CN114653696A - An adaptive robot cleaning device for the inner wall of the pipeline based on the principle of centrifugal force - Google Patents

Abstract

The invention is a self-adaptive robot cleaning device for the inner wall of the pipeline based on the principle of centrifugal force, which is suitable for cleaning the inner wall of the pipeline. It includes a planetary gear transmission bracket composed of a front connecting plate and a rear connecting plate. The planetary gear transmission bracket is provided with a cleaning turntable containing a planetary gear transmission mechanism, and correspondingly matched radial bearings and radial thrust bearings can be installed along the cleaning turntable. The plunger, reset damping spring, plunger end cover that slides radially with the sleeve chute; two kinds of pipe wall cleaning ends that are replaced according to the degree of dirt hardness and stubbornness and the wear of the pipe wall cleaning end; sun gear shaft , planetary gears and the cleaning turntable including the inner gear are mounted on the planetary gear train bracket composed of the front connecting plate and the rear connecting plate with their respective deep groove ball bearings and roller bearings; realizing long-distance industrial pipelines and reducing pipelines It can reduce the cleaning cost and the corresponding safety hazards, and improve the cleaning quality and efficiency.

Description

An adaptive robot cleaning device for the inner wall of the pipeline based on the principle of centrifugal force

technical field

The invention relates to a self-adaptive robot cleaning device for the inner wall of a pipeline, and is especially suitable for the cleaning of long-distance and variable-diameter industrial pipelines in coal mines, chemical industry, natural gas, urban drainage, etc. , belongs to the field of robotics.

Background technique

Pipeline transportation is one of the many means of freight transportation in the world. It has many advantages, such as large transportation volume, relatively low cost, continuous work, and will not be affected by ground conditions. With the growth of energy consumption such as oil and natural gas and the demand for industrial pipelines, pipeline transportation has been widely used in modern industry, agriculture and human daily life, and its development is becoming faster and faster. However, with the widespread use of industrial pipelines, various problems such as residual dirt will inevitably occur on the inner wall of the pipeline. Especially for small and medium-diameter and long-distance pipelines, workers cannot enter the pipeline to carry out long-term inspection and cleaning and maintenance of the pipe wall. Therefore, in order to effectively prevent and reduce the occurrence of safety accidents such as leakage and blockage in the pipeline, improve the service life of the entire pipeline, and ensure the normal operation and safety of the entire pipeline, it is necessary to carry out effective safety inspection and cleaning inside the entire pipeline. maintain. Therefore, as a fast and safe detection, cleaning and maintenance device, pipeline operation robots have been increasingly used in pipeline detection, cleaning and maintenance.

However, for the cleaning of the inner wall of the pipeline, most of the existing pipeline robots on the market use the method of dragging a water gun for washing or using a simple brush. Most of the pipeline robots using mechanical cleaning methods such as brushes have the problems of poor adaptability and poor cleaning effect, especially for long-distance and variable-diameter pipelines. Therefore, for the method of using pipeline robots to clean the inner wall of the pipeline, It is urgent to develop a pipeline inner wall cleaning device with strong adaptability, good cleaning effect, safety and reliability.

SUMMARY OF THE INVENTION

In view of the shortcomings of the prior art, an adaptive robot cleaning device for the inner wall of a pipeline based on the principle of centrifugal force is provided, which can solve the difficulty of manual cleaning of long-distance and variable-diameter pipelines in industrial pipeline cleaning and the ineffectiveness of other cleaning methods. problems, reduce the corresponding safety hazards, and improve the cleaning quality and efficiency.

