CN109078937A - A kind of pipeline cleaning robot - Google Patents
A kind of pipeline cleaning robot Download PDFInfo
- Publication number
- CN109078937A CN109078937A CN201810938670.6A CN201810938670A CN109078937A CN 109078937 A CN109078937 A CN 109078937A CN 201810938670 A CN201810938670 A CN 201810938670A CN 109078937 A CN109078937 A CN 109078937A
- Authority
- CN
- China
- Prior art keywords
- casing
- cleaning robot
- room
- electric pushrod
- pipeline cleaning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- 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
- B08B9/032—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing
- B08B9/0321—Cleaning the internal surfaces; Removal of blockages by the mechanical action of a moving fluid, e.g. by flushing using pressurised, pulsating or purging fluid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline cleaning robots, including casing, cleaning mechanism, pressing wheel mechanism, overturn mobile mechanism, battery and controller, the first universal wheel is equipped at the casing chamfering, clean room is equipped in casing, water storage room, overturn mobile drive chamber, control room, first pinch roller room and the second pinch roller room, the cleaning mechanism includes the first rotating electric machine, first rotating shaft, brush tube, bristle, water storage box, water pump, drinking-water pipe, sparge pipe, spray head, the overturning mobile mechanism includes bearing block, stepper motor, floating bearing, pivoted lever, first driven pulley, first drive pulley, first driving belt, rotary disk, third electric pushrod, third guide sleeve, third push rod, third guide rod, third push plate, bracket, second rotating electric machine, second shaft, anti-pulley, second driven pulley, the Two drive pulleys, the second driving belt.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to cleaning robot technical field, especially a kind of pipeline cleaning robot.
Background technique
Pipeline is the device for conveying gas, liquid or the fluid with solid particle.In general, fluid is through air blower, pressure
After the pressurization such as contracting machine, pump and boiler, flowed at low pressure from the high pressure of pipeline, pressure or the gravity that fluid itself can also be used are defeated
It send.Having many uses for pipeline is general, is used primarily in water supply, draining, heat supply, gives gas, long distance delivery oil and natural gas, agricultural
Irrigation, hydraulic engineering and various commercial plants.After pipeline long-time use, inner wall have be laminated with more dust particles or
Oil smoke etc. needs periodically to carry out pipeline cleaning, and still, since its volume is big, length is longer, and disassembly inconvenience etc. causes artificial
Cleaning workload is big, and its internal cleaning is extremely inconvenient, and cleaning difficulty is big, is difficult to clean up clean.
A kind of circular pipe cleaning robot of Patent No. " 201721357418.3 ", including cleaning head, cylinder and hair
Brush, provides kinetic energy by motor for whole device, drives fixed link by casing, so that cleaning head rotates, clears up tube wall
On rubbish, cleaning head fails the part cleaned out and handled again, moved freely by universal wheel by hairbrush.
The applicability of foregoing invention is narrow, can only clean to the round tube of certain radius, since cleaning head can not be gone up and down, clearly
The round tube in its rotating range can only be cleaned by sweeping head, and for the round tube of large radius, cleaning head is typically only capable to round tube
Bottom cleaned, and the side wall of round tube and top just can not be cleaned since cleaning head does not reach, to different size of circle
Pipe cleaning also needs to change different equipment.Therefore, it is necessary to a kind of applicabilities can clean extensively to a variety of different size pipe pipes
Robot solve the problems, such as this.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of pipeline cleaning robot.
Realize above-mentioned purpose the technical scheme is that, a kind of pipeline cleaning robot, including casing, cleaning mechanism,
Pressing wheel mechanism, overturning mobile mechanism, battery and controller, casing lower end two sides are equipped with chamfering, are all provided at two chamferings
There are two the first universal wheel, several partitions are equipped in casing, chassis cavity is separated into clean room, water storage room, overturning shifting by partition
Dynamic drive chamber, control room, the first pinch roller room and the second pinch roller room, battery and controller are mounted in control room.
