CN101130376B - Pace Walking Pipeline Cleaning Robot - Google Patents

Abstract

The invention relates to the field of pipeline dirt cleaning machinery, in particular to a walking-type pipeline cleaning robot. It consists of a walking part and a functional part. The walking part includes a walking cylinder, a front tension cylinder, a front gas distribution plate, a rear tension cylinder, a rear gas distribution plate, an intermediate connection plate, a ball hinge, a guide wheel and a sleeve. Walking adopts the principle of bionics, and the front and rear radial tensioning mechanisms each have four radially evenly distributed front tensioning cylinders, tensioning heads and front air distribution discs, four radially evenly distributed rear tensioning cylinders, tensioning heads and the rear gas distribution plate, respectively imitating the tightening and relaxing actions of human hands and feet on the pipe wall. The walking cylinder imitates the stretching and contracting action of the human body to achieve step-style walking. The cylinder body of the walking cylinder is fixed with the middle connection plate and the rear air distribution plate. The piston rod and the front air distribution plate are connected by ball hinges to reduce the straightness error of the pipeline. effect on movement. Through the coordinated movement of the front tension cylinder, rear tension cylinder and walking cylinder, the robot can move forward and backward along the straight pipe, and the speed can be adjusted and the moving distance can be controlled by the pneumatic system and control system.

Description

Pace Walking Pipeline Cleaning Robot

technical field

The invention relates to the field of pipeline dirt cleaning machinery, in particular to a walking-type pipeline cleaning robot. the

Background technique

The pipeline cleaning robot is a tool to realize the mechanization and automation of descaling on the inner wall of the pipeline. It is used to remove oil, wax, scale, etc. from pipelines such as oil, water, and natural gas. It solves the problem of time-consuming and labor-intensive manual cleaning. Efficiency, quality assurance, and cost savings. The driving and walking mechanism design of the pipeline robot is its key technology. The existing driving methods are divided into three types: self-contained power source, fluid pressure and external thrust of the pipe. The walking mechanism includes wheel type, foot type, and peristaltic type. For example, my country's utility model patent CN2734434 "Pipeline Cleaning Robot" adopts a crawler travel mechanism and is powered by a travel motor. The cleaning head is driven by an air motor and can change its position through the lifting arm. It is suitable for cleaning various complex pipelines without leaving dead ends. Thoroughly remove sundries, dust and germs, but its volume and weight are large, its structure is complicated, and its installation cost is high. It is not suitable for cleaning small-sized pipelines, and it is also difficult to advance in inclined pipelines. Another example is my country's utility model patent CN2706250 "an industrial pipeline cleaning device". The cleaning head contained in the cleaning machine is composed of a double-acting cylinder and a brush, using compressed air as the power, and changing the direction of the cylinder intake alternately, according to the law of minimum resistance, It moves the piston rod or the cylinder body, pushes and pulls the front and back bristles to rub and clean the pipe wall, and has the advantages of simple structure, easy disassembly and installation, low power consumption, strong adaptability to the environment, low installation cost, and no pollution. However, the bristles can only move axially along the pipe, so the cleaning quality of the pipe wall cannot be guaranteed. The cleaning head cannot maintain a centered position in the pipe due to its own weight, resulting in high walking resistance, and it is impossible to observe the internal conditions of the pipe. the

Contents of the invention

The object of the present invention is to provide a kind of automatic machinery that overcomes above-mentioned defect, realizes small size, horizontal or inclined installation pipeline dirt cleaning. the

The walking-type pipeline cleaning robot is characterized in that it adopts pneumatic technology powered by compressed air, and does not require a complicated mechanical transmission mechanism between the air source and the actuator that completes the action. The linear cylinder is used as the actuator to form a walking mechanism. The rotary cylinder drives the functional brush head. The structure of the whole machine is simple, reliable, and low in cost. It has waterproof and dustproof functions. It can be used in places with flammable, explosive and radiation hazards. The entire cleaning process is completed through programmable controller and touch screen control.

The robot consists of a walking part and a functional part. The walking part includes a walking cylinder, a front tension cylinder, a front gas distribution plate, a rear tension cylinder, a rear gas distribution plate, an intermediate connection plate, a ball hinge, a guide wheel and a sleeve. Walking adopts the principle of bionics, and the front and rear radial tensioning mechanisms are composed of four uniformly distributed front tensioning cylinders, tensioning head and front air distribution plate, four rear tensioning cylinders, tensioning head and rear air distribution evenly distributed in the circumferential direction. Composed of discs, respectively imitating the tightening and relaxing actions of human hands and feet on the tube wall. The walking cylinder imitates the stretching and contracting action of the human body to realize walking. The cylinder body of the walking cylinder is fixed with the middle connection plate and the rear air distribution plate. The piston rod and the front air distribution plate are connected by ball hinges to reduce the straightness error of the pipeline. effect on movement. Through the coordinated movement of the front tension cylinder, rear tension cylinder and walking cylinder, the robot can move forward and backward along the straight pipe, and the speed can be adjusted and the moving distance can be controlled by the pneumatic system and control system. The sleeve is installed between the middle connection plate and the rear gas distribution plate, and protects the solenoid valve and its electrical components installed on the travel cylinder. the

