Cleaning robot for ventilation pipeline with rectangular section

Abstract

The invention discloses a cleaning robot for a ventilation pipeline with a rectangular section. The device comprises a walking mechanism, a cleaning mechanism and a dust collecting mechanism, the walking mechanism comprises a frame, a track structure and a wheel type structure are installed on the frame, the wheel type structure is located behind the track structure, the track structure is connected with a driving motor, the driving motor is fixedly installed below the frame through a fixing base, and the walking mechanism is used for driving the robot to move; a top cleaning rolling brush large arm adjustable device of the cleaning mechanism is mounted on a mounting seat, the mounting seat is fixedly arranged on the upper surface of the frame, the top cleaning rolling brush large arm adjustable device extends towards the front end of the frame and swings around the mounting seat, and a bottom disc-shaped cleaning brush adjustable device is mounted on the upper portion of the frame; the dust collecting mechanism is installed on the upper portion of the frame and located behind the cleaning mechanism. The pipeline cleaning robot has the self-dust-collection function, the adaptability of the cleaning robot is improved, operation can be simple, and pipeline cleaning work can be efficiently completed.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning equipment, and in particular relates to a cleaning robot suitable for ventilation ducts with rectangular cross-sections. Background Art

[0002] With the continuous advancement of the concept of modern cities, the utilization rate of central air conditioners is increasing. While bringing a comfortable living environment, some problems also come with it. Among the sources of indoor air pollution, the pollution of central air conditioning ventilation systems accounts for 40% to 53%, and more than 75% of the central air conditioning ventilation system pipes (i.e., air ducts) are medium or above pollution, and the pollution situation is relatively serious. Dust, insect fragments and pollutants caused by metal corrosion will accumulate in the ventilation ducts. The long-term accumulation of pollutants will lead to a decline in indoor air quality. These pollutants provide a breeding environment for bacteria and mold. They spread with the air conditioning airflow and may cause health problems such as dizziness, allergic rhinitis and migraine. In the humid season in the south, the risk of reproduction of pathogens such as Legionella increases, and inhalation can cause lung diseases and cross-infection. In addition, the accumulation of dust in the pipeline not only affects the air quality, but also increases the air supply resistance of the fan, reduces the system efficiency, shortens the equipment life, and increases energy consumption.

[0003] With the increasing demand for rectangular pipe cleaning, more and more people, especially cleaning companies, are using some cleaning robots to clean pipes to replace manpower. However, in the cleaning process, these robots account for a relatively low proportion and play a minimal role.

[0004] Traditional ventilation duct cleaning robots need to be equipped with components such as negative pressure vacuum cleaners or dust purifiers during work, which makes it extremely inconvenient for workers to operate. Summary of the invention

[0005] The object of the present invention is to provide a rectangular cross-section ventilation duct cleaning robot that is simpler to operate and can complete duct cleaning operations more efficiently.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A rectangular cross-section ventilation duct cleaning robot, comprising: a walking mechanism, a cleaning mechanism and a dust collecting mechanism;

[0008] The walking mechanism comprises a frame, on which a crawler structure and a wheel structure are installed, the wheel structure is located behind the crawler structure, the crawler structure is connected to a drive motor, and the drive motor is fixedly installed under the frame through a fixing seat, and the walking mechanism is used to drive the robot to move;

[0009] The cleaning mechanism comprises an adjustable top cleaning roller brush arm device and an adjustable bottom disc type cleaning brush device; the adjustable top cleaning roller brush arm device is mounted on a mounting seat, the mounting seat is fixed to the upper surface of the frame, the adjustable top cleaning roller brush arm device extends toward the front end of the frame, the adjustable top cleaning roller brush arm device swings around the mounting seat, and the adjustable bottom disc type cleaning brush device is mounted on the upper part of the frame;

[0010] The dust collecting mechanism is installed on the upper part of the frame and is located behind the cleaning mechanism for collecting dust.

[0011] Furthermore, the track structure includes a metal inverted ladder track, a driving wheel and a guide wheel; the driving wheel is installed at the end of the driving shaft, the driving wheel is located at the front of the track structure, and the metal inverted ladder track is meshed with the driving wheel; the guide wheel is located at the rear of the track structure, and is meshed with the metal inverted ladder track to provide support and guidance for the movement of the track structure.

