CN218343622U - Waterproof track and cleaning robot - Google Patents

Abstract

The utility model relates to the technical field of transmission machinery, in particular to a waterproof crawler belt and a cleaning robot, wherein the waterproof crawler belt comprises a shell, the shell comprises a side plate and an annular peripheral surface, the side plate is arranged at an opening of the annular peripheral surface and fixedly connected with the annular peripheral surface to form a closed cavity; a first sealing cavity is formed in the contact surface of the side plate and the annular circumferential surface, a first sealing element is arranged in the first sealing cavity, and the first sealing element is in contact with each inner surface of the first sealing cavity; the crawler assembly surrounds the annular circumferential surface; the rotating wheels are arranged at two ends of the shell and matched with the crawler belt assembly; and a second sealing element is arranged between the contact surfaces of the rotating wheel and the shell. The utility model provides a waterproof track is applicable to and walks under water, and the track has the advantage that is applicable to many topography walking, and the connection face of casing all is equipped with sealed chamber, and sealed intracavity all fills there is the sealing member, can be effectively waterproof, avoids the inside spare part of casing to damage, promotes the life of track.

Description

Waterproof track and cleaning robot

Technical Field

The utility model relates to a transmission machinery technical field especially relates to a waterproof track and clearance robot.

Background

The urban drainage system is an engineering facility system for treating and removing urban sewage and rainwater, and is a component of urban public facilities. The urban drainage system is an indispensable system in modern cities and is an important guarantee for ensuring good living environment and sanitation of the cities. Urban drainage system is at the operation in-process, and the pipeline carries various domestic sewage and waste garbage throughout the year, and the environment in the pipeline is complicated and abominable, consequently can have pipeline blocking and the not smooth phenomenon of drainage, causes urban waterlogging to harm resident's living environment, causes harm to resident's health, consequently needs regularly to clear up the silt debris in the pipeline, avoids silt debris accumulation to block up the pipeline.

The existing cleaning modes generally comprise two modes of manual cleaning and machine cleaning. However, manual cleaning has the following drawbacks: due to the fact that the environment in the sewage pipeline is severe and complex, the accumulation of the blocking objects can generate inflammable and explosive gas, personal safety of cleaning personnel has high risk, and the manual cleaning mode cannot reach pipelines with small pipe diameters. The existing machine cleaning has the following defects: the traveling mechanism has poor waterproofness.

An object of the utility model is to provide a waterproof track and clearance robot.

SUMMERY OF THE UTILITY MODEL

A primary object of the utility model is to provide a waterproof track, aim at the walking that is used for pipeline cleaning robot, solve the poor defect of current running gear waterproof nature.

In order to achieve the above object, the utility model provides a waterproof track, include:

the shell comprises a side plate and an annular peripheral surface, wherein the side plate is arranged at an opening of the annular peripheral surface and fixedly connected with the annular peripheral surface to form a closed cavity;

a first sealing cavity is formed in the contact surface of the side plate and the annular peripheral surface, a first sealing element is arranged in the first sealing cavity, and the first sealing element is in contact with each inner surface of the first sealing cavity;

a track assembly surrounding the annular periphery;

the rotating wheels are arranged at two ends of the shell and matched with the crawler assemblies;

and a second sealing element is arranged between the rotating wheel and the contact surface of the shell.

Optionally, the rotating wheel includes a driving wheel and a driven wheel, the driving wheel and the driven wheel are respectively matched with the track assembly, the driving wheel outputs power to drive the track assembly to rotate along the annular circumferential surface, and the track assembly drives the driven wheel to rotate.

Optionally, the driving wheel includes a first rotating shaft and a first sprocket;

the first rotating shaft penetrates through the side plate, two ends of the first rotating shaft are respectively provided with a first chain wheel, and the first rotating shaft rotates along with the first chain wheels;

the driven wheel comprises a second rotating shaft and a second chain wheel;

the second rotating shaft penetrates through the side plate, and two ends of the second rotating shaft are respectively provided with a second chain wheel which drives the second rotating shaft to rotate;

a second sealing cavity is formed in the contact surface of the first rotating shaft and the side plate, and the second sealing element is arranged in the second sealing cavity;

and a second sealing cavity is formed in the contact surface of the second rotating shaft and the side plate, and the second sealing element is arranged in the second sealing cavity.

Optionally, a through hole and an installation cover are arranged on the surface of the side plate, a third sealing cavity is arranged on the contact surface of the installation cover and the side plate, and a first sealing element is arranged in the third sealing cavity;

the installation cover covers on the through-hole, the installation cover side has the line mouth, the line mouth is used for the access of circuit, the cavity intussuseption of installation cover is filled with sealed glue.

