Rotary pitching system for pipeline cleaning robot

Abstract

The invention relates to the technical field of mechanical design, and discloses a rotary pitching system for a pipeline cleaning robot, a spraying arm is connected and mounted on a rotary joint, the rotary joint is communicated to a combiner box through a water pipe, the combiner box is mounted on a hollow rotary table, the hollow rotary table is fixed on a mounting seat, and the hollow rotary table drives the combiner box to rotate relative to the mounting seat; the hollow rotary table is coaxially driven by a rotary motor at the end part to rotate; a combiner box sealing flange plate is installed on the combiner box and used for dynamically sealing a combiner box water inlet pipe, a collector ring is installed on the combiner box sealing flange plate, and the combiner box and the collector ring are relatively fixed. Through rotation and pitching cooperative driving and electric control closed-loop feedback, integrated control over full-circumferential rotation and wide-range precise pitching adjustment of the spraying arm can be achieved in principle, dead-corner-free cleaning of the inner wall of a pipeline is guaranteed, meanwhile, it is guaranteed that action execution and medium conveying do not interfere with each other, and the operation reliability and scene adaptability of the system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical design. BACKGROUND

[0002] In the special pipeline cleaning scene, the traditional spraying mechanism has the following design defects: some can only realize single direction rotation, relying on the movement of the pipeline robot to make up for the lack of angle, resulting in cleaning blind area at the top, bottom and bend of the pipeline; some try to integrate the pitch function, but lack reliable power transmission and signal feedback mechanism, and the pitch angle cannot be accurately controlled, which is difficult to adapt to the cleaning needs of pipelines of different structures. These problems are essentially caused by poor coordination between rotation and pitch, and insufficient running stability, which not only reduces the cleaning quality and efficiency, but also may cause sewage and waste to splash due to improper angle control, increasing the safety risk of operation. Therefore, a rotation and pitch system based on the principle of coordinated driving, flexible angle adjustment and stable operation is needed to adapt to the automatic cleaning needs of special pipelines. SUMMARY

[0003] The purpose of the present application is to provide a rotation and pitch system for a pipeline cleaning robot, which can be based on the principle of coordinated driving, flexible angle adjustment and stable operation, and adapt to the automatic cleaning needs of special pipelines.

[0004] To solve the above technical problems, the present application provides a rotation and pitch system for a pipeline cleaning robot, which comprises a spraying arm connected and installed on a rotary joint, the rotary joint is connected to a manifold box through a water pipe, the manifold box is installed on a hollow turntable, the hollow turntable is fixed to a mounting seat, and the hollow turntable drives the manifold box to rotate relative to the mounting seat; the hollow turntable is driven to rotate by a rotary motor at the end; a manifold box sealing flange is installed on the manifold box for sealing the manifold box water inlet pipe, a manifold ring is installed on the manifold box sealing flange, and the manifold box and the manifold ring are fixed relative to each other, and the manifold box water inlet pipe is connected to the manifold box inner cavity; a gear box is installed on the manifold box, an elevation motor and a swing rod are installed on the gear box, the elevation motor drives the swing rod to swing through the gear box, and the swing rod drives the spraying arm to swing.

[0005] The gear box has a driving gear and a driven gear meshing transmission, the output shaft of the elevation motor drives the driving gear, and the driven gear drives the swing rod to rotate.

[0006] The spraying arm has a nozzle at the front end.

[0007] A rotary encoder is installed at the bottom of the rotary joint.

[0008] The rotary joint is rotatably installed at both ends of the gear box.

[0009] The front end of the swing rod is rotatably installed with a spray arm sleeve.

[0010] The sealing flange plate of the confluence box is installed on the confluence box through the hollow rotary table.

[0011] The water inlet pipe of the confluence box is inserted into the sealing flange plate of the confluence box through the confluence ring and the dynamic sealing of the O-ring.

[0012] One side of the water inlet pipe of the confluence box is installed on the confluence ring mounting frame by adjusting the screw.

[0013] Compared with the prior art, the present application can realize integrated control of 360° circumferential rotation and wide-range accurate pitching adjustment of the spray arm through rotation and pitching cooperative driving, electric control closed-loop feedback, guaranteeing no dead angle cleaning of the inner wall of the pipeline, ensuring that the action execution and medium transportation do not interfere with each other, and improving the system operation reliability and scene adaptability.

[0014] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0015] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings, which do not constitute a limitation on the embodiments, and elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified, and the drawings do not constitute a proportional limitation.

[0016] Figure 1 is a structural schematic diagram of at least one embodiment of the present application; Figure 2 is Figure 1 is a schematic diagram of the internal structure of the gear box.

