Robot with narrow tunnel cleaning function

Abstract

The invention relates to the technical field of robots, and discloses a robot with a narrow tunnel cleaning function, which comprises a front half-section machine body and a rear half-section machine body which are symmetrically arranged, and further comprises a servo holder motor, and the front half-section machine body and the rear half-section machine body are respectively connected with two output shafts of the servo holder motor; in the scheme, after the condition of the pipeline is obtained through the small camera, an operator operates the robot in an operation mode with preset logic, and movement of advancing and retreating in the horizontal pipeline, advancing and retreating in the vertical pipeline, vertical turning between the horizontal pipelines, upward turning from the horizontal pipeline to the vertical pipeline and the like can be achieved; and meanwhile, the variable-diameter supporting structure can enable the robot to adapt to the pipe diameter requirement of 110 mm to 140 mm. The robot can improve the cleaning efficiency of blocked narrow pipelines.

Description

Technical Field

[0001] The invention relates to the field of robot technology, and particularly to a support mechanism for a pipeline peristaltic robot. Background Art

[0002] As an important part of urban infrastructure, the smoothness of small municipal pipelines is directly related to the normal operation of the urban water supply and drainage system. However, due to the deposition of minerals in water (especially calcium, magnesium and other ions), scale that is difficult to remove often forms inside the pipelines. These minerals are particularly abundant in hard water and gradually accumulate over time, not only causing the internal space of the pipeline to gradually shrink, blocking the water flow, but also seriously causing pipeline blockage and damage, bringing great inconvenience to the daily life of urban residents.

[0003] Currently, for the scale problem in small municipal pipelines, common cleaning methods include chemical cleaning methods and mechanical cleaning methods. Although chemical cleaning methods can effectively dissolve and remove scale, the chemical reagents used often pollute the environment, and the cost of treating the wastewater after treatment is high. Mechanical cleaning methods rely on physical forces to remove scale, but improper operation is likely to cause scratches or other physical damages to the inner wall of the pipeline, affecting the service life of the pipeline. Most of the currently emerging pipeline robots have a fork-arm support structure, which can be applicable to different pipeline sizes. However, even after folding, such fork-type arms still occupy a relatively large radial space of the robot. Such a structure limits the use of such robots in pipelines with small diameters, especially in the range of 110 mm to 140 mm. Summary of the Invention

[0004] The present invention aims to provide a robot with a safe and reliable structure and suitable for cleaning narrow tunnels with small diameters.

[0005] Technical Solution: A robot with the function of cleaning narrow tunnels includes a front half body and a rear half body arranged symmetrically, and also includes a servo pan-tilt motor. The front half body and the rear half body are respectively connected to two output shafts of the servo pan-tilt motor; both the front half body and the rear half body include a steering mechanism, a variable-diameter support mechanism and a cleaning mechanism. The steering mechanism includes a servo motor, and the output shaft of the servo motor is connected to the variable-diameter support mechanism through a connecting plate; the variable-diameter support mechanism includes a lead screw, a lead screw nut, a linear optical axis, a linear optical axis fixing plate and a swinging structure. The swinging mechanism includes a swing rod and a support rod. The lower end of the swing rod is hinged and fixed on the linear optical axis fixing plate, and the upper end of the swing rod is connected with a roller assembly. One end of the support rod is hinged to the lead screw nut, and the other end is hinged to the middle section of the swing rod. The support rod can push the swing rod to swing, thereby controlling the expansion and contraction of the roller assembly; the cleaning mechanism is installed on the linear optical axis fixing plate.

