An adaptive pipe cleaning robot

Abstract

The present invention provides an adaptive pipe cleaning robot, comprising: a left body and a right body installed in parallel and at intervals, a left cleaning rocker arm arranged on the left side of the left body and a right cleaning rocker arm arranged on the right side of the right body, a left upper cleaning cross arm connected to the left cleaning rocker arm, a right upper cleaning cross arm connected to the right cleaning rocker arm, a dust collection module, a control and communication module arranged inside the left body and the right body, and a driving mechanism providing forward power to the left body and the right body; wherein the left body and the right body can undergo lateral telescopic movement, and the left cleaning rocker arm and the right cleaning rocker arm can undergo pitching movement relative to the left body and the right body to adapt to pipes of different sizes. According to the present invention, an adaptive pipe cleaning robot is provided that is automatically deformable, lightweight, deformable, can clean four sides of a rectangular pipe at the same time, has a built-in dust collection device, has low dust emission, and is highly efficient.

Description

Technical Field

[0001] The present invention relates to the field of mechanical equipment, and more particularly to an adaptive pipeline cleaning robot. Background Art

[0002] Pipe cleaning robots are mainly used for cleaning, sampling, and disinfection of air conditioning pipes. They are required to be lightweight and flexible in cleaning rectangular air conditioning pipes. Usually, air conditioning pipe cleaning devices use robots to carry brushes to dust the pipes, and then use high-power negative pressure vacuum cleaners to vacuum the pipes with large airflow. However, this method takes a long time to prepare on site, and the equipment is large and has poor portability. During operation, it mainly cleans two sides, and the equipment needs to be cleaned back and forth multiple times. The clean area and the unclean area are mixed, and the cleanliness and efficiency are poor. Summary of the invention

[0003] The purpose of the present invention is to provide an adaptive pipeline cleaning robot, so as to solve the problems of the pipeline cleaning robot in the prior art, such as long on-site preparation time, large equipment, poor portability, and poor cleaning efficiency and effect.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] Provided is an adaptive pipe cleaning robot, comprising: a left body and a right body installed in parallel and at intervals, a left cleaning rocker arm arranged on the left side of the left body and a right cleaning rocker arm arranged on the right side of the right body, a left upper cleaning cross arm connected to the left cleaning rocker arm, a right upper cleaning cross arm connected to the right cleaning rocker arm, a dust collection module, a control and communication module arranged inside the left body and the right body, and a driving mechanism connected to the left body and the right body and providing forward power thereto; wherein, lateral telescopic movement can occur between the left body and the right body, and the left cleaning rocker arm and the right cleaning rocker arm can undergo pitching movement relative to the left body and the right body, so as to adapt to pipes of different sizes.

[0006] According to a preferred solution of the present invention, the left body and the right body are connected by a first linear electric push rod, the upper left cleaning cross arm and the upper right cleaning cross arm are connected by a second linear electric push rod, and the lower left side of the left body, the lower right side of the right body, the upper left side of the upper left cleaning cross arm, and the upper right side of the upper right cleaning cross arm are respectively provided with inductive support wheels, and the inductive support wheels sense the touch of the pipeline and send signals to the control and communication module, thereby controlling the extension and retraction of the first and second linear electric push rods, thereby realizing automatic adaptive adjustment of the pipeline width by the pipeline cleaning robot.

[0007] According to a preferred solution of the present invention, the adaptive pipe cleaning robot further comprises a left connecting rod extending in parallel with the left cleaning rocker arm and a right connecting rod extending in parallel with the right cleaning rocker arm, the left cleaning rocker arm and the left connecting rod are connected by a tension spring, the right cleaning rocker arm and the right connecting rod are connected by a tension spring, the left body, the left cleaning rocker arm, the left connecting rod and the upper left cleaning cross arm always form a parallelogram structure for pitching motion, the right body, the right cleaning rocker arm, the right connecting rod and the upper right cleaning cross arm always form a parallelogram structure for pitching motion, thereby realizing automatic adaptive adjustment of the pipe height by the pipe cleaning robot.

[0008] According to a preferred solution of the present invention, rotating side brushes are provided above and below the left cleaning rocker arm and the right cleaning rocker arm, a side roller brush is provided in the middle of the side, an upper roller brush is provided on the upper surface of the left upper cleaning cross arm and the right upper cleaning cross arm, and a lower roller brush is provided on the bottom of the left body and the right body. The rotating side brush, side roller brush, upper roller brush and lower roller brush rotate when driven by their respective motors to achieve comprehensive cleaning of the inner wall of the pipe.

