CN213162290U - Pneumatic peristaltic pipeline cleaning robot - Google Patents
Pneumatic peristaltic pipeline cleaning robot Download PDFInfo
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- CN213162290U CN213162290U CN202021824989.5U CN202021824989U CN213162290U CN 213162290 U CN213162290 U CN 213162290U CN 202021824989 U CN202021824989 U CN 202021824989U CN 213162290 U CN213162290 U CN 213162290U
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Abstract
The utility model discloses a pneumatic creeping type pipeline cleaning robot, which comprises a first creeping part, a second creeping part, a corrugated pipe and a cleaning part; the first crawling part comprises a first cylinder, a first telescopic supporting mechanism, a first driving mechanism and a first elastic supporting wheel mechanism; the second crawling part comprises a second cylinder, a second telescopic supporting mechanism, a second driving mechanism and a second elastic supporting wheel mechanism; two ends of the corrugated pipe are respectively fixedly connected with the first cylinder and the second cylinder in a sealing way; the cleaning part is used for rotating and cleaning the inner wall of the pipeline. The utility model discloses regard as the slip support of pipeline inner wall with two elastic supporting wheel mechanisms, two flexible supporting mechanism of alternate operation make its and the tight and separation in pipeline inner wall top, through the flexible of control bellows, and then realize that the wriggling formula of robot gos forward and retreat, clear up the pipeline inner wall under the rotation of cleaning portion, because the rigid support of flexible supporting mechanism makes its effect of crawling more stable, the effect of crawling is better.
Description
Technical Field
The utility model relates to a pipeline robot technical field, more specifically the pneumatic formula pipeline of creeping robot that says so relates to.
Background
With the rapid increase of urban population, the generated large amount of domestic garbage brings huge pressure and challenge to pipeline pollution discharge. The cleaning and dredging of urban and household sewer pipes are of great importance to the virtuous circle development of cities, and the traditional manual cleaning mode has large workload, severe working environment and difficult effective guarantee on personal safety. The cleaning mode of the existing combined cleaning vehicle is high in efficiency and good in effect for large pipelines, but for small pipelines which are more widely distributed and easier to block, the maintenance of the pipelines is difficult, a large amount of manpower and material resources are consumed, and the efficiency is extremely low.
At present, pipeline cleaning robots on the market are available, but basically aim at large-scale pipelines in batches, and can be applied to household sewer pipelines in a few ways, and firstly, the cost is too high, so that the problem of manual solution, dredging or pipeline replacement is not good; secondly, the working environment is severe, and the traveling stability of the existing pipeline robot is poor; moreover, the sewer pipeline is complicated and various in types and models, and great inconvenience is brought to the universality of the pipeline cleaning robot.
In addition, the existing pipeline cleaning robot adopts the following three structures:
(1) the bottom of the tracked vehicle structure adopts a track to drive the pipeline robot to walk in the pipeline;
(2) the support rod structure adopts a folding rod structure with wheels at the end part to support the pipeline robot in the middle of the pipeline and then realizes walking motion;
(3) the wheel type structure adopts the contact of the traditional wheels or the wheels with special structures with the inner wall surface of the pipeline, so that the pipeline robot runs in the pipeline.
Although the pipeline cleaning robot with the structure is mature, the problem of difficulty in walking still exists in pipelines with more dirt, and meanwhile, the crawling stability of vertical pipelines still needs to be improved.
Therefore, how to provide a pipeline cleaning robot with stable crawling is a problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a pneumatic wriggling formula pipeline cleaning robot aims at solving above-mentioned technical problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pneumatic peristaltic pipe clearing robot comprising: the device comprises a first creeping part, a second creeping part, a corrugated pipe and a cleaning part;
the first crawling part comprises a first cylinder, a first telescopic supporting mechanism, a first driving mechanism and a first elastic supporting wheel mechanism; the first cylinder is of a closed cylindrical shell structure, and the two ends of the first cylinder are respectively a machine head and a front connecting end; the number of the first telescopic supporting mechanisms is three, and the first telescopic supporting mechanisms are circumferentially and uniformly connected to the side wall, close to the front connecting end, of the first cylinder body; the first driving mechanism is arranged in the first cylinder and is used for driving the three first telescopic supporting mechanisms to do radial telescopic motion simultaneously; the number of the first elastic supporting wheel mechanisms is three, the first elastic supporting wheel mechanisms are circumferentially and uniformly connected to the side wall, close to the machine head, of the first cylinder body, and the first cylinder body is used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
the second crawling part comprises a second cylinder, a second telescopic supporting mechanism, a second driving mechanism and a second elastic supporting wheel mechanism; the second cylinder body is of a closed cylindrical shell structure, and the two ends of the second cylinder body are respectively a tail and a rear connecting end; the number of the second telescopic supporting mechanisms is three, and the second telescopic supporting mechanisms are circumferentially and uniformly connected to the side wall, close to the rear connecting end, of the second cylinder; the second driving mechanism is arranged in the second cylinder and is used for driving the three second telescopic supporting mechanisms to do radial telescopic motion simultaneously; the number of the second elastic supporting wheel mechanisms is three, the second elastic supporting wheel mechanisms are circumferentially and uniformly connected to the side wall, close to the tail, of the second cylinder body and are used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
two ends of the corrugated pipe are respectively fixedly connected with the edges of the front connecting end and the rear connecting end in a sealing way and are communicated with an air pipe penetrating out of the second cylinder;
the cleaning part is arranged at the front part of the machine head and is used for rotatably cleaning the inner wall of the pipeline.
