CN214348392U

CN214348392U - Intraductal washing robotic arm

Info

Publication number: CN214348392U
Application number: CN202022634873.1U
Authority: CN
Inventors: 周漾; 魏朝磊; 李旦
Original assignee: Changlan Cable Accessories Co Ltd
Current assignee: Long Cable Technology Group Co ltd
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2021-10-08
Anticipated expiration: 2030-11-13

Abstract

The utility model discloses an intraductal washing robotic arm, include: a cleaning head for cleaning the inner wall of the casing; the connecting device comprises a shaft lever, wherein two connecting seats are arranged on the shaft lever at intervals, and the two connecting seats can move relatively on the shaft lever; the elevating platform, the elevating platform includes two link mechanism, two link mechanism all includes first connecting rod and second connecting rod, the relative end hinge of first connecting rod and second connecting rod is connected, two the top of first connecting rod all with the cleaning head is connected, two the bottom of second connecting rod respectively with one the connection seat hinge is connected, two be equipped with the third connecting rod between the second connecting rod, the both ends of third connecting rod respectively with two the second connecting rod rotates to be connected. The intraductal washing robotic arm of this application can adapt to the condition that cable sleeve pipe diameter changed when carrying out cleaning work to the cable sleeve of reducing to the completion is cleaned the intraductal wall of cover of reducing.

Description

Intraductal washing robotic arm

Technical Field

The utility model relates to a clean technical field of pipeline especially relates to an intraductal washing robotic arm.

Background

The pipe diameter of the inner wall of the current large cable sleeve generally changes in phi 270-phi 600, and the inner wall surface of the current large cable sleeve is an inner conical surface of phi 270-phi 600 or a combination of a plurality of discontinuous inner conical surfaces. When the sleeve is installed, the inner wall of the sleeve needs to be cleaned, and the inner wall is ensured to be clean and free of impurities such as stains, dust and tiny particles, so that the insulation safety under high voltage and ultrahigh voltage is ensured. Conventional cleaning devices are difficult to adapt to the conditions of their pipe diameter. Therefore, at present, the large-scale cable terminal sleeve still adopts a manual cleaning mode, the manual cleaning is difficult and inefficient, in order to prevent carrying dirt into a pipeline or causing secondary pollution, a preservative film is required to be wrapped on the whole body in advance and then enters a long and narrow pipeline for cleaning, the operation space is limited, and the comprehensive cleaning cannot be realized.

In order to clean the inner wall of the sleeve, the cleaning device needs to have the adjusting capability of contraction and extension so as to adapt to the condition of pipe diameter change of the cable sleeve.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an intraductal washing robotic arm can possess flexible regulating power to the change of adaptation pipe diameter.

The embodiment of the utility model provides an adopted technical scheme is: an in-tube cleaning robot comprising: a cleaning head for cleaning the inner wall of the casing; the connecting device comprises a shaft lever, wherein two connecting seats are arranged on the shaft lever at intervals, and the two connecting seats can move relatively on the shaft lever; the elevating platform, the elevating platform includes two link mechanism, two link mechanism all includes first connecting rod and second connecting rod, the relative end hinge of first connecting rod and second connecting rod is connected, two the top of first connecting rod all with the cleaning head is connected, two the bottom of second connecting rod respectively with one the connection seat hinge is connected, two be equipped with the third connecting rod between the second connecting rod, the both ends of third connecting rod respectively with two the second connecting rod rotates to be connected.

According to the utility model discloses intraductal washing robotic arm has following beneficial effect at least: the utility model provides an intraductal washing robotic arm can make first connecting rod and second connecting rod extend or contract the change through the relative position of two connecting seats when carrying out cleaning work to the cable sleeve of reducing, changes the whole height of elevating platform, adjusts the clean position of cleaning head to the condition that adapts to the cable sleeve pipe diameter change, thereby the completion is cleaned the intraductal wall of reducing.

According to the utility model discloses a some embodiments, the cleaning head includes base and mount pad, the base include the bottom plate with the both ends of bottom plate are equipped with the fixed mounting board that upwards extends, the mount pad is the round roller form, the arc surface of mount pad coats and is stamped the cleaning tissue, the cleaning tissue passes through the mounting installation to be fixed on the mount pad.

