Pipeline cleaning bionic robot

Abstract

The utility model provides a kind of pipeline cleaning bionic robot belongs to pipeline cleaning equipment field.The pipeline cleaning bionic robot includes advancing portion and cleaning portion, advancing portion includes seat and the rotating power device fixed on seat, the output shaft of rotating power device is towards back and is fixedly connected with helical shaft, the rear end of seat is connected with track, each band section of track is equipped with frame structure, helical shaft passes the frame structure of each band section of track to make helical shaft rotation drive track present wavy action, cleaning portion includes support cylinder and the flexible cleaning layer being arranged on the outer circumferential surface of support cylinder, support cylinder is connected in the front of advancing portion by movable joint structure and can advance under the impetus of advancing portion.The pipeline cleaning bionic robot provided by the utility model has high cleaning efficiency, and has good passability in ventilation pipeline.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline cleaning equipment, and in particular relates to a biomimetic robot for pipeline cleaning. Background Technology

[0002] Dust and other impurities easily accumulate on the inner surface of ventilation ducts during use. If these deposits are not cleaned for a long time, they will seriously affect the ventilation efficiency of the ventilation ducts, and may even corrode the ventilation ducts, reducing their service life.

[0003] The narrow interior of ventilation ducts makes it difficult for personnel to enter and clean them. A Chinese invention patent application (CN115625164A) discloses a cleaning robot, comprising a fixed frame, a front support assembly, a rear support assembly, a linear drive device, and a cleaning assembly. The front and rear support assemblies are spaced apart and both can support the inner wall of the duct. The linear drive device drives the rear support assembly to move back and forth, allowing the cleaning robot to move in a peristaltic motion by alternately supporting itself on the duct with the front and rear support assemblies. During its movement, the robot uses the rotatable cleaning assembly at its front end to clean the inner wall of the duct.

[0004] Ventilation ducts are often connected to branch ducts via a T-junction structure. When the aforementioned obstacle-clearing robot approaches a branch duct, the support legs of either the front or rear support assembly can easily extend into the branch duct, making reliable support difficult and causing the robot to malfunction and unable to continue working normally. Furthermore, before each step change, one of the front or rear support components must be firmly secured inside the ventilation duct before the other can be released, resulting in low duct cleaning efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a biomimetic robot for pipe cleaning, so as to solve the technical problems of low cleaning efficiency and poor passage at the tee structure of pipes in the prior art.

[0006] To achieve the above objectives, the technical solution of the bionic robot for pipe cleaning provided by this utility model is as follows: A biomimetic robot for pipe cleaning includes a traveling part and a cleaning part. The traveling part includes a base and a rotating power device fixed on the base. The output shaft of the rotating power device faces rearward and is fixedly connected to a helical shaft. The rear end of the base is connected to a track. Each segment of the track has a frame-shaped structure. The helical shaft passes through the frame-shaped structure of each segment of the track so that when the helical shaft rotates, it drives the track to move in a wave-like motion. The cleaning part includes a support cylinder and a flexible cleaning layer disposed on the outer circumferential surface of the support cylinder. The support cylinder is connected to the front of the traveling part through a movable connection structure and can move forward under the propulsion of the traveling part.

[0007] As a further improvement, the front end face of the seat is provided with a guide groove extending in the vertical direction, the rear end of the support cylinder is provided with a connecting rod, and the rear end of the connecting rod is provided with a guide body that can move up and down in the guide groove. The width of the guide groove opening is smaller than the width of the guide body to prevent the guide body from coming out of the guide groove forward. The guide groove and the guide body constitute the movable connection structure.

[0008] As a further improvement, the upper and / or lower ends of the guide groove penetrate the base body, and the guide body can be inserted into or removed from the guide groove from the upper and / or lower ends.

[0009] As a further improvement, the guide body is a sphere, and the guide groove is an arc-shaped groove that matches the shape of the sphere.

