Pipe cleaning robot

Abstract

The application discloses a pipeline cleaning robot, which comprises a vehicle frame, a rotating shaft, wheels, a driving motor, a control host, a mechanical arm, a first clamp, a second clamp and a running motor. The rotating shaft is arranged on the vehicle frame in a rotating mode. The wheels are installed on the rotating shaft. The driving motor is arranged on the vehicle frame. The driving motor is directly or indirectly matched with the rotating shaft. The mechanical arm is arranged on the vehicle frame. The first clamp and the second clamp are both arranged on the mechanical arm in a rotating mode. The first clamp and the second clamp are matched with each other through gears. The running motor is arranged on the mechanical arm. The running motor is matched with the first clamp or the second clamp. A plurality of triangular pyramid-shaped spikes are arranged on the first clamp and the second clamp. The driving motor and the running motor are electrically connected with the control host.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline cleaning, in particular to a pipeline cleaning robot. BACKGROUND

[0002] Now many gases and liquids in industrial production are transported by pipeline, so many industrial parks or production plants are built with pipe network. Since the pipe network is formed by fixing several pipes (the pipes may be metal pipes or anti-corrosion and pressure-resistant plastic pipes) together, welding or heat fusion fixing process is needed in the process of splicing the pipes. Inevitably, some protruding blocks (may be welding slag or solidified plastic) are generated on the inner wall of the pipes during welding or heat fusion. Although the pipe network is cleaned by air blowing after being fixed and spliced, the protruding blocks in the pipes cannot be removed by air blowing. Subsequently, solid foreign matters contained in the liquid (or gas) will continuously adhere and accumulate at the protruding blocks when the pipe network transports liquid or gas, causing pipe blockage. SUMMARY

[0003] The present application proposes a pipeline cleaning robot aiming at the above problems.

[0004] The technical scheme adopted by the present application is as follows:

[0005] A pipeline cleaning robot, comprising a vehicle frame, a rotating shaft, a wheel, a driving motor, a control host, a mechanical arm, a first clamp, a second clamp and a running motor, the rotating shaft is rotatably arranged on the vehicle frame, the wheel is installed on the rotating shaft, the driving motor is arranged on the vehicle frame, the driving motor is directly or indirectly matched with the rotating shaft, the mechanical arm is arranged on the vehicle frame, the first clamp and the second clamp are both rotatably arranged on the mechanical arm, the first clamp and the second clamp are matched together through a gear, the running motor is arranged on the mechanical arm, the running motor is matched with the first clamp or the second clamp, a plurality of triangular pyramid-shaped spikes are arranged on the first clamp and the second clamp, and the driving motor and the running motor are electrically connected with the control host.

[0006] The cleaning robot is characterized in that wheels are installed on the frame, a driving motor on the frame is used to drive the wheels to rotate, when the whole robot is placed in a pipeline (a circular pipeline), the whole robot can move back and forth in the pipeline when the driving motor operates, when the whole robot moves to the vicinity of the protruding block, the control host controls the first clamp and the second clamp on the mechanical arm to stretch towards the protruding block, the protruding block is clamped by the first clamp and the second clamp, since the first clamp and the second clamp are provided with triangular pyramidal spikes, the triangular pyramidal spikes pierce into the protruding block, when the mechanical arm moves or the frame moves, the first clamp and the second clamp pull the protruding block, the protruding block is pulled off (i.e. a large protruding block attached to the inner wall of the pipeline becomes a small protruding block) or falls off the inner wall of the pipeline, so that the protruding block attached to the inner wall of the pipeline falls off or the volume of the protruding block attached to the inner wall of the pipeline becomes small, so that when the pipeline circulates liquid or gas, the probability of solid particles contained in the liquid or gas being attached to the inner wall of the pipeline is greatly reduced, and the probability of the pipeline being blocked is greatly reduced. The protruding block cleaning method of the pulling type does not rub the inner wall of the pipeline, which can maximize the prevention of wear and tear of the pipeline.

