LU503794B1 - A pipe cleaning robot - Google Patents
A pipe cleaning robot Download PDFInfo
- Publication number
- LU503794B1 LU503794B1 LU503794A LU503794A LU503794B1 LU 503794 B1 LU503794 B1 LU 503794B1 LU 503794 A LU503794 A LU 503794A LU 503794 A LU503794 A LU 503794A LU 503794 B1 LU503794 B1 LU 503794B1
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- LU
- Luxembourg
- Prior art keywords
- piston
- hole
- cleaning robot
- pipe cleaning
- piston hole
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention discloses a pipe cleaning robot, which comprises the following components: a bottom base, provided at the top with a first piston hole and at the top surface with a bump protruding upward; a first piston, slidably arranged in the first piston hole, provided at the top with a first connecting rod that extends upward and is provided at the top end with a stopper extending outward; a top base; a linear drive device, provided with a moving pair and driving it to move back and forth between the bottom base and the top base, the moving pair being provided with a second piston hole located above the bump and penetrating in the up-down direction; and a second piston, slidably arranged in the second piston hole. The pipe cleaning robot can perform the walking function using a linear drive, reducing the number of drives and drive failures.
Description
1 LU503794
A PIPE CLEANING ROBOT
[0001] The present invention relates to the field of pipe robots, in particular to a pipe cleaning robot.
[0002] A pipe is used to transport a fluid. When the fluid flows in the pipe, the foreign matters carried in the fluid will adhere to the inner wall of the pipe, and accumulate thereon to form blocking agglomerates, hindering the flow of the fluid in the pipe. A pipe cleaning robot is used to clean the inner wall of the pipe. The walking module of the pipe cleaning robot walks in a creeping way by abutting against the inner wall of the pipe. However, the walking module of the pipe cleaning robot is driven by a plurality of drive devices, and it is difficult for the individual drive devices to work cooperatively, which is easy to cause failures of the pipe cleaning robot.
[0003] The object of the present invention is to provide a pipe cleaning robot, at least to provide a beneficial option or creative condition, so as to solve one or more technical problems existing in the prior art.
[0004] In order to achieve the above object, the present invention adopts the following technical solution:
[0005] A pipe cleaning robot is provided, comprising:
[0006] a bottom base, provided at the top with a first piston hole and at the top surface with a bump protruding upward, the first piston hole being provided on the periphery with a plurality of first guide holes communicating the first piston hole with the outside;
2 LU503794
[0007] a first piston, slidably arranged in the first piston hole, provided at the top with a first connecting rod that extends upward and is provided at the top end with a stopper extending outward;
[0008] a plurality of first support rods, all slidably arranged in the plurality of first guide holes in a one-to-one correspondence;
[0009] a top base, spaced from the bottom base in the up-down direction;
[0010] a linear drive device, connected to the bottom base and the top base, provided with a moving pair and driving it to move back and forth between the bottom base and the top base, the stopper and the first piston being located on the upper and lower sides of the moving pair, the moving pair being provided with a second piston hole penetrating in the up-down direction that is located above the bump and is provided on the periphery with a plurality of second guide holes each communicating the second piston hole with the outside;
[0011] a second piston, slidably arranged in the second piston hole; and
[0012] a plurality of second support rods, all slidably arranged in the plurality of second guide holes in a one-to-one correspondence.
