Step walking type pipeline cleaning robot

Abstract

The invention relates to a foot-walking robot for cleaning pipe, belonging to the cleaning mechanism field for pipe sewage. The invention comprises walking part and function part. The walking part comprises walking cylinder, front pillaring-tightly cylinder, front gas-distribution disk, back pillaring-tightly cylinder, back gas-distribution disk, middle connecting disk, ball hinge, guide wheel and sleeve. The walking adopts bionics principle. Front and back radial pillaring-tightly mechanisms are constituted by four front pillaring-tightly cylinders distributed in radial direction, pillaring-tightly head and front gas-distribution disk; four back pillaring-tightly cylinders distributed in radial direction, pillaring-tightly head and back gas-distribution disk, which are used to imitate pillaring and releasing actions to pipe by hand and foot of human. The walking cylinder is used to imitate human expanding action to realize foot walking. The cylinder body of walking cylinder is fixed with the middle connecting disk and back gas-distribution disk together. The piston bar is connected with the front gas-distribution disk by ball hinge so as to decrease the influence to movement by linear error of pipe. By coordinated movement of front pillaring-tightly cylinder, back pillaring-tightly cylinder and walking cylinder, the robot can moves on straight pipe in pre-and-post double directions. Speed adjustment and moving-distance control can be realized by pneumatic system and control system.

Description

Technical field [0001] The invention relates to the field of pipeline dirt cleaning machinery, in particular to a walking type pipeline cleaning robot. Background technique [0002] Pipeline cleaning robot is a tool to realize the mechanization and automation of descaling on the inner wall of the pipeline. It is used to remove oil, water, natural gas and other pipelines from grease, wax, scale, etc., to solve the time-consuming and laborious problem of manual cleaning, and it can improve labor efficiency. , Guarantee quality and save cost. The driving and walking mechanism design of the pipeline robot is its key technology. The existing driving methods are divided into three types: self-contained power source, using fluid pressure and external thrust of the pipe, and walking mechanisms include wheel type, foot type, and peristaltic type. For example, my country's utility model patent CN2734434 "Pipe cleaning robot" adopts a crawler traveling mechanism and is powered by a travelin...

AI Technical Summary

Problems solved by technology

However, the bristles can only move axially along the pipe, and the cleaning quality of the pipe wall cannot be guaranteed. The cleaning head cannot maintain a centered position in the pipe due to its own weight, resulting in high walking resistance, and it is impossible to observe the internal conditions of the pipe.

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