CN219112418U

CN219112418U - Pipeline cleaning robot

Info

Publication number: CN219112418U
Application number: CN202223336683.7U
Authority: CN
Inventors: 闫梓涵; 刘海龙; 沙林秀; 王洁琳
Original assignee: Xian Shiyou University
Current assignee: Xian Shiyou University
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-06-02
Anticipated expiration: 2032-12-12

Abstract

The application relates to a pipeline cleaning robot, which comprises an umbrella-shaped cleaning mechanism, a crawler traveling mechanism, a detection and protection mechanism and a supporting box body, wherein the distance between the umbrella-shaped cleaning mechanism and the crawler traveling mechanism and the inner wall of a pipeline can be adjusted, so that the cleaning diameter range can be adjusted, and the pipeline cleaning robot is suitable for cleaning pipelines with different pipe diameters; the pipeline cleaning robot has the advantages of simple structure, quick control, strong cleaning capability and obstacle avoidance capability, and can be suitable for pipelines with different pipe diameters and different shapes.

Description

Pipeline cleaning robot

Technical Field

The application relates to the technical field of robot control, in particular to a pipeline cleaning robot.

Background

In the fields of industrial applications such as petroleum, natural gas, nuclear industry, water supply and drainage, and pipeline transportation, pipelines have been playing a very important role as an important transportation means. The pipeline is a common transportation tool in industry, such as a sewage discharge pipeline, an oil and gas pipeline, a central air conditioning ventilation pipeline and the like, and due to the complexity of the environment in which the pipeline is positioned and the industrial requirement, the pipeline is not just a pure straight pipe, but is in various forms, such as a pipeline with a certain slope, a pipeline with a variable pipe diameter, a curve with an arc, a T-shaped pipeline and the like. In the use process of the pipeline, the problems of oil stain, deformation, blockage, fracture, leakage and the like of the pipeline always exist, and the detection, maintenance and cleaning of the pipeline are complex and difficult.

In the traditional manual maintenance method, the problems of high cost, high risk, low maintenance quality and the like exist. With the development of scientific technology and novel materials in recent years, the pipeline cleaning robot greatly solves the problem of pipeline maintenance. A pipeline cleaning robot belongs to a special robot in industrial robots. Generally, a pipe cleaning robot carries various sensors and work equipment and performs conventional inspection and maintenance of a pipe inside the pipe under the control of an operator or a computer. The pipeline safety device is developed specifically for detection, cleaning and welding of the conveying pipeline, and the pipeline safety can be ensured for a long time by carrying out regular and specific detection maintenance and cleaning work on the pipeline. However, the existing pipeline cleaning robot has poor applicability to a special type of pipeline in the operation process, and cannot guarantee the cleaning effect.

Disclosure of Invention

In order to overcome at least one of the deficiencies in the prior art, embodiments of the present application provide a pipe cleaning robot.

In a first aspect, there is provided a pipe cleaning robot comprising:

the device comprises an umbrella-shaped cleaning mechanism, a crawler traveling mechanism, a detection and protection mechanism and a supporting box body, wherein the umbrella-shaped cleaning mechanism and the crawler traveling mechanism are both connected with the supporting box body, and the detection and protection mechanism is connected with the umbrella-shaped cleaning mechanism;

the umbrella-shaped cleaning mechanism is used for cleaning the pipeline and comprises a plurality of cleaning heads, and the cleaning heads are connected with the supporting box body through the pressure adjusting mechanism;

the crawler travelling mechanism is used for realizing the travelling and supporting of the pipeline cleaning robot in the pipeline and comprises a plurality of crawler travelling trays, and each crawler travelling tray is connected with a supporting box body through a supporting bracket;

the detection and protection mechanism comprises a shield-shaped mechanical protection head and is used for realizing the safety protection of the pipeline cleaning robot.

In one embodiment, the umbrella type cleaning mechanisms are 2, and the 2 umbrella type cleaning mechanisms are positioned at two ends of the pipeline cleaning robot along the length direction of the pipeline in the process of cleaning the pipeline by the pipeline cleaning robot.