In order to achieve the above technical purpose, an adaptive robot cleaning device for the inner wall of a pipeline based on the principle of centrifugal force of the present invention includes a pipeline robot walking main body for moving in a long-distance, variable-diameter pipeline, and the pipeline robot walking main body is three. The foot pressure wall crawler robot can always remain at the central axis of the pipeline during the moving process; the front end of the walking main body of the pipeline robot is provided with a cleaning device to clean the inner wall of the pipeline, and the front end of the cleaning device is provided with a cleaning device to observe the inner diameter of the pipeline. camera module; the cleaning device includes a rotating brush head and a servo motor, the output shaft of the servo motor is connected with the rotating brush head through a coupling and drives the rotating brush head to rotate; wherein the rotating brush head includes a cleaning turntable, and the outside of the cleaning turntable is equally spaced There are multiple elastic cleaning arms arranged radioactively, and the end of the elastic cleaning arm is provided with a pipe wall cleaning head. The cleaning device adjusts the rotation speed of the cleaning turntable in real time according to the observed changes in the inner diameter of the pipe to ensure the cleaning of the pipe wall and the pipe. The radial contact force between the inner walls meets the preset requirements, so as to realize the scraping or brushing of the hard scale existing in the pipeline, so as to achieve the required cleaning effect.

Further, the elastic cleaning arm includes a plurality of sleeves arranged on the outer side of the cleaning turntable and arranged at equal angles in the circumferential direction, a guide chute is arranged inside the sleeve, and a reset damping spring is installed in the guide chute, above the reset damping spring. A plunger that can slide radially along the sleeve chute on the cleaning turntable is provided on the guide chute of the sleeve through the end cover of the plunger, and the end cover of the plug is connected and fixed with the sleeve on the cleaning turntable by screws. The inner hole acts as a guide and radial support for the movable plunger; the inner side of the plunger end cover supports the reset shock spring and is connected with one end of the spring through a hook, and the cleaning end of the pipe wall The head is provided at the end of the plunger.

Further, the reset damping spring is located in a closed space surrounded by the outer cylindrical surface of the movable plunger, the inner cylindrical surface of the sleeve and the inner surface of the plunger end cover; one end of the reset damping spring is supported on the plunger. The inner side of the end cap is connected by a hook, and the other end supports the guide boss surface of the movable plunger and is connected by a hook. When the cleaning device is at a low speed and when it is not working, the plunger is controlled to reset, so as to avoid the plunger end at the lower end. The sinking under the action of gravity causes the robot to scratch the pipe wall during the traveling process; when working, the movable plunger extends radially outward under the action of centrifugal force, and the outward centrifugal force of the movable plunger is the compression of the reset shock spring, so that all The spring pressure on the plunger along its axial direction is balanced with part of the centrifugal force, which prevents the inner wall of the pipeline from being scratched due to the excessive extrusion of the cleaning end of the pipe wall on the inner wall of the pipe; the specific spring compression and plunger elongation It is determined by the rotational speed of the servo motor and the inner diameter of the pipe. The higher the rotational speed, the greater the centrifugal force of the plunger, the greater the overhang, and the greater the spring compression; when the cleaning end of the pipe wall reaches the inner wall of the pipe to start cleaning, the The compression amount and the extended length of the plunger are basically fixed, so as to achieve an adaptive cleaning effect on the pipe wall; at the same time, due to the irregularity of the dirt surface on the inner wall of the pipe, the cleaning end of the pipe wall will be impacted to a certain extent during the cleaning process. At this time, the spring buffers the shock and vibration and absorbs energy, which further reduces the damage to the inner wall of the pipeline during the cleaning process.

Further, the pipe wall cleaning end includes a cleaning scraper and a cleaning brush, and the ends of the adjacent elastic cleaning arms are alternately provided with cleaning scrapers and cleaning brushes; the top of the movable plunger is connected with the pipe wall cleaning end through threads. The end of the movable plunger arranged in the sleeve is a guide slider, which cooperates with the guide groove on the inner wall of the sleeve so that the movable plunger can slide along its own axial direction and be fixed in the circumferential direction during operation.

Further, there are six sleeves on the cleaning turntable by welding, each sleeve is welded with a rib plate along the axial direction of the cleaning turntable, and the sleeves are also welded along the circumferential direction of the cleaning turntable by a rib plate Connected to increase the rigidity of the cleaning carousel.

