CN113102405A - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
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- CN113102405A CN113102405A CN202110440279.5A CN202110440279A CN113102405A CN 113102405 A CN113102405 A CN 113102405A CN 202110440279 A CN202110440279 A CN 202110440279A CN 113102405 A CN113102405 A CN 113102405A
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- Prior art keywords
- crawling
- pipe
- tail
- cleaning
- transmission
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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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- 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
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- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a pipe cleaning robot, comprising: the device comprises a head manipulator, a transmission motor, a tail crawling mechanism, a tail cleaning system, a head lighting system and a transmission system; its head manipulator carries out the obstacle and clears away, be responsible for snatching the barrier in the pipeline and release it the pipeline, the LED of head plays the illumination effect, facilitate for the work of manipulator, the power of whole manipulator is provided by the cylinder, the afterbody crawls the mechanism and moves by the pulley, the spring pulley provides the diameter that elasticity adapts to different pipelines, power drives the lead screw rotation by middle motor and provides, afterbody installation cleaning system, the obstacle residue that washs head manipulator and clear away, carry out final cleanness by the sponge cleaning cloth of afterbody, dual guarantee, afterbody sponge cleaning cloth can change the sponge cleaning cloth of different diameters according to the different diameters of pipeline, thereby guarantee that the pipeline can sanitization.
Description
Technical Field
The invention relates to the technical field of engineering service robots, in particular to a pipeline cleaning robot.
Background
In the process of transferring liquid and gas, pipelines for petroleum, natural gas, even civil water and sewage and the like are often coked at high temperature due to different temperatures and pressures and physical and chemical actions between media and the pipelines to generate oil dirt, water scale, residual sediments, corrosive substances and the like, so that the effective transmission pipe diameter is reduced, the efficiency is reduced, the material consumption and the energy consumption are increased, the process flow is interrupted, equipment fails, and safety accidents occur. The pipeline cleaning industry in China adopts chemical methods and manual cleaning and mechanical cleaning methods for 80 percent for a long time, has the problems of high cost, low efficiency, environmental pollution and the like, and can not meet the increasing requirements of the modern society; exploring and developing an efficient cleaning method becomes an indispensable link for industrial production and people's life; the pipeline robot is developed gradually as highly automated equipment for crawling in the pipeline according to the needs of actual conditions, and the equipment can play a role of a carrying tool in pipeline operation; the pipeline robot is a mechanical device capable of walking along the inside of a pipeline, can enter an unconventional pipeline environment which is beyond the reach of human power, complex and variable, and completes operations such as pipeline detection, cleaning, repair and the like under remote control so as to ensure the safe and smooth work of the pipeline;
the pipe robots used in the industrial field are various at present, for example, the patent numbers are: 2017108475623 discloses a pipe cleaning machine adaptable to different pipe diameters;
the pipe diameter self-adapting device comprises a radial walking mechanism, a power transformation mechanism, a pipe diameter self-adapting mechanism and a cleaning mechanism, wherein the radial walking mechanism comprises a plurality of walking units, the walking units are distributed along the circumference of a main shaft of a robot body, and each group of walking units are consistent in structure; the power conversion mechanism changes the power of a motor shaft positioned on a main shaft of the robot body and transmits the power to each walking unit so as to realize the direction conversion and transmission of the power; the pipe diameter self-adapting mechanism comprises an adjusting mechanism and a connecting rod connected with the radial travelling mechanism, the adjusting mechanism drives the connecting rod to move, and the action of the connecting rod is realized by changing the position of the adjusting mechanism on the main shaft, so that the radial travelling mechanism is driven to be in the distance with the main shaft in the radial direction, and the pipe diameter adaptation is realized; the cleaning mechanism is arranged at the front end of the main shaft and cleans different positions in the pipeline along with the movement of the radial walking mechanism;
however, if the pipeline is seriously blocked by foreign matters, the equipment cannot move, and the efficiency is reduced; therefore, a multifunctional pipeline crawling cleaning robot capable of grabbing obstacles is urgently needed to solve the problems.
