CN111408588A - A pipeline cleaning robot and its pipeline cleaning method - Google Patents

Abstract

The invention discloses a pipeline cleaning robot and a pipeline cleaning method thereof. Existing pipe cleaning robots are not clean enough to clear blockages, and are difficult to turn and move vertically. The traveling bin and the storage bin of the present invention are connected by bellows; when there are multiple storage bins, every two adjacent storage bins are connected by a bellows; the top and bottom of the traveling bin and the storage bin are provided with two A walking component; among the two walking components at the bottom of the walking bin, the two rollers of at least one walking component are respectively driven by a hub motor; each hub motor is controlled by the controller; the front end of the walking bin is installed with a manipulator and an interface; the manipulator is driven by The controller is controlled; the interface is communicated with the inner cavity of the adjacent storage bins through a conveying pipe; when there are multiple storage bins, the inner cavities of every two adjacent storage bins are communicated through a conveying pipe; the output end of the conveying pipe is set. There is a negative pressure pump. The invention has good pipe cleaning effect and can also walk in vertical pipes.

Description

A pipeline cleaning robot and its pipeline cleaning method

technical field

The invention belongs to the field of mechanical equipment, and in particular relates to a pipeline cleaning robot and a pipeline cleaning method thereof.

Background technique

If the pipeline is blocked during use, certain means must be used to clear the blockage. Generally, if the blockage is more than 10 meters away from the nozzle, workers cannot use extensions such as long rods and springs to dredge the pipeline from the nozzle. In order to be able to clear the blockages deep in the pipeline, the Chinese patent application "A Pipeline Cleaning Robot" with the application number of 201910950174.7 provides a robot that can walk into the depths of the pipeline by itself, mainly including a stirring and cleaning mechanism, a universal walking body mechanism, clamping support mechanism and driving mechanism; the defects of this pipeline cleaning robot are: 1. The working ability of the stirring and cleaning mechanism is unstable, and some corrupt and fragile blockages cannot be combined with the stirring and cleaning mechanism, which will lead to blockages If it stays in the pipeline, it is easy to continue to accumulate and cause secondary blockage of the pipeline; 2. The entire pipeline cleaning robot is large and difficult to turn in the pipeline; 3. The walking mechanism can only move in the horizontal pipeline and cannot be applied to the vertical pipeline.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a pipeline cleaning robot for the problems that the pipeline cleaning robot in the prior art is not clean enough to clean the blockage, easily retains small blockages, and the pipeline cleaning robot is difficult to turn and move vertically in the pipeline. A robot and a method for cleaning a pipe thereof.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

The present invention is a pipeline cleaning robot, comprising a walking bin, a walking component, a manipulator, a storage bin and a conveying pipe; a storage bin is arranged behind the walking bin, and the traveling bin and the storage bin are connected by a corrugated pipe; the storage bins are multiple When , every two adjacent storage bins are connected by corrugated pipes.

The top and bottom of the walking bin and the storage bin are provided with two walking components; the walking components include a vertical rod, a spring, a horizontal rod, a rotating shaft and a roller; the vertical rod and the walking bin or the storage bin form a sliding motion One end of the vertical rod provided with the limit ring is set in the walking bin or the storage bin, and the other end is fixed with the cross bar; the spring is sleeved on the vertical rod; the rotating shaft is fixed with the horizontal rod; Each of the rollers respectively constitutes a rotating pair; among the two walking assemblies at the bottom of the walking bin, the two rollers of at least one traveling assembly are respectively driven by a hub motor; each hub motor is controlled by a controller.

The front end of the walking bin is equipped with a manipulator and an interface; the manipulator is controlled by the controller; the interface is communicated with the inner cavity of the adjacent storage bin through a conveying pipe; when there are multiple storage bins, the inner cavity of each adjacent two storage bins It is communicated through a conveying pipe; a negative pressure pump is arranged at the output end of the conveying pipe.

Further, a camera and a lighting device are also installed at the front end of the walking bin, and the camera and the lighting device are both controlled by the controller, and the camera transmits the captured image information to the controller.

