CN114871209A

CN114871209A - Self-adjusting pipeline cleaning robot and cleaning method

Info

Publication number: CN114871209A
Application number: CN202111364566.9A
Authority: CN
Inventors: 郑健; 撒青林; 陈娅; 符旭琴; 宿智鹏; 赵雨露; 刘俊彦; 王燕
Original assignee: Lanzhou University of Technology
Current assignee: Lanzhou University of Technology
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-08-09

Abstract

The invention relates to the technical field of pipeline sanitation and safety, in particular to a self-adjusting pipeline cleaning robot and a cleaning method. The cleaning robot is provided with the auxiliary module on the chassis of the motion module, when the inner diameter of a pipeline is increased, the sleeve stretches the length of the telescopic rod component under the action of the magnetic force of the magnetic adsorption balls so as to keep the chassis to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve, and the length of the telescopic rod component is compressed to ensure the passability of the chassis in the pipeline. The horizontal pipeline enters the vertical pipeline turning section, the contact between the most front end part and the tail end part of the crawler permanent magnet adsorption structure close to the robot and the inner wall of the pipeline is poor, so that the robot cannot work normally, and even the hidden trouble of backward overturning is avoided. The vertical pipeline section telescopic rod component is coordinated and matched with the track permanent magnet adsorption structure, so that the robot can steadily crawl, and the vertical pipe wall cleaning and disinfecting work can be better completed.

Description

Self-adjusting pipeline cleaning robot and cleaning method

Technical Field

The invention relates to the technical field of pipeline sanitation and safety, in particular to a self-adjusting pipeline cleaning robot and a cleaning method.

Background

The large range hood is widely applied to restaurants, hotels, factories, schools, hospitals, enterprises, public institutions, dining halls and the like, if the large range hood is washed at variable time, dirt is distributed on the surface of a range hood pipeline and a flue, so that the oil smoke treatment effect is poor, even potential safety hazards exist, fire disasters are easy to happen, bacteria are bred, and the power consumption is obviously increased. The cleaning of the large range hood pipeline is a catering kitchen project which is environmentally friendly and compulsorily checked by fire fighting in recent years, so that a long-term and stably-growing market is in need in every county and city. But the cleaning equipment for the pipelines of the range hoods in multiple fields is few and few, and the whole large-scale range hood pipeline cleaning market has immeasurable explosion potential.

As the air conditioning and ventilating system plays an increasingly important role in daily life, the service life of the pipeline is continuously prolonged, indoor air pollution accumulated by the pipeline is more and more obvious, and the cleaning of the air conditioning and ventilating system is also concerned. The polluted air-conditioning ventilation pipeline is a main factor for forming indoor pollution, and the unclean air-conditioning air pipe can cause serious reduction of the air-conditioning effect, thereby causing a great deal of energy waste. Meanwhile, if the ventilating duct is not cleaned in time, a large amount of harmful substances are easily bred and accumulated in the air duct.

Whether the indoor safety problem which is concerned under the epidemic situation or the indoor air pollution problem which is serious day by day, the regular cleaning and disinfection of the central air conditioner, the factory smoke exhaust pipe, the large-scale pipeline and the range hood pipeline become urgent from the aspects of physical and mental health and energy saving of people.

Through search, chinese patent document CN111545536A discloses a pipe robot for a range hood. The pipe robot of the range hood comprises a walking chassis and a pitching rotary table arranged at the top of the walking chassis; the rotating brush is arranged in front of the walking chassis and fixed on the pitching rotary table, the pitching rotary table is provided with a second driving structure, and the rotating brush can rotate under the driving of the second driving structure and is used for cleaning the inner wall of the oil smoke pipeline; the liquid spraying gun rod is fixed on the pitching platform, and a gun mouth of the liquid spraying gun rod faces the rotating brush; the rotating brush is detachably connected with the pitching turntable, and the rotating brush and the liquid spraying gun rod can perform vertical pitching motion together under the driving of the first driving structure along with the pitching turntable. This lampblack absorber pipeline robot simple structure is stable, clean efficient, can clear up every corner of lampblack absorber pipeline, and the clean of decontaminating, can adapt to the cleanness of the lampblack absorber pipeline of multiple size.

However, the above-described robot for a pipe of a hood is difficult to be applied to an inclined pipe and also difficult to robustly crawl in a vertical pipe. The walking chassis is difficult to be in full contact with the inner wall of the pipeline, and further the cleaning and disinfection work in the pipeline cannot be finished.

In summary, how to design a cleaning device in the cleaning process of the ventilation duct for improving the walking stability of the device in the duct is suitable for cleaning an inclined duct, even suitable for the cleaning working condition of a vertical duct, further improving the cleaning effect of the inner wall of the duct, and improving the cleaning efficiency, becomes a technical problem to be solved urgently for the technical personnel in the field.

