CN218555039U - Self-adjusting pipeline cleaning robot - Google Patents

Abstract

The utility model relates to a pipeline health safety technical field, concretely relates to self-interacting pipeline cleaning machines people. The positioning device in the motion module of the robot is positioned at the front end of the chassis. The power device of the track permanent magnetic adsorption structure is connected with the chassis through the mounting seat. The output shaft of the power device is connected with the main guide wheel. The main guide wheel and the driven wheel are connected with the chassis through the axle. The main guide wheel is connected with the driven wheel through a chain. The outer side of the chain is provided with an adsorption block. The top of the chassis is provided with a rotary table for installing the cleaning module. The guide rail assembly in the cleaning module includes a base and a carriage. The base is arranged on the rotary table. The adjusting block is connected with the sliding seat through a rotating shaft. The driving end of the rotating shaft is connected with a rotating motor. The spray pipe mechanism and the cleaning brush are both arranged on the adjusting block. This robot utilizes track permanent magnetism adsorption structure, has improved the walking stability on chassis, through the synergism of slide and adjusting block, has further promoted the cleaning performance of pipeline inner wall, has improved the cleaning efficiency.

Description

Self-interacting pipeline cleaning robot

Technical Field

The utility model relates to a pipeline health safety technical field, concretely relates to self-interacting pipeline cleaning machines people.

Background

The large range hood is widely applied to restaurants, hotels, factories, schools, hospitals, enterprises, public institutions, dining halls and the like, if the large range hood is cleaned at random, dirt is distributed on the surface and flue of a range hood pipeline, so that the oil fume treatment effect is poor, even potential safety hazards exist, a fire disaster is easy to happen, bacteria are bred, and the power consumption is obviously increased. The cleaning of the large range hood pipeline is a catering kitchen project which is environmentally friendly and compulsorily checked by fire fighting in recent years, so that a long-term and stably-growing market is in need in every county and city. But the cleaning equipment for the pipelines of the range hoods in multiple fields is few and few, and the whole large-scale range hood pipeline cleaning market has immeasurable explosion potential.

As the air conditioning and ventilating system plays an increasingly important role in daily life, the service life of the pipeline is continuously prolonged, indoor air pollution accumulated by the pipeline is more and more obvious, and the cleaning of the air conditioning and ventilating system is also concerned. The polluted air-conditioning ventilation pipeline is a main factor for forming indoor pollution, and the unclean air-conditioning air pipe can cause serious reduction of the air-conditioning effect, thereby causing a great deal of energy waste. Meanwhile, if the ventilating duct is not cleaned in time, a large amount of harmful substances are easily bred and accumulated in the air duct.

Whether the indoor safety problem which is concerned under the epidemic situation or the indoor air pollution problem which is serious day by day, the regular cleaning and disinfection of the central air conditioner, the factory smoke exhaust pipe, the large-scale pipeline and the range hood pipeline become urgent from the aspects of physical and mental health and energy saving of people.

To sum up, how to design a cleaning device at the clear in-process of air pipe for improve the stability of device walking in the pipeline, be applicable to the cleanness of inclined pipeline, further promote the cleaning performance of pipeline inner wall, improve the cleaning efficiency, just become the technical problem that technical staff in the field had a urgent need to solve.

Disclosure of Invention

An object of the utility model is to provide a cleaning device for air pipe clear in-process for the stability of improving device walking in the pipeline is applicable to the cleanness of slope pipeline, further promotes the cleaning performance of pipeline inner wall, improves the cleaning efficiency.

In order to achieve the above purpose, the utility model adopts the following scheme: a self-adjusting pipe cleaning robot is provided, comprising a motion module and a cleaning module;

the moving module comprises a chassis, a positioning device and a track permanent magnetic adsorption structure for driving the chassis to walk, the positioning device is positioned at the front end of the chassis, the track permanent magnetic adsorption structure comprises a power device, a main guide wheel and a driven wheel, the power device is connected with the chassis through an installation seat, an output shaft of the power device is connected with the main guide wheel, the main guide wheel and the driven wheel are both connected with the chassis through axles, the main guide wheel is connected with the driven wheel through a chain, an adsorption block is arranged on the outer side of the chain, and a rotary table for installing the cleaning module is arranged at the top of the chassis;

the cleaning module comprises a guide rail assembly, an adjusting block, a spray pipe mechanism and a cleaning brush, wherein the guide rail assembly comprises a base and a sliding seat, the base is installed on the rotary table, a rack is arranged on the base, the sliding seat is connected with the base through the rack, a guide rod for guiding the sliding seat is arranged on the side wall of the base, the adjusting block is connected with the sliding seat through a rotating shaft, the driving end of the rotating shaft is connected with a rotating motor for adjusting the adjusting block to adjust the pitching angle, and the spray pipe mechanism and the cleaning brush are installed on the adjusting block and rotate along with the rotation of the adjusting block.