Optionally, the first sealing element is a sealing ring;

the second sealing member includes sealing washer and barb face, sealing washer and barb face integrated into one piece, the barb face with the surface of first pivot or the surface contact of second pivot.

Optionally, the track assembly includes two chains, a plurality of track shoes and a pallet strip, the pallet strip is disposed on a side plate of the housing, located between the driving wheel and the driven wheel, and located below the chains, and is used for supporting and restraining the chains;

the two chains are connected through a track shoe, and the track shoe is arranged at intervals;

the chain is matched with the rotating wheel.

Optionally, the cross section of the supporting plate strip is L-shaped, and the supporting plate strip is provided with a plurality of reinforcing ribs.

Optionally, the track shoe further comprises a plurality of anti-slip blocks, the anti-slip blocks are arranged on the track shoe, the number of the anti-slip blocks corresponds to the number of the track shoe,

the anti-skid blocks are made of rubber and are adsorbed on the surface of the crawler belt plate,

or the middle part and the two ends of the antiskid block are respectively provided with a connecting piece, and the antiskid block is connected with the track shoe through the connecting pieces.

Optionally, the side plate is provided with a boss, the connecting base is arranged on the boss, and the connecting base is fixedly connected with the boss through a connecting piece;

the interior of the connecting base is of a hollow structure.

Correspondingly, still provide a clearance robot, including the waterproof track of above-mentioned any one, the quantity of waterproof track is a plurality of, still includes organism and connecting rod, waterproof track pass through the connecting rod with the organism links to each other, waterproof track evenly distributed in the organism is global.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model provides a waterproof track is applicable to and walks under water, and the track has the advantage that is applicable to many topography walking, and the connection face of casing all is equipped with sealed chamber, and sealed intracavity all fills there is the sealing member, can be effectively waterproof, avoids the inside spare part of casing to damage, promotes the life of track.

Drawings

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

FIG. 1 is a schematic view of an embodiment of the waterproof track of the present invention;

FIG. 2 is a schematic view of the internal structure of the embodiment of the waterproof track of the present invention;

FIG. 3 is a schematic view of a waterproof track according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of an embodiment of the waterproof track of the present invention;

fig. 5 is a schematic side plate view of an embodiment of the waterproof track of the present invention;

FIG. 6 is a schematic view of a waterproof track according to an embodiment of the present invention;

FIG. 7 is a schematic view of an embodiment of the cleaning robot of the present invention;

fig. 8 is a front view of an embodiment of the cleaning robot of the present invention;

FIG. 9 is a right side view of an embodiment of the cleaning robot of the present invention;

FIG. 10 is a partial enlarged view of an embodiment of the cleaning robot of the present invention;

FIG. 11 is a partial enlarged view of another embodiment of the cleaning robot of the present invention;

FIG. 12 is a schematic view of a second cleaning mechanism according to an embodiment of the cleaning robot of the present invention;

figure 13 is the utility model discloses cleaning robot embodiment second cleaning mechanism cross-sectional view.

Reference numerals are as follows:

10-a track assembly; 11-a chain; 12-a track shoe; 13-driving wheel; 13 a-a first sprocket; 13 b-a first shaft; 13 c-a first gear; 14-a driven wheel; 14 a-a second sprocket; 14 b-a second shaft; 15-a batten; 16-anti-skid blocks; 17-a second seal; 20-a housing; 21-an annular peripheral surface; 22-side plate; 23-mounting holes; 24-a connection hole; 25-a bearing; 26-a first sealed chamber; 27-a first seal; 28-a second sealed cavity; 29-a third sealed chamber; 30-a transmission assembly; 31-gear set; 32-a third rotating shaft; 33-a fourth shaft; 34-a third gear; 35-a fourth gear; 36-fifth gear; 40-a power assembly; 41-a motor; 41 a-rotor; 41 b-a stator; 41 c-second gear; 42-mounting a cover; 42 a-line crossing; 50-a through hole; 60-a connection base; 100-body; 200-a traveling mechanism; 210-a telescoping mechanism; 220-waterproof caterpillar band; 300-a first cleaning mechanism; 310-a first conduit; 320-L type spray head; 321-long end; 322-short end; 323-a transfer port; 324-straight type showerhead; 330-rotary interface; 400-a second cleaning mechanism; 410-a liquid inlet; 420-a first chamber; 430-a second chamber; 431-jet orifice; 440-a communication line; 500-a camera mechanism; 510-a camera; 520-an illumination mechanism.

Detailed Description

To facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only. In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as implying any number of indicated technical features. Thus, unless otherwise specified, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "plurality" means two or more. The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or combinations thereof may be present or added.

Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Fig. 1-6 are schematic structural views of embodiments of the waterproof track provided by the present invention.

