KR200431193Y1 - cleaning robot for garbage discharging pipe - Google Patents

Abstract

This design makes it possible to smoothly drive the APT and the waste pipes for the waste of apartments or buildings, and to communicate with the pipes blocked by garbage and other debris, and to clean the inside of the pipes and remove the garbage. Cleaning robot), the multi-purpose tongs arm mounted on the head of the robot can be pulled by accurately catching the opponent, the brush can remove the rust and scale inside the tube by forward and reverse rotation, window and blade Through various tools in the form, it cleans the inside of the pipe and collects garbage and foreign substances and spills them to the outside to facilitate the communication of the pipe.

In addition, the camera mounted on the head of the mobile robot is equipped with a lighting device, by rotating the 360 ° as well as the front of the environment inside the tube through an external monitor connected by a rotary module and a cable, and precisely rear and left and right directions You can work with a wide range of observations.

And the harpoon located in the upper part of the driving part of the mobile robot is used to tow the opponent by using the harpoon when it is difficult to remove by using the tools in the head part, and the wheels connected to the driving motors of the left and right sides rotate forward and reverse It is possible to adapt to various pipe environments such as curved pipes by selecting the correct working position by changing the direction through the change of direction, and to extend the life of the pipes and to eliminate the blockage of the pipes by communicating and cleaning the pipes connected to the waste outlet. It relates to a garbage discharge pipe cleaning robot.

Robot for garbage discharge pipe, towing harness, camera rotation module, driving motor, head, towing hook, tong arm, towing harness operation module

Description

Cleaning robot for garbage discharging pipe}

1 is a view showing a garbage discharge pipe cleaning robot of the present invention

Figure 2 is a view showing the mounting state of the tong arm and the towing gripping arm in the head of Figure 1

3 is a view illustrating a head brush mounting state of FIG. 1.

4 is a view illustrating a driving and turning mechanism of the head driver of FIG. 1;

5 is a detailed view of the towing harpoon of FIG.

6 is a view showing an operating state using the multi-purpose forceps arm of FIG.

7 is a view showing an operating state using the towing harpoon of FIG.

<Description of the code used for the main part of the drawing>

1: Robot for cleaning garbage discharge pipe

2: camera 3: head

4: camera rotation module 5: multi-purpose forefinger

6: Collection shovel 7: Towing ring opening and closing link

8: towing harpoon 9: left driving wheel front wheel

10: left driving wheel rear wheel 11: right driving wheel front wheel

12: right drive wheel rear wheel 13: traction harpoon operation module

14: tow hook 15: tow support

16 drive unit 17 tow harpoon body

18: cylinder case 19: brush

20: left drive motor 21: right drive motor

22: drive shaft 23: lighting device

24: front and rear wheel connection track 25: piston

The present invention facilitates the communication of pipes blocked by garbage and other foreign materials while smoothly driving the APT and the waste pipes of the apartments or buildings, while cleaning the pipes and removing the garbage. Robot), through the various tools in the form of a harpoon, multi-purpose tongs, brushes, windows and blades mounted on the drive and head of the robot, the inside of the pipe is collected and garbage and foreign substances are collected and spilled to the outside of the pipe. Through the camera and lighting device that facilitates communication, and enables 360 ° rotation, the inside of the pipe can be observed more precisely and extensively, and the direction of the wheel can be changed so that the robot can be used to select the exact location of the target for cleaning the waste pipe. It is about.

When discharging garbage from APT and apartments or buildings, garbage from each household is thrown away at the waste outlets installed in each building and collected at one place through pipes connected to the outlets. If the discharge pipe is blocked, it will not be possible to collect the garbage. This will cause corrosion of the pipe, odor, bacteria, and leakage to the outside of the pipe. In order to solve these problems and shorten the lifespan and clean the pipes due to corrosion, cleaning should be performed.