[0017] In the figure: 1-rotary motor, 2-hollow rotary table, 3-confluence box, 4-gear box, 41-driving gear, 42-driven gear, 5-pitching motor, 6-water pipe, 7-swing rod, 8-spray arm sleeve, 9-spray arm, 10-nozzle, 11-rotary joint, 12-rotary encoder, 13-mounting seat, 14-sealing flange plate of confluence box, 15-confluence ring mounting frame, 16-confluence ring, 17-adjusting screw, 18-water inlet pipe of confluence box. DETAILED DESCRIPTION

[0018] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are presented in order to make the readers better understand the present application. However, the technical solutions claimed by the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation modes of the present application, and the embodiments can be combined and referenced with each other under the condition of no contradiction.

[0019] Embodiment 1 As shown in Figure 1 and 2 A rotating and pitching system for a pipeline cleaning robot, comprising a spray arm 9 connected and installed on a rotating joint 11, the rotating joint 11 being communicated to a manifold box 3 through a water pipe 6, the manifold box 3 being installed on a hollow turntable 2, the hollow turntable 2 being fixed to a mounting seat 13, the hollow turntable 2 driving the manifold box 3 to rotate relative to the mounting seat 13; the hollow turntable 2 being coaxially driven to rotate by an end rotating motor 1; the manifold box 3 being provided with a manifold box sealing flange 14 for dynamic sealing of a manifold box water inlet pipe 18, the manifold box sealing flange 14 being provided with a manifold ring 16 and the manifold box 3 and the manifold ring 16 being relatively fixed, the manifold box water inlet pipe 18 being communicated to an inner cavity of the manifold box 3; the manifold box 3 being provided with a gear box 4, the gear box 4 being provided with a pitching motor 5 and a swing rod 7, the pitching motor 5 driving the swing rod 7 to swing through the gear box 4, and the swing rod 7 driving the spray arm 9 to swing.

[0020] Embodiment 2 Based on embodiment 1, the gear box 4 has a driving gear 41 and a driven gear 42 in meshing transmission, the output shaft of the pitching motor 5 drives the driving gear 41, and the driven gear 42 drives the swing rod 7 to rotate.

[0021] The spray arm 9 has a nozzle 10 at the front end.

[0022] The rotating joint 11 is provided with a rotating encoder 12 at the bottom.

[0023] The rotating joint 11 is rotatably installed at both ends of the gear box 4.

[0024] The swing rod 7 is rotatably provided with a spray arm sleeve 8 at the front end, and the spray arm 9 is sleeved in the spray arm sleeve 8.

[0025] Embodiment 3 Based on embodiment 1, the manifold box sealing flange 14 is installed on the manifold box 3 through the hollow turntable 2.

[0026] The water inlet pipe 18 of the junction box penetrates through the junction ring 16 and is inserted into the junction box sealing flange 14 through dynamic sealing of the O-ring.

[0027] One side of the water inlet pipe 18 of the junction box is tightly installed on the junction ring mounting frame 15 through the adjusting screw 17.

[0028] Example 4 In combination with the above examples, the mounting seat 13 is fixed on the carrier, and the carrier should have high-pressure water supply, 48V power supply and servo control functions to meet the requirements of the rotating and pitching system for normal work.

[0029] The hollow rotary table 2 is divided into a fixed outer ring and a rotatable inner ring, and the basic principle is a worm gear mechanism. The outer ring is fixed on the mounting seat 13.

[0030] The rotating motor 1 is installed on the hollow rotary table 2 to provide power for the rotation of the inner ring of the rotary table.

[0031] The junction box 3 is installed on the rotatable inner ring of the hollow rotary table 2, and the high-pressure clean water flow input by the water inlet pipe is fully mixed with the cleaning liquid in the box body before being output.

[0032] The junction box sealing flange 14 is installed on the junction box through the hollow rotary table 2, and is used for dynamic sealing of the water inlet pipe 18 of the junction box.

[0033] The outer ring of the junction ring 16 is installed on the other end of the junction box sealing flange 14, rotates with the junction box, and connects the rotating cables of various electrical components and devices, and the inner ring is fixed.

[0034] One end of the water inlet pipe 18 of the junction box penetrates through the mounting frame and the center hole of the junction ring 16, is inserted into the junction box sealing flange 14, and forms dynamic sealing with the junction box sealing flange 14 through the O-ring; the adjusting screw is installed on one side and abuts against the junction ring mounting frame.

[0035] The gear box 4 is installed on the junction box 3, and two identical gears are installed inside the gear box 4, which are divided into a driving gear 41 and a driven gear 42.

[0036] The pitching motor 5 is installed on the gear box 4, and the motor output shaft is connected with the driving gear 41.

[0037] The rotary encoder 12 is installed on the other side of the gear box 4 different from the pitching motor through a shaft coupling, and is connected with the rotating shaft of the driven gear 42.

[0038] There are two swing rods 7, one end of each is installed on the gear box 4 and connected with the two gears respectively, and can swing with the rotation of the gears; the other end is installed with a spray arm sleeve 8.

