CN218343623U - Compact track and cleaning robot - Google Patents

Abstract

The utility model relates to the technical field of transmission machinery, and discloses a compact track and a cleaning robot, which comprises a track component for walking; the crawler belt type crawler belt conveyor comprises a shell, a track, a first guide rail, a second guide rail, a first guide rail and a second guide rail, wherein the shell is a sealed cavity and is formed by surrounding an annular peripheral surface and a side plate; the transmission assembly is arranged in the shell and drives the track to rotate along the annular circumferential surface of the shell; the power assembly is arranged inside the shell and connected with the transmission assembly to provide power for the transmission assembly, and the power provided by the power assembly is output to the track assembly after being changed in speed through the transmission assembly. The utility model discloses with drive assembly and power component integrated structure as an organic whole, reduced the volume and the weight of track effectively, this kind of integrated design modularization degree is high, and convenient installation and the cooperation with other spare parts are used.

Description

Compact track and cleaning robot

Technical Field

The utility model relates to a transmission machinery technical field especially relates to a compact track and cleaning 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 compactness of the running mechanism is poor.

An object of the utility model is to provide a compact track and cleaning robot.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a compact crawler belt for cleaning a pipe by walking, which solves the problem of poor compactness of the existing walking mechanism.

To achieve the above object, the present invention provides a compact crawler belt, including:

the crawler belt assembly is used for walking;

the crawler belt assembly comprises a shell, a first fixing plate, a second fixing plate and a third fixing plate, wherein the shell is a sealed cavity and is surrounded by an annular peripheral surface and a side plate, the crawler belt assembly surrounds the annular peripheral surface of the shell, and the shell is used for supporting the crawler belt assembly;

the transmission assembly is arranged in the shell and drives the crawler assembly to rotate along the annular peripheral surface of the shell;

the power assembly is arranged in the shell, is connected with the transmission assembly and provides power for the transmission assembly;

the power provided by the power assembly is output to the track assembly after being decelerated by the transmission assembly.

Optionally, the track assembly comprises a plurality of chains, a plurality of track shoes, a driving wheel and a driven wheel;

the chains are connected through creeper treads which are arranged at intervals;

the driving wheel and the driven wheel are respectively arranged at two ends of the shell, and the driving wheel and the power assembly perform power conversion;

a first chain wheel is arranged on the part of the driving wheel, which is positioned outside the shell, and the chain is matched with the first chain wheel;

a second chain wheel is arranged on the part, located outside the shell, of the driven wheel, and the chain is matched with the second chain wheel;

the part of the driving wheel, which is positioned in the shell, is provided with a first gear, and the first gear is meshed with the transmission assembly;

the first chain wheel is connected with the first gear through a first rotating shaft, and the second chain wheel is installed on the second rotating shaft.

Optionally, the chain limiting device further comprises a supporting plate strip, wherein the supporting plate strip is arranged on a side plate of the shell, is located between the driving wheel and the driven wheel, is located below the chain, and is used for supporting and limiting the chain.

Optionally, the crawler belt further comprises a plurality of anti-slip blocks, the anti-slip blocks are arranged on the crawler belt plate, the number of the anti-slip 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.

Optionally, the power assembly includes a motor and a mounting cover, the motor is located inside the housing, the motor includes a rotor and a stator, the stator is located in the middle of the rotor, the stator is fixedly connected with the housing, and a second gear is disposed on an outer surface of the rotor;

the installation cover is arranged on the shell and located at two ends of the motor, the installation cover is provided with a wire port, and a cavity of the installation cover is filled with sealant.

Optionally, the transmission assembly comprises a plurality of gear sets, the gear sets comprise a third rotating shaft, a fourth rotating shaft, a third gear, a fourth gear and a fifth gear,

the third gear and the fourth gear are arranged on the third rotating shaft, and the fifth gear is arranged on the fourth rotating shaft;

in the same gear set, the third gear is meshed with the fifth gear;

the fifth gear of one of the adjacent gear sets is meshed with the fourth gear of the other gear set;

and in the gear sets on two sides, the fourth gear in the gear set on one side is meshed with the second gear, and the fifth gear in the gear set on the other side is meshed with the first gear.