According to the utility model discloses a some embodiments, the mount pad is the semicircle cylinder shape, the arc surface of mount pad is outwards, be equipped with the engaging lug on the bottom plane of mount pad, the mounting includes two fixed plates, two the fixed plate sets up respectively the arc surface both sides of mount pad, one side pressure of fixed plate is in on the cleaning towel, the fixed plate through with the engaging lug is connected fixedly, the mount pad with be equipped with stop gear between the base with the restriction the rotation interval of mount pad.

According to the utility model discloses a few embodiments, stop gear includes spacing groove and two angle stoppers, the spacing groove is violently established on the bottom plane of mount pad, two the stopper all with base fixed connection, and be located with the restriction on the rotation route of spacing groove the rotation interval of mount pad.

According to some embodiments of the utility model, two all be equipped with the leading wheel on the fixed mounting panel, the upper end of leading wheel with the difference in height of cleaning towel upper end is less than the compression limit of cleaning towel.

According to some embodiments of the utility model, two be equipped with the fourth connecting rod between the first connecting rod, the both ends of fourth connecting rod respectively with two first connecting rod rotates to be connected.

According to some embodiments of the present invention, one of the connecting seats is slidably connected to the shaft rod, and the other of the connecting seats is fixedly connected to the shaft rod.

According to some embodiments of the present invention, two the connecting seats all with the axostylus axostyle sliding connection.

According to some embodiments of the utility model, the base includes two parallel arrangement's installation pole, two installation pole parallel arrangement, the both ends of installation pole respectively with two the fixed mounting board is connected, two the upper end of first connecting rod respectively with one the installation pole is articulated.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural view of a robot arm for cleaning inside a pipe according to an embodiment of the present invention;

fig. 2 is a schematic view of the structure of the cleaning head rotated to a certain angle.

Reference numerals:

the cleaning head 100, the base 110, the mounting seat 120, the bottom plate 111, the fixed mounting plate 112, the cleaning towel 121 and the connecting lug 122;

shaft rod 200, connecting seat 210;

a lifting platform 300, a first connecting rod 310, a second connecting rod 320, a third connecting rod 330 and a fourth connecting rod 340;

a fixing member 400;

a limit groove 510, an angle limit block 520;

guide wheel 600, compression spring 700.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

An in-pipe cleaning robot according to an embodiment of the present invention is described below with reference to fig. 1 and 2.

As shown in fig. 1 and fig. 2, the mechanical arm for cleaning inside a pipe according to the embodiment of the present invention includes:

a cleaning head 100 for cleaning the inner wall of the casing;

the shaft lever 200, two connecting seats 210 are arranged on the shaft lever 200 at intervals, and the two connecting seats 210 can move relatively on the shaft lever 200;

the lifting platform 300 comprises two link mechanisms, each link mechanism comprises a first connecting rod 310 and a second connecting rod 320, opposite ends of the first connecting rods 310 and the second connecting rods 320 are hinged, the top ends of the two first connecting rods 310 are connected with the cleaning head 100, the bottom ends of the two second connecting rods 320 are hinged with a connecting seat 210 respectively, a third connecting rod 330 is arranged between the two second connecting rods 320, and two ends of the third connecting rod 330 are rotatably connected with the two second connecting rods 320 respectively.

The intraductal washing robotic arm of this application is when carrying out cleaning work to the cable sleeve of reducing, can be through the relative position of two connecting seats 210, makes first connecting rod 310 and second connecting rod 320 extend or contract and change, changes the whole height of elevating platform 300, adjusts the clean position of cleaning head 100 to the condition that the adaptation cable sleeve pipe diameter changes, thereby the completion is cleaned the intraductal wall of sleeve of reducing.

Specifically, when the in-pipe cleaning mechanical arm cleans along the direction that the pipe diameter of the sleeve pipe reduces continuously, along with the continuous reduction of the pipe diameter, the height of the lifting platform 300 needs to be adjusted along with the reduction, and at the moment, the two connecting seats 210 move backwards. With the gradual distance between the two connecting bases 210, the distance between the bottom ends of the two second connecting rods 320 is increased continuously, the two second connecting rods 320 rotate around the third connecting rod 330, the distance between the top ends of the two second connecting rods 320 is increased, the distance between the lower ends of the first connecting rods 310 is increased, and the second connecting rods 310 rotate around the connecting position with the cleaning head 100, so that the first connecting rods 310 and the second connecting rods 320 are finally changed from a straight state to a bent state, and the overall height of the lifting platform 300 is reduced gradually.

