Robot component and pipeline flushing robot using the same

Abstract

The present disclosure relates to a robot component and a pipeline flushing robot applying the same. The components applied by the pipeline flushing robot include an active posture adjustment mechanism, a cam anchoring mechanism, and a cleaning mechanism; the active posture adjustment mechanism includes a steering part and a stabilizing part; the cleaning mechanism is used to realize the telescopic movement of the cleaning brush and the selection of the brush head, can clean pipelines with different diameters, can select different cleaning brush heads and chemical spray nozzles, and clean pipelines with different oil stains; the cam anchoring mechanism can anchor the robot at the working position under the drive of the anchoring motor; after the robot is equipped with a camera, it can collect and feedback images inside the pipeline, so as to realize the optimized control of the cleaning mechanism. The pipeline flushing robot provided by the present disclosure adopts a cam-anchored active posture adjustment structure, can complete the automatic flushing of pipeline dirt, can effectively reduce the labor intensity of workers, and ensure the flushing quality.

Description

Technical Field

[0001] The present disclosure relates to a cam-anchored active attitude adjustment pipeline flushing robot, belonging to the field of pipeline robots, and is particularly applicable to oilfield water supply or oil supply and urban water supply pipelines. Background Art

[0002] The main transportation objects of oilfield oil supply and urban water supply pipelines are fluids and gases, such as oil, natural gas, tap water, and sewage. Due to the special nature of the transported items in the pipeline, the pipeline requires excellent sealing performance. And in order not to affect normal work, most pipelines are buried underground, and some are placed on the ground, which makes it very difficult to detect and maintain the pipeline. Once an accident such as blockage or leakage occurs in the oilfield pipeline, it will not only affect the normal work of the oilfield, but also the leakage will have a great impact on the environment, resulting in serious consequences, causing great economic losses and threatening personal safety and health. In order to avoid such accidents, regular inspection and maintenance of pipelines are essential. Due to the nature of the pipeline itself, it is extremely difficult to maintain and clean it manually, with low efficiency and high labor intensity for workers. CN 113426777 A discloses a pipeline cleaning device, but the traveling mechanism in this pipeline cleaning device can only slide along the pipeline and cannot adjust the direction arbitrarily. Moreover, in this solution, a rotatable flushing head is used to flush the dirt on the inner wall of the pipeline, which is difficult to adapt to pipelines with different diameters and different degrees of stains. Summary of the Invention

[0003] The present disclosure provides a robot component and a pipeline flushing robot applying the same, which can solve the technical problems pointed out in the background art.

[0004] The robot component described in the present disclosure includes an active attitude adjustment mechanism, and the active attitude adjustment mechanism includes a housing 1, a single propeller 3, a propeller gasket 4, a screw 5, a slide rail 26, a counterweight 27, and a propeller motor 41; wherein, the propeller gasket 4 and the screw 5 cooperate to axially position the single propeller 3, and the propeller motor drives the single propeller 3 to rotate, thereby realizing the control of the robot's steering; a concave groove is provided on the counterweight 27, and the concave groove can be fitted on the slide rail 26, and the counterweight 27 can freely slide on the slide rail 26 to timely adjust the center of gravity of the robot and ensure that the robot will not flip during the movement process; the slide rail adopts an arc-shaped convex groove structure and can be installed on the housing 25.

[0005] Furthermore, the component further includes a cleaning mechanism;

[0006] The cleaning mechanism includes a first cleaning pulley 7, a first turntable motor 8, a first cleaning belt 9, a first cleaning brush 10, a first circular turntable 11, a support rod 12, a straight rack 13, a second cleaning brush 14, a chemical agent spray head 15, a second circular turntable 16, a second cleaning belt 17, a second turntable motor 18, a second cleaning pulley 19, a straight rack motor 20, a cleaning mechanism sleeve 21, a cleaning mechanism slider 22, a bearing 23, and a transmission shaft 24.

[0007] Among them, the first turntable motor 8 is fixedly connected to the housing 1 by screws so that it will not move during operation; the first turntable motor 8 drives the first cleaning pulley 7, and the first cleaning pulley 7 drives the first cleaning belt 9 to rotate, thereby driving the first circular turntable 11 to rotate through belt transmission; a chute is provided in the first circular turntable 11; the head of the support rod 12 is connected to the cleaning mechanism slider 22 by a pin, the left end of the cleaning mechanism slider 22 is nested in the chute of the first circular turntable 11, the top end of the cleaning mechanism slider 22 is connected to the first cleaning brush by a pin, and the bottom end of the support rod 12 is connected to the cleaning mechanism sleeve 21 by a pin and a bolt; the cleaning mechanism sleeve 21 is connected to the outer ring of the bearing 23 by interference fit.

[0008] The first circular turntable 11 drives the first cleaning brush 10 to rotate to complete the brushing work. The first circular turntable 11 transmits the radial rotation torque to the support rod 12 through the groove, thereby driving the cleaning mechanism sleeve 21 to rotate, realizing the cleaning of the light stain area.

[0009] A chute is provided in the second circular turntable 16. The head of the support rod 12 is connected to the cleaning mechanism slider 22 by a pin. The right end of the cleaning mechanism slider 22 is nested in the chute of the second circular turntable 16, and the top end of the cleaning mechanism slider 22 is connected to the second cleaning brush 14 by a pin; the bottom end of the support rod 12 is connected to the cleaning mechanism sleeve 21 by a pin and a bolt; the cleaning mechanism sleeve 21 is connected to the outer ring of the bearing 23 by interference fit. The second turntable motor 18 is fixedly connected to the housing 25 by screws so that it will not move during operation.

