Pipeline cleaning robot and cleaning method

Abstract

The invention relates to the technical field of pipeline maintenance, and discloses a pipeline cleaning robot and a cleaning method.The pipeline cleaning robot comprises a triangular frame, two frames are fixed to the middle of the triangular frame, a cleaning mechanism is arranged at one end of the triangular frame, a collecting mechanism is arranged at the other end of the triangular frame, and a plurality of movable legs are movably arranged on the peripheries of the frames; moving wheels are movably arranged at the ends of the movable legs, a lifting seat is movably arranged on the tripod, and the lifting seat is matched with the movable legs. By arranging the cleaning mechanism and the collecting mechanism, the interior of the pipeline can be cleaned, dust generated in the cleaning process can be collected, and the interior of the pipeline is effectively protected; the device is simple in overall structure and convenient to use; through independent arrangement of the servo motors, the movable legs at the upper end and the lower end can be adjusted, arrangement of the motors is reduced, meanwhile, the requirements of pipelines of different sizes can be met conveniently, and operation is easy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline maintenance, in particular to a pipeline cleaning robot and a cleaning method. BACKGROUND

[0002] Pipelines are widely used in social production and life, such as for transporting gas, liquid or fluid with solid particles, for ventilation, etc. During use, dirt will adhere to the inner wall of the pipeline, causing the pipeline to degrade in performance. For example, dust and bacteria are easily attached to the inner walls of the ventilation and air conditioning pipelines of vehicles, so that the wind blown through the pipeline also carries dust and bacteria. After the vehicle occupants inhale the air containing dust and bacteria, their health is harmed. Therefore, the interior of the pipeline needs to be cleaned to ensure the use effect of the pipeline.

[0003] Due to the low efficiency, high labor intensity, incomplete cleaning and other problems of manual cleaning, existing pipeline cleaning is mostly performed using mechanical equipment. For example, patent No. 202010274804.6 discloses a pipeline cleaning robot, which facilitates cleaning by using the pipeline cleaning robot. However, it needs to use a large number of motors to drive the pipeline cleaning robot to work. First, the increase in the number of motors means an increase in manufacturing cost. Second, the increase in the number of motors makes the structure relatively complex. Third, the increase in the number of motors increases the probability of motor failure, which is not conducive to the long-term use of the pipeline cleaning robot.

[0004] Therefore, it is necessary to provide a pipeline cleaning robot that reduces the number of motors used by the pipeline cleaning robot, thereby achieving the purposes of simplifying the structure, reducing the manufacturing cost and reducing the failure rate. SUMMARY

[0005] The present application aims to provide a pipeline cleaning robot and a cleaning method to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A pipeline cleaning robot comprises a tripod, two frames are fixed to the middle part of the tripod, a cleaning mechanism is arranged at one end of the tripod, a collecting mechanism is arranged at the other end of the tripod, a plurality of movable legs are movably arranged around the frame, a movable wheel is movably arranged at the end of the movable leg, a lifting seat is movably arranged on the tripod, and the lifting seat is arranged in cooperation with the movable leg.

[0007] Further, the opposite sides of the two frames are provided with a driving gear and a driven gear connected with the driving gear, a servo motor is fixed between the two frames, the output end of the servo motor is drivingly connected with one of the driving gears, a rotating rod is fixed between the two driven gears, and the rotating rod is movably arranged between the two frames.

[0008] Further, two said main gear is fixed with screw rod, screw rod is connected with lifting seat screw, lifting seat is triangularly arranged, lifting seat is hinged with auxiliary leg on three sides, auxiliary leg is hinged on the end away from lifting seat on the end of movable leg.

[0009] Further, the frame is triangularly arranged, the movable leg is provided with three groups, which are uniformly hinged at the three end points of the frame, one of the three groups of movable legs is fixedly installed with a driving motor, the output end of the driving motor is drivingly connected with a driving bevel gear, the driving bevel gear is meshingly connected with a driven bevel gear, and the driven bevel gear is drivingly connected with the moving wheel.

[0010] Further, the cleaning mechanism comprises a rotating motor, an adjusting rod and a cleaning brush, the rotating motor is installed at the end of the tripod, the middle part of the adjusting rod is installed at the output end of the rotating motor, and the cleaning brush is provided with two groups and is installed on the two sides of the adjusting rod.

[0011] Further, the adjusting rod comprises a rod body, movable rods and a gas cylinder, the rod body is connected with the output end of the rotating motor, the movable rods are provided with two and are movably arranged on the two sides of the rod body, and the gas cylinder is a bidirectional telescopic cylinder and is installed in the rod body, and the telescopic end of the gas cylinder is connected with the end of the movable rod.