[0010] As a further improvement, the width of the track is less than the inner diameter of the ventilation duct being cleaned, but greater than the inner diameter of the branch duct.

[0011] As a further improvement, anti-slip pads are fixedly installed at both ends of each track link.

[0012] As a further improvement, the flexible cleaning layer is a piece of velvet fixed to the outer circumferential surface of the support cylinder.

[0013] As a further improvement, the support cylinder includes a hollow cylinder body and support plates fixed inside the cylinder body. Each support plate is radially parallel to the corresponding position of the cylinder body and all support plates intersect at the axial center of the support cylinder. The connecting rod is fixed at the intersection of the support plates.

[0014] As a further improvement, a camera with its lens facing backward is installed on the base, which is used to capture the condition of the inner wall surface of the pipe after cleaning.

[0015] As a further improvement, anti-scratch wheels are provided at both ends of the seat to prevent the seat from directly contacting the inner wall surface of the ventilation duct.

[0016] The beneficial effects are as follows: The pipe cleaning bionic robot provided by this utility model is a pioneering invention. This pipe cleaning bionic robot can crawl peristally within the pipe. Because this peristaltic crawling motion is achieved by the rotation of a helical shaft driving the tracks in a wave-like movement, the crawling process is continuous. The pipe cleaning bionic robot can move continuously and at a uniform speed within the ventilation duct, resulting in higher cleaning efficiency compared to existing technologies. Furthermore, compared to existing technologies, the contact area between the tracks of this pipe cleaning bionic robot and the inner wall surface of the ventilation duct is larger, making it less prone to jamming at locations where branch pipes are located within the ventilation duct, thus providing better maneuverability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the bionic robot for pipe cleaning in this utility model; Figure 2 This is a partial structural schematic diagram of Embodiment 1 of the bionic robot for pipe cleaning in this utility model; Figure 3 This is a schematic diagram of the long-segmented structure in Embodiment 1 of the biomimetic robot for pipe cleaning in this utility model; Figure 4 This is a schematic diagram of the short-section section in Embodiment 1 of the bionic robot for pipe cleaning in this utility model; Figure 5 This is a partial structural diagram from the front view of Embodiment 1 of the bionic robot for pipe cleaning in this utility model. Figure 6 This is a partial structural schematic diagram from another frontal view of Embodiment 1 of the bionic robot for pipe cleaning in this utility model. Figure 7 This is a partial perspective structural diagram of Embodiment 1 of the bionic robot for pipe cleaning in this utility model.

[0018] Explanation of reference numerals in the attached figures: 1. Base; 2. Rotary power unit; 3. Spiral shaft; 4. Track; 41. Belt segment; 411. Frame structure; 412. Connecting part; 5. Support cylinder; 51. Cylinder body; 52. Support plate; 6. Fleece; 7. Connecting rod; 8. Guide body; 9. Guide groove; 10. Camera; 11. Anti-scratch wheel; 12. Ventilation duct; 13. Opening. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the embodiments.

[0020] Specific Embodiment 1 of the Pipe Cleaning Bionic Robot Provided by This Utility Model: See appendix Figure 1The biomimetic robot for cleaning pipes includes a traveling part and a cleaning part. The cleaning part is located in front of the traveling part and can push the cleaning part along the ventilation duct 12. During the travel, the cleaning part cleans the inner wall surface of the pipe. During the cleaning process, the ventilation duct 12 is in a ventilated state, and the dust generated during the cleaning is discharged from the ventilation duct 12 with the airflow inside the ventilation duct 12.

[0021] See appendix Figure 1 and in conjunction with the appendix Figure 2 The traveling part includes a seat 1, a rotary power unit 2, a screw shaft 3, and tracks 4.

[0022] The base 1 has an inner cavity, and the rotary power device 2 is specifically a motor. The rotary power device 2 is installed in the inner cavity of the base 1. The control board for controlling the start and stop of the rotary power device 2 and the battery for powering the rotary power device 2 are also located in the inner cavity of the base 1. The output shaft of the rotary power device 2 extends rearward out of the base 1, and the screw shaft 3 is fixedly connected to the output shaft of the rotary power device 2 through a coupling and can rotate under the drive of the rotary power device 2.