Optionally, the number of the gear sets is four, and the speed ratio of the gear sets is 2.75.

Optionally, the side plate is provided with a plurality of mounting holes and connecting holes;

the mounting holes are used for mounting the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft, the connecting holes are used for fixedly connecting the mounting cover and the shell, and the connecting holes are used for fixedly connecting the gear set and the shell;

a bearing is arranged in the mounting hole;

the thickness of the mounting hole is larger than that of the side plate, and the thickness of the connecting hole is larger than that of the side plate.

Optionally, the rotating speed of the motor is 2000-2150 r/m, and the rotating speed of the track assembly is 0.8-1.2 r/s.

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

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

the utility model provides an integrated structure of compact track with drive assembly and power component, the volume and the weight of track have been reduced effectively, this kind of integrated design modularization degree is high, the installation and the cooperation of convenience and other spare parts are used, also convenient replacement, adopt seal structure's casing, all locate drive assembly and power component in the sealed casing, unnecessary waterproof sealing design has been got rid of, can realize drive assembly and power component's effective waterproof, avoid drive assembly and power component to cause the damage because of intaking, be applicable to underwater environment work.

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 track of the present invention;

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

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

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

FIG. 5 is a schematic view of a drive assembly of an embodiment of the track of the present invention;

FIG. 6 is a schematic side plate view of an embodiment of the track 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 partially 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:

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; 20-a housing; 21-an annular peripheral surface; 22-side plate; 23-mounting holes; 24-a connection hole; 25-a bearing; 26-a sealing gasket; 30-a transmission assembly; 31-gear set; 32-a third rotating shaft; 33-a fourth rotating 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; 100-body; 200-a traveling mechanism; 210-a telescoping mechanism; 220-a crawler belt; 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-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", "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as implying any indication of the number of technical features indicated. 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 "connected" are to be construed broadly and may include, for example, fixed connections, removable connections, and integral connections; 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 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 compact track provided by the present invention.

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

Referring to fig. 1-6, the compact track of the present embodiment includes a track assembly 10, a housing 20, a drive assembly 30, and a power assembly 40. The housing 20 is a sealed cavity, the housing 20 is composed of an annular peripheral surface 21 and a side plate 22, the track assembly 10 surrounds the annular peripheral surface of the housing 20, and the housing 20 is used for supporting the track assembly 10. The transmission assembly 30 and the power assembly 40 are both arranged inside the casing 20, the transmission assembly 30 is connected with 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 drives the track assembly 10 to rotate around the annular periphery of the casing 20.

In one embodiment, track assembly 10 includes a chain 11, track shoes 12, a drive wheel 13, and a driven wheel 14.

The chains 11 are two in number and are disposed in parallel on both 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, and the track shoes 12 function to include connecting the chains 11 and increasing the contact area of the track assembly 10 with the walking surface.

The driving wheel 13 and the driven wheel 14 are respectively disposed at two ends of the housing 20, wherein the driving wheel 13 and the power assembly 40 perform power conversion. The driving pulley 13 comprises two first chain wheels 13a, a first rotating 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 rotates under the action of the power assembly 40, and then drives the first rotating shaft 13b and the first chain wheel 13a to rotate, and then drives the chain 11 engaged with the first chain wheel 13a to rotate, and the driven pulley 14 rotates along with the chain 11 is also engaged with the second chain wheel 14 a.

