Self-adaptive pipeline cleaning robot

Abstract

The utility model provides a self-adaptive pipeline cleaning robot, and relates to the technical field of pipeline cleaning. A self-adaptive pipeline cleaning robot comprises a mounting shell, a first motor, first connecting bases, a connecting plate, a first chain wheel and connecting frames, the first motor is mounted in the mounting shell, the two first connecting bases are arranged in the mounting shell in a sliding mode, and the first connecting bases are connected with the multiple connecting frames in a circumferential rotating mode; the connecting frames on the same sides of the two first connecting seats are jointly and rotationally connected with the connecting plates, the two first connecting seats are connected with the four connecting plates through the connecting frames, and the two sides of each connecting plate are each rotationally provided with two first chain wheels. The double-shaft motor drives the second connecting base to rotate, then the second chain wheel at one end drives the second crawler belt to ascend and descend to the height flush with the fall pipeline, then under the action of the connector, the second chain wheel drives the first chain wheel to rotate synchronously so as to enable the second crawler belt to roll, and then the climbing effect of the robot body is achieved.

Description

Technical Field

[0001] The utility model provides an adaptive pipeline cleaning robot, which relates to the technical field of pipeline cleaning. Background Art

[0002] Pipe cleaning technology is an important field involving multiple industries, from industrial to residential applications, to ensure the efficient operation and safety of the pipeline system. Dirt, corrosion products, biofilm, etc. may accumulate inside the pipe, which will affect the fluid flow, reduce the heat exchange efficiency, increase energy consumption, and even cause blockages and leaks.

[0003] Since the existing pipelines are laid in a complicated manner, the cleaning work is more difficult. When using robots to clean the pipelines, if there are pipeline sections with height differences, the existing cleaning robots cannot climb upwards, resulting in the inability to clean the pipelines.

[0004] Therefore, it is necessary to provide an adaptive pipeline cleaning robot capable of climbing. Utility Model Content

[0005] In order to overcome the disadvantage that when the existing robot performs pipeline cleaning, if it encounters a pipeline section with a height difference, it cannot climb upwards and cannot clean the pipeline, the utility model provides an adaptive pipeline cleaning robot that can climb.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the utility model provides the following technical solutions: an adaptive pipeline cleaning robot, comprising a mounting shell, a first motor, a first connecting seat, a connecting plate, a first sprocket, a first crawler, a second motor and a connecting frame, wherein the first motor is mounted in the mounting shell, two first connecting seats are slidingly arranged in the mounting shell, the first connecting seat is circumferentially rotatably connected to a plurality of connecting frames, the connecting frames on the same side of the two first connecting seats are rotatably connected to a connecting plate, the two first connecting seats are connected to four connecting plates through the connecting frame, two first connecting seats are rotatably arranged on both sides of the connecting plate, the first crawler is commonly sleeved on the two first sprockets on the same side, the second motor is mounted on both sides of the bottom of the connecting plate, the output shaft of the second motor is fixedly connected to a first sprocket on the same side, and also comprises a dual-axis motor, a second connecting seat, a connector, a second sprocket and a second crawler, a dual-axis motor is mounted on the connecting plate, the output shafts on both sides of the dual-axis motor are commonly fixedly connected to the second connecting seat, two second sprockets are rotatably arranged on both sides of the second connecting seat, the second crawler is commonly sleeved on the two second sprockets on the same side, and the connector is commonly fixedly connected to the first sprocket and the second sprocket close to each other.

[0007] Furthermore, it also includes a connecting sleeve installed on one side of the mounting shell, the output shaft of the first motor is inserted into the connecting sleeve, and a mounting disk is rotatably arranged in the connecting sleeve. The output shaft of the first motor is fixedly connected to the mounting disk through a coupling, and a plurality of ball bearings are arranged between the mounting disk and the connecting sleeve. A plurality of guide plates are installed in the mounting disk, and a rack is slidably arranged on the guide plate, and a cleaning wheel is rotatably arranged at one end of the rack. A plurality of support rods are fixedly connected in the mounting disk, and driven gears are rotatably arranged on the support rods, and each driven gear is respectively meshed with each rack. A servo motor is installed on the mounting disk, and the output shaft of the servo motor passes through the mounting disk, and a driving gear is fixedly connected to the output shaft of the servo motor, and each driven gear is meshed with the driving gear.

[0008] Furthermore, it also includes guide rods fixedly connected to both sides of the installation shell, the first connecting seats on both sides slide on the guide rods on the corresponding side respectively, a third motor is installed on both sides of the installation shell, the output shaft of the third motor is fixedly connected to the screw rod through a coupling, and the first connecting seats on both sides are threadedly connected to the screw rod on the corresponding side respectively.

