A dual brush head motorized bore cleaning device

Abstract

This utility model proposes a dual-brush head electric barrel cleaning device, including a walking and cleaning integrated mechanism, a rotating cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism. The walking and cleaning integrated mechanism is used to simultaneously control the forward and backward movement of the dual-brush head electric barrel cleaning device and the rotation of the rear brush head. The rotating cleaning mechanism is used to control the rotation of the front brush head. The spraying mechanism is used to spray cleaning fluid onto the brush heads. The centering mechanism is used to ensure that the entire dual-brush head electric barrel cleaning device is concentric with the barrel. The camera module is used to detect the condition of the inner wall of the barrel. The multi-sensor mechanism is used to identify and limit the movement of the dual-brush head electric barrel cleaning device. This dual-brush head electric barrel cleaning device uses a motor as the drive source, adopts a wheel structure for movement, and uses a dual-motor control mode. It completes barrel wiping by rotating the front and rear brush heads, realizing wiping work in both axial and radial dimensions inside the barrel, achieving fully automated barrel wiping.

Description

Technical Field

[0001] This utility model belongs to the field of tube cleaning technology, specifically relating to a dual-brush head electric tube cleaning device. Background Technology

[0002] As an important component of the launching device, the inner wall of the barrel often has projectile residue adhering to it. Due to the high temperature and pressure during launch, the residue adheres very firmly. The traditional method for removing the residue is to add gasoline, soapy water, ammonia, abrasive, and cleaning agent to the brush head, and then manually clean the inner wall of the barrel by pushing and pulling the cleaning strip and cooperating with the brush head and motor.

[0003] To address the time-consuming and labor-intensive nature of tube cleaning, electric and pneumatic tube cleaning systems are becoming increasingly popular, replacing manual tube cleaning. However, when using electric or pneumatic tube cleaning systems, it is impossible to achieve full automation of the cleaning system's movement and cleaning process. Therefore, a dual-brush-head electric tube cleaning device needs to be designed. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] This invention proposes a dual-brush-head electric tube cleaning device to solve the technical problem of how to improve tube cleaning efficiency and reduce labor intensity.

[0006] (II) Technical Solution

[0007] To address the aforementioned technical problems, this utility model proposes a dual-brush-head electric cleaning device, which includes a walking and cleaning integrated mechanism, a rotating cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism; wherein...

[0008] The front end of the walking cleaning integrated mechanism is connected to the rear end of the rotating cleaning mechanism. The walking cleaning integrated mechanism is used to simultaneously control the forward and backward movement of the dual-brush head electric tube cleaning device and the rotation of the rear brush head. The rotating cleaning mechanism is used to control the rotation of the front brush head.

[0009] The spraying mechanism is installed inside both the walking cleaning integrated mechanism and the rotating cleaning mechanism, and is used to spray cleaning fluid onto the brush head;

[0010] Multiple centering mechanisms are installed on the integrated walking and cleaning mechanism and the rotating cleaning mechanism to ensure that the entire dual-brush head electric tube cleaning device is concentric with the tube.

[0011] The camera module is installed at the front end of the rotating cleaning mechanism to detect the condition of the inner wall of the tube; multiple sensors are installed on the integrated walking cleaning mechanism and the camera module, respectively, and are located at the front and rear ends of the dual-brush head electric tube cleaning device to identify and limit the dual-brush head electric tube cleaning device.

[0012] Furthermore, the integrated walking and cleaning mechanism includes a drive servo motor, a walking mechanism, a rear rotating cleaning mechanism, and a rear cable compartment assembly. The walking mechanism is located between the servo drive motor and the rear rotating cleaning mechanism. The drive servo motor serves as a power source to transmit torque backward, driving the walking mechanism and the rear rotating cleaning mechanism to rotate. The rear cable compartment assembly is connected to the rear end of the rear rotating cleaning mechanism and is used for wiring harness organization and connector connection of the entire cleaning device.

