A robot suitable for cleaning large-diameter water supply pipes

Abstract

This utility model discloses a robot suitable for cleaning large-diameter water supply pipelines, including a moving component and a cleaning component on one side of the moving component. The cleaning component includes a mounting shell, a fixed pipe is installed through one side of the mounting shell, a rotating pipe is rotatably connected to one end of the fixed pipe, a water inlet cylinder is provided at one end of the rotating pipe, the outer wall of the water inlet cylinder is provided with a ring-shaped distribution of mounting pipes, a water guide pipe is slidably installed on the inner wall of the mounting pipe, and a drive mechanism for driving the extension and retraction of the water guide pipe is provided on the outer wall of the mounting pipe. This utility model, through the moving component and the cleaning component, can adjust the support unit to adapt to different specifications of pipelines by using the inner diameter data obtained by the pre-scanning of the pipeline by the LiDAR module; and can adjust the water guide pipe of the cleaning component to bring the nozzle closer to the pipe wall, and enhance the cleaning effect in conjunction with the cleaning brush. Compared with traditional cleaning, this improves the reliability and practicality of cleaning.

Description

Technical Field

[0001] This utility model mainly relates to the field of water supply pipeline cleaning technology, specifically a robot suitable for cleaning large-diameter water supply pipelines. Background Technology

[0002] During long-term water supply operation, the inner walls of water supply pipes are prone to scale formation due to mineral deposits and microbial growth. Simultaneously, the metal pipe material can corrode due to electrochemical corrosion. In some cases, scale and corrosion can further combine to form raised nodules. These deposits not only increase the roughness of the pipe inner walls, leading to increased water resistance and a reduced effective flow diameter, thus causing a decrease in water delivery capacity and increased energy consumption of the water supply system; they can also detach during use, causing secondary water pollution and seriously affecting water supply safety. Therefore, regular cleaning and maintenance of water supply pipes has become a necessary measure to ensure the stable operation of the water supply system. Currently, the mainstream water supply pipeline cleaning methods in the industry mainly include two categories: high-pressure water jet cleaning and mechanical scraping cleaning. High-pressure water jet cleaning removes stains by impacting the inner wall of the pipeline with high-pressure water jets. However, due to limitations in the angle and coverage of the water jet, it is easy to create cleaning blind spots on the inner wall of the pipeline, especially at pipe joints and bends where the cleaning effect is poor. Moreover, it requires continuous high pressure, resulting in low cleaning efficiency. Mechanical scraping cleaning relies on rigid scrapers to scrape away stains from the inner wall of the pipeline. The hard contact between the scraper and the inner wall of the pipeline can easily cause scratches and wear to the inner wall of the pipeline, which can easily lead to pipeline damage, especially for old pipelines. Utility Model Content

[0003] This utility model provides a solution that addresses the problem of overly simplistic existing solutions. It offers a significantly different approach, primarily providing a robot suitable for cleaning large-diameter water supply pipelines. This addresses the issues raised in the background regarding the mainstream water supply pipeline cleaning methods in the industry: high-pressure water jet cleaning and mechanical scraping cleaning. The former relies on high-pressure water jet impact to remove contaminants, but due to limitations in water flow angle and coverage, it easily creates blind spots at pipe joints and bends, and requires continuous high pressure, resulting in low efficiency. The latter relies on rigid scrapers for contact cleaning, but this hard contact can easily scratch the pipeline, and it can cause damage to older pipelines.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: A robot suitable for cleaning large-diameter water supply pipelines includes a moving component, on one side of which a cleaning component is provided.

[0005] The cleaning assembly includes a mounting shell, a fixed tube is installed through one side of the mounting shell, a rotating tube is rotatably connected to one end of the fixed tube, a water inlet tube is provided at one end of the rotating tube, the outer wall of the water inlet tube is provided with mounting tubes arranged in a ring, a water guide tube is slidably installed on the inner wall of the mounting tube, a drive mechanism for driving the extension and retraction of the water guide tube is provided on the outer wall of the mounting tube, and a rotation drive mechanism for driving the rotating tube to rotate is provided on the inner wall of the mounting shell.