Disclosure of Invention

The invention aims to provide a cleaning device for cleaning a ventilating duct, which is used for improving the walking stability of the device in the duct, is suitable for cleaning an inclined duct and even suitable for the cleaning working condition of a vertical duct, further improves the cleaning effect of the inner wall of the duct and improves the cleaning efficiency.

In order to achieve the purpose, the invention adopts the following scheme: a self-adjusting pipe cleaning robot is provided, comprising a motion module, a cleaning module and an auxiliary module;

the moving module comprises a chassis, a positioning device and a track permanent magnetic adsorption structure for driving the chassis to walk, the positioning device is positioned at the front end of the chassis, the track permanent magnetic adsorption structure comprises a power device, a main guide wheel and a driven wheel, the power device is connected with the chassis through an installation seat, an output shaft of the power device is connected with the main guide wheel, the main guide wheel and the driven wheel are both connected with the chassis through axles, the main guide wheel is connected with the driven wheel through a chain, an adsorption block is arranged on the outer side of the chain, and a rotary table for installing the cleaning module is arranged at the top of the chassis;

the cleaning module comprises a guide rail assembly, an adjusting block, a spray pipe mechanism and a cleaning brush, the guide rail assembly comprises a base and a sliding seat, the base is installed on a rotary table, a rack is arranged on the base, the sliding seat is connected with the base through the rack, a guide rod for guiding the sliding seat is arranged on the side wall of the base, the adjusting block is connected with the sliding seat through a rotating shaft, the active end of the rotating shaft is connected with a rotating motor for adjusting the adjusting block to adjust the pitching angle, the spray pipe mechanism and the cleaning brush are both installed on the adjusting block and rotate along with the rotation of the adjusting block, the cleaning brush is located at the front end of the adjusting block, and a battery bin for placing a battery is arranged at the rear end of the adjusting block;

the auxiliary module comprises a telescopic rod assembly and a supporting block, the fixed end of the telescopic rod assembly is connected with the top of the chassis, the telescopic rod assembly comprises a driving device, a straight rod and a sleeve, the supporting block is connected with the head end of the sleeve, a magnetic adsorption ball is arranged at the top of the supporting block, the output shaft of the driving device is connected with the straight rod, a sliding rail is arranged on the side wall of the straight rod, a positioning bead is embedded in the sliding rail and connected with the sliding rail through a spring, the straight rod is nested in the sleeve, a sliding block is arranged on the inner wall of the sleeve, and the sliding block and the positioning bead form a locking structure.

Preferably, the bottom of the chassis is provided with an oil collecting port, the front end of the chassis is provided with a vehicle lamp, and the rear end of the chassis is provided with a dust collection interface and a wiring port. So set up, the oil trap is used for making things convenient for the sewage in the suction pipeline, and the car light is used for supplementing the light source in the pipeline, and the camera of being convenient for surveys the condition in the pipeline, and the dust absorption mouth is used for linking to each other with outside vacuum generating device, and then realizes the collection to floating the dust in the pipeline, and the wiring mouth is used for linking to each other with external power source, provides power for self-interacting pipeline cleaning machines people, has further improved duration.

Preferably, the nozzle mechanism comprises a first nozzle assembly for spraying water flow and a second nozzle assembly for spraying detergent, the first nozzle assembly comprises a first sleeve structure, a first gasket is arranged at the joint of the first sleeve structure, the second nozzle assembly comprises a second sleeve structure, a second gasket is arranged at the joint of the second sleeve structure, and nozzles are arranged at the output ends of the first sleeve structure and the second sleeve structure. So set up, first spout subassembly and second spout subassembly synergism are favorable to promoting the clean effect to pipeline inner wall, have further improved clean efficiency, and the spout subassembly all adopts telescopic structure, utilizes the sleeve to reserve the activity space and solves the robot spray tube and touch the pipeline inner wall when little space pipeline turns, causes the defect that the robot can not normally function, and it is narrow and small to have solved the space, and the robot is to its just, the unable effective current situation that washs of side part pipe wall when the chassis can not rotate.

Preferably, the chassis is provided with a disinfection module, and the disinfection module is positioned between the rotary table and the chassis. So set up, be convenient for on the basis of clean pipeline, further carry out the disinfection of all-round, no dead angle to the pipeline, and then guaranteed indoor safety.

Preferably, the chassis is in a square shell shape, a sealing structure is arranged at the joint of the square shell, and the pair of track permanent magnet adsorption structures are respectively positioned on two sides of the chassis and are symmetrically distributed. So set up, be favorable to increasing the area of contact of adsorbing piece and pipeline inner wall, further guaranteed the stability of chassis in the walking process.