[0013] The present invention has the following beneficial effects: With the pipe cleaning robot placed in the pipe, the linear drive device drives the moving pair to move downward to push the first piston down into the first piston hole, and the outer sidewall of the first piston abuts against the first support rod, so that the first support rod expands outward and presses against the inner wall of the pipe, thereby fixing the bottom base in the pipe; and the bump of the bottom base is inserted upward into the second piston hole of the moving pair, making the second piston in the second piston hole move upward and get staggered with the second support rod, so that the second support rod can slide along the second guide hole; then the linear drive device drives the moving pair to move upward to drive the second piston to move to
3 LU503794 the bottom of the top base, so that the top base presses the second piston into the second piston hole, and the outer sidewall of the second piston abuts against the second support rod, making the second support rod expand outward and press against the inner wall of the pipe, thereby fixing the moving pair in the pipe; and the top of the moving pair pushes the stopper to move upward to drive the first piston to move upward, making the first piston staggered with the first support rod, so that the first support rod can slide along the first guide hole, and the bottom base can move relative to the inner wall of the pipe; then the linear drive device drives the moving pair to move downward and, with the moving pair fixed in the pipe, the bottom base moves upward relative to the moving pair, thus making the pipe cleaning robot move upward; by cycling the above actions to move upward continuously, the pipe cleaning robot can realize the walking function by using one linear drive device, reducing the number of drive devices, avoiding failures caused by the
Cooperation of multiple drive devices.
[0014] As a further improvement of above technical solution, the linear drive device is a screw-rod transmission mechanism, and has a screw rod that is cooperatively connected with the moving pair; the pipe cleaning robot further includes a cleaning mechanism, which is connected to the top end, extending above the top base, of the screw rod.
[0015] With the linear drive device as a screw-rod transmission mechanism, the moving pair is cooperatively connected with the screw rod, so that the up-down movement of the moving pair is realized by the rotation of the screw rod, and the screw rod, having its top end connected with the cleaning mechanism, drives the cleaning mechanism to rotate to clean the inner wall of the pipe, which enables the pipe cleaning robot to realize the walking function by using one linear drive device, reducing the number of drive devices, avoiding failures caused by the cooperation of multiple drive
4 LU503794 devices.
[0016] As a further improvement of above technical solution, the cleaning mechanism comprises an annular structure, a connecting frame, and a plurality of brushes; with the annular structure being an annular ring-shaped structure with a hollow middle, the connecting frame is arranged in the middle of the annular structure, and connected to the annular structure and the top end of the screw rod, all the brushes being distributed on the outer sidewall of the annular structure at intervals.
[0017] With the annular structure connected to the top end of the screw rod through the connecting frame, the screw rod rotates to drive the annular structure to rotate; with the plurality of brushes arranged on the outer sidewall of the annular structure, the annular structure rotates to drive all the brushes to rotate, thereby scraping the foreign matters off the inner wall of the pipe; and with the middle hollow structure of the annular structure, when the pipe cleaning robot moves, the liquid in the pipe flows through the middle of the annular structure, thereby reducing the resistance of the liquid to the advancing of the pipe cleaning robot.
[0018] As a further improvement of above technical solution, the moving pair is provided with a first through hole penetrating in the up-down direction, through which the first connecting rod passes.
[0019] With the first connecting rod passing through the first through hole of the moving pair, when the moving pair moves upward, the first connecting rod is confined in the first through hole; even after the first piston escapes upward from the first piston hole, the moving pair still keeps the first piston directly above the first piston hole, so as to prevent the first piston from being misaligned with the first piston hole.
[0020] As a further improvement of above technical solution, the first through hole is provided at the top with a groove, which corresponds in shape
> LU503794 to the stopper and has a depth greater than the thickness of the stopper ın the up-down direction.
[0021] When the moving pair drives the stopper to move upward, the top base presses the stopper downward into the groove and, with the thickness of the stopper less than the depth of the groove in the up-down direction, the top surface of the moving pair can fit with the bottom surface of the top base, so that the bottom surface of the top base can push the second piston completely into the second piston hole, which helps the second piston push the second support rod to expand outward.
[0022] As a further improvement of above technical solution, with the position of the first piston hole opposite to the first guide hole taken as the opposite inner side, the inner end of the first support rod is provided on the outer sidewall with a first slope, which gradually inclines upward from the inside to the outside; and/or
[0023] with the position of the second piston hole opposite to the second guide hole taken as the opposite inner side, the inner end of the second support rod is provided on the outer sidewall with a second slope, which gradually inclines upward from the inside to the outside.