[0012] Furthermore, the wheeled structure includes a PWM servo, which is fixed to the middle part of the frame by bolts, the output end of the PWM servo is connected to the servo arm, the end of the servo arm is connected to the servo rod, the end of the servo rod is connected to the steering arm, the steering arm is connected to the left steering knuckle through a cylindrical pin, the left steering knuckle is connected to the right steering knuckle through a steering rod, the left steering knuckle and the right steering knuckle are respectively connected to the steering shaft, and the steering shaft is connected to the wheel through an intermediate bearing.

[0013] Furthermore, the adjustable device of the top cleaning roller brush arm includes a first linear motor, which is arranged at the front end of the frame through a motor mounting frame, and a lifting rod is installed on the output shaft of the first linear motor, and the lifting rod is installed in the side groove of the cleaning brush arm, and a first high-speed rotating motor is fixedly installed at the lower front end of the cleaning brush arm, and the output shaft of the first high-speed rotating motor is fixedly connected to the input shaft of the reduction helical gear box through a coupling, and the output shaft of the reduction helical gear box is fixedly connected to the special-shaped cylindrical cleaning brush.

[0014] Furthermore, the special-shaped cylindrical roller brush is symmetrically installed on both sides of the front end of the cleaning brush arm, and can rotate synchronously at high speed during cleaning. The special-shaped cylindrical cleaning brush is a cylindrical roller brush, and one end of the cylindrical roller brush has fan-shaped bristles, which can clean the left and right side walls of the ventilation duct.

[0015] Furthermore, the bottom disc-type cleaning brush adjustable device includes a second linear motor, which is fixedly mounted on the upper part of the frame through a motor mounting frame, a lead screw nut is mounted on the output shaft of the second linear motor, and a slide rail is fixedly arranged at the front part of the upper end of the frame, a left motor seat and a right motor seat are installed in the slide rail track, the upper surface of the lead screw nut is fixedly connected to one end of two angle adjustment rods, and the other ends of the two angle adjustment rods are respectively fixed to the left motor seat and the right motor seat through bushings, and a second high-speed rotating motor is fixedly mounted on the upper surfaces of the left motor seat and the right motor seat by bolts, the output shaft of the second high-speed rotating motor is fixedly connected to the disc-type cleaning brush, the second linear motor drives the lead screw nut to reciprocate horizontally, and the angle adjustment rod drives the left motor seat and the right motor seat to move along the slide rail groove under the drive of the lead screw nut, so as to realize the position adjustment between the two disc-type cleaning brushes.

[0016] Furthermore, a shock-absorbing spring is arranged between the second high-speed rotating motor and the disc-shaped cleaning brush. The shock-absorbing spring is elastically connected to the left motor seat and the right motor seat respectively. When encountering a pothole at the bottom of the pipe, it plays a buffering role and reduces damage to the disc-shaped cleaning brush and the second high-speed rotating motor.

[0017] Furthermore, the inclination angle of the disc-shaped cleaning brush in contact with the ground ranges from 4 to 10 degrees, and the line connecting the centers of the two disc-shaped cleaning brushes is not perpendicular to the travel direction of the robot, and there is an angle between the two, which effectively prevents the disc-shaped cleaning brush from missing gaps when cleaning the bottom wall of the pipe.

[0018] Further, the dust collection mechanism includes a negative pressure fan, a dust box, a cylindrical roller brush, a third high-speed rotating motor and a belt transmission device, the dust box is installed at the rear of the frame, the dust suction port of the dust box is arranged at the rear of the frame, the air inlet cross-section of the dust box maintains a fixed inclination angle with the ground, the negative pressure fan is installed on the top of the dust box, the air inlet of the negative pressure fan is connected to the inside of the dust box, the cylindrical roller brush is arranged at the air inlet of the dust box, the third high-speed rotating motor is installed at the rear end of the frame, and the belt transmission device connects the third high-speed rotating motor with the cylindrical roller brush;

[0019] The belt transmission device includes a driving pulley mounted on the third high-speed rotating motor, the driving pulley is connected to a driven pulley through a belt, and the driven pulley is mounted on the roller brush shaft.

