Wheel type cleaning robot for inner wall of special pipeline

Abstract

The invention discloses a wheel type cleaning robot for the inner wall of a special pipeline, which comprises a wheel type unmanned platform, a rotating system is arranged on the wheel type unmanned platform, a spraying arm is arranged on the rotating system, the spraying arm is driven by the rotating system to rotate so as to realize multi-angle cleaning of the inner wall of the pipeline, and a water supply system is further arranged on the wheel type unmanned platform. The water supply system provides a high-pressure water source for the spraying arm; a bottom water scraping device is arranged at the lower end of the wheel type unmanned platform and used for cleaning waste water and waste residues at the bottom of the pipeline. All-directional cleaning in the pipeline is achieved, the cleaning efficiency of the inner wall of the pipeline is effectively improved, the cleaning quality is optimized, the personal health of workers is guaranteed, and the pipeline cleaning device is suitable for cleaning of multiple types of pipelines.

Description

Technical Field

[0001] The present invention relates to the technical field of special pipeline maintenance equipment, and in particular to a wheeled cleaning robot for the inner wall of special pipelines. Background Art

[0002] For special pipelines where the pollutants inside the pipe are highly harmful to the human body or in a radiation environment, the current inner wall cleaning work of the pipeline mainly relies on manual operation or is completed with the help of simple mechanical brush cleaning equipment. It requires manual preparation of various tools and equipment such as protective clothing, lighting lamps, spraying, and wiping. The operation is very inconvenient, the cleaning efficiency is low, the labor cost is high, the dirt causes great damage to the human body, directly threatening the personal health of the operators, and it is not suitable for long-term operation. Therefore, the inner wall cleaning robot for special pipelines is an essential equipment in the use of pipeline maintenance equipment, which can improve the cleaning efficiency and avoid human injuries. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a wheeled cleaning robot for the inner wall of special pipelines.

[0004] The present invention is achieved through the following technical solutions.

[0005] A wheeled cleaning robot for the inner wall of special pipelines provided by the present invention includes a wheeled unmanned platform. A rotating system is provided on the wheeled unmanned platform, and a spray arm is provided on the rotating system. The spray arm is driven by the rotating system to rotate to achieve multi-angle cleaning of the inner wall of the pipeline. A water supply system is also provided on the wheeled unmanned platform, and the water supply system provides high-pressure water source for the spray arm; a bottom water scraping device is provided at the lower end of the wheeled unmanned platform, and the bottom water scraping device is used to clean the waste water and waste residues at the bottom of the pipeline.

[0006] Preferably, the rotating system includes a rotating motor, a reducer, a hollow turntable, a manifold box, and a pitching mechanism. The mounting seat is installed on the upper end surface of the wheeled unmanned platform, the hollow turntable is installed on the mounting seat, the reducer is installed at the rear end of the hollow turntable, the rotating motor is installed on the reducer, the manifold box is installed at the front end of the hollow turntable, and the spray arm is connected to the manifold box through the pitching mechanism.

[0007] Preferably, the pitching mechanism includes a pitching motor, a spray arm joint, a rotary encoder, a mounting seat, a connecting rod, and a slip ring. The pitching motor is installed at the front end of the manifold box, the rotary encoder is installed at the lower end of the pitching motor, the slip ring is installed at the rear end of the manifold box, the spray arm is communicated with the manifold box through the spray arm joint, and the spray arm is installed on the manifold box through the connecting rod.

[0008] Preferably, the water supply system includes a cleaning liquid tank, a water tank, a high-pressure water pump, a solenoid valve, a wheel cleaning area, a manual valve, a first branch pipe, and a second branch pipe. Both the first branch pipe and the second branch pipe are installed on the water tank. The inlet end of the high-pressure water pump is connected to the first branch pipe and the cleaning liquid tank respectively through pipelines, and solenoid valves are installed on the pipelines of the first branch pipe and the cleaning liquid tank; the outlet end of the high-pressure water pump is connected to the manifold box and the wheel cleaning area respectively through pipelines, and solenoid valves are installed on the pipelines of the manifold box and the wheel cleaning area; the second branch pipe is also connected to the manifold box and the wheel cleaning area respectively, and the manual valve is installed on the second branch pipe.

[0009] Preferably, the first branch pipe is connected to a standby water tank through a pipeline, and a manual valve is installed on the pipeline of the standby water tank.

[0010] Preferably, the bottom wiper device includes a sponge block, a connecting plate, a reducer, a coupling, a screw, and a mounting plate. The mounting plate is fixedly installed on the chassis of the wheeled unmanned platform. The screw is installed at the lower end of the mounting plate. The coupling is installed at the end of the screw away from the mounting plate. The reducer is installed at the end of the coupling away from the screw. The connecting plate is installed on the reducer, and the sponge block is installed on the connecting plate.

