CN215635742U - Pipeline inner wall cleaning robot - Google Patents
Pipeline inner wall cleaning robot Download PDFInfo
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- CN215635742U CN215635742U CN202121620949.3U CN202121620949U CN215635742U CN 215635742 U CN215635742 U CN 215635742U CN 202121620949 U CN202121620949 U CN 202121620949U CN 215635742 U CN215635742 U CN 215635742U
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Abstract
The utility model discloses a pipeline inner wall cleaning robot, which comprises a robot body, a moving mechanism, a cleaning mechanism and a reducing adjusting mechanism, wherein the robot body is in wireless communication with a robot remote controller and receives an instruction of the robot remote controller, the moving mechanism is at least arranged into 2 groups and respectively arranged on the outer side of the robot body and used for driving the robot body to move back and forth on the inner wall of a pipeline, the cleaning mechanism comprises a track wheel assembly and a connecting rod assembly connected with the track wheel assembly and the robot body, the cleaning mechanism is arranged on the outer wall of the front end of the robot body and is driven by the robot body to spray water, and the reducing adjusting mechanism drives the connecting rod assembly to move so as to adjust the distance between the moving mechanism and the robot body. The robot body is driven to move on the inner wall of the pipeline through the moving mechanism, the water pump in the external water tank is driven to work in the process to enable water in the water tank to be conveyed to the nozzle through the water conveying pipe, and the nozzle sprays the water to the inner wall of the pipeline to complete cleaning operation.
Description
Technical Field
The utility model relates to the technical field of pipeline cleaning, in particular to a pipeline inner wall cleaning robot.
Background
In daily life, pipelines are everywhere, and the pipelines are used for conveniently transferring materials. The general transportation fluid of pipeline, for example common liquid such as water, oil, through a period of use, can all remain some impurity on the corner of pipeline, bottom, pipe wall, long-time accumulation back, difficult clearance can cause the pipeline to block up in addition, slow down the circulation speed, so, need arrange specific personnel to carry out regular clearance, extension pipeline life. Most of the pipeline materials are thin steel materials and thin plastics, and normal adult entry cannot be borne and cleaning cannot be carried out, so that great workload is increased for cleaning personnel, and the cleaning efficiency is low. Therefore, the small pipeline cleaning robot is designed to clean dirt in the inner wall of the pipeline.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems in the prior art, an object of the present invention is to provide a robot for cleaning an inner wall of a pipe, which can clean dirt on the inner wall of the pipe.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: a pipe inner wall cleaning robot, comprising:
the robot body is in wireless communication with the robot remote controller and receives an instruction of the robot remote controller;
the moving mechanisms are at least arranged into 2 groups, are respectively arranged on the outer side of the robot body, are used for driving the robot body to move back and forth on the inner wall of the pipeline and comprise track wheel assemblies and connecting rod assemblies for connecting the track wheel assemblies and the robot body;
and the cleaning mechanism is arranged on the outer wall of the front end of the robot body and is driven by the robot body to spray water.
As a further improvement of the robot, the robot further comprises a reducing adjusting mechanism arranged in the robot body, and the reducing adjusting mechanism drives the connecting rod assembly to move so as to adjust the distance between the moving mechanism and the robot body.
As a further improvement of the utility model, the crawler wheel assembly comprises a guide wheel and a driving wheel which are arranged in front and at the back, and a crawler belt which is sleeved on the guide wheel and the driving wheel, wherein the edge of the crawler belt is respectively provided with two side plates along the length direction of the crawler belt, the inner wall of one side plate is fixedly connected with a moving motor, the output shaft of the moving motor is connected with a first bevel gear, a rotating shaft is rotatably connected between the inner walls of the two side plates, a second bevel gear which is meshed with the first bevel gear is fixedly arranged on the rotating shaft, a straight gear is also fixedly arranged on the rotating shaft, the gear is meshed with the driving wheel, and the inner walls of the two side plates are transversely connected with sleeves.