[0020] Furthermore, the cleaning robot also includes an image acquisition and lighting device inside the pipeline, and the image acquisition and lighting device includes two symmetrical lighting lamps arranged on the top of the dust box, and industrial cameras installed on the front end of the frame and the cleaning brush arm.

[0021] The beneficial effects of the present invention are:

[0022] The walking mechanism of the cleaning robot of the present invention adopts a semi-crawler structure with a relatively small ground pressure ratio. The robot moves stably and flexibly and is not likely to cause stress deformation to the pipeline. The top cleaning roller brush arm adjustable device adopts a special-shaped cylindrical roller brush, which cooperates with the bottom disc-type cleaning brush adjustable device to achieve perfect cleaning of the four sides of the inner wall of the pipeline. At the same time, the two adjustable devices can adjust the relative position of the cleaning brush according to the cross-sectional size of the pipeline, so that the robot can adapt to ventilation ducts of more sizes, effectively improving the adaptability of the cleaning robot and expanding the scope of use. In addition, a shock-absorbing spring is arranged between the disc-type cleaning brush and the second high-speed rotating motor, which effectively prolongs the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Attached Figure 1 It is a structural schematic diagram of the present invention from a first angle.

[0024] Attached Figure 2 It is a structural schematic diagram of the mobile mechanism of the present invention.

[0025] Attached Figure 3 It is a schematic diagram of the wheel structure of the present invention.

[0026] Attached Figure 4 It is a structural schematic diagram of the second angle of the present invention.

[0027] Attached Figure 5 It is a structural schematic diagram of the adjustable device of the top cleaning roller brush arm of the present invention.

[0028] Attached Figure 6 It is a structural schematic diagram of the adjustable device of the bottom disc type cleaning brush of the present invention.

[0029] Attached Figure 7 It is a schematic structural diagram of the disc-type cleaning brush device of the present invention.

[0030] Attached Figure 8 It is a structural schematic diagram of the dust collecting mechanism of the present invention.

[0031] Attached Fig. 9 It is a planed schematic diagram of the dust collecting mechanism of the present invention.

[0032] Attached Fig.10 It is a schematic cross-sectional view of the special-shaped cylindrical roller brush of the present invention.

[0033] Attached Fig.11 It is a circuit diagram of a control system of the present invention.

[0034] In the accompanying drawings: 10, walking mechanism, 11, frame, 12, wheel structure;

[0035] 121, steering rod, 122, wheel, 123, PWM steering gear, 124, left steering knuckle, 125, right steering knuckle, 126, steering shaft, 127, steering arm, 128, steering gear rod, 129, steering gear arm, 13, track structure, 131, guide wheel, 132, driving wheel, 133, track, 134, driving shaft;

[0036] 20. Cleaning mechanism, 21. Adjustable device for top cleaning roller brush arm, 211. Special-shaped cylindrical roller brush, 212. Speed ​​reduction helical gear box, 213. Coupling, 214. First high-speed rotating motor, 215. Cleaning brush arm, 216. First linear motor, 217. Motor mounting bracket, 218. Lifting rod;

[0037] 22. bottom disc-shaped cleaning brush adjustable device, 221. second high-speed rotating motor, 222. left motor seat, 223. shock-absorbing spring, 224. disc-shaped cleaning brush, 225. right motor seat, 226. slide rail, 227. angle adjustment rod, 228. lead screw nut, 229. second linear motor;

[0038] 30. Dust collecting mechanism, 31. Belt transmission device, 311. Third high-speed rotating motor, 312. Driving pulley, 313. Belt, 314. Driven pulley, 32. Negative pressure fan, 33. Dust collecting chamber, 34. Negative pressure fan mounting plate, 35. Cylindrical roller brush, 36. Roller brush shaft, 37. Dust particles, 38. Filter element, 40. Industrial camera, 50. Lighting lamp. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings.

[0040] The present invention provides a rectangular cross-section ventilation duct cleaning robot, as shown in the attached Figure 1 As shown, the robot comprises: a walking mechanism 10 for driving the robot to move, a cleaning mechanism 20 for cleaning the inner wall of the pipe, and a dust collecting mechanism 30 for collecting dust.

