Snakelike robot

Abstract

The snake-shaped robot comprises an umbrella head and a cleaning tail connected with the tail end of the umbrella head, the cleaning tail is of a strip-shaped structure, a cleaning part used for cleaning the pipe wall is arranged on the surface of the cleaning tail, the umbrella head comprises a conical head, a circulation module and a tail rotor module which are sequentially arranged from bottom to top, and the circulation module comprises an outer cylinder, an inner rotating cylinder and a driving device; the inner rotating cylinder is movably sleeved with the outer cylinder, a plurality of inner arc plates are arranged in the circumferential direction of the inner rotating cylinder, an inner flow opening is formed between every two adjacent inner arc plates, the bottom of the inner rotating cylinder is in transmission connection with a driving device, the upper end of the outer cylinder is fixedly connected with a tail rotor module, and a plurality of outer arc plates matched with the inner arc plates are arranged in the circumferential direction of the outer cylinder. An outer flow opening is formed between every two adjacent outer arc plates, the tail rotor module is composed of a plurality of inclined rotor plates distributed in the circumferential direction, and the inclined rotor plates are spirally and obliquely distributed.

Description

Technical Field

[0001] The utility model relates to the field of descaling robots, in particular to a snake-shaped robot. Background Art

[0002] Most domestic buildings use PVC or iron pipes for their water pipes. Generally speaking, for houses over five years old, the walls of the water pipes will begin to corrode and produce rust. As time goes by, the rust and scale accumulation becomes increasingly serious. Plastic pipes will begin to absorb microorganisms after being exposed to warm water, gradually forming a biofilm attached to the pipe walls. When the water in the pipes remains stagnant, the bacteria and pathogens in the biofilm will gradually be released. The longer the water is soaked in the pipes, the more bacteria and pathogens there will be.

[0003] Existing snake-like robots, such as a snake-like robot and a cave detection method based on the snake-like robot disclosed in application number 2023103441819, include: the snake-like robot includes: multiple main body devices, multiple steering devices, a power drive device and a remote control device; multiple main body devices and multiple steering devices are staggered, and each steering device is rotatably connected to a main body device at both ends to form a snake-like body of the robot; the power drive device is communicated with the remote control device for receiving motion instructions sent by the remote control device and controlling the movement of the snake-like body according to the motion instructions; the remote control device is communicated with the snake-like body for sending data acquisition instructions to the snake-like body, controlling the snake-like body to perform environmental detection, and receiving environmental detection data returned by the snake-like body. As mentioned above, the existing snake-like robots are generally used for detection, and do not have a descaling function. Utility Model Content

[0004] In order to solve the above problems, the present invention provides a snake-like robot:

[0005] A snake-like robot comprises an umbrella head and a cleaning tail connected to the tail end of the umbrella head, the cleaning tail being in a strip-shaped structure, the surface of the cleaning tail being provided with a cleaning portion for cleaning the pipe wall, the umbrella head being used to drive the cleaning tail to rotate and advance, the umbrella head being in a conical structure as a whole, the umbrella head comprising a conical head, a circulation module and a tail rotor module arranged in sequence from bottom to top, the circulation module comprising an outer cylinder, an inner rotating cylinder and a driving device, the inner rotating cylinder being movably sleeved in the outer cylinder, the inner rotating cylinder being provided with a plurality of inner arc plates in the circumference, inner flow ports being provided between adjacent inner arc plates, the inner rotating cylinder The bottom transmission is connected to the driving device, which is used to control the rotation of the inner rotating cylinder. The upper end of the outer cylinder is fixedly connected to the tail rotor module. The outer cylinder is circumferentially provided with a plurality of outer arc plates that are adapted to the inner arc plates. Outer flow ports are provided between adjacent outer arc plates. When the inner arc plate and the outer arc plate overlap and adapt, the inner flow ports and the outer flow ports are interconnected to form a liquid flow channel for liquid circulation. When the inner arc plate and the outer arc plate are staggered and adapted, the inner flow ports and the outer flow ports are staggered and isolated from each other. The tail rotor module is composed of a plurality of circumferentially distributed oblique paddle plates, and the plurality of oblique paddle plates are spirally distributed.

