CN106362994B - A kind of inner wall of the pipe clean robot - Google Patents
A kind of inner wall of the pipe clean robot Download PDFInfo
- Publication number
- CN106362994B CN106362994B CN201611018550.1A CN201611018550A CN106362994B CN 106362994 B CN106362994 B CN 106362994B CN 201611018550 A CN201611018550 A CN 201611018550A CN 106362994 B CN106362994 B CN 106362994B
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- China
- Prior art keywords
- wall
- motor
- fixed
- pipe
- linear motor
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- 239000007788 liquid Substances 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims abstract description 13
- 239000012530 fluid Substances 0.000 claims description 38
- 238000007789 sealing Methods 0.000 claims description 26
- 241000237509 Patinopecten sp. Species 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 8
- 235000020637 scallop Nutrition 0.000 claims description 8
- 239000002991 molded plastic Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 description 33
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 239000012459 cleaning agent Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000012429 reaction media Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
- B08B2209/053—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes being moved along the pipes by a fluid, e.g. by fluid pressure or by suction
- B08B2209/055—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes being moved along the pipes by a fluid, e.g. by fluid pressure or by suction the cleaning devices conforming to, or being conformable to, substantially the same cross-section of the pipes, e.g. pigs or moles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The present invention discloses a kind of inner wall of the pipe clean robot, motor and guiding axis is equipped on lower installation board, guiding axis lower end is fixed with lower installation board, and nut is threaded on screw；Circumferentially arranged at least three radial expansion component on nut, the upper and lower side of big linear motor is arranged with a small linear motor in the radial expansion component；It is fixed at the big piston rod of linear motor and rubber block center, the piston rod of each small linear motor is fixed with moving radially block；The upper and lower side of round brush is arranged with a sealed fixing device, and plate edge is fixed in the sealed fixing device and is distributed along the circumference with one group of liquid pass hole；Screw upper end and the fixation disk of a following sealed fixing device are rotatably assorted, and guiding axis upper end is fixed with the fixation disk；Round brush motor is mounted above on the fixation disk of a sealed fixing device.The present invention can totally, efficiently remove dirt in inner wall of the pipe.
Description
Technical field
The invention belongs to pipeline cleaning field more particularly to a kind of inner wall of the pipe clean robots.
Background technology
In in material or chemical industry, reaction medium conveying pipeline inner wall cleannes are determine product purity important one
Ring, so usually needing to carry out professional cleaning using cleaning agent.At present, artificial cleaning is most common clean method, in day
Often generally used in work.However, for some such as right angle settings, length is long, internal diameter is excessive or too small pipeline, it is artificial clear
It is clean that often there are cleannes are low, inefficient, pollutant component and cleaning agent complicated component are even toxic, inflammable etc., thus deposit
The larger security risk and high cost of labor the defects of.
Invention content
The technical problems to be solved by the invention are to provide a kind of inner wall of the pipe clean robot, be intended to through this cleaner
The inner wall of device people's Cleaning pipes.