[0041] In this embodiment, the inner wall of the central air-conditioning duct is covered with dust and the duct is deformed due to long-term cleaning, which will cause the bottom surface of the duct to be rough and uneven. At the same time, the internal environment of the duct is mostly straight and curved. In order to enable the robot to move smoothly and turn flexibly when performing cleaning operations inside the duct, the robot preferably uses a half-track drive mechanism as the driving mode. Figure 2 As shown, the walking mechanism 10 includes a frame 11, a wheel structure 12 and a track structure 13. The frame 11 plays a fixed supporting role, the wheel structure 12 is arranged at the front of the frame 11 to provide steering force for the robot's movement process, and the track structure 13 is arranged at the rear of the frame 11 to provide driving force for the robot's movement process.

[0042] like Figure 2-3 As shown, the wheel structure 12 includes a steering rod 121, a wheel 122, a PWM steering gear 123, a left steering knuckle 124, a right steering knuckle 125, a steering shaft 126, a steering arm 127, a steering gear rod 128, and a steering gear arm 129. The PWM steering gear 123, the left steering knuckle 124, and the right steering knuckle 125 are installed and fixed at corresponding positions through the reserved mounting holes on the frame 11. The steering gear arm 129 is arranged below the output shaft of the PWM steering gear 123 and is connected to the input end of the steering gear rod 128. The output end of the steering gear rod 128 extends to the position of the right steering knuckle 125 and is connected to the steering arm 127. The steering arm 127 is connected to the left steering knuckle 124 through a cylindrical pin. One end of the steering shaft 126 is fixed to the left steering knuckle 124, and the other end cooperates with the wheel 122 through a bearing. The PWM steering gear 123 provides steering force, firstly drives the left steering knuckle 124 to rotate according to the angle through the steering arm 127, the steering gear tie rod 128 and the steering gear arm 129, and then the left steering knuckle 124 drives the left wheel 122 to turn, and at the same time, the left steering knuckle 124 drives the right steering knuckle 125 to rotate synchronously through the steering tie rod 121 set between the left steering knuckle 124 and the right steering knuckle 125, and the right steering knuckle 125 drives the right wheel 122 to turn at the same time as the left wheel through the steering shaft 126. Every 1° rotation of the output end of the PWM steering gear 123 drives the wheel 122 to rotate by about 0.55°, which meets the turning requirements of the robot during operation. The crawler structure 13 includes a guide wheel 131, a driving wheel 132, a crawler track 133 and a driving shaft 134. The driving motor is arranged below the frame 11. Two driving wheels 132 are symmetrically arranged at the end of the driving shaft 134. The driving wheels 132 are meshed with the crawler track 133. The driving wheels 132 are arranged at the rear of the crawler structure 13 to play a supporting and guiding role during the operation of the crawler structure 13.

[0043] The two circular wheels of the wheeled structure are made of polyurethane (PU) wheels with a diameter of 65 mm and a width of 17 mm. This material is a material with a high friction coefficient and high elasticity, which can improve the robot's grip and stability when encountering potholes on the pipeline surface.

[0044] This embodiment adopts a semi-track walking mechanism, which can greatly improve the robot's passability. Compared with other steering mechanisms, the wheeled structure 12 has the characteristics of simple and compact structure, strong isotropic ability to resist impact, fast response speed, etc. When the robot faces a complex environment inside the pipeline, it can quickly adjust its position and shuttle freely. The crawler structure 13 can lower the center of the robot and reduce the risk of the robot's own swing and overturning during movement. At the same time, the crawler structure 13 increases the contact area between the robot and the inside of the pipeline. It can be seen from the ground pressure ratio P formula that the contact area S increases and the ground pressure ratio P decreases. The relative force of the robot on the bottom surface of the pipeline is reduced, which reduces the problem of stress deformation of the ventilation duct during the cleaning process.

[0045]

[0046] Where: M: vehicle weight, (kg); g: acceleration due to gravity, (m / s 2 ); P: ground pressure, (MPa); S: contact area, (m 2 ).