Further, the front and rear of the cleaning turntable are respectively provided with a front connecting disc and a rear connecting disc. The front connecting disc and the rear connecting disc form a planetary gear train bracket through the fastening connection of the positioning block and the connecting bolt. The center of the cleaning turntable is connected with the coupling. There is a coaxial male gear shaft, an inner gear ring is arranged on the inside of the cleaning turntable, and a plurality of matching planetary gears are arranged between the inner gear ring and the male gear shaft. Power; the bearing composed of the sun gear shaft, the planetary gear and the cleaning turntable is carried by the connecting disc and the rear connecting disc. The two ends of the cleaning turntable and the inner side of the bearing are provided with sealing grooves to improve the sealing performance of the device, and the front end of the connecting disc is sealed with a The front end cover, the flange of the connecting plate is provided with flange bolt holes for connecting with the front end of the main body of the robot.

Further, the cleaning scraper is provided with a rake angle and a flank angle, and the rake angle is a positive angle, which can easily and effectively remove the stubborn dirt on the inner wall of the pipeline, and the existence of the flank angle avoids the cleaning scraper and the inner wall of the pipeline after cleaning. extra friction to reduce or even avoid scratches on the inner wall of the pipe; the cleaning brushes and the cleaning scrapers are alternately arranged in the circumferential direction, and the cleaning brushes immediately follow the cleaning scraper at the position after the scraping. Brush to remove the residual fine dirt adsorbed or adhered to the pipe wall and improve the cleaning effect; in actual work, the number and layout of cleaning scrapers and cleaning brushes can be adjusted according to the hardness and stubbornness of the dirt in the pipe and the specific working conditions. Properly adjust the arrangement for better cleaning effect.

Further, the sun gear shaft is connected with the servo motor through an elastic coupling to transmit torque; there are three planetary gears each, which are installed at 120° on the planetary bracket composed of the front connecting plate and the rear connecting plate, and are connected with the The sun gear shaft meshes with the inner gear of the cleaning turntable to form a planetary gear transmission mechanism.

Further, the planet carrier of the planetary gear transmission mechanism is fixed, and the power and power are distributed to the three planetary gears meshing with it through the sun gear shaft, and finally transmitted to the cleaning turntable meshing with the planetary gears. This transmission mode has a large transmission ratio and a structure. It is compact, which improves the bearing capacity of the gear, the balance of the transmission and the ability of the device to resist shock and vibration.

Further, the servo motor adopts Mitsubishi J4 series servo motor HG-SR502BJ. Through torque control, the circumferential cutting force of the cleaning end of the pipe wall to the dirt can be accurately controlled to achieve good cleaning ability and reduce damage to the pipe wall. .

Beneficial effects:

1) The present invention uses the principle of centrifugal force to realize the independent radial expansion and contraction of the cleaning end of the pipe wall, and realizes the self-adaptive fitting and cleaning of the inner wall of the pipe, and has better mechanical adaptability than the cleaning device with fixed diameter currently on the market. , especially suitable for the continuous cleaning of the inner wall of the variable-diameter pipeline, which can reduce the time and work cost of repeatedly replacing cleaning devices with different diameters, and improve the cleaning efficiency.

2) The pipe wall cleaning end of the present invention adopts a combination of a hard cleaning scraper and a cleaning brush, which can more effectively remove various soft and hard stubborn dirt, reducing the residue of fine dirt on the pipe wall, Improved cleaning quality.

3) The transmission structure of the present invention uses the planetary transmission method for reference, and can further amplify the torque transmitted by the motor, thereby achieving the effect of easily removing stubborn dirt.

4) The cleaning scraper in the present invention adopts a design with front and rear corners, which can easily remove dirt while avoiding excessive frictional contact between the scraper and the pipe wall, reducing damage to the pipe wall.

