CN102873066A - Planetary self-adaptive pipeline cleaning robot - Google Patents
Planetary self-adaptive pipeline cleaning robot Download PDFInfo
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- CN102873066A CN102873066A CN2012104306638A CN201210430663A CN102873066A CN 102873066 A CN102873066 A CN 102873066A CN 2012104306638 A CN2012104306638 A CN 2012104306638A CN 201210430663 A CN201210430663 A CN 201210430663A CN 102873066 A CN102873066 A CN 102873066A
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Abstract
The invention provides a planetary self-adaptive pipeline cleaning robot which is characterized in that two motor brackets are sleeved on connecting lugs extending out of both sides of one end of a chassis; two traveling motors are fixed inside the upper parts of the motor brackets; driving wheels are arranged at the shaft ends of the traveling motors, which extend outward; a planetary mounting rack is fixed on the upper surface of the other end of the chassis; a universal wheel is arranged on the lower surface of the other end of the chassis by a projecting lug; a sun wheel is fixed on the plane of the planetary mounting rack; the middle part of a driving shaft is sleeved and supported in a hole at the center of the sun wheel; the extending end of the driving shaft, which is toward the direction of the traveling motors, is connected with a speed reduction motor; two planet carriers are fixed at the other end of the driving shaft; two idle wheel frames are sleeved between the two planet carriers; both ends of idle wheel shafts are supported in supporting sleeve round holes of the two idle wheel frames; both ends of planet shafts are supported in holes of telescopic supports inserted into planet carrier sleeves; and idle wheels and planet gears, which are meshed with the sun wheel, are respectively arranged at the extending ends of the idle wheel shafts and the planet shafts, which are toward the speed reduction motor; and hair brushes are fixed at the other ends of the planet shafts. The planetary self-adaptive pipeline cleaning robot has strong adaptability to various pipelines.
Description
Technical field
The invention provides a kind of planetary self-adapting pipe sweeping robot, be mainly used in the central air-conditioning pipe cleaning works.
Background technology
Along with improving constantly of economic development and living standards of the people, central air-conditioning more and more is used widely.But, owing to reasons such as central air-conditioning self structure and interior decorations, cause central air-conditioning and ventilation shaft thereof cleaning difficulty, the ventilation shaft of most central air-conditioning did not clean all the year round, and the air pollution that causes therefrom also more and more causes people's great attention.
At present, occurred some air-conditioning duct cleaning equipments on the market, but the reason such as, equipment self heaviness poor owing to complex structure, cleaning effect causes its difficulty or ease to be applied.Therefore, we have developed a kind of planetary pipeline cleaning robot, evidence, and this equipment cleaning efficient is high, simple in structure, easy to operate, has therefore applied for national inventing patent, and application number is: 201210416953.7.But the related pipeline cleaning robot of this patent can only adapt to a kind of cleaning works of pipe diameter, can't use when changing pipe diameter.
Take a broad view of central air-conditioning pipe cleaning equipment current situation, be badly in need of that a kind of cleaning efficiency is high, energy consumption is low, and adapt to the strong pipe-line purging equipment of pipe diameter changing capability.
Summary of the invention
The invention provides a kind of purpose that can reach thorough cleaning ventilating duct of central air conditioner, and cleaning efficiency is high, adapt to strong, simple in structure, the easy to operate planetary self-adapting pipe sweeping robot of different size pipeline ability.