[0047] As attached Figure 4 As shown, the cleaning mechanism 20 includes a top cleaning roller brush arm adjustable device 21 and a bottom disc type cleaning brush adjustable device 22. The top cleaning roller brush arm adjustable device 21 is arranged on a mounting seat fixed on the frame 11, and the roller brush part extends toward the front end of the robot. The front end roller brush of the top cleaning roller brush arm adjustable device 21 is as shown in FIG. Fig.10 As shown, the special-shaped cylindrical roller brush 211 is different from the conventional cylindrical roller brush and has fan-shaped bristles at one end. The special-shaped cylindrical roller brush 211 is symmetrically installed on both sides of the front end of the cleaning brush arm 215, and can rotate synchronously at high speed during cleaning. The fan-shaped bristles of the special-shaped cylindrical roller brush 211 can clean the left and right side walls of the ventilation duct with the least dust. The bottom disc-shaped cleaning brush adjustable device 22 is set on the frame 11 and is located at the front end of the bottom of the robot. By simultaneously setting the top cleaning roller brush arm adjustable device 21 and the bottom disc-shaped cleaning brush adjustable device 22 on the robot, the four inner walls of the air-conditioning duct can be cleaned at the same time. The bottom of the ventilation duct is where the dust is most deposited. The bottom disc-shaped cleaning brush adjustable device 22 uses a disc brush instead of the roller brush of the prior art, which can well clean the right-angled part where the roller brush is difficult to clean, effectively avoiding the problem of using a roller brush leaving dead corners that cannot be cleaned.

[0048] As attached Figure 4 , 5As shown, the top cleaning roller brush arm adjustable device 21 includes a cleaning brush arm 215, a reduction bevel gear box 212 installed at the front end of the cleaning brush arm 215, a first high-speed rotating motor 214 is fixedly arranged at the lower end of the cleaning brush arm 215, and the output shaft is connected to the input end of the reduction bevel gear box 212 through a coupling 213, and the threaded shaft at the output end of the reduction bevel gear box 212 is fixedly connected to the special-shaped cylindrical roller brush 212 through threads, and the rear end of the cleaning brush arm 215 is connected to the mounting seat through a pin, and the first linear motor 216 is installed on the frame through a motor mounting bracket 217, and a lifting rod 218 is provided at the output end of the first linear motor 216, and the lifting rod 218 cooperates with the notch in the middle part of the cleaning brush arm 215. The lifting rod 218 driven by 216 can be constructed to reciprocate in the vertical plane, and at the same time drive the cleaning brush arm 215 to swing around the mounting seat position. During the swinging process of the cleaning brush arm 215, the front-end special-shaped cylindrical roller brush 212 will be driven to adjust the height inside the ventilation duct. The maximum rising height of the center point of the installation position of the special-shaped cylindrical roller brush 212 is 205mm. For every 1mm driven by the first linear motor 216, the center point of the cylindrical roller brush installation position is raised or lowered by an average of 3.42mm, so that it can clean ventilation ducts of different sizes and improve the adaptability of the robot. At the same time, during the cleaning process, the swinging of the cleaning brush arm 215 will continuously change the special-shaped cylindrical roller brush 212 so that it can better clean the bottom surface and the left and right sides of the ventilation duct. In order to reduce the force vibration of the top cleaning roller brush arm adjustable device during the cleaning process, preferably, a shock-absorbing buffer device is provided at the rear end installation position of the cleaning brush arm 215.

[0049] like Figure 6 , 7 As shown, the bottom disc-type cleaning brush adjustable device 22 includes a disc-type cleaning brush 224, a second high-speed rotating motor 221 for driving the disc-type cleaning brush 224 to rotate, two second high-speed rotating motors 221 are symmetrically arranged on the left motor seat 222 and the right motor seat 225, the left motor seat 222 and the right motor seat 225 are arranged in the slide groove of the slide rail 226, the slide rail 226 is fixed on the frame 11, the second linear motor 229 is fixed on the frame 11, a lead screw nut 228 is arranged on the output shaft of the second linear motor 229, an angle adjustment rod 227 is arranged on the upper surface of the lead screw nut 228, and the other end of the angle adjustment rod 227 is connected to the left motor seat 222 and the right motor seat 225. In order to adapt to ventilation ducts of different sizes, the second linear motor 229 drives the screw nut 228 to reciprocate horizontally. Driven by the screw nut 228, the angle adjustment rod 227 drives the left motor seat 222 and the right motor seat 225 to move along the slide groove of the slide rail 226, thereby realizing the position adjustment between the two disc-shaped cleaning brushes 224. The maximum displacement of the center point of the disc-shaped cleaning brush is 114mm. Every time the second linear motor 229 drives the screw nut 228 to move 1mm, the center point of the disc-shaped cleaning brush moves an average of 1.34mm.