As preferred, the front end on chassis is provided with supplementary module, supplementary module includes telescopic link subassembly and supporting shoe, the stiff end of telescopic link subassembly links to each other with the top on chassis, the telescopic link subassembly includes drive arrangement, straight-bar and sleeve pipe, the supporting shoe links to each other with sheathed tube head end, the top of supporting shoe is provided with the magnetic adsorption ball, drive arrangement's output shaft links to each other with the straight-bar, be provided with the slide rail on the lateral wall of straight-bar, the embedding has the location pearl on the slide rail, the location pearl passes through the spring and links to each other with the slide rail, the straight-bar nestification is intraductal in the cover, be provided with the slider on the sheathed tube inner wall, the slider forms the locking structure with the location pearl.

Preferably, the bottom of the chassis is provided with an oil collecting port, the front end of the chassis is provided with a vehicle lamp, and the rear end of the chassis is provided with a dust collection interface and a wiring port. So set up, the oil trap is used for making things convenient for the sewage in the suction pipeline, and the car light is used for supplementing the light source in the pipeline, and the camera of being convenient for surveys the condition in the pipeline, and the dust absorption mouth is used for linking to each other with outside vacuum generator, and then realizes the collection to floating the dust in the pipeline, and the wiring mouth is used for linking to each other with external power supply, provides power for self-interacting pipeline cleaning machines people, has further improved duration.

Preferably, the nozzle mechanism comprises a first nozzle assembly for spraying water flow and a second nozzle assembly for spraying detergent, the first nozzle assembly comprises a first sleeve structure, a first gasket is arranged at the joint of the first sleeve structure, the second nozzle assembly comprises a second sleeve structure, a second gasket is arranged at the joint of the second sleeve structure, and nozzles are arranged at the output ends of the first sleeve structure and the second sleeve structure. So set up, first spout subassembly and second spout subassembly synergism are favorable to promoting the clean effect to pipeline inner wall, have further improved clean efficiency, and the spout subassembly all adopts telescopic structure, utilizes the sleeve to reserve the activity space and solves the robot spray tube and touch the pipeline inner wall when little space pipeline turns, causes the defect that the robot can not normally function, and it is narrow and small to have solved the space, and the robot is to its just, the unable effective current situation that washs of side part pipe wall when the chassis can not rotate.

Preferably, the chassis is provided with a disinfection module, and the disinfection module is positioned between the rotary table and the chassis. So set up, be convenient for on the basis of clean pipeline, further carry out the disinfection of all-round, no dead angle to the pipeline, and then guaranteed indoor safety.

Preferably, the chassis is in a square shell shape, a sealing structure is arranged at the joint of the square shell, and the pair of track permanent magnet adsorption structures are respectively positioned on two sides of the chassis and are symmetrically distributed. So set up, be favorable to increasing the area of contact of adsorbing piece and pipeline inner wall, further guaranteed the stability of chassis at the walking in-process.

Preferably, the nozzle comprises a first nozzle, a second nozzle and a third nozzle, the inner cavity of the first nozzle is in a first truncated cone shape, the inner cavity of the second nozzle is provided with a second truncated cone shape and a second cylindrical section, the narrow opening of the second truncated cone shape is connected with the second cylindrical section, the inner cavity of the third nozzle is provided with a third cylindrical section and a third truncated cone shape, the third cylindrical section is connected with the wide opening of the third truncated cone shape, and a chamfer is arranged at the opening of the third cylindrical section. So set up, according to actual conditions needs, the impact force and the cleaning performance of rivers to pipeline inner wall have been guaranteed to the corresponding nozzle of optional.

Preferably, the power device is a stepping motor, the stepping motor is connected with the chassis through a mounting seat, and the stepping motor is connected with the main guide wheel through a harmonic reducer. So set up, be favorable to improving the walking moment on chassis, further promoted the stability of walking, utilize step motor's control accuracy, improved the position accuracy of chassis walking greatly, and then guaranteed the clean effect to pipeline inner wall.