Further, the conveying pipe and the negative pressure pump form a hose auger.

Further, the storage bin is provided with a conveyor belt mechanism, and the input end of the conveyor belt mechanism in the storage bin is located below the communication interface or the output end of the conveying pipe in the inner cavity of the previous storage bin; when there are multiple storage bins, the The output end of the conveying belt mechanism is located above the input end of the conveying pipe which communicates with the inner cavity of the latter storage bin.

Further, the conveyor belt mechanism includes a conveyor motor, a conveyor pulley and a conveyor belt; the two conveyor pulleys are hinged in the storage bin and connected by the conveyor belt; the conveyor motor is controlled by the controller and drives one of the conveyor pulleys .

Further, the surface of the conveyor belt is provided with anti-skid lines.

The pipeline cleaning method of the pipeline cleaning robot is as follows:

The host computer communicates with the controller and sends instructions to the controller; the controller controls the hub motor, and the hub motor drives the rollers to make the walking bin move forward; during the advancing process of the walking bin, the controller controls the lighting device to turn on, and the camera transmits the captured image information to the controller When the controller identifies the blockage according to the image information captured by the camera, it controls the manipulator to grab the blockage in the pipeline to the interface, and transport the blockage through the conveying pipe to the storage bin close to the walking bin. The conveyor belt mechanism will transport the blockage backward; when there are multiple storage bins, the blockage will be further transported to the next storage bin through the conveyor belt mechanism and the conveying pipe until it is transported to the last storage bin. When the cleaned pipeline is in a vertical state, since the spring is arranged in the walking assembly, there is pressure between the roller and the inner wall of the vertical pipeline, and the walking bin can walk in the vertical pipeline. After the cleaning is completed or each storage bin is full of blockages, the wheel hub motor drives the rollers to make the walking bin retreat to the pipe opening to clear the blockages in each storage bin.

The beneficial effects of the present invention are: (1) The pipeline cleaning robot of the present invention uses a manipulator to clear the blockage in the pipeline, and cooperates with the conveying pipe to store the blockage inside the robot, and all kinds of small pieces and fragile blockages can be removed. It can prevent blockages from staying in the pipeline, and has a good pipeline cleaning effect. (2) The pipeline cleaning robot of the present invention is equipped with one or more storage bins after the walking bin, so that the robot can carry a large amount of blockages in one cleaning trip, the cleaning efficiency is high, and the walking bin can be installed with more other Accessories. (3) The pipeline cleaning robot of the present invention uses a corrugated pipe to connect the walking bin and the storage bin, which improves the cleaning capability of the robot without affecting the steering capability of the robot. (4) The pipeline cleaning robot of the present invention is provided with a spring on the vertical rod of the walking component, so that there is pressure between the roller and the inner wall of the pipeline, so that the robot can also walk in the vertical pipeline, and the scope of application of the robot is increased. (5) The pipeline cleaning robot of the present invention is provided with a conveyor belt in the storage bin, and the conveyor belt transports the blockage from the front to the rear of the storage bin, so that the blockage is evenly stored in the storage bin.

Description of drawings

FIG. 1 is a perspective view of the overall structure of the present invention.

FIG. 2 is a top view of the structure of the present invention.

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 .

FIG. 4 is a perspective view of the structure of the walking bin in the present invention.

Among them: 100, walking bin; 110, camera; 120, lighting device; 130, interface; 200, walking component; 210, vertical rod; 220, spring; 230, horizontal rod; 240, rotating shaft; 250, roller; 300, manipulator 400, the first conveying pipe; 500, the storage bin; 510, the conveyor belt mechanism; 600, the second conveying pipe; 700, the bellows.

Detailed ways

The present invention will be further described in detail below in conjunction with specific embodiments.

As shown in FIG. 1, FIG. 2, FIG. 3 and FIG. 4, a pipeline cleaning robot includes a walking bin 100, a walking assembly 200, a manipulator 300, a first conveying pipe 400, a storage bin 500 and a second conveying pipe 600; Two storage bins 500 are arranged behind the bin 100 , and the traveling bin 100 and the storage bin 500 and between the two adjacent storage bins 500 are connected by corrugated pipes 700 .