[0010] The second turntable motor 18 drives the second cleaning pulley 19, and the second cleaning pulley 19 drives the second cleaning belt 17 to rotate, thereby driving the second circular turntable 16 to rotate through belt transmission. The second circular turntable 16 drives the second cleaning brush 14 to rotate to complete the brushing work. The second circular turntable 16 will transmit the radial rotation torque to the support rod 12 through the groove, thereby driving the cleaning mechanism sleeve 21 to rotate, realizing the cleaning of the heavy stain area:

[0011] There is a bearing connection between the sleeve 21 and the transmission shaft 24. An axle shoulder is provided on the transmission shaft 24 to realize the axial positioning of the bearing, so that the cleaning mechanism sleeve 21 rotates while the straight rack 13 does not rotate;

[0012] The spur rack motor 20 can be fixed on the housing 25.

[0013] The cleaning mechanism further includes a chemical agent spray head 15 which is fixed on the second circular turntable 15 and is used for spraying chemical agents.

[0014] Further, the assembly further includes a camera 2. Under the control of the built-in program, the camera judges whether the cleaning area is a light stain area or a heavy stain area, and controls the forward and reverse rotation of the cleaning motor to control the forward or backward movement of the spur rack to select the cleaning brush head; the amount of extension of the cleaning brush controlled by the built-in program is determined by the pipe diameter, and by adjusting the extension amount of the cleaning brush, it can adapt to different pipe diameters.

[0015] The support rod 12 pushes the cleaning mechanism slider 22 to move outward from the rectangular groove of the circular turntable to the outside of the flushing robot, that is, pushes the cleaning brush to extend outward, thus completing the process of the cleaning brush extending.

[0016] A keyway is provided on the spur rack 13, and it is connected to the transmission shaft 24 through a wedge key, and the axial and radial positioning of the spur rack 13 is realized through the cooperation of the shaft shoulder and the wedge key.

[0017] Further, the assembly further includes a cam anchoring mechanism.

[0018] The cam anchoring mechanism includes an anchoring rotating shaft 28, a first base 29, a second base 30, a second belt 31, a second pulley 32, an anchoring motor 33, a washer 34, an anchoring bearing 35, an anchoring cam 36, an anchoring support leg 37, a nut 38, a bolt 39 and a bottom cover 40.

[0019] Among them, the anchoring motor 33 is fixed on the bottom cover 40 to provide the power required by the anchoring mechanism, and the anchoring rotating shaft 28 is rotated through the second belt drive; when the anchoring rotating shaft 28 drives the anchoring cam 36 to rotate, it pushes the left and right two anchoring support legs 37 to extend outward until they are fully extended. At the same time, an anchoring bearing 35 and a washer 34 are also installed on the anchoring rotating shaft 28, and the washer 34 is used for axial positioning of the anchoring bearing 35. The robot is kept stationary through the friction force between the top of the anchoring support leg 37 and the inner wall of the pipeline, thus completing the anchoring.

[0020] The first base 29 is connected to the housing 25, and the second base 30 is connected to the bottom cover 40 by bolts and nuts; the cleaning mechanism is located in the middle of the housing 25, and the first circular turntable 11 is connected to the outer shell 1 through a connecting sleeve 6 and then sleeved in the housing 25.

[0021] Applying the foregoing assembly and a single-chip microcomputer controller, a pipeline flushing robot is constructed.

[0022] The housing 25 serves as the main frame of the pipeline flushing robot. The front end of the housing is connected to the active posture adjustment mechanism, and the rear end is connected to the cam anchoring mechanism. Grooves are provided around the housing for placing the cleaning brushes of the cleaning mechanism.

[0023] The camera 2 can collect images of the inner wall environment of the pipeline in real time and feedback information to the single-chip microcomputer controller wirelessly.

[0024] The control system of the single-chip microcomputer controller adopts a distributed control structure, and realizes two-way information transmission with the remote computer through a wireless module. It aggregates and packs the image information collected by the camera and transmits it to the upper computer, and receives the instructions issued by the staff.

[0025] All the motors used in the pipeline flushing robot are powered by batteries.

[0026] The single-chip microcomputer controller has a built-in program to control the path of the robot as follows:

[0027] The control system of the robot adopts a distributed control structure, and the remote computer and the single-chip microcomputer controller cooperate through a wireless module. The data interaction between the robot and the remote control center is based on stable remote communication. The single-chip microcomputer, as the total controller of the underlying hardware system, aggregates and packs the image information collected by the camera and transmits it to the upper computer. After processing the information, it is convenient for the staff to issue instructions. After the instructions are issued, the single-chip microcomputer receives the control signals sent by the upper computer in real time, parses the signals into motor drive signals to make the drive motors operate, and all the motors used in this pipeline flushing robot are powered by batteries, thereby controlling the movement of the pipeline robot.

[0028] The specific control method is as follows:

[0029] The user turns on the control interface, reads the robot parameter configuration file, turns on the camera after entering the pipeline, and judges whether the robot needs to adjust its posture and whether there are stains and the degree of stains on the pipeline through the camera image transmission. When the robot needs to adjust its posture, a first control signal for controlling the propeller motor that drives the propeller to rotate is output to control the operation of the propeller, and the enable signal for the propeller motor is turned on to drive the propeller to rotate. The thrust generated by the propeller makes the robot turn. The counterweight block slides freely on the slide rail, and its function is to adjust the center of gravity of the robot in time to ensure that the flushing robot will not turn over and other phenomena during the movement process, and improve the working stability of the robot.