Disclosure of Invention
Aiming at the problems, the invention provides a pipeline cleaning robot, wherein a head manipulator of the robot carries out obstacle clearing and is responsible for grabbing obstacles in a pipeline and pushing the obstacles out of the pipeline, an LED of the head plays a role in illumination, convenience is brought to the work of the manipulator, and the power of the whole manipulator is provided by a cylinder. The tail crawling mechanism is moved by a pulley, the spring pulley provides elastic force to adapt to the diameters of different pipelines, power is provided by driving a lead screw to rotate by an intermediate motor, a water spraying cleaning facility is installed at the tail, barrier residues removed by a head manipulator are cleaned, final cleaning is carried out by sponge cleaning cloth at the tail, double guarantee is achieved, the pipelines can be cleaned, and the sponge cleaning cloth at the tail can be used for replacing sponge cleaning cloth with different diameters according to the different diameters of the pipelines, so that the pipeline cleaning work is better completed, and the working efficiency is improved;
the technical scheme adopted by the invention is as follows: a pipe clearing robot comprising: the device comprises a head manipulator, a transmission motor, a tail crawling mechanism, a tail cleaning system, a head lighting system, a transmission system and a control device;
the head manipulator is driven by the transmission motor system to perform grabbing action and is responsible for grabbing obstacles in the pipeline and pushing the obstacles out of the pipeline; the control device is arranged on the transmission motor system and used for controlling the whole machine;
the head lighting system plays a role in lighting and provides convenience for the work of the head manipulator;
the tail crawling mechanism is powered by the transmission motor system and can crawl along the interior of a pipeline by transmitting power by the steering transmission system;
the tail cleaning mechanism is arranged behind the tail crawling mechanism and is used for carrying out final cleaning, double guarantee is achieved, and the pipeline can be clean;
the head robot includes: the mechanical claw base is provided with four mechanical claws, the mechanical transmission system transmits the power of the cylinder, and the power is transmitted to the mechanical claws by the transmission rod to realize the grabbing action;
the transmission motor system comprises: the device comprises a crawling motor, a crawling motor screw rod and a motor fixing pipe; the crawling motor is fixed on the motor fixing pipe; the crawling motor transmits power to the tail crawling mechanism through the crawling motor lead screw;
the tail crawling mechanism comprises: the device comprises a pulley, a crawling transmission structure and a cleaning tool mounting pipe; the power of the tail crawling mechanism is driven by the crawling transmission motor system to drive the screw rod transmission structure to be supplied to the pulley to complete crawling action; the pulley is mounted on the cleaning tool mounting tube;
the tail cleaning mechanism comprises: the impeller, the water pipe and the water spraying pipe; the tail part of the tail part cleaning mechanism is connected with a water pipe, and the impeller drives water flow to spray water flow from the water spray pipe, so that a cleaning function is achieved;
the head lighting system is composed of four LED lamps and an LED lamp mounting plate.
Furthermore, the gripper main body is made of B5000-CQH aluminum alloy.
Further, the cleaning tool mounting pipe can replace sponge cleaning cloth with different diameters according to different diameters of pipelines.
Further, it is characterized in that the pulley comprises: the spring can provide roller elasticity to adapt to the diameters of different pipelines, and the included angle between the three rollers is 120 degrees.
Further, the steering transmission system can realize a small-amplitude steering function through a transmission cardan shaft so as to pass through a bent pipe.
Furthermore, the mechanical claw is provided with sawtooth-shaped anti-skid grains.
Furthermore, a driver of the transmission motor system for radial wheel type walking adopts a direct current permanent magnet motor, and a driving cylinder of the head manipulator adopts a standard single-action cylinder.
Furthermore, the pulley is provided with sawtooth-shaped anti-skid grains.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) when the pipeline is blocked by foreign matters, the head manipulator carries out obstacle clearing to grab the obstacles in the pipeline and push the obstacles out of the pipeline, the mechanical claw is provided with the sawtooth-shaped anti-slip lines to prevent the grabbed foreign matters from falling off, and the LED at the head part plays a role in illumination, so that convenience is brought to the work of the manipulator, construction is facilitated under dark conditions, and the pipeline clearing function is enhanced;
(2) the head manipulator main body is made of B5000-CQH aluminum alloy, and the material has the properties of high strength, corrosion resistance and the like, and can be constructed in various environments and is not easy to damage;
(3) the tail cleaning system can clean the inner wall of the pipeline by spraying water or cleaning agent through the impeller, and can replace sponge cleaning cloth or other cleaning tools with different diameters according to different diameters of the pipeline, so that the high-efficiency cleaning of the pipeline can be guaranteed;
(4) the spring pulley on the tail crawling mechanism can provide elasticity to adapt to diameters of different pipelines, the saw-tooth-shaped anti-skidding grains are arranged on the pulley to provide better friction force, a small-amplitude steering function can be achieved through the transmission cardan shaft to pass through the bent pipe, and the passing performance of the bent pipe is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the overall structure in another aspect of the present invention.
Fig. 3 is a schematic structural view of the head robot of the present invention.
Fig. 4 is a schematic structural view of the tail crawling mechanism and the tail cleaning mechanism of the present invention.
Fig. 5 is a partially enlarged view of a portion a of fig. 2 according to the present invention.