[0011] Preferably, the wheeled unmanned platform is provided with a level sensor, and a control system is also installed on the wheeled unmanned platform. The level sensor is electrically connected to the control system.

[0012] Preferably, a blower is provided at the lower end of the wheeled unmanned platform, and the blower is electrically connected to the control system.

[0013] Preferably, a camera is installed on the wheeled unmanned platform, and the camera is electrically connected to the control system.

[0014] Preferably, an ultrasonic sensor is installed on the wheeled unmanned platform, and the ultrasonic sensor is electrically connected to the control system.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1. The wheeled cleaning robot is moved in a special pipeline through the wheeled unmanned chassis. The rotating system drives the spray arm to rotate 360° to realize multi-angle cleaning of the inner wall of the pipeline, and cooperates with the bottom wiper device to clean the waste water and waste residues at the bottom of the special pipeline, realizing full-range cleaning in the special pipeline, effectively improving the cleaning efficiency of the inner wall of the pipeline, optimizing the cleaning quality, ensuring the personal health of the staff, and being applicable to the cleaning of various types of pipelines.

[0017] 2. By adopting two types of connecting pipelines, namely high-pressure water spraying or conventional water outlet, in the water supply system and switching between the two types of connecting pipelines at any time, it is convenient for the all-round cleaning of special pipelines. When high-pressure water spraying in the pipeline may cause sewage or waste residue to spray out at the pipeline joints of certain special sections, the conventional water outlet method is adopted for flushing, which is applicable to different environments in the pipeline.

[0018] 3. By adopting a sponge block combined with a connecting block to form a scraper form, it is convenient to clean the sewage and waste residue at the bottom of the pipeline. Using this material of the sponge block makes the contact with the bottom of the pipeline more fitting, the cleaning is more thorough, it is not easy to be damaged, the price cost is low, and it is convenient to replace.

[0019] 4. By adopting a control system, the full-automatic function of this structure is realized, and remote control is achieved. Brief Description of the Drawings

[0020] Figure 1 is the structural schematic diagram of the present invention;

[0021] Figure 2 is the partial structural schematic diagram of the wheeled unmanned platform and other structures mainly used for displaying the present invention;

[0022] Figure 3 is the partial structural schematic diagram of the rotation system mainly used for displaying the present invention;

[0023] Figure 4 is the flow chart of the water supply system mainly used for displaying the present invention;

[0024] Figure 5 is the partial structural schematic diagram of the bottom water scraping device mainly used for displaying the present invention;

[0025] Figure 6 is the circuit connection diagram of the control system, rotation system, water supply system, bottom water scraping device and other structures mainly used for displaying the present invention;

[0026] In the figure: 1 - rotation system; 2 - water supply system; 3 - cleaning liquid tank; 4 - water tank; 5 - high-pressure water pump; 6 - wheeled unmanned platform; 7 - bottom water scraping device; 11 - rotation motor; 12 - reducer; 13 - hollow turntable; 14 - manifold box; 15 - pitching motor; 16 - spray arm joint; 17 - spray arm; 18 - connecting rod; 19 - rotary encoder; 110 - manifold box outlet valve; 111 - mounting seat; 112 - electric slip ring; 61 - mounting platform; 62 - horizontal sensor; 63 - camera; 64 - hair dryer; 65 - wheeled unmanned chassis; 71 - sponge block; 72 - connecting plate; 73 - reducer; 74 - coupling; 75 - screw; 76 - mounting plate. Detailed Embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0028] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In this embodiment, referring to Figure 1 , Figure 2 and Figure 6 , a wheeled cleaning robot for the inner wall of a special pipeline includes a wheeled unmanned platform 6, and a control system is installed on the wheeled unmanned platform 6; the control system is composed of a core control board and its expansion module. The core control board and its expansion module are powered on. The model of the core control board is specifically FPGA / JFMQL2OS4B4. The core control board is connected to the control terminal through a radio station. The core control board and the control terminal realize information transmission with the wireless bridge of the communication system through the radio station to realize remote control of the control system.

[0030] In this embodiment, referring to Figure 1 and Figure 2 , the wheeled unmanned platform 6 is composed of an installation platform 61 and a wheeled chassis 65. The installation platform 61 is installed at the upper end of the wheeled chassis 65. The wheeled chassis 65 includes a hub motor and a plurality of drive wheels. The hub motor is connected to the plurality of drive wheels to provide power for the plurality of drive wheels; the control system is electrically connected to the hub motor to control the wheeled robot to travel in the pipeline.