[0023] Track 4 is connected to the rear end of the base 1. Track 4 has several links 41, see appendix. Figure 3 and attached Figure 4 Each section 41 includes a frame structure 411 and connecting portions 412 disposed at the left and right ends of the frame structure 411. The left and right ends of each section 41 are hinged together by the connecting portions 412. The helical shaft 3 passes through the frame structure 411 of each section 41. The internal width of the frame structure 411 in the vertical direction of each section 41 matches the outer diameter of the helical shaft 3, while the left and right width of the frame structure 411 of each section 41 is greater than the range of motion of the helical shaft 3.

[0024] The foremost link 41 of the track 4 is a long link, while the remaining links 41 are short links of the same length. The main difference between the long and short links is that the connecting portion 412 of the long link is longer. The output shaft of the rotary power unit 2 extends a certain length beyond the base 1, and the coupling connecting the helical shaft 3 and the output shaft of the rotary power unit 2 also has a certain length. These two parts of the structure do not produce helical rotation, and they correspond to the long link. In other embodiments, if the length of the output shaft of the rotary power unit 2 extending beyond the base 1 is shorter, and the output shaft is directly welded and fixed to the helical shaft 3, shortening the length of the structure that does not produce helical rotation, then each link 41 can be a short link.

[0025] During the rotation of the helical shaft 3, the movement of a certain point on the helical shaft 3 can be decomposed into vertical movement and horizontal movement. The horizontal movement at this point is manifested as the helical shaft 3 sliding left and right within the frame structure 411 of each belt segment 41. The vertical movement at this point is manifested as the helical shaft 3 driving the frame structure 411 to move up and down. Each belt segment 41 moves with different points on the helical shaft 3, and the overall movement is manifested as the wave-like motion of the track 4.

[0026] During operation, the lower sides of both ends of the track 4 contact the inner wall surface of the ventilation duct 12. The wavy movement of the track 4 enables it to crawl in a peristaltic manner, similar to the crawling motion of a snail's foot in nature. Anti-slip pads can be fixedly installed at both ends of each link 41 of the track 4 to prevent slippage during the peristaltic crawling process. In other embodiments, anti-slip pads may not be provided on the track 4, but the parts of each link 41 that contact the ventilation duct 12 must be rounded to avoid damage to the ventilation duct 12.

[0027] Since the track 4 requires a certain amount of vertical space to move, its width in the left-right direction needs to be smaller than the inner diameter of the ventilation duct 12 being cleaned. The ventilation duct 12 has an opening 13 at the location corresponding to the branch duct. To prevent the track 4 from getting stuck in the opening 13 and causing movement difficulties, the left-right width of the track 4 needs to be smaller than the inner diameter of the branch duct. This way, the left-right span of the track 4 is greater than the range of the branch duct, and it is not affected by the branch duct. Alternatively, the front-to-back length of the track 4 and the auger shaft 3 can be made longer, so that there are at least three contact points on the track 4 with the inner wall surface of the ventilation duct 12, and the span between two contact points is greater than the inner diameter of the branch duct, allowing the track 4 to cross the branch duct during movement.

[0028] See appendix Figure 2 The cleaning part includes a support cylinder 5 and a flexible cleaning layer disposed on the outer peripheral surface of the support cylinder 5.

[0029] The support cylinder 5 includes a hollow cylinder 51 and support plates 52 fixed inside the cylinder 51. Each support plate 52 is radially parallel to its corresponding position on the cylinder 51, and all support plates 52 converge at the axial center of the support cylinder 5. The space between the support plates 52 allows air circulation within the ventilation duct 12 without affecting its normal operation. A rearwardly extending connecting rod 7 is provided at the intersection of each support plate 52, and a guide body 8 is provided at the rear end of the connecting rod 7.

