Efficient picking manipulator structure for pipeline cleaning robot

Abstract

The utility model relates to the field of manipulators, in particular to an efficient picking manipulator structure for a pipeline cleaning robot, which comprises a fixed seat, an air blower, an air ring, an air port, a claw seat, a clamping claw mechanism, an air cylinder and a scraping rod. An air ring communicated with an air supply channel of an air blower through a hose is arranged in front of the fixing seat, and a scraping rod parallel to the outer wall of the air ring is fixedly installed on a power output element of the air cylinder. Garbage and dirt adhering to the top wall and the side wall of a pipeline at the blocked position of the pipeline can be scraped off at a time, the clamping jaw mechanism is used for directly picking up the bottom wall of the pipeline, the clamping jaw mechanism does not need to adjust the picking direction many times, picking up is more efficient, cleaning is more thorough, and the problem that when an existing pipeline cleaning robot cleans garbage, the cleaning efficiency is high is solved. And garbage adhered to the wall and the side wall is inconvenient to pick up.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to a high-efficiency picking manipulator structure for a pipeline cleaning robot. Background Art

[0002] For large culvert facilities used in the municipal field, since they are mostly used for sewage discharge, the pipes are often blocked due to the retention of garbage, resulting in poor sewage discharge and sewage upwelling. The culvert cavity is narrow and difficult to clean manually. Therefore, there are now robots specifically used for pipe cleaning to solve the above problems.

[0003] A pipe cleaning robot disclosed in a Chinese utility model patent with an existing announcement number of CN220127089U discloses a cleaning robot based on a self-propelled vehicle structure. The robot can stably walk in the pipe and clean the designated blocked parts. However, in reality, most of the garbage blocking the pipe may be firmly adhered to any position of the inner wall of the pipe. Ordinary picking manipulators generally pick up the garbage accumulated at the blocked part, while there is no effective cleaning method for the garbage adhered to the top wall and side wall of the pipe.

[0004] Therefore, in order to address the problem that the above-mentioned existing pipe cleaning robots are inconvenient to pick up garbage adhered to the walls and side walls when cleaning garbage, a robot that cooperates with a picking manipulator can be designed. According to the special cylindrical structure of the pipe, the robot can efficiently clean the garbage adhered to the top wall and side wall of the pipe by a rotating scraping method. Utility Model Content

[0005] In order to overcome the problem that the existing pipeline cleaning robots are inconvenient to pick up the garbage adhered to the walls and side walls when cleaning the garbage.

[0006] The technical scheme of the utility model is: a high-efficiency picking manipulator structure for a pipeline cleaning robot, comprising a fixed seat, a blower, an air ring, an air outlet, a claw seat, a clamping claw mechanism, a cylinder, and a scraper rod; the fixed seat is installed on the mechanical arm of the pipeline robot, the blower is installed on the fixed seat, an air ring connected with an air supply channel of the blower through a hose is arranged in front of the fixed seat, 30-40 air outlets are arranged around the outer circle of the air ring, a claw seat driven by a motor to turn is installed at the front end of the air ring, a telescopic clamping claw mechanism for clamping and picking up pipeline garbage is arranged in the claw seat, a cylinder is installed on the other side of the claw seat relative to the clamping claw mechanism, a scraper rod parallel to the outer wall of the air ring is fixedly installed on the power output element of the cylinder, the scraper rod rotates to scrape the garbage adhered to the inner wall of the pipeline, and image acquisition modules are arranged at the claw seat and the scraper rod.

[0007] Preferably, a wind ring mounted on the pipeline robot is fixed on a seat, and air flow is output by a blower to blow away garbage and dust around the inner wall of the pipeline. The motor drives the scraper rod and the clamping claw mechanism to rotate, and the garbage adhering to the inner wall of the pipeline can be scraped off while adjusting the angle of picking up garbage.

[0008] Preferably, the clamping mechanism includes an electric telescopic rod, a driving motor, a gear set and a clamping arm. The driving motor controls the gear set to drive the clamping arms to clamp towards each other. The power actuator of the electric telescopic rod drives the clamping arm to telescope and move in the claw seat. The driving motor, the gear set and the clamping arm are the actuator units of the clamping mechanism, which control the clamping arm to rotate and grab the garbage in the pipeline. The electric telescopic rod controls the actuator unit of the clamping mechanism to telescope in the claw seat and adjust the clamping arm to be close to or away from the bottom wall of the pipeline, so as to facilitate the picking up of garbage at different heights.