[0006] Preferably, the outer tube includes an outer upper ring and an outer lower plate, the upper end of the outer upper ring is fixedly connected to the tail rotor module, the two ends of the outer arc plate are respectively fixedly connected to the lower end surface of the outer upper ring and the upper end surface of the outer lower plate, and a plurality of the outer arc plates are circumferentially arranged between the outer upper ring and the outer lower plate.

[0007] Preferably, a cross connecting frame fixedly connected to the inner circular surface of the outer upper ring is provided inside the outer upper ring, and a snap-fitting piece for connecting the cleaning tail is provided at the upper end of the center of the cross connecting frame.

[0008] Preferably, the inner rotating cylinder includes an inner upper ring and an inner lower plate, the inner upper ring is arranged at the lower end of the outer upper ring, and the inner upper ring and the outer upper ring form a movable limiting fit, and the inner lower plate is arranged at the upper end of the outer lower plate, and the inner lower plate and the outer lower plate form a movable limiting fit.

[0009] Preferably, the driving device includes a wireless control panel, a motor, and a battery connected to each other. The motor is provided with a transmission shaft connected to the inner lower plate. The motor is used to control the inner rotation angle of the inner rotating cylinder.

[0010] Preferably, an annular groove is provided between the conical head and the circulation module, the center of the annular groove is a central rod fixedly connecting the conical head and the circulation module, a wheel module is provided in the annular groove, and the wheel module is composed of a plurality of wheel assemblies arranged circumferentially, and the wheel assembly includes a telescopic rod fixedly connected to the radial direction of the central rod and a guide wheel movably connected to the outer end of the telescopic rod.

[0011] Preferably, an outwardly protruding roller shaft is provided at the center of the guide wheel, a movable bearing is connected to the outer end of the roller shaft, and the movable bearing is sleeve-fitted with a bearing fork frame provided at the outer end of the telescopic rod.

[0012] Preferably, the conical head is provided with a traction hole for connecting an external traction line.

[0013] Preferably, the cleaning tail is composed of an inner rope body and an outer bristle layer, the inner rope body is a solid elastic soft rope or a hollow elastic rope, and the hollow elastic rope is composed of an elastic hollow hose and an elastic mesh layer covering the elastic hollow hose.

[0014] Preferably, the cleaning tail is composed of a plurality of cleaning components movably connected in sequence, the cleaning component is composed of a cleaning cylinder, a core shaft and a fixed frame, the fixed frame is a plurality of fixed rods arranged in a cross with the core shaft as the center, the fixed rods are fixedly connected to the core shaft and the fixed frame, the cleaning cylinder is provided with an inner cylinder layer and the cleaning portion arranged on the surface of the inner cylinder layer, the cleaning portion includes a plurality of arc-shaped brush pieces circumferentially arranged on the surface of the inner cylinder layer, the arc-shaped brush pieces include a fixedly connected inclined guide section and an arc-shaped plate section, each adjacent inclined guide section forms a truncated cone structure, the end of the inclined guide section is movably connected to the inner cylinder layer near one end of the umbrella head, the outer surface of the arc-shaped plate section is provided with a brush layer, and an elastic member fixedly connecting the inner surface of the arc-shaped plate section and the outer surface of the inner cylinder layer is provided between the two, the elastic member is a spring structure that generates an outward elastic force on the arc-shaped plate section, and the core shafts of adjacent cleaning components are hinged to each other end to end.