As a further improvement of the utility model, the cleaning mechanism comprises a plurality of nozzles which are arranged on the outer wall of the front end of the robot body and connected through a water pipe, an externally connected water tank, and a water pump and a speed regulating valve which are arranged in the water tank, wherein the water pump, the speed regulating valve and the nozzles are sequentially connected end to end through the water pipe, and the water pump is electrically connected with the robot body.
As a further improvement of the utility model, the water conveying pipe positioned on the outer wall of the front end of the robot body is annularly arranged, and the nozzles are equidistantly arranged on the annular water conveying pipe.
As a further improvement of the utility model, the reducing adjusting mechanism comprises a speed reducing motor arranged in the robot body, an output shaft of the speed reducing motor is connected with a lead screw, the other end of the lead screw is rotatably connected with the inner wall of the front end of the robot body, a nut is movably connected on the lead screw, the outer wall of the nut is connected with a connecting rod assembly, and the other end of the connecting rod assembly is hinged with the crawler wheel assembly after penetrating through the outer wall of the robot body.
As a further improvement of the utility model, the connecting rod assembly comprises a first connecting rod and a second connecting rod which are symmetrically arranged at the outer side end of the track wheel assembly and a main push rod with one end hinged with the outer wall of the first connecting rod, the other end of the main push rod penetrates through the outer wall of the robot body and is hinged with a nut, one end of the first connecting rod and one end of the second connecting rod are respectively hinged with a connecting plate arranged at the upper end of the outer wall of the side plate, and the other ends of the first connecting rod and the second connecting rod are respectively hinged with a hinge seat arranged on the outer wall of the robot body.
As a further improvement of the utility model, the first connecting rod and the second connecting rod respectively comprise connecting columns, springs and U-shaped connecting pieces which are sequentially connected, each U-shaped connecting piece is hinged with the hinge seat through a pin shaft, each connecting column is hinged with the connecting plate, and each main push rod is hinged with the outer wall of the connecting column of the first connecting rod positioned on the same side.
As a further improvement of the utility model, the moving mechanisms are arranged into 3 groups and are respectively arranged around the circumference of the robot body at equal included angles.
As a further improvement of the present invention, the outer wall of the robot body is further provided with an image acquisition component, and the image acquisition component is electrically connected with the robot body.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the robot for cleaning the inner wall of the pipeline, the robot body is driven to move on the inner wall of the pipeline through the moving mechanism, the water pump in the external water tank is driven to work in the moving process, the speed regulating valve is regulated to keep the flow speed of sprayed water, the water in the water tank is conveyed to the nozzle through the water conveying pipe, and the nozzle sprays the water to the inner wall of the pipeline, so that the cleaning operation is completed.
2. According to the pipeline inner wall cleaning robot, the water conveying pipe and the nozzles which are positioned on the outer wall of the front end of the robot body are arranged in an annular shape, so that the plurality of nozzles can completely cover the circumferential inner wall of the whole pipeline, and the nozzles are more uniform and dispersed during spraying, so that the pipeline inner wall is cleaned more cleanly.
3. According to the pipeline inner wall cleaning robot, the reducing adjusting mechanism drives the connecting rod assembly to move, so that the distance between the moving mechanism and the robot body is adjusted, the robot is suitable for cleaning pipelines with different inner diameters, and the utilization rate of the cleaning robot is increased.
4. According to the pipeline inner wall cleaning robot, the springs are additionally arranged on the first connecting rod and the second connecting rod, so that the first connecting rod and the second connecting rod play a role in damping and buffering during operation, and the overall stability of the pipeline inner wall cleaning robot is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a cross-sectional view of the overall construction of the present invention;
FIG. 4 is a schematic view of the connection between the variable diameter adjustment mechanism and the connecting rod assembly according to the present invention;
figure 5 is a cross-sectional view of the track wheel assembly of the present invention.