[0013] Furthermore, the traveling mechanism includes a traveling gearbox housing, a worm gear transmission assembly, and a tension adjustment mechanism; wherein,

[0014] The worm gear transmission assembly is located inside the walking gearbox housing, while the tension adjustment mechanism is located outside the walking gearbox housing. The motor drive shaft of the worm gear transmission assembly is connected to the motor shaft of the servo motor, which drives the motor drive shaft to rotate. Inside the walking gearbox housing, the worm is fixed to the outer circumference of the motor drive shaft via a keyway connection. Two worm gears are mounted inside the walking gearbox housing via worm gear shafts, two transmission gears are mounted inside the walking gearbox housing via drive wheel shafts, and two drive wheels are mounted outside the walking gearbox housing via corresponding drive wheel shafts. The worm simultaneously meshes with both worm gears, driving them to rotate. The two worm gears mesh with their corresponding transmission gears, which in turn drive the two drive wheels fixed on the drive wheel shafts to rotate, thus realizing the walking motion of the dual-brush head electric tube cleaning device.

[0015] The tension adjustment mechanism includes a tension arm, a stud, a spring, a support wheel axle, a rotating arm fixing shaft, and adjusting nuts. The rear end of the tension arm is fixed to the outer casing of the travel gearbox via the rotating arm fixing shaft. The front end of the tension arm has a through hole; the stud is inserted into the through hole and then the spring passes through it. The front end of the stud is threadedly fixed to the outer casing of the travel gearbox. The two ends of the spring are respectively pressed against the tension arm and the outer casing of the travel gearbox. The support wheel is mounted on the outside of the tension arm via the support wheel axle, forming a three-wheel evenly distributed configuration with the two sets of drive wheels. Two adjusting nuts are installed at the rear end of the stud. By adjusting the tightness of the adjusting nuts, the spring adjusts the pressure of the support wheel on the inner wall of the tube to accommodate different tube sizes.

[0016] The rear rotating cleaning mechanism includes a planetary gear transmission assembly, a rear brush head bearing, and a rear brush head. The motor drive shaft in the walking mechanism extends to its rearmost end and is fixedly connected to the planetary gear transmission assembly. The inner ring of the rear brush head bearing is fitted onto the outside of the rear cable compartment housing of the rear cable compartment assembly, and the outer ring of the rear brush head bearing is connected to the outer gear ring of the planetary gear transmission assembly. The rear brush head is fixed to the outer gear ring of the planetary gear transmission assembly. The rear rotating cleaning mechanism and the walking mechanism share a single drive servo motor and motor drive shaft, which drives the rear brush head to rotate.

[0017] The aft wiring bay assembly includes an aft wiring bay shell, an aft wiring bay cover, and a wiring connector; the aft wiring bay cover is fixed to the rear end of the wiring bay shell, and the internal space is used for wiring; the wiring connector is fixed to the aft wiring bay cover.

[0018] Furthermore, the rotating cleaning mechanism includes a rotating servo motor, a front rotating mechanism, and a front brush head; wherein, the rotating servo motor and the drive servo motor are jointly installed in the middle area of ​​the walking cleaning integrated mechanism and the rotating cleaning mechanism, and the front brush head is fixedly installed on the brush head shaft of the front rotating mechanism. The power generated by the rotating servo motor drives the front brush head to rotate through the front rotating mechanism to achieve body tube cleaning.

[0019] Furthermore, the front rotation mechanism includes a front gearbox, a gearbox cover, a threading shaft, and a brush head shaft. The front gearbox is fixedly connected to the gearbox cover, the front rotation servo motor is fixedly connected to the gear in the front gearbox, the convex gear in the front gearbox is fixedly connected to the brush head shaft, and the brush head shaft is fixedly connected to the front brush head, transmitting kinetic energy to the front brush head to achieve rotation of the front brush head for cleaning. The threading shaft is located inside the brush head shaft and is connected via bearings. When the brush head shaft rotates at high speed, the threading shaft remains stationary to protect the internal wiring.

[0020] The front gearbox includes a front gearbox housing, a first gear, a second gear, a third gear, a convex gear, a gear shaft, and a convex gear bearing. The first gear is fixedly connected to the rotating shaft of the rotary servo motor and is offset from the axis of the entire cleaning device. The second gear meshes with the first gear, forming the first row of gears. The third gear is coaxially mounted with the second gear and meshes with the convex gear, which is located at the axis of the entire dual-brush head cleaning device, forming the second row of gears. The rotary servo motor is installed in the motor housing and is not concentric with the entire cleaning mechanism. Through the double-layer gear design in the front gearbox, the rotation center of the front gearbox is adjusted from the offset rotary servo motor to the axis of the convex gear and the entire dual-brush head cleaning device. A threaded shaft passes through the middle of the convex gear, connected by a bearing. The convex gear rotates with the rotary servo motor. The threaded shaft is fixed to the front camera module. The cables of the front camera in the camera module and the front sensor in the sensing mechanism are led to the rear of the device through the center of the threaded shaft.

