A pipeline inner circumferential cleaning robot

Abstract

The application discloses a pipeline inner circumference cleaning robot, and cleaning device comprises front end cleaning device and upper cleaning device, the front end cleaning device comprises front shovel, left shovel and right shovel, the front shovel is connected at the front end of the robot frame body and is pushed to walk and moves up and down, the left shovel and the right shovel surround the center point fixed on the front shovel, and are symmetrically distributed, and are simultaneously rotated and unfolded along the circular guide rail on the front shovel; the upper cleaning device comprises lifting platform, upper shovel and rotating mechanism, the lifting platform is connected above the robot frame body, the lower end of the upper shovel is provided with angle adjusting device, and the rotating point of the guide rail is arranged at the outer edge of the bottom, the upper shovel is installed on the lifting platform through the rotating mechanism, and the lifting platform, the rotating mechanism and the angle adjusting device are cooperated to make the upper shovel reach the required height and angle; the front end cleaning device and the upper cleaning device are adjusted to the appropriate positions according to the actual conditions.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot for cleaning the inner circumference of pipes. Background Technology

[0002] As the volume of water discharged from urban drainage pipes gradually increases, industrial waste entering these pipes can cause blockages or corrosion, necessitating timely cleaning and dredging. Pipeline robots can enter underground pipes to perform certain management, maintenance, repair, and dredging tasks, mitigating potential hazards.

[0003] Currently, pipeline dredging is mainly carried out by relevant personnel carrying relevant equipment, such as flushing with high-pressure water jets, and in cases where it is absolutely necessary, manual entry into the pipeline to remove silt and debris that are difficult to flush with water. Pipeline robots are currently mainly divided into external and internal categories. External robots are primarily used for inspection and maintenance, employing AI, sensors, and simple equipment to monitor pipeline conditions, collect data, conduct on-site inspections, and perform repairs. Internal robots are mainly used for inspection, cleaning, and other tasks. Their movement methods include legged, wheeled, tracked, and peristaltic motions, and their power sources are primarily internal combustion engines, electricity, and hydraulic power. The appropriate method varies slightly depending on the size of the pipeline. Pipeline inspection and dredging robots generally use the above-mentioned movement methods to enter the pipeline and use cameras, infrared, and gas sensors to observe relevant conditions. The data is transmitted wirelessly via Wi-Fi, Bluetooth, or by physically placing fiber optic cables or electrical cables to a handheld device or backend for data storage, analysis, viewing, marking, or operational tasks. Some tracked and wheeled pipeline robots use wheels and tracks to adapt to different pipe diameters; others use linkages and drive sources to change the angle and walking support points of the wheels and tracks to achieve walking requirements.

[0004] Some dredging methods involve mechanically crushing the sludge and then flushing it out of the pipe, but this method requires a flushing device. Other methods involve carrying sludge storage devices, which transport the sludge out of the pipe once a certain amount is reached. This method requires a robot with a large carrying capacity, and the robot itself is also large, making it suitable for large pipes. However, all dredging methods can only clean the lower part of the pipe, where scale has been soaking in the pipe for many years, and scale also accumulates on the sides and top. Summary of the Invention

[0005] In view of the above-mentioned shortcomings in the current field of robotics technology, the present invention provides a pipe circumferential cleaning robot, which can increase the contact force between the track and the pipe, increase the walking ability and propulsion of the robot body, and form the bucket at different angles and heights to effectively remove visible dirt from the upper part.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] A pipe circumferential cleaning robot includes a robot frame body, and a motion device, a storage device, and a cleaning device connected to the robot frame body. The cleaning device includes an upper cleaning device, which comprises a lifting platform, an upper bucket, and a rotating mechanism. The lifting platform is connected above the robot frame body. The lower end of the upper bucket is provided with an angle adjustment device, and a guide rail rotation point is provided on the bottom outer edge. The upper bucket is mounted on the lifting platform through the rotating mechanism. The lifting platform, rotating mechanism, and angle adjustment device work together to make the upper bucket reach the required height and angle. The cleaning device can be adjusted to a suitable position according to the actual situation.

[0008] According to one aspect of the present invention, the rotating mechanism includes a rotating gear, a rotating rack, and a support point. The support point is fixedly installed on the lifting platform. The rotating gear is connected to the support point and the rotating rack through a threaded through hole. The rotating rack is connected to the bottom end of the upper bucket. The rotating mechanism causes the top of the upper bucket to rise by rotating.

