Self-adapting diameter helical propulsion cleaning robot
By designing a spiral-propelled cleaning robot that adapts to pipe diameter, and combining cleaning, propulsion, and support mechanisms, the problems of blade wear and insufficient adaptability of the cleaning device were solved, achieving efficient and stable pipe cleaning and equipment adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 李小璐
- Filing Date
- 2025-06-13
- Publication Date
- 2026-06-05
AI Technical Summary
Existing adaptive pipe diameter spiral propulsion cleaning robots are prone to blade edge wear when in long-term contact with rough pipe walls or hard deposits, resulting in reduced propulsion force. Wear debris may clog the pipes, and the cleaning device cannot meet the cleaning needs of pipes of different specifications, requiring replacement and reducing work efficiency.
An adaptive pipe diameter spiral propulsion cleaning robot was designed, comprising a cleaning mechanism, a propulsion mechanism, and a support mechanism. The cleaning mechanism drives the cleaning brush to rotate through a motor-driven transmission component and a telescopic component. The propulsion mechanism achieves forward and backward movement through a motor-driven gear transmission system and a propeller. The support mechanism adapts to different pipes through support springs and rotating rods.
It achieves efficient cleaning of the inner walls of different pipes, improving cleaning efficiency and equipment versatility. The support mechanism ensures the stability and adaptability of the equipment in different pipes, avoiding blockage problems caused by wear.
Smart Images
Figure CN224322011U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cleaning robot technology, and in particular to a spiral propulsion cleaning robot with adaptive pipe diameter. Background Technology
[0002] Cleaning robots are automated cleaning devices that integrate multiple technologies, bringing convenience to home and public environment cleaning. They have multiple functions such as automatic vacuuming, sweeping, and mopping. The vacuum motor generates powerful suction to remove dust, hair, and debris, while the rotating side brush can gather dust from corners, leaving no dead corners. Some high-end models also support automatic dust collection and automatic mop cleaning, reducing manual operation, greatly saving manpower and time, and improving cleaning efficiency and quality. With the development of technology, their intelligence level is constantly improving, and they are becoming an indispensable helper in modern cleaning. In order to clean the inner walls of different pipes, a spiral propulsion cleaning robot that adapts to pipe diameter is needed.
[0003] Currently available adaptive-diameter spiral propulsion cleaning robots mainly consist of a shell, a drive unit, and a cleaning device. They operate in municipal drainage pipes, industrial oil pipelines, and household sewer pipes. Through their spiral structure, they adapt to changes in pipe diameter, removing dirt, deposits, and blockages from the inner walls of the pipes during propulsion. They are particularly suitable for complex pipe networks and narrow bends, efficiently completing pipe maintenance, reducing manual excavation costs, and improving the convenience and safety of cleaning operations. However, prolonged contact with rough pipe walls or hard deposits can cause wear on the blade edges, leading to a decrease in propulsion force. Furthermore, wear debris can clog the pipes. To address these issues, existing technologies only apply a ceramic coating to the blade surface to improve wear resistance and design serrated edges with elastic rubber inserts. While this enhances the ability to scrape deposits and compensates for wear through rubber elasticity, the cleaning device structure remains unchanged. This results in the cleaning device being unable to meet the needs of pipes of different sizes, requiring replacement of the cleaning device to satisfy cleaning requirements and reducing work efficiency. Utility Model Content
[0004] To overcome the above shortcomings, this utility model provides an adaptive pipe diameter spiral propulsion cleaning robot, which aims to improve the problem that the existing technology has not improved the structure of the cleaning device, resulting in the cleaning device being unable to meet the needs of pipes of different specifications, requiring the cleaning device to be replaced to meet the cleaning requirements, and causing a decrease in work efficiency.