[0031] A horizontal sensor 62 is installed on the installation platform 61. The horizontal sensor 62 is electrically connected to the control system, so that the horizontal sensor 62 is used to feedback the horizontal state of the installation platform 61; a camera 63 is also installed on the installation platform 61. The camera 63 is electrically connected to the control system. The camera 63 is used to monitor and feedback the driving road conditions and cleaning conditions of the wheeled unmanned platform 6; an ultrasonic sensor is also installed on the installation platform 61. The ultrasonic sensor is electrically connected to the control system. The ultrasonic sensor is used for distance perception between the wheeled unmanned platform 6 and the inside of the pipe.

[0032] The control system, axle motor, horizontal sensor 62, ultrasonic sensor, and camera 63 form an integrated multi-sensor fusion system to achieve real-time status monitoring and control of the cleaning operation. Through visual tracking, the image of the inner wall of the special pipeline after cleaning is transmitted in real time to verify the cleaning effect and make a judgment; the horizontal inclination sensor and ultrasonic sensor are applied to the robot attitude calibration.

[0033] In this embodiment, referring to Figure 1 and Figure 6 , the control system also realizes the automation functions of the rotation system 1, water supply system 2, and bottom wiper device 7 by being electrically connected to the rotation system 1, water supply system 2, and bottom wiper device 7 respectively.

[0034] In this embodiment, referring to Figure 1 and Figure 3 , a rotation system 1 is provided at the upper end of the wheeled unmanned platform 6, and a spray arm 17 is provided on the rotation system 1. The spray arm 17 is driven by the rotation system 1 to rotate to achieve multi-angle cleaning of the inner wall of the pipeline; the rotation system 1 includes a rotation motor 11, a reducer 12, a hollow turntable 13, a busbar box 14, and a pitching mechanism. The mounting seat 111 is installed on the upper end surface of the mounting platform 61, the hollow turntable 13 is installed on the mounting seat 111, the reducer 12 is installed at the rear end of the hollow turntable 13, the rotation motor 11 is installed on the reducer 12, the busbar box 14 is installed at the front end of the hollow turntable 13, and the busbar box 14 is connected to the spray arm 17 through the pitching mechanism;

[0035] The pitching mechanism includes a pitching motor 15, a spray arm joint 16, a rotary encoder 19, a mounting seat 111, and a slip ring 112. The pitching motor 15 is installed at the front end of the busbar box 14, the rotary encoder 19 is installed at the lower end of the pitching motor 15, the slip ring 112 is installed at the rear end of the busbar box 14, the spray arm joint 16 is connected to the outlet valve 110 of the busbar box, and the spray arm joint 16 is connected to the spray arm 17, so that the spray arm 17 and the busbar box 14 are connected, and the spray arm 17 is installed on the busbar box 14 through a connecting rod 18.

[0036] By starting the pitching motor 15, the pitching motor 15 cooperates with the rotary encoder 19 and the slip ring 112 to adjust the deflection angle of the spray arm 17. Then, start the rotation motor 11, and the rotation motor 11 cooperates with the reducer 12 to drive the hollow turntable 13 to rotate, so that the hollow turntable 13 drives the spray arm 17 to rotate 360° along the axis of the hollow turntable 13, thereby realizing multi-angle flushing of the inner wall of the pipeline.

[0037] In order to provide high-pressure water source for the spray arm 17, a water supply system 2 is also provided on the wheeled unmanned platform 6. The water supply system 2 provides high-pressure water source for the spray arm 17; referring to Figure 1 and Figure 4, the water supply system 2 includes a cleaning liquid tank 3, a water tank 4, a high-pressure water pump 5, a solenoid valve, a wheel cleaning area, a manual valve, a first branch pipe and a second branch pipe. The first branch pipe and the second branch pipe are installed on the water tank 4. The first branch pipe is connected to a standby water tank through a pipeline, and a manual valve is installed on the pipeline of the standby water tank to facilitate controlling the injection of water from the standby water tank into the water tank 4;

[0038] The pressure of the high-pressure water pump 5 is adjustable from 0 to 11 MPa, and the pipeline water pressure can be adjusted from 0.3 to 3 MPa. The inlet end of the high-pressure water pump 5 is connected to the first branch pipe and the cleaning liquid tank 3 respectively through pipelines. Solenoid valves are installed on the pipelines of the first branch pipe and the cleaning liquid tank 3. The outlet end of the high-pressure water pump 5 is connected to the manifold box 14 through a pipeline, and a solenoid valve is installed on the pipeline of the manifold box 14; The second branch pipe is connected to the manifold box 14, and a manual valve is installed on the second branch pipe.