Technical scheme is as follows：A kind of inner wall of the pipe clean robot, it is characterised in that：Including lower installation board
(1) and round brush (11), there are one motor (2) and one group of guiding axis (3), the outputs of the motor for installation wherein on lower installation board (1)
Axis upper end and screw (4) lower end are coaxially connected；Guiding axis (3) lower end is fixed with lower installation board (1), the guiding axis and screw
(4) it is parallel, and there are one nuts (5) for threaded connection on screw (4)；
Include big straight-line electric circumferentially arranged at least three radial expansion component, the radial expansion component on the nut (5)
Machine (6) and connecting rod (10), wherein the upper and lower side of big linear motor (6) is arranged with one small linear motor (7), these three are straight
Line motor is mounted on the nut (5), and the rubber block (8) there are one tiles is set on the outside of three linear motors；It is described big
It is fixed at the piston rod of linear motor (6) and rubber block (8) center, the piston rod of each small linear motor (7) is with moving radially
Block (9) is fixed, which is cut with scissors respectively by the respective side of connecting rod (10) described in one group and the rubber block (8)
It connects；When large and small linear motor (6,7) synchronization action, rubber block (8) is driven to radially move, so as to make rubber block (8) outer wall
It is contacted with inner wall of the pipe；When large and small linear motor (the 6,7) asynchronous behavior, thus it is possible to vary the bending of rubber block (8) half
Diameter, so that the entire periphery of rubber block (8) is contacted with inner wall of the pipe forming face；
The round brush (11) is coaxially located above screw (4), which is solidly set on the output shaft of round brush motor (12)；Institute
It states the upper and lower side of round brush (11) and is arranged with a sealed fixing device, which includes fixed disk (13) and sealing
It encloses (18), wherein fixed disk (13), close to the round brush (11), fixed disk (13) edge is distributed along the circumference with one group of inlet opening
(13a) and fluid hole (13b), and inlet opening (13a) and fluid hole (13b) are arranged alternately；In the fixed disk (13) and rotation
Gear ring (14) is bonded, which is distributed along the circumference with one group and crosses liquid far from round brush (11), rotation ring gear (14) edge
Hole (14a)；The rotation ring gear (14) is often engaged with gear (15), which is solidly set on the output shaft of rotary electric machine (16)
On, and rotary electric machine (16) when rotating ring gear (14) rotation, can drive liquid pass hole on the fixed disk (13)
(14a) connected in a manner of alternative with the inlet opening (13a) or fluid hole (13b) or liquid pass hole (14a) not with into
Fluid apertures (13a) is connected with fluid hole (13b)；
Fixed disk (13) upper edge is circumferentially fixed at least three radial alignment motor (51), these radial alignment motors
Outside sets the rubber deformation part (17) there are one circular ring shape, and the cross section of the rubber deformation part is " n " font, and by intermediate ring
The undulations (17b) of shape portion (17a) and both sides are formed；The piston rod of the radial alignment motor (51) and ring part (17a)
Inner wall is fixed, and the wall coaxial of the ring part is installed with a sealing ring (18)；The outer edge of the fixed disk (13)
It is fixed with undulations (17b) inward flange of respective side, the side of the ring gear (14) and this undulations (17b)
Side contacts, and the outer edge of the ring gear and the inner wall of ring part (17a) are rotatably assorted；When all radial alignment electricity
During machine (51) synchronization action, sealing ring (18) diameter can be changed, so that sealed fixing device is made to be close to inner wall of the pipe, and realize
Sealing；
Screw (4) upper end and the fixation disk (13) of a following sealed fixing device are rotatably assorted, and the guiding
Axis (3) upper end is fixed with the fixation disk；The round brush motor (12) is mounted above the fixation disk of a sealed fixing device
(13) on, the output shaft lower end of the round brush motor and the fixation disk (13) of a following sealed fixing device are connected to one
It rises, and can relatively rotate.
In the above-mentioned technical solutions, during large and small linear motor (6,7) synchronization action, rubber block (8) is driven to do and is radially moved
It is dynamic, so as to adjust radius, when the output shaft synchronous of large and small linear motor (6,7) extends, with regard to rubber block (8) outer wall and pipe can be made
Road inner wall contact；Since the inner wall of the pipe radian of different bores is variant, so the large and small linear motor (6,7) is asynchronous dynamic
When making, thus it is possible to vary the bending radius of rubber block (8), so that the entire periphery of rubber block (8) connects with inner wall of the pipe forming face
It touches, concrete principle is：When the output shaft elongation of small linear motor (7) is more than the output shaft of big linear motor (6), move radially
Block (9) is displaced outwardly, and the bending radius of rubber block (8) becomes larger；When the output shaft elongation of small linear motor (7) is less than greatly directly
During the output shaft of line motor (6), move radially block (9) and move inward, the bending radius of rubber block (8) becomes smaller.Using above-mentioned knot
Structure designs, with regard to all radial expansion components can be made to be contacted with inner wall of the pipe, so as to which the present invention be fixed in a manner of being detached from
In inner wall of the pipe.