[0006] Advantages: The robot of the present invention with the function of cleaning narrow tunnels realizes the flexible turning and stable support of the whole robot in narrow tunnels by using a servo pan-tilt motor to connect the front half of the body and the rear half of the body. In addition, the robot also has the following remarkable advantages: through the cooperation of the lead screw and the lead screw nut, the variable diameter function of the robot support mechanism is realized, which can adapt to pipes with different diameters and ensure the stable support of the robot in the pipe. The servo motor is connected to the connecting plate through a flange, realizing the precise control of the steering mechanism, enabling the robot to turn flexibly in a complex and changeable pipe environment. In this solution, after obtaining the pipe conditions through a small camera, the operator can operate the robot through a preset logical operation method, and can realize forward and backward movement in a horizontal pipe, forward and backward movement in a vertical pipe, vertical turning between horizontal pipes, and upward turning from a horizontal pipe into a vertical pipe, etc. Compared with the traditional robot structure, the pipe diameter that the present invention can adapt to is mainly determined by the movement range of the T-shaped lead screw nut and the length of the support rod, and can especially adapt to the pipe diameter requirements of 110mm to 140mm. At the same time, due to the cooperation of the servo pan-tilt and the servo motor, the robot can move in multiple postures in the pipe.

[0007] Further, the cleaning mechanism includes a motor, a coupling and a saw blade, and the output shaft of the motor is connected to the saw blade through a connector; by using the combination of the motor, the coupling and the saw blade as the cleaning mechanism, the cleaning ability of the robot for the inner wall of the pipe is significantly enhanced. The motor provides power and drives the saw blade to rotate at a high speed through the coupling. The sharp edge of the saw blade can effectively scrape off the dirt and sediment on the inner wall of the pipe, improving the cleaning efficiency and cleaning quality.

[0008] Further, the roller assembly includes a DC geared motor and rollers; the DC geared motor can provide stable driving force, and at the same time, the contact area between the rollers and the inner wall of the pipe is increased, reducing the friction force and improving the moving efficiency and stability of the robot in the pipe.

[0009] Further, the output shaft of the servo motor is connected to the connecting plate through a servo flange. This connection method enables the steering mechanism to control the turning of the robot more flexibly and accurately in a complex and changeable pipe environment, improving the adaptability and operability of the robot.

[0010] Further, the lead screw nut and the linear optical axis are connected into a whole through a lead screw nut fixing plate. This connection method makes the movement of the lead screw nut on the lead screw more stable, reduces the error caused by shaking or vibration, and improves the adaptability of the robot to the change of pipe diameter and the support stability.

[0011] Furthermore, a camera is provided on the cleaning mechanism. This not only improves the visualization of the cleaning operation but also enables the operator to perform more precise operations and controls on the robot according to the specific conditions inside the pipeline, further enhancing the efficiency and safety of the cleaning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a schematic diagram of an overall robot with a narrow tunnel cleaning function for an embodiment;

[0013] Figure 2 is Figure 1 a schematic diagram of the cleaning mechanism in;

[0014] Figure 3 is Figure 1 a schematic diagram of the variable diameter support mechanism in;

[0015] Figure 4 is Figure 1 a schematic diagram of the steering mechanism in;

[0016] Figure 5 FIG. is a working state diagram of a robot with a narrow tunnel cleaning function for an embodiment (the variable diameter support mechanism is fully extended). DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following is a more detailed description through specific embodiments:

[0018] The reference numerals in the accompanying drawings of the specification include: gasket 1-1, saw blade 1-2, coupling 1-3, motor mounting plate 1-4, camera 1-5; DC brushed motor 1-6, T-shaped lead screw stepper motor 2-1, T-shaped lead screw nut 2-2, T-shaped lead screw nut fixing plate 2-3, linear optical axis 2-4, support rod 2-5, DC reduction motor fixing plate 2-6, linear optical axis fixing plate 2-7, servo 3-1, servo flange 3-2, U-shaped connecting plate 3-3, servo pan-tilt motor 3-4, pan-tilt motor connecting plate 3-5, DC reduction motor 4-1, roller 4-2.

[0019] As Figures 1 - 5As shown in the figure, a robot with a narrow tunnel cleaning function includes a front half body, a rear half body, and a servo pan-tilt motor 3-4 connecting the front and rear half bodies. The servo pan-tilt motor 3-4 is provided with a front output shaft and a rear output shaft, which are respectively controlled by a front encoder and a rear encoder. The front output shaft is fixed to the pan-tilt motor connecting plate 3-5 on the same side, and the front half body is installed on the pan-tilt motor connecting plate 3-5. The front encoder controls the rotation angle of the front output shaft, which can control the rotation angle of the entire front half body. The rear output shaft is fixed to the pan-tilt motor connecting plate 3-5 on the same side, and the rear half body is installed on the pan-tilt motor connecting plate 3-5. The rear encoder controls the rotation angle of the rear output shaft, which can control the rotation angle of the entire rear half body.