5) The radial sliding plunger in the present invention has a reset damping spring, and the spring force is balanced with a part of the centrifugal force on the plunger during operation, which avoids the excessive extrusion of the cleaning scraper and the inner wall of the pipeline, and achieves a controllable diameter. The purpose of cleaning with contact force, and the return spring can ensure that the movable plunger is in a retracted and reset state when the robot does not need to be cleaned in the pipeline, so as to prevent the cleaning end of the pipe wall under the cleaning device from falling under the action of gravity when the robot is walking. In addition, the spring can also better absorb the impact and vibration of the device when it is working to clean the dirt, and has a better buffering and shock absorption effect.

6) The present invention has good expansibility, and can be connected to the main body mechanism of the three-legged crawler robot with variable diameter walking behind through the flange plate, so as to better realize the geometrical coaxial relationship between the cleaning device and the pipeline, and ensure the cleaning of the robot. Stability and reliability during operation.

This device uses a spring to resist the centrifugal force generated by the rotation of the cleaning turntable. Since the technical parameters of the spring are fixed, by adjusting the speed of the motor, different centrifugal forces will directly affect the state of the plunger. When the centrifugal force is lower than the elasticity of the spring or the centrifugal force is equal to the spring When it is elastic, the plunger will not move. It will only extend when the centrifugal force is greater than the elasticity of the spring. As long as the centrifugal force is within the sliding length of the plunger, the longer the centrifugal force is, the longer the plunger will extend in theory, but based on the column The function of the plug is to use the cleaning tool to clean and close, so theoretically, the greater the centrifugal force, the better the cleaning effect should be. However, excessive centrifugal force may cause the scraper to damage the inner wall of the pipe. Since the pollution degree and pollutants on the inner side of the pipe wall may not be the same everywhere, the camera can predict the degree of dirt in advance, so as to adjust the centrifugal force caused by the rotation speed in real time, so as to ensure cleanliness. force without damaging the pipe wall.

Description of drawings

Fig. 1 is the structure schematic diagram of the self-adaptive robot cleaning device of the pipeline inner wall based on the centrifugal force principle of the present invention;

2 is a schematic diagram of a partial explosion of the self-adaptive robot cleaning device for the inner wall of the pipeline based on the centrifugal force principle of the present invention;

Figure 3 is an enlarged view of the assembly of the movable plunger;

Figure 4 is a schematic diagram of the movable plunger parts;

Figure 5 is a schematic diagram of cleaning scraper parts;

Fig. 6 is the schematic diagram of cleaning brush parts;

FIG. 7 is a schematic structural diagram of a pipeline inner wall adaptive robot based on the centrifugal force principle of the present invention.

In the picture: 1. Cleaning device, 1-1, Front cover, 1-2, Front connecting plate, 1-3, Rear connecting plate, 1-4, Servo motor, 1-5, Coupling, 1-6, Sun gear shaft, 1-7, planetary gear, 1-8, cleaning turntable, 1-9, plunger, 1-10, return shock spring, 1-11, plunger end cap, 1-12, cleaning scraper, 1 -13. Cleaning brush, 2. Camera module, 3. Main body of pipeline robot, 4. Pipe.

Implementation

The embodiments of the present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figure 1, Figure 2 and Figure 7, the self-adaptive robot cleaning device for the inner wall of the pipeline based on the principle of centrifugal force of the present invention includes a planetary gear transmission bracket composed of a front connecting plate 1-2 and a rear connecting plate 1-3, The planetary gear transmission bracket is provided with a cleaning turntable 1-8 including a planetary gear transmission mechanism, a radial bearing and a radial thrust bearing of corresponding matching size, and a plunger 1-8 that can slide radially along the sleeve chute on the cleaning turntable. 9. Reset damping spring 1-10, plunger end cap 1-11; two kinds of pipe wall cleaning ends that are replaced according to the degree of dirt, hardness and stubbornness and the wear of the pipe wall cleaning end; sun gear shaft 1-6, The planetary gears 1-7 and the cleaning turntable 1-8 including the ring gear are mounted on the planetary gear train transmission bracket composed of the front connecting plate 1-2 and the rear connecting plate 1-3 with their respective deep groove ball bearings and roller bearings. superior;