[0009] Furthermore, the first motor, the second motor, the dual-axis motor, the servo motor and the third motor are all coated with a waterproof coating.

[0010] Furthermore, a protective shell is installed on the mounting plate, and the servo motor is located in the protective shell.

[0011] Furthermore, a plurality of sealing pads are embedded in the circumference of the mounting plate, and the mounting plate is located at the sliding position of the rack.

[0012] Furthermore, a protective sleeve is provided on one end of the rack close to the cleaning wheel.

[0013] Compared with the prior art, the pipeline cleaning robot disinfection device provided by the embodiment of the utility model has the following advantages: 1. The second connecting seat is driven to rotate by a dual-axis motor, so that the second sprocket at one end drives the second track to rise and fall to a height flush with the drop pipeline. Then, under the action of the connector, the second sprocket drives the first sprocket to rotate synchronously to make the second track roll, thereby achieving the effect of the robot body climbing.

[0014] 2. By starting the first motor, the mounting plate is driven to rotate on the connecting sleeve, and the mounting plate drives each rack to revolve, so that the cleaning wheel on the rack rolls on the inner wall of the pipeline, driving the effect of cleaning the inner wall of the pipeline.

[0015] 3. Start the servo motor to drive the driving gear to rotate, and the driving gear meshes with each driven gear, so that the driven gear rotates on the support rod and meshes with the rack, and then the rack slides along the guide plate to adjust the cleaning range according to the size of the pipeline, so as to achieve the effect of cleaning pipelines of different sizes.

[0016] 4. By starting the third motors on both sides, the third motors drive the screw rod to rotate forward and reverse, so that the first connecting seats on both sides slide closer or farther away along the guide rod. Through the connection between the connecting frame and the connecting plate, the first connecting seats are moved closer or farther away from each other, so that the robot body can enter pipes of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the installation shell, the second motor and the connecting frame of the utility model.

[0019] Figure 3 It is a three-dimensional cross-sectional structural schematic diagram of the connecting plate, the second crawler and the dual-axis motor of the utility model.

[0020] Figure 4 It is a three-dimensional cross-sectional structural schematic diagram of the installation shell, the first motor and the first crawler of the utility model.

[0021] Figure 5 It is a three-dimensional cross-sectional structural schematic diagram of the mounting plate, rack and driven gear of the utility model.

[0022] Figure 6 It is a three-dimensional cross-sectional structural schematic diagram of the connecting sleeve, the mounting plate and the ball of the utility model.

[0023] Figure 7 It is a three-dimensional cross-sectional structural schematic diagram of the guide rod, the third motor and the lead screw of the utility model.

[0024] Figure numbers: 1: mounting shell, 2: first motor, 3: first connecting seat, 4: connecting plate, 5: first sprocket, 6: first crawler, 7: second motor, 8: dual-axis motor, 9: second connecting seat, 901: connector, 10: second sprocket, 11: second crawler, 12: connecting frame, 13: connecting sleeve, 14: mounting plate, 15: ball, 16: support rod, 17: driven gear, 18: guide plate, 19: rack, 20: cleaning wheel, 21: servo motor, 22: driving gear, 23: guide rod, 24: third motor, 25: screw, 26: protective shell, 27: sealing gasket, 28: protective sleeve. DETAILED DESCRIPTION

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

[0026] Embodiment 1: An adaptive pipeline cleaning robot, see Figure 1-Figure 4As shown, it includes a mounting shell 1, a first motor 2, a first connecting seat 3, a connecting plate 4, a first sprocket 5, a first crawler 6, a second motor 7 and a connecting frame 12. The first motor 2 is installed in the mounting shell 1 by bolt connection. Two first connecting seats 3 are slidably arranged in the mounting shell 1. The two first connecting seats 3 are respectively located on both sides of the first motor 2. The first connecting seats 3 are circumferentially rotatably connected to multiple connecting frames 12. The connecting frames 12 on the same side of the two first connecting seats 3 are rotatably connected to the connecting plate 4. The two first connecting seats 3 are connected to four connecting plates 4 through the connecting frame 12. Two first sprockets 5 are rotatably arranged on both sides of the connecting plate 4. The first crawler 6 is commonly sleeved on the two first sprockets 5 on the same side. A second motor 7 is installed by bolt connection, and the output shaft of the second motor 7 is fixedly connected to a first sprocket 5 on the same side by bolt connection. It also includes a dual-axis motor 8, a second connecting seat 9, a connector 901, a second sprocket 10 and a second crawler 11. The dual-axis motor 8 is installed on the side of the connecting plate 4 away from the second motor 7 by bolt connection, and the output shafts on both sides of the dual-axis motor 8 are fixedly connected to the second connecting seat 9 by key connection. Two second sprockets 10 are rotatably arranged on both sides of the second connecting seat 9, and the second crawler 11 is jointly sleeved on the two second sprockets 10 on the same side. The first sprocket 5 and the second sprocket 10 close to each other are fixedly connected by bolt connection with a connector 901.