[0006] Further preferably, the movable component includes a protective shell, a first support rod rotatably connected to the outer wall of the protective shell, a mounting frame rotatably connected to one end of the first support rod, and a second support rod rotatably connected to the mounting frame; a mounting plate is installed on the inner wall of the protective shell, a first electric push rod is installed through one side of the mounting plate, a movable frame is connected to one end of the first electric push rod, and one end of the second support rod is rotatably connected to the movable frame; a drive mechanism and a movable wheel are provided on the mounting frame; the first support rod, the mounting frame, and the second support rod constitute a set of support units, and three sets of support units are distributed in a ring along the center line of the protective shell; holes are opened on the outer wall of the protective shell corresponding to the positions of the second support rods.

[0007] More preferably, a first sliding rod is installed on one side of the movable frame, a sliding hole is provided on the mounting plate, and the first sliding rod is slidably installed in the sliding hole; a guide tube is provided on the inner wall of the protective shell, a connecting tube is provided on the inner wall of the guide tube, and one end of the connecting tube is connected to the fixed tube.

[0008] More preferably, a camera module is provided on one side and the top of the protective shell near the other side, a gas detection module is provided on the top of the protective shell, an LED lighting module is provided on one side of the protective shell, and a lidar module is provided on one side of the water inlet tube.

[0009] More preferably, a fixed tube is installed through one side of the protective shell, a first gear is provided on the outer wall of the rotating tube, a worm gear reducer motor is installed on the inner wall of the mounting shell, a second gear is installed at the output end of the worm gear reducer motor, and the first gear and the second gear are meshed and connected for transmission.

[0010] More preferably, the outer wall of the mounting pipe is provided with a shell, and the inner wall of the shell is equipped with a second electric push rod. The telescopic end of the second electric push rod is connected to the annular block, and the inner wall of the annular block is connected to the outer wall of the water guide pipe. The bottom of the annular block is provided with a second sliding rod, and the top of the shell is provided with a sliding hole, and the second sliding rod is slidably installed in the sliding hole.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This robot, through its moving and cleaning components, pre-scans the pipeline's terrain contours and acquires inner diameter data using a LiDAR module. This data supports the adaptation and adjustment of the moving component and the extension / retraction adjustment of the cleaning component. The moving component, through the coordinated action of a first electric push rod, support rod, and support unit, can achieve a close fit with the inner wall of the pipeline, thus adapting to the operational needs of pipelines of different specifications. The cleaning component, driven by a worm gear reducer motor, achieves rotational spraying and rinsing. Combined with feedback data from the LiDAR module, it adjusts the extension / retraction of the water guide pipe via a second electric push rod, bringing the nozzle closer to the inner wall of the pipeline, thereby improving the rinsing effect. For stubborn stains, a cleaning brush installed on the water guide pipe can further improve the removal efficiency. Compared with traditional high-pressure water jet cleaning and mechanical pipe scraping methods, this not only improves cleaning efficiency but also reduces the risk of scratches and wear on the inner wall of the pipeline. It also has good pipeline adaptability, can operate stably in pipelines of different specifications, and improves the reliability and practicality of water supply pipeline cleaning operations.

[0012] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a fully enlarged cross-sectional structural diagram of the mobile component of this utility model; Figure 3 This is a fully enlarged cross-sectional structural diagram of the cleaning component of this utility model.

[0014] Numbering on the map: 1. Moving component; 101. Protective shell; 102. First support rod; 103. Mounting bracket; 104. Second support rod; 105. Mounting plate; 106. First electric push rod; 107. Moving frame; 108. First slide rod; 109. Guide tube; 2. Photography module; 3. Gas detection module; 4. LED lighting module; 5. Cleaning component; 501. Mounting shell; 502. Fixing tube; 503. Rotating tube; 504. Water inlet cylinder; 505. First gear; 506. Worm gear reducer motor; 507. Second gear; 508. Mounting tube; 509. Water guide pipe; 5010. Outer shell; 5011. Second electric push rod; 5012. Annular block; 5013. Second slide rod; 6. Connecting tube; 7. LiDAR module. Detailed Implementation

[0015] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0016] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0017] Please refer to the appendix carefully. Figures 1-3 A robot suitable for cleaning large-diameter water supply pipes includes a moving component 1, and a cleaning component 5 is provided on one side of the moving component 1.