The embodiment of the utility model provides a waterproof track has smallly, and the advantage that the leakproofness is good is applicable to environment work under water, can cooperate the cleaning robot to realize the walking of cleaning robot in the pipeline, is particularly useful for walking in the pipeline that the internal diameter is 46cm-57cm in the city pipe network.

Referring to fig. 1-6, the waterproof crawler of the present embodiment includes a crawler assembly 10, a housing 20, and rotating wheels.

Track assembly 10 includes, among other things, a chain 11 and a track plate 12. Track assembly 10 is wrapped around an annular periphery 21 of housing 20.

The rotating wheels comprise a driving wheel 13 and a driven wheel 14, the rotating wheels are respectively arranged at two ends of the shell 20, the rotating wheels are matched with the crawler belt assembly 10, namely, the driving wheel 13 and the driven wheel 14 are respectively arranged at two ends of the shell 20, and the driving wheel 13 and the driven wheel 14 are matched with the chain 11 in the crawler belt assembly 10.

The casing 20 is composed of an annular peripheral surface 21 and a side plate 22, the side plate 22 is arranged at an opening of the annular peripheral surface 21, the side plate 22 and the annular peripheral surface 21 are fixedly connected, specifically, a screw connection can be adopted, and the side plate 22 and the annular peripheral surface 21 enclose a long-strip-shaped closed cavity.

The contact surface of the annular peripheral surface 21 and the side plate 22 is provided with a first sealing cavity 26, a first sealing element 27 is arranged in the first sealing cavity 26, and the first sealing element 27 is in contact with all inner surfaces of the first sealing cavity 26, so that a sealing effect is achieved, and water is prevented from entering the shell.

And a second sealing element 17 is arranged between the contact surfaces of the driving wheel 13 and the driven wheel 14 in the rotating wheel and the shell 20, and is used for realizing the sealing between the rotating wheel and the shell 20.

In one embodiment, the drive pulley 13 and the driven pulley 14 are each engaged with the track assembly 10, and in particular with the chain 11 of the track assembly 10. The driving wheel 13 outputs power to rotate the track assembly 10 along the annular circumferential surface 21, and the track assembly 10 further rotates the driven wheel 14. Specifically, the driving wheel 13 actively rotates to drive the chain 11 to rotate, and the chain 11 further drives the driven wheel 14 to rotate.

Further, the capstan 13 includes two first sprockets 13a, a first rotation shaft 13b and a first gear 13c; the first rotating shaft 13b penetrates through the shell 20, two ends of the first rotating shaft 13b extend out of the shell 20, and a first chain wheel 13a is arranged at each end, and the first chain wheel 13a is meshed with the chain 11; the first gear 13c is sleeved in the first rotating shaft 13b and located inside the housing 20, and is engaged with the transmission assembly 30 inside the housing 20. The driven pulley 14 includes two second sprockets 14a and a second rotating shaft 14b, the second rotating shaft 14b penetrates the housing 20, both ends of the second rotating shaft 14b extend from the housing 20, and one second sprocket 14a is mounted at each of both ends, and the second sprockets 14a are engaged with the chain 11. The driving pulley 13 drives the first rotating shaft 13b and the first chain wheel 13a to rotate, and further drives the chain 11 engaged with the first chain wheel 13a to rotate, and the driven pulley 14 follows to rotate because the chain 11 is also engaged with the second chain wheel 14 a.

A second sealing cavity 28 is arranged on the contact surface of the first rotating shaft 13b and the side plate 22, and the second sealing element 17 is arranged in the second sealing cavity 28; the contact surface of the second rotating shaft 14b and the side plate 22 is provided with a second sealing cavity 28, and the second sealing element 17 is arranged in the second sealing cavity 28. The second seal member 17 is in contact with all the inner surfaces of the second seal chamber 28.

In one embodiment, the surface of the side plate 22 is provided with a through hole 50 and a mounting cover 42, a contact surface of the mounting cover 42 and the side plate 22 is provided with a third sealing cavity 29, the third sealing cavity 29 is a cavity formed by concave, and a first sealing element 27 is arranged in the third sealing cavity 29; the mounting cover 42 covers the through hole 50, a circuit opening 42a is formed in the side face of the mounting cover 42, the circuit opening 42a is used for connecting a circuit, and a cavity of the mounting cover 42 is filled with sealant.

In one embodiment, the first sealing element 27 is embodied as a sealing ring, and the second sealing element 17 comprises two parts, namely a sealing ring and a barbed surface, which are integrally formed. The barb surfaces are in contact with the surfaces of the first rotating shaft 13b or the second rotating shaft 14b, the friction force generated when the first rotating shaft 13b and the second rotating shaft 14b rotate can be reduced due to the design, and the barb surfaces and the first rotating shaft 13b or the second rotating shaft 14b have a plurality of contact points, so that the multi-stage waterproof effect can be realized. Since the first seal 27 and the second seal 17 belong to the consumable parts, the first seal 27 and the second seal 17 can be replaced by the first seal chamber 26, the second seal chamber 28 and the third seal chamber 29.