[0012] Further, the collecting mechanism comprises a dust collector and a dust collecting pipe, the dust collector is installed at the other end of the tripod, the dust collecting pipe is installed at the dust collecting end of the dust collector, and the dust collecting pipe is provided with dust collecting through holes on the two sides.

[0013] The scheme also comprises a cleaning method of the pipeline cleaning robot, and the cleaning method comprises the following steps: S1, adjusting, controlling the servo motor to start, driving the driving gears on the two sides of the frame to rotate, thereby driving the two screw rods to rotate, synchronously adjusting the two lifting seats to move, thereby pushing the movable leg through the auxiliary leg to adapt to the inner wall of the pipeline; S2, driving, after the adjustment is completed, controlling the driving motor on the movable leg to start, thereby driving the driving bevel gear to drive the driven bevel gear, thereby driving the moving wheel to move, realizing the movement of the whole pipeline cleaning robot; S3, cleaning, adjusting the gas cylinder in the rod body, so that the cleaning brush is attached to the inner wall of the pipeline, controlling the rotating motor to start, driving the adjusting rod and the cleaning brush to rotate, and cleaning the inner wall of the pipeline; S4, collecting, when the rotating motor starts, the dust collector is started synchronously, the dust collector generates an attractive force, so that the dust swept is collected from the dust collecting pipe.

[0014] Compared with the prior art, the beneficial effects of the present application are: The cleaning mechanism and the collecting mechanism are arranged, dust generated in the cleaning process can be collected, the inside of the pipeline is effectively protected, The whole structure of the application is simple and convenient to use; The servo motor is arranged alone, the movable legs at the upper end and the lower end are adjusted, the motor arrangement is reduced, and the pipeline demand of different sizes is conveniently adapted. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a whole first structure diagram of the application; Fig. 2 It is a whole second structure diagram of the application; Fig. 3 It is a structure diagram of the adjusting rod in the application.

[0016] REFERENCE NUMERALS 1-servo motor, 2-frame, 3-tripod, 4-movable leg, 5-driving motor, 501-driving bevel gear, 502-driven bevel gear, 6-dust collector, 7-dust collection pipe, 8-rotary motor, 9-adjusting rod, 10-cleaning brush, 11-lifting seat, 12-screw rod, 13-assistant supporting leg, 14-rotary rod, 15-driving gear, 16-driven gear, 17-moving wheel. DETAILED DESCRIPTION

[0017] The embodiments of the technical scheme of the application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical scheme of the application, and therefore only serve as examples, and cannot limit the protection scope of the application.

[0018] Please refer to Figs. 1-3 A pipeline cleaning robot, comprising a tripod 3, two frames 2 are fixed in the middle of the tripod 3, a cleaning mechanism is arranged at one end of the tripod 3, a collecting mechanism is arranged at the other end of the tripod 3, a plurality of movable legs 4 are movably arranged on the periphery of the frame 2, moving wheels 17 are movably arranged at the end of the movable legs 4, a lifting seat 11 is movably arranged on the tripod 3, and the lifting seat 11 is arranged in cooperation with the movable legs 4.

[0019] In actual use, the cleaning mechanism and the collecting mechanism are arranged, dust generated in the cleaning process can be collected, the inside of the pipeline is effectively protected, the whole structure of the application is simple and convenient to use, the servo motor 1 is arranged alone, the movable legs 4 at the upper end and the lower end are adjusted, the motor arrangement is reduced, and the operation is more convenient.

[0020] In the embodiment, the opposite sides of the two frames 2 are provided with driving gears 15 and driven gears 16 engaged with the driving gears 15, a servo motor 1 is fixed between the two frames 2, the output end of the servo motor 1 is drivingly connected with one of the driving gears 15, a rotating rod 14 is fixed between the two driven gears 16, and the rotating rod 14 is movably arranged between the two frames 2; two screw rods 12 are fixed on the driving gears 15, and the screw rods 12 are threadedly connected with lifting seats 11, the lifting seats 11 are arranged in a triangular shape, auxiliary legs 13 are hinged on three sides of the lifting seats 11, and the ends of the auxiliary legs 13 away from the lifting seats 11 are hinged on the movable legs 4; specifically, the servo motor 1 is started to drive the driving gear 15 to rotate, thereby driving the driven gear 16 engaged with the driving gear 15 to rotate, the rotating of the driven gear 16 drives the rotating rod 14 to rotate, thereby driving the other driven gear 16 to rotate, thereby driving the driving gear 15 engaged with the driven gear 16 to rotate, the synchronous rotation of the two screw rods 12 is realized, the lifting seats 11 are synchronously driven to lift, the movable legs 4 are driven to move, thereby facilitating the movable legs 4 to adapt to the inner wall of the pipeline and better drive.