[0020] Both the front half body and the rear half body include a steering mechanism, a variable diameter support mechanism, and a cleaning mechanism.

[0021] The steering mechanism includes a servo motor 3-1, a servo flange 3-2, and a U-shaped connecting plate 3-3. The servo motor 3-1 is installed on the pan-tilt motor connecting plate 3-5 on the same side. The output shaft of the servo motor 3-1 is connected to the U-shaped connecting plate 3-3 through the servo flange 3-2. When the servo motor 3-1 rotates, it can drive the U-shaped connecting plate 3-3 to rotate.

[0022] The variable diameter support mechanism includes a T-shaped lead screw stepper motor 2-1, a T-shaped lead screw nut 2-2, a T-shaped lead screw nut fixing plate 2-3, a linear optical axis 2-4, a support rod 2-5, a DC reduction motor fixing plate 2-6, a linear optical axis fixing plate 2-7, and rollers. The body of the T-shaped lead screw stepper motor 2-1 is installed on the U-shaped connecting plate 3-3. A T-shaped lead screw nut 2-2 is fitted on the T-shaped lead screw output shaft of the T-shaped lead screw stepper motor 2-1. The T-shaped lead screw nut 2-2 is installed on the T-shaped lead screw nut fixing plate 2-3 through a ball bearing. Two linear optical axes 2-4 are fixedly connected to the U-shaped connecting plate 3-3. A guiding hole is opened on the T-shaped lead screw nut fixing plate 2-3. The linear optical axis 2-4 passes through the guiding hole and is fixedly connected to the linear optical axis fixing plate 2-7. When the T-shaped lead screw output shaft of the T-shaped lead screw stepper motor 2-1 rotates, the T-shaped lead screw nut 2-2 will move along the T-shaped lead screw output shaft and drive the T-shaped lead screw nut fixing plate 2-3 to move on the linear optical axis 2-4.

[0023] Several support feet can be arranged between the T-shaped screw nut fixing plate 2-3 and the linear optical axis fixing plate 2-7. Each support foot is composed of two support rods 2-5 and two DC reduction motor fixing plates 2-6. The lower end of the DC reduction motor fixing plate 2-6 is hinged to the linear optical axis fixing plate 2-7, and the free end is equipped with a roller assembly. One end of the support rod 2-5 is hinged to the T-shaped screw nut fixing plate 2-3, and the other end is hinged to the middle section of the DC reduction motor fixing plate 2-6. In this way, when the DC reduction motor fixing plate 2-6 moves, the support rod 2-5 will push the DC reduction motor fixing plate 2-6 to swing around the hinge point at its lower end, forming a swing rod structure, where the DC reduction motor fixing plate 2-6 is the swing rod, thereby controlling the expansion and contraction of the roller assembly. The above-mentioned roller assembly includes a roller 4-2 and a DC reduction motor 4-1. The DC reduction motor 4-1 is installed between the two DC reduction motor fixing plates 2-6, and the roller 4-2 is installed at the free ends of the two DC reduction motor fixing plates 2-6. In this way, the DC reduction motor 4-1 serves as the core power source to drive the rotation of the rubber wheel 4-2.

[0024] The cleaning mechanism includes a motor mounting plate 1-4, a gasket 1-1, a saw blade 1-2, a coupling 1-3, a camera 1-5, and a DC brush motor 1-6. The motor mounting plate 1-4 is fixedly connected to the linear optical axis fixing plate 2-7. The DC brush motor 1-6 is fixed on the motor mounting plate 1-4. The output shaft of the DC brush motor 1-6 is connected to the gasket 1-1 and the cleaning saw blade 1-2 through the coupling 1-3. At the same time, the camera 1-5 is installed on the motor mounting plate 1-4. The DC reduction motor 4-1 drives the cleaning saw blade 1-2 to rotate at a high speed to clean the inner wall of the pipeline, and the camera 1-5 is used to monitor the internal state of the pipeline in real time.