So, go to the point where the problem occurred, find out the condition of the pipe, drill through the blockage, remove the clogged garbage and foreign objects, and look for some techniques that can be applied to this. There are methods of connecting various tools at the end of wire, suction dredging method using vacuum, and robot method. The wire type method is mainly used in small water and sewage pipes indoors. If the length of a large tube or tube is long, the power transmission to the tool is not properly performed, the adjustment is not easy, and the tool size is limited, which has limitations in use. In addition, the removed foreign matter flows together by the liquid that flowed through the original tube and is finally removed. Therefore, it cannot be used in the waste discharge pipe without such flow, and it is impossible to work with the camera and the tool at the same time. It has a limitation in not knowing its location. The vacuum suction method can be applied to large tubes, but the longer the tube, the lower the suction pressure due to the vacuum, so the suction volume decreases. Larger and harder blockages are often inhaled. It also lacks a camera, making it impossible to capture real-time shots and locate dead objects. The robot-type equipment attaches a camera with limited gaze and simply photographs the situation inside the pipe, and spreads sediment or earth and sand accumulated in the pipe using a bucket, etc., and it is impossible to change the direction except for the forward and backward movements. It is mainly used for cleaning sewage pipes of connected straight pipes, so there is a limit that the work must be performed by inserting the robot into the manhole connected to another pipe again in a different direction. And because the direction is not changed, the working position is possible only in the direction of the robot's progress, so it is difficult to select the exact working position of the counterpart, which makes it difficult and time-consuming to perform the work and cleans the deposits accumulated inside the pipe. Can't be cleaned directly and it's hard to put bulky and light trash into the bucket. For this reason, the existing methods are difficult to use, because of the large number of curved pipes and the clogging or cleaning of waste discharge pipes that have to adapt to various environments and foreign substances.

Therefore, the present invention has been devised to solve the above problems, and the 360 ° rotatable camera equipped with a lighting device mounted on the head part is not observed to be able to photograph all parts of the tube using the rotating module. Prepare from various problems caused by blind spots, and use the independent driving motors of the left and right wheels to change the direction of rotation so that the direction can be changed to correct working position by changing the direction of left and right as well as forward and backward. It has been adapted to the environment of selection and curvature, and it uses the multi-purpose tong arms developed from the existing bucket type to pick up the trash or foreign substances clogged in the tube and tow them or to easily remove the damaged foreign substances and trash wrapped in the container. Can be towed and removed without damaging the container Multi-purpose tongs are used to tow and remove garbage and foreign objects in the form of structures that are difficult to pick up and to clean the inner walls of the pipes using brushes attached to the head to prevent corrosion or contamination that may occur during long-term use, thus facilitating communication between Making it possible to extend life is a technical challenge.

In order to achieve the object of the present invention as described above, (16) the head portion (23) moving in conjunction with the lighting device (4) camera rotation is connected to the driving unit (a garbage discharge cleaning robot) to enable the vertical movement The module provides information for observing 360 ° omni-directional and detailed work. (25) Using a piston. (5) Equipped with a multipurpose forefinger. (18) Through a reciprocating motion in a cylinder case. (5) Multipurpose. Open and close the tong arm and pick up the garbage and other foreign substances that are clogged in the pipe, or (6) work by spilling it out on the shovel for collection, and attaching the brush to the head (22) drive shaft (27) to the inner wall of the pipe. Clean the scale and foreign matter attached to it.

In addition, in the (13) towing harness operation module mounted on the upper part of the driving unit, it is loaded in a compressed state by the elastic body, relaxes and fires, and (8) the towing harness has a plurality of (14) towing rings. Entering or passing through to expand and have sufficient support to tow the opponent, and if the opponent is in the form of a structure or (5) a multipurpose forefinger is not available (8) Towing is removed and (3) using a basket in the form of a shovel and a window on the drive shaft mounted at the bottom of the head to help the towing operation.

Also, in order to change the direction of the robot, select the correct working position, and obtain sufficient driving force, (20) the left side driving motor and (21) the right side driving motor each have two independent driving motors. (20) the left drive motor and (21) the right drive motor are rotated oppositely, enabling not only left and right direction change but also 360 ° in-situ rotation to actively cope with changing pipe situation and accurate work through direction change Positioning can increase the success rate and save time.

With reference to the accompanying drawings the configuration and operation relationship of the garbage outlet cleaning robot of the present invention formed as described above will be described in detail.

1 is a view showing a waste discharge pipe cleaning robot of the present invention, Figure 2 is a view showing a state attached to the waste discharge pipe cleaning robot of the present invention (5) multi-purpose forefinger and (6) collection shovel, Figure 3 is a view showing the mounting state of the tube inner wall (19) cleaning brush in the present invention, Figure 4 is a detailed view showing the direction change and driving mechanism of the drive unit (16) in the present invention, Figure 5 is a detail for the traction grate 6 is an example of operation using a forceps arm, Figure 7 is an example of operation using a traction harpoon.