Preferably, the nozzle comprises a first nozzle, a second nozzle and a third nozzle, the inner cavity of the first nozzle is in a first truncated cone shape, the inner cavity of the second nozzle is provided with a second truncated cone shape and a second cylindrical section, the narrow opening of the second truncated cone shape is connected with the second cylindrical section, the inner cavity of the third nozzle is provided with a third cylindrical section and a third truncated cone shape, the third cylindrical section is connected with the wide opening of the third truncated cone shape, and a chamfer is arranged at the opening of the third cylindrical section. So set up, according to actual conditions needs, can select to use corresponding nozzle, guaranteed impact force and the cleaning performance of rivers to pipeline inner wall.

Preferably, the power device is a stepping motor, the stepping motor is connected with the chassis through a mounting seat, and the stepping motor is connected with the main guide wheel through a harmonic reducer. So set up, be favorable to improving the walking moment on chassis, further promoted the stability of walking, utilize step motor's control accuracy, improved the position accuracy of chassis walking greatly, and then guaranteed the clean effect to pipeline inner wall.

Preferably, the positioning beads are connected with the slide rail through tower-shaped springs. So set up, utilize tower type spring to compress completely as far as in the compression, increased the flexible range of location pearl, tower type spring also can not send the abnormal sound because of the friction when compression and recovery, when having realized the high-efficient fixed telescopic link, further reduced the noise.

Preferably, the positioning device is an ultrasonic radar. So set up, utilize ultrasonic radar to survey the barrier in the pipeline, promoted self-interacting pipeline cleaning robot's obstacle avoidance performance.

The invention also provides a cleaning method using the self-adjusting pipeline cleaning robot, which comprises the following steps:

step one, placing a self-adjusting pipeline cleaning robot at an inlet of a pipeline to be cleaned, starting a power device, driving a chain with an adsorption block to rotate by the power device, and further driving a chassis to walk along the inner wall of the pipeline;

adjusting the position of the sliding seat on the base, adjusting the pitching angle of the adjusting block relative to the plane of the pipeline and adjusting the height of a supporting block in the telescopic rod component according to the internal structure of the pipeline, so that the magnetic adsorption ball is adsorbed on the inner wall of the pipeline, the spray pipe mechanism sprays water flow and detergent into the pipeline, and the cleaning brush cleans the inner wall of the pipeline along with the walking of the chassis;

step three, when the inner diameter of the pipeline is increased, the sleeve stretches the length of the telescopic rod component under the action of the magnetic force of the magnetic adsorption ball so as to keep the chassis to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve, and the length of the telescopic rod component is compressed to ensure the passability of the chassis in the pipeline.

Compared with the prior art, the self-adjusting pipeline cleaning robot and the cleaning method provided by the invention have the following prominent substantive characteristics and remarkable progress:

1. compared with the traditional pipeline cleaning robot with single performance or limited application area, the self-adjusting pipeline cleaning robot has the characteristics of wide action range, high detachability, obvious cleaning and disinfection effects and the like, meets different application occasions and different functional requirements, can be used for realizing the independent basic cleaning and maintenance purpose and realizing the deep cleaning and disinfection effects on a central air-conditioning pipeline and a large-scale pipeline, can also be used for realizing accumulated dirt cleaning, reducing bacteria propagation and preventing diseases on a range hood pipeline, and greatly avoids the energy consumption increase of an air pipe system and the propagation of respiratory diseases caused by the accumulation of dust and oil dirt in the pipeline and the propagation of viruses;

2. the self-adjusting pipeline cleaning robot can be flexibly applied to various pipeline types such as square pipes and round pipes, an operator can set an operation instruction in advance according to self and environmental requirements and execute the operation instruction, compared with other robots, the self-adjusting pipeline cleaning robot is strong in stability and good in shock resistance, the problem of device rollover caused by working vibration can be avoided, meanwhile, the walking mechanism of the chassis is optimized through the track permanent magnet adsorption structure, the movement is flexible, the robot can be firmly attached to the pipe wall in the cleaning process, and the spraying pipe mechanism can be adjusted in multiple directions by utilizing the structures of the guide rail assembly and the adjusting block, and is more suitable for a ventilation system consisting of reducing pipelines;

3. the positioning device in the self-adjusting pipeline cleaning robot utilizes the mutual matching of different types of sensors and the crawler belt permanent magnetic adsorption structures, can more accurately sense external changes through information intercommunication, makes reasonable prediction at the first time, realizes accurate obstacle avoidance and smooth steering in a pipeline, and further improves the cleaning efficiency;