[0009] According to a preferred embodiment of the present invention, the rotary side brush is connected to the rotating shaft of the side brush motor, the side roller brush is connected to the rotating shaft of the side roller brush motor, and the lower roller brush is connected to the lower roller brush motor.

[0010] Preferably, the lower roller brushes at the bottom of the left vehicle body and the right vehicle body are arranged alternately.

[0011] According to a preferred solution of the present invention, the dust suction module includes: a dust box arranged inside the left body and the right body, a centrifugal fan connected to the dust box at the upper rear, an air duct connected to the dust box at the front, the lower roller brush is arranged adjacent to the air duct, and the dust box collects dust under the rotation of the centrifugal fan.

[0012] According to a preferred embodiment of the present invention, a filter is provided in the dust box, an air outlet is provided at the rear of the centrifugal fan, and a scraper is provided at the rear and lower part of the lower roller brush.

[0013] According to a preferred embodiment of the present invention, the adaptive pipe cleaning robot also includes a front lighting, a front camera, and a battery installed at the front end of the left body or the right body, and a rear camera installed at the rear end of the upper left cleaning arm or the upper right cleaning arm.

[0014] Preferably, the driving mechanism is a traction cable drum or a traction trolley.

[0015] An adaptive pipe cleaning robot provided by the present invention is creative mainly in that lateral telescopic movement can occur between the left body and the right body, and the left cleaning rocker arm and the right cleaning rocker arm can perform pitch movement relative to the left body and the right body, thereby providing an adaptive pipe cleaning robot that can adapt to different pipe diameters through its own deformation structure.

[0016] In summary, the present invention provides an adaptive pipe cleaning robot which is automatically deformable, compact, lightweight, can clean four sides of a rectangular pipe simultaneously, has a built-in dust collection device, generates low dust, and has high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a front oblique view of an adaptive pipeline cleaning robot in a fully deployed state according to a preferred embodiment of the present invention;

[0018] Figure 2 is a schematic structural diagram of an adaptive pipeline cleaning robot in a fully deployed state according to a preferred embodiment of the present invention;

[0019] Figure 3 It is a structural schematic diagram of a left dust collection module of an adaptive pipe cleaning robot according to a preferred embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of the rear structure of an adaptive pipe cleaning robot according to a preferred embodiment of the present invention;

[0021] Figure 5 It is a structural schematic diagram of a right dust collection module of an adaptive pipe cleaning robot according to a preferred embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of a fully retracted state of an adaptive pipe cleaning robot according to a preferred embodiment of the present invention;

[0023] Among them, 1. rotating side brush, 2. induction support wheel, 3. left cleaning rocker arm, 4. side brush motor, 5. left connecting rod, 6. upper left cleaning cross arm, 7. first linear electric push rod, 7', second linear electric push rod, 8. upper roller brush, 9. upper right cleaning cross arm, 10. right cleaning rocker arm, 11. right connecting rod, 12. front lighting, 13. battery, 14. left body, 15. front camera, 16. right body, 17. left dust suction module, 18. control and communication module, 19. side roller brush, 20. right dust suction module, 21. centrifugal fan, 22. filter, 23. dust collection box, 24. scraper, 25. air duct, 26. roller brush motor, 27. pulley set, 28. lower roller brush, 29. tension spring, 30. air outlet, 31. rear camera. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with specific examples. It should be understood that the following examples are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0025] Combination Figure 1 to Figure 6 As shown, an adaptive pipe cleaning robot according to a preferred embodiment of the present invention comprises a left body 14 and a right body 16 installed in parallel and at intervals, a left cleaning rocker arm 3 arranged on the left side of the left body 14 and a right cleaning rocker arm 10 arranged on the right side of the right body 16, a left upper cleaning cross arm 6 connected to the left cleaning rocker arm 3, a right upper cleaning cross arm 9 connected to the right cleaning rocker arm 10, a dust collection module, a control and communication module 18 arranged inside the left body 14 and the right body 16, and a driving mechanism (not shown in the figure) for providing forward power to the left body 14 and the right body 16; wherein, lateral telescopic movement can occur between the left body 14 and the right body 16, and the left cleaning rocker arm 3 and the right cleaning rocker arm 10 can undergo pitching movement relative to the left body 14 and the right body 16, thereby adapting to pipes of different sizes.