Preferably, the positioning beads are connected with the slide rail through tower-shaped springs. So set up, utilize tower type spring can compress completely as far as in the compression, increased the flexible range of location pearl, tower type spring also can not send the abnormal sound because of the friction when compression and recovery, when having realized the fixed telescopic link of high efficiency, further reduced the noise.

Preferably, the positioning device is an ultrasonic radar. So set up, utilize ultrasonic radar to survey the barrier in the pipeline, promoted self-interacting pipeline cleaning robot's obstacle avoidance performance.

The utility model provides a pair of self-interacting pipeline cleaning machines people compares with prior art, has following substantive characteristics and progress:

1. the self-adjusting pipeline cleaning robot slides along the axial direction of the guide rod by adjusting the sliding seat, and drives the adjusting block to adjust the pitch angle by combining with the rotating motor, so that the effective cleaning area of the spray pipe mechanism and the cleaning brush is enlarged, and the rotary table arranged on the chassis can also realize 360 degrees of the whole cleaning module in the horizontal plane ^o The inner wall of the pipeline is further cleaned by rotating and adjusting, and the cleaning efficiency is improved;

2. this self-interacting pipeline cleaning machines people is through setting up supplementary module on the chassis, the effectual robot that has eliminated gets into vertical pipeline turn section by horizontal pipeline, the track permanent magnetism adsorption structure is close to the robot most front portion and the terminal part and pipeline inner wall contact failure makes the robot can not normally work, the hidden danger of turning over backward takes place even, simultaneously, can coordinate with track permanent magnetism adsorption structure at vertical pipeline section telescopic link subassembly, reinforcing external power, the robot has guaranteed steadily crawls, and then accomplish vertical pipe wall cleanness and disinfection work better.

Drawings

Fig. 1 is a schematic perspective view of a self-adjusting pipe cleaning robot according to an embodiment of the present invention;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is a rear view of FIG. 1;

FIG. 4 is a front view of FIG. 1;

FIG. 5 is a left side view of FIG. 1;

FIG. 6 is a right side view of FIG. 1;

FIG. 7 is a schematic diagram of a power system of the motion module;

FIG. 8 is a schematic view of a track permanent magnet adsorption structure;

FIG. 9 is a cross-sectional view of a first nozzle and a second nozzle;

FIG. 10 is a cross-sectional view of a third nozzle;

FIG. 11 is a schematic diagram of a control system for the motion module;

FIG. 12 is a schematic diagram of a control system for the cleaning module;

FIG. 13 is a schematic structural view of the guide rail assembly;

FIG. 14 is a schematic perspective view of a dual-track permanent magnetic adsorption structure;

FIG. 15 is a schematic view of a locking structure in the auxiliary module;

FIG. 16 is a schematic view of a first sleeve configuration;

FIG. 17 isbase:Sub>A cross-sectional view taken at A-A of FIG. 16;

fig. 18 is a perspective view of the auxiliary module;

fig. 19 is a perspective view of the auxiliary module from another perspective.

Reference numerals: the device comprises a motion module 1, a disinfection module 2, a cleaning module 3, an auxiliary module 4, a track permanent magnet adsorption structure 1-1, a chassis 1-2, a main guide wheel 1-1-1, a chain 1-1-2, an adsorption block 1-1-3, a connecting baffle 1-1-4, an oil collecting port 1-2-1, a wiring port 1-2-2, a dust suction port 1-2-3, a car light 1-2-4, an ultrasonic radar 1-2-5, a harmonic reducer 1-2-6, a stepping motor 1-2-7, a rotary table 3-1, a guide rail component 3-2, a rack 3-2-1, a guide rod 3-2-2, a slide seat 3-2-3, a rotating shaft 3-3, a rotating shaft 3-4 parts of battery, 3-5 parts of adjusting block, 3-5-1 parts of threaded hole, 3-6 parts of first spray pipe assembly, 3-6-1 parts of first sleeve structure, 3-6-1 parts of first gasket, 3-6-2 parts of first nozzle, 3-6-3 parts of second nozzle, 3-7 parts of cleaning brush, 3-8 parts of second spray pipe assembly, 3-8-1 parts of second sleeve structure, 3-8-2 parts of third nozzle, 4-1 parts of magnetic adsorption ball, 4-2 parts of supporting block, 4-3 parts of driving device, 4-4 parts of long shaft, 4-5 parts of telescopic rod assembly, 4-5-1 parts of sleeve, 4-5-2 parts of straight rod, 4-5-1 parts of sliding block, 4-5-2-1 parts of sliding rail, 4-6 of positioning beads and 4-7 of tower-shaped springs.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.