[0018] The cleaning assembly 5 includes a mounting housing 501. A fixed tube 502 is installed through one side of the mounting housing 501. One end of the fixed tube 502 is rotatably connected to a rotating tube 503 via a sealed bearing. A high-pressure rotating sealing ring is provided at the connection between the rotating tube 503 and the fixed tube 502. One end of the rotating tube 503 is provided with a water inlet cylinder 504. The outer wall of the water inlet cylinder 504 is provided with mounting tubes 508 arranged in a ring. A water guide pipe 509 is slidably installed on the inner wall of the mounting tube 508. An O-ring is provided at the sliding connection between the water guide pipe 509 and the mounting tube 508. A drive mechanism for driving the extension and retraction of the water guide pipe 509 is provided on the outer wall of the mounting tube 508. A rotary drive mechanism for driving the rotation of the rotating tube 503 is provided on the inner wall of the mounting housing 501.

[0019] In this embodiment, as shown in the figure Figure 1 and Figure 2 As shown, the movable component 1 includes a protective shell 101. A first support rod 102 is rotatably connected to the outer wall of the protective shell 101. One end of the first support rod 102 is rotatably connected to a mounting frame 103. A second support rod 104 is rotatably connected to the mounting frame 103. An mounting plate 105 is installed on the inner wall of the protective shell 101. A first electric push rod 106 is installed through one side of the mounting plate 105. One end of the first electric push rod 106 is connected to a movable frame 107. One end of the second support rod 104 is rotatably connected to the movable frame 107. A drive mechanism and a movable wheel are provided on the mounting frame 103. The movable wheel is made of high-adhesion rubber. The first support rod 102, the mounting frame 103, and the second support rod 104 constitute a set of support units, and three sets of support units are distributed in a ring along the center line of the protective shell 101. Holes are opened on the outer wall of the protective shell 101 corresponding to the position of the second support rod 104.

[0020] With the above structure, when the first electric push rod 106 is started, it can drive the moving frame 107 to move back and forth. During the movement of the moving frame 107, the second support rod 104 drives the mounting frame 103 to expand outward or contract inward. The first support rod 102 rotatably connected on the mounting frame 103 can improve its stability during movement. The three sets of support units realize the expansion or contraction action synchronously, which can make the device adaptable to pipes of different diameters.

[0021] In this embodiment, as Figure 2 As shown, a first sliding rod 108 is installed on one side of the movable frame 107, and a sliding hole is provided on the mounting plate 105, and the first sliding rod 108 is slidably installed in the sliding hole; a guide tube 109 is provided on the inner wall of the protective shell 101, and a connecting tube 6 is provided on the inner wall of the guide tube 109, and one end of the connecting tube 6 is connected to the fixed tube 502.

[0022] With the above structure, when the movable frame 107 moves under the drive of the first electric push rod 106, the first slide rod 108 can play a guiding role and improve the stability of the movable frame 107 when it moves. During the process of the movable frame 107 moving outside the guide tube 109, the guide tube 109 can form protection and guidance for the connecting tube 6, wherein the connecting tube 6 is composed of a flexible hose and a cable.

[0023] In this embodiment, as Figure 1 and Figure 2 As shown, a camera module 2 is provided on one side and the top of the protective shell 101 near the other side, a gas detection module 3 is provided on the top of the protective shell 101, an LED lighting module 4 is provided on one side of the protective shell 101, and a lidar module 7 is provided on one side of the water inlet cylinder 504.

[0024] Through the above structure, the photography module 2 adopts a high-definition waterproof camera and a 360° surround-view fisheye lens, which can visualize and monitor the surrounding environment of the equipment, making it easy to grasp the operation status in the pipeline scene in real time; the gas detection module 3 can monitor the gas composition and concentration in the crawler's working environment in real time, thereby avoiding the safety risks faced by operators due to exposure to harmful gases; the lidar module 7 can scan the terrain outline of the working area, so that the extension and retraction state of the water guide pipe 509 can be adjusted by the cleaning component 5 according to the pipe diameter.

[0025] In this embodiment, as Figure 2 and Figure 3 As shown, a fixed tube 502 is installed through one side of the protective shell 101, a first gear 505 is provided on the outer wall of the rotating tube 503, a worm gear reducer motor 506 is installed on the inner wall of the mounting shell 501, a second gear 507 is installed at the output end of the worm gear reducer motor 506, and the first gear 505 and the second gear 507 are meshed and connected for transmission.