In the drawings:
100. a robot body;
200. a moving mechanism;
210. a track wheel assembly; 210a, a guide wheel; 210b, a drive wheel; 210c, a crawler; 210d, side plates; 210e, a moving motor; 210f, a first bevel gear; 210g, a rotating shaft; 210h and a second bevel gear; 210i, a spur gear; 210j, a sleeve; 210k, connecting plates;
220. a connecting rod assembly; 220a, a first connecting rod; 220a-1, connecting column; 220a-2, a spring; 220a-3, a U-shaped connector; 220b, a second connecting rod; 220c, a main push rod;
300. a cleaning mechanism; 310. a water delivery pipe; 320. a nozzle;
400. a variable diameter adjusting mechanism; 410. a reduction motor; 420. a screw rod; 430. and a nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 to 5, a pipeline inner wall cleaning robot according to an embodiment of the present invention includes a robot body 100, a moving mechanism 200, and a cleaning mechanism 300.
The robot body 100 is in wireless communication with the robot remote controller, receives an instruction from the robot remote controller, and controls the robot body 100 to crawl on the inner wall of the pipeline by the robot remote controller to drive the cleaning mechanism 300 to spray water and the like.
The moving mechanisms 200, which are at least provided in 2 groups, are respectively installed on the outer side of the robot body 100, and are used for driving the robot body 100 to move back and forth on the inner wall of the pipeline, and include a track wheel assembly 210 and a connecting rod assembly 220 connecting the track wheel assembly 210 and the robot body 100. Specifically, leading wheel 210a and drive wheel 210b that crawler wheel subassembly 210 set up around including and establish the track 210c on leading wheel 210a and drive wheel 210b, the border of track 210c is provided with two blocks of curb plates 210d respectively along the length direction of track 210c, wherein the inner wall fixedly connected with of a curb plate 210d removes motor 210e, the output shaft that removes motor 210e has first bevel gear 210f, rotates between the inner wall of two blocks of curb plates 210d and is connected with pivot 210g, the fixed second bevel gear 210h who meshes with first bevel gear 210f that is provided with on the pivot 210g, still be fixed with spur gear 210i on the pivot 210g, spur gear 210i meshes with drive wheel 210b mutually, and the inner wall transverse connection of two blocks of curb plates 210d has sleeve 210 j. Drive first bevel gear 210f through mobile motor 210e and rotate to drive the rotation with first bevel gear 210f engaged with second bevel gear 210h, thereby drive the rotation of spur gear 210i, then drive the rotation with spur gear 210i engaged with drive wheel 210b, thereby drive whole athey wheel subassembly 210 displacement around the pipeline inner wall, finally drive the displacement around the pipeline inner wall of whole cleaning robot through link assembly 220 who links to each other with athey wheel subassembly 210.
Specifically, the link assembly 220 includes a first link 220a and a second link 220b symmetrically disposed at the outer end of the track wheel assembly 210, and a main push rod 220c having one end hinged to the outer wall of the first link 220a, the other end of the main push rod 220c penetrates through the outer wall of the robot body 100 and is hinged to a nut 430, one ends of the first link 220a and the second link 220b are respectively hinged to a connecting plate 210k disposed at the upper end of the outer wall of the side plate 210d, and the other ends of the first link 220a and the second link 220b are respectively hinged to a hinge seat disposed at the outer wall of the robot body 100.
And a washing mechanism 300 installed on an outer wall of a front end of the robot body 100 and driven by the robot body 100 to spray water. Specifically, the cleaning mechanism 300 includes a plurality of nozzles 320 arranged on the outer wall of the front end of the robot body 100 and connected through a water pipe 310, an external water tank, and a water pump and a speed regulating valve arranged in the water tank, wherein the water pump, the speed regulating valve and the nozzles are sequentially connected end to end through the water pipe 310, and the water pump is electrically connected with the robot body 100. Considering that the weight of the robot body 100 is not too heavy, a water tank is externally connected to maintain the operation of the robot body 100. When the robot remote controller sends a cleaning command to the robot body 100, the robot body 100 drives the water pump in the external water tank to work and drives the speed regulating valve to regulate to a reasonable opening degree so as to keep the flow rate of water spraying, at the moment, the water pump pumps water from the water tank and conveys the water to the nozzle 320 through the water conveying pipe 310, and the nozzle 320 sprays the water out.