4. this self-interacting pipeline cleaning robot still can set up driving motor for the slide, utilizes driving motor to drive the slide and slides along the axial of guide arm to combine to rotate the motor and drive the adjusting block and adjust the every single move angle, and then enlarged effective area of cleaning of spray tube mechanism and brush cleaner, the revolving platform that sets up on the chassis still can realize 360 in the horizontal plane to whole cleaning module ^o Rotating and adjusting;

5. this self-interacting pipeline cleaning machines people is through setting up supplementary module on the chassis, the effectual robot that has eliminated gets into vertical pipeline turn section by horizontal pipeline, the track permanent magnetism adsorption structure is close to the robot most front portion and the terminal part and pipeline inner wall contact failure makes the robot can not normally work, the hidden danger of turning over backward takes place even, simultaneously, can coordinate with track permanent magnetism adsorption structure at vertical pipeline section telescopic link subassembly, reinforcing external power, the robot has guaranteed steadily crawls, and then accomplish vertical pipe wall cleanness and disinfection work better.

Drawings

FIG. 1 is a schematic perspective view of a self-adjusting pipe cleaning robot in an embodiment of the present invention;

FIG. 2 is a bottom view of FIG. 1;

FIG. 3 is a rear view of FIG. 1;

FIG. 4 is a front view of FIG. 1;

FIG. 5 is a left side view of FIG. 1;

FIG. 6 is a right side view of FIG. 1;

FIG. 7 is a schematic diagram of a power system of the motion module;

FIG. 8 is a schematic view of a track permanent magnet adsorption structure;

FIG. 9 is a cross-sectional view of a first nozzle and a second nozzle;

FIG. 10 is a cross-sectional view of a third nozzle;

FIG. 11 is a schematic diagram of a control system for the motion module;

FIG. 12 is a schematic view of a control system for the cleaning module;

FIG. 13 is a schematic structural view of the guide rail assembly;

FIG. 14 is a schematic perspective view of a dual-track permanent magnetic adsorption structure;

FIG. 15 is a schematic view of a locking structure in the auxiliary module;

FIG. 16 is a schematic view of a first sleeve configuration;

FIG. 17 is a cross-sectional view taken at A-A in FIG. 16;

fig. 18 is a perspective view of the auxiliary module;

fig. 19 is a perspective view of the auxiliary module from another perspective.

Reference numerals: the device comprises a motion module 1, a disinfection module 2, a cleaning module 3, an auxiliary module 4, a track permanent magnet adsorption structure 1-1, a chassis 1-2, a main guide wheel 1-1-1, a chain 1-1-2, an adsorption block 1-1-3, a connecting baffle 1-1-4, an oil collecting port 1-2-1, a wiring port 1-2-2, a dust collecting port 1-2-3, a car lamp 1-2-4, an ultrasonic radar 1-2-5, a harmonic reducer 1-2-6, a stepping motor 1-2-7, a rotary table 3-1, a guide rail component 3-2, a rack 3-2-1, a guide rod 3-2-2, a slide seat 3-2-3, a rotating shaft 3-3, 3-4 parts of battery, 3-5 parts of adjusting block, 3-5-1 parts of threaded hole, 3-6 parts of first spray pipe assembly, 3-6-1 parts of first sleeve structure, 3-6-1 parts of first gasket, 3-6-2 parts of first nozzle, 3-6-3 parts of second nozzle, 3-7 parts of cleaning brush, 3-8 parts of second spray pipe assembly, 3-8-1 parts of second sleeve structure, 3-8-2 parts of third nozzle, 4-1 parts of magnetic adsorption ball, 4-2 parts of supporting block, 4-3 parts of driving device, 4-4 parts of long shaft, 4-5 parts of telescopic rod assembly, 4-5-1 parts of sleeve, 4-5-2 parts of straight rod, 4-5-1 parts of sliding block, 4-5-2-1 parts of sliding rail, 4-6 of positioning beads and 4-7 of tower-shaped springs.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The self-adjusting pipeline cleaning robot shown in figures 1-19 is used for improving the walking stability of the device in a pipeline, is suitable for cleaning an inclined pipeline and is even suitable for the cleaning working condition of a vertical pipeline. The self-adjusting pipeline cleaning robot can be flexibly applied to various pipeline types such as square pipes and round pipes, and an operator can set and execute an operation instruction in advance according to self and environmental requirements. Compared with other robots, the self-adjusting pipeline cleaning robot is strong in stability and good in shock resistance, and can avoid the problem of side turning of the device caused by working vibration. Meanwhile, the walking mechanism of the chassis is optimized by the track permanent magnet adsorption structure, the movement is flexible, and the crawler permanent magnet adsorption structure can be firmly attached to the pipe wall in the cleaning process. Utilize the structure of guide rail set spare and adjusting block, spray tube mechanism can realize diversified regulation, more is applicable to the ventilation system of compriseing the reducing pipeline, and then has further promoted the cleaning performance of pipeline inner wall, has improved the cleaning efficiency.

