CN109837978B - Climbing formula pipeline cleaning robot from bottom to top - Google Patents
Climbing formula pipeline cleaning robot from bottom to top Download PDFInfo
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- CN109837978B CN109837978B CN201910225770.9A CN201910225770A CN109837978B CN 109837978 B CN109837978 B CN 109837978B CN 201910225770 A CN201910225770 A CN 201910225770A CN 109837978 B CN109837978 B CN 109837978B
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- pipe
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- 238000004140 cleaning Methods 0.000 title claims abstract description 65
- 230000009194 climbing Effects 0.000 title claims abstract description 50
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 66
- 238000003825 pressing Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000005641 tunneling Effects 0.000 claims description 5
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract description 9
- 235000017491 Bambusa tulda Nutrition 0.000 abstract description 9
- 241001330002 Bambuseae Species 0.000 abstract description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract description 9
- 239000011425 bamboo Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 8
- 239000007787 solid Substances 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000010865 sewage Substances 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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- Cleaning In General (AREA)
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Abstract
The invention discloses a bottom-up climbing type pipeline cleaning robot, which comprises the following components: garbage collection barrel, a plurality of climbing power device, rubbish cleaning device. The climbing power device comprises a pipe wall bracing assembly and a pipe running assembly; the pipe wall propping assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the pipeline traveling assembly; the pipe wall propping component drives the pipe walking component so that the pipe walking component moves back and forth along the radial direction of the garbage collection barrel; the pipeline walking assembly includes: a steering wheel support frame, a walking roller, a support frame driving part and a roller driving part; the support frame driving part is in driving connection with the steering wheel support frame; the walking roller is arranged on the steering wheel supporting frame. The invention discloses a bottom-up climbing type pipeline cleaning robot which is used for replacing a traditional bamboo pole dredging method, placing the robot from the bottom of a vertical drainage pipeline, and cleaning solid garbage in the drainage pipeline in a bottom-up climbing mode.
Description
Technical Field
The invention relates to a pipeline cleaning robot, in particular to a climbing type pipeline cleaning robot from bottom to top.
Background
In modern building structures, drainage pipelines are usually arranged on walls outside the building, and the drainage pipelines are arranged vertically and are used for communicating all floors. The householder of each floor can discharge domestic sewage through this drainage pipe, and domestic sewage reaches in the waste water collecting well on ground along the drainage pipe to realize domestic sewage's discharge.
As more solid garbage is mixed in the domestic sewage, the drainage pipeline is blocked by the accumulation of the solid garbage over time, thereby bringing inconvenience to normal domestic sewage discharge.
Therefore, the drainage pipeline needs to be dredged, and solid garbage accumulated in the drainage pipeline is cleaned. The traditional method for dredging the drainage pipeline mainly adopts a bamboo pole dredging method, and cleaning staff inserts the bamboo pole into the drainage pipeline, so that the dredging treatment of the drainage pipeline is realized.
However, this conventional method of dredging the drain pipe has a great limitation. For example, for particularly long drain lines, the bamboo poles cannot reach the blockage sites smoothly. For another example, cleaning personnel can hold the bamboo poles to operate on high floors, safety production accidents are easy to occur, and the like.
Therefore, how to develop a bottom-up climbing type pipeline cleaning robot for replace traditional bamboo culvert method, put into the robot from the bottom of vertical drainage pipe according to actual conditions, clear up the solid rubbish in the drainage pipe with the mode of climbing from bottom to top, this technical problem that design developer need solve.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a bottom-up climbing type pipeline cleaning robot which is used for replacing a traditional bamboo culvert dredging method, and according to actual conditions, the robot is placed in the bottom of a vertical drainage pipeline to clean solid garbage in the drainage pipeline in a bottom-up climbing mode.