When the cleaning robot arm in the pipe cleans along the direction of the pipe diameter of the casing pipe, the height of the lifting platform 300 needs to be adjusted along with the pipe diameter continuously increasing.

At this time, the two connecting bases 210 are moved toward each other. Along with two connecting seats 210 are gradually close to each other, so that the distance between the bottom ends of the two second connecting rods 320 is continuously reduced, the two second connecting rods 320 rotate around the third connecting rod 330, the distance between the top ends of the two second connecting rods 320 is reduced, the distance between the lower ends of the first connecting rods 310 is reduced, and the two second connecting rods 320 rotate around the connecting position with the cleaning head 100, and finally, the first connecting rods 310 and the second connecting rods 320 are changed from the bending state to the straightening state, and the overall height of the lifting platform 300 is gradually increased.

Wherein, the position adjustment of two connecting seats 210 can be through setting up compression spring 700 on the axostylus axostyle, through compression or relaxation of compression spring 700, adjusts the position adjustment of two connecting seats 210, and is concrete, when the pipe diameter reduces, receives the extrusion force grow that comes from the pipe wall along with pipe diameter reduction cleaning head 100, forces to make first connecting rod 310 and second connecting rod 320 by the state of straightening to the state transition of buckling, makes two connecting seats 210 motion dorsad, compression spring 700 atress compression. When the pipe diameter becomes bigger, along with the pipe diameter becoming bigger, the extrusion force from the pipe wall on the cleaning head 100 is reduced, the compression spring 700 is relaxed, the two connecting seats 210 are pushed to approach, and finally the first connecting rod 310 and the second connecting rod 320 are changed from the bent state to the straight state. Eventually, the cleaning head 100 is in a state of equilibrium with the pressing force from the pipe wall and the elastic force of the compression spring 700.

In addition, other methods may be used as long as the two connection bases 210 perform relative movement on the shaft 200. For example, the shaft 200 is a ball screw, the connecting seat 210 is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, and the cleaning head 100 is provided with a pressure sensor for monitoring the pressure applied to the cleaning head 100. The pressure experienced by the cleaner head 100 from the walls of the pipe varies as the walking system walks within the pipe. When the pressure sensor monitors that the pressure is continuously increased, the stepping motor is started after receiving an electric signal to drive the ball screw to rotate forwards or reversely, the screw nut on the ball screw linearly moves on the ball screw, and the link mechanism controls contraction or extension. The pressure between the cleaner head 100 and the pipe wall is always kept in a relatively stable range to accommodate changes in pipe diameter.

In some embodiments of the present invention, the cleaning head 100 includes a base 110 and a mounting seat 120, two ends of the base 110 including the bottom plate 111 and the bottom plate 111 are provided with a fixing and mounting plate 112 extending upward, the mounting seat 120 is in a shape of a circular roller, a circular arc surface of the mounting seat 120 is covered with a cleaning towel 121, and the cleaning towel 121 is installed and fixed on the mounting seat 120 through a fixing member 400.

When the inner wall of the sleeve is cleaned, the mechanical arm moves along the pipeline direction along with the related driving equipment to clean the pipe wall, the cleaning head 100 is always attached to the pipe wall, the round-roller-shaped mounting seat 120 can continuously rotate in the cleaning process, and the cleaning towel 121 covered on the round-roller-shaped mounting seat continuously cleans the pipe wall. Since the mounting seat 120 is continuously rotated, the entire surface of the cleaning sheet 121 is used, and the cleaning efficiency of the cleaning sheet 121 is improved. After a period of use, the cleaning sheet 121 can be removed from the mounting seat 120, and a new cleaning sheet 121 can be replaced, so that the cleaning quality is ensured.

