CN2734434Y

CN2734434Y - Conduit cleaning robot

Info

Publication number: CN2734434Y
Application number: CN 200320128144
Authority: CN
Inventors: 杨雄; 蔡晓辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-12-16
Filing date: 2003-12-16
Publication date: 2005-10-19
Anticipated expiration: 2013-12-16

Abstract

The utility model relates to and discloses a conduit cleaning robot comprising a chassis (1), a lifting arm (2) arranged at the upper part of the chassis, a cleaning head (3) which is connected on the lifting arm and is changeable, an apron wheel travel mechanism (4) arranged at the bottom of the chassis, a monitor lighting unit (5) positioned on the chassis and a hair brush (6) positioned on the cleaning head. The cleaning head comprises a pneumatic motor, a linked rotary shaft and the hair brush used for cleaning on the rotary shaft. The monitor unit and the control air valve (9) of the chassis travel and the pneumatic motor are connected with a far-end monitoring device through a cable. The conduit cleaning robot is suitable for cleaning various pipes with complicated situations without any blind angle. The conduit cleaning robot can thoroughly clear up sundries, dust and pathogenic bacteria.

Description

Pipeline cleaning robot

Technical field

The utility model relates to Robotics and pipeline cleaning technique, is specifically related to be mainly used in the cleaning field of air conditioning wind pipe.

Background technology

Robot is the machine with perception, thinking and action function, is the comprehensive achievement of multiple subject such as theory of mechanisms, automatically control, computer, artificial intelligence, photoelectric technology, sensing technology, mechanics of communication, emulation technology and technology.Robot produces and service aid as a new generation, occupies more and more important position in the wide spectrum of social economy and non-economy, and this improves production capacity, opens up new industry and make the life better and all have very realistic meanings the mankind.

Pipeline cleans can remove the dust of inner-walls of duct and the various germs that grow, mould etc., improves hygienic conditions in the pipe, prevents that it from influence the extraneous air quality, reduces pathogenic or pollution factor.At present, pipeline cleans and generally adopts artificial cleaning way or half mechanical system, and labour intensity is big, causes secondary pollution easily, easily stays the corner or spot as yet untouched by a clean-up campaign, is difficult to thorough cleaning.

The utility model content

The technical problems to be solved in the utility model is, how to provide a kind of pipeline cleanser can clean the dead angle, further can monitor the duct cleaning situation.

The above-mentioned technical problem of the utility model solves like this, construct a kind of pipeline cleaning robot, comprise ride, ride bottom the crawler belt walking mechanism and as the lifting arm on described walking mechanism power, the travel motor that is positioned at described ride inside, described ride top be connected thereon, removable cleaning head, it is characterized in that, also comprise the monitoring, illumination unit that is positioned on the described ride; The hairbrush that described cleaning head comprises the turning cylinder of air motor, interlock and is used on it clean; The control air valve of described monitoring unit, travel motor and air motor is electrically connected the remote monitoring device; Robot uses the crawler type walking mechanism, and vehicle body is low, center of gravity is short, makes to stablize also when complete equipment is advanced to clear the jumps easily.

Robot according to the utility model provides is characterized in that, described travel motor be before and after two independent is respectively applied for and about the reducing motor of advancing.

Robot according to the utility model provides is characterized in that, the power supply of described reducing motor is+the 12V direct current, possesses overload protection function.

The robot that provides according to the utility model, it is characterized in that described air motor provides power by compressed air, be connected with outside air pump by the control valve that is subjected to that connects long-distance monitorng device, it links to each other by power transmission shaft with hairbrush, and the usefulness of rotary power mainly is provided to hairbrush; For motor, the benefit of air motor is that volume is little, strength is big, simultaneously can long time continuous working, fault rate is low, do not generate heat, do not exist electric leakage potential safety hazard etc.

Robot according to the utility model provides is characterized in that, described hairbrush comprises brush axle and be positioned at the hair that described brush axle links to each other that link to each other with air motor by universal joint, the hairbrush direction of rotation is consistent with the ride direct of travel, is used to clean square pipe.