The cleaning mechanism includes being mounted on indoor first rotating electric machine of cleaning, and the first rotating electric machine round end passes through connection
Axis device is equipped with first rotating shaft, and first rotating shaft is fixed on casing by bearing, and first rotating shaft left end is stretched out casing and is equipped with
Brush tube, brush tube are equipped with bristle, and cleaning mechanism further includes being mounted on the indoor water storage box of water storage and water pump, water pump input terminal
It is connected to by drinking-water pipe with water storage box, water pump output end is connected with sparge pipe, and sparge pipe stretches out casing and is equipped with spray head, spray head
Injection direction is towards bristle.
The pressing wheel mechanism includes being mounted on indoor first electric pushrod of the first pinch roller and the first guide sleeve, the first electricity
Dynamic push rod is flexible to be equipped with the first push rod, and the first guide rod, the first push rod and the first guide rod are fitted in the first guide sleeve
Upper end is fixed with the first push plate, and the second universal wheel is equipped in the first push plate, and pressing wheel mechanism further includes being mounted on the second pinch roller room
Interior the second electric pushrod and the second guide sleeve, the second electric pushrod, which stretches, is equipped with the second push rod, in the second guide sleeve
It is fitted with the second guide rod, the second push rod and the second guide rod upper end are fixed with the second push plate, are equipped with third in the second push plate
Universal wheel.
The overturning mobile mechanism includes being mounted on the bearing block and stepper motor that overturn mobile drive chamber bottom, bearing block
It is interior to be equipped with floating bearing, pivoted lever is installed in floating bearing, the first driven pulley, stepper motor rotation are set on pivoted lever
Turn end and the first drive pulley is installed, is tensioned between the first drive pulley and the first driven pulley by the first driving belt
Connection, pivoted lever top are fixed with rotary disk, third electric pushrod and third guide sleeve are equipped on rotary disk, and third is electronic
Push rod is flexible to be equipped with third push rod, is fitted with third guide rod in third guide sleeve, on third push rod and third guide rod
End is fixed with third push plate, is equipped with bracket and the second rotating electric machine in third push plate, and bracket is equipped with the second shaft, and second turn
Be fixedly installed with anti-pulley on axis, the second shaft is rack-mount by ball bearing, second shaft one end stretch out bracket and
Second driven pulley is installed, the second rotating electric machine round end is equipped with the second drive pulley, the second drive pulley with
Pass through the tensioning connection of the second driving belt between second driven pulley.
Infrared camera is installed on the casing.
Liquid level sensor is equipped in the water storage box.
The bristle lower end exceeds the first universal wheel, and bristle can be contacted with tube wall.
The water storage box upper end is equipped with the water inlet of perforation casing, and water inlet is equipped with and connect with water inlet thread seal
Water cover.
Radio receiving transmitting module and GPS positioning module are equipped in the controller.
The signal output end of the controller and the battery, the first rotating electric machine, water pump, the first electric pushrod, the
Two electric pushrods, stepper motor, third electric pushrod, the second rotating electric machine, the signal of infrared camera and liquid level sensor are defeated
Enter end to be electrically connected.
