CN219734651U - Wall climbing robot for cleaning round pipe - Google Patents
Wall climbing robot for cleaning round pipe Download PDFInfo
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- CN219734651U CN219734651U CN202223382466.1U CN202223382466U CN219734651U CN 219734651 U CN219734651 U CN 219734651U CN 202223382466 U CN202223382466 U CN 202223382466U CN 219734651 U CN219734651 U CN 219734651U
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- 238000004140 cleaning Methods 0.000 title claims abstract description 44
- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000009434 installation Methods 0.000 claims abstract description 18
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 4
- 239000004677 Nylon Substances 0.000 claims description 10
- 229920001778 nylon Polymers 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 4
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- 230000008878 coupling Effects 0.000 description 3
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- 230000001070 adhesive effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000005202 decontamination Methods 0.000 description 2
- 230000003588 decontaminative effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000863480 Vinca Species 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
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Abstract
The utility model relates to a wall climbing robot for cleaning round pipes, which comprises an installation box, wherein a cleaning mechanism and a travelling mechanism are arranged on the installation box; the trash cleaning mechanism comprises a screw, an adjusting nut screwed on the screw, a mounting ring sleeved on the screw, a connecting rod assembly arranged on the screw, a brush head arranged on the connecting rod mechanism and a rotary power mechanism for driving the screw to rotate; the travelling mechanism comprises a crawler travelling mechanism and an adjusting electric cylinder; the installation end of the adjusting electric cylinder is fixed on the outer wall of the installation box, and the telescopic end is fixed on the underframe of the crawler running mechanism. The cleaning mechanism is provided with a connecting rod assembly with an adjustable cleaning range, the working angles of the driving rod and the driven rod can be adjusted in a manual adjustment mode, so that the brush head can be abutted on the inner wall of the circular tube, and cleaning operation can be performed with the cleaning mechanism, and the operability is high.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a wall climbing robot for cleaning round tubes.
Background
In modern life, pipeline transportation is widely applied to the fields of petroleum, chemical industry and the like. Due to the complex working environment, the pipeline maintenance becomes extremely difficult.
The development of pipeline robots has been derived into many types from the nineties of the last century, and pipeline robots on the market are roughly classified into 1. Wheel type pipeline robots; 2. track-driven robots; 3. a pressure-difference robot; 4. a foot-type support robot; 5. a peristaltic driving robot; 6. the screw drives the robot. Each type has advantages and disadvantages, and the current researches of the pipeline robot are mainly focused on a wheel type pipeline robot and a track-driven pipeline robot, and the two current researches of the pipeline robot which have larger research relevance and are more common are introduced below. 1. The wheel type pipeline robot has been developed by scientists in Japan and France as early as nineties in the last century, and the wheel type pipeline robot KANTARO adopts a clutch structure to realize differential drive, has the advantages of simple driving mode, simple structure and the like, can adapt to pipe diameter change, and can also pass through bent pipes such as T-shaped pipe, L-shaped pipe and the like. But has the disadvantage that six drive motors are required for driving, resulting in a robot that is bulky and difficult to control.
Researchers at Harbin industrial university in China also design and develop a wheel type driving robot to monitor and maintain submarine pipelines, the robot is provided with an intelligent control system, different driving modes can be selected according to actual working conditions, and differential driving is realized by means of multiple sections connected in series. The differential planetary gear is adopted to replace a KANTARO clutch, so that the speed of each wheel can be automatically adjusted, and the driving efficiency of the robot is higher. But still cannot overcome the problem of the complexity of the drive system. 2. Crawler type pipeline robot is like a crawler type tank-like, has large traction force and strong obstacle crossing capability, and is often applied to severe pipeline environments with high and low fluctuation and obstacles. And the adhesive capacity is strong, so that the adhesive has the unique advantage of working in an environment filled with stains. Tracked robots are also currently an extremely large group of pipeline robots. In foreign countries, the INUKTUN company, canada has successfully developed a double track type pipeline robot, as shown in FIG. 2. The pipeline robot has the function of adapting to different pipe diameters, the crawler belt of the pipeline robot adopts a rigid supporting structure, and the included angles of the crawler belts at two sides can be adjusted according to different pipeline inner diameters. The robot can walk in a flat ground or a rectangular pipeline, and only the crawler belts on two sides are required to be adjusted to be in parallel positions. The biggest problem faced by the pipeline robot is that the included angles of the caterpillar tracks on two sides cannot be changed in the walking process, and the robot is required to be well adjusted according to the pipe diameter before entering the pipeline, so that the robot is not suitable for the pipeline environment with the pipe diameter changed.