[0027] When the pipeline needs to be cleaned, the first sprocket 5 is driven to rotate by starting each second motor 7, and then the first crawler 6 is rolled, so that the robot body moves in the pipeline; if a pipeline with an up and down drop is encountered, the second connecting seat 9 is driven to rotate by starting the dual-axis motor 8, so that the second sprocket 10 at one end drives the second crawler 11 to rise and fall to the same height as the drop pipeline, and then under the action of the connector 901, the second sprocket 10 drives the first sprocket 5 to rotate synchronously, so that the second crawler 11 rolls, and then the robot body gradually enters the pipeline with a height difference with the current pipeline; the cable joints used for the first crawler 6 and the second crawler 11 have a certain tensile strength and reliable sealing, ensuring that the cable can work normally in underwater and humid environments, thereby ensuring the power supply and data transmission of the robot; the first sprocket 5 and the second sprocket 10 are processed using corrosion-resistant alloy materials, which have corrosion resistance and avoid corrosion damage after long-term work.

[0028] Example 2: Based on Example 1, refer to Figure 5 and Figure 6As shown, it also includes a connecting sleeve 13 installed on one side of the mounting shell 1 by means of bolt connection, the output shaft of the first motor 2 is inserted into the connecting sleeve 13, a mounting plate 14 is rotatably arranged in the connecting sleeve 13, the output shaft of the first motor 2 is fixedly connected to the mounting plate 14 by means of a coupling, a plurality of balls 15 for reducing friction are arranged between the mounting plate 14 and the connecting sleeve 13, three guide plates 18 evenly spaced are installed in the mounting plate 14 by means of bolt connection, a rack 19 is slidably arranged on the guide plate 18, and the rack 19 is away from the mounting plate A cleaning wheel 20 for cleaning the inner wall of the pipe is rotatably provided at one end of the disk 14. Three support rods 16 are fixedly connected in the mounting disk 14 by welding. A driven gear 17 is rotatably provided on the support rod 16. Each driven gear 17 is respectively engaged with each rack 19. A servo motor 21 is installed on the outer side of the mounting disk 14 by bolt connection. The output shaft of the servo motor 21 passes through the mounting disk 14, and a driving gear 22 is fixedly connected to the output shaft of the servo motor 21 by key connection. Each driven gear 17 is engaged with the driving gear 22.

[0029] When it is necessary to clean the inside of the pipeline, the first motor 2 is started to drive the mounting disk 14 to rotate on the connecting sleeve 13, and the ball 15 is used to reduce the friction between the mounting disk 14 and the connecting sleeve 13. The mounting disk 14 drives each rack 19 to revolve, so that the cleaning wheel 20 on the rack 19 rolls on the inner wall of the pipeline to clean the inner wall of the pipeline; when the pipeline diameter is small or large, the servo motor 21 is started to drive the driving gear 22 to rotate, and the driving gear 22 is engaged with each driven gear 17, so that the driven gear 17 rotates on the support rod 16. At this time, the driven gear 17 is engaged with the rack 19, and then the rack 19 drives the cleaning wheel 20 to slide along the guide plate 18 to adjust the cleaning range according to the size of the pipeline, which is suitable for cleaning pipelines of different sizes.

[0030] See also Figure 7 As shown, it also includes guide rods 23 fixedly connected to both sides of the installation shell 1 by welding, the first connecting seats 3 on both sides slide on the guide rods 23 on the corresponding side respectively, and the third motor 24 is installed on both sides of the installation shell 1 by bolt connection. The output shaft of the third motor 24 is fixedly connected with the screw rod 25 through a coupling, and the first connecting seats 3 on both sides are respectively threadedly connected to the screw rod 25 on the corresponding side; the first motor 2, the second motor 7, the dual-axis motor 8, the servo motor 21 and the third motor 24 are all coated with a waterproof coating, which can prevent water from seeping in and causing damage when cleaning in the pipeline.

[0031] When the robot body needs to enter pipes of different sizes, the third motors 24 on both sides are started to drive the screw 25 to rotate forward and reverse, thereby making the first connecting seats 3 on both sides slide closer or farther away along the guide rods 23. When the two first connecting seats 3 are close to each other, the connecting plates 4 are pushed away from each other through the connecting frame 12, thereby making the robot body enter a larger pipe for cleaning. When the first connecting seats 3 on both sides are close to each other, the connecting plates 4 are close to each other and gathered together, and the robot body can enter a smaller pipe for cleaning.