In one embodiment, the detecting and protecting mechanisms are 2, and are respectively connected with 2 umbrella-shaped cleaning mechanisms.

In one embodiment, the pressure adjustment mechanism includes: the umbrella comprises a supporting rod, a plurality of umbrella ribs, a plurality of umbrella rib stretching rods and a plurality of electric driving boxes;

one end of the supporting rod is connected with the supporting box body, and the other end of the supporting rod is connected with the detection and protection mechanism;

the support rod is provided with a plurality of cleaning heads through a plurality of umbrella ribs, and each cleaning head is communicated with a water tank in the support box body and is used for cleaning a pipeline; the middle position of each rib is connected with the supporting rod through one rib stretching rod, and a plurality of ribs are folded or unfolded under the action of the plurality of rib stretching rods;

and each cleaning head is correspondingly provided with an electric driving box which is used for driving the cleaning head to rotate so as to clean the pipeline.

In one embodiment, the electric drive cartridge is provided with a water filling hole connected to the water tank via a water supply pipe, from which water reaches the cleaning head via the water supply pipe, the water filling hole, the electric drive cartridge.

In one embodiment, the crawler travel disc comprises a crawler driving box, a rotating shaft and a crawler mechanism, wherein the crawler driving box drives the crawler mechanism to rotate through the rotating shaft;

the support bracket comprises a chassis connecting rod, a transverse support square rod, two movable limiting rods and a vertical telescopic limiting rod, wherein a support spring is sleeved on the vertical telescopic limiting rod, one end of the chassis connecting rod is connected with a track advancing disc, the other end of the chassis connecting rod is connected with the transverse support square rod, the transverse support square rod is connected with a support box body through the two movable limiting rods and the vertical telescopic limiting rod, and the transverse support square rod is movably connected with the two movable limiting rods and the vertical telescopic limiting rod.

In one embodiment, at least one sprinkler head is provided on the shield-like mechanical shield head, the sprinkler head being in communication with the water tank for sprinkling the mist.

Compared with the prior art, the application has the following beneficial effects: the pipeline cleaning robot comprises an umbrella-shaped cleaning mechanism, a crawler traveling mechanism, a detection and protection mechanism and a supporting box body, wherein the distance between the umbrella-shaped cleaning mechanism and the crawler traveling mechanism and the inner wall of a pipeline can be adjusted, so that the cleaning diameter range can be adjusted, and the pipeline cleaning robot is suitable for cleaning pipelines with different pipe diameters; the pipeline cleaning robot has the advantages of simple structure, quick control, strong cleaning capability and obstacle avoidance capability, and can be suitable for pipelines with different pipe diameters and different shapes.

Drawings

The present application may be better understood by reference to the following description taken in conjunction with the accompanying drawings, which are incorporated in and form a part of this specification, together with the following detailed description. In the drawings:

fig. 1 shows a schematic structural view of a pipe cleaning robot according to an embodiment of the present application;

FIG. 2 illustrates a schematic structural view of an umbrella cleaning mechanism according to an embodiment of the present application;

FIG. 3 shows a schematic structural view of a cleaning head according to an embodiment of the present application;

FIG. 4 shows a schematic structural view of a crawler travel mechanism according to an embodiment of the present application;

FIG. 5 shows a schematic structural view of a crawler travel plate according to an embodiment of the present application;

fig. 6 shows a schematic structural diagram of a detection and protection mechanism according to an embodiment of the present application.

Reference numerals:

1-a pipeline; 2-shield-shaped mechanical protection heads; 3-supporting rods; 4-supporting the box body; 5-fixing the sleeve; 6-a movable sleeve; 7-rib stretching rods; 8-umbrella ribs; 9-an electric drive box; 10-cleaning head; 11-a water supply pipe; 12-track mechanism; 13-chassis tie bars; 14-laterally supporting square bars; 15-a movable limiting rod; 16-a vertical telescopic limit rod; 17-a support spring; 18-track drive box; 19-a flexible connecting rope; 20-water injection holes; 21-a rotation shaft; 22-sprinkler heads; 23-ultrasonic sensor.