A self-adjusting pipe cleaning robot as shown in fig. 1-19, which is used to improve the stability of the device walking in the pipe, and is suitable for cleaning inclined pipes, even for cleaning working conditions of vertical pipes. The self-adjusting pipeline cleaning robot can be flexibly applied to various pipeline types such as square pipes and round pipes, and an operator can set and execute an operation instruction in advance according to self and environmental requirements. Compared with other robots, the self-adjusting pipeline cleaning robot is strong in stability and good in shock resistance, and can avoid the problem of side turning of the device caused by working vibration. Meanwhile, the walking mechanism of the chassis is optimized by the track permanent magnetic adsorption structure, the movement is flexible, and the crawler belt permanent magnetic adsorption structure can be firmly attached to the pipe wall in the cleaning process. Utilize the structure of guide rail set spare and adjusting block, spray tube mechanism can realize diversified regulation, more is applicable to the ventilation system of compriseing the reducing pipeline, and then has further promoted the cleaning performance of pipeline inner wall, has improved the cleaning efficiency.

As shown in fig. 1, a self-adjusting pipe cleaning robot includes a motion module 1, a cleaning module 3, and an auxiliary module 4. As shown in fig. 2 and fig. 3, the motion module 1 includes a chassis 1-2, a positioning device, and a track permanent magnetic adsorption structure 1-1 for driving the chassis 1-2 to travel. The positioning device is positioned at the front end of the chassis 1-2. As shown in fig. 8, the track permanent magnet adsorption structure 1-1 comprises a power device, a main guide wheel 1-1-1 and a driven wheel. The power device is connected with the chassis 1-2 through the mounting seat. The output shaft of the power device is connected with the main guide wheel 1-1-1. The main guide wheel 1-1-1 and the driven wheel are connected with the chassis 1-2 through axles. The main guide wheel 1-1-1 is connected with the driven wheel through a chain 1-1-2. The outer side of the chain 1-1-2 is provided with an adsorption block 1-1-3. The top of the chassis 1-2 is provided with a rotary table 3-1 for mounting the cleaning module 3.

As shown in FIG. 3, the cleaning module 3 includes a rail assembly 3-2, a set block 3-5, a nozzle mechanism and a sweeper brush 3-7. As shown in connection with fig. 13, the rail assembly 3-2 includes a base and a slider 3-2-3. The base is arranged on the rotary table 3-1. The base is provided with a rack 3-2-1. The sliding seat 3-2-3 is connected with the base through a rack 3-2-1. The side wall of the base is provided with a guide rod 3-2-2 for guiding the sliding seat 3-2-3. The adjusting block 3-5 is connected with the sliding seat 3-2-3 through a rotating shaft 3-3. The active end of the rotating shaft 3-3 is connected with a rotating motor for adjusting the pitching angle of the adjusting block 3-5. The spray pipe mechanism and the cleaning brush 3-7 are both arranged on the adjusting block 3-5 and rotate along with the rotation of the adjusting block 3-5. The cleaning brush 3-7 is positioned at the front end of the adjusting block 3-5. The rear end of the adjusting block 3-5 is provided with a battery 3-4 chamber for placing the battery 3-4.

As shown in fig. 5 in conjunction with fig. 18, the auxiliary module 4 includes a telescopic bar assembly 4-5 and a support block 4-2. The fixed end of the telescopic rod component 4-5 is connected with the top of the chassis 1-2. The telescopic rod component 4-5 comprises a driving device 4-3, a straight rod 4-5-2 and a sleeve 4-5-1. The support block 4-2 is connected with the head end of the sleeve 4-5-1. The top of the supporting block 4-2 is provided with a magnetic adsorption ball 4-1. An output shaft of the driving device 4-3 is connected with the straight rod 4-5-2. The side wall of the straight rod 4-5-2 is provided with a slide rail 4-5-2-1. The slide rail 4-5-2-1 is embedded with a positioning bead 4-6. As shown in FIG. 15, the positioning beads 4-6 are connected to the slide rail 4-5-2-1 by a spring. The straight rod 4-5-2 is nested in the sleeve 4-5-1. As shown in FIG. 19, the inner wall of the casing 4-5-1 is provided with a slider 4-5-1-1. The slide block 4-5-1-1 and the positioning bead 4-6 form a locking structure.