Through the technical scheme, the utility model provides a pipeline cleaning robot passes through the bellows and connects first crawl portion and second crawl portion, support as the slip of pipeline inner wall with two elastic support wheel mechanisms, two flexible supporting mechanism of operation in turn, make its and pipeline inner wall top tight and separation, through the flexible of trachea control bellows, and then realize that the peristaltic type of robot gos forward and retreat, clear up the pipeline inner wall under the rotation of cleaning portion, overall structure passes through the pneumatic form drive, it is simple effective, because flexible supporting mechanism's rigid support makes its crawl effect more stable, can adapt to the crawling of the pipeline of equidirectional, the defect that current pipeline robot jamming is difficult to go forward has been avoided, it is better to crawl the effect.
Preferably, in the pneumatic peristaltic pipe cleaning robot as set forth above, the first telescopic support mechanism includes: the first internal thread pipe, the first external thread rod, the first supporting block, the first pressure sensor and the first hinge rod group; one end of the first internally threaded pipe is rotatably connected to the side wall of the first cylinder and extends into the first cylinder; the first external thread rod is in threaded connection with the first internal thread pipe; the first supporting block is fixedly connected with the exposed end of the first external thread rod; the first pressure sensor is embedded in the outer surface of the first supporting block; the number of the first hinge rod groups is two, the first hinge rod groups are symmetrically arranged on two sides of the first supporting block, and two ends of the first hinge rod groups are respectively hinged to the outer wall of the first barrel and the first supporting block. The first telescopic supporting mechanism provided by the utility model controls the matching structure of the first internal thread pipe and the first external thread rod to extend or shorten through the first driving mechanism, so that the first supporting block supports the inner wall of the pipeline; meanwhile, the first pressure sensor is adopted to monitor the extrusion force, when the preset pressure value is reached, the signal is finally transmitted to the first driving mechanism, the driving is stopped, the supporting is completed, the control is simple and convenient, and the switching is free.
Preferably, in the pneumatic peristaltic pipe cleaning robot as set forth above, the first driving mechanism includes: the first driven bevel gear, the first driving bevel gear, the first mounting frame and the first stepping motor; the first driven bevel gear is fixed at the end of the first barrel body where the first internally threaded pipe extends into; the first driving bevel gear is meshed with three first driven bevel gears simultaneously; the first mounting frame is fixed on the inner wall of the first cylinder; the first stepping motor is fixed on the first mounting frame, and a power output shaft of the first stepping motor is fixedly connected with the first driving bevel gear. Through the cooperation of first step motor and bevel gear group, can realize the drive to first internal thread pipe fast, make it realize flexible function.
Preferably, in the pneumatic peristaltic pipeline cleaning robot, the first elastic supporting wheel mechanism comprises a first supporting rod, a first pulley, a first linkage rod, a first sliding block and a first spring; one end of the first supporting rod is hinged with the outer side wall of the first cylinder; the first pulley is rotatably connected to the other end of the first supporting rod; a first sliding groove which is axially arranged is formed between the hinged point of the first supporting rod and the machine head; one end of the first linkage rod is hinged with the middle part of the rod body of the first support rod; the first sliding block is connected in the first sliding groove in a sliding mode and hinged to the other end of the first linkage rod; the first spring is located in the first sliding groove, and two ends of the first spring are respectively fixed with the first sliding block and the inner wall of the machine head, close to the first sliding groove. Can effectively play the elastic supporting role and can slide and walk in the pipelines with different inner diameters.