In one embodiment, the number of the chains 11 is two, and the chains are disposed in parallel on two side surfaces of the housing 20. As shown in fig. 3, two parallel chains 11 are connected by a plurality of track shoes 12, and the track shoes 12 are spaced apart to reduce the weight of the track assembly 10 and increase the mobility of the track assembly 10, the track shoes 12 function to connect the chains 11 and increase the contact area of the track assembly 10 with a walking surface. And a supporting plate strip 15, wherein the supporting plate strip 15 is arranged on a side plate 22 of the shell 20, is positioned between the driving wheel 13 and the driven wheel 14 and is positioned below the chain 11 and is used for supporting and limiting the chain 11. If the pallet strip 15 is not provided, the chain 11 is in a slack state, and the chain 11 is dropped or out of the chain, which affects the working state.

Specifically, the cross section of the pallet strip 15 is L-shaped, and a plurality of rib plates are arranged in a space clamped by the pallet strip 15, so that the weight of the pallet strip 15 can be reduced as much as possible while the bearing strength can be ensured.

Further, a plurality of anti-slip blocks 16 are further included, the anti-slip blocks 16 are disposed on the track shoe 12, the number of the anti-slip blocks 16 corresponds to that of the track shoe 12, and the anti-slip blocks 16 are used for increasing the friction force of the track assembly 10 and preventing the track assembly 10 from slipping during operation. The anti-slip blocks 16 can be made of rubber, so that the cost is low and the friction force is large. The middle part and the both ends of non slipping spur 16 are equipped with the connecting piece respectively, and non slipping spur 16 passes through the connecting piece to be connected with grip-pad 12, sets up the connecting piece at middle part and both ends and can effectively prevent the non slipping spur 16 perk of rubber material, perhaps in other embodiments, can also adsorb in grip-pad 12 surface through rubber coating thermoforming, and is simple swift.

In an embodiment, the side plate further includes a connection base 60, a boss is disposed on the surface of the side plate 22 and installed corresponding to the connection base 60, the boss is designed to ensure connection strength, and the connection base 60 and the boss are fixedly connected through a connection member, specifically, through a screw connection. In addition, the connection base 60 has a hollow structure, so that the weight can be reduced. The attachment base 60 is used to attach the track to a cleaning robot or other type of device. The number of the connection bases 60 is specifically 4.

The utility model also provides a waterproof track embodiment.

In contrast to the above embodiments, a transmission assembly 30 and a power assembly 40 are also included. The transmission assembly 30 and the power assembly 40 are both disposed inside the housing 20, the transmission assembly 30 is connected to the power assembly 40, the power assembly 40 is used for providing power, the generated power is transmitted to the track assembly 10 through the transmission assembly 30, and the transmission assembly 30 further drives the track assembly 10 to rotate around the annular periphery of the housing 20. The driving wheel 13 and the power assembly 40 perform power conversion.

In an embodiment, the power assembly 40 includes a motor 41, the motor 41 is located inside the housing 20, the motor 41 includes a rotor 41a and a stator 41b, the stator 41b is located in the middle of the rotor 41a, the stator 41b is fixedly connected to the housing 20, a second gear 41c is disposed on an outer surface of the rotor 41a, the rotor 41a drives the second gear 41c to rotate, and the second gear 41c is engaged with the transmission assembly 30 to transmit power to the transmission assembly 30. The mounting cover 42 is disposed on the housing 20 and located at two ends of the motor 41 for sealing two ends of the motor 41 in the housing 20, the mounting cover 42 is provided with a wire opening 42a, and a cavity of the mounting cover 42 is filled with a sealant for sealing the wire opening 42 a.

In one embodiment, the transmission assembly 30 includes a plurality of gear sets 31, and the gear sets 31 include a third shaft 32, a fourth shaft 33, a third gear 34, a fourth gear 35, and a fifth gear 36. The third gear 34 and the fourth gear 35 are mounted on the third shaft 32, and the fifth gear 36 is mounted on the fourth shaft 33. In this embodiment, the number of the gear sets 31 is four, the four gear sets 31 are arranged in sequence, the transmission ratio of each gear set is 2.75, and correspondingly, the number of the third rotating shaft 32, the fourth rotating shaft 33, the third gear 34, the fourth gear 35 and the fifth gear 36 is four.

