Earthworm-bionic intelligent pipeline cleaning robot and working method thereof

Abstract

The invention discloses an earthworm-imitating intelligent pipeline cleaning robot and a working method thereof, the robot simulates the interaction relaxation and contraction of longitudinal and circular muscles of earthworms and the cooperation of bristles on the body surface to move, and a cutting mechanism is carried to realize the removal of residual solid precipitates in a pipeline. The cleaning machine is characterized by comprising a walking supporting device, a gear transmission structure, a cleaning device, a barrel structure, a power system and a control system; the walking supporting devices comprise triangular cam mechanisms, supporting legs and hemispherical bowls, and the number of the walking supporting devices is two. The gear transmission structure comprises a gear and a rack; the cleaning device comprises a rotating shaft, a bearing and two groups of disc-shaped cutting brushes; the barrel structure comprises an upper barrel, a lower barrel, a front barrel and a rear barrel. The power system comprises a motor and a motor control system; the control system comprises a direction control system, a motion control system and a turntable; the front cylinder body and the rear cylinder body are each provided with three supporting legs and a detachable infrared camera. The device can stably run in a pipeline, and the conditions of sideslip, clamping and the like are avoided.

Description

technical field [0001] The invention relates to a bionic machine used for pipe cleaning, in particular to a bionic earthworm intelligent pipe cleaning robot and a working method thereof. Background technique [0002] Due to the increasingly developed industrial technology in our country, chemical and chemical pipelines have become the most common containers for transporting industrial chemicals, but most chemicals are easily oxidized by air into solid sediments that adhere to the pipe wall, thus affecting the transportation efficiency of the pipeline. More serious It will lead to some serious accidents. [0003] The reason why earthworms can move in long and narrow soil cracks is because of their special body structure. The narrow and long pipes are analogous to the long and narrow soil gaps, and the supporting legs are analogous to the bristles. A mechanical device used to clean up residual solid deposits due to oxidation in chemical pipelines. The cutting blade is 0.5mm ...

AI Technical Summary

Problems solved by technology

However, it is limited to short-distance pipelines, and the requirements for the size of the pipeline are too high and the cost is high

The second is cleaning by pipeline robots. However, after reviewing the information, it is found that the current pipeline robots basically use wheel or crawler drives (such as patent numbers 202080001663.2 and 201610511231.0). For pipelines with large inclination angles, wheel or crawler It is difficult for the type-driven cleaning robot to maintain balance, and it is prone to rollover and slipping. Therefore, this type of robot can only be limited to the cleaning of horizontal pipes, and its practicability is greatly reduced.

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