The robot that provides according to the utility model, it is characterized in that described hairbrush comprises brush axle and is positioned at the hair that described brush axle links to each other, links to each other with air motor by universal joint, hairbrush direction of rotation vertical with the ride direct of travel (an angle of 90 degrees) is used to clean circular pipe.

Robot according to the utility model provides is characterized in that, the length of described hair is 5-40cm, and described brush axle length is also replaceable; Can clean the pipeline of different radii size by the hairbrush of changing different-diameter like this.

Robot according to the utility model provides is characterized in that, small and exquisite described air motor crouches and is loaded in the lifting arm, links to each other by universal joint, power transmission shaft, tumbler gear with hairbrush, and space utilization is proper; Be linked to be an integral body with top,, can freely dismantle, be convenient to safeguard as a module of robot.

The robot that provides according to the utility model, it is characterized in that, described monitoring, illumination unit comprises camera and searchlight, concrete scheme is: be loaded into the colored wide-angle imaging head on the crawler type walking mechanism and can freely visit the lamp of penetrating each orientation, catch situation in the pipe by camera, signal passes to remote monitoring device one monitor by cable, by this device can supervisory-controlled robot entire work process in pipe, avoiding obstacles.

Robot according to the utility model provides is characterized in that, described lifting arm can connect controlled actuating unit, is the Long-distance Control lifting, and cleaning can be more flexibly, more thorough; But described lifting arm is hand-operated lifting also, cleans the pipeline of different tube diameters by the hairbrush of changing different sizes.

Robot according to the utility model provides is characterized in that, described robot provides power, connects control section by cable.

Robot according to the utility model provides is characterized in that, described robot also comprises inner main control unit, and described main control unit one end communicates to connect described long-distance monitorng device, the described monitoring unit of other end control connection, travel motor and air valve.

The pipeline cleaning robot that the utility model provides is fit to clean the complicated pipeline of various situations, does not stay the dead angle, thoroughly removes foreign material, dust and germ; This robot is mainly used in cleaning, the detection of central air-conditioning ventilation shaft, also can be used for other such as kitchen fume pipeline, factory's smoke discharging pipe etc.Replace fully manually, the efficient height, effective; It can be a small and exquisite people of detection machine flexibly that lifting arm is unloaded together with hairbrush.

Description of drawings

Fig. 1 is the cleaning robot external structure schematic diagram that the band circular pipe that provides of the utility model cleans hairbrush.

Fig. 2 is the cleaning robot external structure schematic diagram that the band square pipe that provides of the utility model cleans hairbrush.

Fig. 3 is the electrical schematic diagram of robot shown in Fig. 1,2.

Fig. 4 is the electrical schematic diagram of robot remote monitering device shown in Fig. 1,2.

The specific embodiment

The utility model is described in further detail below in conjunction with the drawings and specific embodiments.

As Fig. 1, this pipeline cleaning robot comprises ride 1, cleaning head 3, monitoring, illumination unit 5, its crawler belt walking mechanism comprises crawler belt 4 and a plurality of wheel, lifting arm 2 is positioned at ride 1 top, hairbrush 6 connects inner air motor, connects the remote monitoring device by ride 1 tail cable, and this device provides power supply to robot, and remote control robot direct of travel, speed, illuminating lamp intensity, hairbrush rotary speed etc.This circular pipe hairbrush, its brush axle links to each other by universal joint with power transmission shaft, and hairbrush direction of rotation and robot direction of advance are an angle of 90 degrees.

As Fig. 2, this pipeline cleaning robot band square pipe hairbrush, its brush axle central authorities side links to each other with the air motor power transmission shaft with tumbler gear by universal joint, and power is reached the hairbrush of the right and left, and the hairbrush direction of rotation is consistent with the robot direct of travel; The hair of hairbrush 6 is positioned at the brush axle two ends.

