CN100522396C - Manipulator for cleaning conduit - Google Patents
Manipulator for cleaning conduit Download PDFInfo
- Publication number
- CN100522396C CN100522396C CNB2007100637236A CN200710063723A CN100522396C CN 100522396 C CN100522396 C CN 100522396C CN B2007100637236 A CNB2007100637236 A CN B2007100637236A CN 200710063723 A CN200710063723 A CN 200710063723A CN 100522396 C CN100522396 C CN 100522396C
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- driving wheel
- wheel
- guide post
- support arm
- leading screw
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Abstract
本发明公开了一种管道清扫机器人，由基体、摄像照明件、三个电机、机械手臂和清洁工具头组成，该机器人采用三轮三角形布置的轮式移动载体，其后两轮为主动轮，前轮为万向从动轮，且前后轮距伸缩可变。该移动载体的布置方式能够最大限度的满足机器人在不同尺寸管道中可靠工作的能力，提高了移动载体的管道适应性。操作臂机构分为和清扫工具头两部分，机械手臂采用接插式快换接口与清扫工具头相连接。只需将清扫工具头旋转90°安装就可将操作臂机构的清扫方向改为径向或纵向。
The invention discloses a pipeline cleaning robot, which is composed of a base body, a camera lighting part, three motors, a mechanical arm and a cleaning tool head. The robot adopts a wheel-type mobile carrier arranged in a triangle with three wheels, and the latter two wheels are driving wheels. The front wheels are universal driven wheels, and the front and rear track is telescopic and variable. The arrangement of the mobile carrier can satisfy the ability of the robot to work reliably in pipes of different sizes to the greatest extent, and improves the adaptability of the mobile carrier to pipes. The operating arm mechanism is divided into two parts and the cleaning tool head, and the mechanical arm is connected with the cleaning tool head by a plug-in quick-change interface. The cleaning direction of the operating arm mechanism can be changed to radial or vertical by simply rotating the cleaning tool head by 90°.
Description
Technical field
The present invention relates to a kind of sweeping robot that is used for the central air conditioning ventilation shaft, belong to mechanical structure field.
Background technology
Development along with modern society, increasing building adopt central air-conditioning system that the temperature of room air, humidity, air velocity etc. are effectively regulated, but because the efficient of its filter can not reach 100% fully, air-conditioning equipment inside also can produce rust and crystallization etc., the long-term dust pollution material that becomes in the airduct of piling up.
If the ventilation shaft of central air conditioning can not be cleaned timely, then can be owing to the increasing of windage, thus energy loss also makes room air relatively poor simultaneously, and laying dust brings out bacteria breed, and communicate illness has a strong impact on people's quality of life.Because traditional manual work quantities is big, operating efficiency is low.
Summary of the invention
The purpose of this invention is to provide a kind of pipeline cleaning robot, this robot adopts the wheeled mobile vehicle of three-wheel triangular arrangement, and two-wheeled is a driving wheel thereafter, and front-wheel is universal driven pulley, and wheel base is flexible variable.The arrangement of this mobile vehicle can satisfy the ability of robot reliably working in the different size pipeline to greatest extent, has improved the pipeline adaptability of mobile vehicle.Motion arm mechanism is divided into and cleaning device head two parts, and mechanical arm adopts the plug-in type rapid replacing interface to be connected with the cleaning device head.Only need cleaning device head half-twist installed and just the cleaning direction of motion arm mechanism can be changed into radially or vertically.
The present invention is a kind of pipeline cleaning robot, is made up of matrix, shooting illumination part, three motors, mechanical arm and cleaning tool head, and left support arm, right support arm, left connecting rod, right connecting rod, slide block, leading screw drive motors and rail brace bar constitute mechanical arm.Air motor, unit head, hairbrush installation shaft and forearm connector constitute cleaning tool head.Three motors are meant the motor that drives left driving wheel and rotate, motor, the leading screw drive motors that drives right driving wheel rotation.