Reference numerals: a head manipulator-1; transmission motor system-2; tail crawling mechanism-3; tail cleaning mechanism-4; a head lighting system-5; a steering transmission system-6; a gripper-101; a drive rod-102; mechanical transmission system-103; gripper base-104; a cylinder-105; a crawling motor-201; a crawling motor screw-202; motor fixing tube-203; pulley-301; a crawling transmission structure-302; cleaning tool mounting tube-303; an impeller-401; water pipe-402; a spray pipe-403; an LED lamp-501; an LED lamp mounting plate-502; a roller-30101; spring-30102; a drive cardan shaft-601.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.
In an embodiment, as shown in fig. 1-5, a pipe clearing robot includes: the device comprises a head manipulator 1, a transmission motor system 2, a tail crawling mechanism 3, a tail cleaning mechanism 4, a head lighting system 5, a steering transmission system 6 and a control device;
as shown in fig. 3, the head manipulator 1 is driven by the transmission motor system 2 to perform a grabbing action, and is responsible for grabbing obstacles in the pipeline and pushing the obstacles out of the pipeline; the control device is arranged on the transmission motor system 2 and used for controlling the whole machine; the control device is controlled by the singlechip, and all electric control elements are electrically connected with the control device;
the head lighting system 5 plays a role in lighting, and provides convenience for the work of the head manipulator; the tail crawling mechanism 3 is powered by the transmission motor system 2 and can crawl along the interior of the pipeline by transmitting power by the steering transmission system 6; the tail cleaning mechanism 4 is arranged behind the tail crawling mechanism 3, and is used for carrying out final cleaning, so that double guarantee is achieved, and the pipeline can be clean;
when guaranteeing that the pipeline foreign matter blocks up, the robot also can conveniently carry out cleaning set up head manipulator 1, and head manipulator 1 snatchs the foreign matter and takes out or release the pipeline with it, and head manipulator 1 includes: the gripper comprises a gripper 101, a transmission rod 102, a mechanical transmission system 103, a gripper base 104 and a cylinder 105, wherein the gripper base 104 is provided with four grippers 101, the power of the cylinder 105 is transmitted by the mechanical transmission system 103, and then the transmission rod 102 is transmitted to the gripper 101 to realize gripping action, the cylinder adopts a standard single-action cylinder, the structure is simple, strong pressure can be output, sawtooth-shaped anti-slip patterns are arranged on the gripper 101, so that the gripper can grip heavy objects firmly, the gripper 101 body is made of B5000-CQH aluminum alloy, the material has the properties of high strength, high corrosion resistance and the like, and the gripper can be constructed and is not easy to damage under various environments;
for realizing the function of crawling of robot in the pipeline, set up transmission motor system 2 and afterbody mechanism 3 of crawling, include in transmission motor system 2: the device comprises a crawling motor 201, a crawling motor lead screw 202 and a motor fixing pipe 203;
the tail crawling mechanism 3 includes: pulleys 301, a creeper gear arrangement 302 and a cleaning tool mounting tube 303; the crawling motor 201 is fixed on the motor fixing pipe 203; the crawling motor 201 crawls the motor lead screw 202 and transmits power to the tail crawling mechanism 3, the crawling motor 201 uses a direct-current permanent magnet motor, the stable structure can stably output torque to provide power, the tail crawling mechanism 3 power is driven by the crawling transmission motor system 2 to drive the lead screw transmission structure 302 to provide for the pulley 301 to complete crawling action, long-distance operation of the machine in a pipeline is achieved, and the operation efficiency is improved.
In an optional implementation manner of the embodiment of the present invention, as shown in fig. 4, in order to ensure efficient cleaning of the pipeline, the tail portion of the tail portion cleaning mechanism 4 is provided with a water pipe 402, the water pipe is connected to the tail portion, the water pipe is driven by an impeller 401 to spray water from a water spray pipe 403, or spray liquid such as cleaning liquid through a sponge cleaning cloth fixed on a cleaning tool mounting pipe 303, the cleaning tool mounting pipe 303 is provided with a plurality of mounting holes, or other cleaning tools can be mounted for secondary cleaning, so as to ensure efficient cleaning.
In an optional implementation manner of the embodiment of the present invention, as shown in fig. 4, the crawling pulley 301 on the tail crawling mechanism 3 is provided with an elastic force of a spring 30102, and can provide an elastic force of a roller 30101 to adapt to diameters of different pipelines, an included angle between three rollers is 120 °, so that the crawling in the pipeline is stable, and the pulley 301 is not easy to fall off when being provided with the sawtooth-shaped anti-skid lines to crawl upwards.