The utility model discloses a further embodiment, mount pad 120 is the semicircle cylinder form, and the arc surface of mount pad 120 is equipped with engaging lug 122 on the bottom plane of mount pad 120 outwards, and mounting 400 includes two fixed plates, and two fixed plates set up respectively in the arc surface both sides of mount pad 120, and a side pressure of fixed plate is on cleaning towel 121, and the fixed plate is fixed through being connected with engaging lug 122, is equipped with stop gear between mount pad 120 and the base 110 in order to restrict the rotation interval of mount pad 120.

In this embodiment, the mounting seat 120 is shaped like a semicircular roller, so that the cleaning sheet 121 can be easily fixed to the mounting seat 120. Specifically, when the cleaning towel 121 is fixed on the mounting seat 120, the cleaning towel 121 is firstly laid on the mounting seat 120, the two sides of the cleaning towel are pressed tightly by the two fixing plates, and the two fixing plates are connected and fixed with the connecting lugs 122, so that the cleaning towel 121 is tightly pressed on the mounting seat 120. When the cleaning towel is replaced, the fixing plate is loosened from the connecting lug 122, and a new cleaning towel is replaced.

Meanwhile, in order to avoid the situation that the installation seat 120 rotates to a non-cleaning surface to be in contact with the pipe wall in the cleaning process, the rotation interval of the installation seat 120 is limited by arranging the limiting mechanism, and the cleaning surface of the installation seat 120 is ensured to be in contact with the inner wall of the sleeve.

When cleaning the sleeve pipe, in order to improve clean effect, can reciprocate in the sleeve pipe walking, through setting up stop gear, reciprocal clean in-process, when moving toward a sheathed tube direction, mount pad 120 rotates after certain angle, receives stop gear's restriction, stops to continue to rotate, and one side and the pipe wall contact of cleaning cloth 121 go on, and in-process of walking, cleaning cloth 121 cleans the pipe wall. When the cleaning towel moves towards the other direction of the sleeve, the mounting seat 120 rotates until the cleaning towel rotates and is limited by the limiting mechanism on the other side, and the cleaning towel stops rotating, so that the part on the other side of the cleaning towel can be utilized. Thus, both side surfaces of the cleaning sheet 121 can be utilized, and the utilization rate of the cleaning sheet 121 is improved.

The utility model discloses a in the further embodiment, stop gear includes spacing groove 510 and two angle stopper 520, and spacing groove 510 is violently established on the bottom plane of mount pad 120, two stopper 520 all with base 110 fixed connection, and be located the rotation interval of spacing groove 510 on the rotation route with restriction mount pad 120.

As shown in fig. 2, when the mounting base 120 rotates to a certain angle and the limiting groove 510 rotates to contact with the angle limiting block 520 on one side, the mounting base 120 cannot rotate any more. When the mounting seat 120 rotates toward the other side, the limiting groove 510 rotates to contact with the angle limiting block 520 at the other side, and the mounting seat 120 cannot rotate any more. By arranging the limiting groove 510 and the two angle limiting blocks 520, the rotation range of the mounting seat 120 is limited between the two angle limiting blocks 520, so that the cleaning towel 121 on the mounting seat 120 is always kept attached to the pipe wall.

In some embodiments of the present invention, the two fixing and mounting plates 112 are both provided with a guide wheel 600, and the height difference between the upper end of the guide wheel 600 and the upper end of the cleaning towel 121 is smaller than the compression limit of the cleaning towel 121.

When the cleaning head 100 cleans the sleeve, the cleaning cloth 121 will be attached to the sleeve, but if the attaching force is too large, the friction between the cleaning cloth 121 and the inner wall of the sleeve is too large, the cleaning effect is not good, and the cleaning cloth 121 is severely worn. All set up leading wheel 600 through the outside of two fixed mounting panels 112, after cleaning towel 121 produced certain deformation, leading wheel 600 can contact with the sleeve pipe inner wall, has prevented that cleaning towel 121 continues the pressurized deformation to make cleaning towel 121 receive suitable extrusion force, the laminating force ratio between cleaning towel 121 can and the sleeve pipe is more suitable.

Meanwhile, in the wiping process, rolling friction is also generated between the guide wheel 600 and the inner wall of the sleeve, the friction force is small, and adverse effects cannot be caused in the cleaning process.

