CN111408588B - Pipeline cleaning robot and pipeline cleaning method thereof - Google Patents
Pipeline cleaning robot and pipeline cleaning method thereof Download PDFInfo
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- CN111408588B CN111408588B CN202010246423.7A CN202010246423A CN111408588B CN 111408588 B CN111408588 B CN 111408588B CN 202010246423 A CN202010246423 A CN 202010246423A CN 111408588 B CN111408588 B CN 111408588B
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- walking
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- storage bin
- controller
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a pipeline cleaning robot and a pipeline cleaning method thereof. The existing pipeline cleaning robot cannot clean up the blockage completely, and is difficult to turn and move vertically. The walking bin and the storage bin are connected through the corrugated pipe; when a plurality of storage bins are arranged, every two adjacent storage bins are connected through a corrugated pipe; the top and the bottom of the walking bin and the storage bin are respectively provided with two walking components; in the two walking components at the bottom of the walking bin, two rollers of at least one walking component are respectively driven by a hub motor; each hub motor is controlled by a controller; the front end of the walking bin is provided with a manipulator and an interface; the manipulator is controlled by the controller; the interface is communicated with the inner cavity of the adjacent storage bin through a conveying pipe; when a plurality of storage bins are provided, the inner cavities of every two adjacent storage bins are communicated through a conveying pipe; the output end of the conveying pipe is provided with a negative pressure pump. The invention has good pipeline cleaning effect and can walk in the vertical pipeline.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to a pipeline cleaning robot and a pipeline cleaning method thereof.
Background
When the pipeline is blocked in the using process, a certain means is needed to clear away the blockage, and generally, if the distance between the blockage and the pipe orifice exceeds 10 meters, workers cannot use extensions such as long rods, springs and the like to dredge the pipeline from the pipe orifice. In order to clean up the blockage at the deep part of the pipeline, the Chinese patent application No. 201910950174.7, namely a pipeline cleaning robot, provides a robot capable of automatically walking into the deep part of the pipeline, which mainly comprises a stirring cleaning mechanism, a universal walking machine body mechanism, a clamping support mechanism and a driving walking mechanism; the pipeline cleaning robot has the following defects: 1. the working capacity of the stirring cleaning mechanism is unstable, and a plurality of decomposed and fragile blockages cannot be combined with the stirring cleaning mechanism, so that the blockages are retained in the pipeline, and the pipeline is easy to continue to accumulate subsequently to cause secondary blockage; 2. the whole pipeline cleaning robot has a large volume and is difficult to turn in a pipeline; 3. the running gear can only move in the horizontal pipeline, can't be applicable to the vertical pipeline.
Disclosure of Invention
The invention aims to provide a pipeline cleaning robot and a pipeline cleaning method thereof, aiming at the problems that the pipeline cleaning robot in the prior art cannot clean up the blockage completely, small blocks of blockage are easy to retain, and the pipeline cleaning robot is difficult to turn and move vertically in a pipeline.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the invention relates to a pipeline cleaning robot, which comprises a walking bin, a walking assembly, a manipulator, a storage bin and a conveying pipe, wherein the walking assembly is arranged on the walking bin; a storage bin is arranged behind the walking bin, and the walking bin is connected with the storage bin through a corrugated pipe; when the storage bins are multiple, every two adjacent storage bins are connected through the corrugated pipe.
The top and the bottom of the walking bin and the storage bin are respectively provided with two walking components; the walking component comprises a vertical rod, a spring, a cross rod, a rotating shaft and a roller; the vertical rod and the walking bin or the storage bin form a sliding pair; one end of the vertical rod, which is provided with the limiting ring, is arranged in the walking bin or the storage bin, and the other end of the vertical rod is fixed with the cross rod; the spring is sleeved on the vertical rod; the rotating shaft is fixed with the cross rod; two ends of the rotating shaft and the two rollers form a rotating pair respectively; in the two walking components at the bottom of the walking bin, two rollers of at least one walking component are respectively driven by a hub motor; each hub motor is controlled by a controller.
The front end of the walking bin is provided with a manipulator and an interface; the manipulator is controlled by the controller; the interface is communicated with the inner cavity of the adjacent storage bin through a conveying pipe; when a plurality of storage bins are provided, the inner cavities of every two adjacent storage bins are communicated through a conveying pipe; the output end of the conveying pipe is provided with a negative pressure pump.
