CN201159363Y - Traveler of central air-conditioning pipe cleaning robot - Google Patents
Traveler of central air-conditioning pipe cleaning robot Download PDFInfo
- Publication number
- CN201159363Y CN201159363Y CNU2007203111707U CN200720311170U CN201159363Y CN 201159363 Y CN201159363 Y CN 201159363Y CN U2007203111707 U CNU2007203111707 U CN U2007203111707U CN 200720311170 U CN200720311170 U CN 200720311170U CN 201159363 Y CN201159363 Y CN 201159363Y
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- guide rod
- transmission guide
- crawler belt
- mechanical
- cleaning robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 27
- 238000004378 air conditioning Methods 0.000 title description 3
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 210000002683 foot Anatomy 0.000 description 16
- 238000000034 method Methods 0.000 description 4
- 238000009423 ventilation Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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Abstract
A walking mechanism of a pipeline cleaning robot of central air conditioners comprises a base, four mechanical legs, track feet and a walking drive motor provided on the base, wherein the mechanical leg comprises an upper chain wheel, a chain, a lower chain wheel, a first transmission guide rod, a second transmission guide rod and a drive wheel, the drive wheel is geared with the track of the track feet, the walking mechanism further comprises two leg swing mechanisms between the two front mechanical legs and the two back mechanical legs of the base, the leg swing mechanism comprises a leg swing motor, a drive gear, a driven gear and a screw transmission rod, the lower side of the screw transmission rod is sheathed on a fixing block with a screw hole, the fixing block is provided on a press rod, the first transmission guide rod of each mechanical leg is fixedly sheathed with a connecting sheet provided with an arc slot, the press rod is through the arc slot of each connecting sheet. The utility model provides a walking mechanism of a pipeline cleaning robot of central air conditioners for cleaning rectangular and round pipelines.
Description
Technical field
The utility model relates to the central air-conditioner pipeline cleaning robot, especially a kind of traveller.
Background technique
State Administration for Quality Supervision and Inspection and Quarantine has issued the NBS of " air conditioner ventilating system cleaning standard " GB1920-2003, the Ministry of Public Health has issued " public place centralized air ventilation system hygienic practice ", the Ministry of Construction has formulated " air conditioner ventilating system operation management standard ", strengthened the dynamics to central air-conditioning duct cleaning, the notion of " health-care air-conditioner " begins to popularize.
According in " technical requirements of purpose-built washing equipment " and the appendix 1 among the appendix m of " the public place centralized air ventilation system cleans standard " " the main purpose-built washing equipment inventory of air conditioning wind pipe system ", stipulated that clearly cleaning the main way that adopts at China's airduct is that robot cleans and flexible axle cleans.And at present the pneumatic wash machine of external import such as air knife, vibrations whip also are not the main flow cleaning equipments in China.So domestic a large amount of still import or homemade robot washer tool.
The central air-conditioner pipeline cleaning robot generally enters ventilation duct by wired remote control, inner-walls of duct is cleaned with water, so all need the perfect traveller of a cover for all cleaning robots.The most generally adopt the crawler belt walking mechanism in the background technique, the pipeline cleaning robot of representative patent No. ZL 200320128144.2: the Athey wheel of the motor drive both sides of advancing about in the car, finish cleaning robot advancing, turning in pipeline, realize walking function.The advantage of background technique is to realize pivot turn, and the ability of crossing over blockage is strong, makes cleaning robot can finish the work of cleaning, flushing smoothly in rectangular duct.The shortcoming of background technique is to adapt to rectangular duct, just need adopt other walking arrangement for the cleaning of circular pipe, has caused the defective on the function.
Summary of the invention
In order to overcome the deficiency that existing central air-conditioner pipeline cleaning robot can only be adapted to rectangular duct, can not adapt to circular pipe, the utility model provides the traveller of the central air-conditioner pipeline cleaning robot of a kind of energy simultaneous adaptation rectangle and circular pipe cleaning.
