CN110125111A - A kind of pipeline cleaning intelligent robot optimizing structure - Google Patents
A kind of pipeline cleaning intelligent robot optimizing structure Download PDFInfo
- Publication number
- CN110125111A CN110125111A CN201910551544.XA CN201910551544A CN110125111A CN 110125111 A CN110125111 A CN 110125111A CN 201910551544 A CN201910551544 A CN 201910551544A CN 110125111 A CN110125111 A CN 110125111A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- linking arm
- motor
- module
- intelligent robot
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 239000007788 liquid Substances 0.000 claims abstract description 25
- 239000007921 spray Substances 0.000 claims description 8
- 239000000428 dust Substances 0.000 claims description 7
- 239000010802 sludge Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000002000 scavenging effect Effects 0.000 claims 1
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000009423 ventilation Methods 0.000 description 5
- 238000005457 optimization Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection 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
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- 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
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
-
- 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
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
-
- 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
- B08B9/0495—Nozzles propelled by fluid jets
- B08B9/0497—Nozzles propelled by fluid jets provided with additional mechanical 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
- B08B9/04—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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Suction Cleaners (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of pipeline cleaning intelligent robot for optimizing structure, including body, two body linking arms, two cleaning agency linking arms, two cleaning agencies, four driving wheels and suction inlet, the driving wheel is located at below body, the body linking arm is located at body two sides, body and cleaning agency linking arm are connected, the suction inlet is located at body bottom rear.Under the movement of the two degrees of freedom of body linking arm and cleaning agency linking arm, it may be implemented to carry out cleaning work to different in width, different height pipeline, suction inlet is located at body bottom rear, is in flat bar formula, it is more thorough to absorption dirty after cleaning, and waste liquid can be absorbed.
Description
Technical field
The present invention relates to a kind of pipeline cleaning robots more particularly to a kind of ventilation shaft to clean, small intelligent robot.
Background technique
The demand of attention with country to public place air-conditioning ventilation system administration of health, ventilation shaft cleaning increases year by year
Add.Since artificial nest cleaning efficiency is low and is easy to appear safety accident, pipeline cleaning robot is increasingly becoming more people's
Selection.
Pipeline cleaning, it is general by the way of giant injection or brusher, then pass through jet cleaning liquid, protection
Liquid reaches disposable and cleans protection.
Pipeline cleaning robot on the market at present mostly uses up-down structure mechanical arm type, and body height is slightly higher, for
Flat ventilation shaft can not carry out cleaning.Similar to the flat cleaning robot of sweeping robot, often can only
Clean duct bottom.Current cleaning robot is difficult to carry out comprehensive cleaning to multiple types ventilation shaft.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing one kind and being adapted to multiple types
The intelligent cleaning robot of type pipeline.
The technical solution adopted by the present invention to solve the technical problems is: a kind of pipeline cleaning intelligence machine optimizing structure
People, including body and its control system, the body rear and front end is separately installed with cleaning nozzle for liquid and protection nozzle for liquid, described
By driving wheel, the body side connects organism linking arm for setting below body, and the body linking arm and cleaning agency connect
Arm connection, the cleaning agency linking arm and cleaning revolution axis connection are connect, is furnished with brush set, the body on the cleaning rotating shaft
Bottom-rear is additionally provided with suction inlet, and the body linking arm is connected with first motor, and the cleaning agency linking arm is connected with
Two motors, the first motor, the second motor control body linking arm and cleaning agency linking arm are adjusted to proper operation position,
The cleaning rotating shaft is connected with third motor, and control cleans rotating shaft and carries out spot cleaning works.
The body control system includes control analysis module, motor module, hydrojet module, dust extractor, the control
The integrated high celestial being GS-SR modularization autonomous positioning navigation module of analysis module, carries out path analysis, and control motor module is realized automatic
Intelligence cleans；The motor module control driving wheel movement, the hydrojet module include cleaning solution spray group and protect liquid spray group, clearly
Clean liquid spray group carries out umbrella hydrojet before cleaning, and protection liquid spray group carries out umbrella hydrojet after cleaning, and the dust extractor includes
Suction inlet and sludge collecting box absorb dirty after cleaning.
The body linking arm is located at the two sides of body side, connection body and cleaning agency linking arm.
The driving wheel is four, using Mecanum wheel.
The suction inlet is located at body bottom rear, is the shape mouth of flat bar.
The invention has the advantages that compared with prior art, the pipeline cleaning intelligent robot of the optimization structure cleans
Device is located at body two sides, reduces the height of body, under the two degrees of freedom movement of body linking arm and cleaning agency linking arm,
It may be implemented to carry out cleaning work to different in width, different height pipeline, it is in flat bar formula that suction inlet, which is located at body bottom rear,
It is more thorough to absorption dirty after cleaning, and waste liquid can be absorbed, body driving wheel is Mecanum wheel, Ke Yizhi
Connecing property realizes Omnibearing-displacement, and cooperation control analysis module is convenient for width adjustment and steering, moreover, by integrated
High celestial being GS-SR modularization autonomous positioning navigation module can carry out contexture by self and clean route, autonomous linking arm is cooperated to adjust,
Realize that pipeline automation intelligently cleans.