[0007] In summary, in the cleaning robot, the first clamp and the second clamp with triangular pyramidal spikes are installed on the mechanical arm, the protruding block is clamped by the first clamp and the second clamp and is pulled by the mechanical arm and the frame, so that the protruding block attached to the inner wall of the pipeline falls off or the volume of the protruding block attached to the inner wall of the pipeline becomes small, thereby reducing the probability of the pipeline being blocked during use.

[0008] Optionally, the cleaning robot further comprises a support and a rotating table, the rotating table is provided with a rotating motor, the shaft of the rotating motor is matched with the support, the rotating table is provided with a lamp bead and a camera, and the rotating motor, the lamp bead and the camera are electrically connected with the control host.

[0009] The rotating table can rotate on the support by the built-in rotating motor, when the rotating table rotates relative to the support (and the frame), the lamp bead and the camera on the rotating table also rotate together, so as to obtain picture information in all directions in the pipeline, and the picture information obtained by the camera is transmitted to the control host.

[0010] Optionally, the rotating shaft comprises a driving rotating shaft and a driven rotating shaft, the driving rotating shaft and the driven rotating shaft are both rotatably arranged on the frame, the shaft of the driving motor is matched with the driving rotating shaft, and the driving rotating shaft and the driven rotating shaft are in a parallel state.

[0011] Optionally, it also includes a connecting rod and an electric telescopic rod. The connecting rod is L-shaped, with one end of the connecting rod fixedly engaged with the drive shaft. The wheel is mounted on the other end of the connecting rod. A groove is formed on the connecting rod. One end of the electric telescopic rod is fixed to the frame, and the other end of the electric telescopic rod is located in the groove. The electric telescopic rod is electrically connected to the control host.

[0012] In this robot, the rotating shafts are divided into active and driven shafts. The active shaft works in conjunction with a drive motor, so when the drive motor runs, it drives the active shaft to rotate, thus moving the entire robot inside the pipe. Simultaneously, each end of the driven shaft is fixed with an L-shaped connecting rod, the other end of which is equipped with a wheel. An electric telescopic rod capable of extension and retraction is fixed to the frame. One end of the electric telescopic rod is located within a groove in the connecting rod, allowing it to slide within the groove. Therefore, when the electric telescopic rod extends or retracts, the entire frame tilts relative to the pipe's central axis, with the active shaft at the front and the driven shaft at the rear. When the electric telescopic rod extends, the entire frame is in a front-lower, rear-higher position; when the electric telescopic rod retracts, the entire frame is in a front-higher, rear-lower position. This flexible adjustment of the frame's tilt direction allows the robotic arm to better adapt to the working environment inside the pipe, facilitating the clamping of protrusions by the first and second grippers.

[0013] Optionally, the settling trough is square, the electric telescopic rod is cylindrical, and the width of the settling trough is equal to the diameter of the electric telescopic rod.

[0014] The width of the settling tank is equal to the diameter of the electric telescopic rod to prevent the electric telescopic rod from slipping out of the settling tank.

[0015] Optionally, it also includes an electromagnetic jet valve and an air tank, wherein the air tank is mounted on the vehicle frame, the electromagnetic jet valve is mounted on the vehicle frame, the air tank is connected to the electromagnetic jet valve, and the electromagnetic jet valve is electrically connected to the control host.

[0016] The purpose of setting up the electromagnetic jet valve and the air tank is to facilitate the release of gas into the pipeline when needed. For example, after working for a period of time, the electromagnetic jet valve opens one side, and the high-pressure gas in the air tank is released through the electromagnetic valve to form an airflow. The airflow can cool the battery and blow out the protrusions that have fallen off the inner wall of the pipeline.

[0017] Optionally, the frame is a square frame, the drive motor is located inside the frame, and the shaft of the drive motor is located outside the frame.

[0018] Optionally, the control host integrates a wireless communication module.

[0019] The built-in wireless communication module in the control host facilitates remote control of the entire robot when needed. However, the entire robot still requires an industrial computer for remote control from outside the pipeline; alternatively, a cable can be used to transmit signals between the industrial computer and the control host.

[0020] Optionally, it also includes a locking frame and a battery, wherein the locking frame is disposed on the vehicle frame and the battery is inserted and fixed inside the locking frame.

[0021] Optionally, the locking frame is a square locking frame, and the battery is a square battery.