Specifically, it includes a pipeline robot walking body 3 used to move in a long-distance and variable-diameter pipeline 4. The pipeline robot walking body 3 is a three-legged wall-mounted crawler robot, which can always remain positioned at the central axis of the pipeline during the moving process. The front end of the walking main body 3 of the pipeline robot is provided with a cleaning device 1 for cleaning the inner wall of the pipeline 4, and the front end of the cleaning device 1 is provided with a camera module 2 for observing the size of the inner diameter of the pipeline; The cleaning device 1 includes a rotating brush head and a servo motor 1-4, the output shaft of the servo motor 1-4 is connected with the rotating brush head through the coupling 1-5 and drives the rotating brush head to rotate; the rotating brush head includes the cleaning turntable 1-8, and the outer side of the cleaning turntable 1-8 is equally spaced There are multiple elastic cleaning arms arranged radioactively, and the end of the elastic cleaning arm is provided with a pipe wall cleaning end. The cleaning device 1 adjusts the rotation speed of the cleaning turntables 1-8 in real time according to the observed changes in the inner diameter of the pipe to ensure the cleaning of the pipe wall. The radial contact force between the end head and the inner wall of the pipeline meets the preset requirements, so as to realize the scraping or brushing of the hard scale existing in the pipeline, so as to achieve the required cleaning effect. Two kinds of pipe wall cleaning ends and standard parts such as deep groove ball bearings, roller bearings, screws, bolts and nuts that can be replaced according to the degree of dirt hardness and stubbornness and the wear of the pipe wall cleaning ends; suitable for coal mines, chemical industry, urban Decontamination of the inner wall of industrial pipelines such as drainage, especially suitable for long-distance, variable-diameter pipelines with hard scaling.

As shown in Fig. 3, Fig. 4 and Fig. 5, the elastic cleaning arm includes a plurality of sleeves arranged on the outer side of the cleaning turntable 1-8 along the circumferential direction at equal included angles. A reset damping spring 1-10 is installed in the groove. Above the reset damping spring 1-10, there is a guide chute on the sleeve through the plunger end cover 1-11, which can slide radially along the sleeve chute on the cleaning turntable. The plunger 1-9, the plug end cover 1-11 is connected and fixed with the sleeve on the cleaning turntable 1-8 by screws, and its inner hole faces the movable plunger 1-9 to guide and radially support Function; the inner side of the plunger end cover 1-11 supports the reset damping spring 1-10 and is connected to one end of the spring 1-10 through a hook, and the pipe wall cleaning end is arranged on the plunger 1-10. The end of 9; the reset damping spring 1-10 is in the closed space enclosed by the outer cylindrical surface of the movable plunger 1-9, the inner cylindrical surface of the sleeve and the inner surface of the plunger end cover 1-11; One end of the reset damping spring 1-10 is supported on the inner side of the plunger end cover 1-11 and connected by a hook, and the other end is supported on the guide boss surface of the movable plunger 1-9 and connected by a hook. When the cleaning device 1 Control the reset of the plunger 1-9 at low speed and when it is not working, to avoid the lower plunger end sinking under the action of gravity, which will cause the robot to scratch the pipe wall during travel; when the movable plunger 1-9 is working Under the action of centrifugal force, it stretches outward in the radial direction, and the centrifugal force outward of the movable plunger 1-9 is the compression of the reset damping spring 1-10, so that the spring pressure of the plunger 1-9 along its axial direction is different from that of the spring. The centrifugal force is balanced, which avoids the excessive extrusion of the cleaning end of the pipe wall on the inner wall of the pipe, which causes the inner wall of the pipe to be scratched; the specific compression of the spring 1-10 and the elongation of the plunger 1-9 are determined by the speed of the servo motor 1-4. And the inner diameter of the pipe is determined, the greater the rotational speed, the greater the centrifugal force of the plunger 1-9, the greater the outreach, and the greater the compression of the spring 1-10; when the cleaning end of the pipe wall reaches the inner wall of the pipe to start cleaning, the spring The compression amount of 1-10 and the extended length of the plunger 1-9 are basically fixed, so as to achieve the self-adaptive cleaning effect on the pipe wall; at the same time, due to the irregularity of the dirt surface on the inner wall of the pipe, the cleaning end of the pipe wall is cleaning the dirt. During the process, it will be subjected to a certain range of shock and vibration. At this time, the springs 1-10 can buffer the shock and vibration and absorb energy, further reducing the damage to the inner wall of the pipeline during the cleaning process.