[0026] With the above structure, after the worm gear reducer motor 506 starts, it can drive the rotating tube 503 to rotate through the meshing transmission of the second gear 507 and the first gear 505, and then synchronously drive the water inlet cylinder 504, the mounting pipe 508, the water guide pipe 509, the outer shell 5010, the second electric push rod 5011, the annular block 5012 and the second slide rod 5013 to rotate, so as to realize the rotational spraying and rinsing, which can improve the rinsing effect.

[0027] In this embodiment, as Figure 3 As shown, the outer wall of the mounting pipe 508 is provided with a housing 5010, and the inner wall of the housing 5010 is provided with a second electric push rod 5011. The telescopic end of the second electric push rod 5011 is connected to the annular block 5012, and the inner wall of the annular block 5012 is connected to the outer wall of the water guide pipe 509. The bottom of the annular block 5012 is provided with a second sliding rod 5013, and the top of the housing 5010 is provided with a sliding hole, and the second sliding rod 5013 is slidably installed in the sliding hole. The mounting pipe 508, the water guide pipe 509, the housing 5010, the second electric push rod 5011, the annular block 5012 and the second sliding rod 5013 constitute a set of flushing units, and there are three sets in total. The three sets of flushing units are distributed in a ring along the midpoint of the water inlet cylinder 504.

[0028] With the above structure, when the three second electric push rods 5011 are started by the synchronizer, the water guide pipe 509 can be driven to extend outward or retract inward. It can be adaptively adjusted according to the inner diameter of the pipe to be cleaned, so that the nozzles set on the water guide pipe 509 are close to the inner wall of the pipe, thereby significantly improving the flushing effect.

[0029] In another embodiment, a cleaning brush can be installed on the water guide pipe 509 using fasteners such as clamps. The bristles of the cleaning brush are made of corrosion-resistant, highly elastic nylon or steel wire. The extension length of the water guide pipe 509 can be adjusted so that the bristles of the cleaning brush can contact the inner wall of the pipe to be cleaned. When the cleaning component 5 rotates, the cleaning brush can simultaneously perform physical wiping on the inner wall of the pipe, and the water flow sprayed from the nozzle forms a flushing effect, which can remove stubborn stains attached to the inner wall of the pipe.

[0030] The specific operation process of this utility is as follows: First, the lidar module 7 scans the contour of the pipeline terrain, obtains the pipeline inner diameter data and feeds it back to the control host. Then, the control host processes the data to provide a basis for the adjustment of the moving component 1 and the cleaning component 5.

[0031] Next, the first electric push rod 106 of the moving component 1 is activated. The first electric push rod 106 drives the moving frame 107 to move back and forth. The moving frame 107 drives the mounting frame 103 to expand outward or retract inward through the second support rod 104. At the same time, the first support rod 102 assists in improving the moving stability of the mounting frame 103. The three sets of support units move synchronously until the moving wheels on the mounting frame 103 are in contact with the inner wall of the pipe, thus completing the adaptation of the device and the pipe diameter.

[0032] After the adaptation is completed, the power storage module supplies power to the drive mechanism on the mounting bracket 103. The drive mechanism drives the moving wheels to rotate, so that the device moves in the pipeline. At the same time, the LED lighting module 4 provides a light source for the dim pipeline environment. The auxiliary photography module 2 monitors the surrounding environment of the equipment in real time and captures images clearly. The gas detection module 3 continuously monitors the gas composition and concentration in the pipeline to avoid the safety risks of harmful gases to the operation.

[0033] During cleaning, the external water source and cables are connected to the fixed pipe 502 through the connecting pipe 6 in the guide pipe 109 inside the protective shell 101, and then transported to the water inlet cylinder 504 through the rotating pipe 503. Finally, the water is sprayed out by the nozzle of the guide pipe 509. When the worm gear reducer motor 506 is started, it drives the rotating pipe 503, the water inlet cylinder 504 and the three sets of flushing units to rotate synchronously to achieve rotating spray flushing. According to the pipe inner diameter data fed back by the laser radar module 7, the second electric push rod 5011 is started through the synchronizer. The second electric push rod 5011 pushes the annular block 5012 to move along the outer shell 5010, thereby driving the guide pipe 509 to extend and retract along the inner wall of the mounting pipe 508, so that the nozzle is closer to the inner wall of the pipe, improving the flushing effect.