[0030] See appendix Figure 5 Appendix Figure 6 and appendix Figure 7The front end face of the base 1 is provided with a guide groove 9 extending in the vertical direction. The guide body 8 is located in the guide groove 9 and can slide up and down along the guide groove 9. The shape of the guide groove 9 matches the shape of the guide body 8, and the width of the groove opening of the guide groove 9 is smaller than the width of the guide body 8, thereby preventing the guide body 8 from moving forward out of the guide groove 9.

[0031] The traveling section propels the cleaning section forward. Because the traveling section uses a wave-like propulsion system with tracks 4, the base 1 floats up and down during travel. In this embodiment, the traveling section and the cleaning section are connected through the cooperation of guide grooves 9 and guide bodies 8, ensuring the normal operation of the pipe cleaning biomimetic robot. In this embodiment, guide grooves 9 and guide bodies 8 constitute a movable connection structure that allows the traveling section and the cleaning section to be movably connected.

[0032] During operation, the flexible cleaning layer is positioned between the support cylinder 5 and the inner wall surface of the ventilation duct 12, and is in a compressed state, thereby maintaining effective contact between the flexible cleaning layer and all parts of the inner wall surface of the ventilation duct 12. As the support cylinder 5 is pushed forward along the ventilation duct 12, the flexible cleaning layer will wipe away dust from the inner wall surface of the ventilation duct 12 along its extension direction.

[0033] In this embodiment, the flexible cleaning layer is specifically a felt cloth 6 with fine fibers, which provides a good cleaning effect on the inner wall surface of the ventilation duct 12. In other embodiments, the flexible cleaning layer may also be a non-woven fabric or a layer of short, densely arranged bristles.

[0034] In this embodiment, the guide body 8 is a spherical body, and the guide groove 9 is an arc-shaped groove that matches the shape of the spherical body, with the arc corresponding to the arc-shaped groove being a dominant arc. The spherical body can swing up and down or left and right within a certain range in the arc-shaped groove, making it easier to pass through the ventilation duct 12 when it turns.

[0035] Furthermore, both the upper and lower ends of the guide groove 9 penetrate the base 1, allowing the guide body 8 to be inserted into or removed from the guide groove 9 from either the upper or lower end. This design facilitates the separation of the traveling and cleaning parts, enabling the pipe-cleaning bionic robot to be disassembled and stored after operation, thus improving storage convenience. In other embodiments, the guide groove 9 may also penetrate the base 1 only at the upper end or only at the lower end.

[0036] A camera 10 is mounted on the upper outer surface of the base 1, with its lens facing rearward. During operation, the pipe-cleaning bionic robot can use the camera 10 to capture real-time images of the cleaned pipe's inner wall surface, thereby monitoring the cleaning quality in real time. If any areas remain uncleaned, the robot can be controlled to retract and perform a second cleaning of those areas. In other embodiments, if the cleaning results are not critical, the camera 10 may not be mounted on the base 1.

[0037] In this embodiment, anti-scratch wheels 11 are provided at both ends of the seat 1, and the anti-scratch wheels 11 on both sides are arranged in a V-shape. Under normal circumstances, the anti-scratch wheels 11 do not contact the inner wall surface of the ventilation duct 12. During the turning process, the distance between the seat 1 and the inner wall surface of the ventilation duct 12 may be small. At this time, the anti-scratch wheels 11 can roll and cooperate with the inner wall surface of the ventilation duct 12 to prevent the seat 1 from scraping against the inner wall surface of the ventilation duct 12. When the ventilation duct 12 being cleaned does not turn, the anti-scratch wheels 11 may not be provided on the seat 1.

[0038] Specific Embodiment 2 of the Pipe Cleaning Bionic Robot Provided by This Utility Model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the support cylinder in this embodiment only includes the cylinder body, and the front end of the connecting rod is provided with a tripod support frame, which is fixedly connected to the cylinder body.