When the inner diameter of the pipeline is increased, the sleeve 4-5-1 stretches the length of the telescopic rod component 4-5 under the action of the magnetic force of the magnetic adsorption ball 4-1 so as to keep the chassis 1-2 to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve 4-5-4, and the length of the telescopic rod component 4-5 is compressed to ensure the trafficability of the chassis 1-2 in the pipeline. Therefore, the robot enters the turning section of the vertical pipeline from the horizontal pipeline, the hidden danger that the robot cannot work normally and even turns backwards due to the fact that the contact between the most front end part and the tail end part of the track permanent magnet adsorption structure close to the robot and the inner wall of the pipeline is poor is effectively eliminated, meanwhile, the telescopic rod assembly of the vertical pipeline section can be matched with the track permanent magnet adsorption structure in a coordinated mode, external power is enhanced, the robot is guaranteed to crawl steadily, and then the cleaning and disinfecting work of the vertical pipeline wall is completed well.

Wherein, the positioning device is an ultrasonic radar 1-2-5. By the arrangement, obstacles in the pipeline are detected by the ultrasonic radar 1-2-5, and the obstacle avoidance performance of the self-adjusting pipeline cleaning robot is improved. The brush heads of the cleaning brushes 3-7 are preferably round nylon material brushes. Therefore, the brush head is not easy to damage the pipe wall and can achieve the expected cleaning effect. As shown in FIG. 4, the brush bar of the sweeper brush 3-7 may be connected to a threaded hole 3-5-1 provided in the adjustment block 3-5.

Compared with the traditional pipeline cleaning robot with single performance or limited application area, the self-adjusting pipeline cleaning robot has the advantages of wide action range, high detachability, remarkable cleaning and disinfection effects and the like, meets different application occasions and different functional requirements, can be used for realizing independent basic cleaning and maintenance purposes for central air-conditioning pipelines and large pipelines, realizes the deep cleaning, disinfection and sterilization effects, can be used for realizing accumulated dirt cleaning for range hood pipelines, reduces bacterial propagation and disease prevention, and greatly avoids the accumulation of pipeline dust and oil dirt and the propagation of air pipe system energy consumption and respiratory diseases caused by virus breeding.

As shown in fig. 1, a disinfection module 2 is arranged on the chassis 1-2. The disinfection module 2 is positioned between the rotary table 3-1 and the chassis 1-2. So set up, be convenient for on clean pipeline's basis, further carry out the disinfection of all-round, no dead angle to the pipeline, and then guaranteed indoor safety.

As shown in fig. 14, the chassis 1-2 is in a square shell shape, a sealing structure is arranged at the joint of the square shell, and the pair of track permanent magnetic adsorption structures 1-1 are respectively positioned at two sides of the chassis 1-2 and symmetrically distributed. The arrangement is favorable for increasing the contact area of the adsorption blocks 1-1-3 and the inner wall of the pipeline, and further ensures the stability of the chassis 1-2 in the walking process. In order to further improve the rigidity of the track permanent magnet adsorption structure, connecting baffles 1-1-4 are arranged on the outer side of the track permanent magnet adsorption structure.

As shown in figure 2, the bottom of the chassis 1-2 is provided with an oil collecting port 1-2-1. As shown in FIG. 5 in combination with FIG. 6, the front end of the chassis 1-2 is provided with a vehicle lamp 1-2-4. The rear end of the chassis 1-2 is provided with a dust collection interface 1-2-3 and a wiring interface 1-2-2. With the arrangement, the oil collecting port 1-2-1 is used for conveniently sucking sewage in the pipeline. The car light 1-2-4 is used for supplementing a light source in the pipeline, so that a camera can detect the condition in the pipeline conveniently. The dust suction port is used for being connected with an external vacuum generating device, so that the floating dust in the pipeline can be collected. The wiring port 1-2-2 is used for being connected with an external power supply, provides power for the self-adjusting pipeline cleaning robot, and further improves cruising ability.