[0005] To achieve the above objectives, this utility model adopts the following technical solution: an adaptive pipe diameter spiral propulsion cleaning robot, comprising a cylindrical robot, wherein a cleaning mechanism is provided on the right side of the interior of the cylindrical robot for cleaning the inner wall of the pipe, a propulsion mechanism is provided on the left side of the interior of the cylindrical robot for propulsion, a support mechanism is provided on the outer wall of the cylindrical robot for supporting the device, the cleaning mechanism includes a motor, the outer wall of the motor is fixedly connected to the right side of the inner wall of the cylindrical robot, a transmission component is provided on the right side of the motor, a telescopic component is provided on the side of the transmission component away from the motor, and a cleaning component is provided on the side of the telescopic component away from the telescopic component.
[0006] As a further description of the above technical solution:
[0007] The propulsion mechanism includes a second motor. The outer wall of the second motor is fixedly connected to the inner left side of the cylindrical robot. A drive component is provided on the left side of the second motor, and a propulsion component is provided on the left side of the drive component. A support block is fixedly connected to the inner left side of the cylindrical robot.
[0008] As a further description of the above technical solution:
[0009] The transmission assembly includes a transmission shaft, the left side of which is fixedly connected to the output end of the first motor, and the right side of which is fixedly connected to a rotating disk.
[0010] As a further description of the above technical solution:
[0011] The telescopic assembly includes a main telescopic rod, with one side of the main telescopic rod fixedly connected to the outer wall of the rotating disk, and a secondary telescopic rod slidably connected inside the main telescopic rod.
[0012] As a further description of the above technical solution:
[0013] The cleaning assembly includes a cleaning block, with one adjacent side of the cleaning block fixedly connected to the opposite side of the telescopic rod, and multiple cleaning brushes fixedly connected to each opposite side of the cleaning block.
[0014] As a further description of the above technical solution:
[0015] The drive assembly includes a drive shaft, the right side of which is fixedly connected to the output end of the second motor, and a drive gear is fixedly connected to the left side of the outer wall of the drive shaft. Multiple driven gears are meshed with the outer walls of the drive gear.
[0016] As a further description of the above technical solution:
[0017] The propulsion assembly includes a transmission rod, the right side of which is fixedly connected to the middle of the driven gear, and a propeller is fixedly connected to the left side of the transmission rod.
[0018] As a further description of the above technical solution:
[0019] The support mechanism includes a connecting block, one adjacent side of which is fixedly connected to the outer wall of the cylindrical robot. A rotating rod is rotatably connected to the middle of the connecting block. A rotating rod is rotatably connected to the other side of the rotating rod. A mounting block is rotatably connected to the other side of the rotating rod. A moving wheel is rotatably connected to the opposite side of the mounting block. A support spring is fixedly connected to the middle of the adjacent side of the rotating rod. The bottom end of the support spring is fixedly connected to the outer wall of the cylindrical robot.
[0020] This utility model has the following beneficial effects:
[0021] 1. In this utility model, pressing the second rotating rod applies pressure to the support spring, causing the first rotating rod to rotate at the top of the connecting block, squeezing the support spring, and inserting the cylindrical robot into the pipe to be cleaned. With the support of multiple support springs, the equipment can adapt to different pipes. Then, starting the first motor outputs power, driving the transmission shaft to rotate, the transmission shaft to rotate the rotating disk, the rotating disk to rotate multiple main telescopic rods, the main telescopic rods to rotate the secondary telescopic rods, the secondary telescopic rods to rotate the cleaning block, and the cleaning block to rotate the cleaning brush, cleaning the inner wall of the pipe and achieving equipment versatility.
[0022] 2. In this utility model, the second starting motor outputs power to drive the drive shaft, drive gear, driven gear, and transmission rod to rotate in sequence, ultimately causing the propeller to rotate and propelling the equipment forward. If it is necessary to move backward, the second reversing motor drives the propeller to rotate, driving the equipment backward, thereby realizing the forward and backward movement of the equipment and improving cleaning efficiency. Attached Figure Description
[0023] Figure 1 This is a three-dimensional view of a cylindrical robot with an adaptive pipe diameter spiral propulsion cleaning robot proposed in this utility model.