The advantage of pipeline cleaning robot of the present invention is: (1) directive wheel 5a, left driving wheel 5b and right driving wheel 5c are the wheeled mobile vehicle of triangular arrangement, its left driving wheel 5b and right driving wheel 5c are driving wheel, directive wheel 5a is universal driven pulley, and wheel base is flexible variable by the adjusting of left guide post 110, right guide post 109; (2) mechanical arm adopts plug-in type rapid replacing interface (locking nut socket) to be connected with the cleaning device head, can dismantle, change the cleaning device head easily; (3) adjusting lock nut 16 can make cleaning device head half-twist, can change the cleaning direction easily; (4) drive leading screw 107 motions by motor 10 and make left support arm 2a and right support arm 2b lifting or decline, regulated the height of hairbrush effectively, reach good cleaning effect; (5) illumination is adopted the integrated integral piece of function with shooting, has reduced structural complexity and matrix weight; (6) forearm connector 12 adopts Y shape, and air motor 6 can conveniently be installed.
Description of drawings
Fig. 1 is the external structure of robot of the present invention.
Fig. 2 is the upward view of Fig. 1.
Fig. 3 is basal body structure figure.
Fig. 4 is mechanical arm and cleaning tool head assembly structure figure.
Among the figure: 1. right driving wheel 6. air motors of the right support arm 2c. of matrix 101. connectors 102. pedestals 103. left wheel hubs, 104. back shafts 105. shooting illumination installing rack 106. leading screw seats, 107. leading screw 108. top panels, the 109. right guide post 110. left guide post left support arm 2b. of 111. front panels, the 112. left panel 2a. connecting axle 3a. shooting illumination part A3b. shooting illumination left driving wheel 5c. of part B 4a. left connecting rod 4b. right connecting rod 5a. directive wheel 5b. 7. unit heads 8. hairbrush installation shaft 9. slide blocks 10. leading screw drive motors 11. rail brace bars 12. forearm connectors 13. cylinder A 14. cylinder B 15. cylinder C 16. locking nuts
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also shown in the accompanying drawing, the present invention is a kind of pipeline cleaning robot, by matrix, shooting illumination part (shooting illumination part B 3b, shooting illumination part A 3a, installing rack 105), (wherein two are installed on respectively in left driving wheel 5b, the right driving wheel 5c three motors, are used for wheels and rotate; Leading screw drive motors 10 is used to drive leading screw 107 and drives the mechanical arms rotation), mechanical arm and cleaning tool head form, left support arm 2a, right support arm 2b, left connecting rod 4a, right connecting rod 4b, slide block 9, leading screw drive motors 10 and rail brace bar 11 constitute mechanical arms.Air motor 6, unit head 7, hairbrush installation shaft 8 and forearm connector 12 constitute cleaning tool head.Three motors are meant the motor that drives left driving wheel 5b and rotate, motor, the leading screw drive motors 10 that drives right driving wheel 5c rotation.
In the present invention, left wheel hub 103 (shown in Figure 3) is installed on the left panel 112 of the pedestal 102 of matrix 1, right wheel hub (not shown) is installed on the right panel of the pedestal 102 of matrix 1, on left wheel hub 103, fix left driving wheel 5b, on right wheel hub, fix right driving wheel 5c (shown in Figure 2), in the driving wheel 5b of a left side motor is installed, in the right driving wheel 5c motor is installed; The rear end of pedestal 102 is provided with main bolster 104, the two ends of main bolster 104 are connected with left support arm 2a, right support arm 2b respectively, be connected with right guide post 109, left guide post 110 on the front panel 111 of pedestal 102, right guide post 109 and left guide post 110 keeping parallelisms, and between right guide post 109 and the left guide post 110 leading screw seat 106 is installed, be socketed with leading screw 107 on the leading screw seat 106, one end of leading screw 107 is connected with the output shaft of leading screw drive motors 10, and the other end passes slide block 9 and is connected on the connector 101; Be fixed with installing rack 105 on the top panel 108 of pedestal 102, shooting illumination part B 3b is installed on the installing rack 105, shooting illumination part A 3a is fixed on pedestal 102 upper surfaces by screw, be generally and obtained preferable video information, can be installed in the rear portion (Fig. 1, shown in Figure 3) of pedestal 102 upper surfaces.