Detailed Description

Exemplary embodiments of the present application will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual embodiment are described in the specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions may be made to achieve the developers' specific goals, and that these decisions may vary from one implementation to another.

It should be noted that, in order to avoid obscuring the present application with unnecessary details, only the device structures closely related to the solution according to the present application are shown in the drawings, and other details not greatly related to the present application are omitted.

It is to be understood that the present application is not limited to the described embodiments due to the following description with reference to the drawings. In this context, embodiments may be combined with each other, features replaced or borrowed between different embodiments, one or more features omitted in one embodiment, where possible.

Fig. 1 shows a schematic structural view of a pipe cleaning robot according to an embodiment of the present application, referring to fig. 1, the pipe cleaning robot includes: the device comprises an umbrella-shaped cleaning mechanism, a crawler traveling mechanism, a detection and protection mechanism and a supporting box body 4, wherein the umbrella-shaped cleaning mechanism and the crawler traveling mechanism are connected with the supporting box body 4, the detection and protection mechanism is connected with the umbrella-shaped cleaning mechanism, and the specific structure of each mechanism in the pipeline cleaning robot is described in detail below.

Fig. 2 shows a schematic structural view of an umbrella-type cleaning mechanism according to an embodiment of the present application, fig. 3 shows a schematic structural view of a cleaning head according to an embodiment of the present application, and referring to fig. 2 and 3, the umbrella-type cleaning mechanism is used for cleaning a pipe, and includes a plurality of cleaning heads 10, which may be specifically provided in 6, and the plurality of cleaning heads 10 are connected to a supporting case 4 through a pressure adjusting mechanism; specifically, umbrella type cleaning mechanism is provided with 2, and in pipeline cleaning robot carries out clear in-process to the pipeline, and 2 umbrella type cleaning mechanism are located pipeline cleaning robot along pipeline length direction's both ends, can accomplish the cleanness of pipeline by the high efficiency.

Fig. 4 shows a schematic structural view of a crawler traveling mechanism according to an embodiment of the present application, fig. 5 shows a schematic structural view of a crawler traveling tray according to an embodiment of the present application, and referring to fig. 4 and 5, the crawler traveling mechanism is used to implement traveling and supporting of a pipe cleaning robot in a pipe, and includes a plurality of crawler traveling trays, each of which is connected to a supporting box 4 through one supporting bracket, where 4 crawler traveling trays may be provided;

fig. 6 shows a schematic structural diagram of a detection and protection mechanism according to an embodiment of the present application, referring to fig. 6, the detection and protection mechanism is used for realizing detection and safety protection of an obstacle in a pipeline by a pipeline cleaning robot, and includes a shield-shaped mechanical protection head 2, the detection and protection mechanism is provided with 2, and is respectively installed on 2 umbrella-shaped cleaning mechanisms, and the shield-shaped mechanical protection head 2 can protect safe operation of a pipeline cleaning robot control mechanism, an umbrella-shaped cleaning mechanism and a crawler running mechanism.