[0039] Specific embodiment 3 of the bionic robot for pipe cleaning provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the guide body is a square block and the corresponding guide groove is a T-shaped groove. In this embodiment, the guide body can only slide up and down along the guide groove and cannot deflect.

[0040] Specific embodiment 4 of the bionic robot for pipe cleaning provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the shape of the guide groove is the same as that of embodiment 1, but the guide body is a cylindrical structure. The guide body can move up and down in the guide groove, and the cleaning part can also swing to a certain extent in the left and right direction relative to the traveling part, but it cannot swing up and down.

[0041] Specific embodiment 5 of the bionic robot for pipe cleaning provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the upper and lower ends of the guide groove are both fixed with end caps by bolts to seal the upper and lower ends of the guide groove. This can prevent the traveling part and the cleaning part from accidentally separating during the operation.

[0042] Specific embodiment 6 of the bionic robot for pipe cleaning provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the movable connection structure in this embodiment is a floating link. The front end of the floating link is hinged to the rear end of the connecting rod, and the rear end of the floating link is hinged to the seat.

[0043] Specific embodiment 7 of the pipe cleaning bionic robot provided by this utility model: This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the movable connection structure includes a collar fixedly mounted on the base, and the axis of the collar is vertical. The movable connection structure also includes a slide rod fixed to the rear end of the connecting rod. The slide rod extends vertically and passes through the collar, and the collar can slide up and down on the slide rod.

[0044] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A biomimetic robot for pipe cleaning, characterized in that, It includes a traveling section and a cleaning section. The traveling section includes a base and a rotary power unit fixed on the base. The output shaft of the rotary power unit faces rearward and is fixedly connected to a helical shaft. The rear end of the base is connected to a track. Each segment of the track has a frame-shaped structure. The helical shaft passes through the frame-shaped structure of each segment of the track so that when the helical shaft rotates, it drives the track to move in a wave-like motion. The cleaning section includes a support cylinder and a flexible cleaning layer disposed on the outer circumference of the support cylinder. The support cylinder is connected to the front of the traveling section through a movable connection structure and can move forward under the propulsion of the traveling section.

2. The pipe cleaning bionic robot according to claim 1, characterized in that, The front end face of the base is provided with a guide groove extending in the vertical direction, the rear end of the support cylinder is provided with a connecting rod, and the rear end of the connecting rod is provided with a guide body that can move up and down in the guide groove. The width of the guide groove opening is smaller than the width of the guide body to prevent the guide body from coming out of the guide groove forward. The guide groove and the guide body constitute the movable connection structure.

3. The pipe cleaning bionic robot according to claim 2, characterized in that, The upper and / or lower ends of the guide groove penetrate the base body, and the guide body can be inserted into or removed from the guide groove from the upper and / or lower ends.

4. The pipe cleaning bionic robot according to claim 2 or 3, characterized in that, The guide body is spherical, and the guide groove is an arc-shaped groove that matches the shape of the spherical body.

5. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, The width of the track must be less than the inner diameter of the ventilation duct being cleaned, but greater than the inner diameter of the branch duct.

6. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, Anti-slip pads are fixedly installed at both ends of each track segment.

7. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, The flexible cleaning layer is a piece of velvet fixed to the outer circumference of the support cylinder.

8. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, The support cylinder includes a hollow cylinder body and support plates fixed inside the cylinder body. Each support plate is radially parallel to the corresponding position of the cylinder body and all support plates intersect at the axial center of the support cylinder. The connecting rod is fixed at the intersection of the support plates.

9. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, The base is equipped with a rear-facing camera, which is used to capture the condition of the inner wall surface of the pipe after cleaning.

10. The pipe cleaning bionic robot according to any one of claims 1-3, characterized in that, The left and right ends of the seat are equipped with anti-scratch wheels to prevent the seat from directly contacting the inner wall surface of the ventilation duct.

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