Example 2
As shown in fig. 3, in embodiment 2, on the basis of embodiment 1, a first connecting rod 220a and a second connecting rod 220b are provided as a connecting rod 220a-1, a spring 220a-2 and a U-shaped connecting piece 220a-3 which are connected in sequence, each U-shaped connecting piece 220a-3 is hinged with a hinge base through a pin shaft, each connecting rod is hinged with a connecting plate 210k, and each main push rod 220c is hinged with the outer wall of the connecting rod 220a-1 of the first connecting rod 220a on the same side. The spring 220a-2 is added to the first connecting rod 220a and the second connecting rod 220b, so that the first connecting rod 220a and the second connecting rod 220b play a role in shock absorption and buffering during operation, and the overall stability of the pipeline inner wall cleaning robot is further improved.
Example 3
As shown in fig. 1, in embodiment 3, on the basis of embodiment 1, the water pipe 310 located on the outer wall of the front end of the robot body 100 is annularly arranged, the nozzles 320 are equidistantly arranged on the annular water pipe 310, and the water pipe 310 and the nozzles 320 at the front end are annularly designed, so that the plurality of nozzles 320 can completely cover the circumferential inner wall of the whole pipeline, and the spraying is more uniform and more dispersed, thereby cleaning the whole pipeline.
Example 4
As shown in fig. 1 and 2, in embodiment 4, on the basis of embodiment 1, in order to make the cleaning robot move more stably on the inner wall of the pipeline, 3 sets of moving mechanisms are provided, which are respectively arranged around the circumference of the robot body 100 at equal included angles, the longitudinal section of the robot body 100 is hexagonal, two sets of moving mechanisms are in contact with the inner wall at the bottom end of the pipeline, the remaining set of moving mechanisms are in contact with the inner wall at the top end of the pipeline, and the triangular structure makes the cleaning robot move more stably on the inner wall of the pipeline.
Example 5
As shown in fig. 3 and 4, in embodiment 5, on the basis of embodiment 1, in order to enable the cleaning robot to adapt to pipelines with different sizes, a reducing adjusting mechanism 400 is arranged in the robot body 100, and the reducing adjusting mechanism 400 drives the connecting rod assembly 220 to move, so that the distance between the moving mechanism 200 and the robot body 100 is adjusted, the cleaning robot is suitable for pipelines with different inner diameters to perform cleaning operation, and the utilization rate of the cleaning robot is increased.
Specifically, reducing adjustment mechanism 400 is including setting up gear motor 410 in robot 100, gear motor 410's output shaft has lead screw 420, the other end of lead screw 420 rotates with robot 100's front end inner wall to be connected, swing joint has nut 430 on the lead screw 420, the outer wall of nut 430 links to each other with link assembly 220, link assembly 220's the other end runs through behind robot 100's the outer wall articulated with athey wheel subassembly 210. The reduction motor 410 drives the screw rod 420 to rotate, so as to drive the nut 430 on the screw rod 420 to move back and forth, so as to drive the main push rod 220c connected with the nut 430 to move, and then drive the first connecting rod 220a hinged with the main push rod 220c to move, so as to adjust the distance between the moving mechanism 200 and the robot body 100, and thus, the robot is suitable for cleaning pipelines with different inner diameters. One end of the screw rod 420 close to the speed reducing motor 410 is penetrated through and fixed to be connected with an output shaft of the speed reducing motor 410 after the top end of a bearing seat vertically arranged on the inner wall of the bottom end of the robot body 100, a bearing is sleeved at the connecting end of the screw rod 420 and the bearing seat, and an angular contact ball bearing is sleeved at one end of the screw rod 420 close to the inner wall of the front end of the robot body 100. When the nut 430 moves forward, the main push rod 220c is driven to contract towards the direction of the robot body 100, so that the distance between the robot body 100 and the crawler wheel assembly 210 is reduced, and the robot can adapt to a pipeline with a smaller inner diameter; when the nut 430 moves backwards, the main push rod 220c is driven to extend towards a direction away from the robot body 100, so that the distance between the robot body 100 and the track wheel assembly 210 is increased to adapt to a pipeline with a larger inner diameter.