As shown in fig. 1, a self-adjusting pipe cleaning robot includes a motion module 1, a cleaning module 3, and an auxiliary module 4. As shown in fig. 2 and fig. 3, the motion module 1 includes a chassis 1-2, a positioning device, and a track permanent magnetic adsorption structure 1-1 for driving the chassis 1-2 to travel. The positioning device is positioned at the front end of the chassis 1-2. As shown in fig. 8, the track permanent magnet adsorption structure 1-1 comprises a power device, a main guide wheel 1-1-1 and a driven wheel. The power device is connected with the chassis 1-2 through the mounting seat. The output shaft of the power device is connected with the main guide wheel 1-1-1. The main guide wheel 1-1-1 and the driven wheel are connected with the chassis 1-2 through axles. The main guide wheel 1-1-1 is connected with the driven wheel through a chain 1-1-2. The outer side of the chain 1-1-2 is provided with an adsorption block 1-1-3. The top of the chassis 1-2 is provided with a rotary table 3-1 for mounting the cleaning module 3.

As shown in FIG. 3, the cleaning module 3 includes a rail assembly 3-2, a set block 3-5, a nozzle mechanism and a sweeper brush 3-7. As shown in connection with fig. 13, the rail assembly 3-2 includes a base and a carriage 3-2-3. The base is arranged on the rotary table 3-1. The base is provided with a rack 3-2-1. The sliding seat 3-2-3 is connected with the base through a rack 3-2-1. The side wall of the base is provided with a guide rod 3-2-2 for guiding the sliding seat 3-2-3. The adjusting block 3-5 is connected with the sliding seat 3-2-3 through a rotating shaft 3-3. The active end of the rotating shaft 3-3 is connected with a rotating motor for adjusting the pitching angle of the adjusting block 3-5. The spray pipe mechanism and the cleaning brush 3-7 are both arranged on the adjusting block 3-5 and rotate along with the rotation of the adjusting block 3-5. The cleaning brush 3-7 is positioned at the front end of the adjusting block 3-5. The rear end of the adjusting block 3-5 is provided with a battery 3-4 chamber for placing the battery 3-4.

As shown in fig. 5 in conjunction with fig. 18, the auxiliary module 4 includes a telescopic bar assembly 4-5 and a support block 4-2. The fixed end of the telescopic rod component 4-5 is connected with the top of the chassis 1-2. The telescopic rod component 4-5 comprises a driving device 4-3, a straight rod 4-5-2 and a sleeve 4-5-1. The support block 4-2 is connected with the head end of the sleeve 4-5-1. The top of the supporting block 4-2 is provided with a magnetic adsorption ball 4-1. An output shaft of the driving device 4-3 is connected with the straight rod 4-5-2. The side wall of the straight rod 4-5-2 is provided with a slide rail 4-5-2-1. A positioning bead 4-6 is embedded in the sliding rail 4-5-2-1. As shown in FIG. 15, the positioning beads 4-6 are connected to the slide rail 4-5-2-1 by a spring. The straight rod 4-5-2 is nested in the sleeve 4-5-1. As shown in FIG. 19, the inner wall of the casing 4-5-1 is provided with a slider 4-5-1-1. The slide block 4-5-1-1 and the positioning bead 4-6 form a locking structure.

When the inner diameter of the pipeline is increased, the sleeve 4-5-1 stretches the length of the telescopic rod component 4-5 under the action of the magnetic force of the magnetic adsorption ball 4-1 so as to keep the chassis 1-2 to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve 4-5-4, and the length of the telescopic rod component 4-5 is compressed to ensure the trafficability of the chassis 1-2 in the pipeline. Therefore, the hidden danger that the robot enters a vertical pipeline turning section from a horizontal pipeline is effectively eliminated, the robot cannot normally work and even turns backwards due to the fact that the contact between the most front part and the tail part of the track permanent magnet adsorption structure close to the robot and the inner wall of the pipeline is poor, meanwhile, the telescopic rod assembly of the vertical pipeline section can be in coordination fit with the track permanent magnet adsorption structure, external power is enhanced, the robot is guaranteed to steadily crawl, and then the cleaning and disinfecting work of the vertical pipeline wall is better completed.