[0009] Preferably, the scraper rod is composed of a longitudinal rod and a transverse rod to form an L-shaped structure. The longitudinal rod is located in front of the wind ring and the transverse rod is parallel to the outer wall of the wind ring. The power actuator of the cylinder is fixedly connected to the longitudinal rod and drives the longitudinal rod to extend and retract to push the transverse rod against the inner wall of the pipe. The cylinder controls the telescopic movement of the scraper rod and adjusts its transverse rod part close to the pipe wall. It rotates with the claw seat to scrape sticky garbage and dirt on the pipe wall.

[0010] Preferably, a bracket is welded and fixed between the fixed seat and the wind ring, a steering motor is fixedly installed on the rear end of the wind ring, the claw seat is fixedly installed on the power output element of the steering motor, and the bracket is enclosed on the outside of the steering motor. By reasonably installing the fixed seat and the mechanical arm of the pipeline robot, the steering motor controls the rotation of the claw seat, and the rotation axis is consistent with the center of the pipeline, ensuring that the scraper rod and the clamping claw mechanism can fit the inner wall of the pipeline during rotation.

[0011] Preferably, a baffle is provided between the wind ring and the horizontal bar of the scraper rod, the baffle being composed of two transparent acrylic inclined plates, one end of the baffle being fixedly connected to a clamp mounted on the longitudinal bar of the scraper rod, the clamp being fastened and fixed by bolts, the baffle serving as a protective structure on the wind ring to reduce the amount of garbage scraped off the pipe wall and falling on the wind ring, and being made of transparent acrylic material, the image acquisition module can capture images through the baffle.

[0012] Preferably, the image acquisition module includes a front camera; the front camera is installed on the claw seat and performs image monitoring of the inner wall of the pipe around the clamping mechanism. When the manipulator is cleaning the pipe, the front camera always captures images of the cleaning area and transmits the images to the monitoring background for easy viewing by management personnel to ensure that the garbage is picked up cleanly.

[0013] Preferably, the image acquisition module also includes a rear camera; the rear camera is installed at the lower end of the baffle through a bracket, and monitors the image of the inner wall of the pipe around the scraper rod through the baffle. When the scraper rod scrapes and cleans the top wall and side wall of the pipe, the rear camera captures the image of the cleaning part and transmits the image to the monitoring background to facilitate management personnel to view and ensure that the sticky garbage on the pipe wall is scraped away cleanly.

[0014] Beneficial effects of the utility model:

[0015] 1. Through the retractable scraper rod set on the claw seat, in conjunction with the wind ring of the annular conveying air flow to sweep the pipe wall, the garbage and dirt adhering to the top and side walls of the pipe where the pipe is blocked can be scraped off at one time, and picked up directly on the bottom wall of the pipe with the help of the clamping claw mechanism. There is no need for the clamping claw mechanism to adjust the picking direction many times, so the picking is more efficient and the cleaning is cleaner;

[0016] 2. The scraper bar can be used to clean the garbage stuck in the blockage. It can also rotate and remove the tiny garbage obstacles in the pipeline on the robot's walking path to prevent the robot's tracks or rollers from shaking and falling over when passing through obstacles.

[0017] 3. Through the image acquisition module set on the robot, the part is monitored in real time when the clamping claws and scraper rods are cleaning to ensure that it is finally cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 What is shown is a first three-dimensional structural schematic diagram of the efficient picking manipulator structure for the pipeline cleaning robot of the utility model;

[0019] Figure 2 The second three-dimensional structure schematic diagram of the efficient picking manipulator structure for the pipeline cleaning robot of the utility model is shown;

[0020] Figure 3 Shown is a third three-dimensional structural schematic diagram of the efficient picking manipulator structure for the pipeline cleaning robot of the utility model;

[0021] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the wind ring of the efficient picking manipulator structure for the pipeline cleaning robot of the utility model;

[0022] Figure 5 What is shown is a three-dimensional structural diagram of the gripper mechanism of the efficient picking manipulator structure for the pipeline cleaning robot of the utility model;

[0023] Figure 6 Shown is a three-dimensional structural schematic diagram of a high-efficiency picking manipulator structure baffle for the pipeline cleaning robot of the utility model.

[0024] Explanation of the accompanying drawings: 1. fixing seat; 2. blower; 3. air ring; 4. air outlet; 5. claw seat; 6. clamping mechanism; 7. cylinder; 8. scraper rod; 9. bracket; 10. steering motor; 11. baffle; 12. clamp; 13. front camera; 14. rear camera. DETAILED DESCRIPTION