Its technical scheme is: comprise moving device and clearing apparatus, moving device comprises the chassis, the motor of advancing, driving wheel, electric machine support, universal wheel and planet installing rack, it is characterized in that: an engaging lug is respectively stretched out along growing the perpendicular direction in limit with the chassis in horizontally disposed one end both sides, rectangle chassis, one end inboard of the electric machine support of middle part bending is fixed with adapter sleeve, and between electric machine support is near the inboard at middle part and adapter sleeve outer surface, strengthen by reinforcement, two inside are equipped with the adapter sleeve of Compress Spring I and the assembly of electric machine support, make the electric machine support middle part outwardly by adapter sleeve, an end that is fixed with adapter sleeve down symmetry is sleeved on outwardly directed two engaging lugs in chassis, and the upper end symmetry of electric machine support is sloped inwardly, all be processed with circular hole in the middle of the two electric machine support tops, two round hole axial are positioned at the same plane vertical with long limit, chassis, two round hole axial are all inner low, the outer end is high, and equate with the angle of engaging lug center line, two motors of advancing all are fixed on the upper inner of electric machine support by adpting flange, the motor shaft of motor of advancing is outside, and after tilting to be upward through the circular hole in the middle of the electric machine support top, the end all is equipped with driving wheel, the chassis is fixed with the center away from the other end upper surface of engaging lug and processes round-meshed planet installing rack, the round hole axial of planet installing rack is parallel with long limit, chassis, and be positioned at by the chassis minor face mid point plane vertical with the chassis upper surface, long limit, chassis is installed a fork-shaped lug near the lower surface at planet installing rack place by nut I and packing ring I, be processed with two coaxial circular holes on the lug, the other end that one end is equipped with the Universal castor of universal wheel is installed in two circular holes of lug by bearing pin, the Compress Spring II is installed in Universal castor near between the end upper surface and chassis lower surface of universal wheel, clearing apparatus comprises planetary driving device, reducing motor and hairbrush, planetary driving device comprises sun gear, planetary gear, driving shaft, planet carrier, planet axis, flexible supporting, idle pulley, idler shaft and idle pulley frame, the center processes round-meshed sun gear and is fixed on the planet installing rack away from the motor of advancing by bolt I and packing ring I, and on the perpendicular plane of the round hole axial of planet installing rack, the axis of sun gear center circular hole is coaxial with the round hole axial of planet installing rack, the middle part empty set is bearing in the driving shaft in the hole, sun gear center, towards the external part of the motor drive direction of advancing by shaft coupling with adopt the bolt II, the nut II is fixedly connected with the reducing motor that the packing ring II is fixed on the chassis upper surface middle part, two planet carrier centers are separately fixed at driving shaft away from the close sun gear place of the motor drive direction external part of advancing with away from the driving shaft end of sun gear, two idle pulley framves respectively empty set are bearing in close planet carrier place between two planet carriers on the driving shaft, radially outwardly directed each the supporting leg outer end of idle pulley frame is equipped with splicing sleeve, it is parallel with the driving shaft axis that each splicing sleeve center of idle pulley frame all is processed with axis, and slightly larger in diameter is in the circular hole of the idler shaft diameter of axle, each round hole axial is positioned on the same circumference centered by the driving shaft axis, many the idler shaft two ends empty sets parallel with the driving shaft axis are bearing in the circular hole of two each splicing sleeve of idle pulley frame, external part towards reducing motor respectively is equipped with the idle pulley that meshes with sun gear, planet carrier is equipped with the Compress Spring III along each sleeve shaped supporting leg inside that driving shaft radially outward stretches out, the diameter of bore of flexible supporting is slightly larger than planet axis and the flexible diameter of axle that supports touching position, the cylindrical of flexible supporting extends radially a cramp bar, and insert planet carrier by cramp bar and be equipped with in the sleeve shaped supporting leg of Compress Spring III, parallel with the driving shaft axis, the planet axis two ends empty set that equates with idler shaft quantity is bearing in the hole of flexible supporting, external part towards reducing motor respectively is equipped with the planetary gear that meshes with idle pulley, external part away from reducing motor respectively is fixed with cylindrical brush, the corresponding extension spring that hangs with respectively between the splicing sleeve cylindrical of cylindrical of each flexible supporting and adjacent idle pulley frame supporting leg outer end.
Described planetary self-adapting pipe sweeping robot, planetary driving device is provided with 3 two ends empty sets and is bearing in idler shaft and 3 idle pulleys in the idle pulley frame splicing sleeve, is provided with in the hole that 3 two ends empty sets are bearing in flexible supporting and is evenly arranged in planet axis and 3 hairbrush on the same circumference centered by the driving shaft axis.