Preferably, in the pneumatic peristaltic pipe cleaning robot as set forth above, the second telescopic support mechanism includes: the second internal threaded pipe, the second external threaded rod, the second supporting block, the second pressure sensor and the second hinge rod group; one end of the second internal threaded pipe is rotatably connected to the side wall of the second cylinder and extends into the second cylinder; the second external threaded rod is in threaded connection with the second internal threaded pipe; the second supporting block is fixedly connected with the exposed end of the second external threaded rod; the second pressure sensor is embedded in the outer surface of the second supporting block; the number of the second hinge rod groups is two, the second hinge rod groups are symmetrically arranged on two sides of the second supporting block, and two ends of each second hinge rod group are hinged with the outer wall of the second cylinder and the second supporting block respectively. The second telescopic supporting mechanism provided by the utility model controls the extension or shortening of the matching structure of the second internal thread pipe and the second external threaded rod through the second driving mechanism, so that the second supporting block supports the inner wall of the pipeline; meanwhile, the second pressure sensor is adopted to monitor the extrusion force, when the preset pressure value is reached, the signal is finally transmitted to the second driving mechanism, the driving is stopped, the supporting is completed, the control is simple and convenient, and the switching is free.
Preferably, in the pneumatic peristaltic pipe cleaning robot as set forth above, the second driving mechanism includes: the second driven bevel gear, the second driving bevel gear, the second mounting frame and the second stepping motor; the second driven bevel gear is fixed at the end of the second barrel where the second internal thread pipe extends into the second barrel; the second driving bevel gear is meshed with three second driven bevel gears simultaneously; the second mounting rack is fixed on the inner wall of the second cylinder; the second stepping motor is fixed on the second mounting rack, and a power output shaft of the second stepping motor is fixedly connected with the second driving bevel gear. Through the cooperation of second step motor and bevel gear group, can realize the drive to second internal thread pipe fast, make it realize flexible function.
Preferably, in the pneumatic peristaltic pipeline cleaning robot, the second elastic supporting wheel mechanism includes a second supporting rod, a second pulley, a second linkage rod, a second slider and a second spring; one end of the second support rod is hinged with the outer side wall of the second cylinder; the second pulley is rotatably connected to the other end of the second supporting rod; a second sliding groove which is axially arranged is formed between the hinged point of the second supporting rod and the tail; one end of the second linkage rod is hinged with the middle part of the rod body of the second support rod; the second sliding block is connected in the second sliding groove in a sliding mode and is hinged to the other end of the second linkage rod; the second spring is located in the second sliding groove, and two ends of the second spring are fixed to the inner wall, close to the tail, of the second sliding block and the second sliding groove respectively. Can effectively play the elastic supporting role and can slide and walk in the pipelines with different inner diameters.
Preferably, in the pneumatic peristaltic pipeline cleaning robot, the cleaning part comprises a third mounting frame, a rotating motor, a rotating shaft, a rotating drum and an elastic cleaning mechanism; the third mounting rack is fixed on the position, close to the machine head, of the inner wall of the first cylinder; the rotating motor is fixed on the third mounting rack; one end of the rotating shaft is connected with a power output shaft of the rotating motor through a coupler, and the other end of the rotating shaft penetrates out of the machine head along the axis of the first barrel; the rotary drum is coaxially and rotatably connected to the machine head and is fixedly connected with the rotating shaft; the elastic cleaning mechanisms are at least two in number, are circumferentially and uniformly connected to the side wall of the rotary drum and are used for being attached to the inner wall of the pipeline under the action of elastic force. Can effectively realize the rotation of the laminating of pipeline inner wall and clean.
Preferably, in the pneumatic peristaltic pipeline cleaning robot, the elastic cleaning mechanism comprises a third support rod, a brush, a third linkage rod, a third slide block and a third spring; one end of the third supporting rod is hinged with the outer side wall of the rotary drum; the hairbrush is hinged to the other end of the third supporting rod; a third sliding groove which is axially arranged is formed between a hinge point of the third supporting rod on the rotating drum and the end head of the rotating drum far away from the machine head; one end of the third linkage rod is hinged with the middle part of the rod body of the third supporting rod; the third sliding block is connected in the third sliding groove in a sliding manner and is hinged with the other end of the third linkage rod; the third spring is located in the third sliding groove, and two ends of the third spring are fixed to the inner wall, far away from the machine head, of the third sliding block and the third sliding groove respectively. Can effectively play the elastic support effect to can clean in the pipeline of different internal diameters.
Preferably, in the pneumatic peristaltic pipeline cleaning robot, a high-definition camera is mounted on the head; and a high-pressure water gun is fixed on the first cylinder. Can monitor the inside condition of pipeline, and can cooperate through carrying high-pressure squirt and erode.
It should be noted that, the utility model provides a first articulated rod group and second articulated rod group are articulated by two connecting rods and are constituteed.
Meanwhile, the controller for remotely controlling the first stepping motor, the second stepping motor and the rotating motor and the receiver for receiving signals of the first pressure sensor and the second pressure sensor are conventional technical means in the field, and the structure of the utility model is improved, and the details are not repeated.