[0025] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0026] See also Figure 1-3 The utility model provides an embodiment: a high-efficiency picking manipulator structure for a pipeline cleaning robot, comprising a fixed seat 1, a blower 2, an air ring 3, an air outlet 4, a claw seat 5, a clamping claw mechanism 6, a cylinder 7, and a scraper rod 8; the fixed seat 1 is installed on the mechanical arm of the pipeline robot, the blower 2 is installed on the fixed seat 1, and an air ring 3 connected to the air supply channel of the blower 2 through a hose is arranged in front of the fixed seat 1, 30-40 air outlets 4 are opened around the outer circle of the air ring 3, a claw seat 5 driven by a motor to turn is installed at the front end of the air ring 3, and a telescopic clamping and picking mechanism is arranged in the claw seat 5 The claw mechanism 6 of the pipeline garbage, the cylinder 7 is installed on the claw seat 5 on the other side of the claw mechanism 6, the scraper rod 8 parallel to the outer wall of the wind ring 3 is fixedly installed on the power output element of the cylinder 7, the scraper rod 8 rotates to scrape the garbage adhered to the inner wall of the pipeline, the claw seat 5 and the scraper rod 8 are both provided with image acquisition modules, the wind ring 3 mounted on the pipeline robot through the fixed seat 1, the air flow is output through the blower 2, and the garbage and dust are blown around the inner wall of the pipeline, and the motor drives the scraper rod 8 and the claw mechanism 6 to rotate, and the garbage adhering to the inner wall of the pipeline can be scraped off while adjusting the angle of picking up the garbage.

[0027] See also Figure 5-6In this embodiment, the clamping mechanism 6 includes an electric telescopic rod, a driving motor, a gear set and a clamping arm. The driving motor controls the gear set to drive the clamping arm to clamp oppositely. The power actuator of the electric telescopic rod drives the clamping arm to telescope and move in the claw seat 5. The driving motor, the gear set and the clamping arm are the actuator units of the clamping mechanism 6, which control the clamping arm to rotate and grab the garbage in the pipeline. The electric telescopic rod controls the actuator unit of the clamping mechanism 6 to telescope in the claw seat 5, adjusts the clamping arm to be close to or away from the bottom wall of the pipeline, and is convenient for picking up garbage at different heights. The scraper rod 8 is composed of a longitudinal rod and a transverse rod to form an L-shaped structure. The longitudinal rod is located in front of the air ring 3, and the transverse rod is parallel to the outer wall of the air ring 3. The power actuator of the cylinder 7 The element is fixedly connected to the longitudinal rod and drives the longitudinal rod to telescope and push the cross rod against the inner wall of the pipe. The cylinder 7 controls the scraper rod 8 to telescope and move, and adjusts its cross rod part to be close to the pipe wall. It rotates with the claw seat 5 to scrape the sticky garbage and dirt on the pipe wall. A baffle 11 is arranged between the wind ring 3 and the cross rod of the scraper rod 8. The baffle 11 is composed of two transparent acrylic inclined plates. One end of the baffle 11 is fixedly connected to a clamp 12 mounted on the longitudinal rod of the scraper rod 8. The clamp 12 is fixed by bolts. The baffle 11 serves as a protective structure on the wind ring 3 to reduce the garbage scraped off the pipe wall and falling on the wind ring 3. It is made of transparent acrylic material, and the image acquisition module can capture images through the baffle 11.

[0028] See also Figure 3 In this embodiment, a bracket 9 is welded and fixed between the fixed seat 1 and the wind ring 3, a steering motor 10 is fixedly installed at the rear end of the wind ring 3, the claw seat 5 is fixedly installed on the power output element of the steering motor 10, and the bracket 9 is enclosed on the outside of the steering motor 10. By reasonably installing the fixed seat 1 and the mechanical arm of the pipeline robot, the steering motor 10 controls the rotation of the claw seat 5, and the rotation axis is consistent with the center of the pipeline, ensuring that the scraper rod 8 and the clamping claw mechanism 6 can fit the inner wall of the pipeline during the rotation process.

[0029] See also Figure 6 In this embodiment, the image acquisition module includes a front camera 13; the front camera 13 is installed on the claw seat 5 and performs image monitoring on the inner wall of the pipe around the clamping claw mechanism 6. When the manipulator is cleaning the pipe, the front camera 13 always captures images of the cleaning part and transmits the images to the monitoring background, which is convenient for the management personnel to view and ensure that the garbage is picked up cleanly. The image acquisition module also includes a rear camera 14; the rear camera 14 is installed at the lower end of the baffle 11 through the bracket, and performs image monitoring on the inner wall of the pipe around the scraper 8 through the baffle 11. When the scraper 8 scrapes and cleans the top wall and side wall of the pipe, the rear camera 14 captures images of the cleaning part and transmits the images to the monitoring background, which is convenient for the management personnel to view and ensure that the sticky garbage on the pipe wall is scraped clean.

