Pipe cleaning robot end effector

Abstract

The present application belongs to the technical field of pipeline cleaning, and particularly relates to a pipeline cleaning robot end effector, which comprises a support structure, a plurality of cleaning elements arranged circumferentially around the support structure, a variable-diameter driving structure in transmission cooperation with the plurality of cleaning elements, and a protection part fixed to one side of the support structure; wherein the support structure comprises working plate one, working plate two and working plate three fixed coaxially, the variable-diameter driving structure comprises a chassis, a plurality of sliding blades sliding on the chassis, a connecting rod three connecting the sliding blades with the cleaning elements, a central turntable in rotational cooperation with the working plate three through a driving part, a plurality of arc-shaped guide rail grooves arranged equidistantly in a circle on the central turntable, and a connecting rod three and a sliding blade hinged shaft slidingly arranged in a corresponding arc-shaped guide rail groove, and the connecting rod three and the sliding blade hinged shaft slidingly arranged in a corresponding arc-shaped guide rail groove; and the application further comprises a constraint part connecting the cleaning elements with the working plate two. The variable-diameter driving structure can make the plurality of cleaning elements extend or contract outward, so that different inner diameters of the pipeline can be conveniently coped with.

Description

Technical Field

[0001] This invention belongs to the field of pipeline cleaning technology, and in particular relates to an end effector for a pipeline cleaning robot. Background Technology

[0002] Existing pipe cleaning methods rely on manual cleaning, high-pressure water jetting, and chemical cleaning, which are inefficient, cause heavy pollution, and pose safety hazards. Traditional cleaning robots have fixed end effector structures, making it difficult to handle different pipe diameters and types of dirt.

[0003] Existing water supply and drainage pipe cleaning devices generally scrape during the process of extending into the water supply and drainage pipes, which makes it difficult to ensure effective cleaning at the point where the pipe diameter changes. The cleaning effect is poor, the cleaning efficiency is low, the device is inconvenient to use, and its practicality needs to be improved. Summary of the Invention

[0004] The purpose of this invention is to provide an end effector for a pipeline cleaning robot to solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] The end effector of the pipeline cleaning robot includes:

[0007] Support structure;

[0008] Several cleaning components are arranged around the support structure, with one end of each cleaning component connected to the support structure.

[0009] A variable diameter drive structure is disposed within the support structure. The variable diameter drive structure is connected to the other end of the plurality of cleaning components. The variable diameter drive structure is used to drive the plurality of cleaning components to extend or retract.

[0010] The protective part is fixedly connected to one side of the support structure;

[0011] The support structure includes three coaxially arranged working plates: a first working plate, a second working plate, and a third working plate, which are connected by a fixing part.

[0012] The variable-path drive structure includes:

[0013] The chassis is coaxially fixed with the working plate. A plurality of radial grooves are provided on one side of the chassis, and there is an angle between the direction of the radial grooves and the diameter direction of the chassis.

[0014] A plurality of sliding blades are provided, the number of which matches the plurality of radial grooves and the plurality of cleaning components. The plurality of sliding blades correspond one-to-one with the plurality of radial grooves, and the sliding blades slide in cooperation with the radial grooves. One end of a connecting rod three is hinged to the side of the sliding blade away from the chassis, and the other end of the connecting rod three is hinged to the corresponding cleaning component.

[0015] A central turntable is rotatably mounted on the working plate three via a drive unit. The central turntable has several circumferentially spaced arc-shaped guide rail grooves. The connecting rod three and the hinge shaft of the sliding blade are slidably mounted in the corresponding arc-shaped guide rail grooves.

[0016] A number of constraint parts are provided, the number of which matches the number of the cleaning components. One end of each constraint part is connected to the corresponding cleaning component, and the other end of each constraint part is connected to the second working plate.

[0017] Optionally, the fixing part includes a plurality of connecting plates, which are evenly spaced around the working plate, and the edges of the working plate, the working plate, and the working plate are all fixed to the connecting plates.

[0018] Optionally, the drive unit includes a rudder disk, which is coaxially fixed to the central turntable and axially connected to the output shaft of an external drive device.

[0019] Optionally, the constraint part includes a first connecting rod, one end of which is hinged to the cleaning component, and the other end of the first connecting rod is hinged to one end of a second connecting rod, the other end of which is hinged to the edge of the second working plate.

