IT202300015951A1 - ROBOTIC CHIMNEY CLEANER - Google Patents

Description

Technical field of the invention

The present invention concerns a new, self-contained device for cleaning chimney flues. Currently, this operation is performed by an operator using manual methods and tools. The basic tool for these techniques is the chimney sweep brush, which can be made of plastic or steel.

State of the art

There are some mechatronic solutions capable of moving inside pipes and performing pipe inspection/cleaning operations.

An early example of this type of device is the robot based on patent CN 106140746 B. This robot is capable of operating on a range of diameters thanks to active expansion mechanisms (linear actuators). Four tracks, powered by four motors, move the robot within the duct. The use of four tracks allows for use in rectangular flues. The cleaning system mounted on the top can rotate. The presence of active expansion mechanisms requires the use of considerable electrical power and consequently high consumption. The large number of components makes routine maintenance of the device difficult.

Another example of an electronic chimney sweep is the device based on patent CN 111720845 A. This device has a pulley system external to the pipe. The cleaning system can spray water, stored in a tank, and simultaneously scrape away dust. Using the device requires the installation of a special pulley external to the pipe. Furthermore, the use of a rope limits the operating length. Consequently, the device is considerably more complex.

Another example of a robotic pipe sweeper is described in document GB 2402987 A. The structure of this robot, based on tracks, allows it to operate only in horizontal or slightly inclined pipes. The device consists of a vacuum cleaner and a bundle of bristles that, when rotated, open radially and remove dust. The main problem is that it cannot be used in vertical pipes, which prevents its use inside chimneys. Furthermore, if the torque required to rotate the bundle of bristles were to be lacking, the cleaning operation would be unsatisfactory.

Another prior art document is found in US Patent 9289804. The invention provides a pipe cleaning robot. The device is bent to easily fit into a narrow-mouthed pipe in the initial phase, flexibly increases or decreases in size based on various pipe diameters, and adheres tightly to the pipe's internal wall to prevent tipping due to impact and vibrations generated during the cleaning process. This solution does not allow for vertical movement within pipes and is therefore not suitable for use in chimneys. The diameter range in which the device can be used is not specified by the developers.

Another example of an electronic chimney sweep is the device based on patent GB 2542772 A. It is a device suitable for cleaning a chimney composed of a brush tool and a plurality of drive units. The robot can adapt to different diameters. Thanks to an external device, which is not inserted into the pipe, it can collect soot. The presence of only three segments with tracks could cause the device to tip over. Although the use of a suction system guarantees soot collection, it limits its effective working length.

Overall, the analysis of the state of the art highlighted the presence of a limited number of solutions to the problem.

Almost all of the robots found have particularly complex solutions that are difficult for a private user to use.

Almost all devices are relatively heavy, making them difficult to transport and position. Furthermore, there don't appear to be any solutions on the market that guarantee complete autonomy during the cleaning process.

Technical problem solved

Over time, combustion inside fireplaces causes a dangerous accumulation of soot and particulate matter, which can cause chimney malfunctions (such as fires). Currently, cleaning is done manually and requires the operator to insert a brush into the chimney and move it in an alternating motion. This manual operation, in addition to being tiring, is dangerous for the operator, as excessive inhalation of fumes and dust from the cleaning process can cause respiratory problems. Furthermore, the operator performing this task is required to wear appropriate clothing and equipment to ensure their safety.

The proposed solution

The designed device allows for semi-automatic chimney cleaning. A brush is mounted on a robot that can move inside the pipe. The robot is composed of two triangular prismatic modules, each with three drive wheels shaped to suit the surface of the chimney. On each side of the body is a spring-loaded expansion system based on a crank mechanism with an integrated spring that allows the robot to be inserted into pipes of varying diameters. This system also allows it to adapt to any deformation of the pipe. Once inserted into the chimney to be cleaned, the robot advances until the sensor mounted on its tip detects an obstacle at a pre-set distance. Once the obstacle is detected, the robot reverses direction. It is battery-powered, so there are no cables to impede its movement.

Compared to existing semi-automatic solutions, the device is smaller, lighter and easier to handle (thanks to the absence of cables).

The overall length of the robot is very compact and comparable to the size of the brush, while its mass is very limited, weighing just a few kilograms.

The advantages of the configuration which is the subject of the invention are:

- ease of transport;

- ease of positioning inside the chimney;

- small size;

- adaptability to a wide range of pipe diameters;

- low cost.

Thanks to its compact size and low weight, the device is easily transportable to the roof of the house. Once it reaches the chimney, the robot is inserted into the pipe. Insertion is quick and easy thanks to the spring-loaded expansion mechanism. After this operation, the device must be turned on using a switch. The robot advances along the pipe until it reaches an obstacle, which may be the end of the pipe or the presence of a significant obstruction. If necessary, the operation can be repeated several times until the desired level of cleaning is achieved.

Brief description of the tables accompanying the invention

Table 1 represents an overall view of the device which is the subject of the present invention.