[0015] Beneficial effects: The present application advances into the pipeline under the impact or traction of water flow, and the tail rotor module as a whole is arranged in a spiral oblique distribution in the manner of badminton tail feathers, driving the entire umbrella head and cleaning tail to rotate and advance, and the rotation and advancement of the cleaning tail performs corresponding descaling and cleaning work on the pipe wall. The circulation module of the present application controls the rotational displacement of the inner rotating cylinder through a driving device, and controls the caliber of the liquid flow channel of the inner flow port and the outer flow port by controlling the rotation angle between the inner rotating cylinder and the outer cylinder. The liquid flow channel is mainly used for the circulation of liquid. The robot directly enters the interior of the pipeline to grind and remove scale in the pipeline. Compared with traditional external knocking, chemical dissolution and other methods, it has higher reliability, greatly reduces the requirements for the characteristics of the pipeline itself, application scenarios, and layout scenarios, has higher universality, and does not require the replacement of the pipeline, reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the umbrella head structure Figure 1 .

[0017] Figure 2 This is a front view schematic diagram of the umbrella head with the liquid flow channel open.

[0018] Figure 3 Schematic diagram of the umbrella head from above.

[0019] Figure 4This is a schematic diagram of the umbrella head viewed from above.

[0020] Figure 5 Schematic diagram of the umbrella head structure Figure 2 .

[0021] Figure 6 It is a front view schematic diagram of the umbrella head in the state of closing the liquid flow channel.

[0022] Figure 7 The local cross-section structure of the umbrella head Figure 1 .

[0023] Figure 8 The local cross-section structure of the umbrella head Figure 2 .

[0024] Figure 9 The local cross-section structure of the umbrella head Figure 3 .

[0025] Figure 10 This is a cross-sectional structural diagram of the first type of cleaning tail.

[0026] Figure 11 This is a cross-sectional structural diagram of the second cleaning tail.

[0027] Figure 12 This is a cross-sectional structural diagram of the third type of cleaning tail.

[0028] Figure numerals: 1. conical head; 2. inclined paddle; 3. driving device; 4. inner rotating cylinder; 41. inner arc plate; 42. inner upper ring; 43. inner lower plate; 5. outer cylinder; 51. outer arc plate; 52. outer upper ring; 53. outer lower plate; 6. cross connecting frame; 7. snap fastener; 8. center rod; 9. telescopic rod; 10. guide wheel; 11. bearing fork; 12. traction hole; 13. brush layer; 14. solid elastic soft rope; 15. elastic hollow hose; 16. elastic wire mesh layer; 17. cleaning cylinder; 171. inner cylinder layer; 172. inclined guide section; 173. arc plate part; 174. elastic member; 175. brush layer; 175. magnetic sheet; 18. core shaft; 19. connecting frame. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-12 The utility model is further described with examples.

[0030] A snake-like robot comprises an umbrella head and a cleaning tail connected to the rear end of the umbrella head. The cleaning tail is in a strip-shaped structure and has a cleaning portion on its surface for cleaning pipe walls. The cleaning portion of the present application comprises a bristle layer 13 or bristle layer 13. When not compressed by the pipe wall, the outer diameter of the cleaning portion is larger than the maximum outer diameter of the umbrella head, thereby facilitating cleaning of the cleaning portion.

[0031] like Figure 1As shown, the umbrella head is used to drive the cleaning tail to rotate and advance. The umbrella head has an overall conical structure and includes, from bottom to top, a conical head 1, a wheel module, a circulation module, and a tail rotor module. The conical head 1 is provided with a traction hole 12 for connecting an external traction line. The circulation module includes an outer cylinder 5, an inner rotating cylinder 4, and a drive device 3. The inner rotating cylinder 4 is movably connected to the outer cylinder 5.

[0032] like Figure 7 As shown, the inner rotating cylinder 4 includes an outer upper ring 52, an outer lower plate 53 and a plurality of inner arc plates 41. The plurality of inner arc plates 41 are evenly arranged circumferentially, and an inner flow port is provided between adjacent inner arc plates 41. The bottom of the inner rotating cylinder 4 is transmission-connected to the drive device 3, and the drive device 3 is used to control the rotation of the inner rotating cylinder 4. The upper end of the outer upper ring 52 is fixedly connected to the tail rotor module, and the two ends of the outer arc plate 51 are respectively fixedly connected to the lower end surface of the outer upper ring 52 and the upper end surface of the outer lower plate 53. The plurality of outer arc plates 51 are circumferentially arranged between the outer upper ring 52 and the outer lower plate 53. A cross connecting frame 196 is provided inside the outer upper ring 52 to be fixedly connected to the inner circumferential surface of the outer upper ring 52. The upper end of the center of the cross connecting frame 196 is provided with a snap-fit member 7 for connecting the cleaning tail.