Meanwhile when all radial alignment motor (51) synchronization actions, sealing ring (18) diameter can be changed, so as to
Sealed fixing device is made to be close to inner wall of the pipe, so as to fix in a manner of being detached from the present invention two sealed fixing devices
In inner wall of the pipe.In use, two sealed fixing devices are worked alternatively with all radial expansion components, with regard to that can make machine
People moves up and down along inner wall of the pipe, and concrete operating principle is：When all radial expansion components are fixed with inner wall of the pipe, two
A sealed fixing device is detached from inner wall of the pipe, starts motor (2) at this time and nut (5) is driven to move up, and then drives two sealings
Fixing device moves up；It after two sealed fixing devices move up a distance, is fixed with inner wall of the pipe, controls all radial expansions
Component is detached from inner wall of the pipe, restarts motor (2) and nut (5) is driven to move up, and then drive on all radial expansion components
It moves, after all radial expansion components move up a distance, all radial expansion components with inner wall of the pipe with fixing, then control
Motor (2) processed drives nut (5) and two sealed fixing devices integrally to move up, and so on, with regard to that can make robot along pipe
Road inner wall moves up, and the operation principle moved down is identical with moving up.
Also, when sealing ring (18) periphery is contacted with inner wall of the pipe, sealing can be realized well；And fix disk (13) with
It rotates ring gear (14) to be bonded, when rotation ring gear (14) rotates under the drive of gear, liquid pass hole (14a) can be made with alternative
Mode connected with the inlet opening (13a) or fluid hole (13b) or liquid pass hole (14a) is not with inlet opening (13a) and going out
Fluid apertures (13b) connects.When liquid pass hole (14a) is connected in a manner of alternative with the inlet opening (13a) or fluid hole (13b)
When, it can input/discharge cleaning solution；When liquid pass hole (14a) does not connect with inlet opening (13a) and fluid hole (13b), it is impossible to
Input/discharge cleaning solution.After the chamber between two sealed fixing devices inputs cleaning solution, the fixed dress of two sealings is controlled
Rotation ring gear (14) rotation put, thus can be so that two sealed fixing devices cannot all input/discharge cleaning solution
An airtight chamber is formed between two sealed fixing devices, round brush rotates under the drive of round brush motor at this time, so as to cleaning pipe
Road inner wall.After completing cleaning, liquid pass hole (14a) is made to be connected with fluid hole (13b), the useless cleaning solution after cleaning can just be discharged.
It should be strongly noted that liquid pass hole (14a) is equipped on the rotation ring gear (14) of two sealed fixing devices,
Cleaning solution can be thus inputted by a sealed fixing device, the used input of another sealed fixing device discharge is clear
Clean liquid；The liquid pass hole (14a) of a sealed fixing device can also be allowed not connected with inlet opening (13a) and fluid hole (13b),
So as to allow another sealed fixing device inlet opening (13a) and fluid hole (13b) realize input/discharge cleaning solution, into
And make input/discharge path of cleaning solution diversified.During practice, pipeline may be to be vertically arranged, it may be possible to perpendicular
To being obliquely installed, it is also possible to it is horizontally disposed, therefore robot may in pipeline vertical shift up and down, it is also possible to up and down
Inclination movement, it is also possible to move horizontally；Due to set-up mode limitation of pipeline etc., may cause can only be from the one of pipeline
Side inputs/discharges cleaning solution, it is also possible to can input/discharge cleaning solution, therefore robot is at two from the both sides of pipeline
Inlet opening (13a) and fluid hole (13b) are equipped on the fixation disk (13) of sealed fixing device, can thus be well adapted for pipe
The installation situation in road, this structure design seems simple, extra, but can guarantee practice.
Using above technical scheme, the present invention passes through radial expansion component and organic cooperation energy of two sealed fixing devices
It is enough to be moved along inner wall of the pipe, and the chamber between two sealed fixing devices inputs/discharges cleaning solution, and two sealings are solid
By round brush brush inner wall of the pipe when determining the chamber input cleaning solution between device, cleaning solution and the organic cooperation of round brush can totally, height
Dirt in effect ground removal inner wall of the pipe, can not clean that right angle setting, length are long, internal diameter is excessive efficiently against the prior art
Or the defects of too small inner wall of the pipe, and the present invention is compact-sized, overall diameter dimensions are small, outer diameter variation range is big, adapts to model
It encloses greatly, it is easily fabricated, it is cheap.