Can know via foretell technical scheme, compare with prior art, the utility model discloses a pneumatic wriggling formula pipeline cleaning robot has following beneficial effect:
1. the utility model provides a pipeline cleaning robot passes through the bellows and connects first crawl portion and second crawl portion, support as the slip of pipeline inner wall with two elastic support wheel mechanisms, two flexible supporting mechanism of alternate operation, make its and pipeline inner wall top tight and separation, through the flexible of trachea control bellows, and then realize that the formula of creeping of robot gos forward and retreat, clear up the pipeline inner wall under the rotation of cleaning portion, overall structure passes through the drive of pneumatic form, it is simple effective, because flexible supporting mechanism's rigid support makes its effect of crawling more stable, can adapt to the crawling of not equidirectional pipeline, the defect that current pipeline robot jamming is difficult to go forward has been avoided, the effect of crawling is better.
2. The utility model provides a robot has the function of automatic turn in the pipeline because the structural feature that flexible bellows is connected, has simplified the structure, uses simplyr.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view provided by the present invention;
FIG. 2 is a top view of the structure provided by the present invention;
FIG. 3 is a structural sectional view of the present invention;
fig. 4 is a front view of the internal result provided by the present invention.
Wherein:
1-a first crawling section;
11-a first cylinder;
111-a machine head; 112-front connection end;
12-a first telescopic support mechanism;
121-a first internally threaded tube; 122-a first externally threaded rod; 123-a first support block; 124-a first pressure sensor; 125-a first set of hinge rods;
13-a first drive mechanism;
131-a first driven bevel gear; 132-a first drive bevel gear; 133-a first mounting frame; 134-a first stepper motor;
14-a first resilient support wheel mechanism;
141-a first support bar; 142-a first pulley; 143-a first linkage rod; 144-a first slider;
145-a first spring; 146-a first runner;
2-a second crawling section;
21-a second cylinder;
211-tail; 212-rear connection end;
22-a second telescoping support mechanism;
221-a second internally threaded tube; 222-a second externally threaded rod; 223-a second support block; 224-a second pressure sensor; 225-a second set of hinge rods;
23-a second drive mechanism;
231-a second driven bevel gear; 232-a second drive bevel gear; 233-a second mounting frame; 234-a second stepper motor;
24-a second resilient support wheel mechanism;
241-a second support bar; 242 — a second pulley; 243-second linkage; 244-a second slider;
245-a second spring; 246-second runner;
3-a corrugated tube;
31-trachea;
4-a cleaning part;
41-a third mounting frame;
42-a rotating motor;
43-rotating shaft;
44-a rotating drum;
45-elastic cleaning mechanism;
451-third support bar; 452-a brush; 453-a third trace; 454-a third slider; 455-a third spring; 456-third runner.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 4, the embodiment of the present invention discloses a pneumatic peristaltic pipeline cleaning robot, including: a first creeping part 1, a second creeping part 2, a corrugated pipe 3 and a cleaning part 4;
the first crawling part 1 comprises a first cylinder 11, a first telescopic supporting mechanism 12, a first driving mechanism 13 and a first elastic supporting wheel mechanism 14; the first cylinder 11 is a closed cylindrical shell structure, and two ends of the first cylinder are respectively a machine head 111 and a front connecting end 112; the number of the first telescopic supporting mechanisms 12 is three, and the first telescopic supporting mechanisms are circumferentially and uniformly connected to the side wall, close to the front connecting end 112, of the first cylinder 11; the first driving mechanism 13 is installed inside the first cylinder 11 and is used for driving the three first telescopic supporting mechanisms 12 to perform radial telescopic motion simultaneously; the number of the first elastic supporting wheel mechanisms 14 is three, and the first elastic supporting wheel mechanisms are circumferentially and uniformly connected to the side wall, close to the machine head 111, of the first cylinder 11 and are used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
the second crawling part 2 comprises a second cylinder 21, a second telescopic supporting mechanism 22, a second driving mechanism 23 and a second elastic supporting wheel mechanism 24; the second cylinder 21 is a closed cylindrical shell structure, and the two ends are respectively a tail 211 and a rear connecting end 212; the number of the second telescopic supporting mechanisms 22 is three, and the second telescopic supporting mechanisms are circumferentially and uniformly connected to the side wall of the second cylinder 21 close to the rear connecting end 212; the second driving mechanism 23 is installed inside the second cylinder 21 and is used for driving the three second telescopic supporting mechanisms 22 to perform radial telescopic motion simultaneously; the number of the second elastic supporting wheel mechanisms 24 is three, and the second elastic supporting wheel mechanisms are circumferentially and uniformly connected to the side wall, close to the tail 211, of the second cylinder 21 and are used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
two ends of the corrugated pipe 3 are respectively fixedly connected with the edges of the front connecting end 112 and the rear connecting end 212 in a sealing way, and are communicated with an air pipe 31 penetrating out of the second cylinder 21;
the cleaning part 4 is installed at the front part of the machine head 111 and is used for rotating and cleaning the inner wall of the pipeline.