[0020] Optionally, the protective part includes:

[0021] The protective cover is coaxially fixed with the working plate.

[0022] The top cover is coaxially fixed to the protective cover on the side away from the working plate three; the top cover is fixed to the protective cover by a gasket.

[0023] Optionally, the cleaning component is fixed with stiffening ribs, and two stiffening ribs are provided, with a connecting plate two fixed between the two stiffening ribs.

[0024] Optionally, the cleaning component includes a fan-shaped blade and an arc-shaped blade fixed together. The front and rear sides of the bottom end of the fan-shaped blade are respectively hinged to the working plate one and the working plate three. The two stiffening ribs are respectively fixed to the front and rear sides of the fan-shaped blade. The connecting rod three and the connecting rod one are hinged to the inner side of the fan-shaped blade.

[0025] Optionally, the cleaning component is made of 17-4PH stainless steel.

[0026] Compared with the prior art, the present invention has the following advantages and technical effects:

[0027] When in use, the device is inserted into the pipe to be cleaned, and several cleaning components scrape away impurities from the inner wall of the pipe. When passing through the diameter change area, the variable diameter drive structure causes several cleaning components to extend or retract outward, so that the cleaning components come into contact with the inner wall of the pipe after the diameter change, thereby effectively scraping away impurities. This device is convenient for dealing with pipes of different inner diameters. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described 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.

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2 For the present invention Figure 1 Schematic diagram of the cross-sectional structure at point AA;

[0031] Figure 3 This is a front view of the structure of the present invention;

[0032] Figure 4 This is an isometric view of the structure of the present invention;

[0033] Figure 5 This is a schematic diagram showing the connection of two points on the working board of the present invention;

[0034] Figure 6 This is a schematic diagram of the connection of the central turntable of the present invention;

[0035] Figure 7 This is a schematic diagram of the sliding blade connection of the present invention;

[0036] Figure 8 This is a schematic diagram showing the connection between the chassis and the sliding blades of the present invention;

[0037] Figure 9 This is an exploded view of the protective structure of the present invention;

[0038] Figure 10 This is a schematic diagram of the working board structure of the present invention;

[0039] Figure 11 This is a schematic diagram of the working board structure of the present invention;

[0040] Figure 12 This is a schematic diagram of the three-structure working board of the present invention;

[0041] Figure 13 This is a schematic diagram of the central turntable structure of the present invention;

[0042] Figure 14 This is a schematic diagram of the chassis structure of the present invention;

[0043] Among them, 1. Working plate one; 2. Working plate two; 3. Working plate three; 4. Connecting rod one; 5. Connecting rod two; 6. Connecting plate one; 7. Connecting plate two; 8. Cleaning component; 9. Center turntable; 10. Chassis; 11. Sliding blade; 13. Connecting rod three; 14. Protective cover; 15. Steering wheel; 16. Gasket; 17. Top cover. Detailed Implementation

[0044] 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.

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Reference Figures 1 to 14 This invention discloses an end effector for a pipeline cleaning robot, comprising:

[0047] Support structure;

[0048] Several cleaning components 8 are arranged around the circumference of the support structure, and one end of the cleaning component 8 is connected to the support structure.

[0049] A variable diameter drive structure is set inside the support structure. The variable diameter drive structure is connected to the other end of several cleaning components 8. The variable diameter drive structure is used to drive the several cleaning components 8 to extend or retract.

[0050] The protective part is fixed to one side of the supporting structure.

[0051] As an optional implementation, the support structure includes three coaxially arranged working plates 1, 2, and 3, which are connected by a fixing part.

[0052] When in use, the device is inserted into the pipe to be cleaned, and several cleaning components 8 scrape away impurities from the inner wall of the pipe. When passing through the diameter change area, the variable diameter drive structure causes several cleaning components 8 to extend or retract outward, so that the cleaning components 8 come into contact with the inner wall of the pipe after the diameter change again, thereby effectively scraping away impurities and making it convenient to deal with pipes of different inner diameters.

[0053] As an optional implementation, the fixing part includes a plurality of connecting plates 6, which are circumferentially and equally spaced on the working plate 1. The edges of the working plate 1, the working plate 2, and the working plate 3 are all fixed to the connecting plates 6.