Specifically, as shown in fig. 4, in the same gear set 31, the third gear 34 is meshed with the fifth gear 36, that is, the gears in the same gear set 31 are meshed with the fifth gear 36 through the third gear 34 to realize transmission; in the adjacent gear sets 31, the fifth gear 36 of one of the gear sets 31 is meshed with the fourth gear 35 of the other gear set 31, i.e. the transmission mode between the two adjacent gear sets 31 is that the fifth gear 36 of one gear set 31 is in transmission with the fourth gear 35 of the other gear set 31; in the gear sets 31 at the top ends of the two sides, the fourth gear 35 in the upper gear set 31 is meshed with the second gear 41c, i.e. transmission between the gear set 31 and the power assembly 40, and the fifth gear 36 in the lower gear set 31 is meshed with the first gear 13c, i.e. transmission between the gear set 31 and the driving wheel 13.

In one embodiment, as shown in FIG. 5, the side plate 22 is provided with a plurality of mounting holes 23 and attachment holes 24. The mounting holes 23 are used for mounting the first rotating shaft 13b, the second rotating shaft 14b, the third rotating shaft 32 and the fourth rotating shaft 33, the connecting holes 24 are used for fixedly connecting the mounting cover 42 and the housing 20, and the connecting holes 24 are also used for fixedly connecting the gear set 31 and the housing 20. A coupling screw (not shown) is provided in the coupling hole 24.

The bearings 25 are disposed in the mounting holes 23, and the friction force generated when the first rotating shaft 13b, the second rotating shaft 14b, the third rotating shaft 32 and the fourth rotating shaft 33 rotate can be reduced by the bearings 25. Further, the thickness of the mounting hole 23 is greater than that of the side plate 22, and the thickness of the coupling hole 24 is greater than that of the side plate 22, so as to secure structural strength when the coupling is mounted.

The embodiment of the utility model provides a cleaning robot is applicable to the inside clearance of pipeline, is particularly useful for the pipeline clearance that the internal diameter is 46cm-57cm in the city pipe network.

As shown in fig. 7 to 13, in one embodiment, the cleaning robot includes a body 100, a traveling mechanism 200, a first cleaning mechanism 300, a second cleaning mechanism 400, and a camera mechanism 500. The machine body 100 is used as a main body frame of the cleaning robot, a sealed cavity is arranged in the machine body 100, and a control assembly is arranged in the sealed cavity. The traveling mechanism 200 is circumferentially distributed around the circumference of the machine body 100, and is connected to the machine body 100 for driving the machine body 100 to move in the middle of the pipeline. The first cleaning mechanism 300 is disposed on the top of the machine body 100 and is used for stripping off the impurities adhered to the inner wall of the pipeline. The second cleaning mechanism 400 is disposed at the tail of the machine body 100, and is used for cleaning the impurities in the moving pipeline. The camera mechanism 500 is connected to the body 100 for acquiring images in the pipeline.

In particular, the body 100 is of a cylindrical structure, in particular a cylindrical structure, which is compact and simple and suitable for industrial production. The inside sealed cavity that is of organism 100 avoids inside liquid and the debris of external environment to get into organism 100, prevents that the control assembly, spare part, liquid pipeline and the relevant circuit structure of organism inside 100 from receiving the damage. The control components in the interior of the machine body 100 are conventional circuit boards, and are not described in detail herein. The first cleaning mechanism 300 peels off the deposited and adhered impurities such as sludge and garbage from the inner wall surface of the pipeline by generating high-pressure liquid to impact the inner wall of the pipeline, and the second cleaning mechanism 400 pushes the deposited impurities at the bottom of the pipeline to a predetermined place by generating high-pressure liquid and then performs centralized recovery. The camera mechanism 500 obtains the image in the pipeline and transmits the image to the control terminal, and an operator or software controls the cleaning robot in the pipeline according to the image and judges the cleaning condition and the cleaning degree in the pipeline according to the image.

In an embodiment, the traveling mechanism 200 mainly includes two parts, i.e., a telescopic mechanism 210 and a waterproof crawler 220, the telescopic mechanism 210 is respectively connected to the body 100 and the waterproof crawler 220, the telescopic mechanism 210 is equivalent to a connecting rod, and the telescopic mechanism 210 drives the waterproof crawler 220 to perform telescopic motion.

Further, the quantity of running gear 200 in this embodiment is 3 to running gear 200 is around the axis evenly distributed of organism 100 global in organism 100, is equilateral triangle structure, and the contained angle between two liang of running gear 200 is the same promptly, is 60 degrees, and this kind of structural design stability is good, and the clearance robot is more stable when walking in the pipeline. Correspondingly, the number of the telescopic mechanisms 210 and the waterproof crawler belts 220 is also three.