[0025] In this embodiment, the angle of the servo pan-tilt motor 3-4 in the initial state is defined as 0°. Its movement range is limited to -90° to +90°, that is, it can rotate 90° in both the clockwise and counterclockwise directions. In the initial state, the servo 3-1 controls the fuselage to perform left-right turning movements (at this time, only the vertical turning movement between horizontal pipelines can be performed). When working in cooperation with the servo pan-tilt motor 3-4, the servo 3-1 can control the fuselage to perform up-down turning movements.

[0026] The working steps of the robot in the embodiment of this application are as follows:

[0027] Step 1, turn on the power of the robot. The camera 1-5 illuminates the inside of the pipeline. The operator controls the movement of the robot according to the image captured by the camera 1-5 and the direction of the pipeline ahead. The robot can achieve the following movement modes: forward and backward movement in horizontal pipelines, forward and backward movement in vertical pipelines, vertical turning between horizontal pipelines, and the movement from a horizontal pipeline to a vertical pipeline upwards. Specifically:

[0028] Start the power supply of the robot. Each module is powered on and enters the initial posture. Cameras 1-5 illuminate and capture images of the inside of the pipeline. The operator sends commands through the control terminal to control the variable-diameter support mechanisms (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) of the front half and the rear half of the body to work, so that the variable-diameter support mechanisms of the front and rear halves extend to support the pipe wall. Then the operator controls the movement of the front or rear rollers 4-2, and the robot moves horizontally forward or backward along the pipeline direction in the pipeline.

[0029] When the robot needs to move along a vertical pipeline, the operator controls the front and rear variable-diameter support mechanisms (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) to work. The current feedback during the movement of the T-shaped lead screw stepper motor 2-1 is used to judge the supporting force of the robot on the pipe wall until the robot firmly supports in the vertical pipeline without relative displacement (specific principle: the output torque of the stepper motor is mainly generated by the exciting current of the motor. The larger the coil current, the stronger the generated magnetic field and the greater the torque. The stepper motor driver board integrates current detection and CAN communication protocol functions. When the stepper motor works to make the variable-diameter support mechanism extend and support outward, the current data fed back by the stepper motor driver board can be transmitted to the upper computer through CAN communication. When operating the robot to support the variable-diameter support mechanism outward, monitor its current value until the robot can remain stationary in the vertical pipeline without relative movement due to gravity, and record the current value at this time as the current threshold. Therefore, in the control program, the real-time collected current value can be compared with the set threshold to judge whether the support is in place for the next control), and then control the movement of the roller 4-2 to achieve forward and backward movement in the vertical pipeline;

[0030] During the vertical turning movement between horizontal pipes, taking a right turn horizontally as an example, first the operator controls the roller 4-2 to move to the position between the two pipes, and controls the front half of the variable-diameter support mechanism (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) to work, so that the outer diameter of the front half of the variable-diameter support mechanism shrinks, and the rear half of the variable-diameter support mechanism does not work. Then, while operating the rear roller 4-2 to move, the operator controls the front-end steering mechanism (3-1, 3-2, 3-3) to move. The front-end servo motor (3-1) rotates to drive the front half of the body to swing to the right. When the front half of the body passes through the pipe connection and enters the next pipe, stop the roller movement, and control the front half and the rear half of the variable-diameter support mechanism (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) to work, so that the outer diameter of the front half of the variable-diameter support mechanism becomes larger to support the pipe and provide the grip in the pipe, and the outer diameter of the rear half of the variable-diameter support mechanism decreases. Then control the front roller 4-2 to move to make the body move forward, and at the same time control the front and rear steering mechanisms (3-1, 3-2, 3-3) to move, so that the rear end of the body gradually moves forward and straightens through the pipe connection. When the body completely enters the next pipe, the vertical turning movement between horizontal pipes is completed;