[0033] like Figure 7 As shown, the outer cylinder 5 includes an inner upper ring 42, an inner lower plate 43 and a plurality of outer arc plates 51 adapted to the inner arc plate 41. The plurality of outer arc plates 51 are evenly arranged circumferentially, and an outflow port is provided between adjacent outer arc plates 51. The inner upper ring 42 is arranged at the lower end of the outer upper ring 52, and the inner upper ring 42 and the outer upper ring 52 form a movable limiting fit. The inner lower plate 43 is arranged at the upper end of the outer lower plate 53, and the inner lower plate 43 and the outer lower plate 53 form a movable limiting fit.

[0034] like Figure 1 As shown, the tail rotor module is composed of a plurality of circumferentially distributed oblique blades 2, and the plurality of oblique blades 2 are distributed in a spiral oblique direction. The oblique blades 2 are made of elastic material.

[0035] like Figure 2 As shown, the driving device 3 includes a wireless control board, a motor, and a battery connected to each other. The motor is provided with a transmission shaft connected to the inner lower plate 43, and the motor is used to control the inner rotation angle of the inner rotating cylinder 4.

[0036] like Figure 8As shown, the wheel module is arranged in an annular groove provided between the conical head 1 and the circulation module, and the center of the annular groove is the center rod 8 fixedly connecting the conical head 1 and the circulation module. The wheel module is composed of a plurality of wheel assemblies arranged circumferentially, and the wheel assembly includes a telescopic rod 9 fixedly connected to the radial direction of the center rod 8 and a guide wheel 10 movably connected to the outer end of the telescopic rod 9. The center of the guide wheel 10 is provided with an outwardly protruding roller shaft, and the outer end of the roller shaft is connected with a movable bearing, and the movable bearing is provided with a bearing fork frame 11 at the outer end of the telescopic rod 9 for sleeve adaptation. In this application, when the umbrella head rotates forward, the guide wheel 10 will press outward against the pipe wall due to the centrifugal force, providing corresponding grip and guide support when the snake-like robot is about to pass through a turning position.

[0037] like Figure 10 As shown, the cleaning tail has three types to choose from depending on the inner diameter of the pipe to be cleaned. If the inner diameter of the pipe is small, choose: The cleaning tail is composed of an inner rope body and an outer bristle layer 13. The inner rope body is a solid elastic soft rope 14. In this embodiment, the conical head 1 can be made of elastic rubber.

[0038] like Figure 11 As shown, if the inner diameter of the pipe wall is a medium size, the cleaning tail is composed of an inner rope body and an outer bristle layer 13, the inner rope body is a hollow elastic rope, and the hollow elastic rope is composed of an elastic hollow hose 15 and an elastic wire mesh layer 16 covering the elastic hollow hose 15.

[0039] like Figure 12As shown, for large pipe inner diameters, the cleaning tail is constructed from multiple, sequentially flexibly connected cleaning components, each consisting of a cleaning barrel 17, a core shaft 18, and a fixed frame. The fixed frame comprises two sets of eight fixed rods arranged in a cross pattern around the core shaft 18, which securely connect the core shaft 18 to the fixed frame. The cleaning barrel 17 comprises an inner barrel layer 171 and a cleaning section disposed on the surface of the inner barrel layer 171. The cleaning section comprises multiple arc-shaped brush blades circumferentially disposed on the surface of the inner barrel layer 171. The arc-shaped brush blade includes a fixedly connected inclined guide section 172 and an arc-shaped plate portion 173. Each adjacent inclined guide section 172 forms a truncated cone structure. The end of the inclined guide section 172 is movably connected to the inner cylinder layer 171 near the umbrella head. The outer surface of the arc-shaped plate portion 173 is provided with a brush layer 175. An elastic member 174 is provided between the inner surface of the arc-shaped plate portion 173 and the outer surface of the inner cylinder layer 171 to fixedly connect the two. The elastic member 174 is a spring structure that generates an outward elastic force on the arc-shaped plate portion 173. The core shafts 18 of adjacent cleaning components are hinged to each other at both ends by a hinge. The fixed frame fixedly connects the core shaft 18 and the inner surface of the cleaning cylinder 17. The inner surface of the arc-shaped plate portion 173 is provided with a magnetic sheet 176. The magnetic sheet 176 is magnetically attracted to the inner wall of the iron pipe, which is used to generate magnetic pressure on the brush layer 175 to force it toward the inner wall of the pipe, thereby making the brush layer 175 have a more efficient cleaning effect.