As the preferred design of the present invention, the liquid pass hole (14a) is scallop hole, and number is 6, these liquid pass holes
(14a) is distributed on the same circumference；The inlet opening (13a) and fluid hole (13b) are distributed on the same circumference, and inlet opening
(13a) is circular hole, and number is 3, and the fluid hole (13b) is scallop hole, and number is 3.
Using more than structure design, can more reliably make liquid pass hole (14a) in a manner of alternative with the feed liquor
Hole (13a) or fluid hole (13b) connection, can thus input/cleaning solution is discharged, consequently facilitating input/discharge cleaning solution, into
And properties of product are advanced optimized, and this decoration structure features simple design, convenient for manufacture.
In the present case, the number of the radial expansion component is four, these radial expansion components are circumferentially evenly arranged.
It designs, very effectively and reliably robot can be fixed in inner wall of the pipe using the above structure just.
For the ease of leading to guide effect, the guiding axis (3) number is designed at least as three by spy, these guiding axis
(3) along the nut (5) circumferentially.
For the ease of manufacture, the ring part (17a) and undulations (17b) are structure as a whole, and with the sealing ring
(18) integral molded plastic is molded.
Preferably, radial alignment motor (51) number is three, these radial alignment motors circumferentially uniform cloth
Put, can thus allow sealing ring (18) reducing when still in circular ring shape, closely to be contacted with inner wall of the pipe very much, and then ensure
Sealing effect.Certainly, in the specific implementation, the specific of radial alignment motor (51) is specifically adjusted according to situations such as bore of pipeline
Number is not necessarily limited to the concrete numerical value described in the present embodiment.
Advantageous effect：The present invention can be along pipe by organic cooperation of radial expansion component and two sealed fixing devices
Road inner wall movement, and the chamber between two sealed fixing devices inputs/discharge cleaning solution, and two sealed fixing devices it
Between chamber input cleaning solution when by round brush brush inner wall of the pipe, cleaning solution and the organic cooperation of round brush can totally, efficiently remove
Dirt in inner wall of the pipe, can not clean that right angle setting, length are long, internal diameter is excessive or too small efficiently against the prior art
The defects of inner wall of the pipe, and the present invention is compact-sized, overall diameter dimensions are small, outer diameter variation range is big, and accommodation is big, is easy to
Manufacture, it is cheap.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the schematic diagram of single radial expansion component in Fig. 1.
Fig. 3 is the schematic diagram of sealed fixing device and round brush in Fig. 1.
Fig. 4 is 3 sectional view.
Fig. 5 is the schematic diagram that ring gear is rotated in Fig. 4.
Fig. 6 is the schematic diagram that disk is fixed in Fig. 4.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples：
Such as Fig. 1 -- shown in 6, a kind of inner wall of the pipe clean robot, mainly by lower installation board 1, motor 2, guiding axis 3, silk
The compositions such as bar 4, nut 5, radial expansion component, round brush 11, round brush motor 12 and sealed fixing device.Wherein, on lower installation board 1
Motor 2 and one group of guiding axis 3 there are one installing, the output shaft upper end and 4 lower end of screw of the motor 2 are coaxially connected.In the present case,
The number of guiding axis 3 is at least three, these guiding axis 3 along nut 5 circumferentially.3 lower end of guiding axis is solid with lower installation board 1
Fixed, the guiding axis 3 is parallel with screw 4, and there are one nuts 5 for threaded connection on screw 4.