Furthermore, a camera and a lighting device are further installed at the front end of the walking bin, the camera and the lighting device are controlled by a controller, and the camera transmits shot image information to the controller.
Furthermore, the conveying pipe and the negative pressure pump form a hose auger.
Furthermore, a conveying belt mechanism is arranged in the storage bin, and the input end of the conveying belt mechanism in the storage bin is positioned below the conveying pipe output end of the communication interface or the inner cavity of the previous storage bin; when the storage bin is a plurality of, the output end of the conveying belt mechanism in the storage bin is positioned above the conveying pipe input end communicated with the inner cavity of the next storage bin.
Further, the conveying belt mechanism comprises a conveying motor, a conveying belt wheel and a conveying belt; the two conveying belt wheels are hinged in the storage bin and connected through the conveying belt; the conveying motor is controlled by the controller and drives one of the conveying belt wheels.
Further, the surface of the conveying belt is provided with anti-skid grains.
The pipeline cleaning method of the pipeline cleaning robot comprises the following specific steps:
the upper computer is communicated with the controller and sends an instruction to the controller; the controller controls the hub motor, and the hub motor drives the roller to enable the walking bin to move forwards; in the advancing process of the walking bin, the controller controls the lighting device to be turned on, and the camera transmits shot image information to the controller; when the controller identifies a blockage according to image information shot by the camera, the manipulator is controlled to grab the blockage in the pipeline to the interface, the blockage is conveyed to a storage bin close to the walking bin through a conveying pipe, and the blockage is conveyed backwards by a conveying belt mechanism in the storage bin; when the storage bin is multiple, the blockage is further conveyed to the next storage bin through the conveying belt mechanism and the conveying pipe until the blockage is conveyed to the last storage bin. When the pipeline of clearance is vertical state, owing to be provided with the spring among the walking subassembly for have pressure between gyro wheel and the vertical pipeline inner wall, the storehouse of walking can walk in vertical pipeline. After the cleaning is finished or all the storage bins are filled with the blockages, the wheel hub motor drives the roller wheels to enable the walking bins to retreat to the pipeline opening, and the blockages in the storage bins are cleaned.
The invention has the following beneficial effects: (1) the pipeline cleaning robot disclosed by the invention has the advantages that the manipulator is used for cleaning the blockage in the pipeline, the conveying pipe is matched to store the blockage in the robot, various small blocks and fragile blockage can be cleaned out of the pipeline, the blockage is prevented from being retained in the pipeline, and the pipeline cleaning robot has a good pipeline cleaning effect. (2) The pipeline cleaning robot is provided with one or more storage bins after the walking bin, so that the robot can carry a large amount of blockages in one cleaning stroke, the cleaning efficiency is high, and more other auxiliary components can be mounted in the vacant walking bin. (3) The pipeline cleaning robot disclosed by the invention uses the corrugated pipe to connect the walking bin and the storage bin, so that the steering capacity of the robot is not influenced while the cleaning capacity of the robot is improved. (4) The spring is arranged on the vertical rod of the walking component of the pipeline cleaning robot, so that pressure is generated between the roller and the inner wall of the pipeline, the robot can walk in the vertical pipeline, and the application range of the robot is widened. (5) The pipeline cleaning robot is provided with the conveying belt in the storage bin, and the conveying belt conveys the blockage from the front part to the rear part of the storage bin, so that the blockage is uniformly stored in the storage bin.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a top view of the structure of the present invention.
Fig. 3 is a sectional view a-a of fig. 2.
Fig. 4 is a structural perspective view of the walking cabin of the invention.
Wherein: 100. a walking bin; 110. a camera; 120. an illumination device; 130. an interface; 200. a walking assembly; 210. a vertical rod; 220. a spring; 230. a cross bar; 240. a rotating shaft; 250. a roller; 300. a manipulator; 400. a first delivery pipe; 500. a storage bin; 510. a conveyor belt mechanism; 600. a second delivery pipe; 700. a bellows.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
As shown in fig. 1, 2, 3 and 4, a pipe cleaning robot includes a walking bin 100, a walking assembly 200, a manipulator 300, a first delivery pipe 400, a storage bin 500 and a second delivery pipe 600; two storage bins 500 are arranged behind the walking bin 100, and the walking bin 100 and the storage bins 500 and the two adjacent storage bins 500 are connected through corrugated pipes 700.