[0024] The inner end of the first support rod being provided on the outer sidewall with a first slope that is gradually inclined upward from the inside to the outside, when the first piston 1s inserted into the first piston hole from top to bottom, the bottom of the first piston presses against the first slope, and the first piston moves down along the first slope to make the first support rod gradually extend outward, so as to prevent the inner end of the first support rod from blocking the downward movement of the first piston; the inner end of the second support rod being provided on the outer sidewall with a second slope that is gradually inclined upward from the inside to the outside, when the second piston is inserted into the second piston hole from top to bottom,
6 LU503794 the bottom of the second piston presses against the second slope, and the second piston moves down along the second slope to make the second support rod gradually extend outward, so as to prevent the inner end of the second support rod from blocking the downward movement of the second vpiston.
[0025] As a further improvement of above technical solution, the first support rods are each provided at the outer end with first bent portions, each of which is bent in the horizontal direction, so that the contour formed by all the first bent portions is circular; and/or
[0026] the second support rods are each provided at the outer end with second bent portions, each of which is bent in the horizontal direction, so that the contour formed by all the second bent portions is circular.
[0027] The first support rods being each provided at the outer end with a first bent portion, when the first support rod expands outward, the first bent portion abuts against the inner wall of the pipe and, with the contour formed by all the first bent portions being circular, the contact area between the first bent portion and the inner wall of the pipe increases, thereby reducing the pressing damage of the first support rod to the inner wall of the pipe; the second support rods being each provided at the outer end with a second bent portion, when the second support rod expands outward, the second bent portion abuts against the inner wall of the pipe and, with the contour formed by all the second bent portions being circular, the contact area between the second bent portion and the inner wall of the pipe increases, thereby reducing the pressing damage of the second support rod to the inner wall of the pipe.
[0028] As a further improvement of above technical solution, the first piston and/or the second piston have/has a bottom of a conical structure with a big end up.
[0029] The bottom of the first piston being of a conical structure with a big end up, when the first piston is inserted into the first piston hole from top
/ LU503794 to bottom, the first support rod abuts against the outer sidewall of the bottom of the first piston, so that the first support rod gradually expands outward and then abuts against the inner wall of the pipe, reducing the impact of the outward expansion of the first support rod on the inner wall of the pipe; the bottom of the second piston being of a conical structure with a big end up, when the second piston is inserted into the second piston hole from top to bottom, the second support rod abuts against the outer sidewall of the bottom of the second piston, so that the second support rod gradually expands outward and then abuts against the inner wall of the pipe, reducing the impact of the outward expansion of the second support rod on the inner wall of the pipe.
[0030] As a further improvement of above technical solution, the bump 1s provided at the top with a second connecting rod, which extends upward to the bottom of the top base and passes through the second piston hole; the second piston is provided with a second through hole penetrating in the up-down direction, through which the second connecting rod passes, the second piston sliding up and down along the second connecting rod.
[0031] The second connecting rod passes through the second piston hole as well as the second through hole of the second piston, so that it restricts the movement of the second piston in the up-down direction; when the moving pair moves downward to the top of the bottom base, even if the bump pushes the second piston to escape upward from the second piston hole, the second piston 1s still located directly above the second piston hole, so as to prevent the second piston from being misaligned with the second piston hole.
[0032] As a further improvement of above technical solution, a plurality of first tension springs, further included in the pipe cleaning robot, are sleeved around the plurality of first support rods in a one-to-one correspondence, and connect the first support rod and the bottom base, so that the first tension
8 LU503794 springs can pull the first support rod to move toward the first piston hole; and/or
[0033] a plurality of second tension springs, further included in the pipe cleaning robot, are sleeved around the plurality of second support rods in a one-to-one correspondence, and connect the second support rod and the moving pair, so that the second tension springs can pull the second support rod to move toward the second piston hole.