In one embodiment, referring to fig. 2, the pressure adjustment mechanism comprises: a supporting rod 3, a plurality of umbrella ribs 8, a plurality of umbrella rib stretching rods 7 and a plurality of electric driving boxes 9; one end of the supporting rod 3 is connected with the supporting box body 4, and the other end of the supporting rod 3 is connected with the detection and protection mechanism; the supporting rod 3 is provided with a plurality of cleaning heads 10 through a plurality of umbrella ribs 8, and each cleaning head 10 is communicated with a water tank in the supporting box body 4; the middle position of each umbrella rib 8 is connected with the supporting rod 3 through an umbrella rib stretching rod 7, a plurality of umbrella ribs 8 are folded or unfolded under the action of the umbrella rib stretching rods 7 to adjust the distance between the cleaning head 10 and the inner wall of the pipeline, an electric driving box 9 is correspondingly arranged on each cleaning head 10, and the electric driving box 9 is used for driving the cleaning head 10 to rotate so as to clean the pipeline; a pressure sensor is mounted in the electric drive box 9 for detecting the pressure between the cleaning head 10 and the inner wall of the pipe. Here, one end of the rib 8 is connected with the supporting rod 3 through the fixing sleeve 5, the fixing sleeve 5 is fixed on the supporting rod 3, the other end of the rib 8 is hinged with the electric driving box 9, the ribs 8 are uniformly distributed in space, and every two ribs 8 are connected by a flexible connecting rope 19 to limit the rib 8 to prop up the maximum angle. One end of the umbrella rib stretching rod 7 is hinged to the umbrella rib 8, the other end of the umbrella rib stretching rod is hinged to the movable sleeve 6, and when the movable sleeve 6 moves along the supporting rod 3, the umbrella rib stretching rod 7 can be driven to move so as to unfold or fold the umbrella rib cleaning mechanism, so that the umbrella rib cleaning mechanism is suitable for pipelines with different sizes. Here, the movable sleeve 6 may be connected to a stretching device inside the support rod 3, or may adopt other movable modes. The 2 umbrella-type cleaning mechanisms are mutually different from each other by 30 degrees in space angle, and the cleaning heads of the 2 umbrella-type cleaning mechanisms are self-rotated according to opposite rotation directions and constant rotation speeds during the cleaning work of the pipeline cleaning robot.

In one embodiment, the motorized drive pod is provided with a fill port 20, the fill port 20 being connected to the tank by a water supply line 11, and water from the tank reaching the cleaning head 10 via the water supply line 11, the fill port 20, and the motorized drive pod 9.

In one embodiment, referring to fig. 4, the crawler travel disc comprises a crawler driving box 18, a rotating shaft 21 and a crawler mechanism 12, wherein a motor driving system is arranged in the crawler driving box 18, and the crawler mechanism 12 is driven to rotate through the rotating shaft 21; a pressure sensor is arranged in the crawler drive box 18 and is used for detecting the pressure between the crawler travelling disc and the inner wall of the pipeline; the support bracket comprises a chassis connecting rod 13, a horizontal support square rod 14, two movable limiting rods 15 and a vertical telescopic limiting rod 16, wherein a support spring 17 is sleeved on the vertical telescopic limiting rod 16, one end of the chassis connecting rod 13 is connected with a crawler travelling disc, the other end of the chassis connecting rod is connected with the horizontal support square rod 14, the horizontal support square rod 14 is connected with a support box body 4 through the two movable limiting rods 15 and the vertical telescopic limiting rod 16, one end of the vertical telescopic limiting rod 16 penetrates through the horizontal support square rod 14, one end of the two movable limiting rods 15 is hinged with the horizontal support square rod 14, adjustment of longitudinal displacement of the horizontal support square rod 14 is achieved, here, the support spring 17 can effectively inhibit vibration of a crawler travelling mechanism in the travelling process, and meanwhile, the crawler travelling mechanism can be guaranteed to be suitable for pipeline working environments with different diameters. The crawler belt is adopted as a main walking structure of the robot, so that the friction force between the robot and the inner pipe surface of the pipeline can be increased, and the robot is ensured to slide at will in the cleaning work. The mechanism can also adjust the contact distance with the inner wall of the pipeline through the support bracket, and can meet the cleaning requirements of pipelines with different pipe diameters.

In one embodiment, referring to fig. 6, at least one sprinkler head 22 is provided on the shield-like mechanical shield head 2, the sprinkler head 22 being in communication with the water tank for sprinkling a mist to reduce the concentration of hazardous fumes.

Further, at least one ultrasonic sensor 23 is installed on the shield-shaped mechanical protection head 2, the ultrasonic sensor 23 is used for detecting obstacle information in the pipeline, and when an obstacle exists in front of or behind the pipeline cleaning robot, the robot stops cleaning work.