In order to further optimize the above solution, the first telescopic support mechanism 12 comprises: a first internally threaded tube 121, a first externally threaded rod 122, a first support block 123, a first pressure sensor 124, and a first set of hinge rods 125; one end of the first internally threaded pipe 121 is rotatably connected to the side wall of the first cylinder 11 and extends into the first cylinder 11; the first externally threaded rod 122 is threadedly connected with the first internally threaded tube 121; the first supporting block 123 is fixedly connected with the exposed end of the first external thread rod 122; the first pressure sensor 124 is embedded in the outer surface of the first supporting block 123; the number of the first hinge rod groups 125 is two, and the first hinge rod groups are symmetrically arranged on two sides of the first supporting block 123, and two ends of the first hinge rod groups 125 are respectively hinged with the outer wall of the first cylinder 11 and the first supporting block 123.
In order to further optimize the above solution, the first drive mechanism 13 comprises: a first driven bevel gear 131, a first driving bevel gear 132, a first mounting bracket 133, and a first stepping motor 134; the first driven bevel gear 131 is fixed at the end of the first internally threaded tube 121 extending into the first barrel 11; the first driving bevel gear 132 is simultaneously engaged with the three first driven bevel gears 131; the first mounting bracket 133 is fixed on the inner wall of the first cylinder 11; the first stepping motor 134 is fixed to the first mounting bracket 133, and a power output shaft thereof is fixedly connected to the first drive bevel gear 132.
In order to further optimize the above technical solution, the first elastic supporting wheel mechanism 14 includes a first supporting rod 141, a first pulley 142, a first linkage rod 143, a first slider 144 and a first spring 145; one end of the first support rod 141 is hinged with the outer side wall of the first cylinder 11; the first pulley 142 is rotatably connected to the other end of the first support rod 141; a first sliding groove 146 which is axially arranged is formed between the hinged point of the first supporting rod 141 and the machine head 111; one end of the first linkage rod 143 is hinged to the middle of the first support rod 141; the first sliding block 144 is slidably connected in the first sliding groove 146 and hinged to the other end of the first linkage rod 143; the first spring 145 is disposed in the first sliding groove 146, and both ends of the first spring are respectively fixed to the first sliding block 144 and the inner wall of the first sliding groove 146 close to the head 111.
In order to further optimize the above solution, the second telescopic supporting mechanism 22 comprises: a second internally threaded tube 221, a second externally threaded rod 222, a second support block 223, a second pressure sensor 224, and a second set of hinge rods 225; one end of the second internally threaded pipe 221 is rotatably connected to the side wall of the second cylinder 21 and extends into the second cylinder 21; the second externally threaded rod 222 is in threaded connection with the second internally threaded tube 221; the second supporting block 223 is fixedly connected with the exposed end of the second external threaded rod 222; the second pressure sensor 224 is embedded in the outer surface of the second support block 223; the number of the second hinge rod groups 225 is two, and the second hinge rod groups are symmetrically arranged at both sides of the second support block 223, and both ends of the second hinge rod groups 225 are respectively hinged with the outer wall of the second cylinder 21 and the second support block 223.
In order to further optimize the above solution, the second driving mechanism 23 includes: a second driven bevel gear 231, a second driving bevel gear 232, a second mounting bracket 233, and a second stepping motor 234; the second driven bevel gear 231 is fixed at the end of the second internally threaded pipe 221 extending into the second cylinder 21; the second driving bevel gear 232 is simultaneously engaged with the three second driven bevel gears 231; the second mounting bracket 233 is fixed on the inner wall of the second cylinder 21; the second stepping motor 234 is fixed to the second mounting bracket 233, and a power output shaft thereof is fixedly connected to the second drive bevel gear 232.
In order to further optimize the above technical solution, the second elastic supporting wheel mechanism 24 includes a second supporting rod 241, a second pulley 242, a second linkage 243, a second slider 244 and a second spring 245; one end of the second support bar 241 is hinged with the outer side wall of the second cylinder 21; the second pulley 242 is rotatably connected to the other end of the second support bar 241; a second sliding groove 246 which is axially arranged is formed between the hinged point of the second supporting rod 241 and the tail 211; one end of the second linkage rod 243 is hinged with the middle part of the rod body of the second support rod 241; the second sliding block 244 is slidably connected in the second sliding groove 246 and is hinged to the other end of the second linkage 243; the second spring 245 is located in the second sliding slot 246, and both ends of the second spring are respectively fixed with the second sliding block 244 and the inner wall of the second sliding slot 246 close to the tail 211.