The aim of the invention is realized by the following technical scheme:
A bottom-up climbing type pipe cleaning robot comprising: the garbage collection barrel, a plurality of climbing power devices and a garbage cleaning device;
the garbage collection barrel is of a barrel structure with one end open and one end closed, the garbage collection barrel is provided with an open end and a closed end, and a garbage collection cavity is formed in the garbage collection barrel;
the climbing power devices are arranged on the outer side wall of the garbage collection barrel and distributed in an annular array with the central shaft of the garbage collection barrel as the center;
the garbage cleaning device is arranged at the opening end of the garbage collection barrel;
The climbing power device comprises a pipe wall supporting and pressing assembly and a pipe running assembly; the pipe wall propping assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the pipeline traveling assembly; the pipe wall propping assembly drives the pipe walking assembly so that the pipe walking assembly moves back and forth along the radial direction of the garbage collection barrel;
The pipe running assembly includes: a steering wheel support frame, a walking roller, a support frame driving part and a roller driving part; the support frame driving part is in driving connection with the steering wheel support frame and drives the steering wheel support frame to rotate; the walking roller is arranged on the steering wheel supporting frame, the roller driving part is in driving connection with the walking roller, and the roller driving part drives the walking roller to rotate; the rotating shaft of the steering wheel supporting frame is perpendicular to the rotating shaft of the walking roller;
the garbage cleaning device comprises a cleaning driving part and cleaning helical blades, wherein the cleaning driving part is in driving connection with the cleaning helical blades, and the cleaning driving part drives the cleaning helical blades to rotate.
In one embodiment, the tube wall bracing assembly comprises: the supporting and pressing support frame, the supporting and pressing driving part, the supporting and pressing driving rod, the supporting and pressing connecting rod and the walking component mounting platform;
The supporting and pressing support frame is fixed on the outer side wall of the garbage collection barrel, two ends of the supporting and pressing connecting rod are respectively pivoted on the supporting and pressing support frame and the walking component mounting platform, and two ends of the supporting and pressing driving rod are respectively pivoted on the output end of the supporting and pressing driving part and the walking component mounting platform;
The pipeline traveling assembly is installed on the traveling assembly installation platform.
In one embodiment, the bracing driving part is a cylinder driving structure.
In one embodiment, the support frame driving part comprises a support frame driving motor and a support frame transmission gear in driving connection with the support frame driving motor.
In one embodiment, the roller driving part comprises a roller driving motor and a roller transmission gear in driving connection with the roller driving motor.
In one embodiment, the cleaning drive portion is a motor drive structure.
In one embodiment, a tunneling drill bit is further arranged on the central shaft of the cleaning helical blade.
In one embodiment, the number of climbing power devices is three.
In one embodiment, the garbage collection cylinder is a circular cylinder structure.
In one embodiment, the walking roller is provided with a rubber sleeve.
The bottom-up climbing type pipeline cleaning robot is used for replacing the traditional bamboo culvert dredging method, and is placed from the bottom of a vertical drainage pipeline according to actual conditions, so that solid garbage in the drainage pipeline is cleaned in a bottom-up climbing mode.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a bottom-up climbing pipe cleaning robot according to one embodiment of the present invention;
FIG. 2 is a top view of the bottom-up climbing pipe cleaning robot shown in FIG. 1;
FIG. 3 is a block diagram of the garbage collection canister shown in FIG. 1;
FIG. 4 is a block diagram of the climbing power device shown in FIG. 1;
FIG. 5 is a block diagram of the tube wall bracing assembly illustrated in FIG. 4;
FIG. 6 is a block diagram of the pipe running assembly of FIG. 4;
FIG. 7 is a partial view of the pipe running assembly shown in FIG. 6;
FIG. 8 is a block diagram of the garbage disposal apparatus shown in FIG. 1;
Fig. 9 is a state diagram of the walking roller climbing from bottom to top in the drain pipe.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 2, a bottom-up climbing type pipe cleaning robot 10 includes: a garbage collection cylinder 20, a plurality of climbing power devices 30 and a garbage cleaning device 40.
As shown in fig. 3, the garbage collection barrel 20 has a barrel structure with one end open and one end closed, the garbage collection barrel 20 has an open end 21 and a closed end 22, and a garbage collection cavity 23 is formed inside the garbage collection barrel 20. In this embodiment, the garbage collection canister 20 has a circular canister structure.
As shown in fig. 2, the plurality of climbing power devices 30 are provided on the outer side wall of the garbage collection canister 20, and the plurality of climbing power devices 30 are distributed in an annular array with the central axis of the garbage collection canister 20 as the center. In this embodiment, the number of climbing power devices 30 is three, and by setting up three climbing power devices 30, the stability of the robot climbing in the pipeline can be enhanced.