A kind of pipeline cleaning robot made using technical solution of the present invention makes robot can be with by pressing wheel mechanism
It keeps stablizing in different size round tube, robot can be made overturn in round tube and mobile by overturning mobile mechanism, it is logical
It crosses cleaning mechanism to clean round tube inner wall, cleaning mechanism and the cooperation of overturning mobile mechanism can clean tube wall rotary-cleaning
Robot can clean different size of round tube, and applicability is wide, practical.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of pipeline cleaning robot of the present invention；
Fig. 2 is a kind of right view of pipeline cleaning robot of the present invention；
Fig. 3 is the partial enlarged view in Fig. 1 at A；
Fig. 4 is the partial enlarged view in Fig. 1 at B；
Fig. 5 is the partial enlarged view in Fig. 1 at C；
In figure, 1, casing；2, battery；3, controller；4, chamfering；5, the first universal wheel；6, partition；7, clean room；8,
Water storage room；9, mobile drive chamber is overturn；10, control room；11, the first pinch roller room；12, the second pinch roller room；13, the first electric rotating
Machine；14, first rotating shaft；15, brush tube；16, bristle；17, water storage box；18, water pump；19, drinking-water pipe；20, sparge pipe；21, it sprays
Head；22, the first electric pushrod；23, the first guide sleeve；24, the first guide rod；25, the first push rod；26, the first push plate；27,
Second universal wheel；28, the second electric pushrod；29, the second guide sleeve；30, the second guide rod；31, the second push rod；32, second
Push plate；33, third universal wheel；34, bearing block；35, stepper motor；36, floating bearing；37, pivoted lever；38, the first driven skin
Belt wheel；39, the first drive pulley；40, the first driving belt；41, rotary disk；42, third electric pushrod；43, third is oriented to
Casing；44, third push rod；45, third guide rod；46, third push plate；47, bracket；48, the second rotating electric machine；49, second turn
Axis；50, the second driven pulley；51, the second drive pulley；52, the second driving belt；53, infrared camera；54, liquid level
Sensor；55, water inlet；56, water cover.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in Figs. 1-5, in the present embodiment, first by machine
People is placed in round tube, then sends wireless signal to controller 3 by external remote controler, controller 3 receives remote controler and sends
Order after control the work of corresponding electric elements；
Robot is set to keep stablizing in round tube first, the first electric pushrod 22 of starting and the second electric pushrod 28, first
22 telescopic end of electric pushrod, which stretches out and passes through the first push rod 25, pushes the first push plate 26, and the first push plate 26 drives the first guide rod 24
Mobile, the first guide rod 24 rises in the first guide sleeve 23 rises the first push plate 26 steadily, when the second universal wheel
27 when rising to duct top wall, and the telescopic end of the first electric pushrod 22 stops stretching out, and similarly, the second electric pushrod 28 makes the 30000th
Rise to duct top wall to wheel 33, the first universal wheel 5, the second universal wheel 27 and third universal wheel 33 and tube contacts, thus
Stablize casing 1；
Subsequent start-up cleaning procedure, the first rotating electric machine 13 drive brush tube 15 to rotate by first rotating shaft 14, brush tube
Bristle 16 on 15 contacts with tube wall and by under the dirt brush on tube wall, and water pump 18 will be clear in water storage box 17 by drinking-water pipe 19
Clean water pump 18 enters sparge pipe 20, and the water of sparge pipe 20 sprays to the position that bristle 16 is contacted with tube wall by spray head 21, improves cleaning
Effect；
After bristle 16 cleans up bottom tube wall, mobile cleaning positions are needed, bristle 16 is allow to touch round tube
Side wall starts stepper motor 35, and the energization of stepper motor 35 is rotated by 90 °, and stepper motor 35 passes through the first drive pulley 39 and the
One driving belt 40 drives the rotation of the first driven pulley 38,38 size phase of the first drive pulley 39 and the first driven pulley
Together, pivoted lever 37 rotates 90 degree with the first driven pulley 38, and going to the direction of motion of anti-pulley can revolve along round tube inner wall
The direction turned, subsequent 42 telescopic end of third electric pushrod, which stretches out and passes through third push rod 44, pushes third push plate 46, third push plate
46 drive third guide rod 45 mobile, and third guide rod 45 rises in third guide sleeve 43 keeps third push plate 46 steady
Rise, when anti-pulley compresses duct top wall, the second rotating electric machine 48, which is powered, to be rotated, and the second rotating electric machine 48 passes through second actively
Belt pulley 51 and the second driving belt 52 drive the rotation of the second driven pulley 50, and 51 size of the second drive pulley is less than second
Second driven pulley 50, can play slowing effect, and the second driven pulley 50 drives the second shaft 49 and anti-pulley rotation, prevents
Pulley moves in a circle along tube wall, so that robot be made to rotate in round tube, bristle 16 carries out tube wall along tube wall circular motion
Cleaning；
Just need to control robot advance after the tube wall that bristle 16 touches is cleaned, the second rotating electric machine 48 is disconnected