Described planetary self-adapting pipe sweeping robot, planetary driving device is provided with 4 two ends empty sets and is bearing in idler shaft and 4 idle pulleys in the idle pulley frame splicing sleeve, is provided with in the hole that 4 two ends empty sets are bearing in flexible supporting and is evenly arranged in planet axis and 4 hairbrush on the same circumference centered by the driving shaft axis.
Its operation principle is: an engaging lug is respectively stretched out along growing the perpendicular direction in limit with the chassis in horizontally disposed one end both sides, rectangle chassis, the one end inboard of electric machine support of middle part bending is fixed with adapter sleeve, and strengthens by reinforcement between electric machine support is near the inboard at middle part and adapter sleeve outer surface; Two inside are equipped with the adapter sleeve of Compress Spring I and the assembly of electric machine support, by adapter sleeve make that electric machine support middle part is outwardly, the end that is fixed with adapter sleeve down symmetry be sleeved on outwardly directed two engaging lugs in chassis, and keep the upper end symmetry of electric machine support to slope inwardly; All be processed with circular hole in the middle of the two electric machine support tops, two round hole axial are positioned at the same plane vertical with long limit, chassis, and all the inner is low, the outer end is high for two round hole axial, and equates with the angle of engaging lug center line; Two motors of advancing all are fixed on the upper inner of electric machine support by adpting flange, the motor shaft of the motor of advancing outwards and after tilting to be upward through the middle circular hole in electric machine support top, the end all is equipped with driving wheel; The chassis is fixed with the center away from the other end upper surface of engaging lug and processes round-meshed planet installing rack, and the round hole axial of planet installing rack is parallel with long limit, chassis and be positioned at by the chassis minor face mid point plane vertical with the chassis upper surface; Long limit, chassis is installed a fork-shaped lug near the lower surface at planet installing rack place by nut I and packing ring I, is processed with two coaxial circular holes on the lug, and an end of Universal castor is equipped with universal wheel, and the other end is installed in two circular holes of lug by bearing pin; The Compress Spring II is installed in Universal castor near between the end upper surface and chassis lower surface of universal wheel.The center process round-meshed sun gear by bolt I and packing ring I be fixed on the planet installing rack away from advance motor and with the perpendicular plane of the round hole axial of planet installing rack on, the axis of sun gear center circular hole is coaxial with the round hole axial of planet installing rack; Driving shaft middle part empty set is bearing in the hole, center of sun gear, and driving shaft is fixedly connected with reducing motor by shaft coupling towards the external part of the motor drive direction of advancing, and reducing motor adopts bolt II, nut II and packing ring II to be fixed on the middle part of chassis upper surface; Driving shaft is away from the motor drive direction external part of advancing, each fixes a planet carrier near the sun gear place with away from the driving shaft end of sun gear; Between two planet carriers on the driving shaft, supporting an idle pulley frame near each empty set of planet carrier place, radially outwardly directed each the supporting leg outer end of idle pulley frame is equipped with splicing sleeve, each splicing sleeve center all is processed with axis and slightly larger in diameter parallel with the driving shaft axis in the circular hole of the idler shaft diameter of axle, and each round hole axial is positioned on the same circumference centered by the driving shaft axis; Article 3, or 4 idler shaft two ends empty sets be bearing in the circular hole of two each splicing sleeve of idle pulley frame, the idler shaft axis is parallel with the driving shaft axis, idler shaft respectively is equipped with idle pulley with the sun gear engagement towards the external part of reducing motor; Planet carrier is equipped with the Compress Spring III along each sleeve shaped supporting leg inside that driving shaft radially outward stretches out; The diameter of bore of flexible supporting is slightly larger than the diameter of axle of planet axis and flexible supporting touching position, and the cylindrical of flexible supporting extends radially a cramp bar, and is equipped with in the sleeve shaped supporting leg of Compress Spring III by cramp bar insertion planet carrier; 3 of equating with idler shaft of quantity or 4 planet axis two ends empty sets are bearing in the hole of flexible supporting, the planet axis axis is parallel with the driving shaft axis, planet axis respectively is equipped with planetary gear with the idle pulley engagement towards the external part of reducing motor, respectively is fixed with cylindrical brush away from the external part of reducing motor; The corresponding extension spring that hangs with respectively between the splicing sleeve cylindrical of cylindrical of each flexible supporting and adjacent idle pulley frame supporting leg outer end.