[0022] The beneficial effects of this invention are: by installing a first clamp and a second clamp with triangular cone-shaped spikes on the robotic arm, when the first clamp and the second clamp clamp the protrusion, the robotic arm and the frame are used to drag it, causing the protrusion attached to the inner wall of the pipe to fall off or become smaller, thereby reducing the probability of blockage during the use of the pipeline network. Attached image description:

[0023] Figure 1 This is a simplified schematic diagram of a pipeline cleaning robot;

[0024] Figure 2 yes Figure 1 Enlarged view of point A in the middle;

[0025] Figure 3 yes Figure 1 Enlarged view of point B in the middle;

[0026] Figure 4 This is a schematic diagram showing the installation relationship of various components on the chassis.

[0027] The attached figures are labeled as follows: 1. Robotic arm; 2. Wheel; 3. Active shaft; 4. Clamping frame; 5. Air tank; 6. Frame; 7. Electromagnetic jet valve; 8. Driven shaft; 9. Motor; 10. Spike; 11. First clamp; 12. Second clamp; 13. Support; 14. Rotary table; 15. LED; 16. Camera; 17. Linkage rod; 1701. Tank; 18. Battery; 19. Drive motor; 20. Electric telescopic pole. Detailed implementation method:

[0028] The present invention will now be described in detail with reference to the accompanying drawings.

[0029] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4As shown, a pipeline cleaning robot includes a frame 6, a rotating shaft, wheels 2, a drive motor 19, a control host, a robotic arm 1, a first clamp 11, a second clamp 12, and a rotating motor 9. The rotating shaft is rotatably mounted on the frame 6, the wheels 2 are mounted on the rotating shaft, the drive motor 19 is mounted on the frame 6 and is directly or indirectly engaged with the rotating shaft, the robotic arm 1 is mounted on the frame 6, the first clamp 11 and the second clamp 12 are both rotatably mounted on the robotic arm 1 and are engaged with each other by gears, the rotating motor 9 is mounted on the robotic arm 1 and is engaged with either the first clamp 11 or the second clamp 12, the first clamp 11 and the second clamp 12 are provided with a plurality of triangular cone-shaped spikes 10, and both the drive motor 19 and the rotating motor 9 are electrically connected to the control host.

[0030] In this cleaning robot, wheels 2 are mounted on the frame 6. A drive motor 19 on the frame 6 drives the wheels 2 to rotate. When the entire robot is placed inside a pipe (a circular pipe), the drive motor 19 operates, allowing the robot to move back and forth within the pipe. When the robot moves near a protruding block, the control unit controls the first clamp 11 and the second clamp 12 on the robotic arm 1 to extend towards the protruding block, clamping it tightly. The first clamp 11 and the second clamp 12 are equipped with triangular cone-shaped tips. After the triangular cone-shaped spike 10 pierces the protruding block, when the robotic arm 1 or the frame 6 moves, the first clamp 11 and the second clamp 12 pull the protruding block, causing it to break (i.e., a large protruding block attached to the inner wall of the pipe becomes a small protruding block) or detach from the inner wall of the pipe. This allows the attached protruding blocks on the inner wall of the pipe to detach or reduce their size. Therefore, when liquids or gases flow through the pipe, the probability of solid particles contained in the liquid or gas adhering to the inner wall of the pipe is greatly reduced, significantly decreasing the probability of pipe blockage. This pull-type method of cleaning protruding blocks attached to the inner wall of the pipe does not rub against the inner wall of the pipe compared to abrasion, thus minimizing wear and tear on the pipe.

[0031] In summary, in this type of cleaning robot, by installing a first clamp 11 and a second clamp 12 with triangular cone-shaped spikes 10 on the robotic arm 1, when the first clamp 11 and the second clamp 12 clamp the protrusion, the robotic arm 1 and the frame 6 are used to drag it, causing the protrusion attached to the inner wall of the pipe to fall off or become smaller, thereby reducing the probability of blockage during the use of the pipeline.

[0032] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4As shown, it also includes a support 13 and a rotating platform 14. The rotating platform 14 has a built-in rotating motor, and the shaft of the rotating motor is engaged with the support 13. The rotating platform 14 is equipped with an LED bead 15 and a camera 16. The rotating motor, the LED bead 15 and the camera 16 are all electrically connected to the control host.