Circumferentially arranged at least three radial expansion component on nut 5, in the present case, the number of radial expansion component is four
A, these radial expansion components are circumferentially evenly arranged.Radial expansion component is by big linear motor 6, small linear motor 7, rubber
Block 8 moves radially block 9 and connecting rod 10 is formed.Wherein, the upper and lower side of big linear motor 6 is arranged with one small linear motor 7,
Big linear motor 6 and two small linear motor 7 are mounted on nut 5, and set on the outside of these three linear motors there are one watt
The rubber block 8 of shape.Fixed at the big piston rod of linear motor 6 and 8 center of rubber block, the piston rod of each small linear motor 7 and
Block 9 is moved radially to fix.The both sides for moving radially block 9 are hinged respectively by the respective side of one group of connecting rod 10 and rubber block 8, at this
In case, the side for moving radially block 9 is hinged by the side of 8 connecting rods 10 and rubber block 8, moves radially the opposite side of block 9
It is hinged by the opposite side of 8 connecting rods 10 and rubber block 8, and connecting rod 10 is cut with scissors by axis pin 50 with moving radially block 9 and rubber block 8
It connects, all axis pins are parallel.
When big linear motor 6, small 7 synchronization action of linear motor, rubber block 8 is driven to radially move, so as to make rubber
8 outer wall of block is contacted with inner wall of the pipe.When big linear motor 6, small 7 asynchronous behavior of linear motor, thus it is possible to vary rubber block 8 it is curved
Bilge radius so that the entire periphery of rubber block 8 is contacted with inner wall of the pipe forming face, increases contact area, it is ensured that effectively
Ground is fixed.
Such as Fig. 1 -- shown in 6, round brush 11 is coaxially located at the top of screw 4, which is solidly set on the output of round brush motor 12
On axis.11 the upper side and lower side of round brush is arranged with a sealed fixing device, and the sealed fixing device is by fixing disk 13, in rotation
Gear ring 14, gear 15, rotary electric machine 16, rubber deformation part 17, sealing ring 18 and radial alignment motor 51 are formed.Wherein, it is fixed
For disk 13 close to round brush 11, fixed 13 edge of disk is distributed along the circumference with one group of inlet opening 13a and fluid hole 13b, and inlet opening 13a and
Fluid hole 13b is arranged alternately.Inlet opening 13a and fluid hole 13b is distributed on the same circumference, and inlet opening 13a is circular hole, is counted
Mesh is 3, and the fluid hole 13b is scallop hole, and number is 3.These inlet openings 13a and fluid hole 13b is distributed in same
On circumference, and the center of circle of place circumference is overlapped with the center of circle of fixed disk 13.
The fixed disk 13 is bonded with rotation ring gear 14, and the rotation ring gear is far from round brush 11,14 side of rotation ring gear
Edge is distributed along the circumference with one group of liquid pass hole 14a.Liquid pass hole 14a is scallop hole, and number is 6, these liquid pass holes 14a is distributed in
On same circumference, and the size of fluid hole 14b is consistent with liquid pass hole 13a.Rotation ring gear 14 is often engaged with gear 15, the gear
15 are solidly set on the output shaft of rotary electric machine 16, and rotary electric machine 16 is mounted on the fixed disk 13.When rotation ring gear 14
During rotation, can drive liquid pass hole 14a in a manner of alternative with the inlet opening 13a or fluid hole 13b is connected or liquid pass hole
14a is not connected with inlet opening 13a and fluid hole 13b.In the present case, liquid pass hole 14a is scallop hole, and number is 6, these
Liquid pass hole 14a is distributed on the same circumference；Inlet opening 13a and fluid hole 13b is distributed on the same circumference, and inlet opening 13a is
Circular hole, number are 3, and fluid hole 13b is scallop hole, and number is 3.
As shown in Fig. 1,2,3 and 4,13 upper edge of fixed disk is circumferentially fixed at least three radial alignment motor 51, in this case
In, 51 number of radial alignment motor is three, these radial alignment motors 51 are circumferentially evenly arranged.These radial alignment motors
51 outsides set the rubber deformation part 17 there are one circular ring shape, and the cross section of the rubber deformation part is " n " font, and by intermediate ring
The shape portion 17a and undulations 17b of both sides is formed.The piston rod of radial alignment motor 51 is fixed with ring part 17a inner walls, and should
The wall coaxial of ring part 17a is installed with a sealing ring 18.In the present case, ring part 17a and undulations 17b are integrated knot
Structure, and be molded with 18 integral molded plastic of sealing ring.