In one embodiment, the chain support device further comprises a supporting plate strip 15, wherein the supporting plate strip 15 is arranged on a side plate 22 of the shell 20 and is positioned between the driving wheel 13 and the driven wheel 14 and below the chain 11 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 supporting plate strip 15 is L-shaped, and a plurality of rib plates are arranged in a space clamped by the supporting plate strip 15, so that the weight of the supporting plate 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 power assembly 40 includes a motor 41 and a mounting cover 42, 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 sequentially arranged, 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. 4-5, in the same gear set 31, the third gear 34 is meshed with the fifth gear 36, i.e. 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 of the gear sets 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.

The transmission assembly 30 performs a speed change function through multiple sets of gears. The motor 41 is specifically a direct-current brushless frameless torque outer rotor (non-servo), the rotating speed of the motor 41 is 2000-2150 r/m, preferably 2100r/m, the total reduction ratio of the transmission assembly 30 is 32, the rotating speed obtained by the crawler assembly 10 through the transmission assembly 30 changing the rotating speed output by the motor 41 is 0.8-1.2 r/s, preferably 1.09r/s, and the realized traveling speed is about 20-21m/min. The rotating speed of the motor 41 in the embodiment is suitable for the structural strength of the crawler belt, the size of the transmission assembly 30 is moderate, and the traveling speed achieved after the crawler belt changes the speed can meet most requirements of underwater operation.

In one embodiment, as shown in FIG. 6, 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.

In one embodiment, a plurality of sealing gaskets 26 are also included, with the sealing gaskets 26 enhancing the sealing of the housing 20. The sealing gasket 26 is positioned as follows: a sealing washer 26 is arranged between the first rotating shaft 13b and the mounting hole 23, a sealing washer 26 is arranged between the second rotating shaft 14b and the mounting hole 23, the sealing washer 26 is arranged between the contact surface of the mounting cover 42 and the housing 20, and the sealing washer 26 is arranged between the contact surface of the side plate 22 and the annular peripheral surface 21.

The embodiment of the utility model provides a clearance robot is applicable to the clearance of pipeline inside, 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 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 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 the deposited and adhered impurities such as sludge and garbage off 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 track 220, the telescopic mechanism 210 is respectively connected to the body 100 and the track 220, the telescopic mechanism 210 is equivalent to a connecting rod, and the telescopic mechanism 210 drives the track 220 to perform telescopic motion. The track 220 is a compact track as in the above embodiments.

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 crawler belts 220 is also three.

Specifically, the telescopic mechanism 210 and the caterpillar 220 are connected with 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 caterpillar 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, the machine body 100 is prevented from being in contact with the inner wall of the pipeline and sundries adhered to the inner wall, and the machine body 100 is prevented from being damaged. The telescoping mechanism 210 may be a link telescoping mechanism. The control assembly controls the travel speed of the tracks 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 telescoping mechanism 210 is in the extended state, the extended size is adapted to the inner diameter of the pipe, and the track 220 is in contact with the inner wall of the pipe.

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 under the action of 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 includes 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 ejected 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 passes through the external high pressure liquid supply equipment 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 of first pipeline 310 passes through rotary interface 330 with L type shower nozzle 320 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 in 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, thereby realizing 360-degree circumferential coverage of the inner wall of the pipeline. 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 does not exceed 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 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 sundries 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 a fluid inlet 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 illumination mechanism 520 provides a shooting light source for the camera 510, and the illumination 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;

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 travels in a second direction along the pipeline, i.e., the cleaning robot travels behind the pipeline and travels backwards. And when the robot walks backwards, the second cleaning mechanism starts to work, the radial high-pressure liquid is generated to flush and accumulate the stripped impurities to a preset position, and then the impurities at the preset position are uniformly recovered.