[0039] The rotary joint 11 is installed at both ends of the gear box 4 and is connected with the junction box 3 through the water pipe 6.

[0040] The spray arm 9 passes through the spray arm sleeve 8, with one end mounted on the rotary joint 11 and the other end free and fitted with the nozzle 10.

[0041] The main principles are as follows: The rotary motor is connected to the central control turntable to drive the inner ring of the turntable to rotate, thereby causing the spray arm to rotate 360° in all directions; the pitch motor drives the gear to rotate, enabling the spray arm to pitch and open synchronously; the rotary encoder is connected to the gear shaft to obtain the opening angle of the spray arm, thereby achieving real-time control; the hollow structure of the turntable avoids pipes and cables, and with the help of electric slip rings, the circuit is continuously connected during rotation, completely avoiding the risk of entanglement and pulling; the manifold sealing flange and the manifold inlet pipe form a dynamic seal to prevent water leakage from the spray arm during operation.

[0042] Therefore, the present invention: 1. Comprehensive and seamless cleaning coverage: The spray arm can rotate 360° around the perimeter using a rotary motor, and the pitch motor provides a wide range of precise pitch adjustment. Together, they form a comprehensive cleaning coverage, fundamentally solving the problem of many blind spots in traditional spray mechanisms and adapting to special pipe scenarios with different diameters and structures.

[0043] 2. Stable and reliable operation: The hollow structure of the hollow turntable avoids pipelines and cables, and the electric slip ring ensures continuous circuit connection during rotation, completely avoiding the risk of entanglement and pulling; the sealed design of the junction box and the independent flow channel and wiring channel ensure stable delivery of cleaning media without leakage, and the circuit cables are well protected, improving the stability and safety of the system in long-term operation.

[0044] 3. Precise and efficient control: The electronic control feedback unit collects rotation angle signals in real time through a rotary encoder, and combines closed-loop control logic to precisely regulate the rotation speed and pitch angle. The action response is rapid and the adjustment accuracy is high, ensuring that the cleaning operation is accurately adapted to different cleaning needs, thereby improving the cleaning quality and efficiency.

[0045] 4. Strong integration and adaptability: The overall structure is integrated and compact, easy to install, and can be quickly adapted to wheeled unmanned platforms without occupying extra space. It fits the design concept of automation and lightweight pipeline cleaning robots, and can completely replace manual labor in special environments such as harmful and radiation environments, significantly reducing personnel risks and labor costs.

[0046] Those skilled in the art will understand that the above embodiments can be modified in form and detail in practical applications without departing from the spirit and scope of the invention.

Claims

1. A rotation and pitch system for a pipeline cleaning robot, characterized in that: Includes a spray arm (9), which is connected to a rotary joint (11). The rotary joint (11) is connected to a manifold box (3) via a water pipe (6). The manifold box (3) is mounted on a hollow turntable (2), which is fixed to a mounting base (13). The hollow turntable (2) drives the manifold box (3) to rotate relative to the mounting base (13). The hollow turntable (2) is coaxially driven to rotate by a rotary motor (1) at its end. A manifold box sealing flange is installed on the manifold box (3). (14) is used for dynamic sealing of the water inlet pipe (18) of the manifold box. The manifold box sealing flange (14) is equipped with a manifold ring (16) and the manifold box (3) and the manifold ring (16) are fixed relative to each other. The water inlet pipe (18) of the manifold box is connected to the inner cavity of the manifold box (3). A gearbox (4) is installed on the manifold box (3). A pitch motor (5) and a swing arm (7) are installed on the gearbox (4). The pitch motor (5) drives the swing arm (7) to swing through the gearbox (4). The swing arm (7) drives the spray arm (9) to swing.

2. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The gearbox (4) contains a driving gear (41) and a driven gear (42) that mesh and drive each other. The output shaft of the pitch motor (5) drives the driving gear (41), and the driven gear (42) drives the rocker arm (7) to rotate.

3. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The spray arm (9) has a nozzle (10) at its front end.

4. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: A rotary encoder (12) is installed at the bottom of the rotary joint (11).

5. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The rotary joint (11) is rotatably mounted at both ends of the gearbox (4).

6. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The front end of the swing arm (7) is rotatably mounted with a spray arm sleeve (8), and the spray arm (9) is fitted in the spray arm sleeve (8).

7. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The manifold sealing flange (14) passes through the hollow turntable (2) and is installed on the manifold (3).

8. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: The inlet pipe (18) of the manifold passes through the manifold ring (16) and is connected to the manifold sealing flange (14) by inserting an O-ring circumferential seal.

9. The rotation and pitch system for a pipeline cleaning robot as described in claim 1, characterized in that: One side of the manifold inlet pipe (18) is abutted against the manifold mounting bracket (15) by adjusting screws (17).

Images