As shown in fig. 1, the garbage cleaning apparatus 40 is provided at the open end 21 of the garbage collection canister 20.
As shown in fig. 4, climbing power device 30 includes a pipe wall bracing assembly 100 and a pipe running assembly 200. The pipe wall propping assembly 100 is arranged on the outer side wall of the garbage collection barrel 20, and the pipe wall propping assembly 100 is in driving connection with the pipeline traveling assembly 200; the pipe wall bracing assembly 100 drives the pipe running assembly 200 so that the pipe running assembly 200 reciprocates in the radial direction of the garbage collection cylinder 20, and thus, the relevant running rollers in the pipe running assembly 200 can press against the inner wall of the pipe or loosen the connection with the inner wall of the pipe.
As shown in fig. 5, the following describes a specific structure of the pipe wall bracing assembly 100 and a connection relationship between the respective members:
The tube wall bracing assembly 100 includes: the supporting frame 110, the supporting driving part 120, the supporting driving rod 130, the supporting connecting rod 140 and the walking component mounting platform 150. In the present embodiment, the bracing driving portion 120 is a cylinder driving structure.
The supporting frame 110 is fixed on the outer sidewall of the garbage collection barrel 20, two ends of the supporting connecting rod 140 are respectively pivoted on the supporting frame 110 and the walking assembly mounting platform 150, and two ends of the supporting driving rod 130 are respectively pivoted on the output end of the supporting driving part 120 and the walking assembly mounting platform 150.
The pipe running assembly 200 is mounted on the running assembly mounting platform 150.
As shown in fig. 6 and 7, the following describes the specific structure of the pipe-running assembly 200 and the connection relation of the respective components:
The pipe running assembly 200 includes: a steering wheel support 210, a traveling roller 220, a support driving part 230, and a roller driving part 240.
The support frame driving part 230 is in driving connection with the steering wheel support frame 210, and the support frame driving part 230 drives the steering wheel support frame 210 to rotate. Specifically, the support driving part 230 includes a support driving motor 231 and a support driving gear 232 drivingly connected to the support driving motor 231.
The traveling roller 220 is mounted on the steering wheel support frame 210, the roller driving part 240 is in driving connection with the traveling roller 220, and the roller driving part 240 drives the traveling roller 220 to rotate. Specifically, the roller driving part 240 includes a roller driving motor 241 and a roller transmission gear 242 drivingly connected to the roller driving motor 241. In this embodiment, a rubber sleeve (not shown) is provided on the running roller 220.
Wherein, the rotation axis of the steering wheel support frame 210 is perpendicular to the rotation axis of the running roller 220.
As shown in fig. 8, the garbage cleaning device 40 includes a cleaning drive unit 41 and a cleaning screw blade 42, the cleaning drive unit 41 is in driving connection with the cleaning screw blade 42, and the cleaning drive unit 41 drives the cleaning screw blade 42 to rotate. In the present embodiment, the cleaning drive section 41 is a motor drive structure. Further, a tunneling drill 43 is provided on the central shaft of the cleaning screw blade 42.
