CN113369252A - Pipeline cleaning robot - Google Patents
Pipeline cleaning robot Download PDFInfo
- Publication number
- CN113369252A CN113369252A CN202110640931.8A CN202110640931A CN113369252A CN 113369252 A CN113369252 A CN 113369252A CN 202110640931 A CN202110640931 A CN 202110640931A CN 113369252 A CN113369252 A CN 113369252A
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- China
- Prior art keywords
- fixed
- connecting rod
- disc
- cleaning robot
- supporting
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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)
Abstract
The invention discloses a pipeline cleaning robot, which comprises a driving mechanism and a cleaning head mechanism, wherein the driving mechanism is arranged on the driving mechanism; the driving mechanism comprises supporting discs fixed at two ends of the optical axis, a cleaning head mechanism is arranged on the supporting disc positioned above the driving mechanism, a second motor is fixed on the supporting disc positioned below the driving mechanism, a screw rod is coaxially fixed on an output shaft of the second motor, at least part of the screw rod is rotatably arranged on the supporting disc, a screw nut is sleeved on the screw rod and is fixedly provided with a connecting disc, one end of a second connecting rod is hinged on the connecting disc, the other end of the second connecting rod is provided with a driving wheel assembly, one end of a first connecting rod is hinged on the supporting disc positioned below the first connecting rod, and the other end of the first connecting rod is hinged with the middle part of the second connecting rod; the problem of current pipeline cleaning robot be difficult to effectively adjust actuating mechanism and clearance mechanism according to the diameter of pipeline for the robot is relatively poor at pipeline internal walking stability, and clearance mechanism can not effectively contact with the inner wall simultaneously, leads to the clearance effect not enough is solved.
Description
Technical Field
The invention relates to the field of robots, in particular to a pipeline cleaning robot.
Background
In pipeline machining or use, the pipe fitting inner wall need effectively clear up the sweeps that remaining transported substance or processing produced, because the space of pipeline inside is limited, lead to its clearance more difficult, a lot of robots that are used for the pipeline clearance have also appeared at present, current pipeline clearance robot is difficult to effectively adjust actuating mechanism and clearance mechanism according to the diameter of pipeline, make the robot walking stability in the pipeline relatively poor, clearance mechanism can not effectively contact with the inner wall simultaneously, lead to the clearance effect not enough.
Disclosure of Invention
The invention aims to provide a pipeline cleaning robot, which solves the problems that the driving mechanism and the cleaning mechanism are difficult to effectively adjust according to the diameter of a pipeline, so that the robot has poor walking stability in the pipeline, and the cleaning mechanism cannot effectively contact with the inner wall, so that the cleaning effect is insufficient.
In order to achieve the above object, the present invention provides a pipe cleaning robot comprising a driving mechanism and a cleaning head mechanism;
the driving mechanism comprises supporting discs fixed at two ends of an optical axis, a cleaning head mechanism is arranged on the supporting disc positioned above the driving mechanism, a second motor is fixed on the supporting disc positioned below the driving mechanism, a screw rod is coaxially fixed on an output shaft of the second motor, at least part of the screw rod is rotatably arranged on the supporting disc, a screw nut is sleeved on the screw rod, a connecting disc is fixed on the screw nut, one end of a second connecting rod is hinged on the connecting disc, the other end of the second connecting rod is provided with a driving wheel assembly, one end of a first connecting rod is hinged on the supporting disc positioned below the first connecting rod, and the other end of the first connecting rod is hinged with the middle part of the second connecting rod;
the first mechanism of clearance is including setting up and being located the top mount on the supporting disk, it is fixed with a plurality of sliding tubes to encircle on the mount, the sliding tube is intraductal to be provided with the slide bar with sliding, the slide bar at least part extends to the outside of sliding tube is connected with the arc, rotationally be provided with the rotating member on the mount, the rotating member pass through the connecting rod with the slide bar is articulated mutually, makes the rotation of rotating member can pass through the connecting rod drives the slide bar is flexible.
Preferably, a first hinge seat is fixed on the connecting disc, and one end of the second connecting rod, which is far away from the driving wheel assembly, is hinged on the first hinge seat.
Preferably, a second hinged seat is fixed on the supporting disk located below, and one end of the first connecting rod, which is far away from the second connecting rod, is hinged on the second hinged seat.
Preferably, a bearing is fixed on the supporting plate, and two ends of the wire lever are at least partially rotatably clamped in the bearing.
Preferably, a linear bearing is fixed on the connecting disc, and the optical axis at least partially penetrates through the linear bearing.