[0034] If there are stubborn stains on the inner wall of the pipe, a corrosion-resistant, highly elastic nylon or steel wire cleaning brush can be installed on the water guide pipe 509 by clamping. Adjust the extension length of the water guide pipe 509 to make the cleaning brush fit against the inner wall of the pipe. When the cleaning component 5 rotates, ensure that the cleaning brush physically wipes the inner wall of the pipe at the same time. Combined with the water flow sprayed from the nozzle, stubborn stains can be removed.

[0035] The protective housing 101 contains a high-capacity lithium battery module, a power management system, and a control host, which are used to supply power to each electric push rod, drive motor, sensor module, and control host. The control host estimates energy consumption based on the working distance and cleaning intensity and dynamically allocates power output priority. The control host inside the protective housing 101 is electrically connected to each module and sensor to achieve coordinated control.

[0036] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A robot suitable for cleaning large-diameter water supply pipelines, comprising a mobile component (1), characterized in that: A cleaning component (5) is provided on one side of the moving component (1); The cleaning assembly (5) includes a mounting shell (501), a fixed tube (502) is installed through one side of the mounting shell (501), a rotating tube (503) is rotatably connected to one end of the fixed tube (502), a water inlet tube (504) is provided at one end of the rotating tube (503), an installation tube (508) is provided on the outer wall of the water inlet tube (504) in a ring, a water guide tube (509) is slidably installed on the inner wall of the installation tube (508), a driving mechanism for driving the extension and retraction of the water guide tube (509) is provided on the outer wall of the installation tube (508), and a rotation driving mechanism for driving the rotation of the rotating tube (503) is provided on the inner wall of the mounting shell (501).

2. The robot for cleaning large-diameter water supply pipelines according to claim 1, characterized in that: The movable component (1) includes a protective shell (101), a first support rod (102) is rotatably connected to the outer wall of the protective shell (101), a mounting bracket (103) is rotatably connected to one end of the first support rod (102), and a second support rod (104) is rotatably connected to the mounting bracket (103); a mounting plate (105) is installed on the inner wall of the protective shell (101), and a first electric push rod (106) is installed through one side of the mounting plate (105). 6) One end is connected to a movable frame (107), and one end of the second support rod (104) is rotatably connected to the movable frame (107); the mounting frame (103) is provided with a drive mechanism and a moving wheel; the first support rod (102), the mounting frame (103) and the second support rod (104) constitute a set of support units, and three sets of support units are distributed in a ring along the center line of the protective shell (101); the outer wall of the protective shell (101) is provided with holes corresponding to the position of the second support rod (104).

3. The robot for cleaning large-diameter water supply pipelines according to claim 2, characterized in that: A first sliding rod (108) is installed on one side of the movable frame (107), and a sliding hole is provided on the mounting plate (105), and the first sliding rod (108) is slidably installed in the sliding hole; a guide tube (109) is provided on the inner wall of the protective shell (101), and a connecting tube (6) is provided on the inner wall of the guide tube (109), and one end of the connecting tube (6) is connected to the fixed tube (502).

4. The robot for cleaning large-diameter water supply pipelines according to claim 2, characterized in that: The protective shell (101) is provided with a camera module (2) on one side and the top near the other side. The protective shell (101) is provided with a gas detection module (3) on the top. The protective shell (101) is provided with an LED lighting module (4) on one side. The water inlet tube (504) is provided with a laser radar module (7) on one side.

5. A robot suitable for cleaning large-diameter water supply pipelines according to claim 2, characterized in that: A fixed tube (502) is installed through one side of the protective shell (101). A first gear (505) is provided on the outer wall of the rotating tube (503). A worm gear reducer motor (506) is installed on the inner wall of the mounting shell (501). A second gear (507) is installed at the output end of the worm gear reducer motor (506), and the first gear (505) and the second gear (507) are meshed and connected for transmission.

6. The robot for cleaning large-diameter water supply pipelines according to claim 1, characterized in that: The outer wall of the installation pipe (508) is provided with a housing (5010), and the inner wall of the housing (5010) is provided with a second electric push rod (5011). The telescopic end of the second electric push rod (5011) is connected to the annular block (5012), and the inner wall of the annular block (5012) is connected to the outer wall of the water guide pipe (509). The bottom of the annular block (5012) is provided with a second sliding rod (5013), and the top of the housing (5010) is provided with a sliding hole, and the second sliding rod (5013) is slidably installed in the sliding hole.

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