[0024] Figure 2 This is a structural diagram of the motor of the adaptive pipe diameter spiral propulsion cleaning robot proposed in this utility model.
[0025] Figure 3 This is a structural diagram of the motor of the adaptive pipe diameter spiral propulsion cleaning robot proposed in this utility model.
[0026] Figure 4 This is a diagram illustrating the support spring structure of the adaptive pipe diameter spiral propulsion cleaning robot proposed in this utility model.
[0027] Figure 5 This is a schematic diagram of the cleaning brush structure of the adaptive pipe diameter spiral propulsion cleaning robot proposed in this utility model.
[0028] Legend:
[0029] 1. Cylindrical robot; 2. Cleaning mechanism; 201. Motor 1; 202. Transmission assembly; 2021. Drive shaft; 2022. Rotating disk; 203. Telescopic assembly; 2031. Main telescopic rod; 2032. Slave telescopic rod; 204. Cleaning assembly; 2041. Cleaning block; 2042. Cleaning brush; 3. Propulsion mechanism; 301. Motor 2; 302. Drive assembly; 3021. Drive shaft; 3022. Drive gear; 3023. Slave gear; 303. Propulsion assembly; 3031. Transmission rod; 3032. Propeller; 304. Support block; 4. Support mechanism; 401. Connecting block; 402. Rotating rod 1; 403. Rotating rod 2; 404. Mounting block; 405. Moving wheel; 406. Support spring. 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] Please see the appendix Figure 1 - Appendix Figure 3 An embodiment of this utility model provides: an adaptive pipe diameter spiral propulsion cleaning robot, including a cylindrical robot 1, a cleaning mechanism 2 is provided on the right side of the inside of the cylindrical robot 1, the cleaning mechanism 2 is used to clean the inner wall of the pipe, a propulsion mechanism 3 is provided on the left side of the inside of the cylindrical robot 1, the propulsion mechanism 3 is used to propel the equipment, a support mechanism 4 is provided on the outer wall of the cylindrical robot 1, the support mechanism 4 is used to support the equipment, the cleaning mechanism 2 includes a motor 201, the outer wall of the motor 201 is fixedly connected to the right side of the inner wall of the cylindrical robot 1, a transmission component 202 is provided on the right side of the motor 201, a telescopic component 203 is provided on the side of the transmission component 202 that is away from it, and a cleaning component 204 is provided on the side of the telescopic component 203 that is away from it.
[0032] Specifically, a cleaning mechanism 2 is located on the right side of the interior of the cylindrical robot 1. The main function of this cleaning mechanism 2 is to efficiently and thoroughly clean the inner wall of the pipe, ensuring its cleanliness and unobstructed flow. A propulsion mechanism 3 is located on the left side of the interior of the cylindrical robot 1. This propulsion mechanism 3 provides strong power for the device's movement, ensuring stable and smooth advancement within the pipe. A support mechanism 4 is located on the outer wall of the cylindrical robot 1. The main responsibility of this support mechanism 4 is to provide stable support for the device, ensuring its adaptability to different pipe types. The cleaning mechanism 2 includes a motor 201. The wall is fixedly connected to the right side of the inner wall of the cylindrical robot 1 to ensure that it will not shift during operation. A transmission component 202 is provided on the right side of the motor 201. The transmission component 202 transmits the power of the motor to the next stage component. A telescopic component 203 is provided on the side of the transmission component 202 that is far away from it. The telescopic component 203 has a flexible telescopic function and can adjust its length under different working conditions to adapt to different cleaning needs. A cleaning component 204 is provided on the side of the telescopic component 203 that is far away from it. The cleaning component 204 acts directly on the inner wall of the pipe to perform specific cleaning tasks and ensure the cleaning effect of the inner wall of the pipe.