[0009] According to one aspect of the invention, the angle adjustment device is driven by a motor to change the tilt angle of the upper bucket, thereby increasing the range of motion of the upper bucket.

[0010] According to one aspect of the present invention, the cleaning device further includes a front cleaning device, the front cleaning device including a front bucket, the front bucket being connected to the front end of the robot frame body and capable of moving back and forth and up and down, and two second buckets being provided on the rear side of the front bucket, the two second buckets being symmetrically arranged and movably connected to the rear of the front bucket, such that the two second buckets are respectively rotated and unfolded to the left and right.

[0011] According to one aspect of the invention, a lighting system is also included, which is located at the front end, rear end and upper cleaning device of the robot frame body.

[0012] According to one aspect of the invention, the storage device includes a storage bin and a collection trough, the storage bin being located at the front end of the robot frame body, and the collection trough being located on both sides of the storage bin and below the upper cleaning device.

[0013] According to one aspect of the invention, a camera assembly is also included, the camera assembly comprising a front camera, a rear camera, and side cameras, the camera assembly being mounted on the upper end of the upper cleaning device, the front camera facing the front end of the robot frame body, the rear camera facing the rear end of the robot frame body, and the side cameras facing the sides of the robot frame body respectively.

[0014] According to one aspect of the present invention, the motion device includes a left track and a right track connected to the lower part of the robot frame body. The left track and the right track both use hub motors as drive sources and are independent monotonic modules. Track teeth are distributed on the outside of the hub motors and the track teeth engage with the left track and the right track.

[0015] According to one aspect of the present invention, the motion device further includes a base plate and a track angle adjustment push rod. The base plate is fixedly mounted on opposite sides of the hub motor. The base plate is provided with an upper hinge hole and a lower hinge hole. The left track and the right track are respectively connected to the robot frame body through the upper hinge hole and the lower hinge hole on their respective base plates. The upper hinge hole is connected to the track angle adjustment push rod, and the lower hinge hole is connected to the robot frame body through a pin.

[0016] According to one aspect of the present invention, the substrate is further provided with a tensioning wheel, a driven wheel and a driving wheel, the tensioning wheel is located at the upper front end of the substrate, the driven wheel is located at the lower end of the substrate and is connected to the bottom of the left track and the right track, and the driving wheel is located at the rear end of the substrate and is independently driven by the hub motor.

[0017] Advantages of this invention: The cleaning device includes a front-end cleaning device and an upper cleaning device. The front-end cleaning device includes a front bucket, a left bucket, and a right bucket. The front bucket is connected to the front end of the robot frame and propels the robot forward and moves up and down. The left and right buckets are symmetrically distributed around a center point fixed on the front bucket and rotate along a circular guide rail on the front bucket. The upper cleaning device includes a lifting platform, an upper bucket, and a rotating mechanism. The lifting platform is connected above the robot frame. The lower end of the upper bucket is equipped with an angle adjustment device, and a guide rail rotation point is located on the outer edge of the bottom. The upper bucket is mounted on the lifting platform via the rotating mechanism. The lifting platform, rotating mechanism, and angle adjustment device work together to allow the upper bucket to reach the required height and angle. This increases the contact force between the tracks and the pipe, increases the robot's walking ability and propulsion, and allows the bucket to be positioned at different angles and heights, effectively removing visible dirt from the upper part of the pipe. Through unmanned cleaning operations, pipe cleaning becomes safer and more hygienic, while saving labor costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an overall side view of a pipe circumferential cleaning robot according to the present invention;

[0020] Figure 2 This is a left-side view of the circumferential cleaning robot inside a pipe according to the present invention.

[0021] Figure 3 This is a rear side view of the pipe circumferential cleaning robot described in this invention.

[0022] Figure 4 This is a side view of the front cleaning device of a pipe circumferential cleaning robot according to the present invention;

[0023] Figure 5 This is a side view of the upper cleaning device of a pipe circumferential cleaning robot according to the present invention.