Specifically, the telescopic mechanism 210 and the waterproof crawler 220 are connected to a control component of the machine body 100, and the control component controls the telescopic size of the telescopic mechanism 210 according to the inner diameter of the pipeline, so that the waterproof crawler 220 is in contact with the inner wall of the pipeline during operation, the machine body 100 is located in the middle of the pipeline, contact between the machine body 100 and the inner wall of the pipeline and contact between sundries adhered to the inner wall of the pipeline and the sundries adhered to the inner wall of the pipeline are avoided, and damage to the machine body 100 is prevented. The telescoping mechanism 210 may be a link telescoping mechanism. The control assembly controls the travel speed of the waterproof track 220.

In the non-working state, the non-working state refers to that the telescopic mechanism 210 is in the contraction state before the cleaning robot is thrown to the designated cleaning position, the outer diameter of the overall profile of the cleaning robot is in a smaller state, and the cleaning robot can be conveniently transferred and thrown in the state. In the working state, the telescopic mechanism 210 is in the unfolded state, the unfolded size is suitable for the size of the inner diameter of the pipeline, and the waterproof crawler 220 is in contact with the inner wall of the pipeline.

In one embodiment, the first cleaning mechanism 300 generates a first high pressure liquid, which is directed perpendicular to the inner wall of the pipe; the second cleaning mechanism 400 generates a second high pressure liquid, the direction of which forms an angle of 40-50 degrees with the inner wall of the pipe. The liquid mentioned in the embodiment of the present invention may specifically be water. The high-pressure water generated by the first cleaning mechanism 300 vertically acts on the inner wall of the pipeline, and according to the mechanics principle, the vertically acting force does not generate additional component force, so that the generated acting force is maximum, and no additional force loss exists. The impurities adhered to the surface of the pipe wall are peeled off by the high-pressure water generated by the first cleaning mechanism 300. The direction of high-pressure water generated by the second cleaning mechanism 400 forms a certain included angle with the inner wall of the pipeline, the generated pressure can be decomposed into radial force perpendicular to the pipe wall and axial force parallel to the pipe wall according to the mechanics principle, wherein the axial force parallel to the direction of the inner wall of the pipeline can push impurities in the pipeline to move along the axial direction of the pipeline, so that the impurities are transferred, the radial force perpendicular to the direction of the inner wall of the pipeline can peel off the impurities adhered to the inner wall of the pipeline for the second time, the included angle can be 45 degrees, and the generated radial force and the generated axial force can be adjusted by adjusting the included angle.

As shown in fig. 10-11, in one embodiment, the first cleaning mechanism 300 comprises a first pipeline 310 and an L-shaped nozzle 320, the first pipeline 300 is used for liquid transmission, the L-shaped nozzle 320 is used for liquid guiding, and the liquid sprayed by the L-shaped nozzle 320 is a first high-pressure liquid; the first pipe 310 passes through the machine body 100, an inlet of the first pipe 310 is located at the rear of the machine body 100, an outlet of the first pipe 310 is located at the top of the machine body 100, the L-shaped nozzle 320 is connected with the outlet of the first pipe 310 through a rotary joint 330, and the L-shaped nozzle 320 can rotate around the rotary joint 330.

Specifically, the import of first pipeline 310 even has the barb interface, and first pipeline 310 supplies liquid equipment through the external high pressure of barb interface, and the part that first pipeline 310 is located organism 100 inside is the hose, makes things convenient for arranging and designing of pipeline, and the export and the L type shower nozzle 320 of first pipeline 310 pass through rotary interface 330 to be connected, and rotary interface 330 passes through the inside rotating electrical machines of organism 100 and drives rotatoryly, and then drives L type shower nozzle rotation. The rotary joint 330 is disposed at the middle of the top surface of the machine body 100 and is located on the central axis of the cylindrical machine body 100, so that the L-shaped nozzle 320 rotates around the central axis to cover the circumferential surface of the inner wall of the pipeline by 360 degrees, and the rotation speed of the L-shaped nozzle is preferably 2100 to 2200r/m. The L-shaped spray head 320 comprises a long end 321 and a short end 322, the long end 321 and the short end 322 are vertically arranged, the short end 322 is connected with the rotary interface 330, the length of the long end 321 is not more than the radius of the outer contour of the whole cleaning robot in the contraction state of the walking mechanism 200, and interference between the L-shaped spray head 320 and the inner wall of a pipeline in the working and rotating process is avoided. The L-shaped spray head 320 is used for guiding the liquid, so that the high-pressure liquid is perpendicular to the inner wall of the pipeline, the acting force generated at the moment is the largest, and in addition, the rotating tangential force generated by the rotation of the L-shaped spray head 320 also has the function of stripping impurities on the inner wall of the pipeline. The outlet of the L-shaped nozzle 320 is a tapered flat structure, which can increase the output pressure and the acting area, and the width of the L-shaped nozzle 320 is preferably about 50 mm.