[0026] According to the preferred embodiment, Figure 1 As shown, the left vehicle body 14 and the right vehicle body 16 are connected by a first linear electric push rod 7, and the upper left cleaning cross arm 6 and the upper right cleaning cross arm 9 are connected by a second linear electric push rod 7'. The lower left side of the left vehicle body 14, the lower right side of the right vehicle body 16, the upper left side of the upper left cleaning cross arm 6, and the upper right side of the upper right cleaning cross arm 9 are respectively provided with an inductive support wheel 2. The inductive support wheel 2 senses the touch of the pipeline and sends a signal to the control and communication module 18, thereby controlling the extension and retraction of the first and second linear electric push rods 7, 7', and driving the left vehicle body 14 and the right vehicle body 16 to move toward or away from each other, as well as the upper left cleaning cross arm 6 and the upper right cleaning cross arm 9 to move toward or away from each other, thereby realizing automatic adaptive adjustment of the pipeline width by the pipeline cleaning robot.

[0027] Specifically, Figure 1 As shown, the left vehicle body 14 is mounted on the left end of the first linear electric push rod 7, and the right vehicle body 16 is mounted on the right end of the first linear electric push rod 7; the two ends of the second linear electric push rod 7' are respectively connected to the inner side of the left upper cleaning cross arm 6 and the inner side of the right upper cleaning cross arm 9. Figure 2 As shown, two inductive support wheels 2 are installed on the lower left side of the left vehicle body 14, and two inductive support wheels 2 are installed on the lower right side of the right vehicle body 16; an inductive support wheel 2 is installed on the upper left side of the upper left cleaning cross arm 6, and an inductive support wheel 2 is installed on the upper right side of the upper right cleaning cross arm 9.

[0028] According to the preferred embodiment, Figure 1As shown, the adaptive pipeline cleaning robot also includes a left connecting rod 5 extending parallel to the left cleaning rocker arm 3 and a right connecting rod 11 extending parallel to the right cleaning rocker arm 10. The left cleaning rocker arm 3 is connected to the left connecting rod 5 by a tension spring 29, and the right cleaning rocker arm 10 is also connected to the right connecting rod 11 by a tension spring 29. When the left cleaning rocker arm 3 and the right cleaning rocker arm 10 perform pitching motion, the left body 14, the left cleaning rocker arm 3, the left connecting rod 5 and the upper left cleaning cross arm 6 always form a parallelogram structure, and the right body 16, the right cleaning rocker arm 10, the right connecting rod 11 and the upper right cleaning cross arm 9 always form a parallelogram structure, thereby realizing the automatic adaptive adjustment of the pipeline height by the pipeline cleaning robot.

[0029] Specifically, the left vehicle body 14 is connected to the lower end of the left cleaning rocker arm 3 and the lower end of the left connecting rod 5; the right vehicle body 16 is connected to the lower end of the right cleaning rocker arm 10 and the lower end of the right connecting rod 11. The upper end of the left cleaning rocker arm 3 and the upper end of the left connecting rod 5 are connected to the left upper cleaning cross arm 6, and the upper end of the right cleaning rocker arm 10 and the upper end of the right connecting rod 11 are connected to the right upper cleaning cross arm 9.

[0030] According to this preferred embodiment, a rotating side brush 1 is provided above and below the left cleaning rocker arm 3 and the right cleaning rocker arm 10, a side roller brush 19 is provided in the middle of the side, an upper roller brush 8 is provided on the upper surface of the left upper cleaning cross arm 6 and the right upper cleaning cross arm 9, and a lower roller brush 28 is provided at the bottom of the left body 14 and the right body 16. The rotating side brush 1, the side roller brush 19, the upper roller brush 8, and the lower roller brush 28 rotate when driven by their respective motors to achieve comprehensive cleaning of the inner wall of the pipeline.