[0024] Figure 6 This is an overall view of the angle adjustment device for a pipe circumferential cleaning robot according to the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Robot frame body; 2. Front bucket; 3. Left bucket; 4. Right bucket; 5. Circular guide rail; 6. Lifting platform; 7. Upper bucket; 8. Guide rail rotation point; 9. Rotary gear; 10. Rotary rack; 11. Support point; 12. Angle adjustment motor; 13. Guide rail; 14. Guide rail support frame; 15. Fixing component; 16. Storage bin; 17. Collection trough; 18. Front camera; 19. Rear camera; 20. Side camera; 21. Left track; 22. Right track; 23. Hub motor; 24. Base plate; 25. Track angle adjustment push rod; 26. Upper hinge hole; 27. Lower hinge hole; 28. Pin; 29. ​​Tensioner wheel; 30. Driven wheel; 31. Drive wheel Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1

[0029] like Figures 1 to 6 As shown, a circumferential cleaning robot for pipelines includes a robot frame body 1, and a motion device, a storage device, and a cleaning device connected to the robot frame body 1. The cleaning device includes a front cleaning device and an upper cleaning device.

[0030] The front-end cleaning device includes a front bucket 2, a left bucket 3, and a right bucket 4. The front bucket 2 is connected to the front end of the robot frame body 1 via a spring linkage and can move forward and vertically under the drive of a motor. The bucket boundary of the front bucket 2 is arc-shaped and can fit against the edge of the pipe. The spring linkage effectively ensures the strength of the front bucket 2, and can also be set with two axes and vertical guides to enable the front bucket 2 to advance and stack materials over short distances, and then advance over long distances through a drive motion device. At the same time, a rotary motor can be added at the connection of the front-end cleaning device to realize the flipping of the front bucket 2, so that the dirt accumulated in the front bucket 2 can be flipped into the storage device at the rear. The left bucket 3 and the right bucket 4 are controlled by separate motors, symmetrically distributed around the center point fixed on the front bucket 2, and rotate and unfold along the circular guide rail 5 on the front bucket 2, which can cooperate with the front bucket 2 to form a large semi-circle. During operation, the pipe circumferential cleaning robot can clean the front part to the bottom of the pipe through the lower edge of the front bucket 2; it can also flip over to pour the dirt in the front bucket 2 into the rear storage device; when the mud layer is thick, the front bucket 2 can be used to push the upper dirt first and then push the deeper layer layer by layer. The upper edge of the front bucket 2 can also be equipped with spiral teeth, rubber bottom edge and other components to form a device with a crushing structure.

[0031] The upper cleaning device includes a lifting platform 6, an upper bucket 7, and a rotating mechanism. In this embodiment, the upper bucket 7 is configured as a pair of symmetrical cleaning bucket devices. The outer edge of the upper bucket 7 is configured as a circular guide rail not exceeding a semicircle. The lifting platform 6 is preferably configured as a single-stage or multi-stage X-shaped lifting platform, but can also be configured as other lifting platforms with strong telescopic capabilities, so that the overall height of the upper cleaning device can be increased. The lifting platform 6 is connected to the upper part of the robot frame body 1. The lower end of the upper bucket 7 is provided with an angle adjustment device, and a guide rail rotation point 8 is provided on the bottom outer edge. The upper bucket 7 is installed on the lifting platform 6 through the rotating mechanism. The lifting platform 6, the rotating mechanism, and the angle adjustment device work together to make the upper bucket 7 reach the required height and angle. The rotating mechanism includes a rotating gear 9, a rotating rack 10, and support points 11. The rotating mechanism can be a gear and rack structure driven by a motor, or a structure driven by other lead screws, push rods, etc., or a combination of linkages. There are two pairs of support points 11, which are fixedly installed side by side on the lifting platform 6. There are two rotating gears 9, located on opposite sides of each pair of support points 11, and connected to the support points 11 via threaded through holes. There are two rotating racks 10, each installed and connected to the middle of each pair of support points 11, and fixedly connected to the rotating gears 9. The rotating gears 9 are rotated by a motor. The rotating racks 10 are also connected to the bottom end of the upper bucket 7, supporting the top of the upper bucket 7 as it rotates. The angle adjustment device includes an angle adjustment motor 12, a guide rail 13, a guide rail support frame 14, and a fixing member 15. The guide rail 13 is fixed to the bottom outer edge of the upper bucket 7, with the guide rail rotation point 8 passing through it. One end of the guide rail support frame 14 is fixed to the middle of the guide rail 13, and the other end is fixed to the lower end of the upper bucket 7. One end of the angle adjustment motor 12 is connected to the rotating rack 10 on the lifting platform 6, and the other end is connected to the fixing member 15. The fixing member 15 is fixedly installed at the bottom center of the upper bucket 7. The angle adjustment device controls the position of the moving guide rail rotation point 8 in the guide rail 13, so that the upper bucket 7 rotates and unfolds along the guide rail 13 at an angle. The front edge of the upper bucket 7 is equipped with the same rubber and other structures as the front bucket 2. When the pipe circumference cleaning robot finds dirt above the circumference of the pipe, it can achieve the position by adjusting the lifting platform 6, the rotating mechanism and the angle adjustment device, and then drive the rotating mechanism to rotate the upper bucket 7 to scrape off the dirt, or the dirt can be scraped off by the movement of the motion device.