The front connecting plate 1-2 and the rear connecting plate 1-3 are fastened by the positioning block and the connecting bolt to form a planetary gear train bracket to carry the sun gear shaft 1-6, the planetary gear 1-7 and the cleaning turntable 1-8 Matching bearings; the front connecting plate 1-2 is connected with the front end cover 1-1 to form a seal; the rear connecting plate 1-3 is connected with the servo motor 1-4 so that the servo motor is relatively fixed, and the rear connecting plate 1-3 There are bolt holes on the flange, which can be connected and fixed with the robot walking body 3 behind.

The cleaning turntables 1-8 are welded with six evenly distributed sleeves along the circumferential direction, and each sleeve is welded with ribs along the axial direction of the cleaning turntables 1-8, and between the sleeves along the cleaning turntable 1-8 The circumferential direction of 8 is also connected by rib plate welding to improve the rigidity of the cleaning turntable. A guide chute is arranged inside the sleeve for the plunger 1-9 to slide radially and fix it circumferentially; both ends of the cleaning turntable 1-9 A sealing groove is arranged on the inner side which is matched with the bearing to improve the sealing performance of the device; the inner gear ring of the cleaning turntable 1-9 cooperates with the planetary gear 1-7 to obtain motion and power during operation.

The plunger end cover 1-11 is connected and fixed with the sleeve on the cleaning turntable 1-8 through screws, and its inner hole faces the movable plunger 1-9 to guide and radially support; the plunger The inner side of the end cover 1-11 supports the return damping spring 1-10 and is connected to one end of the spring 1-10 through a hook.

The return damping spring 1-10 is located at three positions by the outer cylindrical surface of the movable plunger 1-9, the inner cylindrical surface of the sleeve on the cleaning turntable 1-8, and the inner surface of the plunger end cover 1-11. In the closed space enclosed by the user, one end of the reset damping spring 1-10 is supported on the inner side of the plunger end cover 1-11 and connected by hooks, and the other end is supported on the inner side of the movable plunger 1-9. The guide bosses are connected by hooks, which are used for the reset of the plunger when the cleaning device rotates at a low speed and when it is not working; when working, the movable plungers 1-9 extend radially outward under the action of centrifugal force. The reset damping spring 1-10 is compressed, so that the spring force of the plunger 1-9 along its axial direction is balanced with a part of the centrifugal force, so as to avoid the excessive extrusion of the pipe wall cleaning end on the inner wall of the pipe. The compression amount of spring 1-10 and the elongation amount of plunger 1-9 are determined by the speed of servo motor 1-4 controlled by single-chip microcomputer. The greater the amount of compression, the springs 1-10 also play the role of buffering, shock absorption and energy absorption.

The top of the movable plunger 1-9 is a small boss with a threaded hole, which can be fixed with the pipe wall cleaning end by screw connection and facilitate the replacement of the pipe wall cleaning end; the end of the movable plunger 1-9 is a guide The sliding block cooperates with the guide groove on the inner wall of the sleeve of the cleaning turntable 1-8, so that the movable plunger 1-9 can slide along its own axial direction and be fixed in the circumferential direction during operation.