In order to further optimize the above technical solution, the cleaning part 4 includes a third mounting bracket 41, a rotating motor 42, a rotating shaft 43, a rotating drum 44 and an elastic cleaning mechanism 45; the third mounting bracket 41 is fixed on the inner wall of the first cylinder 11 at a position close to the handpiece 111; the rotating motor 42 is fixed on the third mounting bracket 41; one end of the rotating shaft 43 is connected with a power output shaft of the rotating motor 42 through a coupler, and the other end of the rotating shaft penetrates out of the machine head 111 along the axis of the first cylinder 11; the rotating drum 44 is coaxially and rotatably connected to the machine head 111 and is fixedly connected with the rotating shaft 43; the number of the elastic cleaning mechanisms 45 is at least two, and the elastic cleaning mechanisms are circumferentially and uniformly connected to the side wall of the rotary drum 44 and are used for being attached to the inner wall of the pipeline under the action of elastic force.
In order to further optimize the above technical solution, the elastic sweeping mechanism 45 includes a third supporting rod 451, a brush 452, a third linking rod 453, a third slider 454 and a third spring 455; one end of the third supporting bar 451 is hinged with the outer side wall of the rotating drum 44; the brush 452 is hinged at the other end of the third supporting bar 451; a third sliding chute 456 axially arranged between the hinged point of the third supporting rod 451 on the rotating drum 44 and the end of the rotating drum 44 far away from the machine head 111; one end of the third linkage rod 453 is hinged with the middle part of the rod body of the third supporting rod 451; the third slider 454 is slidably connected in the third sliding slot 456 and is hinged to the other end of the third linking rod 453; the third spring 455 is located in the third sliding slot 456, and both ends of the third spring are respectively fixed to the third slider 454 and the third sliding slot 456 far away from the inner wall of the machine head 111.
In order to further optimize the technical scheme, a high-definition camera is mounted on the machine head 111; the first cylinder 11 is fixed with a high-pressure water gun.
The utility model discloses a theory of operation does:
when the robot enters the pipeline, the robot is fixed under the elastic support of the first pulley 142 and the second pulley 242, and the brush 452 is attached to the inner wall of the pipeline under the elastic support. Due to the action of the spring, the robot can adapt to pipelines with different pipe diameters.
The rotating motor 42 is started to drive the brush 452 to rotate to clean the inner wall of the pipeline.
When the vehicle moves forward: the corrugated pipe 3 is in a contraction state, the second supporting block 223 is driven to do an extension movement through the second driving mechanism 23, the inner wall of the pipeline is tightly propped against, and the second cylinder 21 is fixed on the inner wall of the pipeline; at this time, the first supporting block 123 is separated from the inner wall of the pipeline, and the bellows 3 is inflated through the air pipe 31 to push the first cylinder 11 to creep forward. Then, the first driving mechanism 13 drives the first supporting block 123 to perform an extension motion to tightly push against the inner wall of the pipeline, and the first cylinder 21 is fixed on the inner wall of the pipeline; at this time, the second supporting block 223 is separated from the inner wall of the pipeline by reverse operation, the bellows 3 is pumped by the air pipe 31, the second cylinder 21 is driven to creep, and one-time creep is completed, and the creep can be realized by repeating the above operations.
When encountering a bend corner, the robot can automatically realize the turning operation due to the flexible structure of the corrugated pipe 3. When the robot meets a cross or a T-shaped opening and needs to turn directionally, the line interference structure in the invention patent application with the application number of 201911344265.2 and the patent name of a variable-stiffness omnidirectional movement soft driver based on the line interference technology can be combined with the corrugated pipe 3 of the present invention to realize directional steering, and the directional steering is the prior art in the field and is not described herein again.