[0033] Please see the appendix Figure 2 - Appendix Figure 3 The propulsion mechanism 3 includes a second motor 301. The outer wall of the second motor 301 is fixedly connected to the inner left side of the cylindrical robot 1 to ensure that the second motor 301 will not shift during operation. A drive assembly 302 is located on the left side of the second motor 301, and a propulsion assembly 303 is located on the left side of the drive assembly 302. The propulsion assembly 303 is responsible for converting the power transmitted from the drive assembly 302 into actual propulsion force. A support block 304 is fixedly connected to the inner left side of the cylindrical robot 1. The main function of the support block 304 is to provide additional structural support to ensure the stability and reliability of the entire drive and propulsion system. Component 302 includes a drive shaft 3021. The right side of the drive shaft 3021 is fixedly connected to the output end of the motor 301 to ensure efficient and stable power transmission. A drive gear 3022 is fixedly connected to the left side of the outer wall of the drive shaft 3021. Multiple driven gears 3023 are meshed with the outer walls of the drive gears 3022 to ensure that power can be transmitted evenly and efficiently to each driven gear 3023. The propulsion component 303 includes a transmission rod 3031. The right side of the outer wall of the transmission rod 3031 is fixedly connected to the middle of the driven gear 3023. A propeller 3032 is fixedly connected to the left side of the transmission rod 3031.
[0034] Specifically, the outer wall of motor 2 301 is fixedly connected to the inner left side of cylindrical robot 1 to ensure that motor 2 301 will not shift during operation. A drive assembly 302 is located on the left side of motor 2 301. The main function of drive assembly 302 is to transmit the power of the motor to the subsequent propulsion assembly 303. The propulsion assembly 303 is located on the left side of drive assembly 302. This propulsion assembly 303 is responsible for converting the power transmitted from drive assembly 302 into actual propulsion force to drive cylindrical robot 1 to move or perform other tasks. A support block 304 is fixedly connected to the inner left side of cylindrical robot 1. The main function of support block 304 is to provide additional structural support to ensure the stability of the entire drive assembly. To ensure the stability and reliability of the propulsion system, the drive assembly 302 includes a drive shaft 3021, the right side of which is fixedly connected to the output end of the motor 301, ensuring efficient and stable power transmission. A drive gear 3022 is fixedly connected to the outer wall of the drive shaft 3021. The outer wall of the drive gear 3022 is designed to mesh with the outer walls of multiple driven gears 3023, forming a complete gear transmission system, ensuring that power can be transmitted evenly and efficiently to each driven gear 3023. The propulsion assembly 303 includes a transmission rod 3031, the right side of which is fixedly connected to the middle of the driven gear 3023, ensuring continuous and stable power transmission.
[0035] Please see the appendix Figure 3 - Appendix Figure 4 The transmission assembly 202 includes a transmission shaft 2021. The left side of the transmission shaft 2021 is fixedly connected to the output end of the motor 201 to ensure the stability and efficiency of power transmission. A rotating disk 2022 is fixedly connected to the right side of the transmission shaft 2021. The telescopic assembly 203 includes a main telescopic rod 2031. The adjacent side of the main telescopic rod 2031 is fixedly connected to the outer wall of the rotating disk 2022 to ensure that the two maintain synchronization and coordination during movement. A secondary telescopic rod 2032 is slidably connected inside the main telescopic rod 2031, allowing the secondary telescopic rod to... The rod 2032 can slide smoothly inside the main telescopic rod 2031. The cleaning assembly 204 includes a cleaning block 2041. The adjacent side of the cleaning block 2041 is fixedly connected to the side away from the telescopic rod 2032, ensuring that the cleaning block 2041 can move with the extension and retraction of the telescopic rod 2032. Multiple cleaning brushes 2042 are fixedly connected to the side away from the cleaning block 2041. Under the drive of the cleaning block 2041, these cleaning brushes 2042 can perform efficient and comprehensive cleaning operations on the target surface.