Two sets of symmetrically configured elastic guide wheels are installed on the front air distribution plate and the sleeve of the robot, which contact the pipe wall along the radial direction of the pipe to play a supporting and guiding role. On the one hand, it reduces the frictional resistance when the robot walks and makes the walking stable; on the other hand, because of its symmetrical structure, it has the function of automatically centering the rotary cylinder connected to the front air distribution plate and the cleaning head driven by it, ensuring cleaning The work goes on smoothly. the

The functional part of the robot consists of a rotary cylinder and a cleaning head. Combined with step-style walking, the working method of repeated cleaning in sections is adopted. The rotary cylinder can drive the cleaning head with multiple brush heads to swing forward and reverse with a rotation angle greater than 180 degrees. At this time, the front tensioning mechanism is loosened, and the rear tensioning mechanism tightens the pipe wall. With the cooperation of the brush head, the brush head is close to the pipe wall for radial and axial compound movements, and the network track formed by the brush head on the pipe wall is used to repeatedly clean all parts of the pipe wall, so that the cleaning range and cleanliness are guaranteed. In order to increase the friction between the brush head and the pipe wall, an elastic tension mechanism is designed on the cleaning head, so that the brush head is close to the inner wall of the pipe under the action of the spring force. A spray head can be installed on the robot to directly spray the cleaning liquid to the working position of the brush head to achieve better cleaning effect. the

The advantages of the present invention are as follows:

(1) A large number of pneumatic standard parts are used, which reduces the design and processing time, and ensures the reliability of the equipment and the convenience of maintenance. The whole machine is compact in structure, small in size and light in weight, and can be used for cleaning small-sized pipelines;

(2) The radial tensioning mechanism adopts the thread connection method, and the tensioning cylinder (screw cylinder) is installed radially and uniformly on the gas distribution plate, and the gas is supplied to the single-acting cylinder through the air channel in the disk. This integrated mechanism reduces Reduce the number of connecting elements and pipes, save space, simplify disassembly, fastening and loosening due to short strokes;

(3) Adopting a symmetrical tensioning scheme for the pipe wall and symmetrically setting guide wheels, the robot can self-center using the pipe, overcome the influence of its own gravity, and can travel and clean in a straight pipe placed at an angle. By replacing the tensioning head and Guide wheel gasket adjustment, can adapt to the cleaning requirements of different sizes of pipe diameter;

(4) The solenoid valve is symmetrically fixed on the cylinder body of the walking cylinder, and the centralized air supply from the external air source reduces the number of external air pipes of the cable robot and improves the flexibility and stability of the robot walking in the pipeline;

(5) Electrical components such as solenoid valves and magnetic proximity switches are protected by sleeves, so that the robot has dustproof and waterproof functions. According to the pollution of the pipe wall, brush heads with different functions are used to clean the inner wall of the pipe with the cooperation of cleaning fluid. Repeated cleaning in sections, the site situation can be observed through the front lighting and camera, which ensures the cleaning quality;

(6) Combining pneumatic components with electrical and electronic components (PLC, touch screen) to realize visual operation, multi-command control mode, convenient and practical, and realize fast, safe and low-cost cleaning process automation. the

Description of drawings

The structural representation of Fig. 1 machinery of the present invention (without connecting trachea)

Figure 2 Pneumatic schematic diagram

Figure 3 control flow chart

(1) Cleaning head (2) Rotary cylinder (3), (11) Tensioning head (4) Front tensioning cylinder (5) Front gas distribution plate (6) Ball hinge (7) Intermediate connection plate (8) Traveling cylinder (9) Solenoid valve (10) Guide wheel (12) Rear clamping cylinder (13) Rear gas distribution plate (14) Indicator light (15) Aviation plug seat (16) Sleeve (17) Lighting lamp and camera (18) Magnetic proximity switch (19) one-way throttle valve

Detailed ways

As shown in Figure 1, the specific details of the mechanical structure of the present invention are: the robot is composed of a walking part and a functional part. It mainly includes cleaning head (1), rotary cylinder (2), travel cylinder (8), front tension cylinder (4), front air distribution plate (5), rear tension cylinder (12), rear air distribution plate (13 ), tensioning head (3,11), intermediate connection plate (7), ball hinge (6), guide wheel (10) and sleeve (16). The front and rear radial tensioning mechanisms of the walking part are respectively composed of four circumferentially evenly distributed front and rear tensioning cylinders (4, 12), tensioning heads (3, 11) and front and rear gas distribution plates (5, 13). The walking cylinder (8) imitates the telescopic action of the human body to realize walking in steps. The front and rear end faces of the walking cylinder body are respectively fixed with the middle connection plate (7) and the rear gas distribution plate (13). The piston of the walking cylinder (8) Rod and front gas distribution plate (5) adopt ball hinge (6) to connect. Sleeve (16) is installed between the middle connecting plate (7) and the rear gas distribution plate (11). Through the coordinated movement of the front tension cylinder (4), the rear tension cylinder (12) and the travel cylinder (8), the robot can move forward and backward along the straight pipe, and the speed can be adjusted and the moving distance can be realized by the pneumatic system and control system. control. Two groups of symmetrically configured elastic guide wheels (10) are installed on the front air distribution panel (5) and the sleeve (17) of the robot to play the roles of support, guidance and centering. the