Furthermore, the L-shaped nozzle 320 is an integrally formed structure, that is, the long end 321 and the short end 322 of the L-shaped nozzle 320 are integrally formed, and there is no connection gap or interface between the two, so that the sealing performance is good. In other embodiments, as shown in fig. 5, the L-shaped nozzle 320 may also be composed of an adapter 323 and a straight nozzle 324, so that the separated design is convenient for industrial production, wherein the adapter 323 corresponds to the short end 322 of the L-shaped nozzle 320, and the straight nozzle 324 corresponds to the long end 321 of the L-shaped nozzle 320. The straight nozzle 324 is connected with the adapter 323, the adapter 323 is connected with the outlet of the first pipeline 310 through the rotary interface 330, the adapter 323 can be modified on the basis of the rotary interface 330, and the two can be in the same structure.

As shown in fig. 12-13, in one embodiment, the second cleaning mechanism 400 includes an inlet port 410, a first chamber 420, a second chamber 430, and a communication conduit 440. Wherein, the liquid inlet 410 is externally connected with a high-pressure liquid supply device or system for inputting high-pressure liquid, and the liquid inlet 410 may be a barb interface. The first chamber 420 is in communication with the loading port 410. The second chamber 430 is annular, the first chamber 420 is located in the middle of the annular structure of the second chamber 430, the second chamber 430 is communicated with the first chamber 420 through a plurality of communication pipes 440, a plurality of spray holes 431 are formed in the surface of the second chamber 430, and annular spray liquid is generated through the annular second chamber 430 to cover the circumferential surface of the inner wall of the whole pipeline. The direction of the liquid sprayed out from the spray holes 431 forms a predetermined included angle with the inner wall of the pipeline, and the liquid sprayed out from the spray holes 431 is high-pressure liquid.

In one embodiment, the camera 500 includes a camera 510 and an illumination mechanism 520, the camera 510 is disposed on the top of the body 100, and the illumination mechanism 520 is disposed on the top of the body 100. The camera 510 is used for acquiring images, the illuminating mechanism 520 provides a shooting light source for the camera 510, and the illuminating mechanism 520 may be specifically an LED lamp.

Specifically, as shown in fig. 10, the number of the cameras 510 and the lighting mechanisms 520 is two, and the two cameras 510 and the two lighting mechanisms 520 are arranged in a cross. Wherein two cameras 510 set up respectively in the upper and lower side at organism 100 top, and the camera 510 of upside is towards dead ahead for acquire the place ahead image of cleaning robot, and the camera 510 of downside is towards the pipeline bottom, is used for acquiring the image of pipeline bottom. The two illumination mechanisms 520 are symmetrically disposed at the left and right sides of the top of the body 100 to provide a wide range of illumination.

The cleaning method realized by the embodiment of the cleaning robot comprises the following steps:

s100, putting the cleaning robot into a pipeline to be cleaned;

s200, cleaning a self-adaptive unfolding walking mechanism of the robot;

s300, the cleaning robot walks along the first direction of the pipeline to generate rotary high-pressure liquid to peel off impurities on the surface of the inner wall of the pipeline;

s400, the cleaning robot walks along a second direction of the pipeline to generate radial high-pressure liquid to deposit the stripped impurities to a preset position;

s500, judging the environment in the pipeline, and controlling the advancing speed and the advancing direction by the cleaning robot according to the environment in the pipeline;

and S600, recovering the cleaning robot from the pipeline.

Specifically, in step S100, the cleaning robot may be manually dropped into the pipeline to be cleaned, or may be dropped into the pipeline to be cleaned through the cable suspension device, and in the dropping process, the traveling mechanism of the cleaning robot is in a retracted state to reduce the size and facilitate dropping.

In step S200, after the cleaning robot is thrown to a designated position in the pipeline to be cleaned, the traveling mechanism is self-adaptively unfolded to contact with the inner wall of the pipeline, and at this time, the traveling mechanism support body is located in the middle of the pipeline, and the preparation before the cleaning operation of the cleaning robot is completed.

In step S300, the cleaning robot travels in a first direction along the pipeline, i.e., the cleaning robot travels in front of the pipeline and travels forward. When the pipeline runs forwards, the first cleaning mechanism starts to work, and the generated rotary high-pressure liquid acts on the inner wall of the pipeline to strip impurities on the surface of the inner wall of the pipeline.

In step S400, the cleaning robot walks in the second direction of the pipeline, that is, the cleaning robot walks in the rear direction of the pipeline and walks in the rear direction. When the cleaner walks backwards, the second cleaning mechanism starts to work, the high-pressure liquid which generates the radial shape flushes and accumulates the peeled sundries to the preset position, and then the sundries in the preset position are collected in a unified way.