[0054] The supporting structure is composed of a multi-layered plate structure, mainly including working plate 1, working plate 2 and working plate 3. The three working plates are arranged sequentially along the axial direction to form a stable layered structure.

[0055] The work plate 1 is located at the tail end of the actuator and can be used as the main installation host for the entire actuator.

[0056] The work plate 3 is located at the front end of the actuator and has a structure for guiding or supporting the cleaning mechanism.

[0057] Work plate 2 is located between work plate 1 and work plate 3, serving as an intermediate support.

[0058] These work plates are equipped with through holes, grooves, or mounting holes for installing and guiding subsequent track-changing and cleaning mechanism components.

[0059] To enhance the rigidity of the support structure, connecting plates 6 can be used. Preferably, 12 connecting plates 6 are used to firmly connect the working plate 1, the working plate 2, and the working plate 3.

[0060] As an optional implementation, the variable-path drive structure includes:

[0061] The chassis 10 is coaxially fixed with the working plate 3. Several radial grooves are equally spaced around the circumference on one side of the chassis 10. There is an angle between the direction of the radial grooves and the diameter direction of the chassis 10.

[0062] A number of sliding blades 11 are matched with a number of radial grooves and a number of cleaning parts 8. The number of sliding blades 11 corresponds one-to-one with the number of radial grooves, and the sliding blades 11 slide in conjunction with the radial grooves. One end of the sliding blade 11 away from the chassis 10 is hinged to a connecting rod 3 13, and the other end of the connecting rod 3 13 is hinged to the corresponding cleaning part 8.

[0063] The central turntable 9 is rotatably mounted on the working plate 3 via the drive unit. The central turntable 9 has several circumferentially spaced arc-shaped guide rail grooves. The hinge shaft of the connecting rod 3 13 and the sliding blade 11 is slidably mounted in the corresponding arc-shaped guide rail groove.

[0064] Several constraint parts are provided, the number of which matches the number of cleaning parts 8. One end of the constraint part is connected to the corresponding cleaning part 8, and the other end of the constraint part is connected to the work plate 2.

[0065] As an optional implementation, the drive unit includes a rudder disk 15, which is coaxially fixed to the central turntable 9 and is shaft-connected to the output shaft of an external drive device.

[0066] As an optional implementation, the constraint part includes a first link 4, one end of which is hinged to the cleaning component 8, and the other end of the first link 4 is hinged to one end of a second link 5, the other end of which is hinged to the edge of the second working plate 2.

[0067] The variable diameter drive structure mainly consists of a central turntable 9, a chassis 10, several sliding blades 11, a variable diameter connecting rod, and a pin structure.

[0068] The central turntable 9 is rotatably positioned between the second working plate 2 and the third working plate 3, and is coaxially arranged with the first working plate 1, the second working plate 2, and the third working plate 3. Several arc-shaped guide grooves are provided on the central turntable 9 to connect with each sliding blade 11. Specifically, one end of the connecting rod 3 13 is hinged to the sliding blade 11, and the other end of the connecting rod 3 13 is hinged to the inner side of the cleaning component 8. The hinge axis between the connecting rod 3 13 and the sliding blade 11 is slidably positioned within the arc-shaped guide grooves provided on the central turntable 9.

[0069] The chassis 10 and the working plate 3 are coaxially fixed. Several radial grooves are equally spaced around the chassis 10. The sliding blades 11 are slidably fitted in the corresponding radial grooves. The radial grooves are at an angle to the diameter of the chassis 10.

[0070] The sliding blade 11 extends or retracts in the radial direction by rotating the central turntable 9 relative to the chassis 10, and then the angle is locked by means of the pin and the connecting rod, thus completing the switching between the extended and retracted states.

[0071] In the retracted state, the cleaning radius formed by the outer edge of the blades is 232mm, and it can reach a maximum of 287mm when fully extended, meeting the adaptive requirements for pipe diameter changes. The core of the variable diameter drive mechanism is to achieve synchronous stretching of the cleaning component bearings to adapt to different pipe diameters.

[0072] The rudder disc 15 is the driving component of the diameter-changing mechanism. The rudder disc 15 is typically driven by an external servo motor or other rotary power source, rotating around the actuator center. The rudder disc 15 is coaxially fixed to the central turntable 9.

[0073] The sliding blade 11 can slide within the radial groove of the chassis 10 under the drive of the central turntable 9.