Example 6
Embodiment 6 is based on embodiment 1, and a plurality of image capturing components are further disposed on an outer wall of the robot body 100, the image capturing components are electrically connected to the robot body 100, the image capturing components are cameras, and the condition of dirt on an inner wall of a pipeline can be clearly seen through pictures captured by the cameras, so that an operator can select continuous cleaning according to the severity of the particular dirt.
The specific use flow is as follows: firstly, according to pipelines with different sizes, the distance between the moving mechanism 200 and the robot body 100 is adjusted through the reducing adjusting mechanism 400, then the water conveying pipe 310 is connected with an external water tank, then the whole device is placed into the inner wall of the pipeline to be cleaned, an operator operates the robot remote controller to drive the moving mechanism 200 to work, the whole device is driven to move forwards along the inner wall of the pipeline, meanwhile, when the robot remote controller sends a water spraying command to the robot body 100, the robot body 100 drives the water pump of the cleaning mechanism 300 to work, and drives the speed regulating valve to open corresponding opening degree to adjust to reasonable flow rate, at the moment, the water pump pumps water from the external water tank and conveys the water to the nozzle 320 through the water conveying pipe 310, and the nozzle 320 sprays the water onto the inner wall of the pipeline to be cleaned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A pipeline inner wall cleaning robot, characterized by comprising:
a robot body (100) which is in wireless communication with the robot remote controller and receives an instruction from the robot remote controller;
the moving mechanisms (200) are at least arranged into 2 groups, are respectively arranged on the outer side of the robot body (100), are used for driving the robot body (100) to move back and forth on the inner wall of the pipeline, and comprise a track wheel assembly (210) and a connecting rod assembly (220) for connecting the track wheel assembly (210) and the robot body (100);
and the cleaning mechanism (300) is arranged on the outer wall of the front end of the robot body (100) and is driven by the robot body (100) to spray water.
2. The robot for cleaning the inner wall of the pipeline according to claim 1, wherein: the robot is characterized by further comprising a reducing adjusting mechanism (400) arranged in the robot body (100), wherein the reducing adjusting mechanism (400) drives the connecting rod assembly (220) to move so as to adjust the distance between the moving mechanism (200) and the robot body (100).
3. The robot for cleaning the inner wall of the pipeline according to claim 1, wherein: the crawler belt wheel assembly (210) is including leading wheel (210 a) and drive wheel (210 b) and the track (210 c) of cover on leading wheel (210 a) and drive wheel (210 b) that set up around, the border of track (210 c) is provided with two blocks of curb plates (210 d) respectively along the length direction of track (210 c), wherein the inner wall fixedly connected with moving motor (210 e) of a curb plate (210 d), the output shaft of moving motor (210 e) has first bevel gear (210 f), rotates between the inner wall of two blocks of curb plates (210 d) and is connected with pivot (210 g), fixed second bevel gear (210 h) that mesh with first bevel gear (210 f) is provided with on pivot (210 g), still be fixed with spur gear (210 i) on pivot (210 g), gear (210 i) mesh with drive wheel (210 b), the inner walls of the two side plates (210 d) are transversely connected with sleeves (210 j).