The technological scheme that its technical problem that solves the utility model adopts is:
A kind of traveller of central air-conditioner pipeline cleaning robot, comprise the car base, be installed in four mechanical legs of described car base, the mechanical leg fixing frame, crawler belt foot and travel driving motor, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection;
Described traveller also comprises two cover swinging kick mechanisms, described two cover leg mechanisms are between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on the fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
As preferred a kind of scheme: described crawler belt foot comprises frame and rack-mounted first follower, second follower, suit crawler belt on described first follower, second follower, and described driving wheel cooperates with crawler tensioning.
Technical conceive of the present utility model is: the mechanical leg that adopts the band chute, two mechanical legs are one group, be symmetrically distributed in the head and the afterbody on chassis, article four, the upper end of leg is hinged on the chassis respectively, each leg can be adjusted several angle around this hinged place upset, the two groups of mechanical legs in front and back are connected by a swinging kick mechanism, and four crawler belt foots are connected with the end of mechanical leg.Swinging kick mechanism makes two legs can open certain angle smoothly, makes that four crawler belt foots on the mechanical leg flip an angle, and satisfies the needs that advance in circular pipe, so just can satisfy this novel requirement.
The beneficial effects of the utility model mainly show: can simultaneous adaptation rectangle and circular pipe cleaning.
Description of drawings
Fig. 1 is the schematic representation of traveller that adapts to the central air-conditioner pipeline cleaning robot of rectangular duct.
Fig. 2 is the schematic representation of crawler belt foot.
Fig. 3 is the schematic representation of traveller that adapts to the central air-conditioner pipeline cleaning robot of circular pipe.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1～Fig. 3, a kind of traveller of central air-conditioner pipeline cleaning robot, comprise car base 1, be installed in four mechanical legs 12 of described car base 1,22,32,42, mechanical leg fixing frame 13,23,33,43, crawler belt foot 11,21,31,41 and travel driving motor 61,62,63,64, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection; Described traveller also comprises two cover swinging kick mechanisms, two the cover leg mechanisms between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
Described crawler belt comprises frame and rack-mounted first follower, second follower enough, suit crawler belt on described first follower, second follower, and described driving wheel cooperates with crawler tensioning.
The concrete structure of present embodiment is with reference to Fig. 1, traveller comprises right front crawler belt foot 11, right front mechanical leg 12, right front mechanical leg fixing frame 13, left front crawler belt foot 21, left front mechanical leg 22, left front mechanical leg fixing frame 23, right back crawler belt foot 31, right back mechanical leg 32, right back mechanical leg fixing frame 33, left back crawler belt foot 41, left back mechanical leg 42, left back mechanical leg fixing frame 43, right front track drive motor 61, left front track drive motor 62, right back track drive motor 63, left back track drive motor 64, right front track drive motor fixing frame 81, right back track drive motor fixing frame 83, left front track drive motor fixing frame, left back track drive motor fixing frame 84, preceding swinging kick drive motor 71, back swing leg drive motor 72;
With left front mechanical leg 22 is example, comprises left front upper sprocket wheel 27, left front lower sprocket 28, left front chain 29, left front first drive link 26, left front first bevel gear 25, left front second bevel gear 24, left front second drive link 20, left front driving wheel 114.Left front crawler belt foot 21 comprises left front first follower 112, left front second follower 113, left front crawler belt 111.
The mechanism of swinging kick in the past is an example, the forward swing leg mechanism comprises preceding swinging kick motor 71, preceding driving gear 51, preceding driven gear 52, preceding thread drive link 53, the below of described preceding thread drive link 53 is sleeved on preceding fixed block 54 with threaded hole, and described preceding fixed block 54 with threaded hole is installed on the depression bar 55; At the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar 55 passes the curve bath of described each connecting sheet.
The traveller of present embodiment, it is characterized in that each crawler belt foot all has independently drive system, the basic structure of each drive system is identical, with left front crawler belt foot drive system is example: left front track drive motor 62 is fixed on the left front track drive motor fixing frame 82, by left front upper sprocket wheel 27, left front chain 29, left front lower sprocket 28, give left front drive link No. one 26 with transmission of power, left front drive link drives left front bevel gear for No. one 26 and rotates for No. one 25, then mesh by bevel gear, left front bevel gear No. two 24 is given left front drive link No. two 20 with transmission of power, drives left front driving wheel 114 motions, drives left front crawler belt 111, thereby onward impulse is provided, and the drive system of other each crawler belt foot is identical with this system.