[0021] Furthermore, the spraying mechanism is a built-in liquid spraying structure, including a nozzle, a built-in infusion tube, and a pipe connector. The nozzle is embedded in the gearbox cover of the front rotating mechanism, with the nozzle opening facing the front brush head. The rear end of the nozzle is connected to the built-in infusion tube. The built-in infusion tube is connected to the pipe connector installed on the rear line chamber assembly through the front rotating mechanism, the rotating servo motor and the chamber containing the drive servo motor, the integrated walking and cleaning mechanism, the rear rotating cleaning mechanism, and the rear line chamber assembly. The external liquid enters the built-in infusion tube through the pipe connector and is finally sprayed out from the front nozzle, with the sprayed liquid aimed at the front brush head.

[0022] Furthermore, the camera module includes a front camera, a camera module housing, a front sensor mounting block, a front cover, a fixing knob, and a front navigation connector; wherein, the front camera is installed at the front end of the camera module housing with the lens facing forward, and is used to collect image information inside the tube; the front navigation connector is installed at the rear end of the camera module housing, and the male and female heads of the front navigation connector are respectively installed on the camera module housing and the wire guide of the rotating cleaning mechanism, and the front navigation connector is fastened using the fixing knob.

[0023] Furthermore, the sensing mechanism includes a front sensor and a rear sensor; the front sensor is mounted on the camera module housing of the camera module, and the rear sensor is mounted on the rear housing housing via a rear sensor mounting block on the rear housing assembly. When the dual-brush head cleaning device travels to one end of the tube, the sensor at that end extends out of the tube, while the sensor at the other end is inside the tube, thereby identifying the position of the electric tube cleaning device and controlling the drive servo motor to reverse to change the direction of travel, thus realizing the repeated movement of the cleaning device inside the tube.

[0024] Furthermore, the centering mechanism includes a front centering wheel assembly and a rear centering wheel assembly; the front centering wheel assembly includes three fixed rubber wheels, and the rear centering wheel assembly consists of two sets of driving wheels and one set of support wheels. The rear centering wheel assembly is installed on the outer shell of the traveling gearbox and the tension adjustment mechanism, and the front centering wheel assembly is installed on the gearbox cover plate, each adopting a three-wheel evenly distributed structure.

[0025] (III) Beneficial Effects

[0026] This utility model proposes a dual-brush head electric barrel cleaning device, including a walking and cleaning integrated mechanism, a rotating cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism. The walking and cleaning integrated mechanism is used to simultaneously control the forward and backward movement of the dual-brush head electric barrel cleaning device and the rotation of the rear brush head. The rotating cleaning mechanism is used to control the rotation of the front brush head. The spraying mechanism is used to spray cleaning fluid onto the brush heads. The centering mechanism is used to ensure that the entire dual-brush head electric barrel cleaning device is concentric with the barrel. The camera module is used to detect the condition of the inner wall of the barrel. The multi-sensor mechanism is used to identify and limit the movement of the dual-brush head electric barrel cleaning device. This dual-brush head electric barrel cleaning device uses a motor as the drive source, adopts a wheel structure for movement, and uses a dual-motor control mode. It completes barrel wiping by rotating the front and rear brush heads, realizing wiping work in both axial and radial dimensions inside the barrel, achieving fully automated barrel wiping. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the dual-brush head electric tube cleaning device of this utility model;

[0028] Figure 2 This is a schematic diagram of the integrated walking and cleaning mechanism in this utility model;

[0029] Figure 3a This is a front sectional view of the walking mechanism structure in this utility model. Figure 3b This is a side view;

[0030] Figure 4 This is a schematic diagram of the tension adjustment mechanism in this utility model;

[0031] Figure 5a This is a front sectional view of the rear rotary cleaning mechanism structure in this utility model. Figure 5b This is a side view;

[0032] Figure 6 This is a schematic diagram of the rear line compartment assembly structure of this utility model;

[0033] Figure 7 This is a schematic diagram of the rotating cleaning mechanism in this utility model;

[0034] Figure 8 This is a schematic diagram of the front rotating mechanism in this utility model;

[0035] Figure 9a This is a front sectional view of the front gearbox structure in this utility model. Figure 9b This is a side view;

[0036] Figure 10 This is a schematic diagram of the spraying mechanism in this utility model;

[0037] Figure 11This is a schematic diagram of the camera module structure in this utility model;

[0038] Figure 12 This is a schematic diagram of the sensor mechanism arrangement in this utility model;

[0039] Figure 13 This is a schematic diagram of the centering mechanism in this utility model.