Compress Compress Spring I and Compress Spring II, two driving wheels and universal wheel are tightened up, compress simultaneously the Compress Spring III, elongate extension spring, the planetary gear and the hairbrush that make planet axis and be fixed on the planet axis also inwardly tighten up, with planetary self-adapting pipe sweeping robot pack into pipeline and start after, reducing motor is when driving shaft drives planet carrier, planet axis and revolves round the sun around driving shaft, because planetary gear by the gear motion of idle pulley and sun gear, forces planetary gear to drive planet axis around himself axis rotation.Meanwhile, be fixed on the hairbrush of the planet axis other end in along with the planet axis revolution, also around himself axis rotation.In addition, because the circumscribed circle diameter under each hairbrush free state is greater than internal diameter of the pipeline, after namely sweeping robot entered pipeline, each hairbrush produced certain strain, has improved the cleaning effect.
When cleaning the pipeline of different-diameter, on the one hand Compress Spring I and Compress Spring II can be regulated driving wheel and universal wheel automatically with respect to the position on chassis, the Compress Spring III can be regulated each planet axis and the place circular diameter of hairbrush centered by the driving shaft axis automatically on the other hand, so this robot can adapt to the variation of pipe diameter automatically.Simultaneously, the idle pulley frame is when keeping each idle pulley to mesh with sun gear all the time, extension spring also can pull to around the idle pulley frame that driving shaft freely rotates accordingly by the flexible supporting in the sleeve shaped supporting leg of cramp bar insertion planet carrier, so that idle pulley also remains and the planetary gear engagement, thereby keeping incessantly all the time transferring rotational motion between assurance sun gear and the planetary gear.Therefore, this pipeline cleaning robot has the ability of the different pipe diameters of stronger adaptation.
When pipeline cleaning robot cleaning straightway pipeline, control system is sent two motor forwards of advancing of instruction indication, and rotating speed is identical; When pipeline turning, hairbrush is then not identical with active force between the inner-walls of duct at the diverse location place, the active force that passes to the left and right sides, chassis by planetary driving device is not identical yet, when turning left such as pipeline, the active force that passes to the right side, chassis is large, the left side is less, opposite during right-hand bend, this moment control system send instruction so that about the rotating speed speed of two motors of advancing do not wait, universal wheel and Universal castor rotate around the axis perpendicular to the chassis upper surface simultaneously, to adapt to the needs of turning; When robot is swept into the pipeline end, when the resistance that hairbrush is subject to increases to setting value, two motor reversals of advancing of control system indication, sweeping robot withdraws from pipeline.
The present invention compared with prior art, not only cleaning efficiency is high, energy consumption is low, and it is strong, simple in structure, easy to use to adapt to different size pipeline ability, can be competent at the cleaning works to central air-conditioning pipe fully.
Description of drawings
Fig. 1 is the structure diagram of the embodiment of the invention.
Fig. 2 is the A-A cutaway view that expression planet axis embodiment illustrated in fig. 1, hairbrush and idler shaft are arranged situation.
Fig. 3 is the A-A cutaway view that expression planet axis shown in Figure 1, hairbrush and idler shaft are arranged another embodiment of situation.
Fig. 4 is the B-B cutaway view that expression planet axis embodiment illustrated in fig. 1, hairbrush and idle pulley are arranged situation.
Fig. 5 is the B-B cutaway view that expression planet axis shown in Figure 1, hairbrush and idle pulley are arranged another embodiment of situation.
Fig. 6 is that advance motor and driving wheel of expression embodiment illustrated in fig. 1 arranged the C-C cutaway view of situation.