The height difference between the upper end of the guide wheel 600 and the upper end of the cleaning towel 121 depends on the compression limit of the cleaning towel 121 which can be deformed under pressure, and it is noted that the compression limit is not the compression limit which the cleaning towel 121 can bear by itself, but the compression standard limit which can be allowed, and the height difference is determined according to actual conditions, so as to determine the installation position of the guide wheel 600.

In some embodiments of the present invention, a fourth link 340 is disposed between the two first links 310, and two ends of the fourth link 340 are rotatably connected to the two first links 310 respectively. By providing the fourth link 340, the structural strength between the two first links 310 is improved, and the degree of association between the two first links is improved, so that the deformation can be maintained simultaneously.

In some embodiments of the present invention, one connecting seat 210 is slidably connected to the shaft 200, and the other connecting seat 210 is fixedly connected to the shaft 200. The relative movement between the two connecting seats 210 may be that one connecting seat 210 is fixed, the other connecting seat 210 moves, or the two connecting seats 210 move simultaneously.

In some embodiments of the present invention, the base 111 includes two parallel mounting rods, two ends of the mounting rods are respectively connected to the two fixing mounting plates 112, and the upper ends of the two first connecting rods 310 are respectively hinged to one mounting rod.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like 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 do not necessarily 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.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An in-tube cleaning robot, comprising:

a cleaning head for cleaning the inner wall of the casing;

the connecting device comprises a shaft lever, wherein two connecting seats are arranged on the shaft lever at intervals, and the two connecting seats can move relatively on the shaft lever;

the elevating platform, the elevating platform includes two link mechanism, two link mechanism all includes first connecting rod and second connecting rod, the relative end hinge of first connecting rod and second connecting rod is connected, two the top of first connecting rod all with the cleaning head is connected, two the bottom of second connecting rod respectively with one the connection seat hinge is connected, two be equipped with the third connecting rod between the second connecting rod, the both ends of third connecting rod respectively with two the second connecting rod rotates to be connected.

2. The in-pipe cleaning robot of claim 1, wherein: the cleaning head comprises a base and a mounting seat, the base comprises a bottom plate, fixing mounting plates extending upwards are arranged at two ends of the bottom plate, the mounting seat is in a round roller shape, a cleaning towel covers the arc surface of the mounting seat, and the cleaning towel is fixedly mounted on the mounting seat through a fixing piece.

3. The in-pipe cleaning robot of claim 2, wherein: the mounting seat is in a semicircular roller shape, the arc surface of the mounting seat faces outwards, a connecting lug is arranged on the bottom plane of the mounting seat, the fixing piece comprises two fixing plates, the two fixing plates are arranged on two sides of the arc surface of the mounting seat respectively, one side edge of each fixing plate is pressed on the cleaning towel, the fixing plates are fixedly connected with the connecting lugs, and a limiting mechanism is arranged between the mounting seat and the base to limit the rotation interval of the mounting seat.

4. The in-pipe cleaning robot of claim 3, wherein: stop gear includes spacing groove and two angle stoppers, the spacing groove is violently established on the bottom plane of mount pad, two the stopper all with base fixed connection, and be located in order to restrict on the rotation route of spacing groove the rotation interval of mount pad.

5. The in-pipe cleaning robot according to any one of claims 2 to 4, wherein: guide wheels are arranged on the two fixed mounting plates, and the height difference between the upper ends of the guide wheels and the upper end of the cleaning towel is smaller than the compression limit of the cleaning towel.

6. The in-pipe cleaning robot according to any one of claims 1 to 4, wherein: and a fourth connecting rod is arranged between the two first connecting rods, and two ends of the fourth connecting rod are respectively and rotatably connected with the two first connecting rods.

7. The in-pipe cleaning robot according to any one of claims 1 to 4, wherein: one of the connecting seats is connected with the shaft rod in a sliding mode, and the other connecting seat is fixedly connected with the shaft rod.

8. The in-pipe cleaning robot according to any one of claims 1 to 4, wherein: the two connecting seats are connected with the shaft lever in a sliding manner.

9. The in-pipe cleaning robot according to any one of claims 2 to 4, wherein: the base includes two parallel arrangement's installation pole, two installation pole parallel arrangement, the both ends of installation pole respectively with two fixed mounting panel is connected, two the upper end of first connecting rod respectively with one the installation pole is articulated.