[0040] In the diagram: 1-Integrated walking and cleaning mechanism, 2-Rotating cleaning mechanism, 3-Spraying mechanism, 4-Camera module, 5-Sensing mechanism, 6-Centering mechanism, 7-Drive servo motor, 8-Walking mechanism, 9-Rear rotating cleaning mechanism, 10-Rear cable compartment assembly, 11-Rotating servo motor, 12-Front rotating mechanism, 13-Front brush head, 14-Spray nozzle, 15-Built-in infusion tube, 16-Pipe connector, 17-Front camera, 18-Camera module housing, 19-Front sensor mounting block, 20-Front cover, 21-Sensor mounting block, 22-Fixing knob, 23-Front connector, 24-Front sensor, 25-Rear sensor, 26-Front centering wheel assembly, 27-Rear walking centering wheel assembly, 28 - Walking gearbox housing, 29- Worm gear transmission assembly, 30- Tension adjustment mechanism, 31- Planetary gear transmission assembly, 32- Rear brush head bearing, 33- Rear brush head, 34- Motor drive shaft, 35- Rear cable compartment housing, 36- Rear cable compartment cover, 37- Rear sensor mounting block, 38- Aviation connector, 39- Front gearbox, 40- Gearbox cover, 41- Cable threading shaft, 42- Brush head shaft, 43- Front gearbox housing, 44- First gear, 45- Second gear, 46- Third gear, 47- Convex gear, 48- Gear shaft, 49- Convex gear bearing, 50- Tensioning arm, 51- Stud, 52- Spring, 53- Support wheel shaft, 54- Rotary arm fixed shaft, 55- Adjusting nut. Detailed Implementation

[0041] To make the objectives, contents, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0042] This embodiment proposes a dual-brush-head electric tube cleaning device, the overall structure of which is as follows: Figure 1 As shown, it mainly includes a walking cleaning integrated mechanism 1, a rotating cleaning mechanism 2, a spraying mechanism 3, a camera module 4, a sensing mechanism 5, and a centering mechanism 6.

[0043] The front end of the integrated walking cleaning mechanism 1 is connected to the rear end of the rotating cleaning mechanism 2 via bolts. The integrated walking cleaning mechanism 1 is used to simultaneously control the forward and backward movement of the dual-brush head electric tube cleaning device and the rotation of the rear brush head. The rotating cleaning mechanism 2 is used to control the rotation of the front brush head. The spraying mechanism 3 is installed inside both the integrated walking cleaning mechanism 1 and the rotating cleaning mechanism 2 to spray cleaning fluid onto the brush heads. The camera module 4 is installed at the front end of the rotating cleaning mechanism 2 to detect the condition of the inner wall of the tube. Multiple sensing mechanisms 5 are installed on the integrated walking cleaning mechanism 1 and the camera module 4 respectively by threaded connection, and are located at the front and rear ends of the dual-brush head electric tube cleaning device for identification and limiting. Multiple centering mechanisms 6 are installed on the integrated walking cleaning mechanism 1 and the rotating cleaning mechanism 2 respectively to ensure that the entire dual-brush head electric tube cleaning device is concentric with the tube.

[0044] like Figure 2 As shown, the integrated walking and cleaning mechanism 1 includes a drive servo motor 7, a walking mechanism 8, a rear rotating cleaning mechanism 9, and a rear cable tray assembly 10. The walking mechanism 8 is located between the servo drive motor 7 and the rear rotating cleaning mechanism 9, and the three are connected by screws. The drive servo motor 7 acts as a power source, transmitting torque rearward to drive the rotation of the walking mechanism 8 and the rear rotating cleaning mechanism 9. The rear cable tray assembly 10 is connected to the rear end of the rear rotating cleaning mechanism 9, i.e., the very end of the entire cleaning device, and is used for wiring harness organization and connector connection of the entire cleaning device.

[0045] like Figure 3a and 3b As shown, the traveling mechanism 8 includes a traveling gearbox housing 28, a worm gear transmission assembly 29, and a tension adjustment mechanism 30. The worm gear transmission assembly 29 is located inside the traveling gearbox housing 28 and is completely sealed, while the tension adjustment mechanism 30 is located outside the traveling gearbox housing 28.