In an alternative implementation of the embodiment of the present invention, as shown in fig. 5, the steering transmission system 6 can implement a small-amplitude steering function through the transmission cardan shaft 601 when entering the elbow pipe to pass through the elbow pipe, so as to ensure better passing performance of the robot.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (9)
1. A pipe cleaning robot, comprising: the device comprises a head manipulator (1), a transmission motor system (2), a tail crawling mechanism (3), a tail cleaning mechanism (4), a head lighting system (5), a steering transmission system (6) and a control device; the head manipulator (1) is driven by the transmission motor system (2) to perform grabbing action and is responsible for grabbing obstacles in the pipeline and pushing the obstacles out of the pipeline; the control device is arranged on the transmission motor system (2) and used for controlling the whole machine; the head lighting system (5) plays a role in lighting and provides convenience for the work of the head manipulator (1); the tail crawling mechanism (3) is powered by the transmission motor system (2) and is driven by the steering transmission system (6) to crawl along the interior of a pipeline; the tail cleaning mechanism (4) is arranged behind the tail crawling mechanism (3) and is used for carrying out final cleaning, double guarantee is achieved, and the pipeline can be clean;
the head manipulator (1) comprises: the mechanical gripper comprises mechanical grippers (101), a transmission rod (102), a mechanical transmission system (103), a mechanical gripper base (104) and an air cylinder (105), wherein the mechanical gripper base (104) is provided with four mechanical grippers (101), the mechanical transmission system (103) transmits the power of the air cylinder (105), and the transmission rod (102) transmits the power to the mechanical grippers (101) to realize grabbing action;
the transmission motor system (2) comprises: the device comprises a crawling motor (201), a crawling motor lead screw (202) and a motor fixing pipe (203); the crawling motor (201) is fixed on the motor fixing pipe (203); the crawling motor (201) transmits power to the tail crawling mechanism (3) through the crawling motor lead screw (202);
the tail crawling mechanism (3) comprises: the cleaning tool comprises a pulley (301), a crawling transmission structure (302) and a cleaning tool mounting pipe (303); the power of the tail crawling mechanism (3) is driven by the crawling transmission motor system (2) to drive the lead screw transmission structure (302) to be supplied to the pulley (301) to complete crawling action; the pulley (301) is mounted on the cleaning tool mounting tube (303);
the tail cleaning mechanism (4) comprises: an impeller (401), a water pipe (402) and a water spray pipe (403); the tail part of the tail part cleaning mechanism (4) is connected with a water pipe (402), and the impeller (401) drives water flow to spray water flow from the water spraying pipe (403), so that the cleaning function is achieved.
2. The pipe cleaning robot as claimed in claim 1, wherein the gripper (101) body is made of B5000-CQH aluminum alloy.
3. The pipe cleaning robot as claimed in claim 2, wherein the cleaning tool installation tube (303) is capable of replacing sponge cleaning cloths of different diameters according to different diameters of pipes.
4. A pipe clearing robot according to claim 3 characterized in that said pulley (301) comprises: the device comprises a roller (30101) and a spring (30102), wherein the spring (30102) can provide elasticity of the roller (30101) to adapt to the diameters of different pipelines, and an included angle between the three rollers is 120 degrees.
5. The pipe cleaning robot as claimed in claim 4, characterised in that the steering transmission system (6) comprises: a transmission cardan shaft (601), by means of which the small-amplitude steering function can be achieved through the bent pipe (601).
6. The pipe cleaning robot as recited in claim 5, wherein the gripper (101) is provided with saw-tooth shaped anti-slip patterns.
7. The pipe cleaning robot as claimed in claim 1, wherein the drive of the transmission motor system (2) for radial wheel type walking is a direct current permanent magnet motor, and the drive cylinder of the head manipulator (1) is a standard single-action cylinder.
8. The pipe cleaning robot according to any of claims 1-7, wherein the pulley (301) is provided with saw-tooth shaped anti-slip threads.
9. The pipe clearing robot according to claim 8, wherein the head lighting system (5) consists of four LED lamps (501) and an LED lamp mounting plate (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110440279.5A CN113102405A (en) | 2021-04-23 | 2021-04-23 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110440279.5A CN113102405A (en) | 2021-04-23 | 2021-04-23 | Pipeline cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN113102405A true CN113102405A (en) | 2021-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110440279.5A Pending CN113102405A (en) | 2021-04-23 | 2021-04-23 | Pipeline cleaning robot |
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| Country | Link |
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| CN (1) | CN113102405A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116550703A (en) * | 2023-05-17 | 2023-08-08 | 江苏省特种设备安全监督检验研究院 | Robot device for cleaning pipe in pipeline |
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2021
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Patent Citations (5)
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| CN107649470A (en) * | 2017-09-19 | 2018-02-02 | 山东大学 | A kind of pipeline cleaning robot and method for being suitable for different tube diameters change |
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Cited By (2)
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| CN116550703A (en) * | 2023-05-17 | 2023-08-08 | 江苏省特种设备安全监督检验研究院 | Robot device for cleaning pipe in pipeline |
| CN116550703B (en) * | 2023-05-17 | 2023-10-27 | 江苏省特种设备安全监督检验研究院 | Robot device for cleaning pipe in pipeline |
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Application publication date: 20210713 |