The outer edge of fixed disk 13 and a undulations 17b inward flange of respective side are fixed, the side of ring gear 14 with
This undulations 17b sides contact, and the outer edge of the ring gear and the inner wall of ring part 17a are rotatably assorted.When all
During radial alignment 51 synchronization action of motor, 18 diameter of sealing ring can be changed, so that sealed fixing device is made to be close to inner wall of the pipe,
And realize sealing.
4 upper end of screw and the fixation disk 13 of a following sealed fixing device are rotatably assorted, and 3 upper end of guiding axis is solid with this
Price fixing is fixed.Round brush motor 12 is mounted above on the fixation disk 13 of a sealed fixing device, the output shaft of the round brush motor
Lower end and the fixation disk 13 of a following sealed fixing device link together, and can relatively rotate.
In the above-mentioned technical solutions, during large and small linear motor synchronization action, rubber block 8 is driven to radially move, so as to adjust
Whole radius, when the output shaft synchronous of large and small linear motor extends, with regard to 8 outer wall of rubber block can be made to be contacted with inner wall of the pipe；Due to not
Inner wall of the pipe radian with bore is variant, so during the large and small linear motor asynchronous behavior, thus it is possible to vary rubber block 8
Bending radius, so that the entire periphery of rubber block 8 is contacted with inner wall of the pipe forming face, concrete principle is：Small linear motor 7
It when output shaft elongation is more than the output shaft of big linear motor 6, moves radially block 9 and is displaced outwardly, the bending radius of rubber block 8 becomes
Greatly；When the output shaft elongation of small linear motor 7 is less than the output shaft of big linear motor 6, moves radially block 9 and inwardly move
Dynamic, the bending radius of rubber block 8 becomes smaller.It designs using the above structure, with regard to all radial expansion components and inner wall of the pipe can be made
Contact, so as to which the present invention is fixed in a manner of being detached from inner wall of the pipe.
Meanwhile when all 51 synchronization actions of radial alignment motor, 18 diameter of sealing ring can be changed, it is close to make
Envelope fixing device is close to inner wall of the pipe, so as to which the present invention is fixed on pipe in a manner of being detached from two sealed fixing devices
On road inner wall.In use, two sealed fixing devices are worked alternatively with all radial expansion components, with regard to that can make robot edge
It inner wall of the pipe to move up and down, concrete operating principle is：When all radial expansion components are fixed with inner wall of the pipe, two close
It seals fixing device to be detached from inner wall of the pipe, starts motor 2 at this time and nut 5 is driven to move up, and then drive two sealed fixing devices
It moves up；It after two sealed fixing devices move up a distance, is fixed with inner wall of the pipe, controls all radial expansion components and pipe
Road inner wall is detached from, and restarts motor 2 and nut 5 is driven to move up, and then all radial expansion components is driven to move up, treat all diameters
After telescopic component moves up a distance, all radial expansion components with inner wall of the pipe with fixing, then motor 2 is controlled to drive spiral shell
Mother 5 and two sealed fixing devices integrally move up, and so on, with regard to that robot can be made to be moved up along inner wall of the pipe, and
The operation principle moved down is identical with moving up.