[0034] The first tension spring pulling the first support rod to move toward the first piston hole, when the first piston escapes from the first piston hole, the first support rod is retracted toward the first piston hole, so that the first support rod is quickly separated from the inner wall of the pipe, making the pipe cleaning robot walk more smoothly; the second tension spring pulling the second support rod to move toward the second piston hole, when the second piston escapes from the second piston hole, the second support rod 1s retracted toward the second piston hole, so that the second support rod is quickly separated from the inner wall of the pipe, making the pipe cleaning robot walk more smoothly.
[0035] The present invention will be further described below with reference to drawings and examples.
[0036] Fig. 1 is a structural diagram of the pipe cleaning robot according to an example of the present invention;
[0037] Fig. 2 is an exploded diagram of the pipe cleaning robot according to an example of the present invention;
[0038] Fig. 3 is a left view of the pipe cleaning robot, in the forward motion cycle, according to an example of the present invention; and
[0039] Fig. 4 is a sectional diagram of the pipe cleaning robot, in the
9 LU503794 forward motion cycle, according to an example of the present invention.
[0040] 100. Bottom base; 110. first piston hole; 120. first guide hole; 130. bump; 131. second connecting rod; 140. first support rod; 150. first bent portion; 200. first piston; 210. first connecting rod; 220. stopper; 300. top base; 400. linear drive device; 410. screw rod; 420. moving pair; 421. first through hole; 422. second piston hole; 423. second guide hole; 424. second support rod; 425. second bent portion; 426. groove; 500. second piston; 510. second through hole; 600. cleaning mechanism; 610. annular structure; and 620. connecting frame.
[0041] Specific examples of the present invention will be described below in detail. A preferred example of the present invention is shown in the accompanying drawings, which are used to supplement the description of the text part of the specification with figures, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but the preferred example cannot be understood as a limitation on the scope of protection of the present invention.
[0042] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by, for example, up, down, front, rear, left, and right is based on that shown in the drawings, only for the convenience of describing the present invention and simplifying the description, rather than for the indication or implication that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, so the orientation or positional relationship cannot be construed as a limitation on the present invention.
[0043] In the description of the present invention, words such as “some”
10 LU503794 mean one or more; “multiple” and “a plurality of” mean two or more; greater than, less than, exceeding, and the like should be understood as excluding the given number; and above, below, within, and the like should be understood as including the given number.
[0044] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be broadly understood, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in conjunction with the specific content of the technical solution.
[0045] As shown in Figs. 1 to 4, an example of the pipe cleaning robot of the present invention is as follows:
[0046] The pipe cleaning robot comprises a bottom base 100, a first piston 200, a top base 300, a linear drive device 400, a second piston 500, and a cleaning mechanism 600.
[0047] The top base 300 and the bottom base 100 are spaced from each other in the up-down direction, between which is arranged the linear drive device 400; the linear drive device 400 1s a screw-rod transmission mechanism, comprising a rotary drive device, a screw rod 410, a moving pair 420, and a guide rod, wherein the upper and lower ends of the guide rod are respectively connected to the top base 300 and the bottom base 100, the rotary drive device 1s arranged on the bottom base 100 and connected to the bottom end of the screw rod 410, and the top end of the screw rod 410 extends upward. The top base 300 is provided with a through hole penetrating in the up-down direction, through which the top end of the screw rod 410 extends above the top base 300. The moving pair 420 1s a screw-rod nut, which is cooperatively connected with the screw rod 410, and is provided with a guide hole through which the guide rod passes; when the rotary drive device drives the screw rod 410 to rotate, the thread of the screw rod 410 meshes with the u LU503794 internal thread of the moving pair 420, and the guide rod restricts the freedom of the moving pair 420 to rotate around the screw rod 410, so the moving pair 420 moves up and down.