Detailed description of the invention
The following further describes the present invention with reference to the drawings.
Fig. 1 is the structural schematic diagram of the pipeline cleaning intelligent robot of optimization structure of the invention；
Fig. 2 is the structural block diagram of the pipeline cleaning intelligent robot of optimization structure of the invention；
In Fig. 1: 1. bodies, 2. cleaning nozzle for liquid, 3. protection nozzle for liquid, 4. driving wheels, 5. second motors, 6. body linking arms,
7. cleaning agency linking arm, 8. third motors, 9. clean rotating shaft, 10. brush sets, 11. suction inlets.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.Attached drawing is simplified schematic diagram, only with signal side
Formula illustrates basic structure of the invention, some symmetrical structures is omitted, it only shows the composition relevant to the invention.
As shown in Figure 1, a kind of pipeline cleaning intelligent robot for optimizing structure, including 1, two cleaning rotating shaft 9 of body,
Four Mecanum driving wheels 4, suction inlet 11, body linking arm 6 and cleaning agency linking arm 7, the suction inlet 11 are located at machine
The lower section of body 1 is arranged in 1 bottom-rear of body, the driving wheel 4, and the body linking arm 6 is connected to 1 side of body, described
Cleaning agency linking arm 7 is connected with body linking arm 6, and the cleaning rotating shaft 9 is connected to cleaning agency linking arm 7.
Rotating shaft 9 is cleaned equipped with brush set 10, the brush, which covers 10 as consumptive material, can be changed to different type.
1 rear and front end of body disposes cleaning nozzle for liquid 2 and protection nozzle for liquid 3 respectively, and the cleaning nozzle for liquid 2 is before cleaning
It works, umbrella ejects cleaning solution, helps to clean, and the protection nozzle for liquid 3 works after cleaning, and umbrella ejects protection
Liquid carries out the defencive functions such as antirust disinfection.
When robot does not work, body linking arm 6 and cleaning agency linking arm 7 are manually controllable to contract, reduce machine
Device people integrally occupies volume, is readily transported carrying, machine man-hour, and cleaning nozzle for liquid 2 ejects cleaning liquid, the first electricity
Machine, the second motor 5 work, and control body linking arm 6 and cleaning agency linking arm 7 is adjusted to proper operation position, then
Third motor 8 works, and makes to clean the beginning turning anticlockwise of rotating shaft 9, carries out spot cleaning, dirty under turning anticlockwise
Stain is cleaned to underpart, and during body advances, suction inlet 11 works, and spot and waste liquid are absorbed into sludge collecting box,
Protection nozzle for liquid 3 carries out work and ejects protection liquid, and the pipeline after swept is protected or sterilized.
First motor, the second motor 5 work, and control body linking arm 6 and cleaning agency linking arm 7, may be implemented
Comprehensive cleaning from top to bottom, four Mecanum driving wheels 4 work, and lateral comprehensive cleaning may be implemented, controlling
Under analysis module calculates, during realizing primary advance, four wall of pipeline is cleaned comprehensively, cleans the motion path of rotating shaft
It should be path counterclockwise from top to bottom.
Intelligent work mode is realized by control analysis module 12 and high celestial navigation module 15, passes through the Gao Xian first
Navigation module 15 analyzes line size and path, simulates the three-dimensional sense of inner wall of the pipe, and data are transferred to the control
After analysis module 12 processed, calculates and clean the motion path that pipeline linking arm should carry out comprehensively, to control motor module 16
It is acted, by the co-operating of driving wheel 4, control body linking arm 6 and cleaning agency linking arm 7, is realized complete accordingly
Face cleans.
Manual power adjustment can be carried out by cleaning rotating shaft 9, power stability when work, dust extractor 13, jet module 17,
It is general to carry out conventional action, it can artificially be adjusted depending on actual conditions.
The pipeline cleaning intelligent robot of the optimization structure controls analysis module 12 by the high celestial cooperation of navigation module 15,
Control motor reaches the co-operating of control body linking arm 6 and cleaning agency linking arm 7, realizes and cleans rotating shaft 9 suitable
Controllability in range cooperates the dexterous actions of Mecanum driving wheel 4, to reach the intelligence to different size pipeline
Change, automation, generalization cleaning, cooperates dust extractor 13, jet module 17, cleaning effect is enable to guarantee.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of pipeline cleaning intelligent robot for optimizing structure, including body (1) and its control system, which is characterized in that institute
State body (1) rear and front end and be separately installed with cleaning nozzle for liquid (2) and protection nozzle for liquid (3), be arranged below the body (1) by
Driving wheel (4), body (1) side connect organism linking arm (6), and the body linking arm (6) connect with cleaning agency
Arm (7) connection, the cleaning agency linking arm (7) connect with rotating shaft (9) are cleaned, equipped with brush on the cleaning rotating shaft (9)
It covers (10), body (1) bottom-rear is additionally provided with suction inlet (11), and the body linking arm (6) is connected with first motor, institute
It states cleaning agency linking arm (7) and is connected with the second motor, the first motor, the second motor control body linking arm and scavenging machine
Structure linking arm is adjusted to proper operation position, and the cleaning rotating shaft (9) is connected with third motor (8), and control cleans rotating shaft
(9) spot cleaning works is carried out.