In China, research such as Ma Hong of the university of vinca and the like designs a pipeline robot capable of realizing semi-automatic detection on the inner wall of a pipeline, and the pipeline robot can adapt to the pipeline with the pipe diameter ranging from 35mm to 155 mm. The robot can detect the information of cracks, welding seams, sand holes and the like on the inner wall of the pipeline and shoot the information, and displays a real-time image through a display screen, but can not process the defects of the welding seams and the like in real time.
Although some researchers have proposed design schemes of pipeline robots at present, most of the robots have single functions and are not practical in practical production. A robot is urgently needed to meet practical and targeted work demands.
Disclosure of Invention
The utility model aims to solve the technical problem of overcoming the defects of the prior art, and provides a wall climbing robot which can move in a circular tube along the axis direction of the circular tube and clean the inner peripheral surface of the circular tube and is used for cleaning the circular tube.
The technical problem to be solved by the utility model is realized by the following technical scheme that the wall climbing robot for cleaning round pipes comprises a mounting box, wherein a cleaning mechanism and a travelling mechanism are arranged on the mounting box;
the trash cleaning mechanism comprises a screw, an adjusting nut screwed on the screw, a mounting ring sleeved on the screw, a connecting rod assembly arranged on the screw, a brush head arranged on the connecting rod mechanism and a rotary power mechanism for driving the screw to rotate; the rotary power mechanism is arranged in the mounting box, and the power output end of the rotary power mechanism is in transmission connection with the rotary power mechanism through a coupler; the connecting rod mechanism comprises a driving rod and a driven rod, one end of the driven rod is hinged to the end part of the screw, which is far away from the rotary power mechanism, the other end of the driven rod is hinged to the brush head, one end of the driving rod is hinged to the outer peripheral surface of the mounting ring, and the other end of the driving rod is hinged to the middle part of the driven rod, so that the angle of the driven rod is adjusted; the nuts are arranged on the screw rods at two sides of the mounting ring, so that the mounting ring is limited;
the travelling mechanism comprises a crawler travelling mechanism and an adjusting electric cylinder; the installation end of the adjusting electric cylinder is fixed on the outer wall of the installation box, and the telescopic end is fixed on the underframe of the crawler running mechanism.
The technical problem to be solved by the utility model can be further solved by the following technical scheme that the wall climbing robot for cleaning the round pipe comprises two limit nuts and a locknut; the two limit nuts are positioned on the screw rods at the two sides of the mounting ring, and a gasket is arranged on the screw rod between the limit nuts and the mounting ring; the locknut is closely arranged on the end face of the limit nut far away from one side of the rotary power mechanism, and a gasket is arranged on the screw rod between the locknut and the limit nut.
The technical problem to be solved by the utility model can be further solved by the following technical scheme that the wall climbing robot for cleaning round pipes is provided with four crawler travelling mechanisms, the four crawler travelling mechanisms are uniformly distributed around the mounting box by taking the axis of a screw as a reference, each crawler travelling mechanism is mounted on the mounting box through one adjusting electric cylinder, and the included angle of two adjacent adjusting electric cylinders is 90 degrees.