[0031] During the movement from a horizontal pipe to a vertical pipe upward, first the operator controls the roller 4-2 to move to the pipe connection, and controls the front half of the variable-diameter support mechanism (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) to work, so that the outer diameter of the front half of the variable-diameter support mechanism shrinks, and the rear half of the variable-diameter support mechanism does not work. Control the servo pan-tilt motor 3-4 in the steering mechanism to move. Through the high-precision encoder in the motor, make the front half of the body rotate clockwise by 90 degrees. Then, while operating the rear roller 4-2 to move, the operator controls the front-end steering mechanism (3-1, 3-2, 3-3) to move. The front-end servo motor 3-1 rotates to drive the front half of the body to swing upward. When the front half of the body passes through the pipe connection and enters the next pipe, stop the roller 4-2 movement, and control the front-end and the rear half of the variable-diameter support mechanism (2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7) to work, so that the front half of the variable-diameter support mechanism supports the pipe, read the current of the T-screw stepper motor 2-1 to make it firmly support the pipe wall, and the rear half of the variable-diameter support mechanism retracts. Control the servo pan-tilt motor (3-4) in the steering mechanism to move. Through the high-precision encoder in the motor, make the rear half of the body rotate clockwise by 90 degrees. Then control the front roller 4-2 to move to make the body move forward, and at the same time control the front and rear steering mechanisms (3-1, 3-2, 3-3) to move, so that the rear end of the body gradually moves forward and straightens through the pipe connection. When the body completely enters the next pipe, the movement from a horizontal pipe to a vertical pipe upward is completed.

[0032] Step 2: The cameras 1-5 illuminate the pipeline to see the obstacles in the pipeline. Turn on the DC brushed motor 1-6 in the cleaning mechanism, and drive the saw blade 1-2 to rotate through the cooperation of the coupling 1-3 and the gasket 1-1.

[0033] Step 3: The operator operates the steering mechanism (3-1, 3-2, 3-3) of the robot to adjust the aiming position of the saw blade 1-2 for cleaning according to the image captured by the camera 1-5 until the front blockage is broken and the pipeline is cleaned.

[0034] The above are only embodiments of the present invention. Specific technical solutions and / or common knowledge such as characteristics well known in the art are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application shall be subject to the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.

Claims

1. A robot with a narrow tunnel cleaning function, comprising a front half body and a rear half body arranged symmetrically, characterized in that: It further includes a servo pan-tilt motor, and the front half of the body and the rear half of the body are respectively connected to two output shafts of the servo pan-tilt motor; both the front half of the body and the rear half of the body include a steering mechanism, a variable-diameter support mechanism, and a cleaning mechanism. The steering mechanism includes a servo motor, and the output shaft of the servo motor is connected to the variable-diameter support mechanism through a connecting plate; the variable-diameter support mechanism includes a lead screw, a lead screw nut, a linear optical axis, a linear optical axis fixing plate, and a swinging structure. The swinging mechanism includes a swing rod and a support rod. The lower end of the swing rod is hinged and fixed on the linear optical axis fixing plate, and the upper end of the swing rod is connected with a roller assembly. One end of the support rod is hinged to the lead screw nut, and the other end is hinged to the middle section of the swing rod. The support rod can push the swing rod to swing, thereby controlling the expansion and contraction of the roller assembly; the cleaning mechanism is installed on the linear optical axis fixing plate.

2. The robot with a narrow tunnel cleaning function according to claim 1, wherein: The cleaning mechanism includes a motor, a coupling, and a saw blade, and the output shaft of the motor is connected to the saw blade through a connector.

3. The robot with the function of cleaning narrow tunnels according to claim 2, characterized in that: The roller assembly includes a DC geared motor and a roller.

4. The robot with the function of cleaning narrow tunnels according to claim 3, wherein: The output shaft of the servo motor is connected to the connecting plate through a servo flange.

5. The robot with the function of cleaning narrow tunnels according to claim 4, wherein: The lead screw nut and the linear optical axis are connected into a whole through a lead screw nut fixing plate.

6. The robot with the narrow tunnel cleaning function according to claim 5, characterized in that: A camera is provided on the cleaning mechanism.

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