brush (33); the third driving mechanism (31) is electrically connected with the controller (13); one end of the third shaft tube (32) is connected with the bottom of the second driving mechanism (21) through a connecting piece (4); the other end of the third shaft tube (32) is connected with the top 16 of the third driving mechanism (31); the third centrifugal brush (33) is sleeved on the third shaft tube (32) and is positioned between the second driving mechanism (21) and the third driving mechanism (31); the third shaft tube (32) is provided with a plurality of small holes for spraying steam or water at intervals, and the third shaft tube (32) is communicated with the second shaft tube (22) through a connecting tube (5).

3. The pipe cleaning robot according to claim 2, wherein the number of the third power units (3) is two or more, the third power units (3) are connected in series by a connecting member (4), and two third shaft pipes (32) connected in series are communicated with each other by a connecting pipe (5).

4. The pipe cleaning robot according to claim 2, wherein the first drive mechanism (11), the second drive mechanism (21) and the third drive mechanism (31) are identical and each comprise a mounting bracket (101), a wheel (102) and a first motor (103); the mounting bracket (101) is provided with a supporting leg (104) for mounting a wheel (102), the wheel (102) is mounted on the supporting leg (104), the first motor (103) is mounted on the supporting leg (104) and electrically connected with the wheel (102), and the first driving mechanism (11), the second driving mechanism (21) and the third driving mechanism (31) are electrically connected with the controller (13) through the first motor (103); one end of the second shaft pipe (22) is connected with the mounting bracket (101) of the first driving mechanism (11), and the other end of the second shaft pipe is connected with the mounting bracket (101) of the second driving mechanism (21); one end of the third shaft tube (32) is connected with the mounting bracket (101) of the second driving mechanism (21), and the other end is connected with the mounting bracket (101) of the third driving mechanism (31).

5. The pipe cleaning robot according to claim 4, wherein the number of the support legs (104) is at least 4, the 4 support legs (104) are arranged in a central symmetry manner, each support leg (104) is provided with a wheel (102), and each wheel (102) is correspondingly electrically connected with a first motor (103).

6. The pipe cleaning robot according to claim 5, wherein each support leg (104) is further provided with a compression spring (105), one end of the compression spring (105) is connected with one end of the support leg (104) close to the wheel (102), and the other end of the compression spring (105) is connected with the mounting bracket (101).

7. A pipe cleaning robot according to any of claims 2-6, characterized in that the connecting element (4) is a cardan shaft.

8. The pipe cleaning robot according to claim 7, wherein the second centrifugal brush (23) and the third centrifugal brush (33) are both electric centrifugal brushes, and the second centrifugal brush (23) and the third centrifugal brush (33) are both electrically connected to the controller (13).

9. The pipe cleaning robot according to claim 8, further comprising a remote controller, wherein the remote controller is connected to the controller (13) in a wireless communication manner.