The technical problem to be solved by the utility model can be further solved by the following technical scheme, the wall climbing robot for cleaning the round tubes is characterized in that two groups of connecting rod assemblies are symmetrically arranged, and each group of connecting rod assemblies is provided with the brush head.
The technical problem to be solved by the utility model can be further solved by the following technical scheme that the wall climbing robot for cleaning round pipes is characterized in that the brush head consists of a mounting plate and a nylon brush, one side surface of the mounting plate is hinged with one end of the driven rod, and the other side surface of the mounting plate is fixed with the nylon brush.
The technical problem to be solved by the utility model can be further solved by the following technical scheme, the wall climbing robot for cleaning the round pipe is characterized in that the rotary power mechanism and a part of screw rods provided with the couplings are arranged in a cavity in the installation box.
Compared with the prior art, the utility model has the beneficial technical effects that:
(1) The cleaning mechanism is provided with a connecting rod assembly with an adjustable cleaning range, and the working angles of the driving rod and the driven rod can be adjusted in a manual adjustment mode, so that the brush head can be abutted against the inner wall of the circular tube, and the cleaning operation can be performed, and the operability is high;
(2) The walking mechanism can enable the robot to walk along the axis direction of the round tube, the cleaning mechanism can effectively clean the inner peripheral surface of the whole round tube, and basic cleaning operation is completed, and the structure design is reasonable.
Drawings
Fig. 1 is a front view of a robot;
fig. 2 is a left side view of the decontamination mechanism in use;
fig. 3 is another left side view of the decontamination mechanism in use.
In the figure, 1, a mounting box; 2. a screw; 3. a mounting ring; 4. a rotary power mechanism; 5. a coupling; 6. a driving rod; 7. a driven rod; 8. a crawler belt travelling mechanism; 9. adjusting an electric cylinder; 10. a limit nut; 11. a locknut; 12. a mounting plate; 13. nylon brushes.
Detailed Description
Specific embodiments of the utility model will be further described below with reference to the accompanying drawings, in order to facilitate a further understanding of the utility model by those skilled in the art, without limiting the scope of the claims thereto.
1, referring to fig. 1-3, a wall climbing robot for cleaning round pipes comprises a mounting box 1, wherein the mounting box 1 can be a metal square box, and a cleaning mechanism and a travelling mechanism are arranged on the mounting box 1;
the trash cleaning mechanism comprises a screw rod 2, an adjusting nut screwed on the screw rod 2, and a mounting ring 3 sleeved on the screw rod 2, wherein the mounting ring 3 is of a hollow cylinder structure, a connecting rod assembly arranged on the screw rod 2, a brush head arranged on the connecting rod mechanism and a rotary power mechanism 4 for driving the screw rod 2 to rotate, and the rotary power mechanism 4 can be a servo motor; the rotary power mechanism 4 is arranged in the mounting box 1, and the power output end of the rotary power mechanism 4 is in transmission connection with the rotary power mechanism 4 through a coupler 5; the connecting rod mechanism comprises a driving rod 6 and a driven rod 7, wherein the driving rod 6 and the driven rod 7 can be square metal rods, one end of the driven rod 7 is hinged to the end part of the screw rod 2 far away from the rotary power mechanism 4, the other end of the driven rod 7 is hinged to the brush head, one end of the driving rod 6 is hinged to the outer peripheral surface of the mounting ring 3, and the other end of the driving rod is hinged to the middle part of the driven rod 7, so that the angle of the driven rod 7 is adjusted; the nuts are arranged on the screw rods 2 at two sides of the mounting ring 3, so that the mounting ring 3 is limited;
the travelling mechanism comprises a crawler travelling mechanism 8 and an adjusting electric cylinder 9, wherein the crawler travelling mechanism 8 is in the prior art, and is provided with a plurality of parts required by crawler travelling such as driving wheels, crawlers and the like, and can be purchased by users according to the use requirements, so that specific model specifications are not repeated here; the installation end of the adjusting electric cylinder 9 is fixed on the outer wall of the installation box 1, the telescopic end is fixed on the underframe of the crawler traveling mechanism 8, the underframe is a frame body of the crawler traveling mechanism 8, which is responsible for carrying all parts, and the adjusting electric cylinder 9 can be used for selecting the model and the specification according to the use requirement in the prior art.