Preferably, the driving wheel assembly comprises a wheel carrier fixed at the end of the second connecting rod, a rotating shaft is fixed on the wheel carrier, driving wheels are respectively and rotatably arranged at two ends of the rotating shaft, and a hub motor is further arranged on the rotating shaft, so that the hub motor can drive the driving wheels to rotate.
Preferably, be located the top the supporting disk is connected with down the mounting panel through the support, the mounting panel has last mounting panel through universal joint connection down, the first mechanism of clearance sets up go up the mounting panel.
Preferably, the fixed frame is fixed on the upper mounting plate, a worm is rotatably arranged in the fixed frame, the upper end of the worm is connected with the rotating part, a first motor is fixed on the fixed frame, and a turbine meshed with the worm is fixed on an output shaft of the first motor.
Preferably, a cleaning brush is fixed on the outer arc surface of the arc-shaped piece.
Preferably, the number of the arc-shaped pieces is not less than 3 groups, and a plurality of groups of the arc-shaped pieces are distributed around the same plane at equal angles.
According to the technical scheme, the invention provides a pipeline cleaning robot, which comprises a driving mechanism and a cleaning head mechanism, wherein the driving mechanism is arranged on the pipeline cleaning robot; the driving mechanism comprises supporting discs fixed at two ends of an optical axis, a cleaning head mechanism is arranged on the supporting disc positioned above the driving mechanism, a second motor is fixed on the supporting disc positioned below the driving mechanism, a screw rod is coaxially fixed on an output shaft of the second motor, at least part of the screw rod is rotatably arranged on the supporting disc, a screw nut is sleeved on the screw rod, a connecting disc is fixed on the screw nut, one end of a second connecting rod is hinged on the connecting disc, the other end of the second connecting rod is provided with a driving wheel assembly, one end of a first connecting rod is hinged on the supporting disc positioned below the first connecting rod, and the other end of the first connecting rod is hinged with the middle part of the second connecting rod; the first mechanism of clearance is including setting up and being located the top mount on the supporting disk, it is fixed with a plurality of sliding tubes to encircle on the mount, the sliding tube is intraductal to be provided with the slide bar with sliding, the slide bar at least part extends to the outside of sliding tube is connected with the arc, rotationally be provided with the rotating member on the mount, the rotating member pass through the connecting rod with the slide bar is articulated mutually, makes the rotation of rotating member can pass through the connecting rod drives the slide bar is flexible. During the operation, drive the screw rod through the second motor and rotate to make lead screw nut drive the length direction motion of connecting disc along the lead screw pole, to strut the second connecting rod through first connecting rod, so that drive wheel subassembly can closely contradict with the inner wall of the pipeline of different internal diameters, increased the stability of robot walking in the pipeline, make simultaneously the rotation of revolving part can pass through the connecting rod drives the slide bar is flexible, and it is inconsistent with the inner wall of the pipeline of different internal diameters with the arc spare, increases its clearance effect.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a structural view of a pipe cleaning robot provided by the present invention.
Description of the reference numerals
11-a drive wheel; 12-a rotating shaft; 13-a hub motor; 21-a wheel frame; 22-a second articulated seat; 23-a first link; 24-a second link; 25-a connecting disc; 26-a support disk; 31-an arc; 32-a connecting rod; 33-cleaning brush; 34-a rotating member; 35-a sliding tube; 36-a first motor; 37-universal coupling; 41-support; a 42-wire lever; 43-optical axis; 44-second motor.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1: the invention provides a pipeline cleaning robot which is characterized by comprising a driving mechanism and a cleaning head mechanism, wherein the driving mechanism is arranged on the pipeline cleaning robot; the driving mechanism comprises supporting discs 26 fixed at two ends of an optical axis 43, a cleaning head mechanism is arranged on the supporting disc 26 positioned above, a second motor 44 is fixed on the supporting disc 26 positioned below, a screw rod 42 is coaxially fixed on an output shaft of the second motor 44, at least part of the screw rod 42 is rotatably arranged on the supporting disc 26, a screw nut is sleeved on the screw rod 42 and is fixedly provided with a connecting disc 25, one end of a second connecting rod 24 is hinged on the connecting disc 25, the other end of the second connecting rod is provided with a driving wheel assembly, one end of a first connecting rod 23 is hinged on the supporting disc 26 positioned below, and the other end of the first connecting rod is hinged with the middle part of the second connecting rod 24; the cleaning head mechanism comprises a fixed frame arranged on the supporting disc 26 and located above, a plurality of sliding tubes 35 are fixed on the fixed frame in a surrounding mode, sliding rods are arranged in the sliding tubes 35 in a sliding mode, at least parts of the sliding rods extend to the outer portions of the sliding tubes 35 and are connected with arc-shaped pieces 31, rotary pieces 34 are rotatably arranged on the fixed frame, the rotary pieces 34 are hinged to the sliding rods through connecting rods 32, and therefore the rotary pieces 34 can rotate to drive the sliding rods to stretch and retract through the connecting rods 32. During the operation, drive the screw rod through the second motor and rotate to make lead screw nut drive the length direction motion of connecting disc along the lead screw pole, to strut the second connecting rod through first connecting rod, so that drive wheel subassembly can closely contradict with the inner wall of the pipeline of different internal diameters, increased the stability of robot walking in the pipeline, make simultaneously the rotation of revolving part can pass through the connecting rod drives the slide bar is flexible, and it is inconsistent with the inner wall of the pipeline of different internal diameters with the arc spare, increases its clearance effect.