As shown in fig. 3, the nozzle means includes a first nozzle assembly 3-6 for spraying water and a second nozzle assembly 3-8 for spraying degreaser. As shown in connection with fig. 16 and 17, the first spout assembly 3-6 includes a first sleeve structure 3-6-1. The joint of the first sleeve structure 3-6-1 is provided with a first gasket 3-6-1-1. As shown in fig. 4, the second nozzle assembly 3-8 includes a second sleeve structure 3-8-1. A second gasket is arranged at the joint of the second sleeve structure 3-8-1. The output ends of the first sleeve structure 3-6-1 and the second sleeve structure 3-8-1 are provided with nozzles. By the arrangement, the first spray pipe assemblies 3-6 and the second spray pipe assemblies 3-8 have a synergistic effect, so that the cleaning effect on the inner wall of the pipeline is improved, and the cleaning efficiency is further improved.

Wherein the nozzles comprise a first nozzle 3-6-2, a second nozzle 3-6-3 and a third nozzle 3-8-2. As shown in fig. 9, the inner cavity of the first nozzle 3-6-2 has a first truncated cone shape. The inner cavity of the second nozzle 3-6-3 has a second truncated cone shape and a second cylindrical section. The second truncated cone shaped throat is connected to the second cylindrical section. As shown in FIG. 10, the inner cavity of the third nozzle 3-8-2 has a third cylindrical section and a third frustoconical shape. The third cylindrical section is connected with a third frustum-shaped wide opening. And a chamfer is arranged at the opening of the third cylindrical section. So set up, according to actual conditions needs, the impact force and the cleaning performance of rivers to pipeline inner wall have been guaranteed to the corresponding nozzle of optional.

As shown in fig. 7, the power plant is a stepper motor 1-2-7. The stepping motor 1-2-7 is connected with the chassis 1-2 through a mounting seat. The stepping motor 1-2-7 is connected with the main guide wheel 1-1-1 through the harmonic reducer 1-2-6. By the arrangement, the walking torque of the chassis 1-2 is improved, the walking stability is further improved, the walking position precision of the chassis 1-2 is greatly improved by utilizing the control precision of the stepping motor 1-2-7, and the cleaning effect on the inner wall of the pipeline is further ensured.

As shown in fig. 11, the driver chip of the stepper motors 1-2-7 may select an L298N double H bridge. The model of the singlechip CPU1 can be STM32F 103C 8T6. The speed measuring circuit for chassis walking consists of Huaxin Hall sensors HG1 and HG 2. The hall sensor model can be selected from HX6278. The hall sensor HG1 is used to measure the speed of the main pulley 1-1-1 at one side, and the hall element HG2 is used to measure the speed of the main pulley 1-1-1 at the other side.

As shown in FIG. 15, the positioning beads 4-6 are connected to the slide rail 4-5-2-1 by a tower-shaped spring 4-7. By the arrangement, the tower-shaped spring can be completely compressed as far as possible during compression, so that the expansion and contraction amplitude of the positioning beads 4-6 is increased. The tower spring can not send abnormal sound due to friction when compressing and restoring, and when having realized the high-efficient fixed telescopic link, further reduced the noise.

The embodiment of the utility model provides an in when proposing a self-interacting pipeline cleaning machines people uses, including following step:

step one, a self-adjusting pipeline cleaning robot is placed at an inlet of a pipeline to be cleaned, a power device is started, the power device drives a chain with an adsorption block to rotate, and then a chassis is driven to walk along the inner wall of the pipeline;

adjusting the position of the sliding seat on the base, adjusting the pitching angle of the adjusting block relative to the plane of the pipeline and adjusting the height of a supporting block in the telescopic rod component according to the internal structure of the pipeline, so that the magnetic adsorption ball is adsorbed on the inner wall of the pipeline, the spray pipe mechanism sprays water flow and detergent into the pipeline, and the cleaning brush cleans the inner wall of the pipeline along with the walking of the chassis;

step three, when the inner diameter of the pipeline is increased, the sleeve stretches the length of the telescopic rod component under the action of the magnetic force of the magnetic adsorption ball so as to keep the chassis to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve, and the length of the telescopic rod component is compressed to ensure the passability of the chassis in the pipeline.