As shown in FIG. 1, the garbage discharge pipe cleaning robot drives the rotational direction of the drive motor in the driving unit in a reverse direction, thereby enabling left and right rotation as well as 360 ° rotation. (16) The harpoon (13) is loaded by an elastic body inside the towing harpoon module and is released by the loosening action to pull the target, (3) the head part (16) is connected to the motor inside the driving part (3) Drive up and down along the drive rail, and (5) Pumps, garbage and other debris, which can contain opening and closing (25) It consists of 22 driving shafts that can be rotated and driven.

2 and 6 show (5) the cylinder case (18) assisting the opening and closing of the tong arm through the piston reciprocating motion (5) in conjunction with the tong arm (18). When you move forward (17) the forefinger opens and when you go backward (17) the forefinger closes so you can pick up the opponent.

3 is a state in which a brush (19) is mounted on the drive shaft (22) to clean the inner wall of the pipe, and the brush (27) is also rotated together with the rotation of the drive shaft (22) to clean the foreign substances and scale of the inner wall.

4 shows the driving and turning mechanism of the driving unit, wherein the left front wheel and the left rear wheel are connected by the front and rear wheel tracks of the driving unit. (11) The right front wheels and (12) right rear wheels are also connected in the same form, so each independent (20) left drive motor and (21) right drive motor are used. It is driven by rotating the direction forward and backward, and the left and right four wheels are driven to have strong driving force and traction. (20) Left and right driving by rotating the left and right driving motors in reverse direction In addition to rotation, 360 ° rotation is also possible.

5 and 7 are detailed views of (8) towing harpoon (13) tow harness compressed and loaded by the elastic body of the towing harness operating module (8) towing harpoon is released with the elastic body relaxed and (17) entered into the towing harness torso (15) The towing support protrudes, extending the length to the target opponent, and then inserted into the opponent. (15) The harpoon opening / closing link moves forward. (14) The towing ring moves inside or through the opponent. It can be pulled out so that it can have sufficient traction and in the form of the structure (14) it can be removed by towing the opponent by hooking the opponent to the towing ring.

In this way, the present invention selects the correct working position by freely changing the direction of the robot, thereby increasing the success rate and reducing the time of work, and increasing the robot's mobility to be used to adapt to various pipe shapes such as curved pipes. Because of the characteristics of the work, it is possible to grasp the situation behind the scene even when reversing in the situation of continuously repeating forward and backward, and to photograph the work situation and all parts of the tube in real time, so that it is possible It is possible to prepare efficiently from various problems, and it is possible to work efficiently, and it is possible to proceed to precise and detailed work that could not be done with the tools of the conventional shovel and window using the tong arm and towing harness. Fine cleaning of the inner wall to prevent corrosion and contamination and smooth communication It has the effect of extending the life of the pipe.

Claims (5)

A driving unit capable of driving and turning the driving wheels through forward and reverse rotation of each driving motor; A towing harness operation module unit connected to an upper end of the driving unit to launch a towing harpoon; And it has a rotation axis by the camera rotation module attached to the 360 ° left and right illumination device connected to the front part of the drive unit and the drive motor to connect the cleaning brush, the collection window and the shovel-shaped tool at the bottom Robot for cleaning garbage discharge pipe with reciprocating piston attached to the head According to claim 1, the front and rear wheel driving wheels are connected to the track by the respective driving motor of the drive unit to which the towing harpoon operation module is connected to drive the left and right sides independently and can switch the direction Robot for cleaning garbage discharge pipe. The method according to claim 1 or 2, A robot for cleaning a waste discharge pipe, which is connected to the piston of the head part and can catch an opponent using a forceps arm that opens and closes through a link connected to the piston in a cylinder case. The method of claim 1, The towing harness, which is mounted on the top of the driving unit and is fired by the towing harness operation module that fires the towing harness loaded by the compression of the elastic body through the relaxation of the elastic body, can be opened and closed by the towing ring opening link, and the towing harness can be launched. Robot for cleaning garbage discharge pipes. The method of claim 1, A robot for cleaning waste discharge pipes equipped with a cleaning brush that is connected to the drive shaft at the bottom of the head and rotates in conjunction with the drive shaft to clean the inner wall of the pipe.

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