The top and bottom of the traveling bin 100 and the storage bin 500 are provided with two traveling assemblies 200; the traveling assembly 200 includes a vertical bar 210, a spring 220, a horizontal bar 230, a rotating shaft 240 and a roller 250; the vertical bar 210 is connected to the traveling bin 100 or storage The bin 500 constitutes a sliding pair; one end of the vertical rod 210 provided with a limit ring is set in the walking bin 100 or the storage bin 500, and the other end is fixed with the horizontal rod 230; the spring 220 is sleeved on the vertical rod 210; The two ends of the rotating shaft 240 and the two rollers respectively form a rotating pair; in the two walking assemblies 200 at the bottom of the walking bin 100, the two rollers 250 of at least one walking assembly 200 are respectively driven by a hub motor; each hub motor is controlled by the controller control.

A manipulator 300, a camera 110, a lighting device 120 and an interface 130 are installed on the front end of the walking bin 100; the camera 110, the lighting device 120 and the manipulator 300 are all controlled by the controller, and the camera 110 transmits the captured image information to the controller; The interface 130 is used as a blockage storage point; the input end of the first conveying pipe 400 is communicated with the interface 130, and the output end of the first conveying pipe 400 and the input end of the second conveying pipe 600 are both arranged in the storage compartment 500 close to the walking compartment 100; The output end of the second conveying pipe 600 is connected to the storage compartment 500 away from the traveling compartment 100; the output ends of the first conveying pipe 400 and the second conveying pipe 600 are provided with negative pressure pumps to provide negative pressure, and the first conveying pipe 400 or The second conveying pipe 600 can integrate a negative pressure pump and adopt a hose auger; both storage bins 500 are provided with a conveyor belt mechanism 510, and the conveyor belt surface of the conveyor belt mechanism 510 is provided with anti-skid lines; the storage bin close to the walking bin 100 The input end of the conveyor belt mechanism 510 in 500 is located below the output end of the first conveyor pipe 400, and the output end is located above the input end of the second conveyor pipe 600; Below the output end of the conveying pipe 600; the conveying belt mechanism 510 includes a conveying motor, a conveying pulley and a conveying belt; the two conveying pulleys are hinged in the storage bin 500 and connected by the conveying belt; the conveying motor is controlled by the controller and driven One of the conveyor pulleys.

The pipeline cleaning method of the pipeline cleaning robot is as follows:

The host computer communicates with the controller (with a wireless module on the controller) through a wireless network; the controller controls the hub motor, and the hub motor drives the rollers to make the walking bin 100 move forward; during the advancing process of the walking bin 100, the controller controls the lighting device 120 to turn on, The camera 110 transmits the captured image information to the controller; when the controller identifies the blockage according to the image information captured by the camera 110, the controller controls the manipulator 300 to grab the blockage in the pipeline to the interface 130; the first conveying pipe 400 removes the blockage The blockage is transported to the storage bin 500 close to the walking bin 100 , the conveyor belt mechanism 510 in the storage bin 500 transports the blockage backward, and the second conveying pipe 600 further transports the blockage to another storage bin 500 . When the cleaned pipeline is in a vertical state, since the spring 220 is arranged in the walking assembly 200, there is pressure between the roller 250 and the inner wall of the vertical pipeline, and the walking bin 100 can walk in the vertical pipeline. After the cleaning is completed or when the two storage bins 500 are full and can no longer store the blockage, the wheel hub motor drives the roller to make the walking bin 100 retreat to the pipe opening, and clean all the blockages in the two storage bins 500 for use.

Since the pipeline cleaning robot of the present invention adopts the manipulator 300 to clear the blockage, it can clear all the blockages out of the pipeline while dredging the pipeline, avoiding the phenomenon of clearing the pipeline but retaining part of the blockage in the pipeline, which is beneficial to prevent secondary blockage of the pipeline In addition, due to the function of the bellows 700, the pipeline robot can not only hang one or more (two in this embodiment) storage bins 500 to store a large number of blockages, but also can freely turn in the pipeline.