[0046] The motor drive shaft 34 of the worm gear transmission assembly 29 is connected to the motor shaft of the drive servo motor 7 via screws, and the drive servo motor 7 drives the motor drive shaft 34 to rotate. Inside the travel gearbox housing 28, the worm is fixed to the outer circumference of the motor drive shaft 34 via a keyway connection. Two worm gears are respectively mounted inside the travel gearbox housing 28 via worm gear shafts, two transmission gears are respectively mounted inside the travel gearbox housing 28 via drive wheel shafts, and two drive wheels are mounted outside the travel gearbox housing 28 via corresponding drive wheel shafts. The worm simultaneously meshes with both worm gears, driving them to rotate. The two worm gears mesh with their corresponding transmission gears, which in turn drive the two drive wheels fixed on the drive wheel shafts to rotate, thus realizing the travel movement of the dual-brush head electric tube cleaning device.

[0047] like Figure 4As shown, the tension adjustment mechanism 30 includes a tension arm 50, a stud 51, a spring 52, a support wheel shaft 53, a rotating arm fixed shaft 54, and an adjusting nut 55.

[0048] The rear end of the tension arm 50 is fixed to the travel gearbox housing 28 via a rotating arm fixing shaft 54. The front end of the tension arm 50 has a through hole; a stud 51 is inserted into the through hole and a spring 52 passes through it. The front end of the stud 51 is threadedly fixed to the travel gearbox housing 28. The two ends of the spring 52 are respectively pressed against the tension arm 50 and the travel gearbox housing 28. Support wheels are mounted on the outside of the tension arm 50 via support wheel shafts 53, forming a three-wheel evenly distributed configuration together with the two sets of drive wheels. Two adjusting nuts 55 are installed at the rear end of the stud 51. By adjusting the tightness of the adjusting nuts 55, the spring 52 adjusts the pressure of the support wheels on the inner wall of the body tube to accommodate different body tube sizes.

[0049] like Figure 5a and 5b As shown, the rear rotating cleaning mechanism 9 includes a planetary gear transmission assembly 31, a rear brush head bearing 32, and a rear brush head 33. The motor drive shaft 34 in the walking mechanism 8 extends to its rearmost end and is fixedly connected to the planetary gear transmission assembly 31. The inner ring of the rear brush head bearing 32 is fitted onto the outside of the rear cable compartment housing 35 of the rear cable compartment assembly 10, and the outer ring of the rear brush head bearing 32 is connected to the outer gear ring of the planetary gear transmission assembly 31. The rear brush head 33 is fixed to the outer gear ring of the planetary gear transmission assembly 31 with screws. The rear rotating cleaning mechanism 9 shares a drive servo motor 7 and a motor drive shaft 34 with the walking mechanism 8, driving the rear brush head 33 to rotate.

[0050] like Figure 6 As shown, the aft cable compartment assembly 10 includes an aft cable compartment housing 35, an aft cable compartment cover 36, aft sensor mounting block 37, and a flight connector 38. The aft cable compartment cover 36 is bolted to the rear end of the cable compartment housing 35, and its internal space is used for cable routing. The flight connector 38 is fixed to the aft cable compartment cover 36, and the aft sensor mounting block 37 is used to fix the aft sensor 25 to the aft cable compartment housing 35.

[0051] like Figure 7 As shown, the rotating cleaning mechanism 2 includes a rotating servo motor 11, a front rotating mechanism 12, and a front brush head 13. The rotating servo motor 11 and the drive servo motor 7 are jointly installed in the middle area between the integrated walking cleaning mechanism 1 and the rotating cleaning mechanism 2. The front brush head 13 is fixedly installed on the brush head shaft 42 of the front rotating mechanism 12. The power generated by the rotating servo motor 11 drives the front brush head 13 to rotate through the front rotating mechanism 12, thereby achieving body tube cleaning.

[0052] like Figure 8As shown, the front rotation mechanism 12 includes a front gearbox 39, a gearbox cover plate 40, a threading shaft 41, and a brush head shaft 42. The front gearbox 39 and gearbox cover plate 40 are bolted together. The front rotation servo motor 11 is fixedly connected to the gears in the front gearbox 39. The convex gear 47 in the front gearbox 39 is fixedly connected to the brush head shaft 42. The brush head shaft 42 is fixedly connected to the front brush head 13, transmitting kinetic energy to the front brush head 13 to achieve rotation and complete the cleaning work. The threading shaft 41 is located inside the brush head shaft 42 and is connected via bearings. When the brush head shaft 42 rotates at high speed, the threading shaft 41 remains stationary, protecting the internal wiring.