[0031] Specifically, the side brush motor 4 is installed at the upper and lower ends of the left cleaning rocker arm 3, and the rotating shaft of the side brush motor 4 is connected to the rotating side brush 1. The side roller brush 19 is installed in the middle of the left cleaning rocker arm 3, and the rotating shaft of the roller brush motor 26 is connected to the side roller brush 19. The side brush motor 4 is installed at both ends of the right cleaning rocker arm 10, and the rotating shaft of the side brush motor 4 is connected to the rotating side brush 1. The side roller brush 19 is installed in the middle of the right cleaning rocker arm 10, and the roller brush motor 26 is connected to the side roller brush 19. The roller brush motor 26 is fixed above the lower roller brush 28 and is connected for transmission through a pulley set 27. The upper roller brush 8 is installed on the upper right side of the upper left cleaning cross arm 6, and the upper roller brush 8 is installed on the upper left side of the upper right cleaning cross arm 9.

[0032] According to the preferred embodiment, the lower roller brushes 28 at the bottom of the left vehicle body 14 and the right vehicle body 16 are arranged alternately.

[0033] According to the preferred embodiment, the left dust suction module 17 is installed inside the left vehicle body 14, and the right dust suction module 20 is installed inside the right vehicle body 16. The structure of the left dust suction module 17 is the same as that of the right dust suction module 20. Figure 3The left dust suction module 17 includes: a dust box 23 arranged inside the left vehicle body 14, a centrifugal fan 21 connected to the dust box 23 at the upper rear, an air duct 25 connected to the dust box 23 at the front, and the air duct 25 is arranged adjacent to the lower roller brush 28. Under the rotation of the centrifugal fan 21, the dust box 23 collects dust.

[0034] According to the preferred embodiment, the upper left cleaning cross arm 6, the upper right cleaning cross arm 9, the left cleaning rocker arm 3, and the right cleaning rocker arm 10 all have hollow air ducts, and the upper roller brush 8 and the side roller brush 19 are connected to the dust box 23 in the vehicle body through these air ducts, so the side and top dust collection principle is the same as the lower roller brush dust collection principle.

[0035] According to the preferred embodiment, a filter screen 22 is provided in the dust box 23, and an air outlet 30 is provided behind the centrifugal fan 21 (see Figure 4 ), a scraper strip 24 is also provided at the lower rear of the lower roller brush 28.

[0036] According to this preferred embodiment, the driving mechanism may be a traction cable drum or a traction trolley to provide forward power for the left vehicle body 14 and the right vehicle body 16 .

[0037] According to the preferred embodiment, the front lighting 12, the front camera 15 and the battery 13 are installed in front of the left vehicle body 14, the control and communication module 18 is fixed to the front end of the right vehicle body 16, and the rear camera 31 is installed at the rear of the upper left cleaning cross arm 6.

[0038] According to the above preferred embodiment, an adaptive pipeline cleaning robot is provided, and its working principle is described as follows:

[0039] The inductive support wheel 2 senses the touch of the pipeline and sends a signal to the control and communication module 18. By controlling the extension and retraction of the first and second linear electric push rods 7, 7', the left body 14 and the right body 16 are separated or closed, so that the robot can automatically adapt to the width of the pipeline; the lower roller brushes 28 at the bottom of the left body 14 and the right body 16 are arranged in an alternating manner, and the rotating side brush 1 is combined with the lower roller brush 28 to cover the width area of ​​the bottom surface of the pipeline for dust brushing; during the cleaning process, the centrifugal fan 21 rotates at a high speed to generate negative pressure in the dust box 23, and the raised dust enters the dust box 23 through the air duct 25, and is filtered by the filter 22, and the dust is retained in the dust box. 23, clean air is discharged through the air outlet 30; the right cleaning rocker arm 10 and the left cleaning rocker arm 3 follow the vehicle body to move to the side wall of the pipe, so that the rotating side brush 1 and the side roller brush 19 can cover the full height area of ​​the pipe for cleaning. The right vehicle body 16, the right cleaning rocker arm 10, the right connecting rod 11 and the upper right cleaning cross arm 9 form a parallelogram structure, so that when the right cleaning rocker arm 10 pitches to adapt to the height of the pipe, the upper right cleaning cross arm 9 and the vehicle body are always parallel, and the upper left cleaning cross arm 6 and the vehicle body are always parallel. The principle is the same as the left side, so that the upper roller brush 8 and the rotating side brush 1 can cover the width area of ​​the top surface of the pipe for cleaning. The upper roller brush 8 and the side roller brush 19 are connected to the dust box 23 in the vehicle body through the air duct of the hollow structure of the upper left cleaning cross arm 6, the upper right cleaning cross arm 9, the left cleaning rocker arm 3 and the right cleaning rocker arm 10, so the side and top dust collection principle is the same as the lower roller brush dust collection principle.