In the present invention, the end of the left connecting rod 4a of mechanical arm is connected with left support arm 2a, and the other end is connected with the cylinder A 13 of forearm connector 12; The end of right connecting rod 4b is connected with right support arm 2b, and the other end is connected with the cylinder B 14 of forearm connector 12, and the middle part of left support arm 2a and right support arm 2b is connected by connecting axle 2c; The cylinder C 15 of forearm connector 12 is connected with air motor 6 by locking nut 16.Mechanical arm is by a 24V direct current generator drive, and motor vertically is arranged in the dolly, and the protection of car body also can be worked motor safely and reliably under abominable operating environment.Motor is by the worm drive of leading screw, drives the rotation of mechanical arm, and has stopping means, make mechanical arm can be in 0～45 ° of scope free adjustment.Simultaneously, brachium also can be regulated, and manually adjusts flexible back and is fixed by locking device, can make this motion arm mechanism be applicable to the air-conditioning duct of plurality of specifications like this, has certain versatility.In order to overcome entrained cleaning device brush device power of toppling to dolly in operation process, the design does not adopt traditional mode that adds counterweight in the dolly back, but by adjusting the telescopic universal driven pulley of wheelspan (directive wheel 5a) position, make it become the support of motion arm mechanism, saved the driving force of dolly like this, make dolly can overcome bigger cable resistance and increase its stroke, this also is the distinguishing feature that this sweeping robot is different from other domestic and international products.
In the present invention, in the left driving wheel 5b in the matrix 1 motor is installed, in the right driving wheel 5c motor is installed; Pedestal 102 left and right sides are arranged with the fixing wheel hub for left driving wheel 5b, right driving wheel 5c, and wherein, left driving wheel 5b is fixed on the left wheel hub 103 in pedestal 102 left sides (shown in Figure 3), and right driving wheel 5c is fixed on (not shown) on the right wheel hub on pedestal 102 right sides; The link of directive wheel 5a is fixed on stretching boom end (being socketed with the stretching bar respectively in left guide post 110, the right guide post 109, not shown) in the left guide post 110, right guide post 109 by screw; Three variable wheeled mobile vehicles of this (directive wheel 5a and left driving wheel 5b, right driving wheel 5c) wheel base make that its overall dimensions is relative and reduce, turn to conveniently, flexibly, and because the complexity of operating environment in the pipeline adopts the three-wheel walking mechanism more steady than four-wheel, stressed more even.Directive wheel 5a, left driving wheel 5b and right driving wheel 5c are the wheeled mobile vehicle of triangular arrangement, and its left driving wheel 5b and right driving wheel 5c are driving wheel, and directive wheel 5a is universal driven pulley, and wheel base is flexible variable by the adjusting of left guide post 110, right guide post 109.
Observe the operating environment of pipeline, the stretching bars in manually led in a left side thick stick 110, the right guide post 109 stretch, and make wheel base between directive wheel 5a and left driving wheel 5b, the right driving wheel 5c to appropriate length, and robot is put into pipeline.Increase the wheel base between directive wheel 5a and left driving wheel 5b, the right driving wheel 5c, be in order to overcome the hairbrush that is installed on the hairbrush installation shaft 8 the power of toppling in cleaning process to robot, guarantee the job stability of robot, save its driving force, make it can overcome bigger cable resistance and increase its stroke, no longer need to adopt tradition to go into the mode that matrix 1 rear portion adds counterweight at machine, this also is the distinguishing feature that this sweeping robot is different from other domestic and international products.
Pipeline cleaning robot of the present invention, the pipe interior environmental information according to make a video recording illumination part A3a or shooting illumination part B3b are obtained drives and is installed in left driving wheel 5b and the interior motor (24V direct current generator) of right driving wheel 5c respectively.When identical and rotating speed equates when two motor steerings, robot straight ahead or retreat; When identical and rotating speed did not wait when two motor steerings, robot turned with different turning radius under the situation of advancing or retreating to the left or to the right; When two motor steerings are opposite fully, the robot pivot turn.Adopt shooting and illumination integrated mounting means, use flexibly, save the space, make vehicle structure more compact.A shooting illumination all-in-one respectively is housed before and after dolly, and for remote operator provides 360 ° visual angle, wherein the white light LEDs new light sources is used in illumination, and is energy-conservation anti-dazzle, guaranteed the colored high-resolution picture of Remote.