Wherein, the positioning device is an ultrasonic radar 1-2-5. By the arrangement, obstacles in the pipeline are detected by the ultrasonic radar 1-2-5, and the obstacle avoidance performance of the self-adjusting pipeline cleaning robot is improved. The brush heads of the cleaning brushes 3-7 are preferably round nylon material brushes. Therefore, the brush head is not easy to damage the pipe wall and can achieve the expected cleaning effect. As shown in FIG. 4, the brush bar of the sweeper brush 3-7 may be connected to a threaded hole 3-5-1 provided in the adjustment block 3-5.

Compared with the traditional pipeline cleaning robot with single performance or limited application area, the self-adjusting pipeline cleaning robot has the advantages of being wide in action range, high in detachability degree, remarkable in cleaning and disinfecting effect and the like, different application occasions and different functional requirements are met, the self-adjusting pipeline cleaning robot can act on a central air conditioner pipeline and a large pipeline to achieve the purpose of autonomous basic cleaning and maintenance, the effect of deep cleaning, disinfection and sterilization is achieved, the self-adjusting pipeline cleaning robot can act on a range hood pipeline to achieve accumulated dirt cleaning, bacterial propagation and disease prevention are reduced, accumulation of pipeline dust and oil dirt is avoided to a great extent, and propagation of air pipe system energy consumption and respiratory diseases caused by virus breeding is avoided.

As shown in fig. 1, a sterilization module 2 is provided on a chassis 1-2. The disinfection module 2 is positioned between the rotary table 3-1 and the chassis 1-2. So set up, be convenient for on the basis of clean pipeline, further carry out the disinfection of all-round, no dead angle to the pipeline, and then guaranteed indoor safety.

As shown in fig. 14, the chassis 1-2 is in a square shell shape, a sealing structure is arranged at a seam of the square shell, and the pair of track permanent magnetic adsorption structures 1-1 are respectively positioned at two sides of the chassis 1-2 and are symmetrically distributed. The arrangement is favorable for increasing the contact area of the adsorption blocks 1-1-3 and the inner wall of the pipeline, and further ensures the stability of the chassis 1-2 in the walking process. In order to further improve the rigidity of the track permanent magnet adsorption structure, connecting baffles 1-1-4 are arranged on the outer side of the track permanent magnet adsorption structure.

As shown in figure 2, the bottom of the chassis 1-2 is provided with an oil collecting port 1-2-1. As shown in FIG. 5 in combination with FIG. 6, the front end of the chassis 1-2 is provided with a vehicle lamp 1-2-4. The rear end of the chassis 1-2 is provided with a dust collection interface 1-2-3 and a wiring interface 1-2-2. With the arrangement, the oil collecting port 1-2-1 is used for conveniently sucking sewage in the pipeline. The car light 1-2-4 is used for supplementing a light source in the pipeline, so that a camera can detect the condition in the pipeline conveniently. The dust collection port is used for being connected with an external vacuum generating device, so that the collection of floating dust in the pipeline is realized. The wiring port 1-2-2 is used for being connected with an external power supply and providing power for the self-adjusting pipeline cleaning robot, and the cruising ability is further improved.

As shown in fig. 3, the nozzle means comprises a first nozzle assembly 3-6 for spraying water and a second nozzle assembly 3-8 for spraying degreaser. As shown in connection with fig. 16 and 17, the first spout assembly 3-6 includes a first sleeve structure 3-6-1. The joint of the first sleeve structure 3-6-1 is provided with a first gasket 3-6-1-1. As shown in fig. 4, the second nozzle assembly 3-8 includes a second sleeve structure 3-8-1. A second gasket is arranged at the joint of the second sleeve structure 3-8-1. The output ends of the first sleeve structure 3-6-1 and the second sleeve structure 3-8-1 are provided with nozzles. By the arrangement, the first spray pipe assemblies 3-6 and the second spray pipe assemblies 3-8 have a synergistic effect, so that the cleaning effect on the inner wall of the pipeline is improved, and the cleaning efficiency is further improved.

Wherein the nozzles include a first nozzle 3-6-2, a second nozzle 3-6-3, and a third nozzle 3-8-2. As shown in fig. 9, the inner cavity of the first nozzle 3-6-2 has a first truncated cone shape. The inner cavity of the second nozzle 3-6-3 has a second truncated cone shape and a second cylindrical section. The second truncated cone shaped throat is connected to the second cylindrical section. As shown in FIG. 10, the inner cavity of the third nozzle 3-8-2 has a third cylindrical section and a third frustoconical shape. The third cylindrical section is connected with a third frustum-shaped wide opening. And a chamfer is arranged at the opening of the third cylindrical section. So set up, according to actual conditions needs, the impact force and the cleaning performance of rivers to pipeline inner wall have been guaranteed to the corresponding nozzle of optional.