Embodiment 2, a wall climbing robot for cleaning round tubes according to embodiment 1, wherein the adjusting nut comprises two limit nuts 10 and a locknut 11; two limit nuts 10 are positioned on the screw rods 2 at two sides of the mounting ring 3, and gaskets are arranged on the screw rods 2 between the limit nuts 10 and the mounting ring 3; the locknut 11 is closely arranged on the end face of the limit nut 10 far away from one side of the rotary power mechanism 4, a gasket is arranged on the screw rod 2 between the locknut 11 and the limit nut 10, and the gasket can be a circular ring-shaped gasket.
In embodiment 2, the design purpose of the adjusting nut and the locknut 11 is to facilitate the adjustment of the working angles of the driving rod 6 and the driven rod 7, so that the brush head can be always abutted on the inner peripheral surface of the round tube, and the cleaning operation of round tubes with different sizes is adapted.
Embodiment 3, a wall climbing robot for cleaning round tubes according to embodiment 1, wherein the travelling mechanism comprises four crawler travelling mechanisms 8, the four crawler travelling mechanisms 8 are uniformly distributed around the installation box 1 by taking the axis of the screw rod 2 as a reference, each crawler travelling mechanism 8 is installed on the installation box 1 through one adjusting cylinder 9, and the included angle between two adjacent adjusting cylinders 9 is 90 degrees.
In embodiment 3, four crawler traveling mechanisms 8 are provided, and this arrangement can make the robot travel more smoothly in the round tube.
Embodiment 4, the wall climbing robot for cleaning round tubes according to embodiment 1, wherein the two groups of connecting rod assemblies are symmetrically arranged, and each group of connecting rod assemblies is provided with the brush head.
In embodiment 4, the two groups of connecting rod assemblies and the brush head can enable the cleaning operation of the inner circumferential surface of the round tube to be more thorough, and the cleaning effect is better.
Embodiment 5, embodiment 1 a wall climbing robot for cleaning round pipe, the brush head comprises mounting plate 12 and nylon brush 13, and one side of mounting plate 12 is used for articulated with the one end of driven rod 7, and the other side of mounting plate 12 is fixed with nylon brush 13, and brush head mounting plate 12 is square platy structure, and its design aim at is convenient for nylon brush 13 installation.
In example 5, the nylon brush 13 was designed to have a smaller hardness, so that the damage to the coating on the inner wall of the circular tube could be minimized, and unnecessary abrasion to the inner wall of the circular tube during the cleaning process could be avoided, thereby causing the corrosion-resistant coating in the pipe to be destroyed or removed.
Embodiment 6, the wall climbing robot for cleaning round tubes according to embodiment 1, wherein the rotary power mechanism 4 and the part of the screw 2 provided with the coupling 5 are disposed in a cavity inside the mounting box 1.
The use principle of the robot is as follows:
placing the robot in a pipeline, starting a regulating electric cylinder 9 through a power supply, enabling a track of a track travelling mechanism 8 to be tightly attached to the inner peripheral surface of a circular pipe, measuring and calculating elongation of the electric cylinder in advance, manually regulating a locknut 11 and a limit nut 10 after the position of the robot is regulated, enabling a nylon brush 13 to be abutted against the inner peripheral surface of the pipeline, driving the track travelling mechanism 8 to travel through an external power supply, and starting a rotary power mechanism 4 through the external power supply, and enabling a screw 2 to drive a connecting rod assembly and a brush head to perform a cleaning operation;
the power supply can be realized by adopting a battery built in the installation box 1 or a wired connection power supply mode, and the advancing and retreating of the crawler travelling mechanism 8 can be controlled by a remote control mode, and the means is the prior art, so that the specific control principle and method thereof are not repeated here;
the processor can be configured in the mounting box 1 according to the use requirement, the communication wire connecting terminals of the adjusting electric cylinder 9 and the rotary power mechanism 4 can be connected to the general connecting terminals of the processor, so that the adjusting electric cylinder 9 and the rotary power mechanism 4 are driven and controlled, and the control and cooperative work of the processor on the electric components are realized in the prior art, so that the specific control principle and the use method thereof are not repeated here.