[0048] The cleaning mechanism 600 comprises an annular structure 610, a connecting frame 620, and a plurality of brushes; with the annular structure 610 being an annular ring-shaped structure with a hollow middle, the connecting frame 620 is arranged at the hollow in the middle of the annular structure 610, connected to the annular structure, and provided at the bottom with an assembly hole that is matched with the top end of the screw rod 410, such that the connecting frame 620, detachably connected to the top end of the screw rod 410 through screws, is linked with the screw rod 410; with all the brushes evenly distributed on the outer sidewall of the annular structure 610, when the screw rod 410 rotates, the annular structure 610 rotates around the vertical axis to make all the brushes rotate relative to the inner wall of the pipe, so that the brushes can scrape foreign matters off the inner wall of the pipe.
[0049] The bottom base 100 is provided at the top surface with a first piston hole 110, and provided respectively on the front and rear sidewalls with a first guide hole 120, the two first guide holes 120 being respectively provided at the front and rear sides of the first piston hole 110 and communicating the first piston hole 110 with the outside. Two first support rods 140 are slidably arranged in the two first guide holes 120 in a one-to-one correspondence, with the first support rods 140 matching in shape with the corresponding first guide holes 120, so that the first support rods 140 can slide back and forth along the first guide holes 120. The inner end of the first support rod 140 extends into the first piston hole 110, and is provided on the outer sidewall with a first slope, which gradually inclines upward from the inside to the outside. The outer ends of the first support rods 140 are each
12 LU503794 provided with a first bent portion 150, and extend out of the first guide holes 120; the outer sidewalls of the first bent portions 150 bent in the direction of the screw rod 410 have an arc surface, which matches the arc surface of the inner wall of the pipe, so that the contour formed by the two first bent portions 150 is circular. Two first tension springs are sleeved around the two first support rods 140 in a one-to-one correspondence, and connected to the bottom base 100 and the first support rods 140, so that the first tension springs can pull the first support rods 140 to move into the first piston holes 110.
[0050] The moving pair 420 is provided with a first through hole 421 penetrating in the up-down direction, which 1s located along the same vertical line with the first piston hole 110 and less in diameter than the first piston hole 110. The first piston 200 matches in shape with the first piston hole 110, and has a bottom of a conical structure with a big end up; a first connecting rod 210 extends upward from the top of the first piston 200, and matches in shape with the first through hole 421 and passes therethrough, so that it can slide up and down along the first through hole 421. The first connecting rod 210 1s provided at the top with a stopper 220, which extends out of the first connecting rod 210; the moving pair 420 is provided at the top with a groove 426, which matches in shape with the stopper 220 and has a depth equal to the thickness of the stopper 220 in the up-down direction, so that the top surface of the stopper 220 is flush with the top surface of the moving pair 420 after the stopper 220 1s inserted into the groove 426. Wherein the distance between the first guide hole 120 and the top surface of the bottom base 100 1s less than the width of the first piston 200 in the up-down direction, and also less than the stroke of the stopper 220 moving up and down. When the moving pair 420 moves downward, the bottom surface of the moving pair 420 pushes the first piston 200 to move downward, causing the first connecting rod 210 and the stopper 220 to move downward accordingly; after the first piston 200 is
13 LU503794 inserted into the first piston hole 110, the outer sidewall of the first piston 200 abuts against the first support rod 140 to make the first support rod 140 expand outward; when the moving pair 420 moves upward, the groove 426 on the top of the moving pair 420 pulls the stopper 220 to move upward, so that the first connecting rod 210 and the first piston 200 move upward, the first piston 200 escapes from the first piston hole 110, and the first tension spring pulls the first support rod 140 to retract into the first piston hole 110.