[0050] In order to achieve a better cleaning effect on the bottom wall of the pipeline, the disc-shaped cleaning brush 224 has an angle with the horizontal line, and the contact angle of the disc-shaped cleaning brush 224 with the ground ranges from 4 to 10°, and the preferred angle is 5°. The line connecting the centers of the two disc-shaped cleaning brushes 224 is not perpendicular to the direction of travel of the robot, and there is a certain angle between the two, which can effectively avoid the disc-shaped cleaning brush 224 from missing gaps when cleaning the bottom wall of the pipeline. Preferably, in order to reduce the impact of the disc-shaped cleaning brush 224 and the bottom surface of the ventilation duct during the robot cleaning process, which affects the stability of the robot cleaning mechanism and the cleaning effect, a shock-absorbing spring 223 is provided between the second high-speed rotating motor 221 and the disc-shaped cleaning brush 224, which plays a role in shock absorption and buffering during the cleaning process, and improves the stability of the bottom disc-shaped cleaning brush adjustable device 22.

[0051] As attached Figure 8 , 9 As shown, the dust collecting mechanism 30 is fixed on the frame 11 and is located behind the cleaning mechanism 20. The dust collecting mechanism 30 includes a belt transmission device 31, a negative pressure fan 32, a dust collecting chamber 33, a negative pressure fan mounting plate 34, a cylindrical roller brush 35, a roller brush shaft 36, and a filter element 38. The dust collecting chamber 33 is fixed on the frame 11, the belt transmission device 31 is fixed on the right side of the dust collecting chamber 33, the third high-speed rotating motor 311 is fixed on the frame 11, the output shaft is connected to the driving pulley 312 and connected to the driven pulley 314 arranged on the roller brush shaft 36 through the belt 313, the cylindrical roller brush 35 is arranged on the roller brush shaft 36, the belt transmission device 31 drives the cylindrical roller brush 35 to rotate at a high speed to clean the dust, which has a supplementary effect on the cleaning blind area of ​​the bottom disc-type cleaning brush adjustable device 22, and at the same time, the cylindrical roller brush 35 can roll dust particles into the dust collection chamber 33 suction port during the rotation process, thereby improving the cleaning effect of the dust collecting mechanism 30. The negative pressure fan 32 is arranged on the upper part of the dust collecting chamber 33 through the negative pressure fan mounting plate 34. The negative pressure fan 32 is connected to the dust collecting chamber 33. The negative pressure fan 32 rotates at high speed to form a vacuum to collect dust into the dust collecting chamber 33. The dust particles 37 enter the dust collecting chamber 33 and naturally settle on the bottom surface of the dust collecting chamber 33 due to gravity. In this way, the dust cleaned from the inner wall surface is effectively collected synchronously. Preferably, in order to prevent the negative pressure fan 32 from being blocked by dust during operation, a filter element 38 is provided at the air inlet of the negative pressure fan 32.

[0052] As attached Fig.10 As shown, the special-shaped cylindrical cleaning brush 211 is different from the traditional cylindrical roller brush. The bristles on the right end are evenly distributed in a fan shape, and the middle and left ends are similar in shape to the traditional roller brush. During the high-speed rotation of this special cleaning brush, the dust on the top and two sides of the ventilation duct can be cleaned synchronously, which improves the problem of traditional robots not being able to clean in place and having dead corners.

[0053] Since the central air conditioning ventilation duct is a dark and closed environment, it is not easy for operators to obtain the internal situation. In order to facilitate the monitoring of the operator, the cleaning robot frame 11 of the present invention is provided with an industrial camera 40 and a lighting lamp 50 arranged on the top of the dust collection chamber. In order to improve the automation and intelligence of the cleaning robot, a control system can be set on the frame 11 to realize remote control. The circuit diagram of the robot control system is shown in the attached figure. Fig.11 Considering that the structure of the central air-conditioning ventilation duct is large and complex, in order to facilitate the location of the cleaning robot, a GPS positioning device can be set on the robot.