[0030] When it is found through the camera that there are stains in this area that need to be cleaned, a second control signal for controlling the anchor motor that drives the anchor rotating shaft to rotate, drives the anchor cam to rotate and pushes the left and right two anchor support legs to extend outward is output to control the operation of the anchor rotating shaft. The specific steps are as follows:

[0031] Enable the enabling signal of the anchoring motor to drive the rotation of the anchoring rotating shaft, and the anchoring rotating shaft drives the rotation of the anchoring cam to push the anchoring support leg to extend outwards;

[0032] When the returned speed of the rotation of the anchoring rotating shaft is zero and lasts for a certain time T1, it indicates that the anchoring support leg is engaged with the wall surface and the robot is anchored in place.

[0033] After the anchoring is completed, enter the cleaning interface and determine whether it belongs to the light stain area or the heavy stain area. If it is the light stain area, the control method is as follows:

[0034] The cleaning motor receives the signal and starts to work in the forward rotation. Here, it is specified that the direction towards the first circular turntable is the positive direction, driving the gear to rotate. The gear drives the transmission shaft to move forward, making the first cleaning brush extend until the cleaning brush touches the stain, and then the cleaning motor stops working. The first turntable motor receives the signal and starts to work to drive the first circular turntable to rotate. At this time, the rotation speed of the first circular turntable is relatively small. The first circular turntable drives the first cleaning brush to rotate. At this time, the cleaning motor continues to work until the stain is cleaned, that is, the first cleaning brush touches the inner wall of the pipeline.

[0035] If it is the heavy stain area, the control method is as follows:

[0036] The cleaning motor receives the signal and starts to work in the reverse rotation, driving the gear to rotate. The gear drives the transmission shaft to move in the reverse direction, making the second cleaning brush extend until the cleaning brush touches the stain, and then the cleaning motor stops working. The second turntable motor receives the signal and starts to work to drive the second circular turntable to rotate. At this time, the rotation speed of the second circular turntable is relatively high. The second circular turntable drives the second cleaning brush to rotate, and at the same time, the chemical agent spray head starts to spray chemical agents. At this time, the cleaning motor continues to work until the stain is cleaned, that is, the second cleaning brush touches the inner wall of the pipeline.

[0037] After the cleaning is completed, the turntable motor stops rotating. The cleaning motor receives the signal to make the transmission shaft move in the reverse direction for a certain distance to retract the cleaning brush. The anchoring motor receives the signal to retract the support leg, and the anchoring is released. The robot continues to move along with the water flow.

[0038] One or more of the above technical solutions adopted in one or more embodiments of this specification can achieve the following beneficial effects:

[0039] The cleaning mechanism is the working part of the robot, located in the middle of the robot. It realizes the telescopic movement of the cleaning brush and the selection of the brush head through the transmission of the gear rack. By controlling the extension amount of the cleaning brush, the robot can clean pipes with different pipe diameters; by controlling the forward and backward movement of the rack through the control system, different cleaning brush heads and chemical spray nozzles can be selected to clean pipes with different oil stains; the cam anchoring mechanism is located at the tail of the robot and can anchor the robot at the working position under the drive of the anchoring motor; other auxiliary devices such as cameras can perform image acquisition and feedback.

[0040] The robot provided by the present invention adopts a passive moving mode that advances with the water flow. Its overall mainly includes an active attitude adjustment mechanism, a cam anchoring mechanism, a cleaning mechanism, and other auxiliary devices. Among them, the cam anchoring mechanism adopts an eccentric double-cam anchoring mechanism with low cost and light weight; the main work of the active attitude adjustment mechanism is divided into two parts. The first part is the steering part to ensure that the flushing robot can select the correct route to advance in the complex pipeline, and the second part is the stable part to enable the pipeline flushing robot to advance smoothly in the water flow. Its purpose is to ensure that the robot will not flip under the scouring of the water flow in the pipeline. The single propeller steering is adopted as the steering part of the active attitude adjustment mechanism of the pipeline flushing robot, and the balance method of the slide rail type counterweight is adopted as the stable part of the active attitude adjustment mechanism of the pipeline flushing robot; the cleaning mechanism uses brush wheels to clean the inner wall of the pipeline; other auxiliary devices such as cameras can collect images and feedback information on the environment of the inner wall of the pipeline in real time.

[0041] This kind of cam-anchored active attitude adjustment pipeline flushing robot can complete the automatic flushing of pipeline dirt, effectively reduce the labor intensity of workers, ensure the flushing quality, and improve the service life of the pipeline.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present disclosure.

[0043] According to the following detailed description of the exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear. Brief Description of the Drawings

[0044] The accompanying drawings here are incorporated into the specification and constitute a part of this specification. These drawings show embodiments consistent with the present disclosure and are used together with the specification to explain the technical solutions of the present disclosure.

[0045] Figure 1 It is the general assembly drawing of the cam-anchored active attitude adjustment pipeline flushing robot of the present invention.

[0046] Figure 2 It is the schematic diagram of the steering part of the active attitude adjustment mechanism of the present invention.

[0047] Figure 3 、 4 is the mechanical working schematic diagram of the cleaning mechanism of the present invention.

[0048] Figure 5 is the schematic diagram of the stable part of the active posture adjustment mechanism of the present invention.

[0049] Figure 6 is the schematic diagram of the tail part of the present invention.

[0050] Figure 7 is the connection schematic diagram of the cam anchoring mechanism of the present invention.

[0051] Figure 8 is the schematic diagram of the cam anchoring mechanism of the present invention.

[0052] Figure 9 is the working state schematic diagram of the cleaning mechanism of the present invention.

[0053] Figure 10 is the non - working state schematic diagram of the cam anchoring mechanism of the present invention.

[0054] Figure 11 is the working state schematic diagram of the cam anchoring mechanism of the present invention.

[0055] Figure 12 is the working flow chart of the present invention.