When the backward movement is needed, the forward step of the backward operation can be realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A pneumatic peristaltic pipe cleaning robot, comprising: a first creeping part (1), a second creeping part (2), a corrugated pipe (3) and a cleaning part (4);
the first crawling part (1) comprises a first cylinder (11), a first telescopic supporting mechanism (12), a first driving mechanism (13) and a first elastic supporting wheel mechanism (14); the first cylinder (11) is of a closed cylindrical shell structure, and the two ends of the first cylinder are respectively a machine head (111) and a front connecting end (112); the number of the first telescopic supporting mechanisms (12) is three, the first telescopic supporting mechanisms are uniformly arranged on the outer side wall of the first cylinder (11) in the circumferential direction and are respectively connected to the side wall, close to the front connecting end (112), of the first cylinder (11); the first driving mechanism (13) is installed inside the first cylinder (11) and is used for driving the three first telescopic supporting mechanisms (12) to do radial telescopic movement of the first cylinder (11) at the same time; the number of the first elastic supporting wheel mechanisms (14) is three, the first elastic supporting wheel mechanisms are circumferentially and uniformly arranged on the outer side wall of the first cylinder (11), and the first elastic supporting wheel mechanisms are respectively connected to the side wall, close to the machine head (111), of the first cylinder (11) and used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
the second crawling part (2) comprises a second cylinder (21), a second telescopic supporting mechanism (22), a second driving mechanism (23) and a second elastic supporting wheel mechanism (24); the second cylinder (21) is of a closed cylindrical shell structure, and the two ends of the second cylinder are respectively a tail (211) and a rear connecting end (212); the number of the second telescopic supporting mechanisms (22) is three, the second telescopic supporting mechanisms are circumferentially and uniformly arranged on the outer side wall of the second cylinder (21) and are respectively connected to the side wall, close to the rear connecting end (212), of the second cylinder (21); the second driving mechanism (23) is installed inside the second cylinder (21) and is used for driving the three second telescopic supporting mechanisms (22) to do radial telescopic movement of the second cylinder (21) at the same time; the number of the second elastic supporting wheel mechanisms (24) is three, the second elastic supporting wheel mechanisms are circumferentially and uniformly arranged on the outer side wall of the second cylinder body (21), and the second elastic supporting wheel mechanisms are respectively connected to the side wall, close to the tail (211), of the second cylinder body (21) and used for being in rolling fit with the inner wall of the pipeline under the action of elastic force;
two ends of the corrugated pipe (3) are respectively fixedly connected with the edges of the front connecting end (112) and the rear connecting end (212) in a sealing way, and are communicated with an air pipe (31) penetrating out of the second cylinder (21);
the cleaning part (4) is arranged at the front part of the machine head (111) and is used for rotatably cleaning the inner wall of the pipeline.
2. A pneumatic peristaltic pipe clearing robot according to claim 1, wherein said first telescopic support mechanism (12) comprises: the first internal threaded pipe (121), the first external threaded rod (122), the first support block (123), the first pressure sensor (124) and the first hinge rod group (125); one end of the first internally threaded pipe (121) is rotatably connected to the side wall of the first cylinder (11) and extends into the first cylinder (11); the first externally threaded rod (122) is in threaded connection with the first internally threaded tube (121); the first supporting block (123) is fixedly connected with the exposed end of the first external thread rod (122); the first pressure sensor (124) is embedded in the outer surface of the first supporting block (123); the number of the first hinge rod sets (125) is two, the first hinge rod sets are symmetrically arranged on two sides of the first supporting block (123), and two ends of each first hinge rod set (125) are respectively hinged to the outer wall of the first barrel (11) and the first supporting block (123).
3. A pneumatic peristaltic pipe clearing robot according to claim 2, wherein said first driving mechanism (13) comprises: a first driven bevel gear (131), a first driving bevel gear (132), a first mounting bracket (133) and a first stepping motor (134); the first driven bevel gear (131) is fixed at the end of the first internally threaded pipe (121) extending into the first cylinder (11); the first driving bevel gear (132) is simultaneously engaged with three first driven bevel gears (131); the first mounting rack (133) is fixed on the inner wall of the first cylinder (11); the first stepping motor (134) is fixed on the first mounting frame (133), and a power output shaft of the first stepping motor is fixedly connected with the first driving bevel gear (132).
4. A pneumatic peristaltic pipe clearing robot according to any of claims 1-3, wherein said first elastic supporting wheel mechanism (14) comprises a first supporting rod (141), a first pulley (142), a first linkage rod (143), a first slider (144) and a first spring (145); one end of the first supporting rod (141) is hinged with the outer side wall of the first cylinder (11); the first pulley (142) is rotatably connected to the other end of the first supporting rod (141); a first sliding groove (146) which is axially arranged is formed between the hinged point of the first supporting rod (141) and the machine head (111); one end of the first linkage rod (143) is hinged with the middle part of the first support rod (141); the first sliding block (144) is connected in the first sliding groove (146) in a sliding manner and is hinged with the other end of the first linkage rod (143); the first spring (145) is positioned in the first sliding groove (146), and two ends of the first spring are respectively fixed with the first sliding block (144) and the inner wall of the first sliding groove (146) close to the machine head (111).
5. A pneumatic peristaltic pipe clearing robot according to claim 1, wherein said second telescopic support mechanism (22) comprises: a second internal threaded tube (221), a second external threaded rod (222), a second support block (223), a second pressure sensor (224), and a second hinge rod set (225); one end of the second internally threaded pipe (221) is rotatably connected to the side wall of the second cylinder (21) and extends into the second cylinder (21); the second externally threaded rod (222) is in threaded connection with the second internally threaded tube (221); the second supporting block (223) is fixedly connected with the exposed end of the second external threaded rod (222); the second pressure sensor (224) is embedded in the outer surface of the second supporting block (223); the number of the second hinge rod sets (225) is two, the second hinge rod sets are symmetrically arranged on two sides of the second support block (223), and two ends of each second hinge rod set (225) are respectively hinged with the outer wall of the second cylinder (21) and the second support block (223).