In a preferred embodiment of the present invention, in order to effectively provide the second connecting rod 24, a first hinge seat is fixed on the connecting plate 25, and one end of the second connecting rod 24 far away from the driving wheel assembly is hinged on the first hinge seat.
In a preferred embodiment of the present invention, in order to effectively provide the first connecting rod 23, a second hinge seat 22 is fixed on the supporting plate 26 located below, and one end of the first connecting rod 23 far away from the second connecting rod 24 is hinged on the second hinge seat 22.
In a preferred embodiment of the invention, a bearing is fixed to the support plate 26 in order to allow an effective rotation of the wire lever 42, in which bearing the two ends of the wire lever 42 engage at least partially in a rotatable manner.
In a preferred embodiment of the present invention, a linear bearing is fixed to the connection disc 25 to limit the displacement of the connection disc 25, and the optical axis 43 at least partially penetrates the linear bearing.
In a preferred embodiment of the present invention, in order to enable the robot to effectively displace on the inner wall of the pipeline, the driving wheel assembly includes a wheel carrier 21 fixed at an end of the second connecting rod 24, a rotating shaft 12 is fixed on the wheel carrier 21, driving wheels 11 are respectively rotatably disposed at two ends of the rotating shaft 12, and a hub motor 13 is further disposed on the rotating shaft 12, so that the hub motor 13 can drive the driving wheels 11 to rotate.
In a preferred embodiment of the invention, the upper support plate 26 is connected to a lower mounting plate via a support 41, the lower mounting plate is connected to an upper mounting plate via a universal joint 37, and the cleaning head mechanism is arranged on the upper mounting plate. The universal coupling 37 is used for controlling the head to swing in multiple directions so as to adapt to the changeable internal environment of the pipeline.
In a preferred embodiment of the present invention, in order to effectively drive the rotating member 34 to rotate, the fixing frame is fixed on the upper mounting plate, a worm is rotatably disposed in the fixing frame, an upper end of the worm is connected with the rotating member 34, a first motor 36 is fixed on the fixing frame, and a turbine engaged with the worm is fixed on an output shaft of the first motor 36.
In a preferred embodiment of the invention, cleaning brushes 33 are fixed to the outer arc of the arc-shaped element 31 in order to be able to clean the inner wall of the pipe.
In a preferred embodiment of the present invention, in order to improve the cleaning effect of the inner wall of the pipeline, the number of the arc-shaped pieces 31 is not less than 3, and a plurality of groups of the arc-shaped pieces 31 are distributed around the same plane at equal angles.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A pipeline cleaning robot is characterized by comprising a driving mechanism and a cleaning head mechanism;
the driving mechanism comprises supporting discs (26) fixed at two ends of an optical axis (43), a cleaning head mechanism is arranged on the supporting disc (26) above, a second motor (44) is fixed on the supporting disc (26) below, a screw rod (42) is coaxially fixed on an output shaft of the second motor (44), at least part of the screw rod (42) is rotatably arranged on the supporting disc (26), a screw nut is sleeved on the screw rod (42), a connecting disc (25) is fixed on the screw nut, one end of a second connecting rod (24) is hinged on the connecting disc (25), the other end of the second connecting rod (24) is provided with a driving wheel assembly, one end of a first connecting rod (23) is hinged on the supporting disc (26) below, and the other end of the first connecting rod is hinged with the middle part of the second connecting rod (24);
the first mechanism of clearance is including setting up and being located the top mount on supporting disk (26), it is fixed with a plurality of sliding tubes (35) to encircle on the mount, can be provided with the slide bar in sliding tube (35) with sliding, the slide bar at least part extends to the outside of sliding tube (35) is connected with arc (31), rotationally be provided with revolving part (34) on the mount, revolving part (34) through connecting rod (32) with the slide bar is articulated mutually, makes the rotation of revolving part (34) can pass through connecting rod (32) drive the slide bar is flexible.