[0051] A second piston hole 422, penetrating in the up-down direction in the moving pair 420, and the first through hole 421 are located on the left and right sides of the screw rod 410, respectively; the moving pair 420 is provided respectively on the front and rear sidewalls with a second guide hole 423, which is respectively arranged on the front and rear sides of the second piston hole 422 and communicates the second piston hole 422 with the outside. The two second support rods 424 are slidably arranged in the two second guide holes 423 in a one-to-one correspondence, and match in shape with the second guide holes 423, so that the second support rods 424 can slide back and forth along the second guide holes 423. The inner end of the second support rod 424 extends into the second piston hole 422, and is provided on the outer sidewall with a second slope, which gradually inclines upward from the inside to the outside. The outer ends of the second support rods 424 are each provided with a second bent portion 425, and extend out of the second guide holes 423; the outer sidewalls of the second bent portions 425 bent in the direction of the screw rod 410 have an arc surface, which matches the arc surface of the inner wall of the pipe, so that the contour formed by the two second bent portions 425 1s circular. Two second tension springs are sleeved around the two second support rods 424 in a one-to-one correspondence, and connected to the moving pair 420 and the second support rods 424, so that the second tension springs can pull the second support rods 424 to move into the
14 LU503794 second piston holes 422.
[0052] The bottom base 100 1s provided at the top surface with a bump 130, which extends upward and has an outer diameter less than the diameter of the second piston hole 422; the bump 130 is provided at the top with a second connecting rod 131, which extends upward to the bottom surface of the top base 300 and has an outer diameter less than that of the bump 130.
The bump 130 and the second piston hole 422 are located along the same vertical line, and the second connecting rod 131 passes through the second piston hole 422.
[0053] The second piston 500 matches in shape with the second piston hole 422, and has a bottom of a conical structure with a big end up; the second piston 500 is slidably inserted through the second piston hole 422, and is provided at the middle with a second through hole 510 penetrating in the up-down direction; the second connecting rod 131 matches in shape with the second through hole 510 and passes therethrough, so that the second piston 500 can slide up and down along the second connecting rod 131; wherein the distance between the second guide hole 423 and the top surface of the moving pair 420 is less than the width of the second piston 500 in the up-down direction, and the distance between the second guide hole 423 and the bottom surface of the moving pair 420 1s less than the width of the bump 130 in the up-down direction. When the moving pair 420 moves downward to above the bump 130, the bump 130 1s inserted into the second piston hole 422 from bottom to top, and pushes the second piston 500 in the second piston hole 422 to move upward and escape from the second piston hole 422, and the second tension spring pulls the second support rod 424 to retract into the second piston hole 422; when the moving pair 420 moves upward, the second support rod 424 abuts against the bottom of the second piston 500, so that the second piston 500 moves upward along with the moving pair 420 to below the top
15 LU503794 base 300, then the bottom surface of the top base 300 presses the second piston 500 downward into the second piston hole 422, and the outer sidewall of the second piston 500 abuts against the second support rod 424 to make the second support rod 424 expand outward.
[0054] With the width of the bump 130 equal to that of the first piston 200 in the up-down direction, when the moving pair 420 clamps the second piston 500 to move downward, first the bump 130 pushes the second piston 500 out of the second piston hole 422, and then the moving pair 420 pushes the first piston 200 downward into the first piston hole 110 of the bottom base 100, so that the first support rod 140 expands after the second support rod 424 1s retracted; with the stroke of the stopper 220 moving up and down not less than the width of the second piston 500 in the up-down direction, when the moving pair 420 pushes the second piston 500 to move upward, the moving pair 420 first pushes the stopper 220 to move upward to make the first piston 200 escape from the first piston hole 110, and then presses the second piston 500 upward into the second piston hole 422, so that the second support rod 424 expands after the first support rod 140 1s retracted. Therefore, during the walking process of the pipe cleaning robot, the first support rod 140 and the second support rod 424 alternately expand and abut against the inner wall of the pipe.
[0055] In some examples, the linear drive device 400, having a variety of forms such as a hydraulic push rod and an electric push rod, cannot drive the cleaning mechanism 600 to rotate around the vertical axis; the outer diameter of the cleaning mechanism 600 installed on the top of the top base 300 1s increased, so that the brush can abut against the inner wall of the pipe; when the pipe cleaning robot moves in the up-down direction, the brush of the cleaning mechanism 600 can move up and down relative to the inner wall of the pipe, so as to scrape foreign matters off the inner wall of the pipe in the
16 LU503794 up-down direction.
[0056] The preferred embodiments of the present invention have been specifically described above, but the present invention is not limited thereto.