[0036] Specifically, the left side of the drive shaft 2021 is fixedly connected to the output end of the motor 201 to ensure the stability and efficiency of power transmission. A rotating disk 2022 is fixedly connected to the right side of the drive shaft 2021. The rotating disk 2022 can rotate smoothly under the drive of the drive shaft 2021. The telescopic assembly 203 includes a main telescopic rod 2031. The adjacent side of the main telescopic rod 2031 is fixedly connected to the outer wall of the rotating disk 2022 to ensure that the two maintain synchronous coordination during movement. A secondary telescopic rod is slidably connected inside the main telescopic rod 2031. 2032 allows the telescopic rod 2032 to slide smoothly inside the main telescopic rod 2031. The cleaning assembly 204 includes a cleaning block 2041. The adjacent side of the cleaning block 2041 is fixedly connected to the opposite side of the telescopic rod 2032, ensuring that the cleaning block 2041 can move with the extension and retraction of the telescopic rod 2032. Multiple cleaning brushes 2042 are fixedly connected to the opposite side of the cleaning block 2041. Driven by the cleaning block 2041, these cleaning brushes 2042 can perform efficient and comprehensive cleaning operations on the target surface.
[0037] Please see the appendix Figure 3 - Appendix Figure 5 The support mechanism 4 includes a connecting block 401. One side of the connecting block 401 is fixedly connected to the outer wall of the cylindrical robot 1, ensuring the stability and reliability of the connecting block 401. A rotating rod 402 is rotatably connected to the middle of the connecting block 401, allowing the rotating rod 402 to rotate flexibly within a certain angle range. A rotating rod 403 is rotatably connected to the other side of the rotating rod 402, giving the entire structure the ability to adjust at multiple angles. A mounting block 404 is rotatably connected to the other side of the rotating rod 403. A moving wheel 405 is rotatably connected to the opposite side of the mounting block 404. The presence of the moving wheel 405 gives the entire device good mobility and adaptability. A support spring 406 is fixedly connected to the middle of the adjacent side of the rotating rod 402. The bottom end of the support spring 406 is fixedly connected to the outer wall of the cylindrical robot 1, increasing the stability of the structure and meeting the cleaning needs of different pipes.
[0038] Specifically, one side of the connecting block 401 is fixedly connected to the outer wall of the cylindrical robot 1, ensuring the stability and reliability of the connecting block 401. A rotating rod 402 is rotatably connected to the middle of the connecting block 401, allowing the rotating rod 402 to rotate flexibly within a certain angle range. A rotating rod 403 is rotatably connected to the other side of the rotating rod 402, giving the entire structure the ability to adjust at multiple angles. A mounting block 404 is rotatably connected to the other side of the rotating rod 403. A moving wheel 405 is rotatably connected to the opposite side of the mounting block 404. The presence of the moving wheel 405 gives the entire device good mobility and adaptability. A support spring 406 is fixedly connected to the middle of the side adjacent to the rotating rod 402. The bottom end of the support spring 406 is firmly fixedly connected to the outer wall of the cylindrical robot 1, increasing the stability of the structure and meeting the requirements for cleaning different pipes.
[0039] Working principle: When in use, press the rotating rod 403 to press the corresponding support spring 406 and drive the rotating rod 402 to rotate at the top of the connecting block 401, and squeeze the corresponding support spring 406, thereby inserting the cylindrical robot 1 into the pipe that needs to be cleaned. With the support of multiple support springs 406, it can adapt to different pipes. Then, start the motor 201 to output power to drive the transmission shaft 2021 to rotate. The rotation of the transmission shaft 2021 drives the rotating disk 2022 to rotate. The rotation of the rotating disk 2022 drives the multiple main telescopic rods 2031 fixed on the outer wall of the rotating disk 2022 to rotate. The rotation of the main telescopic rods 2031 drives the secondary telescopic rods 2032 to rotate. The rotation of the secondary telescopic rods 2032 drives the cleaning block 2041 to rotate. The rotation of the cleaning block 2041 drives the cleaning brush 2042 to rotate and clean the inner wall of the pipe, thereby realizing the versatility of the equipment.