Also, when 18 periphery of sealing ring is contacted with inner wall of the pipe, sealing can be realized well；And fix disk 13 and rotation
Ring gear 14 is bonded, and rotation ring gear 14 is under the drive of gear when rotating, and can make liquid pass hole 14a in a manner of alternative and institute
It states inlet opening 13a or fluid hole 13b connections or liquid pass hole 14a is not connected with inlet opening 13a and fluid hole 13b.Liquid is served as
When hole 14a is connected in a manner of alternative with the inlet opening 13a or fluid hole 13b, cleaning solution can be inputted/discharged；It has served as
When fluid apertures 14a is not connected with inlet opening 13a and fluid hole 13b, it is impossible to input/discharge cleaning solution.It is fixed when to two sealings
After chamber input cleaning solution between device, the rotation ring gear 14 of two sealed fixing devices of control rotates, so that two close
Envelope fixing device cannot all input/discharge cleaning solution, can thus be formed between two sealed fixing devices one it is closed
Chamber, at this time round brush rotated under the drive of round brush motor, so as to Cleaning pipes inner wall.After completing cleaning, make liquid pass hole 14a with going out
Fluid apertures 13b is connected, and can just be discharged the useless cleaning solution after cleaning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not limitation with the present invention, all in essence of the invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of inner wall of the pipe clean robot, it is characterised in that：Including lower installation board (1) and round brush (11), wherein lower install
There are one motor (2) and one group of guiding axis (3) for installation on plate (1), and output shaft upper end and screw (4) lower end of the motor coaxially connect
It connects；Guiding axis (3) lower end is fixed with lower installation board (1), and the guiding axis is parallel with screw (4), and screw thread connects on screw (4)
Nut (5) there are one connecing；
Include big linear motor circumferentially arranged at least three radial expansion component, the radial expansion component on the nut (5)
(6) and connecting rod (10), wherein the upper and lower side of big linear motor (6) is arranged with one small linear motor (7), these three straight lines
Motor is mounted on the nut (5), and the rubber block (8) there are one tiles is set on the outside of three linear motors；It is described big straight
It is fixed at the piston rod of line motor (6) and rubber block (8) center, the piston rod of each small linear motor (7) is with moving radially block
(9) fixed, which is cut with scissors respectively by the respective side of connecting rod (10) described in one group and the rubber block (8)
It connects；When large and small linear motor (6,7) synchronization action, rubber block (8) is driven to radially move, so as to make rubber block (8) outer wall
It is contacted with inner wall of the pipe；When large and small linear motor (the 6,7) asynchronous behavior, thus it is possible to vary the bending of rubber block (8) half
Diameter, so that the entire periphery of rubber block (8) is contacted with inner wall of the pipe forming face；
The round brush (11) is coaxially located above screw (4), which is solidly set on the output shaft of round brush motor (12)；The rolling
The upper and lower side of brush (11) is arranged with a sealed fixing device, which includes fixed disk (13) and sealing ring
(18), wherein fixed disk (13) is close to the round brush (11), fixed disk (13) edge is distributed along the circumference with one group of inlet opening (13a)
With fluid hole (13b), and inlet opening (13a) and fluid hole (13b) are arranged alternately；The fixed disk (13) and rotation ring gear
(14) it is bonded, which is distributed along the circumference with one group of liquid pass hole far from round brush (11), rotation ring gear (14) edge
(14a)；The rotation ring gear (14) is often engaged with gear (15), which is solidly set on the output shaft of rotary electric machine (16),
And rotary electric machine (16) when rotating ring gear (14) rotation, can drive liquid pass hole (14a) on the fixed disk (13)
Connected in a manner of alternative with the inlet opening (13a) or fluid hole (13b) or liquid pass hole (14a) not with inlet opening
(13a) is connected with fluid hole (13b)；
Fixed disk (13) upper edge is circumferentially fixed at least three radial alignment motor (51), outside these radial alignment motors
If there are one the rubber deformation part (17) of circular ring shape, the cross section of the rubber deformation part is " n " font, and by intermediate ring part
(17a) and the undulations of both sides (17b) are formed；The piston rod of the radial alignment motor (51) and ring part (17a) inner wall
It is fixed, and the wall coaxial of the ring part is installed with a sealing ring (18)；The outer edge of the fixed disk (13) with it is right
Undulations (17b) inward flange of side is answered to fix, the side of the ring gear (14) and this undulations (17b) side
Contact, and the outer edge of the ring gear and the inner wall of ring part (17a) are rotatably assorted；When all radial alignment motors
(51) during synchronization action, sealing ring (18) diameter can be changed, so that sealed fixing device is made to be close to inner wall of the pipe, and realize close
Envelope；
Screw (4) upper end and the fixation disk (13) of a following sealed fixing device are rotatably assorted, and the guiding axis (3)
Upper end is fixed with the fixation disk；The round brush motor (12) is mounted above on the fixation disk (13) of a sealed fixing device,
The output shaft lower end of the round brush motor and the fixation disk (13) of a following sealed fixing device link together, and can be with
It relatively rotates；
The liquid pass hole (14a) is scallop hole, and number is 6, these liquid pass holes (14a) are distributed on the same circumference；It is described
Inlet opening (13a) and fluid hole (13b) are distributed on the same circumference, and inlet opening (13a) is circular hole, and number is 3, described
Fluid hole (13b) is scallop hole, and number is 3；The number of the radial expansion component is four, these radial expansion components
Circumferentially it is evenly arranged.