2. The pipe clearing robot according to claim 1, wherein a first articulated seat is fixed to the connection disc (25), and an end of the second link (24) remote from the drive wheel assembly is articulated to the first articulated seat.
3. The pipe cleaning robot according to claim 1, characterized in that a second articulated seat (22) is fixed on the support plate (26) located below, and one end of the first connecting rod (23) remote from the second connecting rod (24) is articulated on the second articulated seat (22).
4. The pipe clearing robot according to claim 1, wherein a bearing is fixed on said support plate (26), both ends of said wire lever (42) being at least partially rotatably engaged in said bearing.
5. The pipe cleaning robot according to claim 1, wherein a linear bearing is fixed to the connection disc (25), and the optical axis (43) extends at least partially through the linear bearing.
6. The pipe cleaning robot according to claim 1, wherein the driving wheel assembly comprises a wheel frame (21) fixed at the end of the second connecting rod (24), a rotating shaft (12) is fixed on the wheel frame (21), driving wheels (11) are respectively rotatably arranged at two ends of the rotating shaft (12), and a hub motor (13) is further arranged on the rotating shaft (12), so that the hub motor (13) can drive the driving wheels (11) to rotate.
7. The pipe cleaning robot according to claim 1, characterized in that the supporting plate (26) located above is connected with a lower mounting plate through a support (41), the lower mounting plate is connected with an upper mounting plate through a universal joint (37), and the cleaning head mechanism is arranged on the upper mounting plate.
8. The pipe cleaning robot according to claim 1, wherein the fixing frame is fixed on the upper mounting plate, a worm is rotatably arranged in the fixing frame, the upper end of the worm is connected with the rotating member (34), a first motor (36) is fixed on the fixing frame, and a turbine engaged with the worm is fixed on an output shaft of the first motor (36).
9. The pipe cleaning robot as recited in claim 1, characterized in that a cleaning brush (33) is fixed to the outer arc surface of the arc-shaped member (31).
10. The pipe cleaning robot according to claim 1, wherein the number of the arc-shaped pieces (31) is not less than 3, and the arc-shaped pieces (31) are distributed around the same plane at equal angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640931.8A CN113369252A (en) | 2021-06-09 | 2021-06-09 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640931.8A CN113369252A (en) | 2021-06-09 | 2021-06-09 | Pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113369252A true CN113369252A (en) | 2021-09-10 |
Family
ID=77572984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110640931.8A Pending CN113369252A (en) | 2021-06-09 | 2021-06-09 | Pipeline cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113369252A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878418A (en) * | 2021-10-28 | 2022-01-04 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
| CN117548447A (en) * | 2024-01-10 | 2024-02-13 | 山西三水能源股份有限公司 | Heating power pipeline inner wall impurity cleaning device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205239625U (en) * | 2015-12-30 | 2016-05-18 | 长城汽车股份有限公司 | But drive wheel of reducing, vice vehicle that reaches of transmission turn to device |
| EP2456578B1 (en) * | 2009-07-24 | 2016-07-20 | Neovision, s.r.o. | Robot for cleaning and inspection of conduits |
| CN207013404U (en) * | 2017-07-13 | 2018-02-16 | 燕山大学 | Self-adapting pipe sweeping robot |
| CN112064777A (en) * | 2020-08-31 | 2020-12-11 | 中铁工程装备集团有限公司 | Pipeline dredging robot and dredging method thereof |
-
2021
- 2021-06-09 CN CN202110640931.8A patent/CN113369252A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2456578B1 (en) * | 2009-07-24 | 2016-07-20 | Neovision, s.r.o. | Robot for cleaning and inspection of conduits |
| CN205239625U (en) * | 2015-12-30 | 2016-05-18 | 长城汽车股份有限公司 | But drive wheel of reducing, vice vehicle that reaches of transmission turn to device |
| CN207013404U (en) * | 2017-07-13 | 2018-02-16 | 燕山大学 | Self-adapting pipe sweeping robot |
| CN112064777A (en) * | 2020-08-31 | 2020-12-11 | 中铁工程装备集团有限公司 | Pipeline dredging robot and dredging method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878418A (en) * | 2021-10-28 | 2022-01-04 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
| CN113878418B (en) * | 2021-10-28 | 2024-03-19 | 吉林大学 | Intelligent detection and precise polishing robot for inner wall of bent pipe |
| CN117548447A (en) * | 2024-01-10 | 2024-02-13 | 山西三水能源股份有限公司 | Heating power pipeline inner wall impurity cleaning device |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20210910 |