The foregoing is merely various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A pipe cleaning robot, comprising:

the device comprises an umbrella-shaped cleaning mechanism, a crawler traveling mechanism, a detection and protection mechanism and a supporting box body (4), wherein the umbrella-shaped cleaning mechanism and the crawler traveling mechanism are both connected with the supporting box body (4), and the detection and protection mechanism is connected with the umbrella-shaped cleaning mechanism;

the umbrella-shaped cleaning mechanism is used for cleaning a pipeline and comprises a plurality of cleaning heads (10), and the cleaning heads are connected with the supporting box body (4) through a pressure adjusting mechanism;

the crawler travelling mechanism is used for realizing the travelling and supporting of the pipeline cleaning robot in a pipeline and comprises a plurality of crawler travelling plates, and each crawler travelling plate is connected with the supporting box body through a supporting bracket;

the detection and protection mechanism comprises a shield-shaped mechanical protection head (2) which is used for realizing the safety protection of the pipeline cleaning robot.

2. The pipe cleaning robot according to claim 1, wherein,

the umbrella-shaped cleaning mechanisms are 2, and 2 umbrella-shaped cleaning mechanisms are positioned at two ends of the pipeline cleaning robot along the length direction of the pipeline in the process of cleaning the pipeline by the pipeline cleaning robot.

3. The pipe cleaning robot according to claim 2, wherein 2 of the detecting and protecting mechanisms are provided, and 2 of the umbrella-shaped cleaning mechanisms are connected to each other.

4. The pipe cleaning robot of claim 1, wherein the pressure adjustment mechanism comprises: a supporting rod (3), a plurality of umbrella ribs (8), a plurality of umbrella rib stretching rods (7) and a plurality of electric driving boxes (9);

one end of the supporting rod (3) is connected with the supporting box body (4), and the other end of the supporting rod (3) is connected with the detection and protection mechanism;

the supporting rod (3) is provided with a plurality of cleaning heads (10) through a plurality of umbrella ribs (8), and each cleaning head (10) is communicated with a water tank in the supporting box body (4) and is used for cleaning the pipeline; the middle position of each umbrella rib (8) is connected with the supporting rod (3) through an umbrella rib stretching rod (7), and the plurality of umbrella ribs (8) are folded or unfolded under the action of the plurality of umbrella rib stretching rods (7);

each cleaning head (10) is correspondingly provided with one electric driving box (9), and the electric driving boxes (9) are used for driving the cleaning heads (10) to rotate so as to clean the pipeline.

5. The pipe cleaning robot according to claim 4, characterized in that the electric drive box (9) is provided with a water filling hole (20), the water filling hole (20) being connected to the water tank via a water supply pipe (11), water reaching the cleaning head (10) from the water tank via the water supply pipe (11), the water filling hole (20), the electric drive box (9).

6. The pipe cleaning robot according to claim 1, wherein the crawler traveling tray includes a crawler driving box (18), a rotation shaft (21) and a crawler mechanism (12), the crawler driving box (18) rotates the crawler mechanism (12) through the rotation shaft (21);

the utility model provides a supporting bracket, including chassis connecting rod (13), horizontal support square pole (14), two activity gag lever posts (15), vertical scalable gag lever post (16), the cover is supporting spring (17) on vertical scalable gag lever post (16), chassis connecting rod (13) one end is connected the track is marched and is coiled, and the other end is connected horizontal support square pole (14), horizontal support square pole (14) are through two activity gag lever posts (15) with connect on vertical scalable gag lever post (16) supporting box body (4), horizontal support square pole (14) with two activity gag lever posts (15) with the equal swing joint of vertical scalable gag lever post (16).

7. The pipe cleaning robot according to claim 1, characterized in that at least one spray head (22) is provided on the shield-like mechanical protection head (2), the spray head (22) being in communication with a water tank for spraying water mist.