[0056] In the figure: 1 - outer shell, 2 - camera, 3 - single propeller, 4 - propeller gasket, 5 - screw, 6 - connecting sleeve, 7 - first cleaning pulley, 8 - first turntable motor, 9 - first cleaning belt, 10 - first cleaning brush, 11 - first circular turntable, 12 - support rod, 13 - straight rack, 14 - second cleaning brush, 15 - chemical agent spray head, 16 - second circular turntable, 17 - second cleaning belt, 18 - second turntable motor, 19 - second cleaning pulley, 20 - straight rack motor, 21 - cleaning mechanism sleeve, 22 - cleaning mechanism slider, 23 - bearing, 24 - transmission shaft, 25 - housing, 26 - slide rail, 27 - counterweight, 28 - anchoring rotating shaft, 29 - first base, 30 - second base, 31 - second belt, 32 - second pulley, 33 - anchoring motor, 34 - washer, 35 - anchoring bearing, 36 - anchoring cam, 37 - anchoring support leg, 38 - nut, 39 - bolt, 40 - bottom cover, 41 - propeller motor, 42 - wedge key, 43 - gear. Detailed implementation manners

[0057] The following will describe in detail various exemplary embodiments, features, and aspects of the present disclosure with reference to the accompanying drawings. The same reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0058] In addition, to better illustrate the present disclosure, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present disclosure can be implemented without some specific details. In some instances, methods, means, elements, and circuits well-known to those skilled in the art are not described in detail so as to highlight the gist of the present disclosure.

[0059] This kind of pipeline flushing robot adopts a cam-anchoring type active attitude adjustment structure, including a housing, an active attitude adjustment mechanism, a cleaning mechanism, a cam-anchoring mechanism, and other auxiliary devices. The housing is the main frame of the cam-anchoring type pipeline flushing robot. The front end of the housing is connected to the active attitude adjustment mechanism, and the rear end is connected to the cam-anchoring mechanism. Slots are opened around it for placing the cleaning brushes of the cleaning mechanism. Its uniqueness lies in:

[0060] The active attitude adjustment mechanism includes a housing, a single propeller, a propeller gasket, a screw, a housing, a slide rail, a counterweight, and a propeller motor; among them, the propeller gasket and the screw work together to axially position the single propeller, and the propeller motor drives the single propeller to rotate, thereby realizing the steering function of the robot; the counterweight is integrally designed in a concave shape, and the concave groove therein should be able to cooperate with the arc-shaped convex groove slide rail installed at the bottom of the flushing robot housing. The counterweight can slide freely on the slide rail, and its function is to adjust the center of gravity of the robot in a timely manner, ensuring that the flushing robot will not turn over or the like during the movement process, and improving the working stability of the robot.

[0061] The cleaning mechanism is located in the middle of the robot and includes a first turntable motor, a first pulley, a first belt, a first circular turntable, a second circular turntable, a first cleaning brush, a second cleaning brush, a chemical agent spray head, a support rod, bolts, a straight rack, a wedge key, washers, screws, a transmission shaft, a gear, a straight rack motor, a cleaning mechanism slider, pins, bearings, and a cleaning mechanism sleeve. There are chutes in both circular turntables. The head of the support rod is connected with a slider through a pin, and the left end of the slider is nested in the chute of the circular turntable. The top of the slider is connected with a cleaning brush through a pin. The bottom end of the support rod is connected to the cleaning mechanism sleeve through a pin and a bolt. In addition, the cleaning mechanism sleeve and the outer ring of the bearing are connected together by interference fit. The turntable motor is connected and fixed to the housing by screws so that it will not move during operation. The turntable motor drives the pulley to rotate, and drives the circular turntable to rotate through belt transmission. The circular turntable drives the cleaning brush to rotate to complete the brushing work. The circular turntable will transmit the torsional force of radial rotation to the support rod through the groove, thereby driving the cleaning mechanism sleeve to rotate. Because there is a bearing connected between the sleeve and the transmission shaft, and there is a shoulder on the transmission shaft to achieve the axial positioning of the bearing, the sleeve rotates while the straight rack does not rotate. The chemical agent spray head is fixed on the second circular turntable to spray chemical agents on the heavy stain area while the second cleaning brush head is cleaning. The straight rack motor is fixed on the housing. By the rotation of the gear, it can drive the straight rack to move back and forth in the axial direction of the flushing robot to push the support rod, and can also select different brush heads according to the feed amount of the straight rack to clean pipes with different oil stains. The support rod pushes the slider to move outward to the outside of the flushing robot in the rectangular groove of the circular turntable, that is, to push the cleaning brush to extend outward, thus completing the process of the cleaning brush extending. There is a keyway on the straight rack, which is connected to the transmission shaft through a wedge key, and the axial and radial positioning of the straight rack is achieved through the cooperation of the shoulder and the wedge key. The amount of extension of the cleaning brush is determined by the pipe diameter, and different pipe diameters can be adapted by adjusting the extension amount of the cleaning brush.

[0062] The cam anchoring mechanism includes an anchoring rotating shaft, a first base, a second base, a second belt, a second pulley, an anchoring motor, washers, an anchoring bearing, an anchoring cam, anchoring support legs, nuts, bolts, and a bottom cover. Among them, the anchoring motor is fixed on the bottom cover to provide the power required by the anchoring mechanism, and the anchoring rotating shaft is rotated through the second belt drive. When the anchoring rotating shaft drives the anchoring cam to rotate, it pushes the left and right anchoring support legs to extend outward until they are fully extended. At the same time, an anchoring bearing and washers are also installed on the anchoring rotating shaft. The washers are used for the axial positioning of the anchoring bearing. The pipe flushing group robot is kept stationary through the friction between the top of the anchoring support leg and the inner wall of the pipe, thus completing the anchoring.