As shown in fig. 7, the power plant is a stepper motor 1-2-7. The stepping motor 1-2-7 is connected with the chassis 1-2 through a mounting seat. The stepping motor 1-2-7 is connected with the main guide wheel 1-1-1 through the harmonic reducer 1-2-6. By the arrangement, the walking torque of the chassis 1-2 is improved, the walking stability is further improved, the walking position precision of the chassis 1-2 is greatly improved by utilizing the control precision of the stepping motor 1-2-7, and the cleaning effect on the inner wall of the pipeline is further ensured.

As shown in fig. 11, the driver chip of the stepper motors 1-2-7 may select the L298N dual H bridge. The model of the singlechip CPU1 can be STM32F 103C 8T 6. The speed measuring circuit for chassis walking consists of Huaxin Hall sensors HG1 and HG 2. The hall sensor model can be selected from HX 6278. The hall sensor HG1 is used to measure the speed of the main pulley 1-1-1 on one side, and the hall element HG2 is used to measure the speed of the main pulley 1-1-1 on the other side.

As shown in FIG. 15, the positioning beads 4-6 are connected to the slide rail 4-5-2-1 by a tower-shaped spring 4-7. By means of the arrangement, the tower-shaped spring can be completely compressed as far as possible during compression, and the expansion range of the positioning balls 4-6 is increased. The tower spring can not send abnormal sound because of the friction when compressing and recovering yet, when having realized the fixed telescopic link of high efficiency, has further reduced the noise.

When the self-adjusting pipeline cleaning robot provided by the embodiment of the invention is used, the self-adjusting pipeline cleaning robot comprises the following steps:

step one, a self-adjusting pipeline cleaning robot is placed at an inlet of a pipeline to be cleaned, a power device is started, the power device drives a chain with an adsorption block to rotate, and then a chassis is driven to walk along the inner wall of the pipeline;

For example, the self-adjusting pipe cleaning robot is used in the normal operation process of central air conditioners, factory smoke exhaust pipes, large pipes and range hood pipes. When the computer requires the chassis to advance, the single chip microcomputer CPU1 sends signals to the driving chips IC2 and IC3 of the stepping motors 1-2-7 according to the working logic requirement of the driving chip L298N double H bridges, so that the motors GB1 and GB2 rotate forwards at the same time; when the computer requires the chassis to move backwards, the singlechip CPU1 sends signals to the drive chips IC2 and IC3 of the stepping motors 1-2-7 according to the requirement of the drive chip L298N double H bridge working logic to enable the motors GB1 and GB2 to rotate reversely at the same time; when the computer requires the chassis to turn left, the single chip microcomputer CPU1 sends a signal to the drive chip IC2 of the stepping motor 1-2-7 according to the requirement of the drive chip L298N double H bridge working logic to enable the motor GB1 to rotate reversely, and the single chip microcomputer CPU1 sends a signal to the drive chip IC3 of the stepping motor 1-2-7 according to the requirement of the drive chip L298N double H bridge working logic to enable the motor GB2 to rotate forwardly; when the computer requires the chassis to turn right, the single chip microcomputer CPU1 sends a signal to the drive chip IC2 of the stepping motors 1-2-7 according to the requirement of the drive chip L298N double H bridge working logic, so that the motor GB1 rotates forward; the single chip microcomputer CPU1 sends signals to the drive chip IC3 of the stepping motors 1-2-7 according to the requirement of the drive chip L298N double H bridge working logic, so that the motor GB2 rotates reversely.

If an obstacle is in front of the robot, an ultrasonic radar 1-2-5 receiving probe R positioned at the front end of the chassis receives an echo signal reflected by an ultrasonic signal of a radar device transmitting probe T when encountering the obstacle, the echo signal is processed by a radar receiving circuit and then sent to a single chip microcomputer CPU1, and a computer runs to send an instruction to enable motors GB1 and GB2 to rotate reversely or stop, so that the robot walks or stops moving around the obstacle. When the magnetic steel arranged on the stepping motor 1-2-7 is close to the Hall sensor, a pulse is generated, the signal is transmitted to the singlechip CPU1, and the singlechip counts the pulse number generated by the external pulse within one second through the signal, so that the rotating speed of wheels at two sides of the trolley is calculated; the singlechip sends instruction signals to the robot walking driving system according to the requirement of vehicle body motion control, and adjusts the walking speed and steering of the robot.