Those skilled in the art, without departing from the spirit of the present invention, can make various equivalent modifications or substitutions, which are all included within the scope defined by the claims of the present application.
Claims (8)
1. A pipe cleaning robot, characterized in that it comprises the following components: a bottom base (100), provided at the top with a first piston hole (110) and at the top surface with a bump (130) protruding upward, the first piston hole (110) being provided on the periphery with a plurality of first guide holes (120) communicating the first piston hole (110) with the outside; a first piston (200), slidably arranged in the first piston hole (110), provided at the top with a first connecting rod (210) that extends upward and 1s provided at the top end with a stopper (220) extending outward; a plurality of first support rods (140), all slidably arranged in the plurality of first guide holes (120) in a one-to-one correspondence; a top base (300), spaced from the bottom base (100) in the up-down direction; a linear drive device (400), connected to the bottom base (100) and the top base (300), having a moving pair (420) and driving it to move back and forth between the bottom base (100) and the top base (300), the stopper (220) and the first piston (200) being located on the upper and lower sides of the moving pair (420), the moving pair (420) being provided with a second piston hole (422) penetrating in the up-down direction that is located above the bump (130) and is provided on the periphery with a plurality of second guide holes (423) each communicating the second piston hole (422) with the outside, the moving pair (420) being provided with a first through hole (421) penetrating in the up-down direction, the first connecting rod (210) passing through the first through hole (421) provided at the top with a groove (426), the groove (426) corresponding in shape to the stopper (220) and having a depth greater than the thickness of the stopper (220) in the up-down direction; a second piston (500), slidably arranged in the second piston hole (422);
18 LU503794 and a plurality of second support rods (424), all slidably arranged in the plurality of second guide holes (423) in a one-to-one correspondence.
2. The pipe cleaning robot according to claim 1, characterized in that: the linear drive device (400) is a screw-rod transmission mechanism, and has a screw rod (410) that 1s cooperatively connected with the moving pair (420); the pipe cleaning robot further includes a cleaning mechanism (600), which 1s connected to the top end, extending above the top base (300), of the screw rod (410).
3. The pipe cleaning robot according to claim 2, characterized in that: the cleaning mechanism (600) comprises an annular structure (610), a connecting frame (620), and a plurality of brushes; with the annular structure (610) being an annular ring-shaped structure with a hollow middle, the connecting frame (620) 1s arranged in the middle of the annular structure (610), and connected to the annular structure (610) and the top end of the screw rod (410), all the brushes being distributed on the outer sidewall of the annular structure (610) at intervals.
4. The pipe cleaning robot according to claim 1, characterized in that: with the position of the first piston hole (110) opposite to the first guide hole (120) taken as the opposite inner side, the inner end of the first support rod (140) is provided on the outer sidewall with a first slope, which gradually inclines upward from the inside to the outside; and/or with the position of the second piston hole (422) opposite to the second guide hole (423) taken as the opposite inner side, the inner end of the second support rod (424) is provided on the outer sidewall with a second slope,
19 LU503794 which gradually inclines upward from the inside to the outside.
5. The pipe cleaning robot according to claim 1, characterized in that: the first support rods (140) are each provided at the outer end with first bent portions (150), each of which is bent in the horizontal direction, so that the contour formed by all the first bent portions (150) is circular; and/or the second support rods (424) are each provided at the outer end with second bent portions (425), each of which is bent in the horizontal direction, so that the contour formed by all the second bent portions (425) is circular.
6. The pipe cleaning robot according to claim 1, characterized in that: the first piston (200) and/or the second piston (500) have/has a bottom of a conical structure with a big end up.
7. The pipe cleaning robot according to claim 1, characterized in that: the bump (130) 1s provided at the top with a second connecting rod (131), which extends upward to the bottom of the top base (300) and passes through the second piston hole (422); the second piston (500) is provided with a second through hole (510) penetrating in the up-down direction, through which the second connecting rod (131) passes, the second piston (500) sliding up and down along the second connecting rod (131).