[0040] The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above embodiments of the present invention can also be modified in various ways. All simple, equivalent changes and modifications made according to the claims and the description of the present invention fall within the scope of protection of the claims of the present invention. The contents not described in detail in the present invention are all conventional technical contents.

Claims

1. An adaptive pipeline cleaning robot, characterized in that: include: A left body and a right body installed in parallel and at intervals, a left cleaning rocker arm arranged on the left side of the left body and a right cleaning rocker arm arranged on the right side of the right body, a left upper cleaning cross arm connected to the left cleaning rocker arm, a right upper cleaning cross arm connected to the right cleaning rocker arm, a dust collection module, a control and communication module arranged inside the left body and the right body, and a driving mechanism providing forward power to the left body and the right body; wherein the left body and the right body can undergo lateral telescopic movement, and the left cleaning rocker arm and the right cleaning rocker arm can undergo pitching movement relative to the left body and the right body to adapt to pipes of different sizes; The left car body and the right car body are connected by a first linear electric push rod, the left upper cleaning cross arm and the right upper cleaning cross arm are connected by a second linear electric push rod, and the lower left side of the left car body, the lower right side of the right car body, the upper left side of the left upper cleaning cross arm, and the upper right side of the right upper cleaning cross arm are respectively provided with inductive support wheels, and the inductive support wheels sense the touch of the pipeline and send signals to the control and communication module to control the extension and retraction of the first and second linear electric push rods and then drive the left car body and the right car body to move, so as to realize the automatic adaptive adjustment of the pipeline width by the pipeline cleaning robot; It also includes a left connecting rod extending parallel to the left cleaning rocker arm and a right connecting rod extending parallel to the right cleaning rocker arm. The left cleaning rocker arm and the left connecting rod are connected by a tension spring, and the right cleaning rocker arm and the right connecting rod are connected by a tension spring. When the left cleaning rocker arm and the right cleaning rocker arm perform pitching motion, the left body, the left cleaning rocker arm, the left connecting rod and the upper left cleaning cross arm always form a parallelogram structure, and the right body, the right cleaning rocker arm, the right connecting rod and the upper right cleaning cross arm always form a parallelogram structure, so as to realize automatic adaptive adjustment of the pipeline height by the pipeline cleaning robot.

2. The adaptive pipe cleaning robot according to claim 1, characterized in that: Rotating side brushes are provided above and below the left cleaning rocker arm and the right cleaning rocker arm, side roller brushes are provided in the middle of the sides of the left cleaning rocker arm and the right cleaning rocker arm, upper roller brushes are provided on the upper surfaces of the left upper cleaning cross arm and the right upper cleaning cross arm, and lower roller brushes are provided on the bottoms of the left and right car bodies. The rotating side brushes, side roller brushes, upper roller brushes and lower roller brushes rotate when driven by their respective motors to achieve comprehensive cleaning of the inner wall of the pipeline.

3. The adaptive pipe cleaning robot according to claim 2, characterized in that: The rotary side brush is connected to the rotating shaft of the side brush motor, the side roller brush is connected to the rotating shaft of the side roller brush motor, and the lower roller brush is connected to the lower roller brush motor.

4. The adaptive pipe cleaning robot according to claim 2, characterized in that: The lower roller brushes at the bottom of the left vehicle body and the bottom of the right vehicle body are arranged alternately.

5. The adaptive pipe cleaning robot according to claim 2, characterized in that: The dust suction module includes: a dust box arranged inside the left and right car bodies, a centrifugal fan connected to the dust box at the upper rear, and an air duct connected to the dust box at the front, wherein the air duct is arranged adjacent to the lower roller brush, and the dust box collects dust under the rotation of the centrifugal fan.

6. The adaptive pipe cleaning robot according to claim 5, characterized in that: A filter screen is arranged in the dust collecting box, an air outlet is arranged at the rear of the centrifugal fan, and a scraper strip is arranged at the rear lower part of the lower roller brush.

7. The adaptive pipe cleaning robot according to claim 1, characterized in that: The utility model also includes a front lighting lamp, a front camera, and a battery installed at the front end of the left vehicle body or the right vehicle body, and a rear camera installed at the rear end of the left upper cleaning cross arm or the right upper cleaning cross arm.

8. The adaptive pipe cleaning robot according to claim 1, characterized in that: The driving mechanism is a traction cable drum or a traction trolley.

Images