Pipeline cleaning robot

Abstract

The utility model relates to the technical field of pipeline cleaning, in particular to a pipeline cleaning robot which comprises a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly and a fifth joint assembly. Mechanical leg assemblies are fixedly arranged at the bottoms of the first joint assembly, the second joint assembly, the third joint assembly, the fourth joint assembly and the fifth joint assembly; two joint steering assemblies and a universal connecting shaft II are connected among the first joint assembly, the second joint assembly, the third joint assembly, the fourth joint assembly and the fifth joint assembly which are adjacent to each other; the robot for cleaning the pipeline has the flexible steering and crawling capacity, can stably move in the pipeline, can easily pass through complex curves such as a U-shaped curve and an S-shaped curve, can avoid winding and blocking, can cut blockages through the cutting blade of the robot, so that the purpose of cleaning the blockages is achieved, and has the advantages that the cleaning efficiency is high, and the pipeline is not damaged.

Description

Technical Field

[0001] This utility model relates to the field of pipeline cleaning technology, specifically to a pipeline cleaning robot. Background Technology

[0002] In modern family kitchens, pipe blockages are frequent, especially those caused by food scraps and grease. This not only disrupts daily life but also easily leads to unpleasant odors and bacterial growth, posing hygiene risks. Traditional pipe unclogging methods mainly rely on manual tools (such as drain cleaners) or chemical cleaners, but these methods have the following drawbacks: 1. Manual operation with tools requires frequent contact with contaminants, resulting in low efficiency and high labor intensity; 2. While chemical agents can break down some blockages, they can corrode pipes, pollute the environment, and are ineffective against hard blockages. Utility Model Content

[0003] In view of the shortcomings of the existing technology, this utility model provides a pipeline cleaning robot, which solves the technical problems of the difficulty of pipeline cleaning, easy corrosion of pipelines and environmental pollution.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a pipe cleaning robot, comprising a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly, and a fifth joint assembly. The bottom of each of the first joint assembly, the second joint assembly, the third joint assembly, the fourth joint assembly, and the fifth joint assembly is fixedly provided with a mechanical leg assembly. Two joint steering assemblies and a universal joint shaft are connected between adjacent first joint assemblies, second joint assemblies, third joint assemblies, fourth joint assemblies, and fifth joint assemblies. The universal joint shaft is located between two joint steering assemblies.

[0005] Preferably, the first joint assembly includes a joint housing, on the side of which a vision sensor and two ultrasonic sensors are mounted, with the two ultrasonic sensors located on either side of the vision sensor.

[0006] Preferably, the second joint assembly includes a second joint housing, and a photovoltaic panel is fixed to the surface of the second joint housing.

[0007] Preferably, the third joint assembly includes a joint three-shell, a groove is provided at the bottom of the joint three-shell, a mounting base is fixed in the groove, and mechanical arms are fixed on both sides of the mounting base. A cutting head is installed at the end of the mechanical arm.

[0008] Preferably, the fourth joint assembly includes a fourth joint housing, inside which two sets of storage tanks are installed. Electric nozzles are installed on the surface of the storage tanks. Two sets of air compressors connected to the storage tanks are also installed on the fourth joint housing. Inside the fourth joint housing, a pulverizer is installed on one side of the storage tanks. Above the pulverizer, a multi-stage hydraulic rod is installed inside the fourth joint housing.

[0009] Preferably, the fifth joint assembly includes a fifth joint housing, an inner partition is fixed inside the fifth joint housing, and a nozzle is fixed at the bottom of the fifth joint housing.

[0010] Preferably, the mechanical leg assembly includes a fixed frame, with rotating blocks rotatably connected to both ends of the fixed frame. A motor is also installed at the bottom of both ends of the fixed frame. The output shaft of the motor is fixedly connected to the rotating block. A movable arm is hinged to the rotating block. A movable arm is hinged to one end of the movable arm. An electric push rod connected to the movable arm is installed on the rotating block. An electric push rod connected to the movable arm is installed on the movable arm.

[0011] Preferably, the joint steering assembly includes a mounting bracket, one end of which is mounted with a second motor. The output shaft of the second motor is fixedly connected to an "L"-shaped connecting rod, and one end of the connecting rod is fixedly connected to a fixed block via a universal joint shaft.