Pipeline cleaning robot of the present invention is in walking, bevel-gear sett (drive bevel gear, by dynamic bevel gear) is installed in the unit head 7, air motor 6 outputs are installed on the drive bevel gear of unit head 7 inside, by dynamic bevel gear and drive bevel gear engagement, hairbrush installation shaft 8 is by the output shaft of dynamic bevel gear, stretch out outside unit head 7 at the two ends of hairbrush installation shaft 8, is used to install hairbrush on the extension of hairbrush installation shaft 8.Under air motor 6 effects, the bevel-gear sett transmission change direction by unit head 7 mounted inside makes the hairbrush high speed rotating through hairbrush installation shaft 8, finishes the cleaning requirement.
The matrix 1 of pipeline cleaning robot of the present invention adopts motor (being installed in the motor in left driving wheel 5b and the right driving wheel 5c) to drive, in traditional design, driving wheel and motor all are the high-power arrangements of taking, connect by drive disk assembly, wasted big quantity space, and the design difficulty increase, structure is too complicated, difficulty of processing and cost are all bigger, poor reliability.And the design need not the heavy-duty motor driving, and driving wheel adopts the arrangement of electric machine built-in in wheel with innovative idea, has saved transmission mechanism, makes structure greatly compact, two-wheeled motion mutually noninterfere, good reliability.In actual use, consider of the requirement of cleaning difformity pipeline, can change adaptive to wheel set at the different requirements of circular pipe and square pipe to mobile vehicle.The arrangement of this mobile vehicle can satisfy the ability of robot reliably working in the different size pipeline to greatest extent, has improved the pipeline adaptability of mobile vehicle.
Claims (1)
1, a kind of pipeline cleaning robot is characterized in that: this robot by matrix (1), shooting illumination part A (3a), shooting illumination part B (3b), installing rack (105), drive motor that left driving wheel (5b) rotates, drive motor, mechanical arm and the cleaning tool head that right driving wheel (5c) rotates and form;
Left side support arm (2a), right support arm (2b), left connecting rod (4a), right connecting rod (4b), slide block (9), leading screw drive motors (10) and rail brace bar (11) constitute mechanical arm; One end of left side connecting rod (4a) is connected with left support arm (2a), and the other end is connected with the cylinder A (13) of forearm connector (12); One end of right connecting rod (4b) is connected with right support arm (2b), and the other end is connected with the cylinder B (14) of forearm connector (12), and the middle part of left support arm (2a) and right support arm (2b) is connected by connecting axle (2c); The cylinder C (15) of forearm connector (12) is connected with air motor (6) by locking nut (16);
Air motor (6), unit head (7), hairbrush installation shaft (8) and forearm connector (12) constitute cleaning tool head; Unit head is equipped with drive bevel gear in (7), by dynamic bevel gear, air motor (6) output is installed on the inner drive bevel gear of unit head (7), by dynamic bevel gear and drive bevel gear engagement, hairbrush installation shaft (8) is by the output shaft of dynamic bevel gear, and stretch out outside unit head (7) at the two ends of hairbrush installation shaft (8);