[0063] The first base is connected to the housing, and the second base is connected to the bottom cover by bolts and nuts. The circular turntable is connected to the outer housing through a connecting sleeve and then sleeved into the housing.

[0064] Other auxiliary devices are mainly cameras installed on the robot's head, which can collect images of the inner wall environment of the pipeline in real time and provide information feedback wirelessly.

[0065] The control system of the robot adopts a distributed control structure. The remote computer and the single-chip microcomputer controller cooperate through a wireless module. The data interaction between the robot and the remote control center is based on stable remote communication. The single-chip microcomputer, as the main controller of the underlying hardware system, aggregates and packages the image information collected by the camera and transmits it to the upper computer. After processing the information, instructions are issued by the staff. After the instructions are sent, the single-chip microcomputer receives the control signals sent by the upper computer in real time, parses the signals into motor drive signals to make the drive motor operate, and the motors used by this pipeline flushing robot are all powered by batteries, thereby controlling the movement of the pipeline robot.

[0066] The specific control method is as follows:

[0067] The user turns on the control interface, reads the robot parameter configuration file, turns on the camera after entering the pipeline, and judges whether the robot needs to adjust its posture and whether there are stains and the degree of stains on the pipeline through the camera image transmission. When the robot needs to adjust its posture, a first control signal for controlling the propeller motor that drives the propeller to rotate is output to control the operation of the propeller, and the enable signal for the propeller motor is turned on to drive the propeller to rotate. The thrust generated by the propeller makes the robot turn. The counterweight slides freely on the slide rail. Its function is to adjust the center of gravity of the robot in time to ensure that the flushing robot will not turn over during the movement process, improving the working stability of the robot.

[0068] When it is found through the camera that there are stains in this area that need to be cleaned, a second control signal for controlling the anchor motor that drives the anchor rotating shaft to rotate, drives the anchor cam to rotate and pushes the left and right two anchor support legs to extend outward is output to control the operation of the anchor rotating shaft. The specific steps are as follows:

[0069] Turn on the enable signal for the anchor motor to drive the anchor rotating shaft to rotate. The anchor rotating shaft drives the anchor cam to rotate and pushes the anchor support legs to extend outward;

[0070] When the return speed of the anchor rotating shaft rotation is zero and lasts for a certain time T1, it indicates that the anchor support legs are engaged with the wall surface and the robot is anchored in place.

[0071] After the anchoring is completed, enter the cleaning interface and judge whether it belongs to the light stain area or the heavy stain area. If it is the light stain area, the control method is as follows:

[0072] The cleaning motor receives the signal, and starts working to rotate forward (here it is stipulated that the positive direction is toward the first circular turntable) to drive the gear to rotate, and the gear drives the transmission shaft to move in the positive direction, so that the first cleaning brush is extended. Until the cleaning brush touches the stain, the cleaning motor stops working, and the first turntable motor receives the signal and starts working to drive the first circular turntable to rotate. At this time, the speed of the first circular turntable is relatively low, and the first circular turntable drives the first cleaning brush to rotate. At this time, the cleaning motor continues to work until the stain is cleaned, that is, the first cleaning brush touches the inner wall of the pipe.

[0073] If it is a heavily stained area, the control method is as follows:

[0074] The cleaning motor receives the signal and starts working in the reverse direction, driving the gear to rotate. The gear drives the transmission shaft to move in the opposite direction, so that the second cleaning brush is extended. Until the cleaning brush touches the stain, the cleaning motor stops working. The second turntable motor receives the signal and starts working to drive the second circular turntable to rotate. At this time, the second circular turntable has a higher speed. The second circular turntable drives the second cleaning brush to rotate. At the same time, the chemical agent nozzle starts to spray chemicals. At this time, the cleaning motor continues to work until the stain is cleaned, that is, the second cleaning brush touches the inner wall of the pipe.

[0075] When cleaning is completed, the turntable motor stops rotating, the cleaning motor receives the signal to make the transmission shaft move in the opposite direction for a distance to retract the cleaning brush, and the anchoring motor receives the signal to retract the supporting legs, the anchoring is released, and the robot continues to move with the water flow.

[0076] The following is a detailed description with reference to the accompanying drawings:

[0077] Depend on Figures 1 to 9 As shown, the main body of the flushing robot is composed of an active posture adjustment mechanism, a cam anchoring mechanism, a cleaning mechanism, other auxiliary devices, and its workflow diagram.

[0078] The active posture adjustment mechanism includes an outer shell 1, a single propeller 3, a propeller gasket 4, a screw 5, a shell 25, a slide rail 26, a counterweight 27, and a propeller motor 41; wherein, the propeller gasket 4 and the screw 5 work together to axially position the single propeller 3, and the propeller motor 41 drives the single propeller 3 to rotate, thereby realizing the steering function of the robot; the counterweight 27 is designed to be concave as a whole, and the concave groove therein must be able to fit on the arc-shaped convex groove slide rail 26 installed at the bottom of the flushing robot shell 25, and the counterweight 27 can slide freely on the slide rail 26, and its function is to adjust the center of gravity of the robot in time to ensure that the flushing robot will not flip over during movement, thereby improving the working stability of the robot.

[0079] The cleaning mechanism includes a first cleaning pulley 7, a first turntable motor 8, a first cleaning belt 9, a first cleaning brush 10, a first circular turntable 11, a support rod 12, a straight rack 13, a second cleaning brush 14, a chemical agent spray head 15, a second circular turntable 16, a second cleaning belt 17, a second turntable motor 18, a second cleaning pulley 19, a straight rack motor 20, a cleaning mechanism sleeve 21, a cleaning mechanism slider 22, a bearing 23, and a transmission shaft 24.