[0040] Operation principle: This application can use two methods to drive the umbrella head. The first is to tie the traction rope to the traction hole 12, and the user provides corresponding pulling force to the traction rope, which provides the umbrella head with the force to move forward. The second is to use water flow or air flow to impact the tail of the umbrella head, and the umbrella head is pushed forward by the impact of the water flow or air flow. Under the above force, the umbrella head spirals forward, thereby driving the cleaning tail to perform corresponding cleaning work on the inner wall of the pipe. Figure 2 As shown, when the inner arc plate 41 and the outer arc plate 51 overlap and fit together, the inner flow port and the outer flow port are connected to each other to form a liquid flow channel for liquid circulation. Figure 5 As shown, when the inner arc plate 41 and the outer arc plate 51 are interlaced and adapted, the inner and outer flow ports are offset and isolated from each other. Increasing the inner diameter of the flow channel can reduce the resistance of the water flow in front of the umbrella head to the umbrella head, while reducing the inner diameter of the flow channel can increase the thrust of the water flow at the rear of the umbrella head on the umbrella head.

[0041] Obviously, the above embodiments of the present invention are merely examples for the purpose of illustrating the present invention and are not intended to limit the implementation methods of the present invention. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to provide an exhaustive list of implementation methods. However, any obvious variations or modifications arising from the essence of the present invention remain within the scope of protection of the present invention.

Claims

1. A snake-like robot, characterized in that: The invention comprises an umbrella head and a cleaning tail connected to the tail end of the umbrella head, wherein the cleaning tail is in a strip-shaped structure, a cleaning portion for cleaning the pipe wall is provided on the surface of the cleaning tail, the umbrella head is used to drive the cleaning tail to rotate and advance, and the umbrella head as a whole is in a conical structure, wherein the umbrella head comprises a conical head (1), a circulation module and a tail rotor module arranged in sequence from bottom to top, the circulation module comprises an outer cylinder (5), an inner rotating cylinder (4) and a driving device (3), the inner rotating cylinder (4) is movably sleeved in the outer cylinder (5), a plurality of inner arc plates (41) are provided on the circumference of the inner rotating cylinder (4), an inner flow port is provided between adjacent inner arc plates (41), and the bottom of the inner rotating cylinder (4) is transmission-connected to the driving device (3) The driving device (3) is used to control the rotation of the inner rotating cylinder (4), and the upper end of the outer cylinder (5) is fixedly connected to the tail rotor module. The outer cylinder (5) is circumferentially provided with a plurality of outer arc plates (51) adapted to the inner arc plates (41), and an outer flow port is provided between adjacent outer arc plates (51). When the inner arc plates (41) and the outer arc plates (51) are overlapped and adapted, the inner flow port and the outer flow port are interconnected to form a liquid flow channel for liquid circulation. When the inner arc plates (41) and the outer arc plates (51) are staggered and adapted, the inner flow port and the outer flow port are staggered and isolated from each other. The tail rotor module is composed of a plurality of circumferentially distributed oblique paddle plates (2), and the plurality of oblique paddle plates (2) are spirally distributed.