[0074] The sliding blade 11 is a key intermediate component for conveying force. The central turntable 9 converts the rotational motion of the rudder disk 15 into the axial linear motion of the sliding blade 11.

[0075] As an optional implementation, the protection unit includes:

[0076] Protective cover 14 is coaxially fixed with working plate 3;

[0077] The top cover 17 is coaxially fixed to the protective cover 14 on the side away from the working plate 3; the top cover 17 is fixed to the protective cover 14 by a gasket 16.

[0078] The protective cover 14 covers the exposed portion or front end mechanism of the steering wheel 15 to prevent foreign objects from entering.

[0079] As an optional implementation, the cleaning component 8 is fixed with two stiffening ribs, and a connecting plate 7 is fixed between the two stiffening ribs.

[0080] As an optional implementation, the cleaning component 8 includes a fan-shaped blade and an arc-shaped blade fixed together. The front and rear sides of the bottom end of the fan-shaped blade are respectively hinged to the working plate 1 and the working plate 3. Two stiffening ribs are respectively fixed to the front and rear sides of the fan-shaped blade. The connecting rod 3 13 and the connecting rod 4 are hinged to the inner side of the fan-shaped blade.

[0081] As an optional implementation, cleaning component 8 is made of 17-4PH stainless steel.

[0082] Each cleaning component 8 consists of a combination of an arc-shaped blade and a fan-shaped blade. The cleaning blade is made of 17-4PH stainless steel, with two reinforcing ribs arranged longitudinally on the back of the blade. The ribs are 5mm high and 8mm wide, effectively enhancing the structural rigidity of the blade and maintaining its ability to adhere to the wall under high torque. The longitudinal extension of the cleaning component 8 is controlled synchronously by the opening and closing of the blades to construct a cleaning path that matches the pipe diameter. Preferably, there are 12 cleaning components 8 in this invention, evenly distributed in a ring at the front of the actuator. The front end of the cleaning component 8 is designed with a blade or brush surface suitable for scraping or sweeping.

[0083] Each cleaning component 8 is connected to the sliding blade 11 via a connecting rod 13. A top cover 17 is mounted on the housing or top of the equipment, enclosing the entire internal mechanism. A gasket 16 is located between the top cover 17 and the working plate 1 or other components, serving to seal, adjust clearances, or absorb vibrations.

[0084] Furthermore, this device can also be expanded with additional functional areas.

[0085] The functional expansion areas are centrally located on the upper housing and in the middle of the actuator, used for real-time sensing and data feedback of the internal environment and operating status. The sensing modules include a FUTEK LCM300 miniature torque sensor, a Figaro TGS2600 gas detection module, a Pepperl+Fuchs F77 ultrasonic rangefinder, a TDK MPU6050 six-axis inertial measurement unit, a Sony IMX585 image acquisition module, and a u-blox NEO-M8P high-precision positioning module. Sensor data is uploaded to a remote control platform via CAN communication or Wi-Fi, enabling cleaning status monitoring and remote operator intervention.

[0086] When the working diameter of the end effector needs to be adjusted: the drive rudder 15 is rotated by a preset angle. The rotation of the rudder 15 is converted into the movement of the sliding blades 11. For example, clockwise rotation of the rudder 15 causes the sliding blades 11 to expand outward, and counterclockwise rotation causes the sliding blades 11 to contract inward. The radial movement of the sliding blades 11 is transmitted to the front cleaning components 8 via the connecting rod 13, causing the 12 cleaning components 8 to expand their outer diameter or contract their inner diameter synchronously. When the cleaning components 8 expand, their working end faces can fit tightly against the inner wall of the pipe; when they contract, it facilitates the actuator's entry or exit from the pipe, or passage through narrow areas within the pipe. During cleaning operations, the overall rotation of the actuator is terminated and / or the movement is reconfigured, and the cleaning components 8, in an open state, scrape and clean the geometry of the inner wall of the pipe.