[0032] See also Figure 1 and Figure 6 As shown, a protective shell 26 is installed on the outside of the mounting plate 14 by bolt connection, and the servo motor 21 is located in the protective shell 26; three sealing gaskets 27 are embedded in the circumference of the mounting plate 14, and the mounting plate 14 is located at the sliding position of the rack 19; a protective sleeve 28 is provided at one end of the rack 19 close to the cleaning wheel 20.

[0033] The servo motor 21 can be protected by the protective shell 26 to prevent the servo motor 21 from being damaged by collision in the pipeline; the sealing gasket 27 can enhance the sealing of the connection between the rack 19 and the mounting disk 14 to prevent sewage impurities in the pipeline from entering the mounting disk 14; when the robot is not used for pipeline cleaning, the cleaning wheel 20 can be protected by the protective cover 28 to prevent the cleaning wheel 20 from being damaged.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An adaptive pipeline cleaning robot, comprising a mounting shell (1), a first motor (2), a first connecting seat (3), a connecting plate (4), a first sprocket (5), a first crawler (6), a second motor (7) and a connecting frame (12), wherein the first motor (2) is mounted in the mounting shell (1), two first connecting seats (3) are slidably arranged in the mounting shell (1), the first connecting seat (3) is circumferentially rotatably connected to a plurality of connecting frames (12), a connecting plate (4) is rotatably connected to the connecting frames (12) on the same side of the two first connecting seats (3), the two first connecting seats (3) are connected to four connecting plates (4) through the connecting frame (12), two first sprockets (5) are rotatably arranged on both sides of the connecting plate (4), the first crawler (6) is commonly sleeved on the two first sprockets (5) on the same side, the second motor (7) is mounted on both sides of the bottom of the connecting plate (4), the output shaft of the second motor (7) is fixedly connected to a first sprocket (5) on the same side, and the robot is characterized in that: The invention also comprises a dual-axis motor (8), a second connecting seat (9), a connector (901), a second sprocket (10) and a second crawler belt (11); the dual-axis motor (8) is mounted on the connecting plate (4); the output shafts on both sides of the dual-axis motor (8) are fixedly connected to the second connecting seat (9); two second sprockets (10) are rotatably arranged on both sides of the second connecting seat (9); the second crawler belt (11) is sleeved on the two second sprockets (10) on the same side; and the connector (901) is fixedly connected to the first sprocket (5) and the second sprocket (10) which are close to each other.

2. The adaptive pipeline cleaning robot according to claim 1, characterized in that: The invention also comprises a connecting sleeve (13) installed on one side of the installation shell (1), the output shaft of the first motor (2) is inserted into the connecting sleeve (13), a mounting plate (14) is rotatably arranged in the connecting sleeve (13), the output shaft of the first motor (2) is fixedly connected to the mounting plate (14) through a coupling, a plurality of balls (15) are arranged between the mounting plate (14) and the connecting sleeve (13), a plurality of guide plates (18) are installed in the mounting plate (14), a rack (19) is slidably arranged on the guide plate (18), and the rack (19) ) is rotatably provided with a cleaning wheel (20), a plurality of support rods (16) are fixedly connected in the mounting disk (14), a driven gear (17) is rotatably provided on the support rod (16), each driven gear (17) is respectively meshed with each rack (19), a servo motor (21) is mounted on the mounting disk (14), an output shaft of the servo motor (21) passes through the mounting disk (14), and a driving gear (22) is fixedly connected to the output shaft of the servo motor (21), and each driven gear (17) is meshed with the driving gear (22).

3. The adaptive pipeline cleaning robot according to claim 1, characterized in that: It also includes guide rods (23) fixedly connected to both sides of the installation shell (1), the first connection seats (3) on both sides slide on the guide rods (23) on the corresponding side respectively, a third motor (24) is installed on both sides of the installation shell (1), the output shaft of the third motor (24) is fixedly connected to a screw rod (25) through a coupling, and the first connection seats (3) on both sides are respectively threadedly connected to the screw rod (25) on the corresponding side.

4. The adaptive pipeline cleaning robot according to claim 3, characterized in that: The first motor (2), the second motor (7), the dual-axis motor (8), the servo motor (21) and the third motor (24) are all coated with a waterproof coating.

5. The adaptive pipeline cleaning robot according to claim 2, characterized in that: A protective shell (26) is installed on the installation plate (14), and the servo motor (21) is located in the protective shell (26).

6. The adaptive pipeline cleaning robot according to claim 2, characterized in that: A plurality of sealing pads (27) are embedded in the circumference of the mounting plate (14), and the mounting plate (14) is located at the sliding position of the rack (19).

7. The adaptive pipeline cleaning robot according to claim 2, characterized in that: One end of the rack (19) close to the cleaning wheel (20) is sleeved with a protective sleeve (28).

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