[0021] In the embodiment, the frame 2 is arranged in a triangular shape, three groups of movable legs 4 are evenly hinged at the three endpoints of the frame 2, one of the three groups of movable legs 4 is fixedly installed with a driving motor 5, the output end of the driving motor 5 is drivingly connected with a driving bevel gear 501, the driving bevel gear 501 is engaged with a driven bevel gear 502, and the driven bevel gear 502 is drivingly connected with a moving wheel 17; specifically, the driving motor 5 is started to drive the driving bevel gear 501 to rotate, thereby driving the driven bevel gear 502 engaged with the driving bevel gear 501 to rotate, the rotation of the driven bevel gear 502 drives the moving wheel 17 to rotate, the moving wheel 17 is in abutment with the inner wall of the pipeline, the rotation of the moving wheel 17 drives the whole pipeline cleaning robot to move, and the moving cleaning of the inside of the pipeline is realized.

[0022] In the embodiment, the cleaning mechanism comprises a rotating motor 8, an adjusting rod 9 and cleaning brushes 10, the rotating motor 8 is installed at the end of the tripod 3, the middle part of the adjusting rod 9 is installed at the output end of the rotating motor 8, and the cleaning brushes 10 are provided in two groups and are installed at the two sides of the adjusting rod 9 respectively; the adjusting rod 9 comprises a rod body 901, movable rods 902 and a gas cylinder 903, the rod body 901 is connected with the output end of the rotating motor 8, the movable rods 902 are provided in two and are movably arranged at the two sides of the rod body 901, the gas cylinder 903 is a bidirectional telescopic cylinder and is installed in the rod body 901, the telescopic end of the gas cylinder 903 is connected with the end of the movable rod 902, and the cleaning brush 10 is installed at the other end of the movable rod 902; specifically, according to the requirement, the gas cylinder 903 is started to drive the movable rod 902 to move, the cleaning brush 10 is attached to the inner wall of the pipeline through the movement of the movable rod 902, and the adjusting rod 9 and the cleaning brush 10 are rotated through the rotation of the rotating motor 8, so that the cleaning work on the inner wall of the pipeline is realized.

[0023] In the embodiment, the collecting mechanism comprises a dust collector 6 and a dust collecting pipe 7, the dust collector 6 is installed at the other end of the tripod 3, the dust collecting pipe 7 is installed at the dust collecting end of the dust collector 6, and dust collecting holes are formed in the two sides of the dust collecting pipe 7; specifically, the dust collected by the cleaning brush 10 is collected through the dust collecting pipe 7 through the starting of the dust collector 6, so that the dust collecting work is realized.

[0024] The servo motor 1, the driving motor 5, the dust collector 6, the rotating motor 8 and the gas cylinder 903 are all externally connected with a control system and are controlled to start through the external control system.

[0025] The visual sensor is electrically connected with the control end outside, through the setting of the visual sensor, the internal condition of the pipeline can be known in real time, the responding measures can be better made, and the staff can better control the whole cleaning robot.

[0026] The scheme also comprises a cleaning method of the pipeline cleaning robot, and the cleaning method comprises the following steps: S1, adjusting, the servo motor 1 is controlled to start to drive the driving gears 15 at the two sides of the frame 2 to rotate, so that the two screw rods 12 are rotated to synchronously adjust the two lifting seats 11 to move, so that the movable legs 4 are pushed by the auxiliary supporting legs 13 to adapt to the inner wall of the pipeline; S2, driving, after the adjustment is completed, the driving motor 5 on the movable leg 4 is controlled to start, so that the driving bevel gears 501 drive the driven bevel gears 502 to drive the moving wheels 17 to move, and the movement of the whole pipeline cleaning robot is realized. S3, cleaning, adjusting the cylinder 903 inside the rod body 901, so that the cleaning brush 10 is attached to the inner wall of the pipe, controlling the starting of the rotating motor 8, driving the adjusting rod 9 and the cleaning brush 10 to rotate, and cleaning the inner wall of the pipe; S4, collection, when the rotating motor 8 starts, the dust collector 6 is started synchronously, the dust collector 6 generates suction force, so that the collected dust is collected from the dust collecting pipe 7.