[0087] This invention, during the cleaning process, controls the outer diameter of the cleaning component to adapt to different pipe inner diameters through the opening and closing of blades; the actuator's main structure remains rigid and stable, while the cleaning component, driven by a rotating mechanism, rolls and scrapes along the pipe wall to continuously remove attached dirt; integrated sensors provide support for operating status and environmental parameters, ensuring the stability, safety, and adaptability of the cleaning process. The entire end effector structure adopts a modular design, facilitating rapid deployment and maintenance under different pipe diameters, materials, or operating conditions. In this embodiment, the end effector drives multiple sets of linkage mechanisms through a steering disc 15, achieving synchronous and wide-range extension and retraction of multiple cleaning components. Its ingenious structural design adapts to the cleaning needs of pipes with different inner diameters, improving the efficiency of pipe cleaning. All components are connected via standard pin connections for joint construction and maintenance.

[0088] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0089] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An end effector for a pipeline cleaning robot, characterized in that, include: Support structure; A plurality of cleaning components (8) are arranged around the support structure in the circumferential direction, and one end of the cleaning component (8) is connected to the support structure; A variable diameter drive structure is disposed within the support structure. The variable diameter drive structure is connected to the other end of the plurality of cleaning components (8) via a transmission connection. The variable diameter drive structure is used to drive the plurality of cleaning components (8) to extend or retract. The protective part is fixedly connected to one side of the support structure; The support structure includes a working plate one (1), a working plate two (2), and a working plate three (3) arranged coaxially, and the working plate one (1), the working plate two (2), and the working plate three (3) are connected by a fixing part; The variable-path drive structure includes: The chassis (10) is coaxially fixed with the working plate (3). A number of radial grooves are provided on one side of the chassis (10) at equal intervals in the circumference. There is an angle between the direction of the radial grooves and the diameter direction of the chassis (10). A plurality of sliding blades (11) are matched in number with a plurality of radial grooves and a plurality of cleaning components (8). The plurality of sliding blades (11) correspond one-to-one with the plurality of radial grooves. The sliding blades (11) slide in cooperation with the radial grooves. One end of a connecting rod (13) is hinged to the side of the sliding blade (11) away from the chassis (10). The other end of the connecting rod (13) is hinged to the corresponding cleaning component (8). The central turntable (9) is rotatably mounted on the working plate three (3) by the drive unit. The central turntable (9) is provided with several circumferentially spaced arc-shaped guide rail grooves. The hinge axis of the connecting rod three (13) and the sliding blade (11) is slidably mounted in the corresponding arc-shaped guide rail groove. A number of constraint parts, the number of which matches the number of the cleaning parts (8), one end of the constraint part is connected to the corresponding cleaning part (8), and the other end of the constraint part is connected to the work plate (2).

2. The end effector of the pipeline cleaning robot according to claim 1, characterized in that: The fixing part includes a plurality of connecting plates (6), which are circumferentially and equally spaced on the working plate (1). The edges of the working plate (1), the working plate (2) and the working plate (3) are all fixed to the connecting plates (6).

3. The end effector of the pipeline cleaning robot according to claim 1, characterized in that: The drive unit includes a rudder disk (15), which is coaxially fixed to the central turntable (9) and is shaft-connected to the output shaft of an external drive device.

4. The end effector of the pipeline cleaning robot according to claim 1, characterized in that: The constraint part includes a first connecting rod (4), one end of which is hinged to the cleaning component (8), and the other end of the first connecting rod (4) is hinged to one end of a second connecting rod (5), the other end of which is hinged to the edge of the second working plate (2).

5. The end effector of the pipeline cleaning robot according to claim 1, characterized in that, The protection unit includes: The protective cover (14) is coaxially fixed with the working plate three (3); The top cover (17) is coaxially fixed to the protective cover (14) on the side away from the working plate (3); the top cover (17) is fixed to the protective cover (14) by a gasket (16).

6. The end effector of the pipeline cleaning robot according to claim 4, characterized in that: The cleaning component (8) is fixed with stiffening ribs, and there are two stiffening ribs. A connecting plate (7) is fixed between the two stiffening ribs.

7. The end effector of the pipeline cleaning robot according to claim 6, characterized in that: The cleaning component (8) includes a fan-shaped blade and an arc-shaped blade fixed together. The front and rear sides of the bottom end of the fan-shaped blade are respectively hinged to the working plate one (1) and the working plate three (3). The two stiffening ribs are respectively fixed to the front and rear sides of the fan-shaped blade. The connecting rod three (13) and the connecting rod one (4) are hinged to the inner side of the fan-shaped blade.

8. The end effector of the pipeline cleaning robot according to claim 1, characterized in that: The cleaning component (8) is made of 17-4PH stainless steel.

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