Next, the working principle of the above-mentioned climbing type pipe cleaning robot 10 will be described:
The climbing type pipe cleaning robot 10 is integrally put into the bottom of a vertical drain pipe, and it is to be noted that the vertical drain pipe is vertical to the horizontal plane, that is, the drain pipe extends in the vertical direction;
Firstly, starting a pipe wall supporting and pressing assembly 100 in a climbing power device 30, wherein the purpose is to enable a traveling roller 220 in a pipe traveling assembly 200 to press and hold the inner wall of a drain pipe, so that preparation is made for the subsequent whole robot to climb upwards; specifically, the propping driving part 120 drives the propping driving rod 130 to make telescopic movement, and the propping driving rod 130 drives the walking assembly mounting platform 150 to move under the cooperation of the propping connecting rod 140, so that the walking assembly mounting platform 150 can drive the walking roller 220 in the pipeline walking assembly 200 to press the inner wall of the drain pipe or separate from the inner wall of the drain pipe; the walking roller 220 presses the inner wall of the drain pipe, so that preparation can be made for the subsequent whole robot to climb upwards; when the robot cleans the garbage in the drain pipe, the walking roller 220 can be separated from the supporting between the robot and the inner wall of the drain pipe, so that the whole robot is taken out of the drain pipe; here, it should be noted that the bracing driving rod 130 includes a main driving rod 131 and a sub driving rod 132 sleeved on the main driving rod 131, and a spring member 133 is disposed between the main driving rod 131 and the sub driving rod 132, so that the walking assembly mounting platform 150 and the walking roller 220 can obtain a buffering force in the moving process, so as to prevent the drain pipe from being crushed;
After the walking roller 220 presses the inner wall of the drain pipe, the pipeline walking assembly 200 in the climbing power device 30 is started immediately, so that the whole robot climbs upwards, and the specified position can be reached; the special key point is that the inner wall of the drain pipe is smooth, and the robot climbs upwards in the drain pipe to easily slip, so that the robot climbs upwards in a spiral advancing mode when climbing upwards, and can reach a designated place more stably; specifically, the steering wheel support frame 210 is driven to rotate by the support frame driving part 230 by an angle, and the steering wheel support frame 210 drives the traveling roller 220 thereon to correspondingly rotate by an angle, for example, the rotation axis of the traveling roller 220 forms an angle of 45 degrees with the center line of the drain pipe 50 (as shown in fig. 9), so that the robot can climb upwards in a spiral traveling mode and reach a designated place more stably;
When the robot climbs upwards in a spiral advancing manner, the garbage cleaning device 40 also works at the same time, namely the cleaning driving part 41 drives the cleaning spiral blade 42 to rotate, so that garbage blocked in the drain pipe is cleaned, and the cleaned garbage falls under the action of gravity and falls into the garbage collection cylinder 20 from the opening end 21; furthermore, by adding the tunneling drill bit 43 on the cleaning helical blade 42, the tunneling drill bit 43 can fully utilize the rotation function of the cleaning helical blade 42 to crush the hard garbage which is difficult to clean in the drainage pipeline;
In addition, after the robot cleans the garbage of the pipeline, the garbage can come out from the top of the drain pipe or from the bottom of the drain pipe according to actual conditions; the robot can come out of the pipeline in a spiral traveling mode, and of course, the angle of the traveling roller 220 can also be adjusted, so that the rotating shaft of the traveling roller 220 forms an angle of 90 degrees with the central line of the drain pipe, and the robot can come out of the pipeline more quickly in a straight traveling mode.
The bottom-up climbing type pipeline cleaning robot 10 is used for replacing a traditional bamboo culvert dredging method, and is placed from the bottom of a vertical drainage pipeline according to actual conditions, so that solid garbage in the drainage pipeline is cleaned in a bottom-up climbing mode.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The utility model provides a climbing formula pipeline cleaning robot from bottom to top which characterized in that includes: the garbage collection barrel, a plurality of climbing power devices and a garbage cleaning device;
the garbage collection barrel is of a barrel structure with one end open and one end closed, the garbage collection barrel is provided with an open end and a closed end, and a garbage collection cavity is formed in the garbage collection barrel;
the climbing power devices are arranged on the outer side wall of the collecting cylinder body and distributed in an annular array by taking the central shaft of the garbage collecting cylinder body as the center;
the garbage cleaning device is arranged at the opening end of the garbage collection barrel;
The climbing power device comprises a pipe wall supporting and pressing assembly and a pipe running assembly; the pipe wall propping assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the walking assembly; the pipe wall propping assembly drives the pipe walking assembly so that the pipe walking assembly moves back and forth along the radial direction of the garbage collection barrel;
The pipe running assembly includes: a steering wheel support frame, a walking roller, a support frame driving part and a roller driving part; the support frame driving part is in driving connection with the steering wheel support frame and drives the steering wheel support frame to rotate; the walking roller is arranged on the steering wheel supporting frame, the roller driving part is in driving connection with the walking roller, and the roller driving part drives the walking roller to rotate; the rotating shaft of the steering wheel supporting frame is perpendicular to the rotating shaft of the walking roller;
the garbage cleaning device comprises a cleaning driving part and a cleaning spiral blade, wherein the cleaning driving part is in driving connection with the spiral blade, and the cleaning driving part drives the cleaning spiral blade to rotate;
the pipe wall bracing assembly comprises: the supporting and pressing support frame, the supporting and pressing driving part, the supporting and pressing driving rod, the supporting and pressing connecting rod and the walking component mounting platform;
The supporting and pressing support frame is fixed on the outer side wall of the garbage collection barrel, two ends of the supporting and pressing connecting rod are respectively pivoted on the supporting and pressing support frame and the walking component mounting platform, and two ends of the supporting and pressing driving rod are respectively pivoted on the output end of the supporting and pressing driving part and the walking component mounting platform;
The pipeline traveling assembly is arranged on the traveling assembly mounting platform;
The support frame driving part comprises a support frame driving motor and a support frame transmission gear in driving connection with the support frame driving motor.