[0080] Among them, the first turntable motor 8 is fixedly connected to the housing 1 by screws, and the second turntable motor 18 is fixed to the housing 25 to prevent it from moving during operation. The first turntable motor 8 and the second turntable motor 18 drive the first cleaning pulley 7 and the second cleaning pulley 19 to rotate respectively, and drive the first circular turntable 11 and the second circular turntable 16 to rotate through belt transmission. Chutes are provided in the first circular turntable 11 and the second circular turntable 16. The head of the support rod 12 is connected to the cleaning mechanism slider 22 by a pin. The left end of the cleaning mechanism slider 22 is nested in the chutes of the first circular turntable 11 and the second circular turntable 16. The top of the slider 22 is connected to the first cleaning brush 10 and the second cleaning brush 14 by pins. The chemical agent spray head 15 is fixed to the second circular turntable 16. While cleaning the heavy stain area, chemical agents are sprayed to decompose the oil stains, making it easier for the second cleaning brush head 14 to clean. The bottom end of the support rod 12 is connected to the cleaning mechanism sleeve 21 by pins and bolts. In addition, the cleaning mechanism sleeve 21 is connected to the outer ring of the bearing 23 by interference fit.

[0081] The cam anchoring mechanism includes an anchoring rotating shaft 28, a first base 29, a second base 30, a second belt 31, a second pulley 32, an anchoring motor 33, a washer 34, an anchoring bearing 35, an anchoring cam 36, an anchoring support leg 37, a nut 38, a bolt 39, and a bottom cover 40. Among them, the anchoring motor 33 is fixed to the bottom cover 40 to provide the power required for the anchoring mechanism, and the anchoring rotating shaft 28 is rotated through second belt transmission. When the anchoring rotating shaft 28 drives the anchoring cam 36 to rotate, it pushes the left and right anchoring support legs 37 to extend outward until they are fully extended. At the same time, an anchoring bearing 35 and a washer 34 are also installed on the anchoring rotating shaft 28. The washer 34 is used for axial positioning of the anchoring bearing 35. The pipeline flushing group robot is kept stationary by the friction force between the top of the anchoring support leg 37 and the inner wall of the pipeline, thus completing the anchoring.

[0082] The first base 29 is connected to the housing 25, and the second base 30 is connected to the bottom cover 40 by bolts and nuts. The first circular turntable 11 is connected to the housing 1 through a connecting sleeve 6 and then sleeved in the housing 25.

[0083] The control system of the robot adopts a distributed control structure, and the remote computer and the single-chip microcomputer controller cooperate through a wireless module; the data interaction between the robot and the remote control center is based on stable remote communication. The single-chip microcomputer, as the general controller of the underlying hardware system, aggregates and packages the image information collected by the camera and transmits it to the upper computer. After processing the information, instructions are issued by the staff. After the instructions are issued, the single-chip microcomputer receives the control signals sent by the upper computer in real time, parses the signals into motor drive signals to make the drive motors operate, and the motors used by the pipeline flushing robot are all powered by batteries, thereby controlling the movement of the pipeline robot.

[0084] The working process of the robot described in this disclosure is as follows:

[0085] Robot posture adjustment process: After the robot is placed in the water pipeline, the robot moves with the water flow in the water-containing pipeline. When steering is required, the motor of the propeller drives the single propeller to rotate, turning the head of the flushing robot to complete the steering. When the robot needs to turn in the opposite direction, only the motor needs to reverse, driving the propeller to reverse, thus completing the robot's turn in the opposite direction. In this way, the steering work of the flushing robot during forward movement in the pipeline can be completed.

[0086] Robot anchoring process: During the robot's rowing process, the staff judges through the images fed back by the camera. Once it reaches the position in the pipeline where there is dirt and needs to be cleaned, the anchoring motor rotates forward, transmits the power to the anchoring rotating shaft through the belt drive, and the anchoring rotating shaft drives the anchoring cam to rotate, thereby pushing the left and right two anchoring support legs to extend outwards, and completing the anchoring work through the frictional force between the top of the anchoring legs and the inner wall of the pipeline.

[0087] Process of the cleaning brush extending: After the anchoring work is completed.

[0088] Dirt flushing process:

[0089] For the mild stain area: The cleaning motor works to drive the gear to drive the straight rack to move forward a certain distance towards the first circular turntable, thereby pushing the support rod. The support rod pushes the cleaning mechanism slider to move outwards in the rectangular groove of the first circular turntable towards the outside of the flushing robot, that is, pushing the first cleaning brush outwards until the cleaning brush touches the stain, and the cleaning motor stops working to complete the process of the cleaning brush extending. The first cleaning brush head is composed of stainless steel wires to achieve the purpose of cleaning light stains. The first turntable motor drives the first cleaning pulley to rotate, so that the first belt drives the first circular turntable to rotate, and the first circular turntable drives the first cleaning brush to rotate to complete the cleaning work. At this time, the cleaning motor continues to work until the stain is cleaned, that is, the first cleaning brush touches the inner wall of the pipeline.

[0090] For the heavily soiled area: The cleaning motor starts to work in reverse, driving the gear to rotate. The gear drives the transmission shaft to move in the reverse direction and advance a certain distance towards the first circular turntable, thereby pushing the support rod. The support rod pushes the slider of the cleaning mechanism to move outward in the rectangular groove of the second circular turntable towards the outside of the flushing robot, that is, pushing the second cleaning brush to extend outward until the cleaning brush touches the stain. The cleaning motor stops working to complete the process of the cleaning brush extending. The head of the second cleaning brush is made of silicon carbide to achieve the purpose of cleaning heavy stains. The second turntable motor drives the second cleaning pulley to rotate, so that the second belt drives the second circular turntable to rotate. The second circular turntable drives the second cleaning brush to rotate to complete the cleaning work. At this time, the rotation speed of the second circular turntable is relatively high. The second circular turntable drives the second cleaning brush to rotate, and at the same time, chemicals start to spray chemical agents to achieve the purpose of decomposing heavy stains, making the stains soften and decompose to a certain extent and making the cleaning easier. At this time, the cleaning motor continues to work until it is cleaned, that is, the second cleaning brush touches the inner wall of the pipeline.