[0039] In order to clean the wheels, the outlet end of the high-pressure water pump 5 is also connected to the wheel cleaning area through a pipeline, and a solenoid valve is installed on the pipeline of the wheel cleaning area. The wheel cleaning area is also connected to the second branch pipe through a pipeline.

[0040] Working principle of the spray arm 17: When the spray arm 17 needs to spray high-pressure water, first open the manual valve of the standby water tank and the solenoid valve of the water tank 4 to inject water into the water tank 4. After the water injection is completed, close the manual valve of the standby water tank, and open the solenoid valve of the water tank 4, the high-pressure water pump 5 and the solenoid valve of the manifold box 14. The water in the water tank 4 enters the manifold box 14 through the high-pressure water pump 5 and is sprayed out from the spray arm 17 at high pressure; First, adjust the angle of the spray arm 17 through the pitching motor 15, the rotary encoder 19 and the current loop, and then drive the manifold box 14 to rotate through the rotary motor 11, the reducer 12 and the hollow turntable 13, driving the spray arm 17 to rotate, so as to realize the multi-directional high-pressure spraying and cleaning of the spray arm 17 inside the pipeline; After the cleaning is completed, close the solenoid valve of the water tank 4, the high-pressure water pump 5 and the solenoid valve of the manifold box 14, the spray arm 17 stops discharging water, and close the rotary motor 11 to make the spray arm 17 stop rotating, and the cleaning is completed.

[0041] In this embodiment, refer to Figure 1 and Figure 5, a bottom wiper device 7 is provided at the lower end of the wheeled unmanned platform 6. The bottom wiper device 7 is used to clean the waste water and residues at the bottom of special pipelines. The bottom wiper device 7 includes a sponge block 71, a connecting plate 72, a reduction gear 73, a coupling 74, a screw rod 75 and a mounting plate 76. The mounting plate 76 is fixedly installed on the wheeled chassis 65. The screw rod 75 is installed at the lower end of the mounting plate 76. The coupling 74 is installed at one end of the screw rod 75 away from the mounting plate 76. The reduction gear 73 is installed at one end of the coupling 74 away from the screw rod 75. The connecting plate 72 is installed on the reduction gear 73. The sponge block 71 is installed on the connecting plate 72. The sponge block 71 is made of a special material and is not easily damaged. At the same time, the sponge block 71 is in a semi-circular arc shape, which is convenient for the sponge block 71 to fit with the bottom of the pipeline, so that the sponge block 71 can clean the bottom of the pipeline more cleanly. The reduction gear 73, the coupling 74 and the screw rod 75 cooperate together to form a lifting mechanism to realize the lifting adjustment of the sponge block 71 and the connecting plate 72.

[0042] During the movement of the wheeled unmanned platform 6, the reduction gear 73 and the coupling 74 are started to drive the screw rod 75 to lift, so as to realize the lifting of the sponge block 71, make the sponge block 71 contact with the inner bottom of the pipe, and then take out the sewage and residues at the inner bottom of the pipe with the movement of the wheeled robot, so as to realize the cleaning of the bottom of the pipeline.

[0043] In this embodiment, referring to Figure 2 , a hair dryer 64 is also installed at the lower end of the installation platform 61. The hair dryer 64 is electrically connected to the control system. During the process of the sponge block 71 and the connecting plate 72 moving forward with the sewage and residues at the bottom of the pipeline, and at the same time when high-pressure water spraying and cleaning operations are carried out, the hair dryer 64 is started at the same time to treat the waste residues and waste water generated by the high-pressure water cleaning.

[0044] The working process of this embodiment:

[0045] (1) Self-check: Power on the control system to make the structure automatically complete the inspection of power, water volume and status to ensure that it meets the working state;

[0046] (2) Water filling: Open the manual valve on the spare water tank, and add water from the spare water tank to the water tank 4 and the cleaning liquid tank 3 through the water outlet pump, and the water filling is completed;

[0047] (3) Travel: The wheeled cleaning robot moves to the specified position inside the pipeline in a manually remote-controlled walking mode, and the speed is adjustable;

[0048] (4) Enter the pipeline: Start the rotation system 1, the water supply system 2 and the bottom wiper device 7 through the control system, adjust the angle of the spray arm 17, the robot axially advances, the spray arm 17 rotates and discharges water, complete the high-pressure water cleaning of the inner wall of the special pipeline, and the sponge block 71 cleans the sewage and residues at the bottom of the pipeline;

[0049] (5) During the cleaning operation, the hair dryer 64 works continuously to handle the waste residue and wastewater generated by high-pressure water cleaning;

[0050] (6) After the cleaning operation is completed, observe the cleaning quality inside the cylinder, and determine whether final manual-assisted cleaning is required based on the cleaning effect. If so, feedback the signal for manual-assisted cleaning. If not, complete the pipeline cleaning.