Table 2 represents an axonometric view with the indication of the components of the device which is the object of the present invention.

Table 3 represents an exploded view of the movement module of the device which is the subject of the present invention.

Plate 4 represents an exploded view of the expansion mechanism of the device of the present invention.

Table 5 shows a schematic of the overall operation of the device.

Preferred embodiment of the invention

As can be seen in Table 1, the chimney cleaning device consists of two modules for movement and one for cleaning. The device is designed to operate on straight, vertical, or inclined chimneys.

As can be seen in Table 2, the cleaning robot is composed of two expandable movement modules, a brush, an obstacle detection sensor, a power supply and a control system.

As can be seen in Plate 3, the robot's body has a triangular shape (101). It is driven by six drive wheels arranged symmetrically on three sides. Plate 4 shows the scissor-like expansion mechanism.

The movement module of the device (100) is made up of an expansion mechanism (102), which includes a slider (7) that can slide in a cylindrical guide (6), positioned between two supports (5). The sliding of the slider in one direction is limited by a spring (8), which also has the function of exerting the force necessary to maintain the robot-tube adhesion.

The movement module of the device (100) is also made up of the triangular prismatic frame (101), composed of rectangular faces (2) on which the expansion mechanisms (102) are positioned and triangular faces (3, 4) which allow the parts to be interfaced. Component (3) allows the brush (1) to be positioned in the front position and a safety cable in the rear position, while component (4) allows the two sub-modules visible in Table 4 to be connected.

Two links (10, 11) are connected to the sides of the slide by means of passive revolute joints (20). The motor (12) is positioned on a dedicated link (11), while the wheel (13) is keyed to the other link (10). Another smaller link (9) connects the centre of the larger links (10, 11) to the frame (2) by means of two passive revolute joints (28). Between the links there is a spacer (16), which connects the links (9, 10, 11) by means of a connection system (22).

The cleaning module (103) allows cleaning to be carried out using a metal brush (1) which scrapes the soot from the walls of the pipe.

A sensor (29) detects the end of the flue or any obstacles in the pipe. In this case, thanks to the control system, the forward movement is reversed. The robot is electrically powered.

Table 5 shows a functional diagram of the device in which the control system (30) is connected to the distance sensor (29) and to the safety system (33). In turn, the control system (30) is connected to the power supply system (31) and to the user interface (32) from which it is possible to remotely set and vary the automatic operating parameters of the device.

After having sufficiently described the nature of the invention, together with an example of preferred manufacturing, it is stated that the material shape, dimensions and arrangement of the elements described may be modified, provided that this does not alter the essential characteristics of the invention, as indicated in the claims.

Claims (9)

Claims 1. A device for cleaning chimneys, both vertical and inclined, characterised by: a robot (100) with a triangular body (101) equipped with a passive spring expansion mechanism (102) to ensure adhesion between the device and the pipe, wheels (13) that allow the device to advance in the pipe, a cleaning module (103) to scrape soot from the walls of the pipe, a sensor (29) to detect the end of the flue and any obstructions, a control system and a power supply system (30, 31) located inside the robot body (101). Furthermore, the device includes a safety system (33). 2. A chimney cleaning device, according to claim 1, characterised in that the robot is made up of passive spring expansion mechanisms (102) positioned symmetrically on the three sides of the robot, which allow the expansion of the device and consequently the adhesion of the wheels (13) with the pipe. 3. A device for cleaning chimneys, according to claims 1 and 2, characterised in that the single expansion mechanism is composed of links (9, 10, 11) which are suitably arranged in a scissors-like fashion and spaced apart by means of the spacer (16). The movement of the links (10) and (11) is permitted by a slide (7) which can slide on a guide (6), supported by the supports (5). 4. A device for cleaning chimneys, according to claims 1 and 3, characterised in that the sliding of the slider on the guide involves the compression of a spring (8) which exerts a force capable of guaranteeing the correct friction force necessary for the movement of the robot inside the pipe. 5. A device for cleaning chimneys, according to claim 1, characterised in that the movement system consists of six drive wheels (13) operated by electric motors (12) and positioned at the ends of the links (10, 11) of the expansion mechanism (102). 6. A device for cleaning chimneys, according to claim 1, characterised in that the cleaning module (103) consists of a brush (1) made integral with the body of the robot by means of a removable connection, the latter allowing for convenient replacement of the brush depending on the size of the chimney to be cleaned. 7. A device for cleaning chimneys, according to claim 1, characterised in that the control system consists of a sensor (29) which detects the end of the pipe and the possible presence of obstacles and provides the control system (30) of the robot with the information to retrace the pipe in the opposite direction to that of advancement. 8. A chimney cleaning device, according to claim 1, characterised in that the power supply system (31) consists of a rechargeable battery pack which makes the robot independent from the electrical network during operation. 9. A device for cleaning chimneys, according to claim 1, characterised by the presence of a safety system (33) which allows the extraction of the same from the chimney in the event of involuntary stops in the operational phases.