4. The robot for cleaning the inner wall of the pipeline according to claim 1, wherein: the cleaning mechanism (300) comprises a plurality of nozzles (320) which are arranged on the outer wall of the front end of the robot body (100) and connected through a water conveying pipe (310), an external water tank, a water pump and a speed regulating valve, wherein the water pump, the speed regulating valve and the nozzles are arranged in the water tank, the water pump, the speed regulating valve and the nozzles are sequentially connected end to end through the water conveying pipe (310), and the water pump is electrically connected with the robot body (100).
5. The robot for cleaning the inner wall of the pipeline according to claim 4, wherein: the water conveying pipe (310) located on the outer wall of the front end of the robot body (100) is arranged in an annular shape, and the nozzles (320) are arranged on the annular water conveying pipe (310) at equal intervals.
6. The robot for cleaning the inner wall of the pipeline according to claim 2, wherein: reducing adjustment mechanism (400) is including setting up gear motor (410) in robot (100), the output shaft of gear motor (410) has lead screw (420), the other end of lead screw (420) rotates with the front end inner wall of robot (100) to be connected, swing joint has nut (430) on lead screw (420), the outer wall of nut (430) links to each other with link assembly (220), the other end of link assembly (220) runs through behind the outer wall of robot (100) and articulates with track wheel subassembly (210).
7. The robot for cleaning the inner wall of the pipeline according to claim 6, wherein: the connecting rod assembly (220) comprises a first connecting rod (220 a) and a second connecting rod (220 b) which are symmetrically arranged at the outer side end of the track wheel assembly (210) and a main push rod (220 c) with one end hinged to the outer wall of the first connecting rod (220 a), the other end of the main push rod (220 c) penetrates through the outer wall of the robot body (100) and is hinged to a nut (430), one end of the first connecting rod (220 a) and one end of the second connecting rod (220 b) are hinged to a connecting plate (210 k) arranged at the upper end of the outer wall of the side plate (210 d), and the other end of the first connecting rod (220 a) and the other end of the second connecting rod (220 b) are hinged to a hinge seat arranged on the outer wall of the robot body (100).
8. The robot for cleaning the inner wall of the pipeline according to claim 7, wherein: the first connecting rod (220 a) and the second connecting rod (220 b) respectively comprise a connecting column (220 a-1), a spring (220 a-2) and a U-shaped connecting piece (220 a-3) which are sequentially connected, each U-shaped connecting piece (220 a-3) is hinged with a hinge seat through a pin shaft, each connecting column is hinged with a connecting plate (210 k) respectively, and each main push rod (220 c) is hinged with the outer wall of the connecting column (220 a-1) of the first connecting rod (220 a) located on the same side.
9. The robot for cleaning the inner wall of the pipeline according to claim 1, wherein: the moving mechanisms are arranged into 3 groups and are arranged around the circumference of the robot body (100) at equal included angles.
10. The robot for cleaning the inner wall of the pipeline according to claim 1, wherein: the outer wall of the robot body (100) is further provided with an image acquisition component, and the image acquisition component is electrically connected with the robot body (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121620949.3U CN215635742U (en) | 2021-07-16 | 2021-07-16 | Pipeline inner wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121620949.3U CN215635742U (en) | 2021-07-16 | 2021-07-16 | Pipeline inner wall cleaning robot |
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| CN215635742U true CN215635742U (en) | 2022-01-25 |
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| CN202121620949.3U Active CN215635742U (en) | 2021-07-16 | 2021-07-16 | Pipeline inner wall cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN115780428A (en) * | 2023-01-09 | 2023-03-14 | 北京科技大学 | Pipeline cleaning robot |
-
2021
- 2021-07-16 CN CN202121620949.3U patent/CN215635742U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN115780428A (en) * | 2023-01-09 | 2023-03-14 | 北京科技大学 | Pipeline cleaning robot |
| CN115780428B (en) * | 2023-01-09 | 2023-10-27 | 北京科技大学 | Pipeline cleaning robot |
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