The specific embodiment
1, chassis 2, the motor 3 of advancing, driving wheel 4, electric machine support 5, universal wheel 6, planet installing rack 7, engaging lug 8, adapter sleeve 9, reinforcement 10, Compress Spring I 11, nut I 12, packing ring I 13, lug 14, Universal castor 15, bearing pin 16, Compress Spring II 17, reducing motor 18, hairbrush 19, sun gear 20, planetary gear 21, driving shaft 22, planet carrier 23, planet axis 24, flexible supporting 25, idle pulley 26, idler shaft 27, idle pulley frame 28, bolt II 29, packing ring II 30, shaft coupling 31, bolt III 32, nut III 33, packing ring III 34, Compress Spring III 35, extension spring.
In Fig. 1, Fig. 2, Fig. 4 and embodiment shown in Figure 6: horizontally disposed 1 one end both sides, rectangle chassis are along respectively stretching out an engaging lug 7 with the perpendicular direction in 1 long limit, chassis, the one end inboard of electric machine support 4 of middle part bending is fixed with adapter sleeve 8, and electric machine support 4 near between the inboard at middle parts and adapter sleeve 8 outer surfaces by reinforcement 9 reinforcements; Two inside are equipped with the adapter sleeve 8 of Compress Spring I 10 and the assembly of electric machine support 4, by adapter sleeve 8 make that electric machine support 4 middle parts are outwardly, the end that is fixed with adapter sleeve 8 down symmetry be sleeved on 1 outwardly directed two engaging lugs 7 of chassis, and keep the upper end symmetry of electric machine support 4 to slope inwardly; All be processed with circular hole in the middle of two electric machine supports, 4 tops, two round hole axial are positioned at the same plane vertical with 1 long limit, chassis, and all the inner is low, the outer end is high for two round hole axial, and equates with the angle of engaging lug 7 center lines; Two motors 2 of advancing all are fixed on the upper inner of electric machine support 4 by adpting flange, the motor shaft of the motor 2 of advancing outwards and after tilting to be upward through the middle circular hole in electric machine support 4 tops, the end all is equipped with driving wheel 3; Chassis 1 is fixed with the center away from the other end upper surface of engaging lug 7 and processes round-meshed planet installing rack 6, and the round hole axial of planet installing rack 6 is parallel with 1 long limit, chassis and be positioned at by the chassis 1 minor face mid point plane vertical with chassis 1 upper surface; 1 long limit, chassis is installed a fork-shaped lug 13 near the lower surface at planet installing rack 6 places by nut I 11 and packing ring I 12, be processed with two coaxial circular holes on the lug 13, one end of Universal castor 14 is equipped with universal wheel 5, and the other end is installed in two circular holes of lug 13 by bearing pin 15; Compress Spring II 16 is installed in Universal castor 14 near between the end upper surface and chassis 1 lower surface of universal wheel 5.The center process round-meshed sun gear 19 by bolt II 28 and packing ring II 29 be fixed on planet installing rack 6 away from advance motor 2 and with the perpendicular plane of the round hole axial of planet installing rack 6 on, the axis of sun gear 19 center circular holes is coaxial with the round hole axial of planet installing rack 6; Driving shaft 21 middle part empty sets are bearing in the hole, center of sun gear 19, driving shaft 21 is fixedly connected with reducing motor 17 by shaft coupling 30 towards the external part of motor 2 directions of advancing, and reducing motor 17 adopts bolt III 31, nut III 32 and packing ring III 33 to be fixed on the middle part of chassis 1 upper surface; Driving shaft 21 is away from the motor 2 direction external parts of advancing, each fixes a planet carrier 22 near sun gear 19 places with away from driving shaft 21 ends of sun gear 19; Between two planet carriers 22 on the driving shaft 21, supporting an idle pulley frame 27 near each empty set of planet carrier 22 places, radially outwardly directed each the supporting leg outer end of idle pulley frame 27 is equipped with splicing sleeve, each splicing sleeve center all is processed with axis and slightly larger in diameter parallel with driving shaft 21 axis in the circular hole of idler shaft 26 diameters of axle, and