Ventilation pipeline cleaning robot with variable structure

Abstract

The invention relates to a ventilation pipeline cleaning robot with a variable structure. The ventilation pipeline cleaning robot comprises a car body, a walking driving device, a pipe diameter self-adaption adjustment device, a cleaning device, a detecting device, a walking assisting device and a main control box. The main control box is in line connection with the walking driving device, the pipe diameter self-adaption adjustment device, the cleaning device, the detecting device and the walking assisting device and controls the walking driving device, the pipe diameter self-adaption adjustment device, the cleaning device, the detecting device and the walking assisting device to move. The ventilation pipeline cleaning robot has the beneficial effects that a cleaning range is increased through a cleaning arm with multiple degrees of freedom; a cloud platform is favorable for rotation of a camera, so that a visual range is increased; Mecanum wheels are independently driven, so that moving in any direction is realized, and the flexibility and obstacle avoidance ability of the robot are improved; by arranging the self-adaption adjustment device, the ability of adapting to pipe diameter change of the robot is improved, and the walking assisting device mounted on the car body in a matched mode more effectively guarantees the stability of walking; and a vision sensor and a distance measuring sensor guide the robot to complete detection and cleaning tasks, so that the intellectualization degree is high.

Description

technical field [0001] The invention relates to a ventilation duct cleaning robot with a variable structure. Background technique [0002] A large number of ventilation and air-conditioning ducts are densely distributed in large shopping malls, subways, buildings, etc. After years of use, a large number of bacteria, dust, fibers and other pollutants have accumulated, which will cause serious physical harm to indoor personnel in the long run. Due to the limited size of the pipeline, manual cleaning requires the disassembly of the pipeline, which is not only inefficient, but also causes serious pollution, and in severe cases, damages human health. With the development of the economy and the progress of science and technology, the pipeline cleaning robot, as a special service mobile robot, has come into people's sight and has been paid more and more attention and application. [0003] At present, most pipe cleaning robots can only be used in straight pipes with a specific diam...

AI Technical Summary

Problems solved by technology

Therefore, most pipeline robots have the following problems: 1. Poor pipe diameter adaptability; 2. For complex pipelines such as T-shaped pipes and bends, the robot has poor obstacle avoidance ability and low flexibility; 3. Unstable travel, prone to rollover

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