[0091] Robot restoration process: When the cleaning work is completed, the turntable motor stops rotating, and the cleaning brush is in a stationary state. The straight rack motor rotates in the reverse direction to make the straight rack move a certain distance in the opposite direction, so that the cleaning brush is restored. Reverse the above steps to complete the retraction work of the cleaning brush. After the cleaning brush is retracted, the anchoring motor rotates in the reverse direction to retract the anchoring support legs. Subsequently, the robot continues to move forward with the water flow. Heavily soiled area: When the cleaning work is completed, the chemical agent stops spraying, the turntable motor stops rotating, and the cleaning brush is in a stationary state. The straight rack motor rotates in the reverse direction to make the straight rack move a certain distance in the opposite direction, so that the cleaning brush is restored. Reverse the above steps to complete the retraction work of the cleaning brush. After the cleaning brush is retracted, the anchoring motor rotates in the reverse direction to retract the anchoring support legs. Subsequently, the robot continues to move forward with the water flow to complete the cleaning work of the pipeline.

[0092] The following takes two different kinds of stains as examples to further illustrate:

[0093] In a possible implementation of light stains, taking (sludge) as an example:

[0094] The cleaning motor works to drive the gear to drive the straight rack to advance a certain distance towards the first circular turntable, thereby pushing the support rod. The support rod pushes the slider of the cleaning mechanism to move outward in the rectangular groove of the first circular turntable towards the outside of the flushing robot, that is, pushing the first cleaning brush to extend outward until the cleaning brush touches the sludge. The cleaning motor stops working to complete the process of the cleaning brush extending. The head of the first cleaning brush is made of stainless steel wire to achieve the purpose of cleaning sludge. The first turntable motor drives the first cleaning pulley to rotate, so that the first belt drives the first circular turntable to rotate. At this time, the rotation speed of the first circular turntable is relatively small. The first circular turntable drives the first cleaning brush to rotate to complete the cleaning work. At this time, the cleaning motor continues to work until the sludge is cleaned, that is, the first cleaning brush touches the inner wall of the pipeline.

[0095] In a possible implementation of heavy stains, taking (waste soil residue and oil mixture) as an example:

[0096] The cleaning motor starts to work in the reverse direction, driving the gear to rotate. The gear drives the wedge key, thereby driving the transmission shaft to move reversely and advancing a certain distance towards the first circular turntable, thus pushing the support rod. The support rod pushes the cleaning mechanism slider to move outward in the rectangular groove of the second circular turntable towards the outside of the flushing robot, that is, pushing the second cleaning brush to extend outward until the cleaning brush touches the waste soil residue and oil mixture. The cleaning motor stops working to complete the process of the cleaning brush extending. The second cleaning brush head is composed of silicon carbide to achieve the purpose of cleaning the waste soil residue and oil mixture. The second turntable motor drives the second cleaning pulley to rotate, so that the second belt drives the second circular turntable to rotate. The second circular turntable drives the second cleaning brush to rotate to complete the cleaning work. At this time, the rotation speed of the second circular turntable is relatively high. The second circular turntable drives the second cleaning brush to rotate, and at the same time, the chemical agent spray head starts to spray chemical agents to achieve the purpose of decomposing the waste soil residue and oil mixture, making the stains softened and decomposed to a certain extent and making the cleaning easier. At this time, the cleaning motor continues to work until it is cleaned, that is, the second cleaning brush touches the inner wall of the pipeline.

[0097] A keyway is provided on the straight rack, which is connected to the transmission shaft through a wedge key, and the axial and radial positioning of the straight rack is realized through the cooperation of the shaft shoulder and the wedge key. The amount of extension of the first cleaning brush and the second cleaning brush is determined by the pipe diameter and the thickness of the oil stain. By adjusting the extension of the first cleaning brush and the second cleaning brush, different pipe diameters can be adapted.

[0098] The embodiments described above are exemplary, not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary technical personnel in the technical field to understand the embodiments disclosed herein.