[0033] Specifically, the rotating platform 14 can rotate on the support 13 through a built-in rotating motor. When the rotating platform 14 rotates relative to the support 13 (and the frame 6), the LED beads 15 and the camera 16 on the rotating platform 14 will also rotate together, thereby obtaining image information from various directions inside the pipeline. The image information obtained by the camera 16 is transmitted to the control host.

[0034] It should be noted that the appendix Figure 1 Only two turntables are shown in the drawing, but there are actually multiple turntables installed in various corners of the chassis, with each turntable facing different corners to capture the image.

[0035] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, the rotating shaft includes a driving rotating shaft 3 and a driven rotating shaft 8. Both the driving rotating shaft 3 and the driven rotating shaft 8 are rotatably mounted on the frame 6. The shaft of the drive motor 19 is engaged with the driving rotating shaft 3, and the driving rotating shaft 3 and the driven rotating shaft 8 are in a parallel state.

[0036] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, it also includes a connecting rod 17 and an electric telescopic rod 20. The connecting rod 17 is an L-shaped connecting rod 17. One end of the connecting rod 17 is fixedly fitted with the active rotating shaft 3. The wheel 2 is installed on the other end of the connecting rod 17. A groove 1701 is opened on the connecting rod 17. One end of the electric telescopic rod 20 is fixed to the frame 6. The other end of the electric telescopic rod 20 is located in the groove 1701. The electric telescopic rod 20 is electrically connected to the control host.

[0037] In this robot, the rotating shaft is divided into an active rotating shaft 3 and a driven rotating shaft 8. The active rotating shaft 3 is connected to the drive motor 19. So when the drive motor 19 is running, it drives the active rotating shaft 3 to rotate. When the active rotating shaft 3 rotates, it drives the entire robot to move inside the pipe. Meanwhile, since each end of the driven shaft 8 is fixed with an L-shaped connecting rod 17, and the other end of the connecting rod 17 is equipped with a wheel 2, and an electric telescopic rod 20 that can perform telescopic operations is fixed on the frame 6, one end of the electric telescopic rod 20 is located in the groove 1701 of the connecting rod 17, and one end of the electric telescopic rod 20 can slide in the groove 1701, when the electric telescopic rod 20 is extended, the entire frame 6 can tilt relative to the central axis of the pipeline. The active shaft 3 is positioned in front and the driven shaft 8 is positioned in the rear. When the electric telescopic rod 20 is extended, the entire frame 6 is in a state of front bottom and rear high. When the electric telescopic rod 20 is shortened, the entire frame 6 is in a state of front high and rear bottom. This design of flexibly adjusting the tilt direction of the frame 6 can better adapt the robotic arm 1 to the working environment inside the pipeline, which is conducive to the first clamp 11 and the second clamp 12 clamping the protrusion.

[0038] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, the settling tank 1701 is a square settling tank 1701, and the electric telescopic rod 20 is a cylindrical electric telescopic rod 20. The width of the settling tank 1701 is equal to the diameter of the electric telescopic rod 20.

[0039] The width of the sink 1701 is equal to the diameter of the electric telescopic rod 20 to prevent the electric telescopic rod 20 from slipping out of the sink 1701.

[0040] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, it also includes an electromagnetic jet valve 7 and an air tank 5. The air tank 5 is mounted on the frame 6, and the electromagnetic jet valve 7 is mounted on the frame 6. The air tank 5 is connected to the electromagnetic jet valve 7, and the electromagnetic jet valve 7 is electrically connected to the control host.

[0041] The purpose of setting up the electromagnetic jet valve 7 and the air tank 5 is to facilitate the jetting of gas into the pipeline when needed. For example, after working for a period of time, the electromagnetic jet valve 7 opens one side, and the high-pressure gas in the air tank 5 is released through the electromagnetic valve to form an airflow. The airflow can cool down the battery 18 and blow out the protrusions that have fallen off the inner wall of the pipeline.

[0042] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4As shown, the frame 6 is a square frame 6, the drive motor 19 is located inside the frame 6, and the shaft of the drive motor 19 is located outside the frame 6.