[0027] It should be noted that in this paper, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise specified and limited, the terms "fixed", "mounted", "connected", "linked" should be understood in a broad sense, for example, "connected" can be fixed connection, can also be detachable connection, or integral connection; "connected" can be mechanical connection, can also be electrical connection; "connected" can be directly connected, can also be indirectly connected through intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and description of the present application.

Claims

1. A pipe cleaning robot, comprising a tripod (3), characterized in that, The tripod (3) has two frames (2) fixed in the middle. One end of the tripod (3) is equipped with a cleaning mechanism, and the other end of the tripod (3) is equipped with a collection mechanism. Multiple movable legs (4) are movably arranged around the frame (2). The ends of the movable legs (4) are movably equipped with casters (17). A lifting seat (11) is movably arranged on the tripod (3). The lifting seat (11) is configured to cooperate with the movable legs (4).

2. The pipeline cleaning robot as described in claim 1, characterized in that: Each of the two frames (2) is provided with a drive gear (15) and a driven gear (16) meshing with the drive gear (15). A servo motor (1) is fixed between the two frames (2). The output end of the servo motor (1) is driven and connected to one of the drive gears (15). A rotating rod (14) is fixed between the two driven gears (16). The rotating rod (14) is movably disposed between the two frames (2).

3. The pipeline cleaning robot as described in claim 2, characterized in that: Two drive gears (15) are fixed with screws (12), which are threadedly connected to the lifting seat (11). The lifting seat (11) is triangular in shape, and auxiliary legs (13) are hinged on three sides of the lifting seat (11). The end of the auxiliary leg (13) away from the lifting seat (11) is hinged to the movable leg (4).

4. The pipeline cleaning robot as described in claim 3, characterized in that: The frame (2) is triangular in shape. The movable legs (4) are arranged in three groups and are evenly hinged at the three ends of the frame (2). A drive motor (5) is fixedly installed on one of the movable legs (4). The output end of the drive motor (5) is driven and connected to the active bevel gear (501). The active bevel gear (501) is meshed with the driven bevel gear (502). The driven bevel gear (502) is driven and connected to the moving wheel (17).

5. The pipeline cleaning robot as described in claim 1, characterized in that: The cleaning mechanism includes a rotary motor (8), an adjusting rod (9), and a cleaning brush (10). The rotary motor (8) is installed at the end of the tripod (3), and the middle part of the adjusting rod (9) is installed at the output end of the rotary motor (8). There are two sets of cleaning brushes (10), which are installed on both sides of the adjusting rod (9).

6. The pipeline cleaning robot as described in claim 5, characterized in that: The adjusting rod (9) includes a rod body (901), a movable rod (902), and a cylinder (903). The rod body (901) is connected to the output end of the rotary motor (8). There are two movable rods (902), which are respectively movably arranged on both sides of the rod body (901). The cylinder (903) is a bidirectional telescopic cylinder, which is installed inside the rod body (901). The telescopic end of the cylinder (903) is connected to the end of the movable rod (902).

7. The pipeline cleaning robot as described in claim 1, characterized in that: The collection mechanism includes a dust collector (6) and a dust collection pipe (7). The dust collector (6) is installed at the other end of the tripod (3), and the dust collection pipe (7) is installed at the dust collection end of the dust collector (6). Dust collection through holes are provided on both sides of the dust collection pipe (7).

8. The pipeline cleaning robot as described in any one of claims 1-7, further comprising a cleaning method for the pipeline cleaning robot, characterized in that, The cleaning method includes the following steps: S1, adjust and control the servo motor (1) to start, drive the active gear (15) on both sides of the frame (2) to rotate, thereby driving the two screws (12) to rotate, synchronously adjust the movement of the two lifting seats (11), thereby pushing the movable leg (4) through the auxiliary support leg (13) to adapt to the inner wall of the pipe; S2, drive, after adjustment, control the drive motor (5) on the movable leg (4) to start, thereby driving the active bevel gear (501) to drive the driven bevel gear (502), thereby driving the moving wheel (17) to move, realizing the movement of the entire pipeline cleaning robot; S3, cleaning, adjusting the cylinder (903) inside the rod (901) so that the cleaning brush (10) fits against the inner wall of the pipe, controlling the rotary motor (8) to start, driving the adjusting rod (9) and the cleaning brush (10) to rotate, and cleaning the inner wall of the pipe; S4, when the rotary motor (8) starts, the dust collector (6) starts synchronously. The dust collector (6) generates a suction force, so that the dust being swept is collected from the dust collection pipe (7).

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