[0032] The storage device includes a storage bin 16 and a collection trough 17. The storage bin 16 is located at the front end of the robot frame body 1, and the collection trough 17 is located on both sides of the storage bin 16 and below the upper cleaning device.

[0033] The motion device includes a left track 21, a right track 22, a base plate 24, and a track angle adjustment push rod 25. The left track 21 and right track 22 are connected to the lower part of the robot frame body 1 and both use hub motors 23 as the drive source, forming independent monotonic modules. The hub motors 23 have track teeth that fit the dimensions of the external track, and are placed on the base plate 24. The base plate 24 has an upper hinge hole 26, a lower hinge hole 27, a tensioning wheel 29, a driven wheel 30, and a driving wheel 31. The left track 21 and right track 22 are connected to the robot frame body 1 through their respective upper hinge holes 26 and lower hinge holes 27 on the base plate 24. The upper hinge hole 26 is connected to the track angle adjustment push rod 25, and the lower hinge hole 27 is connected to the robot frame body 1 via the pin 28. The track angle adjustment push rod 25 is driven by a motor to control the position of the left track 21 and the right track 22, realizing multi-scene movement of the robot frame body 1. The tension wheel 29 is located at the upper front end of the base plate 24, the driven wheel 30 is located at the lower end of the base plate 24, and is connected to the bottom of the left track 21 and the right track 22. The drive wheel 31 is located at the rear end of the base plate 24 and is independently driven by the hub motor 23. The hub motor 23 drives the drive wheel 31 to rotate, thereby driving the entire motion device through the tracks. The left track 21 and right track 22 of the pipeline circumferential cleaning robot are independent structures, driven independently, and form an angle-walking track with the robot frame body 1 through a row of electrically driven push rods and hinges at the same intervals. This not only ensures the track's carrying capacity and adaptability, increases the contact area to improve propulsion, but also makes it suitable for different pipe diameters and improves the service life of the track, effectively increasing the robot's posture adjustment capability in the pipeline.

[0034] In this embodiment, the pipe circumferential cleaning robot is also equipped with a lighting system and a camera assembly. The lighting system is installed at the front end, rear end, and upper cleaning device of the robot frame body. The camera assembly includes a front camera 18, a rear camera 19, and side cameras 20. The camera assembly is installed on the upper part of the upper cleaning device. The front camera 18 faces the front end of the robot frame body 1, the rear camera 19 faces the rear end of the robot frame body 1, and the side cameras 20 face the sides of the robot frame body 1 respectively. A panoramic view can be formed through the camera assembly, or a panoramic camera can be used directly to form a panoramic view. The pipe circumferential cleaning robot then returns the images to the control terminal via wireless or wired technology, and the control terminal then sends control signals to operate the robot for movement or cleaning.

[0035] In this embodiment, the pipeline circumferential cleaning robot is also equipped with sensors required for AI, including laser sensors, depth cameras, and ultrasonic sensors, enabling it to perform autonomous cleaning. It includes an overall operating algorithm and hardware configuration. The overall operating algorithm includes a 3D pipeline structure algorithm, upper half-circle dirt identification and removal, lower half-circle dirt identification and removal, live object detection and removal, transportation mode, and manual one-click mode, etc., forming an overall intelligent operating robot through AI intelligence and electronic power technology. The hardware configuration includes an intelligent chip and its related storage media, a drive power supply and its control panel, a communication module, a voltage module, and a safety electrostatic module, etc.