Electronic pause work, after robot stops rotating, control 42 telescopic end of third electric pushrod shrink, make anti-pulley no longer with tube wall
Contact, control stepper motor 35 reversely rotate 90, so that the direction of motion of anti-pulley be made to go to the length direction of round tube, then control
42 telescopic end of third electric pushrod processed stretches out, and anti-pulley is made to compress tube wall, starts the second rotating electric machine 48, anti-pulley is with the second rotation
Rotating motor 48 rotates, and drives casing 1, the first universal wheel 5, the second universal wheel 27 and third universal wheel 33 mobile, when robot moves
When moving position unwashed to round tube, the second rotating electric machine 48 stops rotating, at this point, restarting cleaning procedure；
Infrared camera 53 can shoot the video inside round tube, and will send information to controller 3, and controller 3 passes through nothing
Line signal sends the video to remote controler, observes cleaning details convenient for operator.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of pipeline cleaning robot, including casing (1), cleaning mechanism, pressing wheel mechanism, overturning mobile mechanism, battery (2)
With controller (3), which is characterized in that casing (1) the lower end two sides are equipped with chamfering (4), be all provided at two chamferings (4) there are two
First universal wheel (5), casing (1) is interior to be equipped with several partitions (6), and casing (1) inner cavity is separated into clean room (7), stored by partition (6)
Water chamber (8) overturns mobile drive chamber (9), control room (10), the first pinch roller room (11) and the second pinch roller room (12), battery (2)
It is mounted in control room (10) with controller (3).
2. a kind of pipeline cleaning robot according to claim 1, which is characterized in that the cleaning mechanism includes being mounted on
The first rotating electric machine (13) in clean room (7), the first rotating electric machine (13) round end are equipped with first rotating shaft by shaft coupling
(14), first rotating shaft (14) is fixed on casing (1) by bearing, and first rotating shaft (14) left end is stretched out casing (1) and is equipped with
Brush tube (15), brush tube (15) are equipped with bristle (16), and cleaning mechanism further includes the water storage box being mounted in water storage room (8)
(17) it is connected to by drinking-water pipe (19) with water storage box (17) with water pump (18), water pump (18) input terminal, water pump (18) output end connects
Have sparge pipe (20), sparge pipe (20), which stretches out, casing (1) and to be equipped with spray head (21), and the injection direction of spray head (21) is towards bristle
(16)。
3. a kind of pipeline cleaning robot according to claim 1, which is characterized in that the pressing wheel mechanism includes being mounted on
The first electric pushrod (22) and the first guide sleeve (23) in first pinch roller room (11), the flexible installation of the first electric pushrod (22)
Have the first push rod (25), is fitted with the first guide rod (24) in the first guide sleeve (23), the first push rod (25) and the first guiding
Bar (24) upper end is fixed with the first push plate (26), the second universal wheel (27) is equipped in the first push plate (26), pressing wheel mechanism also wraps
Include the second electric pushrod (28) and the second guide sleeve (29) being mounted in the second pinch roller room (12), the second electric pushrod (28)
It is flexible to be equipped with the second push rod (31), is fitted with the second guide rod (30) in the second guide sleeve (29), the second push rod (31) and
Second guide rod (30) upper end is fixed with the second push plate (32), and third universal wheel (33) are equipped in the second push plate (32).
4. a kind of pipeline cleaning robot according to claim 1, which is characterized in that the overturning mobile mechanism includes peace
Mounted in the bearing block (34) and stepper motor (35) for overturning mobile drive chamber (9) bottom, floating bearing is equipped in bearing block (34)
(36), it is equipped with pivoted lever (37) in floating bearing (36), the first driven pulley (38), stepping is set on pivoted lever (37)
Motor (35) round end is equipped with the first drive pulley (39), the first drive pulley (39) and the first driven pulley (38)
Between by the first driving belt (40) tensioning connection, pivoted lever (37) top is fixed with rotary disk (41), and rotary disk is pacified on (41)
Equipped with third electric pushrod (42) and third guide sleeve (43), third electric pushrod (42) is flexible to be equipped with third push rod
(44), it is fitted with third guide rod (45) in third guide sleeve (43), third push rod (44) and third guide rod (45) upper end
It is fixed with third push plate (46), bracket (47) and the second rotating electric machine (48) is installed in third push plate (46), on bracket (47)
Equipped with the second shaft (49), anti-pulley is fixedly installed in the second shaft (49), the second shaft (49) is installed by ball bearing
On bracket (47), the second shaft (49) one end is stretched out bracket (47) and is equipped with the second driven pulley (50), the second rotation
Motor (48) round end is equipped with the second drive pulley (51), the second drive pulley (51) and the second driven pulley (50)
Between by the second driving belt (52) tensioning connection.