Claims

1. A robot component, including an active attitude adjustment mechanism, the active attitude adjustment mechanism includes a housing (1), a single propeller (3), a propeller gasket (4), a screw (5), a slide rail (26), a counterweight (27) and a propeller motor (41); wherein, The propeller gasket (4) and the screw (5) work together to axially position the single propeller (3). The propeller motor drives the single propeller (3) to rotate, thereby realizing the steering control of the robot; a concave groove is provided on the counterweight block (27), and the concave groove can cooperate with the slide rail (26). The counterweight block (27) can slide freely on the slide rail (26) to timely adjust the center of gravity of the robot and ensure that the robot will not turn over during the movement process; the slide rail adopts an arc-shaped convex groove structure and can be installed on the housing (25); It is characterized in that: The assembly further includes a cleaning mechanism; The cleaning mechanism includes a first cleaning pulley (7), a first turntable motor (8), a first cleaning belt (9), a first cleaning brush (10), a first circular turntable (11), a support rod (12), a straight rack (13), a second cleaning brush (14), a chemical agent spray head (15), a second circular turntable (16), a second cleaning belt (17), a second turntable motor (18), a second cleaning pulley (19), a straight rack motor (20), a cleaning mechanism sleeve (21), a cleaning mechanism slider (22), a bearing (23) and a transmission shaft (24); Among them, the first turntable motor (8) is fixedly connected to the outer shell (1) by screws so that it will not move during the working process; the first turntable motor (8) drives the first cleaning pulley (7), and the first cleaning pulley (7) drives the first cleaning belt (9) to rotate, thereby driving the first circular turntable (11) to rotate through belt transmission; a chute is provided in the first circular turntable (11); the head of the support rod (12) is connected to the cleaning mechanism slider (22) by a pin, the left end of the cleaning mechanism slider (22) is nested in the chute of the first circular turntable (11), the top end of the cleaning mechanism slider (22) is connected to the first cleaning brush by a pin, and the bottom end of the support rod (12) is connected to the cleaning mechanism sleeve (21) by a pin and a bolt; the cleaning mechanism sleeve (21) is connected to the outer ring of the bearing (23) by interference fit; The first circular turntable (11) drives the first cleaning brush (10) to rotate to complete the brushing work. The first circular turntable (11) transmits the radial rotation torque to the support rod (12) through the groove, thereby driving the cleaning mechanism sleeve (21) to rotate to clean the light stain area; A chute is provided in the second circular turntable (16). The head of the support rod (12) is connected to the cleaning mechanism slider (22) by a pin. The right end of the cleaning mechanism slider (22) is nested in the chute of the second circular turntable (16). The top end of the cleaning mechanism slider (22) is connected to the second cleaning brush (14) by a pin; the bottom end of the support rod (12) is connected to the cleaning mechanism sleeve (21) by a pin and a bolt; the cleaning mechanism sleeve (21) is connected to the outer ring of the bearing (23) by interference fit. The second turntable motor (18) is fixedly connected to the housing (25) by screws so that it will not move during the working process; The second turntable motor (18) drives the second cleaning pulley (19), and the second cleaning pulley (19) drives the second cleaning belt (17) to rotate, thereby driving the second circular turntable (16) to rotate through belt transmission. The second circular turntable (16) drives the second cleaning brush (14) to rotate to complete the brushing work. The second circular turntable (16) will transmit the torsional force of radial rotation to the support rod (12) through the groove, thereby driving the cleaning mechanism sleeve (21) to rotate, realizing the cleaning of the heavy stain area: There is a bearing connection between the sleeve (21) and the transmission shaft (24). The transmission shaft (24) is provided with a shoulder to realize the axial positioning of the bearing, so that the cleaning mechanism sleeve (21) rotates while the straight rack (13) does not rotate; The straight rack motor (20) can be fixed on the housing (25).

2. The robot component according to claim 1, characterized in that: The cleaning mechanism further includes a chemical agent spray head (15). The chemical agent spray head (15) is fixed on the second circular turntable (16) for spraying chemical agents.

3. A robot component according to claim 2, wherein: The component further includes a camera (2). Under the control of the built-in program, the camera judges whether the cleaning area belongs to a light stain area or a heavy stain area, and controls the forward and reverse rotation of the cleaning motor to control the forward and backward movement of the straight rack to select the cleaning brush head; The support rod (12) pushes the cleaning mechanism slider (22) to move outward from the rectangular groove of the circular turntable towards the outside of the flushing robot, that is, pushes the cleaning brush to extend outwards, thereby completing the process of the cleaning brush extending out; The straight rack (13) is provided with a keyway and is connected to the transmission shaft (24) through a wedge key, and the axial and radial positioning of the straight rack (13) is realized through the cooperation of the shoulder and the wedge key.

4. A robot component according to claim 3, wherein: The amount of extension of the cleaning brush controlled by the built-in program is determined by the pipe diameter, and different pipe diameters can be adapted by adjusting the extension amount of the cleaning brush.

5. A robot component according to claim 4, wherein: The component further includes a cam anchoring mechanism; The cam anchoring mechanism includes an anchoring rotating shaft (28), a first base (29), a second base (30), a second belt (31), a second pulley (32), an anchoring motor (33), a washer (34), an anchoring bearing (35), an anchoring cam (36), an anchoring support leg (37), a nut (38), a bolt (39), and a bottom cover (40); Among them, the anchoring motor (33) is fixed on the bottom cover (40) to provide the power required by the anchoring mechanism, and the anchoring rotating shaft (28) is rotated through the second belt drive; when the anchoring rotating shaft (28) drives the anchoring cam (36) to rotate, it pushes the left and right two anchoring support legs (37) to extend outwards until they are fully extended. At the same time, the anchoring rotating shaft (28) is also equipped with an anchoring bearing (35) and a washer (34). The washer (34) is used for axial positioning of the anchoring bearing (35). The robot is kept stationary through the friction between the top of the anchoring support leg (37) and the inner wall of the pipeline, thereby completing the anchoring; The first base (29) is connected to the housing (25), and the second base (30) is connected to the bottom cover (40) by bolts and nuts; the cleaning mechanism is located in the middle of the housing (25), and the first circular turntable (11) and the outer shell (1) are connected together by a connecting sleeve (6) and then sleeved into the housing (25).

6. A pipeline flushing robot, characterized in that Apply the component described in claim 5 and the single-chip microcomputer controller: The housing (25) serves as the main body frame of the pipeline flushing robot. The front end of the housing is connected to the active posture adjustment mechanism, and the rear end is connected to the cam anchoring mechanism; grooves are provided around the housing for placing the cleaning brushes of the cleaning mechanism. The camera (2) can collect images of the inner wall environment of the pipeline in real time and feed back information to the single-chip microcomputer controller wirelessly. The control system of the single-chip microcomputer controller adopts a distributed control structure, realizes two-way information transmission with the remote computer through a wireless module, aggregates and packages the image information collected by the camera and transmits it to the upper computer, and receives the instructions issued by the staff. All the motors used in the pipeline flushing robot are powered by batteries.

Images