[0012] By employing the above technical solution, this utility model provides a pipe cleaning robot, which has at least the following beneficial effects:

[0013] 1. This pipe cleaning robot, based on biomimetic structural principles and employing a modular segmented structure, connects the joints via joint steering components, enabling flexible steering and crawling capabilities. It can move stably within pipes, easily navigating complex bends such as U-shapes and S-shapes, avoiding entanglement and jamming. Furthermore, its built-in cutting blades can cut through blockages, achieving the purpose of clearing blockages. It boasts advantages such as high cleaning efficiency and no damage to pipes.

[0014] 2. This pipe cleaning robot, equipped with visual and ultrasonic sensors, can accurately locate blockages.

[0015] 3. This pipe cleaning robot, equipped with a storage tank, electric nozzle, and air compressor, can spray cleaning agent into the inside of the pipe through high-pressure jetting to achieve cleaning of the pipe interior.

[0016] 4. This pipe cleaning robot is equipped with a shredder. After cutting, large pieces of foreign objects can fall into the shredder, where multi-stage hydraulic rods push the foreign objects and shred them into smaller pieces, making them easier to discharge directly and reducing the risk of secondary blockage. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the present invention, form part of this application:

[0018] Figure 1 This is a top view of the overall structure of this utility model;

[0019] Figure 2 This is a three-dimensional structural diagram of the entire utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the first joint assembly of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the second joint assembly of this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the third joint assembly of this utility model;

[0023] Figure 6 This is a schematic diagram of the structure of the fourth joint assembly of this utility model;

[0024] Figure 7 This is a cross-sectional structural diagram of the fifth joint assembly of this utility model;

[0025] Figure 8 This is a schematic diagram of the mechanical leg assembly of this utility model;

[0026] Figure 9 This is a schematic diagram of the joint steering assembly of this utility model;

[0027] Figure 10 This is a schematic diagram of the universal joint shaft II of this utility model.

[0028] Figure label:

[0029] 1. First joint assembly; 101. Joint one housing; 102. Vision sensor; 103. Ultrasonic sensor; 2. Second joint assembly; 201. Joint two housing; 202. Photovoltaic panel; 3. Third joint assembly; 301. Joint three housing; 302. Mounting base; 303. Robotic arm; 304. Cutting head; 4. Fourth joint assembly; 401. Joint four housing; 402. Storage tank; 403. Electric nozzle; 404. Air compressor; 405. Crusher; 406. 5. Multi-stage hydraulic rod; 5. Fifth joint assembly; 501. Joint five housing; 502. Inner partition; 503. Nozzle; 6. Mechanical leg assembly; 601. Fixing frame; 602. Rotating block; 603. Motor one; 604. Movable arm one; 605. Movable arm two; 606. Electric push rod one; 607. Electric push rod two; 7. Joint steering assembly; 701. Mounting frame; 702. Motor two; 703. Connecting rod; 704. Universal connecting shaft one; 705. Fixing block; 8. Universal connecting shaft two. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] As an indispensable infrastructure in daily life, the smoothness of the household plumbing system directly affects the hygiene and convenience of the living environment. However, due to the accumulation, tangling, or adhesion of food scraps, grease, hair, paper fibers, limescale deposits, and other debris generated during daily use, pipe blockages occur frequently.

[0032] Due to the inherent limitations of existing technologies, such as high cleaning difficulty, easy corrosion of pipes, and environmental pollution, please refer to... Figures 1-10This embodiment provides a pipe cleaning robot with flexible turning and crawling capabilities. It can move stably inside pipes and easily pass through complex bends such as U-shaped and S-shaped bends, avoiding entanglement and jamming. With its built-in cutting blade, it can cut through blockages to achieve the purpose of clearing blockages. It has the advantages of high cleaning efficiency and no damage to pipes. The cleaning robot includes a first joint assembly 1, a second joint assembly 2, a third joint assembly 3, a fourth joint assembly 4, and a fifth joint assembly 5. Mechanical leg assemblies 6 are fixed to the bottom of the first joint assembly 1, the second joint assembly 2, the third joint assembly 3, the fourth joint assembly 4, and the fifth joint assembly 5. Two joint steering assemblies 7 and a universal joint shaft 2 8 are connected between adjacent first joint assembly 1, second joint assembly 2, third joint assembly 3, fourth joint assembly 4, and fifth joint assembly 5. The universal joint shaft 2 8 is located between the two joint steering assemblies 7.