According to the utility model machine traveller, it is characterized in that it has comprised a swinging kick mechanism, swinging kick mechanism comprises preceding swinging kick drive motor 71, back swing leg drive motor 72, these two motors are synchronous workings, driving gear 51 rotated before preceding swinging kick drive motor 71 drove, rotate by threaded drive link 53 before driving with preceding driven gear 52 engagements, preceding square 54 with threaded hole moves up and down along the screw thread drive link, thereby depression bar 55 vertically moves, the mechanical leg of realizing the band chute opens, and forms posture shown in Figure 3, is implemented in the motor function in the circular pipe.
Claims (2)
1, a kind of traveller of central air-conditioner pipeline cleaning robot, comprise the car base, be installed in four mechanical legs of described car base, the mechanical leg fixing frame, crawler belt foot and travel driving motor, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection;
It is characterized in that: described traveller also comprises two cover swinging kick mechanisms, described two cover swinging kick mechanisms are between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on the fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
2, the traveller of central air-conditioner pipeline cleaning robot as claimed in claim 1, it is characterized in that: described crawler belt comprises frame and rack-mounted first follower, second follower enough, suit crawler belt on described first follower, second follower, described driving wheel cooperates with crawler tensioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007203111707U CN201159363Y (en) | 2007-12-29 | 2007-12-29 | Traveler of central air-conditioning pipe cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007203111707U CN201159363Y (en) | 2007-12-29 | 2007-12-29 | Traveler of central air-conditioning pipe cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201159363Y true CN201159363Y (en) | 2008-12-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007203111707U Expired - Fee Related CN201159363Y (en) | 2007-12-29 | 2007-12-29 | Traveler of central air-conditioning pipe cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201159363Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN105640465A (en) * | 2016-01-11 | 2016-06-08 | 安徽理工大学 | Robot for cleaning cooking utensils |
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN106741263A (en) * | 2016-12-23 | 2017-05-31 | 哈尔滨工程大学 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
| CN108286635A (en) * | 2018-01-24 | 2018-07-17 | 肖香福 | A kind of pipe detection device with hidden function |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN113028200A (en) * | 2021-03-14 | 2021-06-25 | 郑州大学 | Pipeline positioning robot based on laser ranging |
| CN113048326A (en) * | 2021-03-14 | 2021-06-29 | 郑州大学 | Robot for detecting defects in pipeline based on machine vision |
| CN114811446A (en) * | 2022-04-11 | 2022-07-29 | 福建纳川管业科技有限责任公司 | Pipeline detection system |
-
2007
- 2007-12-29 CN CNU2007203111707U patent/CN201159363Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN101915339B (en) * | 2010-07-29 | 2012-09-12 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN105640465B (en) * | 2016-01-11 | 2018-02-23 | 安徽理工大学 | A kind of robot scrubbed for kitchen tools |
| CN105640465A (en) * | 2016-01-11 | 2016-06-08 | 安徽理工大学 | Robot for cleaning cooking utensils |
| CN106378782A (en) * | 2016-11-16 | 2017-02-08 | 浙江工业大学 | Structural system of robot for cleaning inner walls of converter valve hall |
| CN106378782B (en) * | 2016-11-16 | 2018-11-13 | 浙江工业大学 | The structural system of converter valve hall inner wall clean robot |
| CN106741263A (en) * | 2016-12-23 | 2017-05-31 | 哈尔滨工程大学 | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms |
| CN108286635A (en) * | 2018-01-24 | 2018-07-17 | 肖香福 | A kind of pipe detection device with hidden function |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
| CN113028200A (en) * | 2021-03-14 | 2021-06-25 | 郑州大学 | Pipeline positioning robot based on laser ranging |
| CN113048326A (en) * | 2021-03-14 | 2021-06-29 | 郑州大学 | Robot for detecting defects in pipeline based on machine vision |
| CN114811446A (en) * | 2022-04-11 | 2022-07-29 | 福建纳川管业科技有限责任公司 | Pipeline detection system |
| CN114811446B (en) * | 2022-04-11 | 2023-12-29 | 福建纳川管业科技有限责任公司 | Pipeline detection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081203 Termination date: 20111229 |