2. The bottom-up climbing type pipeline cleaning robot according to claim 1, wherein the bracing driving part is a cylinder driving structure.
3. The bottom-up climbing type pipe cleaning robot according to claim 1, wherein the roller driving part comprises a roller driving motor and a roller transmission gear drivingly connected with the roller driving motor.
4. The bottom-up climbing type pipe cleaning robot according to claim 1, wherein the cleaning driving part is a motor driving structure.
5. The bottom-up climbing type pipeline cleaning robot according to claim 4, wherein a tunneling drill is further arranged on the central shaft of the cleaning helical blade.
6. The bottom-up climbing pipe cleaning robot of claim 1, wherein the number of climbing power devices is three.
7. The bottom-up climbing type pipeline cleaning robot according to claim 1, wherein the garbage collection cylinder is a circular cylinder structure.
8. The bottom-up climbing type pipeline cleaning robot according to claim 1, wherein the walking roller is provided with a rubber sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910225770.9A CN109837978B (en) | 2019-03-25 | 2019-03-25 | Climbing formula pipeline cleaning robot from bottom to top |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910225770.9A CN109837978B (en) | 2019-03-25 | 2019-03-25 | Climbing formula pipeline cleaning robot from bottom to top |
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| Publication Number | Publication Date |
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| CN109837978A CN109837978A (en) | 2019-06-04 |
| CN109837978B true CN109837978B (en) | 2024-06-04 |
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| CN201910225770.9A Active CN109837978B (en) | 2019-03-25 | 2019-03-25 | Climbing formula pipeline cleaning robot from bottom to top |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159871B (en) * | 2019-07-11 | 2021-07-30 | 上海稻黄电子设备技术有限公司 | Horizontal underground culvert pipe blockage dredging robot and working method thereof |
| CN110485543B (en) * | 2019-09-02 | 2020-12-29 | 华育昌(肇庆)智能科技研究有限公司 | Underground drainage pipeline decontamination vehicle |
| CN112064776B (en) * | 2020-07-23 | 2022-11-08 | 蒋锐 | Dredging equipment for tunnel drainage system |
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| KR20080013647A (en) * | 2006-08-09 | 2008-02-13 | 주식회사 비즈탑 | Cleaning robot for garbage discharging pipe |
| KR20100043802A (en) * | 2008-10-21 | 2010-04-29 | 주식회사 로보스타 | Travelling equipment of the robot |
| CN104763858A (en) * | 2015-03-10 | 2015-07-08 | 北京中通柯翔科技有限公司 | Novel pipeline surveying carrying platform |
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| CN207921589U (en) * | 2017-12-26 | 2018-09-28 | 上海工程技术大学 | A kind of climbing mechanism of pipeline cleaning robot |
| CN209798986U (en) * | 2019-03-25 | 2019-12-17 | 温妙云 | bottom-up climbing type pipeline cleaning robot |
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2019
- 2019-03-25 CN CN201910225770.9A patent/CN109837978B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080013647A (en) * | 2006-08-09 | 2008-02-13 | 주식회사 비즈탑 | Cleaning robot for garbage discharging pipe |
| KR20100043802A (en) * | 2008-10-21 | 2010-04-29 | 주식회사 로보스타 | Travelling equipment of the robot |
| CN104763858A (en) * | 2015-03-10 | 2015-07-08 | 北京中通柯翔科技有限公司 | Novel pipeline surveying carrying platform |
| CN108167574A (en) * | 2017-12-26 | 2018-06-15 | 上海工程技术大学 | A kind of pipeline cleaning robot system |
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| CN209798986U (en) * | 2019-03-25 | 2019-12-17 | 温妙云 | bottom-up climbing type pipeline cleaning robot |
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