5. a kind of pipeline cleaning robot according to claim 1, which is characterized in that be equipped on the casing (1) red
Outer camera (53).
6. a kind of pipeline cleaning robot according to claim 2, which is characterized in that be equipped with liquid in the water storage box (17)
Level sensor (54).
7. a kind of pipeline cleaning robot according to claim 1, which is characterized in that bristle (16) lower end is beyond the
One universal wheel (5), bristle (16) can be contacted with tube wall.
8. a kind of pipeline cleaning robot according to claim 2, which is characterized in that water storage box (17) upper end is equipped with
The water inlet (55) of casing (1) is penetrated through, is equipped with the water cover (56) connecting with water inlet (55) thread seal at water inlet (55).
9. a kind of pipeline cleaning robot according to claim 1, which is characterized in that be equipped with nothing in the controller (3)
Line transceiver module and GPS positioning module.
10. a kind of pipeline cleaning robot according to claim 1, which is characterized in that the signal of the controller (3) is defeated
Outlet and the battery (2), the first rotating electric machine (13), water pump (18), the first electric pushrod (22), the second electric pushrod
(28), stepper motor (35), third electric pushrod (42), the second rotating electric machine (48), infrared camera (53) and level sensing
The signal input part of device (54) is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938670.6A CN109078937B (en) | 2018-08-17 | 2018-08-17 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810938670.6A CN109078937B (en) | 2018-08-17 | 2018-08-17 | Pipeline cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109078937A true CN109078937A (en) | 2018-12-25 |
| CN109078937B CN109078937B (en) | 2020-08-11 |
Family
ID=64793697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810938670.6A Active CN109078937B (en) | 2018-08-17 | 2018-08-17 | Pipeline cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109078937B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500014A (en) * | 2019-01-21 | 2019-03-22 | 刘珊珊 | A kind of adjustable pipeline cleaning robot of diameter |
| CN110206963A (en) * | 2019-07-08 | 2019-09-06 | 大成科创基础建设股份有限公司 | Novel pipeline detects robot |
| CN110253133A (en) * | 2019-06-19 | 2019-09-20 | 沈阳航空航天大学 | Mixing yoghurt device and method for tubular structure inner wall |
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| KR20150019462A (en) * | 2013-08-14 | 2015-02-25 | 주식회사 지성이엔지 | Scale removal device in Large-Pipe |
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|---|---|---|---|---|
| CN109500014A (en) * | 2019-01-21 | 2019-03-22 | 刘珊珊 | A kind of adjustable pipeline cleaning robot of diameter |
| CN110253133A (en) * | 2019-06-19 | 2019-09-20 | 沈阳航空航天大学 | Mixing yoghurt device and method for tubular structure inner wall |
| CN110253133B (en) * | 2019-06-19 | 2021-02-19 | 沈阳航空航天大学 | Friction stir processing device and method for inner wall of tubular structure |
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| CN110206963B (en) * | 2019-07-08 | 2020-08-18 | 大成科创基础建设股份有限公司 | Novel pipeline detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109078937B (en) | 2020-08-11 |
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Effective date of registration: 20200717 Address after: 266000 Qingdao science and technology, Huangdao District, Shandong, No. two road, No. 167 Applicant after: Huayu Yuntong Ocean Engineering Technology (Shandong) Co.,Ltd. Address before: 322104 Jiangxin Street Village, Dongyang City, Jinhua, Zhejiang Province Applicant before: Zhou Yunxiang |
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