[0053] like Figure 9a and 9b As shown, the front gearbox 39 includes a front gearbox housing 43, a first gear 44, a second gear 45, a third gear 46, a convex gear 47, a gear shaft 48, and a convex gear bearing 49. The first gear 44 is fixedly connected to the rotating shaft of the rotary servo motor 11 and is eccentrically positioned relative to the axis of the entire cleaning device. The second gear 45 meshes with the first gear 44, forming the first row of gears. The third gear 46 is coaxially mounted with the second gear 45 and meshes with the convex gear 47, which is located at the axis of the entire dual-brush head cleaning device, forming the second row of gears. The rotary servo motor 11 is installed in the motor compartment and is not concentric with the entire cleaning mechanism. Through the design of the double-layer gear in the front gearbox 39, the rotation center of the front gearbox 39 is adjusted from the offset rotary servo motor 11 to the axis of the convex gear 47 and the entire dual-brush head cleaning device. The cable threading shaft 41 is inserted in the middle of the convex gear 47 and connected by a bearing in the middle. The convex gear 47 rotates with the rotary servo motor 11. The cable threading shaft 41 is fixed to the front camera module 4. The cables of the front camera 17 and the front sensor 24 in the camera module 4 are led to the rear of the device through the center of the cable threading shaft 41.

[0054] like Figure 10 As shown, the spraying mechanism 3 has a built-in liquid spraying structure, including a nozzle 14, a built-in infusion tube 15, and a pipe connector 16. The nozzle 14 is embedded in the gearbox cover plate 40 of the front rotating mechanism 12, and the nozzle of the nozzle 14 faces the front brush head 13. The rear end of the nozzle 14 is connected to the built-in infusion tube 47. The built-in infusion tube 47 passes through the front rotating mechanism 12, the chamber containing the rotary servo motor 11 and the drive servo motor 7, as well as the integrated walking and cleaning mechanism 1, the rear rotating cleaning mechanism 9, and the rear line chamber assembly 10, and is finally fixedly connected to the pipe connector 16 installed on the rear line chamber assembly 10. The external liquid enters the built-in infusion tube 15 through the pipe connector 16 and is finally sprayed out from the front nozzle 14, with the sprayed liquid aimed at the front brush head 13.

[0055] like Figure 11As shown, the camera module 4 includes a front camera 17, a camera module housing 18, a front sensor mounting block 19, a front cover 20, a fixing knob 22, and a front navigation connector 23. The front camera 17 is mounted at the front end of the camera module housing 18, with its lens facing forward, and is used to acquire image information inside the tube. The front navigation connector 23 is mounted at the rear end of the camera module housing 18. The male and female connectors of the front navigation connector 23 are respectively mounted on the camera module housing 18 and the cable reel 41, and the fixing knob 22 is used to secure the front navigation connector 23.

[0056] like Figure 12 As shown, the sensing mechanism 5 includes a front sensor 24 and a rear sensor 25. The front sensor 24 is threaded onto the camera module housing 22 of the camera module 4, and the rear sensor 25 is threaded onto the rear housing 35 of the rear line compartment via a rear sensor mounting block 37. When the dual-brush head cleaning device travels to the foremost (rearmost) end of the tube, the sensor at that end extends out of the tube, while the sensor at the other end remains inside the tube. This identifies the position of the electric tube cleaning device and controls the drive servo motor 7 to reverse and change its direction of travel, thus enabling the cleaning device to move repeatedly within the tube.

[0057] like Figure 13 As shown, the centering mechanism 6 includes a front centering wheel assembly 26 and a rear centering wheel assembly 27. The front centering wheel assembly 26 includes three fixed rubber wheels, and the rear centering wheel assembly 27 consists of two sets of driving wheels and one set of support wheels. The rear centering wheel assembly 27 is mounted on the outer shell 28 of the traveling gearbox and the tension adjustment mechanism 30, while the front centering wheel assembly 26 is mounted on the gearbox cover plate 40, each employing a three-wheel evenly distributed structure.