[0030] When working, the staff installs and fixes the fixing base 1 and the pipeline robot, and adjusts the center of the air ring 3 to overlap with the center of the pipeline according to the specifications of the pipeline;

[0031] Then the pipeline robot walks to the blocked part in the pipeline, and the electric telescopic rod controls the execution unit of the clamping mechanism 6 to extend to contact the bottom wall of the pipeline, and picks up and cleans the garbage nearby. While cleaning, the front camera 13 always takes images of the cleaning part and transmits the images to the monitoring background. Then, the cylinder 7 controls the scraper rod 8 to extend until the cross bar abuts against the inner wall of the pipeline, and the steering motor 10 controls the claw seat 5 to rotate, so that the scraper rod 8 scrapes the sticky garbage and dirt on the pipe wall;

[0032] The rear camera 14 captures images of the cleaning area of ​​the scraper rod 8 and transmits the images to the monitoring background. After checking that the garbage adhered to the top wall and side walls of the pipe has been cleaned, the steering motor 10 controls the clamping mechanism 6 to pick up the scraped garbage and dirt within a range close to the bottom wall of the pipe, and puts the garbage picked up each time into the cavity carried by the pipeline robot.

[0033] Through the above steps, the retractable scraper rod 8 arranged on the claw seat 5, in cooperation with the wind ring 3 for annularly conveying air flow to sweep the pipe wall, can scrape off the garbage and dirt adhered to the top wall and side wall of the pipe at the blocked part of the pipe at one time, and pick them up directly on the bottom wall of the pipe with the help of the clamping claw mechanism 6. There is no need for the clamping claw mechanism 6 to adjust the picking direction multiple times, so the picking is more efficient and the cleaning is also cleaner, so as to solve the problem that the existing pipe cleaning robot is inconvenient to pick up the garbage adhered to the wall and side wall when cleaning the garbage.

Claims

1. A high-efficiency picking manipulator structure for a pipeline cleaning robot, comprising a fixing seat (1); characterized in that: The invention also comprises a blower (2), an air ring (3), an air outlet (4), a claw seat (5), a clamping claw mechanism (6), a cylinder (7), and a scraper rod (8); the fixed seat (1) is installed on the mechanical arm of the pipeline robot, the blower (2) is installed on the fixed seat (1), a wind ring (3) connected to the air supply channel of the blower (2) through a hose is arranged in front of the fixed seat (1), 30 to 40 air outlets (4) are arranged around the outer ring of the wind ring (3), and the front of the wind ring (3) is provided with a plurality of air outlets (4). A claw seat (5) driven by a motor to turn is installed at the end, a telescopic clamping claw mechanism (6) for clamping and picking up garbage in the pipeline is arranged inside the claw seat (5), a cylinder (7) is installed on the claw seat (5) on the other side of the clamping claw mechanism (6), a scraping rod (8) parallel to the outer wall of the air ring (3) is fixedly installed on the power output element of the cylinder (7), and the scraping rod (8) is rotated to scrape the garbage adhered to the inner wall of the pipeline, and image capture modules are arranged at the claw seat (5) and the scraping rod (8).

2. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 1 is characterized in that: The clamping mechanism (6) comprises an electric telescopic rod, a driving motor, a gear set and a clamping arm. The driving motor controls the gear set to drive the clamping arm to clamp oppositely. The power actuator of the electric telescopic rod drives the clamping arm to move telescopically in the claw seat (5).

3. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 1 is characterized in that: The scraper rod (8) is composed of a longitudinal rod and a transverse rod to form an L-shaped structure, the longitudinal rod is located in front of the wind ring (3), and the transverse rod is parallel to the outer wall of the wind ring (3). The power actuator of the cylinder (7) is fixedly connected to the longitudinal rod and drives the longitudinal rod to extend and retract to push the transverse rod against the inner wall of the pipeline.

4. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 1, characterized in that: A bracket (9) is welded and fixed between the fixed seat (1) and the wind ring (3), a steering motor (10) is fixedly mounted on the rear end of the wind ring (3), the claw seat (5) is fixedly mounted on the power output element of the steering motor (10), and the bracket (9) is enclosed on the outside of the steering motor (10).

5. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 3 is characterized in that: A baffle (11) is arranged between the air ring (3) and the horizontal rod of the scraper rod (8), the baffle (11) being composed of two transparent acrylic inclined plates, one end of the baffle (11) being fixedly connected to a clamp (12) sleeved on the longitudinal rod of the scraper rod (8), the clamp (12) being locked and fixed by bolts.

6. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 1, characterized in that: The image capture module comprises a front camera (13); the front camera (13) is mounted on the claw seat (5) and performs image monitoring on the inner wall of the pipeline around the clamping claw mechanism (6).

7. The efficient picking manipulator structure for a pipeline cleaning robot according to claim 5, characterized in that: The image capture module also includes a rear camera (14); the rear camera (14) is mounted on the lower end of the baffle (11) via a bracket, and performs image monitoring of the inner wall of the pipe around the scraper rod (8) through the baffle (11).

Images