The top and the bottom of the walking bin 100 and the storage bin 500 are provided with two walking components 200; the walking assembly 200 comprises a vertical rod 210, a spring 220, a cross rod 230, a rotating shaft 240 and a roller 250; the vertical rod 210 and the walking bin 100 or the storage bin 500 form a sliding pair; one end of the vertical rod 210 provided with the limiting ring is arranged in the walking bin 100 or the storage bin 500, and the other end is fixed with the cross rod 230; the spring 220 is sleeved on the vertical rod 210; the rotating shaft 240 is fixed with the cross bar 230; two ends of the rotating shaft 240 and the two rollers form a rotating pair respectively; in the two walking assemblies 200 at the bottom of the walking bin 100, two rollers 250 of at least one walking assembly 200 are respectively driven by one hub motor; each hub motor is controlled by a controller.
The front end of the walking bin 100 is provided with a manipulator 300, a camera 110, a lighting device 120 and an interface 130; the camera 110, the lighting device 120 and the manipulator 300 are all controlled by a controller, and the camera 110 transmits the shot image information to the controller; the manipulator 300 uses the interface 130 as a plug storage point; the input end of the first delivery pipe 400 is communicated with the interface 130, and the output end of the first delivery pipe 400 and the input end of the second delivery pipe 600 are both arranged in the storage bin 500 close to the walking bin 100; the output end of the second conveying pipe 600 is communicated with the storage bin 500 far away from the walking bin 100; the output ends of the first delivery pipe 400 and the second delivery pipe 600 are respectively provided with a negative pressure pump for providing negative pressure, and the first delivery pipe 400 or the second delivery pipe 600 can be integrated with the negative pressure pump and adopt a hose auger; the two storage bins 500 are internally provided with a conveying belt mechanism 510, and the conveying belt surface of the conveying belt mechanism 510 is provided with anti-skid grains; the input end of the conveying belt mechanism 510 in the storage bin 500 close to the walking bin 100 is positioned below the output end of the first conveying pipe 400, and the output end is positioned above the input end of the second conveying pipe 600; the input end of the conveying belt mechanism 510 in the storage bin 500 far away from the walking bin 100 is positioned below the output end of the second conveying pipe 600; the conveying belt mechanism 510 comprises a conveying motor, a conveying belt wheel and a conveying belt; the two conveying belt wheels are hinged in the storage bin 500 and connected through a conveying belt; the conveying motor is controlled by the controller and drives one of the conveying belt wheels.
The pipeline cleaning method of the pipeline cleaning robot comprises the following specific steps:
the upper computer is communicated with a controller (a wireless module is arranged on the controller) through a wireless network; the controller controls the hub motor, and the hub motor drives the roller to enable the walking bin 100 to move forwards; in the process that the walking bin 100 moves forward, the controller controls the lighting device 120 to be turned on, and the camera 110 transmits the shot image information to the controller; when the controller identifies the blockage according to the image information shot by the camera 110, the controller controls the manipulator 300 to grab the blockage in the pipeline to the interface 130; the first conveying pipe 400 conveys the blockage to the storage bin 500 adjacent to the walking bin 100, the conveyer belt mechanism 510 in the storage bin 500 conveys the blockage backwards, and the second conveying pipe 600 further conveys the blockage to another storage bin 500. When the cleaned pipeline is in a vertical state, the walking bin 100 can walk in the vertical pipeline due to the pressure between the roller 250 and the inner wall of the vertical pipeline caused by the spring 220 arranged in the walking assembly 200. After the clearing is finished or after the two storage bins 500 are all filled with the blockages which can not be stored any more, the wheel hub motor drives the roller wheels to enable the walking bin 100 to retreat to the pipeline opening, and all the blockages in the two storage bins 500 are cleared for standby.
According to the pipeline cleaning robot, due to the fact that the manipulator 300 is used for cleaning the blocking objects, all the blocking objects can be cleaned out of the pipeline while the pipeline is dredged, the phenomenon that part of the blocking objects are retained in the pipeline when the pipeline is dredged is avoided, and secondary blockage of the pipeline is prevented; in addition, due to the bellows 700, the pipeline robot can hang one or more (two in this embodiment) storage bins 500 to store a large amount of blockages and can freely turn in the pipeline during operation.
Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.
Claims (6)
1. The utility model provides a pipeline cleaning robot, includes walking storehouse and walking subassembly, its characterized in that: the device also comprises a manipulator, a storage bin and a conveying pipe; a storage bin is arranged behind the walking bin, and the walking bin is connected with the storage bin through a corrugated pipe; when a plurality of storage bins are arranged, every two adjacent storage bins are connected through a corrugated pipe;
the top and the bottom of the walking bin and the storage bin are respectively provided with two walking components; the walking component comprises a vertical rod, a spring, a cross rod, a rotating shaft and a roller; the vertical rod and the walking bin or the storage bin form a sliding pair; one end of the vertical rod, which is provided with the limiting ring, is arranged in the walking bin or the storage bin, and the other end of the vertical rod is fixed with the cross rod; the spring is sleeved on the vertical rod; the rotating shaft is fixed with the cross rod; two ends of the rotating shaft and the two rollers form a rotating pair respectively; in the two walking components at the bottom of the walking bin, two rollers of at least one walking component are respectively driven by a hub motor; each hub motor is controlled by a controller;
the front end of the walking bin is provided with a manipulator and an interface; the manipulator is controlled by the controller; the interface is communicated with the inner cavity of the adjacent storage bin through a conveying pipe; when a plurality of storage bins are provided, the inner cavities of every two adjacent storage bins are communicated through a conveying pipe; a negative pressure pump is arranged at the output end of the conveying pipe;
the storage bin is internally provided with a conveying belt mechanism, and the input end of the conveying belt mechanism in the storage bin is positioned below the conveying pipe output end of the communicating interface or the inner cavity of the previous storage bin; when the storage bin is a plurality of, the output end of the conveying belt mechanism in the storage bin is positioned above the conveying pipe input end communicated with the inner cavity of the next storage bin.
2. The pipe cleaning robot of claim 1, wherein: the front end of the walking bin is also provided with a camera and an illuminating device, the camera and the illuminating device are controlled by a controller, and the camera transmits shot image information to the controller.
3. The pipe cleaning robot of claim 1, wherein: the conveying pipe and the negative pressure pump form a hose auger.
4. The pipe cleaning robot of claim 1, wherein: the conveying belt mechanism comprises a conveying motor, a conveying belt wheel and a conveying belt; the two conveying belt wheels are hinged in the storage bin and connected through the conveying belt; the conveying motor is controlled by the controller and drives one of the conveying belt wheels.
5. The pipe cleaning robot of claim 1, wherein: the surface of the conveying belt is provided with anti-skid grains.
6. The pipe cleaning method of the pipe cleaning robot according to claim 1 or 4, wherein: the method comprises the following specific steps:
the upper computer is communicated with the controller and sends an instruction to the controller; the controller controls the hub motor, and the hub motor drives the roller to enable the walking bin to move forwards; in the advancing process of the walking bin, the controller controls the lighting device to be turned on, and the camera transmits shot image information to the controller; when the controller identifies a blockage according to image information shot by the camera, the manipulator is controlled to grab the blockage in the pipeline to the interface, the blockage is conveyed to a storage bin close to the walking bin through a conveying pipe, and the blockage is conveyed backwards by a conveying belt mechanism in the storage bin; when a plurality of storage bins are provided, the blockage is further conveyed to the next storage bin through the conveying belt mechanism and the conveying pipe until the blockage is conveyed to the last storage bin; when the cleaned pipeline is in a vertical state, the walking assembly is internally provided with a spring, so that pressure is generated between the roller and the inner wall of the vertical pipeline, and the walking bin can walk in the vertical pipeline; after the cleaning is finished or all the storage bins are filled with the blockages, the wheel hub motor drives the roller wheels to enable the walking bins to retreat to the pipeline opening, and the blockages in the storage bins are cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010246423.7A CN111408588B (en) | 2020-03-31 | 2020-03-31 | Pipeline cleaning robot and pipeline cleaning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010246423.7A CN111408588B (en) | 2020-03-31 | 2020-03-31 | Pipeline cleaning robot and pipeline cleaning method thereof |
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| CN111408588A CN111408588A (en) | 2020-07-14 |
| CN111408588B true CN111408588B (en) | 2021-07-27 |
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