The functional part of the robot is fixed on the front gas distribution panel (5) by the rotary cylinder (2) cylinder body, and the rotating shaft can drive the cleaning head (1) with multiple brush heads to make forward and reverse swings with a rotation angle greater than 180 degrees. An elastic tensioning mechanism is designed on the cleaning head (1), so that the brush head is close to the inner wall of the pipeline under the action of spring force. A spray head can be installed on the robot to directly spray the cleaning liquid to the working position of the brush head to achieve better cleaning effect. the

As shown in Figure 2, the piston of the actuator travel cylinder (8) is inlaid with a magnetic ring, and a magnetic proximity switch (18) is installed at the end of the piston stroke on the cylinder body; the tension cylinder (4) (12) is single-acting Spring return cylinder; the swing angle of the rotary cylinder (2) is greater than 180 degrees. A one-way throttle valve (19) is installed on the air connection ports of the walking cylinder (8) and the rotary cylinder (2) to adjust the speed of walking and cleaning. The reversing valve (9) that controls the movement direction of the walking cylinder (8) and the rotary cylinder (2) adopts a two-position five-way solenoid valve, and the reversing valve (9) that supplies air to the front and rear air distribution discs (5) (13) For the convenience of installation, the same type of solenoid valve is also used, and one of the working ports is blocked when in use. the

Connect the trachea, control cable with aviation plug, and video cable to the corresponding interface of the robot, and prepare for ventilation and power. The functions that can be realized in the touch screen screen are: control the robot's front and rear two-way walking, select the number of cleaning times and cleaning length, monitor the running status, realize manual and automatic switching, and so on. the

As shown in Figure 3, after switching to the manual working mode, you can control the forward and backward movements of the robot, and check whether the cylinder and the tensioning mechanism are working normally; after switching to the automatic working mode, you can choose the walking direction (forward/backward), Working mode (cleaning/walking), set the number of walking steps and the number of times of cleaning in each step, press the start button to run after completion, the robot will automatically stop or return to the original position after completing the cleaning work of a section of straight pipe (single/going) , and display the number of steps currently taken during work. Press the stop key to interrupt the operation immediately. Judge whether it is working by observing the light and extinction of the indicator light (14) at the tail of the robot. If there is an obstacle during the movement of the walking cylinder, the touch screen will automatically send out a buzzer alarm and stop the movement, and the robot will be gradually withdrawn from the pipeline manually. the

Claims (5)

1. step walking type pipeline cleaning robot is made up of crawler body and funtion part, and crawler body comprises that walking cylinder (8), anteroposterior diameter are to tightening mechanism, middle terminal pad (7), spherical hinge (6), track adjusting wheel (10) and sleeve (16); It is characterized in that anteroposterior diameter constitutes with four circumferential uniform front and back stretching cylinders (4,12), stretching head (3,11) and front and back gas distribution plate (5,13) respectively to tightening mechanism, walking cylinder (8) cylinder body front/rear end is fixed together with middle terminal pad (7), back gas distribution plate (13) respectively, and the piston rod of walking cylinder (8) adopts spherical hinge (6) to be connected with preceding gas distribution plate (5); Between terminal pad (7) and the back gas distribution plate (13), the elastic guide wheel (10) of two groups of balanced configurations was installed on the preceding gas distribution plate (5) and sleeve (16) of robot in the middle of sleeve (16) was installed in; The funtion part of robot is made up of rotary cylinder (2) and the cleaning head (1) that is installed on rotary cylinder (2) cylinder body.

2. step walking type pipeline cleaning robot according to claim 1 is characterized in that on cleaning head (1) elastic tension mechanism being set.

3. step walking type pipeline cleaning robot according to claim 1 is characterized in that having inlayed magnet ring on the piston of power element walking cylinder (8), selects the piston stroke terminal location that magnet proximity switch (18) is installed on cylinder body; Stretching cylinder (4,12) is a single-acting spring reset cylinder; At walking cylinder (8) and connecing of rotary cylinder (2) one-way throttle valve (19) is installed on the gas port; The change-over valve (9) of control walking cylinder (8) and rotary cylinder (2) sense of motion adopts two-position five-way type electromagnetic valve.

4. step walking type pipeline cleaning robot according to claim 1 is characterized in that control cable, vision cable, the touch-screen of tracheae, band aviation plug are connected with the corresponding interface of robot.

5. step walking type pipeline cleaning robot according to claim 1 is characterized in that being equipped with preposition illuminating lamp and camera.

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