This pipeline cleaning robot crawler belt walking mechanism center of gravity is low, and crawler belt 4 is in the bottom-up inclination in quadrate part position of advancing of this robot, drives walking mechanism by variable speed electric motors, particularly and can more easily cross barrier in the pipeline under the control of remote monitoring device; Simultaneously, illuminating lamp provides light source for the pipeline environment of dark, and camera can be one or more wide-angle imaging heads, can detect concrete cleaning situation in the pipeline by the remote monitoring device that is electrically connected with it, and cleans according to this concrete condition; Simultaneously, crawler type walking mechanism and lifting arm are two big modules, and the two is in conjunction with the sweeping robot that is the band monitoring, and this robot can unload lifting arm and become a small and exquisite people of detection machine flexibly together with hairbrush, only are used to detect pipe condition this moment.

As Fig. 3,4, adopt 485 EBIs to carry out communication between this robot and its long-distance monitorng device, all use interface chip MAX485, comprise and be positioned at connection plug wire end 13 corresponding on the circuit separately and be connected plug wire end 14, robot all is connected outside 24V power supply with long-distance monitorng device, is converted to the inner 5V dc source that directly uses by DC-DC direct current transformation chip U401.Robot adopts single-chip microcomputer MCS51 20 to make master control unit 12, connect gauge tap K1, K21 by control line and control illuminating lamp 8 and air valve 9 respectively, connect PWM arrangements for speed regulation control two-way motor 10,11 by control line simultaneously, respectively before and after the driven machine people (ride) or about advance; Remote control uses single chip computer AT 89C51, connect control panel, comprise that being respectively applied for the control robot advances, retreat, turn left, turn right, the S101 that the speed of a motor vehicle improves and the speed of a motor vehicle reduces, S102, S103, S104, S107 and S108, and the S106 that is used to control the S105 of cleaning head work and is used to control illuminating lamp, single chip computer AT 89C51 is compiled into instruction with these key switch signals and sends to robot by COM1, further, the initial communication of robot and long-distance monitorng device is set up and can be finished by resetting, and its each self-resetting circuit output connects the RST end of single-chip microcomputer separately.

Claims

1, a kind of pipeline cleaning robot, the crawler belt walking mechanism (4) that comprises ride (1), ride bottom, and the travel motor (10,11) that is positioned at ride (1) inside as described crawler belt walking mechanism power, the lifting arm (2) on described ride (1) top be connected thereon, removable cleaning head (3), it is characterized in that, also comprise the monitoring, illumination unit (5) that is positioned on the described ride (1); The hairbrush (6) that described cleaning head comprises the turning cylinder of air motor, interlock and is used on it clean; Described monitoring unit is connected the remote monitoring device with travel motor (10,11) by cable.

2, according to the described robot of claim 1, it is characterized in that, described travel motor (10,11) be before and after two independent is respectively applied for and about the reducing motor of advancing.

According to the described robot of claim 1, it is characterized in that 3, described air motor connects outside air pump by air valve (9).

According to the described robot of claim 1, it is characterized in that 4, described hairbrush (6) comprises brush axle and the hair that links to each other with brush axle, brush axle becomes 180 degree or an angle of 90 degrees with the turning cylinder of air motor, link to each other with described turning cylinder with tumbler gear by universal joint.

According to the described robot of claim 4, it is characterized in that 5, the staple length of described hairbrush (6) is 5-40cm.

According to the described robot of claim 1, it is characterized in that 6, described monitoring, illumination unit comprises camera and searchlight (8).

According to the described robot of claim 1, it is characterized in that 7, described lifting arm (2) can connect controlled actuating unit, by its lifting of control cabinet Long-distance Control.

According to the described robot of claim 1, it is characterized in that 8, described cable is connected to the wired connection mode, robot obtains power and illumination by cable, accepts control signal.

9, according to claim 1 or 3 described robots, it is characterized in that, also comprise inner main control unit (12), described main control unit (12) one ends communicate to connect described long-distance monitorng device, the described monitoring unit of other end control connection, travel motor (10,11) and air valve (9).