[0040] In use, the starting motor 301 outputs power to drive the drive shaft 3021 to rotate. The rotation of the drive shaft 3021 drives the drive gear 3022 to rotate, which in turn drives the driven gear 3023 to rotate. The driven gear 3023 then drives the transmission rod 3031 to rotate, which in turn drives the propeller 3032 to rotate, thus propelling the equipment forward. When it is necessary to move backward, the reversing motor 301 drives the propeller 3032 to rotate, causing the equipment to move backward. This allows the equipment to move forward and backward, improving cleaning efficiency.
[0041] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. An adaptive-diameter spiral-propelled cleaning robot, comprising a cylindrical robot (1), characterized in that: The cylindrical robot (1) has a cleaning mechanism (2) on its inner right side, which is used to clean the inner wall of the pipe. The cylindrical robot (1) has a propulsion mechanism (3) on its inner left side, which is used to propel the equipment. The cylindrical robot (1) has a support mechanism (4) on its outer wall, which is used to support the equipment. The cleaning mechanism (2) includes a motor (201), the outer wall of which is fixedly connected to the right side of the inner wall of the cylindrical robot (1), a transmission component (202) is provided on the right side of the motor (201), a telescopic component (203) is provided on the side of the transmission component (202) that is far away from it, and a cleaning component (204) is provided on the side of the telescopic component (203) that is far away from it.
2. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 1, characterized in that: The propulsion mechanism (3) includes a second motor (301), the outer wall of which is fixedly connected to the inner left side of the cylindrical robot (1), a drive component (302) is provided on the left side of the second motor (301), a propulsion component (303) is provided on the left side of the drive component (302), and a support block (304) is fixedly connected to the inner left side of the cylindrical robot (1).
3. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 1, characterized in that: The transmission assembly (202) includes a transmission shaft (2021), the left side of which is fixedly connected to the output end of the motor (201), and the right side of which is fixedly connected to a rotating disk (2022).
4. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 1, characterized in that: The telescopic assembly (203) includes a main telescopic rod (2031), one side of which is fixedly connected to the outer wall of the rotating disk (2022), and a secondary telescopic rod (2032) is slidably connected inside the main telescopic rod (2031).
5. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 1, characterized in that: The cleaning assembly (204) includes a cleaning block (2041), with one side of the cleaning block (2041) fixedly connected to the opposite side of the telescopic rod (2032), and multiple cleaning brushes (2042) fixedly connected to the opposite side of the cleaning block (2041).
6. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 2, characterized in that: The drive assembly (302) includes a drive shaft (3021), the right side of which is fixedly connected to the output end of the second motor (301), and a drive gear (3022) is fixedly connected to the left side of the outer wall of the drive shaft (3021). Multiple driven gears (3023) are meshed with the outer wall of the drive gear (3022).
7. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 2, characterized in that: The propulsion assembly (303) includes a transmission rod (3031), the right side of the outer wall of the transmission rod (3031) is fixedly connected to the middle of the driven gear (3023), and a propeller (3032) is fixedly connected to the left side of the transmission rod (3031).
8. The adaptive pipe diameter spiral propulsion cleaning robot according to claim 1, characterized in that: The support mechanism (4) includes a connecting block (401). One side of the connecting block (401) is fixedly connected to the outer wall of the cylindrical robot (1). A rotating rod (402) is rotatably connected to the middle of the connecting block (401). A rotating rod (403) is rotatably connected to the other side of the rotating rod (402). An installation block (404) is rotatably connected to the other side of the rotating rod (403). A moving wheel (405) is rotatably connected to the opposite side of the installation block (404). A support spring (406) is fixedly connected to the middle of the adjacent side of the rotating rod (402). The bottom end of the support spring (406) is fixedly connected to the outer wall of the cylindrical robot (1).