6. A pneumatic peristaltic pipe clearing robot according to claim 5, wherein said second driving mechanism (23) comprises: a second driven bevel gear (231), a second driving bevel gear (232), a second mounting bracket (233) and a second stepping motor (234); the second driven bevel gear (231) is fixed at the end of the second internally threaded pipe (221) extending into the second cylinder (21); the second driving bevel gear (232) is simultaneously engaged with three second driven bevel gears (231); the second mounting rack (233) is fixed on the inner wall of the second cylinder (21); the second stepping motor (234) is fixed on the second mounting frame (233), and a power output shaft of the second stepping motor is fixedly connected with the second drive bevel gear (232).
7. The pneumatic peristaltic pipeline cleaning robot according to any one of claims 1, 5 and 6, wherein the second elastic supporting wheel mechanism (24) comprises a second supporting rod (241), a second pulley (242), a second linkage rod (243), a second sliding block (244) and a second spring (245); one end of the second support rod (241) is hinged with the outer side wall of the second cylinder body (21); the second pulley (242) is rotatably connected to the other end of the second supporting rod (241); a second sliding groove (246) which is axially arranged is formed between the hinged point of the second supporting rod (241) and the tail (211); one end of the second linkage rod (243) is hinged with the middle part of the rod body of the second support rod (241); the second sliding block (244) is connected in the second sliding chute (246) in a sliding manner and is hinged with the other end of the second linkage rod (243); the second spring (245) is positioned in the second sliding chute (246), and two ends of the second spring are respectively fixed with the second sliding block (244) and the inner wall of the second sliding chute (246) close to the tail (211).
8. A pneumatic peristaltic pipe clearing robot according to claim 1, wherein said sweeping part (4) comprises a third mounting frame (41), a rotating motor (42), a rotating shaft (43), a drum (44) and an elastic sweeping mechanism (45); the third mounting rack (41) is fixed on the position, close to the machine head (111), of the inner wall of the first cylinder (11); the rotating motor (42) is fixed on the third mounting frame (41); one end of the rotating shaft (43) is connected with a power output shaft of the rotating motor (42) through a coupler, and the other end of the rotating shaft penetrates out of the machine head (111) along the axis of the first barrel (11); the rotary drum (44) is coaxially and rotatably connected to the machine head (111) and is fixedly connected with the rotating shaft (43); the number of the elastic cleaning mechanisms (45) is at least two, and the elastic cleaning mechanisms are uniformly connected to the side wall of the rotary drum (44) in the circumferential direction and are used for being attached to the inner wall of the pipeline under the action of elastic force.
9. The pneumatic peristaltic pipeline cleaning robot according to claim 8, wherein the elastic sweeping mechanism (45) comprises a third supporting rod (451), a brush (452), a third linkage (453), a third slider (454) and a third spring (455); one end of the third supporting rod (451) is hinged with the outer side wall of the rotary drum (44); the brush (452) is hinged at the other end of the third supporting rod (451); a third sliding groove (456) which is axially arranged is formed between a hinge point of the third supporting rod (451) on the rotating drum (44) and the end of the rotating drum (44) far away from the machine head (111); one end of the third linkage rod (453) is hinged with the middle of the rod body of the third supporting rod (451); the third sliding block (454) is connected in the third sliding chute 456 in a sliding manner and is hinged with the other end of the third linkage rod (453); the third spring (455) is located in the third sliding groove (456), and two ends of the third spring are respectively fixed with the third sliding block (454) and the inner wall of the third sliding groove (456) far away from the machine head (111).
10. A pneumatic peristaltic pipe cleaning robot according to any one of claims 1-3, 5, 6, 8 and 9, wherein a high-definition camera is mounted on the head (111); and a high-pressure water gun is fixed on the first cylinder (11).
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| CN202021824989.5U CN213162290U (en) | 2020-08-27 | 2020-08-27 | Pneumatic peristaltic pipeline cleaning robot |
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| CN213162290U true CN213162290U (en) | 2021-05-11 |
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| CN113802638B (en) * | 2021-10-18 | 2023-03-07 | 广州工商学院 | A bottom of pool silt suction subassembly for food sewage treatment |
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| CN115126964A (en) * | 2022-06-22 | 2022-09-30 | 武汉理工大学 | Driving mechanism and pipeline cleaning robot |
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