2. inner wall of the pipe clean robot according to claim 1, it is characterised in that：Guiding axis (3) number is at least
Three, these guiding axis (3) along the nut (5) circumferentially.
3. inner wall of the pipe clean robot according to claim 1, it is characterised in that：The ring part (17a) and wave
(17b) is structure as a whole in shape portion, and is molded with the sealing ring (18) integral molded plastic.
4. inner wall of the pipe clean robot according to claim 1, it is characterised in that：Radial alignment motor (51) number
Mesh is three, these radial alignment motors are circumferentially evenly arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018550.1A CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018550.1A CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
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| Publication Number | Publication Date |
|---|---|
| CN106362994A CN106362994A (en) | 2017-02-01 |
| CN106362994B true CN106362994B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611018550.1A Expired - Fee Related CN106362994B (en) | 2016-11-15 | 2016-11-15 | A kind of inner wall of the pipe clean robot |
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| CN (1) | CN106362994B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106925481B (en) * | 2017-03-13 | 2018-11-30 | 杭州富阳富宝仪表机床厂 | A kind of sealant application device of air pump body end mouth |
| CN108262318B (en) * | 2018-01-15 | 2020-01-17 | 哈尔滨学院 | Pipeline cleaning robot |
| CN111069195A (en) * | 2020-02-20 | 2020-04-28 | 衢州刚度智能科技有限公司 | Hydraulic engineering water pipe internal cleaning machine |
| CN111578042B (en) * | 2020-06-16 | 2021-01-22 | 温州思鸣达工业产品设计有限公司 | Intelligent decontamination robot for water supply pipeline |
| CN111881860B (en) * | 2020-07-31 | 2022-05-03 | 重庆理工大学 | Modeling method of hob abrasion in-situ recognition model and hob abrasion in-situ recognition method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3237851B2 (en) * | 1994-09-06 | 2001-12-10 | エリッヒ，リチャード，アール． | Pipe cleaning tool |
| CN101776418A (en) * | 2010-01-15 | 2010-07-14 | 南京理工大学 | Robot for cleaning inner wall of barrel |
| CN105032864A (en) * | 2015-06-03 | 2015-11-11 | 北京工业大学 | Hose cleaning robot |
| CN205386558U (en) * | 2016-03-11 | 2016-07-20 | 广东嘉元科技股份有限公司 | Elevated tank pipe inner wall scale removal device |
| CN206240885U (en) * | 2016-11-15 | 2017-06-13 | 重庆理工大学 | Inner-walls of duct clean robot |
-
2016
- 2016-11-15 CN CN201611018550.1A patent/CN106362994B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3237851B2 (en) * | 1994-09-06 | 2001-12-10 | エリッヒ，リチャード，アール． | Pipe cleaning tool |
| CN101776418A (en) * | 2010-01-15 | 2010-07-14 | 南京理工大学 | Robot for cleaning inner wall of barrel |
| CN105032864A (en) * | 2015-06-03 | 2015-11-11 | 北京工业大学 | Hose cleaning robot |
| CN205386558U (en) * | 2016-03-11 | 2016-07-20 | 广东嘉元科技股份有限公司 | Elevated tank pipe inner wall scale removal device |
| CN206240885U (en) * | 2016-11-15 | 2017-06-13 | 重庆理工大学 | Inner-walls of duct clean robot |
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| CN106362994A (en) | 2017-02-01 |
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