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, the utility model provides a compact track is integrated structure as an organic whole with drive assembly and power component, the volume and the weight of track have been reduced effectively, this kind of integrated design modularization degree is high, convenient installation and the cooperation with other spare parts are used, also convenient replacement, adopt seal structure's casing, all locate sealed casing with drive assembly and power component in, got rid of unnecessary waterproof sealing design, can realize drive assembly and power component's effective waterproof, avoid drive assembly and power component to cause the damage because of intaking, be applicable to underwater environment work.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; 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 compact track, comprising:

the crawler belt assembly is used for walking;

the crawler belt assembly comprises a shell, a first fixing piece and a second fixing piece, wherein the shell is a sealed cavity and is defined by an annular peripheral surface and a side plate, the crawler belt assembly is defined on the annular peripheral surface of the shell, and the shell is used for supporting the crawler belt assembly;

the transmission assembly is arranged in the shell and drives the crawler assembly to rotate along the annular circumferential surface of the shell;

the power assembly is arranged in the shell, is connected with the transmission assembly and provides power for the transmission assembly;

the power provided by the power assembly is output to the track assembly after the speed of the power assembly is changed through the transmission assembly.

2. The compact track of claim 1, wherein the track assembly comprises a plurality of chains, a plurality of track shoes, a drive wheel, and a driven wheel;

the chains are connected through creeper treads which are arranged at intervals;

the driving wheel and the driven wheel are respectively arranged at two ends of the shell, and the driving wheel and the power assembly perform power conversion;

a first chain wheel is arranged on the part of the driving wheel, which is positioned outside the shell, and the chain is matched with the first chain wheel;

a second chain wheel is arranged on the part, located outside the shell, of the driven wheel, and the chain is matched with the second chain wheel;

the part of the driving wheel, which is positioned in the shell, is provided with a first gear, and the first gear is meshed with the transmission assembly;

the first chain wheel is connected with the first gear through a first rotating shaft, and the second chain wheel is installed on a second rotating shaft.

3. The compact track of claim 2, further comprising pallet bars provided on side plates of the housing between the drive and driven wheels and below the chain for supporting and restraining the chain.

4. The compact track of claim 2, further comprising a plurality of cleats disposed on said track plate, said cleats corresponding in number to said track 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.

5. The compact track of claim 2, wherein the power assembly includes a motor and a mounting cover, the motor is located inside the housing, the motor includes a rotor and a stator, the stator is located in the middle of the rotor, the stator is fixedly connected with the housing, and the outer surface of the rotor is provided with a second gear;

the installation cover is arranged on the shell and located at two ends of the motor, the installation cover is provided with a wire port, and a cavity of the installation cover is filled with sealant.

6. The compact track of claim 5, wherein the drive assembly includes a plurality of gear sets including a third shaft, a fourth shaft, a third gear, a fourth gear, and a fifth gear,

the third gear and the fourth gear are arranged on the third rotating shaft, and the fifth gear is arranged on the fourth rotating shaft;

in the same gear set, the third gear is meshed with the fifth gear;

the fifth gear of one of the adjacent gear sets is meshed with the fourth gear of the other gear set;

and in the gear sets on two sides, the fourth gear in the gear set on one side is meshed with the second gear, and the fifth gear in the gear set on the other side is meshed with the first gear.

7. The compact track of claim 6, wherein said side plates are provided with a plurality of mounting holes and attachment holes;

the mounting holes are used for mounting the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft, the connecting holes are used for fixedly connecting the mounting cover and the shell, and the connecting holes are used for fixedly connecting the gear set and the shell;

a bearing is arranged in the mounting hole;

the thickness of the mounting hole is larger than that of the side plate, and the thickness of the connecting hole is larger than that of the side plate.

8. The compact track of claim 6, wherein the number of gear sets is four, and the gear ratio of the gear sets is 2.75.

9. The compact track of claim 8, wherein the motor has a speed of 2000 to 2150r/m and the track assembly has a speed of 0.8 to 1.2r/s.

10. A cleaning robot, characterized by comprising the compact crawler belt according to any one of claims 1 to 9, wherein the compact crawler belt is provided in a plurality of numbers, and further comprising a machine body and a connecting rod, the compact crawler belt is connected with the machine body through the connecting rod, and the compact crawler belt is uniformly distributed on the circumferential surface of the machine body.

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