each round hole axial is positioned on the same circumference centered by driving shaft 21 axis; Article 3, idler shaft 26 two ends empty sets are bearing in the circular hole of two idle pulley framves, 27 each splicing sleeve, and idler shaft 26 axis are parallel with driving shaft 21 axis, and idler shaft 26 respectively is equipped with the idle pulley 25 that meshes with sun gear 19 towards the external part of reducing motor 17; Planet carrier 22 is equipped with Compress Spring III 34 along each sleeve shaped supporting leg inside that driving shaft 21 radially outward stretches out; Flexible supporting 24 diameter of bores are slightly larger than the diameter of axle of planet axis 23 and flexible supporting 24 touching positions, and the cylindrical of flexible supporting 24 extends radially a cramp bar, and are equipped with in the sleeve shaped supporting leg of Compress Spring III 34 by cramp bar insertion planet carrier 22; Article 3, planet axis 23 two ends empty sets are bearing in the hole of flexible supporting 24, planet axis 23 axis are parallel with driving shaft 21 axis, planet axis 23 respectively is equipped with planetary gear 20 with idle pulley 25 engagements towards the external part of reducing motor 17, respectively is fixed with cylindrical brush 18 away from the external part of reducing motor 17; The corresponding extension spring 35 that hangs with respectively between the splicing sleeve cylindrical of the cylindrical of each flexible supporting 24 and adjacent idle pulley frame 27 supporting leg outer ends.
In Fig. 3 and embodiment shown in Figure 5: 4 idler shaft 26 two ends empty sets are bearing in the circular hole of two idle pulley framves, 27 each splicing sleeve, and idler shaft 26 respectively is equipped with idle pulley 25 with sun gear 19 engagements towards the external part of reducing motor 17; Article 4, planet axis 23 two ends empty sets are bearing in the hole of flexible supporting 24, and planet axis 23 respectively is equipped with planetary gear 20 with idle pulley 25 engagements towards the external part of reducing motor 17, respectively are fixed with cylindrical brush 18 away from the external part of reducing motor 17.
Claims (3)
1. planetary self-adapting pipe sweeping robot, comprise moving device and clearing apparatus, moving device comprises chassis (1), the motor (2) of advancing, driving wheel (3), electric machine support (4), universal wheel (5) and planet installing rack (6), it is characterized in that: an engaging lug (7) is respectively stretched out along growing the perpendicular direction in limit with chassis (1) in horizontally disposed (1) one end both sides, rectangle chassis, one end inboard of the electric machine support (4) of middle part bending is fixed with adapter sleeve (8), and electric machine support (4) near between the inboard at middle part and adapter sleeve (8) outer surface by reinforcement (9) reinforcement, two inside are equipped with the adapter sleeve (8) of Compress Spring I (10) and the assembly of electric machine support (4), make electric machine support (4) middle part outwardly by adapter sleeve (8), an end that is fixed with adapter sleeve (8) down symmetry is sleeved on outwardly directed two engaging lugs in chassis (1) (7), and the upper end symmetry of electric machine support (4) is sloped inwardly, all be processed with circular hole in the middle of two electric machine supports (4) top, two round hole axial are positioned at the same plane vertical with chassis (1) long limit, two round hole axial are all inner low, the outer end is high, and equate with the angle of engaging lug (7) center line, two motors of advancing (2) all are fixed on the upper inner of electric machine support (4) by adpting flange, the motor shaft of motor (2) of advancing is outside, and after tilting to be upward through the circular hole in the middle of electric machine support (4) top, the end all is equipped with driving wheel (3), chassis (1) is fixed with the center away from the other end upper surface of engaging lug (7) and processes round-meshed planet installing rack (6), the round hole axial of planet installing rack (6) is parallel with chassis (1) long limit, and be positioned at by chassis (1) the minor face mid point plane vertical with chassis (1) upper surface, the