8. The pipe cleaning robot according to claim 1, characterized in that: a plurality of first tension springs, further included in the pipe cleaning robot, are sleeved around the plurality of first support rods (140) in a one-to-one correspondence, and connect the first support rod (140) and the bottom base (100), so that the first tension springs can pull the first support rod (140) to move toward the first piston hole (110); and/or
20 LU503794 a plurality of second tension springs, further included in the pipe cleaning robot, are sleeved around the plurality of second support rods (424) in a one-to-one correspondence, and connect the second support rod (424) and the moving pair (420), so that the second tension springs can pull the second support rod (424) to move toward the second piston hole (422).
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111184701.1A CN114011813B (en) | 2021-10-11 | 2021-10-11 | Pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU503794B1 true LU503794B1 (en) | 2023-06-01 |
Family
ID=80055595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU503794A LU503794B1 (en) | 2021-10-11 | 2022-10-11 | A pipe cleaning robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114011813B (en) |
| LU (1) | LU503794B1 (en) |
| WO (1) | WO2023061383A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114011813B (en) * | 2021-10-11 | 2022-08-16 | 广东职业技术学院 | Pipeline cleaning robot |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0616129A (en) * | 1992-04-17 | 1994-01-25 | Masuda Denki Kk | Inside-pipe moving device |
| CN104165257B (en) * | 2013-12-30 | 2018-01-30 | 山东北方光学电子有限公司 | The telescopic automatic traveling mechanism of fixed step size |
| CN105945016A (en) * | 2016-05-24 | 2016-09-21 | 范志杰 | Pipe cleaning device |
| CN105840950B (en) * | 2016-06-06 | 2019-03-15 | 沈阳建筑大学 | Stepped pipe pipeline robot |
| CN106439375B (en) * | 2016-10-11 | 2018-03-09 | 西南石油大学 | A kind of pipeline rehabilitation machine of hydraulic-driven |
| GB2564120B (en) * | 2017-07-03 | 2022-03-09 | United Kingdom Atomic Energy Authority | In-pipe cutting, inspection and welding tool |
| CN107355637B (en) * | 2017-07-31 | 2022-11-11 | 广州大学 | Sectional cleaning robot for central air-conditioning pipeline |
| CN107470280A (en) * | 2017-08-04 | 2017-12-15 | 成都兆丰斯诺科技有限公司 | A kind of cleaning device for inner wall of pipeline |
| CN209272068U (en) * | 2018-12-04 | 2019-08-20 | 胡秋分 | A kind of voluntarily creeping motion type industrial pipeline cleaning eliminating machine |
| CN109604270B (en) * | 2018-12-19 | 2020-10-13 | 武汉软件工程职业学院(武汉市广播电视大学) | Pipeline cleaning and repairing robot and execution method thereof |
| CN111921988B (en) * | 2020-08-04 | 2021-09-03 | 山东创瑞增材制造产业技术研究院有限公司 | Laser belt cleaning device with adjustable facula form |
| CN112413285B (en) * | 2020-11-30 | 2024-04-09 | 华南理工大学 | Pipeline obstacle clearance robot |
| CN112974435B (en) * | 2021-02-07 | 2022-03-11 | 安徽工业大学 | Pipeline wall climbing cleaning robot |
| CN114011813B (en) * | 2021-10-11 | 2022-08-16 | 广东职业技术学院 | Pipeline cleaning robot |
-
2021
- 2021-10-11 CN CN202111184701.1A patent/CN114011813B/en active Active
-
2022
- 2022-10-11 LU LU503794A patent/LU503794B1/en active IP Right Grant
- 2022-10-11 WO PCT/CN2022/124719 patent/WO2023061383A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023061383A1 (en) | 2023-04-20 |
| CN114011813B (en) | 2022-08-16 |
| CN114011813A (en) | 2022-02-08 |
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Effective date: 20230601 |