Although the embodiments of the present invention have been described in the specification, these embodiments are merely indicative and should not limit the protection scope of the present invention. Various omissions, substitutions and changes made within the scope of not departing from the spirit of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. a pipeline cleaning robot, comprising a walking warehouse and a walking assembly, it is characterized in that: also comprise a manipulator, a storage warehouse and a conveying pipe; a storage warehouse is arranged behind the described walking warehouse, and a bellows is connected between the walking warehouse and the storage warehouse ; When there are multiple storage bins, each adjacent two storage bins are connected by bellows; The top and bottom of the walking bin and the storage bin are provided with two walking components; the walking components include a vertical rod, a spring, a horizontal rod, a rotating shaft and a roller; the vertical rod and the walking bin or the storage bin form a sliding motion One end of the vertical rod provided with the limit ring is set in the walking bin or the storage bin, and the other end is fixed with the cross bar; the spring is sleeved on the vertical rod; the rotating shaft is fixed with the horizontal rod; The two rollers respectively form the rotating pair; among the two walking assemblies at the bottom of the walking bin, the two rollers of at least one walking assembly are respectively driven by a hub motor; each hub motor is controlled by the controller; The front end of the walking bin is equipped with a manipulator and an interface; the manipulator is controlled by the controller; the interface is communicated with the inner cavity of the adjacent storage bin through a conveying pipe; when there are multiple storage bins, the inner cavity of each adjacent two storage bins It is communicated through a conveying pipe; a negative pressure pump is arranged at the output end of the conveying pipe. 2. a kind of pipeline cleaning robot according to claim 1 is characterized in that: the front end of described walking warehouse is also installed with camera and lighting device, camera and lighting device are all controlled by controller, camera transmits the image information of taking to controller. 3 . The pipeline cleaning robot according to claim 1 , wherein the conveying pipe and the negative pressure pump form a hose auger. 4 . 4. A pipeline cleaning robot according to claim 2, characterized in that: the storage bin is provided with a conveyor belt mechanism, and the input end of the conveyor belt mechanism in the storage bin is located at the communication interface or the inner cavity of the previous storage bin. Below the output end of the conveying pipe; when there are multiple storage bins, the output end of the conveyor belt mechanism in the storage bin is located above the input end of the conveying pipe that communicates with the inner cavity of the latter storage bin. 5. A pipeline cleaning robot according to claim 4, characterized in that: the conveyor belt mechanism comprises a conveyor motor, a conveyor pulley and a conveyor belt; the two conveyor pulleys are hinged in the storage bin and pass through the conveyor belt Connection; the conveyor motor is controlled by the controller and drives one of the conveyor pulleys. 6 . The pipeline cleaning robot according to claim 1 , wherein the surface of the conveyor belt is provided with anti-skid lines. 7 . 7. The pipeline cleaning method of a pipeline cleaning robot according to claim 4 or 5, wherein the method is as follows: The host computer communicates with the controller and sends instructions to the controller; the controller controls the hub motor, and the hub motor drives the rollers to make the walking bin move forward; during the advancing process of the walking bin, the controller controls the lighting device to turn on, and the camera transmits the captured image information to the controller When the controller identifies the blockage according to the image information captured by the camera, it controls the manipulator to grab the blockage in the pipeline to the interface, and transport the blockage through the conveying pipe to the storage bin close to the walking bin. The conveyor belt mechanism will transport the blockage backward; when there are multiple storage bins, the blockage will be further transported to the next storage bin through the conveyor belt mechanism and the conveying pipe until it is transported to the last storage bin; when the cleaned pipeline is vertical In the state, because the spring is set in the walking component, there is pressure between the roller and the inner wall of the vertical pipeline, and the walking bin can walk in the vertical pipeline; after the cleaning is completed or each storage bin is full of blockages, the in-wheel motor Drive the rollers to make the walking bins retreat to the pipe mouth to clear the blockages in the storage bins.

Images