lower surface that long limit, chassis (1) is located near planet installing rack (6) is installed a fork-shaped lug (13) by nut I (11) and packing ring I (12), be processed with two coaxial circular holes on the lug (13), the other end that one end is equipped with the Universal castor (14) of universal wheel (5) is installed in two circular holes of lug (13) by bearing pin (15), Compress Spring II (16) is installed in Universal castor (14) near between the end upper surface and chassis (1) lower surface of universal wheel (5), clearing apparatus comprises planetary driving device, reducing motor (17) and hairbrush (18), planetary driving device comprises sun gear (19), planetary gear (20), driving shaft (21), planet carrier (22), planet axis (23), flexible supporting (24), idle pulley (25), idler shaft (26) and idle pulley frame (27), the center processes round-meshed sun gear (19) and is fixed on planet installing rack (6) away from the motor of advancing (2) by bolt II (28) and packing ring II (29), and on the perpendicular plane of the round hole axial of planet installing rack (6), the axis of sun gear (19) center circular hole is coaxial with the round hole axial of planet installing rack (6), the middle part empty set is bearing in the driving shaft (21) in sun gear (19) hole, center, external part towards the motor of advancing (2) direction passes through shaft coupling (30) and adopts bolt III (31), nut III (32) is fixedly connected with the reducing motor (17) that packing ring III (33) is fixed on chassis (1) upper surface middle part, two planet carriers (22) center is separately fixed at that driving shaft (21) is located away from the close sun gear (19) of the motor of advancing (2) direction external part and away from driving shaft (21) end of sun gear (19), two idle pulley framves (27) the respectively close planet carrier (22) that is bearing between two planet carriers (22) on the driving shaft (21) of empty set are located, radially outwardly directed each the supporting leg outer end of idle pulley frame (27) is equipped with splicing sleeve, it is parallel with driving shaft (21) axis that each splicing sleeve center of idle pulley frame (27) all is processed with axis, and slightly larger in diameter is in the circular hole of idler shaft (26) diameter of axle, each round hole axial is positioned on the same circumference centered by driving shaft (21) axis, many idler shafts (26) the two ends empty set parallel with driving shaft (21) axis is bearing in the circular hole of two each splicing sleeve of idle pulley frame (27), external part towards reducing motor (17) respectively is equipped with the idle pulley (25) that meshes with sun gear (19), planet carrier (22) is equipped with Compress Spring III (34) along each sleeve shaped supporting leg inside that driving shaft (21) radially outward stretches out, the diameter of bore of flexible supporting (24) is slightly larger than planet axis (23) and the flexible diameter of axle that supports (24) touching position, the cylindrical of flexible supporting (24) extends radially a cramp bar, and insert planet carrier (22) by cramp bar and be equipped with in the sleeve shaped supporting leg of Compress Spring III (34), parallel with driving shaft (21) axis, planet axis (23) the two ends empty set that equates with idler shaft (26) quantity is bearing in the hole of flexible supporting (24), external part towards reducing motor (17) respectively is equipped with the planetary gear (20) that meshes with idle pulley (25), external part away from reducing motor (17) respectively is fixed with cylindrical brush (18), the corresponding extension spring (35) that hangs with respectively between the splicing sleeve cylindrical of the cylindrical of each flexible supporting (24) and adjacent idle pulley frame (27) supporting leg outer end.
2. planetary self-adapting pipe sweeping robot as claimed in claim 1, it is characterized in that: planetary driving device is provided with 3 two ends empty sets and is bearing in idler shaft (26) and 3 idle pulleys (25) in idle pulley frame (27) splicing sleeve, is provided with 3 two ends empty sets and is bearing in the flexible hole of supporting (24) and is evenly arranged in planet axis (23) and 3 hairbrush (18) on the same circumference centered by driving shaft (21) axis.