On the left panel (112) of the pedestal (102) of matrix (1) left wheel hub (103) is installed, on the right panel of the pedestal (102) of matrix (1) right wheel hub is installed, go up fixing left driving wheel (5b) at left wheel hub (103), on right wheel hub, fix right driving wheel (5c), the motor that is used to drive left driving wheel (5b) rotation is installed in the left side driving wheel (5b), the motor that is used to drive right driving wheel (5c) rotation is installed in the right driving wheel (5c); The rear end of pedestal (102) is provided with back shaft (104), the two ends of back shaft (104) respectively with left support arm (2a), right support arm (2b) connects, be connected with right guide post (109) on the front panel (111) of pedestal (102), left side guide post (110), right guide post (109) and left guide post (110) keeping parallelism, and between right guide post (109) and the left guide post (110) leading screw seat (106) is installed, be socketed with leading screw (107) on the leading screw seat (106), one end of leading screw (107) is connected with the output shaft of leading screw drive motors (10), and the other end passes slide block (9) and is connected on first connector (101); Be fixed with installing rack (105) on the top panel (108) of pedestal (102), shooting illumination part B (3b) is installed on the installing rack (105), and shooting illumination part A (3a) is fixed on pedestal (102) upper surface by screw;
Directive wheel (5a), left driving wheel (5b) and right driving wheel (5c) are the wheeled mobile vehicle of triangular arrangement, its left driving wheel (5b) and right driving wheel (5c) are driving wheel, directive wheel (5a) is universal driven pulley, and wheel base is flexible variable by the adjusting of left guide post (110), right guide post (109).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100637236A CN100522396C (en) | 2007-02-08 | 2007-02-08 | Manipulator for cleaning conduit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100637236A CN100522396C (en) | 2007-02-08 | 2007-02-08 | Manipulator for cleaning conduit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101011700A CN101011700A (en) | 2007-08-08 |
| CN100522396C true CN100522396C (en) | 2009-08-05 |
Family
ID=38699525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100637236A Expired - Fee Related CN100522396C (en) | 2007-02-08 | 2007-02-08 | Manipulator for cleaning conduit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100522396C (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8347445B2 (en) * | 2008-07-29 | 2013-01-08 | Ibs Engineering Co., Ltd. | Remote controlled robot for cleaning inner-walls of duct and remote control system using same |
| CN101811526B (en) * | 2010-05-10 | 2012-06-06 | 林星 | Pipeline cleaning trolley |
| CN101870103B (en) * | 2010-06-07 | 2014-11-05 | 华东理工大学 | Flaw detection robot for automatic collimation and automatic steering in circular pipeline |
| CN102784771A (en) * | 2011-05-17 | 2012-11-21 | 上海天净管业有限公司 | Water pipe cleaning robot |
| CN103286108B (en) * | 2013-05-16 | 2016-04-20 | 泰安泰山工程机械股份有限公司 | For carrying the cleaning device of distinguished and admirable pipeline |
| CN104452811A (en) * | 2014-11-28 | 2015-03-25 | 华南理工大学 | Large and intelligent tunnel marine organism clearing device and method on anhydrous condition |
| CN106514709A (en) * | 2015-09-09 | 2017-03-22 | 青岛通产智能机器人有限公司 | Connection device for robot and operation terminal |
| CN105922234A (en) * | 2016-06-27 | 2016-09-07 | 四川阿泰因机器人智能装备有限公司 | Mobile robot triangular chassis assembly |
| CN106078442B (en) * | 2016-08-09 | 2018-11-02 | 北京石油化工学院 | A kind of pipe is interior to be ground cutter device |
| CN109759398B (en) * | 2019-02-15 | 2021-11-02 | 江苏荣邦机械制造有限公司 | Automatic cleaning device for rail transit air pipe |
| CN110771651A (en) * | 2019-11-26 | 2020-02-11 | 重庆智能机器人研究院 | Personalized cake customizing device |
| CN115254827B (en) * | 2022-07-21 | 2023-09-22 | 国网山东省电力公司济南市历城区供电公司 | A cable protection tube dredging equipment |
| CN118323864B (en) * | 2024-04-10 | 2024-09-27 | 江苏鑫港业供应链管理有限公司 | High-pressure air cleaning machine for inner wall of air conveying chute |
| CN120515774B (en) * | 2025-07-24 | 2025-09-30 | 山西省智慧交通实验室有限公司 | High-speed tunnel drain pipe scale cleaning robot device and method thereof |
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2007
- 2007-02-08 CN CNB2007100637236A patent/CN100522396C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101011700A (en) | 2007-08-08 |
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Granted publication date: 20090805 Termination date: 20100208 |