[0051] The above is only the preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A wheeled cleaning robot for the inner wall of a special pipeline, characterized in that: It includes a wheeled unmanned platform (6). A rotating system (1) is provided on the wheeled unmanned platform (6). A spray arm (17) is provided on the rotating system (1). The spray arm (17) is driven by the rotating system (1) to rotate so as to achieve multi-angle cleaning of the inner wall of the pipeline. A water supply system (2) is also provided on the wheeled unmanned platform (6). The water supply system (2) provides high-pressure water source for the spray arm (17). A bottom wiper device (7) is provided at the lower end of the wheeled unmanned platform (6). The bottom wiper device (7) is used to clean the waste water and waste residue at the bottom of the pipeline.

2. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, wherein: The rotating system (1) includes a rotating motor (11), a reducer (12), a hollow turntable (13), a busbar chamber (14) and a pitching mechanism. A mounting seat (111) is installed on the upper end face of the wheeled unmanned platform. The hollow turntable (13) is installed on the mounting seat (111). The reducer (12) is installed at the rear end of the hollow turntable (13). The rotating motor (11) is installed on the reducer (12). The busbar chamber (14) is installed at the front end of the hollow turntable (13). The spray arm (17) is connected to the busbar chamber (14) through the pitching mechanism.

3. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 2, wherein: The pitching mechanism includes a pitching motor (15), a spray arm joint (16), a rotary encoder (19), a mounting seat (111), a connecting rod (18) and a slip ring (112). The pitching motor (15) is installed at the front end of the busbar chamber (14). The rotary encoder (19) is installed at the lower end of the pitching motor (15). The slip ring (112) is installed at the rear end of the busbar chamber (14). The spray arm (17) is communicated with the busbar chamber (14) through the spray arm joint (16). The spray arm (17) is installed on the busbar chamber (14) through the connecting rod (18).

4. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 2, characterized in that: The water supply system (2) includes a cleaning liquid tank (3), a water tank (4), a high-pressure water pump (5), a solenoid valve, a wheel cleaning area, a manual valve, a first branch pipe and a second branch pipe. The first branch pipe and the second branch pipe are both installed on the water tank (4). The inlet end of the high-pressure water pump (5) is communicated with the first branch pipe and the cleaning liquid tank (3) respectively through pipelines. Solenoid valves are installed on the pipelines of the first branch pipe and the cleaning liquid tank (3). The outlet end of the high-pressure water pump (5) is communicated with the busbar chamber (14) and the wheel cleaning area respectively through pipelines. Solenoid valves are installed on the pipelines of the busbar chamber (14) and the wheel cleaning area. The second branch pipe is also communicated with the busbar chamber (14) and the wheel cleaning area respectively. The manual valve is installed on the second branch pipe.

5. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 4, characterized in that: The first branch pipe is communicated with a spare water tank through a pipeline. A manual valve is installed on the pipeline of the spare water tank.

6. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, wherein: The bottom wiper device (7) includes a sponge block (71), a connecting plate (72), a speed reducer (73), a coupling (74), a screw rod (75) and a mounting plate (76). The mounting plate (76) is fixedly installed on the chassis of the wheeled unmanned platform (6). The screw rod (75) is installed at the lower end of the mounting plate (76). The coupling (74) is installed at the end of the screw rod (75) far from the mounting plate (76). The speed reducer (73) is installed at the end of the coupling (74) far from the screw rod (75). The connecting plate (72) is installed on the speed reducer (73). The sponge block (71) is installed on the connecting plate (72).

7. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, wherein: The wheeled unmanned platform (6) is provided with a horizontal sensor (62), and a control system is also installed on the wheeled unmanned platform (6). The horizontal sensor (62) is electrically connected to the control system.

8. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, characterized in that: A hair dryer (64) is provided at the lower end of the wheeled unmanned platform (6), and the hair dryer (64) is electrically connected to the control system.

9. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, characterized in that: A camera (63) is installed on the wheeled unmanned platform (6), and the camera (63) is electrically connected to the control system.

10. The wheeled cleaning robot for the inner wall of a special pipeline according to claim 1, characterized in that: An ultrasonic sensor is installed on the wheeled unmanned platform (6), and the ultrasonic sensor is electrically connected to the control system.

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