Claims (6)
1. A wall climbing robot for pipe is decontaminated and is used, its characterized in that: the robot comprises an installation box, wherein a dirt cleaning mechanism and a travelling mechanism are arranged on the installation box;
the trash cleaning mechanism comprises a screw, an adjusting nut screwed on the screw, a mounting ring sleeved on the screw, a connecting rod assembly arranged on the screw, a brush head arranged on the connecting rod mechanism and a rotary power mechanism for driving the screw to rotate; the rotary power mechanism is arranged in the mounting box, and the power output end of the rotary power mechanism is in transmission connection with the rotary power mechanism through a coupler; the connecting rod mechanism comprises a driving rod and a driven rod, one end of the driven rod is hinged to the end part of the screw, which is far away from the rotary power mechanism, the other end of the driven rod is hinged to the brush head, one end of the driving rod is hinged to the outer peripheral surface of the mounting ring, and the other end of the driving rod is hinged to the middle part of the driven rod, so that the angle of the driven rod is adjusted; the nuts are arranged on the screw rods at two sides of the mounting ring, so that the mounting ring is limited;
the travelling mechanism comprises a crawler travelling mechanism and an adjusting electric cylinder; the installation end of the adjusting electric cylinder is fixed on the outer wall of the installation box, and the telescopic end is fixed on the underframe of the crawler running mechanism.
2. The wall climbing robot for cleaning round tubes according to claim 1, wherein: the adjusting nut comprises two limit nuts and a locknut; the two limit nuts are positioned on the screw rods at the two sides of the mounting ring, and a gasket is arranged on the screw rod between the limit nuts and the mounting ring; the locknut is closely arranged on the end face of the limit nut far away from one side of the rotary power mechanism, and a gasket is arranged on the screw rod between the locknut and the limit nut.
3. The wall climbing robot for cleaning round tubes according to claim 1, wherein: the four crawler travelling mechanisms are uniformly distributed around the mounting box by taking the axis of the screw as a reference, each crawler travelling mechanism is mounted on the mounting box through one adjusting cylinder, and the included angle of two adjacent adjusting cylinders is 90 degrees.
4. The wall climbing robot for cleaning round tubes according to claim 1, wherein: the connecting rod assemblies are symmetrically provided with two groups, and each group of connecting rod assemblies is provided with the brush head.
5. The wall climbing robot for cleaning round tubes according to claim 1, wherein: the brush head consists of a mounting plate and a nylon brush, one side surface of the mounting plate is hinged with one end of the driven rod, and the other side surface of the mounting plate is fixed with the nylon brush.
6. The wall climbing robot for cleaning round tubes according to claim 1, wherein: the rotary power mechanism and the part of screw rod provided with the coupler are arranged in the cavity inside the installation box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223382466.1U CN219734651U (en) | 2022-12-16 | 2022-12-16 | Wall climbing robot for cleaning round pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223382466.1U CN219734651U (en) | 2022-12-16 | 2022-12-16 | Wall climbing robot for cleaning round pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219734651U true CN219734651U (en) | 2023-09-22 |
Family
ID=88025114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223382466.1U Active CN219734651U (en) | 2022-12-16 | 2022-12-16 | Wall climbing robot for cleaning round pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219734651U (en) |
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2022
- 2022-12-16 CN CN202223382466.1U patent/CN219734651U/en active Active
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