For example, the self-adjusting pipe cleaning robot is used in the normal operation process of central air conditioners, factory smoke exhaust pipes, large pipes and range hood pipes. When the computer requires the chassis to advance, the single chip microcomputer CPU1 sends signals to the driving chips IC2 and IC3 of the stepping motors 1-2-7 according to the requirement of the driving chip L298N double H bridge working logic to enable the motors GB1 and GB2 to rotate forwards at the same time; when the computer requires the chassis to retreat, the single chip microcomputer CPU1 sends signals to the driving chips IC2 and IC3 of the stepping motors 1-2-7 according to the working logic requirement of the driving chip L298N double H bridges to enable the motors GB1 and GB2 to simultaneously rotate reversely; when the computer requires that the chassis turns left, the single chip microcomputer CPU1 sends a signal to a driving chip IC2 of the stepping motor 1-2-7 according to the requirement of the driving chip L298N double H bridge working logic to enable the motor GB1 to rotate reversely, and the single chip microcomputer CPU1 sends a signal to a driving chip IC3 of the stepping motor 1-2-7 according to the requirement of the driving chip L298N double H bridge working logic to enable the motor GB2 to rotate forwardly; when the computer requires the chassis to turn right, the single chip microcomputer CPU1 sends a signal to a driving chip IC2 of the stepping motor 1-2-7 according to the requirement of a driving chip L298N double H bridge working logic, so that the motor GB1 rotates forwards; the single chip microcomputer CPU1 sends signals to a driving chip IC3 of the stepping motors 1-2-7 according to the requirements of the driving chip L298N double H bridge working logic, and the motor GB2 is reversed.

If an obstacle exists in front of the robot, an ultrasonic radar 1-2-5 receiving probe R positioned at the front end of the chassis receives an echo signal reflected by an ultrasonic signal of a radar device transmitting probe T when encountering the obstacle, the echo signal is processed by a radar receiving circuit and then sent to a single chip microcomputer CPU1, and a computer runs to send an instruction to enable motors GB1 and GB2 to rotate reversely or stop, so that the robot walks or stops moving around the obstacle. When the magnetic steel arranged on the stepping motor 1-2-7 is close to the Hall sensor, a pulse is generated, the signal is transmitted to the singlechip CPU1, and the singlechip counts the pulse number generated by the external pulse within one second through the signal, so that the rotating speed of wheels at two sides of the trolley is calculated; the singlechip sends instruction signals to the robot walking driving system according to the requirement of vehicle body motion control, and adjusts the walking speed and steering of the robot.

As shown in fig. 12, in the process of cleaning the central air conditioner, the factory smoke exhaust pipe, the large pipe and the range hood pipe by the self-adjusting pipe cleaning robot, the motor GB3, the driving chip IC4 and the peripheral elements form a lifting driving rotation circuit of the adjusting block 3-5. The full set driving chip IC4 selects an L298N double H bridge. When the single chip microcomputer CPU1 sends a signal to the driving chip IC4 according to the requirement of the L298N double H bridge working logic to enable the motor GB3 to rotate forwards, and then the opening of the spray pipe component inclines upwards; when the single chip microcomputer CPU1 sends a signal to the drive chip IC4 according to the requirement of the L298N double H bridge working logic to enable the motor GB3 to rotate reversely, and then the opening of the spray pipe component inclines downwards. When the pitching angle of the spray pipe assembly is raised to the maximum position, the limit switch S1 sends a detection signal to the single chip microcomputer CPU1, and the single chip microcomputer CPU1 sends an instruction to the lifting driving circuit of the adjusting block 3-5 to enable the lifting motor GB3 to stop moving; when the opening of the high-spraying pipe assembly is lowered to the lowest position, the limit switch S2 sends a detection signal into the single chip microcomputer CPU1, and the single chip microcomputer CPU1 sends an instruction to the lifting driving circuit of the adjusting block 3-5 to enable the lifting motor GB3 to stop moving.

When the inner diameter of the pipeline is increased, the sleeve 4-5-1 stretches the length of the telescopic rod component 4-5 under the action of the magnetic force of the magnetic adsorption ball 4-1 so as to keep the chassis 1-2 to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve 4-5-4, and the length of the telescopic rod component 4-5 is compressed to ensure the trafficability of the chassis 1-2 in the pipeline.

The utility model discloses not be limited to the concrete technical scheme that above-mentioned embodiment said, except above-mentioned embodiment, the utility model discloses can also have other embodiments. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention.