[0033] Traditional pipe cleaning equipment struggles to detect blockages, requiring repeated manual checks, which is inefficient. To address this issue, please refer to... Figure 3 The first joint assembly 1 includes a joint housing 101. A visual sensor 102 and two ultrasonic sensors 103 are mounted on the side of the joint housing 101, and the two ultrasonic sensors 103 are located on both sides of the visual sensor 102. By integrating the visual sensor 102 and the two ultrasonic sensors 103, the blockage location is accurately located and the type of blockage is identified through a dual analysis mechanism of image recognition and sound waves, thereby effectively achieving precise cleaning of the blockage.

[0034] Traditional devices rely on a single main power source, resulting in limited battery life and requiring frequent charging or battery replacements. This is particularly inconvenient in home settings. To address this issue, please refer to... Figure 4 The second joint assembly 2 includes a second joint housing 201, and a photovoltaic panel 202 is fixed on the surface of the second joint housing 201. Equipped with a photovoltaic panel 202 as a backup energy source, it can utilize natural light in the kitchen to convert solar energy into electrical energy for storage, thereby reducing household electricity dependence.

[0035] Traditional cleaning tools have limited functionality, and the 303 robotic arm lacks flexibility, making it unable to operate at multiple angles in pipes and difficult to remove larger blockages. For solutions to this problem, please refer to... Figure 5The third joint assembly 3 includes a joint housing 301. A groove is provided at the bottom of the joint housing 301, and a mounting base 302 is fixedly mounted in the groove. Mechanical arms 303 are fixedly mounted on both sides of the mounting base 302, and a cutting head 304 is mounted at the end of the mechanical arm 303. The mechanical arm 303 is fixed on both sides of the mounting base 302 and adopts a multi-joint structure, which can realize multi-angle rotation. Under the action of the cutting head 304, it can efficiently cut large blockages. The groove design can hide the mechanical arm 303 at the bottom of the joint housing 301, reduce the risk of interference during movement, and improve the ability to pass through narrow pipes.

[0036] Traditional cutting equipment lacks a debris collection and processing mechanism, which can easily lead to secondary clogging. For solutions to this problem, please refer to... Figure 6 The fourth joint assembly 4 includes a joint fourth housing 401, inside which are installed two sets of storage tanks 402. Electric nozzles 403 are mounted on the surface of the storage tanks 402. Two air compressors 404 connected to the storage tanks 402 are also installed on the joint fourth housing 401. A shredder 405 located on one side of the storage tanks 402 is also installed inside the joint fourth housing 401. A multi-stage hydraulic rod 406 installed inside the joint fourth housing 401 is positioned above the shredder 405. By configuring the storage tanks 402, electric nozzles 403, and air compressors 404, cleaning agent can be sprayed into the pipe through high-pressure jetting to clean the inside of the pipe. Large foreign objects cut from the pipe can fall into the shredder 405 after being cut, where the multi-stage hydraulic rod 406 pushes the foreign objects and shreds them into smaller pieces, facilitating direct discharge and minimizing the risk of secondary blockage.

[0037] Since the fourth joint component 4 can only clean the inner wall of the upper pipe, while the inner wall of the pipe along the crawling path is difficult to clean, please refer to [the relevant documentation / reference] for more information. Figure 7 The fifth joint assembly 5 includes a joint housing 501, an inner partition 502 is fixed inside the joint housing 501, and a nozzle 503 is fixed at the bottom of the joint housing 501. The nozzle 503 at the bottom can clean the inner wall of the pipe below to achieve a comprehensive cleaning of the pipe.

[0038] Traditional pipeline robot movement mechanisms are wheeled or tracked, which are prone to slipping on the smooth inner walls of pipelines. Furthermore, their bulky structure makes them susceptible to entanglement in hair, fibers, and other debris, leading to jamming or even malfunctions. To address this issue, please refer to... Figure 8The mechanical leg assembly 6 includes a fixed frame 601, with rotating blocks 602 rotatably connected to both ends of the fixed frame 601. A motor 603 is also installed at the bottom of both ends of the fixed frame 601. The output shaft of the motor 603 is fixedly connected to the rotating blocks 602. A movable arm 604 is hinged to the rotating block 602, and a movable arm 605 is hinged to one end of the movable arm 604. An electric push rod 606 connected to the movable arm 604 is installed on the rotating block 602, and an electric push rod 607 connected to the movable arm 605 is installed on the movable arm 604. Mimicking the crawling principle of a caterpillar, the motor 603 drives the rotating block 602, electric push rod 606, and electric push rod 607 to control the opening and closing of the movable arms 604 and 605, achieving stable gripping and stepping movement. This adapts to complex postures such as vertical and inclined pipes. Furthermore, the end of the movable arm 605 is conical, reducing the risk of entanglement.