[0043] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, the control host integrates a wireless communication module.

[0044] The built-in wireless communication module in the control host facilitates remote control of the entire robot when needed. However, the entire robot still requires an industrial computer for remote control from outside the pipeline; alternatively, a cable can be used to transmit signals between the industrial computer and the control host.

[0045] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 As shown, it also includes a retaining frame 4 and a battery 18. The retaining frame 4 is mounted on the frame 6, and the battery 18 is inserted and fixed inside the retaining frame 4.

[0046] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 Figure 1 Figure 2 Figure 3 Figure 4 As shown, the card holder 4 is a square card holder 4, and the battery 18 is a square battery 18.

[0047] This type of robot can also pick up bolts or grinding wheels that have fallen into pipes while moving.

[0048] The above description is merely a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent modifications made based on the content of the present invention specification, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present invention.

Claims

1. A pipeline cleaning robot, characterized in that, The system includes a frame, a pivot, wheels, a drive motor, a control unit, a robotic arm, a first clamp, a second clamp, and a rotating motor. The pivot is rotatably mounted on the frame, the wheels are mounted on the pivot, the drive motor is mounted on the frame and directly or indirectly engages with the pivot, the robotic arm is mounted on the frame, and both the first and second clamps are rotatably mounted on the robotic arm and are engaged with each other via gears, and the rotating motor is mounted on the robotic arm and engages with either the first or second clamp. The first and second clamps are provided with several triangular cone-shaped spikes, and both the drive motor and the rotating motor are electrically connected to the control unit. The rotating shaft includes a driving rotating shaft and a driven rotating shaft, both of which are rotatably mounted on the vehicle frame. The shaft of the drive motor is engaged with the driving rotating shaft, and the driving rotating shaft and the driven rotating shaft are in a parallel state. It also includes a connecting rod and an electric telescopic rod. The connecting rod is L-shaped. One end of the connecting rod is fixedly engaged with the driven shaft. The wheel is installed at the other end of the connecting rod. A groove is provided on the connecting rod. One end of the electric telescopic rod is fixed to the frame. The other end of the electric telescopic rod is located in the groove. The electric telescopic rod is electrically connected to the control host. After the triangular cone-shaped spikes pierce the protrusions attached to the inner wall of the pipe, when the robotic arm or the frame moves, the first and second clamps will pull the protrusions, causing them to break off or fall off the inner wall of the pipe. When the electric telescopic rod extends, the entire frame is in a state of being lower in the front and higher in the rear; when the electric telescopic rod retracts, the entire frame is in a state of being higher in the front and lower in the rear. When the electric telescopic rod extends or retracts, it can cause the entire frame to tilt relative to the central axis of the pipe.

2. The pipeline cleaning robot as described in claim 1, characterized in that, It also includes a support and a rotating platform. The rotating platform has a built-in rotating motor, and the shaft of the rotating motor is fitted together with the support. The rotating platform is equipped with LED beads and a camera. The rotating motor, LED beads, and camera are all electrically connected to the control host.

3. The pipeline cleaning robot as described in claim 1, characterized in that, The settling trough is square, and the electric telescopic rod is cylindrical. The width of the settling trough is equal to the diameter of the electric telescopic rod.

4. The pipeline cleaning robot as described in claim 1, characterized in that, It also includes an electromagnetic jet valve and an air tank, the air tank being mounted on the vehicle frame, the electromagnetic jet valve being mounted on the vehicle frame, the air tank being connected to the electromagnetic jet valve, and the electromagnetic jet valve being electrically connected to the control host.

5. The pipeline cleaning robot as described in claim 1, characterized in that, The frame is a square frame, the drive motor is located inside the frame, and the shaft of the drive motor is located outside the frame.

6. The pipeline cleaning robot as described in claim 1, characterized in that, The control host integrates a wireless communication module.

7. The pipeline cleaning robot as described in claim 1, characterized in that, It also includes a locking frame and a battery. The locking frame is mounted on the vehicle frame, and the battery is plugged into and fixed inside the locking frame.

8. The pipeline cleaning robot as described in claim 7, characterized in that, The locking frame is square, and the battery is square.

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