3. planetary self-adapting pipe sweeping robot as claimed in claim 1, it is characterized in that: planetary driving device is provided with 4 two ends empty sets and is bearing in idler shaft (26) and 4 idle pulleys (25) in idle pulley frame (27) splicing sleeve, is provided with 4 two ends empty sets and is bearing in the flexible hole of supporting (24) and is evenly arranged in planet axis (23) and 4 hairbrush (18) on the same circumference centered by driving shaft (21) axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210430663.8A CN102873066B (en) | 2012-11-02 | 2012-11-02 | Planetary self-adaptive pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210430663.8A CN102873066B (en) | 2012-11-02 | 2012-11-02 | Planetary self-adaptive pipeline cleaning robot |
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| CN102873066A true CN102873066A (en) | 2013-01-16 |
| CN102873066B CN102873066B (en) | 2014-04-09 |
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| CN201210430663.8A Expired - Fee Related CN102873066B (en) | 2012-11-02 | 2012-11-02 | Planetary self-adaptive pipeline cleaning robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103302068A (en) * | 2013-06-28 | 2013-09-18 | 山东理工大学 | Rear-mounted planetary three-side cleaning robot for square duct |
| CN103386407A (en) * | 2013-07-25 | 2013-11-13 | 山东理工大学 | Rear-mounted self-adaption square pipe three-sided cleaning robot |
| CN105618442A (en) * | 2016-01-11 | 2016-06-01 | 西南石油大学 | Brake device of pipe cleaner |
| CN108212972A (en) * | 2018-03-08 | 2018-06-29 | 武汉轻工大学 | Cleaning device and pipeline cleaning robot in pipeline |
| CN113118155A (en) * | 2021-04-23 | 2021-07-16 | 滨州学院 | Sweeping and spraying integrated pipeline cleaning robot |
| CN117299712A (en) * | 2023-11-09 | 2023-12-29 | 兴化市钓鱼祥盛建材厂 | Pipeline silt cleaning device |
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| RU1801629C (en) * | 1991-06-27 | 1993-03-15 | Херсонский Сельскохозяйственный Институт Им.А.Д.Цюрупы | Device for cleaning internal surfaces of pipes |
| GB2287767A (en) * | 1994-03-15 | 1995-09-27 | Peter Gilboy | Apparatus for cleaning the interiors of pipes |
| LV13260B (en) * | 2003-08-19 | 2005-04-20 | Hoetika Atu Sia | Device for cleaning the shaft of the refuse chute |
| CN1817578A (en) * | 2006-03-07 | 2006-08-16 | 上海大学 | Movable robot in pipe with variable diameter |
| US20090044352A1 (en) * | 2007-08-16 | 2009-02-19 | Sangyoung Seo | Machine for pipe maintenance |
| CN101435521A (en) * | 2007-11-16 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Self-adaptive pipeline moving mechanism |
| CN102500588A (en) * | 2011-09-30 | 2012-06-20 | 林吉明 | Machine capable of cleaning pipes different in diameter |
| CN102425709A (en) * | 2011-12-02 | 2012-04-25 | 中国石油大学(北京) | Travelling mechanism of pipeline robot |
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| CN103302068A (en) * | 2013-06-28 | 2013-09-18 | 山东理工大学 | Rear-mounted planetary three-side cleaning robot for square duct |
| CN103302068B (en) * | 2013-06-28 | 2014-11-19 | 山东理工大学 | Rear-mounted planetary three-side cleaning robot for square duct |
| CN103386407A (en) * | 2013-07-25 | 2013-11-13 | 山东理工大学 | Rear-mounted self-adaption square pipe three-sided cleaning robot |
| CN103386407B (en) * | 2013-07-25 | 2015-01-28 | 山东理工大学 | Rear-mounted self-adaption square pipe three-sided cleaning robot |
| CN105618442A (en) * | 2016-01-11 | 2016-06-01 | 西南石油大学 | Brake device of pipe cleaner |
| CN105618442B (en) * | 2016-01-11 | 2017-07-21 | 西南石油大学 | A kind of wiper brake gear |
| CN108212972A (en) * | 2018-03-08 | 2018-06-29 | 武汉轻工大学 | Cleaning device and pipeline cleaning robot in pipeline |
| CN113118155A (en) * | 2021-04-23 | 2021-07-16 | 滨州学院 | Sweeping and spraying integrated pipeline cleaning robot |
| CN117299712A (en) * | 2023-11-09 | 2023-12-29 | 兴化市钓鱼祥盛建材厂 | Pipeline silt cleaning device |
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