Claims (10)

1. A self-adjusting pipe cleaning robot comprising a motion module and a cleaning module;

the moving module comprises a chassis, a positioning device and a track permanent magnetic adsorption structure for driving the chassis to walk, the positioning device is positioned at the front end of the chassis, the track permanent magnetic adsorption structure comprises a power device, a main guide wheel and a driven wheel, the power device is connected with the chassis through an installation seat, an output shaft of the power device is connected with the main guide wheel, the main guide wheel and the driven wheel are both connected with the chassis through axles, the main guide wheel is connected with the driven wheel through a chain, an adsorption block is arranged on the outer side of the chain, and a rotary table for installing the cleaning module is arranged at the top of the chassis;

the cleaning module comprises a guide rail assembly, an adjusting block, a spray pipe mechanism and a cleaning brush, wherein the guide rail assembly comprises a base and a sliding seat, the base is installed on the rotary table, a rack is arranged on the base, the sliding seat is connected with the base through the rack, a guide rod for guiding the sliding seat is arranged on the side wall of the base, the adjusting block is connected with the sliding seat through a rotating shaft, the driving end of the rotating shaft is connected with a rotating motor for adjusting the adjusting block to adjust the pitching angle, and the spray pipe mechanism and the cleaning brush are installed on the adjusting block and rotate along with the rotation of the adjusting block.

2. The self-adjusting pipeline cleaning robot as claimed in claim 1, wherein an auxiliary module is arranged at the front end of the chassis, the auxiliary module comprises a telescopic rod assembly and a supporting block, a fixed end of the telescopic rod assembly is connected with the top of the chassis, the telescopic rod assembly comprises a driving device, a straight rod and a sleeve, the supporting block is connected with the head end of the sleeve, a magnetic adsorption ball is arranged at the top of the supporting block, an output shaft of the driving device is connected with the straight rod, a sliding rail is arranged on the side wall of the straight rod, a positioning ball is embedded in the sliding rail and connected with the sliding rail through a spring, the straight rod is nested in the sleeve, a sliding block is arranged on the inner wall of the sleeve, and the sliding block and the positioning ball form a locking structure.

3. The self-adjusting pipe cleaning robot of claim 1, wherein an oil gathering port is arranged at the bottom of the chassis, a vehicle lamp is arranged at the front end of the chassis, and a dust suction port and a wiring port are arranged at the rear end of the chassis.

4. The self-adjusting pipe cleaning robot of claim 1, wherein the nozzle mechanism comprises a first nozzle assembly and a second nozzle assembly, the first nozzle assembly comprising a first sleeve structure, a first washer disposed at a junction of the first sleeve structure, the second nozzle assembly comprising a second sleeve structure, a second washer disposed at a junction of the second sleeve structure, and a nozzle disposed at an output end of each of the first sleeve structure and the second sleeve structure.

5. The self-adjusting pipe cleaning robot of claim 1, wherein the chassis has a sanitizing module disposed thereon, the sanitizing module being located between the turntable and the chassis.

6. The self-adjusting pipeline cleaning robot as recited in claim 1, wherein the chassis is in the shape of a square shell, a sealing structure is arranged at a joint of the square shell, and the pair of track permanent magnetic adsorption structures are respectively arranged on two sides of the chassis in a symmetrical distribution.

7. The self-adjusting pipe cleaning robot of claim 4, wherein the nozzle comprises a first nozzle, a second nozzle and a third nozzle, the inner cavity of the first nozzle is in a first truncated cone shape, the inner cavity of the second nozzle is provided with a second truncated cone shape and a second cylindrical section, the narrow opening of the second truncated cone shape is connected with the second cylindrical section, the inner cavity of the third nozzle is provided with a third cylindrical section and a third truncated cone shape, the third cylindrical section is connected with the wide opening of the third truncated cone shape, and the opening of the third cylindrical section is provided with a chamfer.

8. The self-adjusting pipe cleaning robot of claim 1, wherein the power device is a stepper motor, the stepper motor is connected to the chassis through a mounting base, and the stepper motor is connected to the main pulley through a harmonic reducer.

9. The self-adjusting pipe cleaning robot of claim 2, wherein the positioning beads are connected to the slide rail by a tower spring.

10. The self-adjusting pipe cleaning robot of claim 1, wherein the positioning device is an ultrasonic radar.

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