[0054] It can be seen from the above implementation scheme that the walking mechanism of the present invention adopts an innovative semi-crawler structure to replace the single wheel or crawler of the traditional pipe cleaning robot, which not only ensures the stability of the robot during work, but also takes into account the maneuverability and flexibility of the robot when facing curved pipes, and enhances the motion characteristics of the robot; by simultaneously setting the top cleaning roller brush arm adjustable device and the bottom disc cleaning brush adjustable device on the robot, the four inner walls of the rectangular ventilation duct of the air conditioner can be cleaned at the same time, and the two adjustment mechanisms replace the existing robot cleaning device, so that the robot can adapt to the cleaning area within a certain range, not limited to a single cross-sectional size pipe, and effectively solves the problem that the robot needs to select different models according to the cross-sectional size of the ventilation duct and then perform cleaning operations; a dust collection mechanism is provided behind the cleaning mechanism, and the robot itself is provided with a dust collection mechanism to replace the traditional robot with a negative pressure vacuum cleaner or a dust collector during the cleaning operation, so that the robot cleaning operation is simplified, and at the same time, the dust inside the pipeline can be quickly collected by the dust collection mechanism after being swept by the cleaning mechanism, effectively avoiding the spread of dust particles in the air, reducing the air pollution to the environment during the cleaning process, and ensuring the respiratory health of the staff.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rectangular cross-section ventilation duct cleaning robot, characterized in that: include: A walking mechanism (10), a cleaning mechanism (20) and a dust collecting mechanism (30); The walking mechanism (10) comprises a frame (11), a crawler structure (13) and a wheel structure (12) are mounted on the frame, the wheel structure is located behind the crawler structure, the crawler structure (13) is connected to a drive motor, and the drive motor is fixedly mounted below the frame via a fixing seat, and the walking mechanism (10) is used to drive the robot to move; The cleaning mechanism (20) comprises a top cleaning roller brush arm adjustable device (21) and a bottom disc-shaped cleaning brush adjustable device (22); the top cleaning roller brush arm adjustable device (21) is mounted on a mounting seat, the mounting seat is fixedly arranged on the upper surface of the frame (11), the top cleaning roller brush arm adjustable device (21) extends toward the front end of the frame (11), the top cleaning roller brush arm adjustable device (21) swings around the mounting seat, and the bottom disc-shaped cleaning brush adjustable device (22) is mounted on the upper part (11) of the frame; The dust collecting mechanism (30) is installed on the upper part of the frame (11) and is located behind the cleaning mechanism (20) and is used for collecting dust.

2. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The crawler structure (13) comprises a metal inverted ladder crawler (133), a driving wheel (132) and a guide wheel (131); the driving wheel (132) is installed at the end of a driving shaft (134), the driving wheel (132) is located at the front of the crawler structure, and the metal inverted ladder crawler is meshed with the driving wheel (132); the guide wheel (131) is located at the rear of the crawler structure (13), and is meshed with the metal inverted ladder crawler (133) to provide support and guidance for the movement of the crawler structure (13).

3. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The wheel structure comprises a PWM steering gear (123), wherein the PWM steering gear (123) is fixed to the middle part of the vehicle frame (11) by means of bolts, the output end of the PWM steering gear (123) is connected to the steering gear arm (129), the end of the steering gear arm (129) is connected to the steering gear tie rod (128), the end of the steering gear tie rod (128) is connected to the steering arm (127), the steering arm (127) is connected to the left steering knuckle (124) by means of a cylindrical pin, the left steering knuckle (124) is connected to the right steering knuckle (125) by means of a steering tie rod (121), the left steering knuckle (124) and the right steering knuckle (125) are respectively connected to a steering shaft (126), and the steering shaft (126) is connected to the wheel (122) by means of an intermediate bearing.

4. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The top cleaning roller brush arm adjustable device (21) comprises a first linear motor (216), the first linear motor (216) being arranged at the front end of the frame (11) via a motor mounting frame (217), a lifting rod (218) being installed on the output shaft of the first linear motor, the lifting rod (218) being installed in a side notch of the cleaning brush arm (215), a first high-speed rotating motor (214) being fixedly installed at the lower front end of the cleaning brush arm (215), the output shaft of the first high-speed rotating motor (214) being fixedly connected to the input shaft of the reduction helical gear box (212) via a coupling, and the output shaft of the reduction helical gear box (212) being fixedly connected to the special-shaped cylindrical cleaning brush (211).

5. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The special-shaped cylindrical roller brush 211 is symmetrically mounted on both sides of the front end of the cleaning brush arm (215) and can rotate synchronously at high speed during cleaning. The special-shaped cylindrical cleaning brush (211) is a cylindrical roller brush, and one end of the cylindrical roller brush has fan-shaped bristles, which can clean the left and right side walls of the ventilation duct.

6. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The bottom disc type cleaning brush adjustable device (22) comprises a second linear motor (229), the second linear motor (229) is fixedly mounted on the upper part of the frame (11) through a motor mounting frame, a lead screw nut (228) is mounted on the output shaft of the second linear motor (229), a slide rail (226) is fixedly arranged at the front part of the upper end of the frame (11), a left motor seat (222) and a right motor seat (225) are mounted in the slide rail track, the upper surface of the lead screw nut (228) is fixedly connected to one end of two angle adjustment rods (229), and the other ends of the two angle adjustment rods (229) are respectively fixed to the left motor seat (222) and the right motor seat (225) through bushings. The left motor seat (222) and the right motor seat (225) are fixedly mounted with a second high-speed rotating motor (221) on the upper surface of the left motor seat (222) and the right motor seat (225) by bolts, the output shaft of the second high-speed rotating motor (221) is fixedly connected to the disc-shaped cleaning brush (224), the second linear motor (229) drives the lead screw nut (228) to reciprocate in the horizontal direction, and the angle adjustment rod (227) drives the left motor seat (222) and the right motor seat (225) to move along the slide groove of the slide rail (226) driven by the lead screw nut (228) to achieve position adjustment between the two disc-shaped cleaning brushes (224).

7. The rectangular cross-section ventilation duct cleaning robot according to claim 6, characterized in that: A shock absorbing spring (223) is provided between the second high-speed rotating motor (221) and the disc-shaped cleaning brush (224); the shock absorbing spring (223) is elastically connected to the left motor seat and the right motor seat (225) respectively, and plays a buffering role when encountering a pothole bottom of the pipeline, thereby reducing damage to the disc-shaped cleaning brush (224) and the second high-speed rotating motor (221).

8. The rectangular cross-section ventilation duct cleaning robot according to claim 6 or 7, characterized in that: The contact angle of the disc-shaped cleaning brush (224) with the ground is in the range of 4 to 10 degrees, and the line connecting the centers of the two disc-shaped cleaning brushes (224) is not perpendicular to the travel direction of the robot, but there is an angle between the two, which effectively prevents the disc-shaped cleaning brush (224) from missing gaps when cleaning the bottom wall of the pipeline.

9. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The dust collecting mechanism comprises a negative pressure fan (32), a dust collecting box (33), a cylindrical roller brush (35), a third high-speed rotating motor (311) and a belt transmission device (31); the dust collecting box (33) is mounted at the rear of the frame (11); the dust suction port of the dust collecting box (33) is arranged at the rear of the frame (11); the air inlet cross section of the dust collecting box (33) maintains a fixed inclination angle with the ground; the negative pressure fan (32) is mounted on the top of the dust collecting box (33); the air inlet of the negative pressure fan (32) is connected to the inside of the dust collecting box (33); the cylindrical roller brush (35) is arranged at the air inlet of the dust collecting box (33); the third high-speed rotating motor (311) is mounted at the rear end of the frame (11); and the belt transmission device (31) connects the third high-speed rotating motor (311) and the cylindrical roller brush (35); The belt transmission device (31) comprises a driving pulley (312) mounted on the third high-speed rotating motor (311); the driving pulley (312) is connected to a driven pulley (314) via a belt (313); and the driven pulley (314) is mounted on a roller brush shaft (36).

10. The rectangular cross-section ventilation duct cleaning robot according to claim 1, characterized in that: The cleaning robot also includes an image acquisition and lighting device for the interior of the pipeline, wherein the image acquisition and lighting device includes two symmetrical lighting lamps (50) arranged on the top of the dust box (33), and an industrial camera (40) installed on the front end of the frame (11) and the cleaning brush arm (215).

Images