In step S500, a picture in the pipeline is obtained by the camera mechanism, and the control terminal determines the environment in the pipeline, so as to control the walking speed and the walking direction of the cleaning robot. In general, taking a pipeline with a length of about 160 meters as an example, the minimum time for the cleaning robot to run the whole pipeline is about 8 minutes, and the minimum single-pass completion time for the full-pipeline helical scanning of the second cleaning mechanism is about 3 hours.

In step S600, after the cleaning is finished, the cleaning robot is recovered from the pipeline through a manual or cable-hanging device, and in the recovery process, the traveling mechanism of the cleaning robot is in a retracted state to reduce the volume and facilitate the recovery.

To sum up, the utility model provides an embodiment is applicable to walking under water, and the track has the advantage that is applicable to the walking of many topography, and the connection face of casing all is equipped with sealed chamber, and sealed intracavity all is filled has the sealing member, can be effectively waterproof, avoids the inside spare part of casing to damage, promotes the life of track.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (10)

1. A waterproof track, comprising:

the shell comprises a side plate and an annular peripheral surface, wherein the side plate is arranged at an opening of the annular peripheral surface and fixedly connected with the annular peripheral surface to form a closed cavity in an enclosing manner;

a first sealing cavity is formed in the contact surface of the side plate and the annular peripheral surface, a first sealing element is arranged in the first sealing cavity, and the first sealing element is in contact with each inner surface of the first sealing cavity;

a track assembly surrounding the annular periphery;

the rotating wheels are arranged at two ends of the shell and matched with the crawler belt assembly;

and a second sealing element is arranged between the rotating wheel and the contact surface of the shell.

2. The waterproof track of claim 1,

the rotating wheel comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are respectively matched with the crawler belt assembly, the driving wheel outputs power to drive the crawler belt assembly to rotate along the annular circumferential surface, and the crawler belt assembly drives the driven wheel to rotate.

3. The waterproof track of claim 2,

the driving wheel comprises a first rotating shaft and a first chain wheel;

the first rotating shaft penetrates through the side plate, two ends of the first rotating shaft are respectively provided with a first chain wheel, and the first rotating shaft rotates along with the first chain wheels;

the driven wheel comprises a second rotating shaft and a second chain wheel;

the second rotating shaft penetrates through the side plate, and two ends of the second rotating shaft are respectively provided with a second chain wheel which drives the second rotating shaft to rotate;

a second sealing cavity is formed in the contact surface of the first rotating shaft and the side plate, and the second sealing element is arranged in the second sealing cavity;

and a second sealing cavity is formed in the contact surface of the second rotating shaft and the side plate, and the second sealing element is arranged in the second sealing cavity.

4. The waterproof track of claim 1,

the surface of the side plate is provided with a through hole and an installation cover, a third sealing cavity is arranged on the contact surface of the installation cover and the side plate, and a first sealing element is arranged in the third sealing cavity;

the installation cover covers on the through-hole, installation cover side face has the line mouth, the line mouth is used for the access of circuit, the cavity intussuseption of installation cover is filled with sealed glue.

5. The waterproof track of claim 3,

the first sealing element is a sealing ring;

the second sealing member includes sealing washer and barb face, sealing washer and barb face integrated into one piece, the barb face with the surface of first pivot or the surface contact of second pivot.

6. The waterproof track of claim 2,

the crawler belt assembly comprises two chains, a plurality of crawler belts and a supporting plate strip, wherein the supporting plate strip is arranged on a side plate of the shell, is positioned between the driving wheel and the driven wheel, is positioned below the chains, and is used for supporting and limiting the chains;

the two chains are connected through a track shoe, and the track shoe is arranged at intervals;

the chain is matched with the rotating wheel.

7. The waterproof track of claim 6, wherein said pallet strips are L-shaped in cross-section, said pallet strips being provided with a plurality of reinforcing ribs.

8. The waterproof track of claim 6,

the crawler belt further comprises a plurality of anti-skidding blocks, the anti-skidding blocks are arranged on the crawler belt plate, the number of the anti-skidding blocks corresponds to that of the crawler belt plate,

the anti-skid blocks are made of rubber and are adsorbed on the surface of the crawler belt plate,

or connecting pieces are respectively arranged at the middle part and the two ends of the antiskid block, and the antiskid block is connected with the track shoe through the connecting pieces.

9. The waterproof track of claim 1,

the side plate is provided with a boss, the connecting base is arranged on the boss, and the connecting base is fixedly connected with the boss through a connecting piece;

the interior of the connecting base is of a hollow structure.

10. A cleaning robot, characterized by comprising the waterproof crawler belt of any one of claims 1 to 9, wherein the number of the waterproof crawler belt is multiple, and the cleaning robot further comprises a machine body and a connecting rod, wherein the waterproof crawler belt is connected with the machine body through the connecting rod, and the waterproof crawler belt is uniformly distributed on the circumferential surface of the machine body.

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