As shown in fig. 12, in the process of cleaning the central air conditioner, the factory smoke exhaust pipe, the large pipe and the range hood pipe by the self-adjusting pipe cleaning robot, the motor GB3, the driving chip IC4 and the surrounding elements form a lifting driving rotation circuit of the adjusting blocks 3-5. The full set driver IC4 selects the L298N double H bridge. When the single chip microcomputer CPU1 sends a signal to the drive chip IC4 according to the requirement of the drive chip L298N double H bridge working logic to enable the motor GB3 to rotate positively, and then the opening of the spray pipe component inclines upwards; when the single chip microcomputer CPU1 sends a signal to the drive chip IC4 according to the requirement of the drive chip L298N double H bridge working logic to enable the motor GB3 to rotate reversely, and then the opening of the spray pipe component inclines downwards. When the pitching angle of the spray pipe assembly rises to the maximum position, the limit switch S1 sends a detection signal to the single chip microcomputer CPU1, and the single chip microcomputer CPU1 sends an instruction to the lifting driving circuit of the adjusting block 3-5 to enable the lifting motor GB3 to stop moving; when the opening of the high-spraying pipe assembly is lowered to the lowest position, the limit switch S2 sends a detection signal to the single-chip microcomputer CPU1, and the single-chip microcomputer CPU1 sends an instruction to the lifting driving circuit of the adjusting block 3-5 to enable the lifting motor GB3 to stop moving.

When the inner diameter of the pipeline is increased, the sleeve 4-5-1 stretches the length of the telescopic rod component 4-5 under the action of the magnetic force of the magnetic adsorption ball 4-1 so as to keep the chassis 1-2 to walk stably; when the inner diameter of the pipeline is reduced, the inner wall of the pipeline applies axial pressure to the sleeve 4-5-4, and the length of the telescopic rod component 4-5 is compressed to ensure the trafficability of the chassis 1-2 in the pipeline.

The present invention is not limited to the specific technical solutions described in the above embodiments, and other embodiments may be made in the present invention in addition to the above embodiments. It will be understood by those skilled in the art that various changes, substitutions of equivalents, and alterations can be made without departing from the spirit and scope of the invention.

Claims

1. A self-adjusting pipe cleaning robot comprising a motion module, a cleaning module, and an auxiliary module;

2. The self-adjusting pipe cleaning robot as recited in claim 1, wherein an oil collection port is provided at a bottom of the chassis, a vehicle lamp is provided at a front end of the chassis, and a dust suction port and a wiring port are provided at a rear end of the chassis.

3. The self-adjusting pipe cleaning robot of claim 1, wherein the nozzle mechanism comprises a first nozzle assembly for spraying water and a second nozzle assembly for spraying decontaminant, the first nozzle assembly comprising a first sleeve structure, a first gasket disposed at a junction of the first sleeve structure, the second nozzle assembly comprising a second sleeve structure, a second gasket disposed at a junction of the second sleeve structure, and a nozzle disposed at an output end of each of the first and second sleeve structures.

4. The self-adjusting pipe cleaning robot of claim 1, wherein the chassis has a sanitizing module disposed thereon, the sanitizing module being located between the turntable and the chassis.

5. The self-adjusting pipeline cleaning robot as recited in claim 1, wherein the chassis is in the shape of a square shell, a sealing structure is arranged at a joint of the square shell, and the pair of track permanent magnetic adsorption structures are respectively arranged on two sides of the chassis in a symmetrical distribution.

6. The self-adjusting pipe cleaning robot of claim 3, wherein the nozzle comprises a first nozzle, a second nozzle and a third nozzle, the inner cavity of the first nozzle is in a first truncated cone shape, the inner cavity of the second nozzle is provided with a second truncated cone shape and a second cylindrical section, the narrow mouth of the second truncated cone shape is connected with the second cylindrical section, the inner cavity of the third nozzle is provided with a third cylindrical section and a third truncated cone shape, the third cylindrical section is connected with the wide mouth of the third truncated cone shape, and the opening of the third cylindrical section is provided with a chamfer.

7. The self-adjusting pipe cleaning robot of claim 1, wherein the power device is a stepper motor, the stepper motor is connected to the chassis through a mounting base, and the stepper motor is connected to the main pulley through a harmonic reducer.

8. The self-adjusting pipe cleaning robot of claim 1, wherein the positioning beads are connected to the slide rail by a tower spring.

9. The self-adjusting pipe cleaning robot of claim 1, wherein the positioning device is an ultrasonic radar.

10. The cleaning method of the self-adjusting pipe cleaning robot according to any one of claims 1 to 9, comprising:

adjusting the position of the sliding seat on the base, adjusting the pitching angle of the adjusting block relative to the plane of the pipeline and adjusting the height of the supporting block in the telescopic rod component according to the internal structure of the pipeline, so that the magnetic adsorption ball is adsorbed on the inner wall of the pipeline, the spray pipe mechanism sprays water flow and detergent into the pipeline, and the cleaning brush cleans the inner wall of the pipeline along with the walking of the chassis;