[0058] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A dual-brush-head electric tube cleaning device, characterized in that, The dual-brush head electric tube cleaning device includes a walking and cleaning integrated mechanism, a rotating cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism; wherein... The front end of the walking cleaning integrated mechanism is connected to the rear end of the rotating cleaning mechanism. The walking cleaning integrated mechanism is used to simultaneously control the forward and backward movement of the dual-brush head electric tube cleaning device and the rotation of the rear brush head. The rotating cleaning mechanism is used to control the rotation of the front brush head. The spraying mechanism is installed inside both the walking cleaning integrated mechanism and the rotating cleaning mechanism, and is used to spray cleaning fluid onto the brush head. Multiple centering mechanisms are respectively installed on the walking and cleaning integrated mechanism and the rotating cleaning mechanism to ensure that the entire dual-brush head electric tube cleaning device is concentric with the tube. The camera module is installed at the front end of the rotating cleaning mechanism to detect the condition of the inner wall of the tube; multiple sensing mechanisms are respectively installed on the walking cleaning integrated mechanism and the camera module, and are located at the front and rear ends of the dual-brush head electric tube cleaning device to identify and limit the dual-brush head electric tube cleaning device.

2. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The integrated walking and cleaning mechanism includes a drive servo motor, a walking mechanism, a rear rotating cleaning mechanism, and a rear cable compartment assembly. The walking mechanism is located between the servo drive motor and the rear rotating cleaning mechanism. The drive servo motor serves as a power source to transmit torque backward, driving the walking mechanism and the rear rotating cleaning mechanism to rotate. The rear cable compartment assembly is connected to the rear end of the rear rotating cleaning mechanism and is used for wiring harness organization and connector connection of the entire cleaning device.

3. The dual-brush head electric tube cleaning device as described in claim 2, characterized in that, The traveling mechanism includes a traveling gearbox housing, a worm gear transmission assembly, and a tension adjustment mechanism; wherein... The worm gear transmission assembly is located inside the walking gearbox housing, while the tension adjustment mechanism is located outside the walking gearbox housing. The motor drive shaft of the worm gear transmission assembly is connected to the motor shaft of the drive servo motor, which drives the motor drive shaft to rotate. Inside the walking gearbox housing, the worm is fixed to the outer circumference of the motor drive shaft via a keyway connection. Two turbines are installed inside the walking gearbox housing via turbine shafts, two transmission gears are installed inside the walking gearbox housing via drive wheel shafts, and two drive wheels are installed outside the walking gearbox housing via corresponding drive wheel shafts. The worm simultaneously meshes with the two turbines, driving them to rotate. The two turbines mesh with their corresponding transmission gears, which in turn drive the two drive wheels fixed on the drive wheel shafts to rotate, thus realizing the walking motion of the dual-brush head electric tube cleaning device. The tension adjustment mechanism includes a tension arm, a stud, a spring, a support wheel axle, a rotating arm fixing shaft, and adjusting nuts. The rear end of the tension arm is fixed to the outer casing of the travel gearbox via the rotating arm fixing shaft. The front end of the tension arm has a through hole; the stud is inserted into the through hole and then the spring passes through it. The front end of the stud is threadedly fixed to the outer casing of the travel gearbox. The two ends of the spring are respectively pressed against the tension arm and the outer casing of the travel gearbox. The support wheel is mounted on the outside of the tension arm via the support wheel axle, forming a three-wheel evenly distributed configuration with the two sets of drive wheels. Two adjusting nuts are installed at the rear end of the stud. By adjusting the tightness of the adjusting nuts, the spring adjusts the pressure of the support wheel on the inner wall of the tube to accommodate different tube sizes. The rear rotating cleaning mechanism includes a planetary gear transmission assembly, a rear brush head bearing, and a rear brush head; wherein, the motor drive shaft in the walking mechanism extends to the rearmost end and is fixedly connected to the planetary gear transmission assembly; the inner ring of the rear brush head bearing is fitted outside the rear cable compartment housing of the rear cable compartment assembly, the outer ring of the rear brush head bearing is connected to the outer gear ring of the planetary gear transmission assembly, and the rear brush head is fixed on the outer gear ring of the planetary gear transmission assembly; the rear rotating cleaning mechanism and the walking mechanism share a drive servo motor and a motor drive shaft to drive the rear brush head to rotate; The aft wiring bay assembly includes an aft wiring bay shell, an aft wiring bay cover, and an aviation connector; wherein, the aft wiring bay cover is fixed to the rear end of the wiring bay shell, and the internal space is used for wiring; the aviation connector is fixed to the aft wiring bay cover.

4. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The rotating cleaning mechanism includes a rotating servo motor, a front rotating mechanism, and a front brush head. The rotating servo motor and the drive servo motor are installed together in the middle area of ​​the walking cleaning integrated mechanism and the rotating cleaning mechanism. The front brush head is fixedly installed on the brush head shaft of the front rotating mechanism. The power generated by the rotating servo motor drives the front brush head to rotate through the front rotating mechanism to achieve body tube cleaning.

5. The dual-brush head electric tube cleaning device as described in claim 4, characterized in that, The front rotation mechanism includes a front gearbox, a gearbox cover, a threading shaft, and a brush head shaft. The front gearbox is fixedly connected to the gearbox cover, the front rotation servo motor is fixedly connected to the gear in the front gearbox, the convex gear in the front gearbox is fixedly connected to the brush head shaft, and the brush head shaft is fixedly connected to the front brush head, transmitting kinetic energy to the front brush head to achieve rotation of the front brush head for cleaning. The threading shaft is located inside the brush head shaft and is connected via bearings. When the brush head shaft rotates at high speed, the threading shaft remains stationary to protect the internal wiring. The front gearbox includes a front gearbox housing, a first gear, a second gear, a third gear, a convex gear, a gear shaft, and a convex gear bearing. The first gear is fixedly connected to the rotating shaft of the rotary servo motor and is offset from the axis of the entire cleaning device. The second gear meshes with the first gear, forming the first row of gears. The third gear is coaxially mounted with the second gear and meshes with the convex gear, which is located at the axis of the entire dual-brush head cleaning device, forming the second row of gears. The rotary servo motor is installed in the motor housing and is not concentric with the entire cleaning mechanism. Through the double-layer gear design in the front gearbox, the rotation center of the front gearbox is adjusted from the offset rotary servo motor to the axis of the convex gear and the entire dual-brush head cleaning device. A threaded shaft passes through the middle of the convex gear, connected by a bearing. The convex gear rotates with the rotary servo motor. The threaded shaft is fixed to the front camera module. The cables of the front camera in the camera module and the front sensor in the sensing mechanism are led to the rear of the device through the center of the threaded shaft.

6. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The spraying mechanism is a built-in liquid spraying structure, including a nozzle, a built-in infusion pipe, and a pipe connector. The nozzle is embedded in the gearbox cover of the front rotating mechanism, with the nozzle opening facing the front brush head. The rear end of the nozzle is connected to the built-in infusion pipe. The built-in infusion pipe is connected to the pipe connector installed on the rear line chamber assembly through the front rotating mechanism, the rotating servo motor and the chamber housing the drive servo motor, the integrated walking and cleaning mechanism, the rear rotating cleaning mechanism, and the rear line chamber assembly. External liquid enters the built-in infusion pipe through the pipe connector and is finally sprayed out from the front nozzle, with the sprayed liquid aimed at the front brush head.

7. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The camera module includes a front camera, a camera module housing, a front sensor mounting block, a front cover, a fixing knob, and a front navigation connector. The front camera is mounted at the front end of the camera module housing with the lens facing forward, and is used to collect image information inside the tube. The front navigation connector is installed at the rear end of the camera module housing. The male and female connectors of the front navigation connector are respectively mounted on the camera module housing and the threading shaft of the rotating cleaning mechanism. The fixing knob is used to tighten the front navigation connector.

8. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The sensing mechanism includes a front sensor and a rear sensor. The front sensor is mounted on the camera module housing of the camera module, and the rear sensor is mounted on the rear housing housing via a rear sensor mounting block on the rear housing assembly. When the dual-brush head cleaning device travels to one end of the tube, the sensor at that end extends out of the tube, while the sensor at the other end is inside the tube. This identifies the position of the electric tube cleaning device and controls the drive servo motor to reverse to change the direction of travel, thereby enabling the cleaning device to move repeatedly inside the tube.

9. The dual-brush head electric tube cleaning device as described in claim 1, characterized in that, The centering mechanism includes a front centering wheel assembly and a rear centering wheel assembly; wherein, the front centering wheel assembly includes three fixed rubber wheels, the rear centering wheel assembly consists of two sets of driving wheels and one set of support wheels, the rear centering wheel assembly is mounted on the outer shell of the traveling gearbox and the tension adjustment mechanism, and the front centering wheel assembly is mounted on the gearbox cover plate, each adopting a three-wheel evenly distributed structure.

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