[0039] Traditional pipework robots use rigid connections, which cannot adapt to the U-shaped and S-shaped bends in household kitchen pipes, and are prone to getting stuck when turning. To address this issue, please refer to... Figure 9 The joint steering assembly 7 includes a mounting bracket 701. A second motor 702 is mounted on one end of the mounting bracket 701. An "L"-shaped connecting rod 703 is fixedly connected to the output shaft of the second motor 702. One end of the connecting rod 703 is fixedly connected to a fixed block 705 through a universal connecting shaft 704. The second motor 702 drives the "L"-shaped connecting rod 703 and the universal connecting shaft 704 to achieve multi-angle rotation of adjacent joints. The transmission efficiency is high and the load-bearing capacity is strong, which allows the robot to bend flexibly and easily pass through complex curves, solving the environmental adaptability problem of traditional rigid body structures.

[0040] It should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipe cleaning robot, characterized in that: The assembly includes a first joint assembly (1), a second joint assembly (2), a third joint assembly (3), a fourth joint assembly (4), and a fifth joint assembly (5). The bottom of each of the first joint assembly (1), the second joint assembly (2), the third joint assembly (3), the fourth joint assembly (4), and the fifth joint assembly (5) is fixed with a mechanical leg assembly (6). Each of the adjacent first joint assembly (1), the second joint assembly (2), the third joint assembly (3), the fourth joint assembly (4), and the fifth joint assembly (5) is connected by two joint steering assemblies (7) and a universal joint shaft (8). The universal joint shaft (8) is located between the two joint steering assemblies (7).

2. The pipeline cleaning robot according to claim 1, characterized in that: The first joint assembly (1) includes a joint housing (101), on the side of which a vision sensor (102) and two ultrasonic sensors (103) are mounted, and the two ultrasonic sensors (103) are located on both sides of the vision sensor (102).

3. The pipeline cleaning robot according to claim 1, characterized in that: The second joint assembly (2) includes a second joint housing (201), on the surface of which a photovoltaic panel (202) is fixed.

4. The pipeline cleaning robot according to claim 1, characterized in that: The third joint assembly (3) includes a joint three-shell (301), the bottom of the joint three-shell (301) is provided with a groove, a mounting base (302) is fixedly provided in the groove, and mechanical arms (303) are fixedly provided on both sides of the mounting base (302), and a cutting head (304) is installed at the end of the mechanical arm (303).

5. The pipeline cleaning robot according to claim 1, characterized in that: The fourth joint assembly (4) includes a joint fourth housing (401), inside which two sets of storage tanks (402) are installed. Electric nozzles (403) are installed on the surface of the storage tanks (402). Two sets of air compressors (404) connected to the storage tanks (402) are also installed on the joint fourth housing (401). Inside the joint fourth housing (401) is a pulverizer (405) located on one side of the storage tanks (402). Above the pulverizer (405) is a multi-stage hydraulic rod (406) installed inside the joint fourth housing (401).

6. The pipeline cleaning robot according to claim 1, characterized in that: The fifth joint assembly (5) includes a fifth joint housing (501), an inner partition (502) is fixed inside the fifth joint housing (501), and a nozzle (503) is fixed at the bottom of the fifth joint housing (501).

7. The pipeline cleaning robot according to claim 1, characterized in that: The mechanical leg assembly (6) includes a fixed frame (601), with rotating blocks (602) rotatably connected to both ends of the fixed frame (601). A motor (603) is also installed at the bottom of both ends of the fixed frame (601). The output shaft of the motor (603) is fixedly connected to the rotating block (602). A movable arm (604) is hinged on the rotating block (602). A movable arm (605) is hinged to one end of the movable arm (604). An electric push rod (606) connected to the movable arm (604) is installed on the rotating block (602). An electric push rod (607) connected to the movable arm (605) is installed on the movable arm (604).

8. The pipeline cleaning robot according to claim 1, characterized in that: The joint steering assembly (7) includes a mounting bracket (701), one end of which is mounted a second motor (702). The output shaft of the second motor (702) is fixedly connected to an "L"-shaped connecting rod (703). One end of the connecting rod (703) is fixedly connected to a fixed block (705) via a universal connecting shaft (704).

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