2. A snake-like robot according to claim 1, characterized in that: The outer tube (5) comprises an outer upper ring (52) and an outer lower plate (53), the upper end of the outer upper ring (52) is fixedly connected to the tail rotor module, the two ends of the outer arc plate (51) are respectively fixedly connected to the lower end surface of the outer upper ring (52) and the upper end surface of the outer lower plate (53), and a plurality of the outer arc plates (51) are circumferentially arranged between the outer upper ring (52) and the outer lower plate (53).

3. A snake-like robot according to claim 2, characterized in that: A cross connecting frame (6) fixedly connected to the inner circular surface of the outer upper ring (52) is provided inside the outer upper ring (52), and a snap fastener (7) for connecting the cleaning tail is provided at the upper end of the center of the cross connecting frame (6).

4. The snake-like robot according to claim 2, characterized in that: The inner rotating cylinder (4) comprises an inner upper ring (42) and an inner lower plate (43); the inner upper ring (42) is arranged at the lower end of the outer upper ring (52); the inner upper ring (42) and the outer upper ring (52) form a movable limit fit; the inner lower plate (43) is arranged at the upper end of the outer lower plate (53); the inner lower plate (43) and the outer lower plate (53) form a movable limit fit.

5. The snake-like robot according to claim 4, characterized in that: The driving device (3) comprises a wireless control panel, a motor, and a battery connected to each other. The motor is provided with a transmission shaft that is connected to the inner lower plate (43). The motor is used to control the inner rotation angle of the inner rotating cylinder (4).

6. The snake-like robot according to claim 1, characterized in that: An annular groove is provided between the conical head (1) and the circulation module, the center of the annular groove is a central rod (8) fixedly connecting the conical head (1) and the circulation module, a wheel module is provided in the annular groove, and the wheel module is composed of a plurality of wheel assemblies arranged in a circumferential direction, and the wheel assembly includes a telescopic rod (9) fixedly connected to the radial direction of the central rod (8) and a guide wheel (10) movably connected to the outer end of the telescopic rod (9).

7. The snake-like robot according to claim 6, characterized in that: An outwardly protruding roller shaft is provided at the center of the guide wheel (10), and a movable bearing is connected to the outer end of the roller shaft. The movable bearing is sleeve-fitted with a bearing fork frame (11) provided at the outer end of the telescopic rod (9).

8. The snake-like robot according to claim 1, characterized in that: The conical head (1) is provided with a traction hole (12) for connecting an external traction line.

9. The snake-like robot according to claim 1, characterized in that: The cleaning tail is composed of an inner rope body and an outer bristle layer (13); the inner rope body is a solid elastic soft rope (14) or a hollow elastic rope; the hollow elastic rope is composed of an elastic hollow hose (15) and an elastic wire mesh layer (16) covering the elastic hollow hose (15).

10. The snake-like robot according to claim 1, characterized in that: The cleaning tail is composed of a plurality of cleaning components that are movably connected in sequence. The cleaning components are composed of a cleaning cylinder (17), a core shaft (18) and a fixed frame. The fixed frame is a plurality of fixed rods arranged in a cross shape with the core shaft (18) as the center. The fixed rods are fixedly connected to the core shaft (18) and the fixed frame. The cleaning cylinder (17) is provided with an inner cylinder layer (171) and the cleaning portion provided on the surface of the inner cylinder layer (171). The cleaning portion includes a plurality of arc-shaped brush pieces circumferentially provided on the surface of the inner cylinder layer (171). The arc-shaped brush piece includes a fixedly connected inclined guide section (172) and an arc The arc-shaped plate portion (173) and adjacent inclined guide sections (172) form a truncated cone structure. The end of the inclined guide section (172) is movably connected to the inner cylinder layer (171) near the end of the umbrella head. The outer surface of the arc-shaped plate portion (173) is provided with a brush layer (175). An elastic member (174) is provided between the inner surface of the arc-shaped plate portion (173) and the outer surface of the inner cylinder layer (171) to fixedly connect the two. The elastic member (174) is a spring structure that generates an outward elastic force on the arc-shaped plate portion (173). The core shafts (18) of adjacent cleaning components are hinged to each other end to end.

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