[0036] Advantages of this invention: The cleaning device includes a front-end cleaning device and an upper cleaning device. The front-end cleaning device includes a front bucket, a left bucket, and a right bucket. The front bucket is connected to the front end of the robot frame and propels the robot forward and moves up and down. The left and right buckets are symmetrically distributed around a center point fixed on the front bucket and rotate along a circular guide rail on the front bucket. The upper cleaning device includes a lifting platform, an upper bucket, and a rotating mechanism. The lifting platform is connected above the robot frame. The lower end of the upper bucket is equipped with an angle adjustment device, and a guide rail rotation point is located on the outer edge of the bottom. The upper bucket is mounted on the lifting platform via the rotating mechanism. The lifting platform, rotating mechanism, and angle adjustment device work together to allow the upper bucket to reach the required height and angle. This increases the contact force between the tracks and the pipe, increases the robot's walking ability and propulsion, and allows the bucket to be positioned at different angles and heights, effectively removing visible dirt from the upper part. Through unmanned cleaning operations, pipe cleaning becomes safer and more hygienic, while saving labor costs.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pipe circumferential cleaning robot, comprising a robot frame body (1), and a motion device, a storage device, and a cleaning device connected to the robot frame body (1), characterized in that, The cleaning device includes an upper cleaning device, which includes a lifting platform (6), an upper bucket (7), and a rotating mechanism. The lifting platform (6) is connected above the robot frame body (1). The lower end of the upper bucket (7) is provided with an angle adjustment device, and a guide rail rotation point (8) is provided on the outer edge of the bottom. The upper bucket (7) is installed on the lifting platform (6) through the rotating mechanism. The lifting platform (6), the rotating mechanism, and the angle adjustment device work together to make the upper bucket (7) reach the required height and angle. The cleaning device is adjusted to a suitable position according to the actual situation. The rotating mechanism includes a rotating gear (9), a rotating rack (10), and a support point (11). The support point (11) is fixedly installed on the lifting platform (6). The wheel (9) is connected to the support point (11) and the rotating rack (10) through the threaded through hole. The rotating rack (10) is connected to the bottom of the upper bucket (7). The rotating mechanism raises the top of the upper bucket (7) by rotating. The angle adjustment device is driven by a motor to change the tilt angle of the upper bucket (7), thereby increasing the range of motion of the upper bucket (7). The cleaning device also includes a front cleaning device, which includes a front bucket (2). The front bucket (2) is connected to the front of the robot frame body (1) and moves back and forth and up and down. Two second buckets are provided on the rear side of the front bucket (2). The two second buckets are symmetrically arranged and movably connected to the rear of the front bucket (2), so that the two second buckets rotate and unfold to the left and right respectively.

2. The pipe circumferential cleaning robot according to claim 1, characterized in that, It also includes a lighting system located at the front end, rear end and upper cleaning device of the robot frame body (1).

3. The pipe circumferential cleaning robot according to claim 1, characterized in that, The storage device includes a storage bin (16) and a collection trough (17). The storage bin (16) is located at the front end of the robot frame body (1), and the collection trough (17) is located on both sides of the storage bin (16) and below the upper cleaning device.

4. The pipe circumferential cleaning robot according to any one of claims 1 to 3, characterized in that, It also includes a camera group, which includes a front camera (18), a rear camera (19) and a side camera (20). The camera group is installed on the upper end of the upper cleaning device. The front camera (18) faces the front end of the robot frame body (1), the rear camera (19) faces the rear end of the robot frame body (1), and the side cameras (20) face the sides of the robot frame body (1).

5. The pipe circumferential cleaning robot according to claim 4, characterized in that, The motion device includes a left track (21) and a right track (22), which are connected to the bottom of the robot frame body (1). The left track (21) and the right track (22) both use a hub motor (23) as the drive source and are independent monotonic modules. The hub motor (23) has track teeth on its outside, and the track teeth are engaged with the left track (21) and the right track (22).

6. The pipe circumferential cleaning robot according to claim 5, characterized in that, The motion device also includes a base plate (24) and a track angle adjustment push rod (25). The base plate (24) is fixedly installed on the opposite side of the hub motor (23). The base plate (24) is provided with an upper hinge hole (26) and a lower hinge hole (27). The left track (21) and the right track (22) are respectively connected to the robot frame body (1) through the upper hinge hole (26) and the lower hinge hole (27) on their respective base plates (24). The upper hinge hole (26) is connected to the track angle adjustment push rod (25). The lower hinge hole (27) is connected to the robot frame body (1) through a pin (28).

7. The pipe circumferential cleaning robot according to claim 6, characterized in that, The base plate (24) is also provided with a tensioning wheel (29), a driven wheel (30) and a driving wheel (31). The tensioning wheel (29) is located at the upper front end of the base plate (24), the driven wheel (30) is located at the lower end of the base plate (24) and is connected to the bottom of the left track (21) and the right track (22). The driving wheel (31) is located at the rear end of the base plate (24) and is independently driven by the hub motor (23).

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