2. a kind of pipeline cleaning intelligent robot for optimizing structure according to claim 1, which is characterized in that the body
Control system includes control analysis module, motor module, hydrojet module, dust extractor, and the control analysis module integrates Gao Xian
GS-SR modularization autonomous positioning navigation module, carries out path analysis, and control motor module realizes that automated intelligent cleans；The electricity
Machine module controls driving wheel movement, and the hydrojet module includes cleaning solution spray group and protection liquid spray group, and cleaning solution spray group is cleaning
Preceding progress umbrella hydrojet, protection liquid spray group carry out umbrella hydrojet after cleaning, and the dust extractor includes suction inlet and sludge collecting box,
It absorbs dirty after cleaning.
3. a kind of pipeline cleaning intelligent robot for optimizing structure according to claim 1, which is characterized in that the body
Linking arm (6) is located at the two sides of body side, connects body and cleaning agency linking arm (7).
4. a kind of pipeline cleaning intelligent robot for optimizing structure according to claim 1, which is characterized in that the driving
Taking turns (4) is four, using Mecanum wheel.
5. a kind of pipeline cleaning intelligent robot for optimizing structure according to claim 1, which is characterized in that the dust suction
Mouth (11) is located at body bottom rear, is the shape mouth of flat bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910551544.XA CN110125111A (en) | 2019-06-24 | 2019-06-24 | A kind of pipeline cleaning intelligent robot optimizing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910551544.XA CN110125111A (en) | 2019-06-24 | 2019-06-24 | A kind of pipeline cleaning intelligent robot optimizing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110125111A true CN110125111A (en) | 2019-08-16 |
Family
ID=67579223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910551544.XA Pending CN110125111A (en) | 2019-06-24 | 2019-06-24 | A kind of pipeline cleaning intelligent robot optimizing structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125111A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1616157A (en) * | 2004-09-17 | 2005-05-18 | 清华大学 | Multifunction integrated cleaning robot for ventilation pipeline |
| CN101347785A (en) * | 2007-07-18 | 2009-01-21 | 刘柏生 | Pipeline cleaning robot |
| CN201720225U (en) * | 2010-07-16 | 2011-01-26 | 湖南大学 | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot |
| CN201735562U (en) * | 2009-02-12 | 2011-02-09 | 姜兵 | Cleaning robot for pipeline cleaning |
| CN204866744U (en) * | 2015-07-01 | 2015-12-16 | 长沙亚欣电器技术服务有限公司 | Oil smoke pipeline cleaning robot |
| CN105699128A (en) * | 2014-11-24 | 2016-06-22 | 重庆山朕科技发展有限公司 | Quantitative sampling robot |
| CN206215629U (en) * | 2016-10-21 | 2017-06-06 | 上海峰霸工程技术有限公司 | Multifunctional intelligent integrated air duct cleaning robot |
| CN210253410U (en) * | 2019-06-24 | 2020-04-07 | 陕西中建建乐智能机器人有限公司 | Pipeline cleaning intelligent robot with optimized structure |
-
2019
- 2019-06-24 CN CN201910551544.XA patent/CN110125111A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1616157A (en) * | 2004-09-17 | 2005-05-18 | 清华大学 | Multifunction integrated cleaning robot for ventilation pipeline |
| CN101347785A (en) * | 2007-07-18 | 2009-01-21 | 刘柏生 | Pipeline cleaning robot |
| CN201735562U (en) * | 2009-02-12 | 2011-02-09 | 姜兵 | Cleaning robot for pipeline cleaning |
| CN201720225U (en) * | 2010-07-16 | 2011-01-26 | 湖南大学 | Multi-freedom tri-dimensional hairbrush cleaning apparatus of central air-conditioning airduct cleaning robot |
| CN105699128A (en) * | 2014-11-24 | 2016-06-22 | 重庆山朕科技发展有限公司 | Quantitative sampling robot |
| CN204866744U (en) * | 2015-07-01 | 2015-12-16 | 长沙亚欣电器技术服务有限公司 | Oil smoke pipeline cleaning robot |
| CN206215629U (en) * | 2016-10-21 | 2017-06-06 | 上海峰霸工程技术有限公司 | Multifunctional intelligent integrated air duct cleaning robot |
| CN210253410U (en) * | 2019-06-24 | 2020-04-07 | 陕西中建建乐智能机器人有限公司 | Pipeline cleaning intelligent robot with optimized structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190816 |