As shown in Figure 6, the pipe wall cleaning end includes two cleaning scrapers 1-12 and cleaning brushes 1-13; the cleaning scraper 1-12 is provided with a certain rake angle and a rear knife angle, and the rake angle is The positive angle can easily and effectively remove the stubborn dirt on the inner wall of the pipeline, and the existence of the relief angle avoids the unnecessary friction between the cleaning scrapers 1-12 and the inner wall of the pipeline after cleaning, so as to reduce or even avoid scratches on the inner wall of the pipeline; the The cleaning brushes 1-13 and the cleaning scrapers 1-12 are alternately arranged in the circumferential direction. During operation, the cleaning brushes 1-13 are immediately followed by brushing to remove adsorption or adsorption at the position after scraping by the cleaning scraper 1-12. The residual fine dirt adhering to the pipe wall improves the cleaning effect; the cleaning scraper 1-12 and the cleaning brush 1-13 are easy to manufacture and easy to process. The cleaning scraper 1-12 and the cleaning brush 1-13 are used in the illustration. Three alternate layouts are arranged to obtain a better stress state. In actual work, the number of cleaning scrapers 1-12 and cleaning brushes 1-13 can be adjusted according to the hardness and stubbornness of the dirt in the pipeline and the specific working conditions. According to the wear condition of the cleaning end of the pipe wall, the staff can replace it conveniently and quickly to improve the work efficiency.

The sun gear shaft 1-6 is connected with the servo motor 1-4 through the elastic coupling 1-5 to transmit torque; the planetary gears 1-7 each have three, which are installed at 120° on the front connecting plate 1-2 and the The planetary support composed of the rear connecting discs 1-3 is meshed with the sun gear shaft 1-6 and the inner gear of the cleaning turntable 1-8 to form a planetary gear transmission mechanism.

The planetary carrier of the planetary gear transmission mechanism is fixed, and the power and power are distributed to the three planetary gears 1-7 meshing with it through the sun gear shaft 1-6, and finally transmitted to the cleaning turntable 1-8 meshing with the planetary gears. The transmission ratio is large and the structure is compact, which improves the bearing capacity of the gear, the transmission balance and the ability of the device to resist shock and vibration.

Servo motor 1-4 adopts Mitsubishi J4 series servo motor HG-SR502BJ. The torque control mode can better control the cutting force of the pipe wall cleaning end on dirt during cleaning; the motor speed is controlled by AVR series ATmega128 microcontroller combined with the corresponding servo driver. control.

As shown in Figure 7, the image signal of the inner wall of the pipeline obtained by the visual camera module 2 at the front end can be processed by the single-chip microcomputer to determine whether there is dirt on the inner wall of the pipeline and the size of the pipe diameter, and then control and adjust the rotation speed of the motor in the cleaning device. In this way, the purpose of controlling the working state of the cleaning device and the turning radius of the cleaning end of the pipe wall is achieved.

The cleaning device can be connected with the following three-legged wall-type crawler robot variable-diameter walking main body 3 through the flange plate, so as to better realize the geometric coaxial relationship between the cleaning device and the pipeline 4, and ensure the cleaning operation of the robot. support stability and reliability.

Claims (10)

1. The utility model provides a pipe inner wall self-adaptation robot device of decontaminating based on centrifugal force principle which characterized in that: the pipeline robot walking robot comprises a pipeline robot walking main body (3) which is used for moving in a long-distance and variable-diameter pipeline (4), wherein the pipeline robot walking main body (3) is a three-foot wall-pressing type tracked robot and can be always positioned on a central axis in the pipeline in the moving process; the front end of the pipeline robot walking main body (3) is provided with a cleaning device (1) for cleaning the inner wall of the pipeline (4), and the front end of the cleaning device (1) is provided with a camera module (2) for observing the inner diameter of the pipeline; the cleaning device (1) comprises a rotary brush head and a servo motor (1-4), wherein an output shaft of the servo motor (1-4) is connected with the rotary brush head through a coupler (1-5) and drives the rotary brush head to rotate; the rotary brush head comprises a cleaning turntable (1-8), a plurality of elastic cleaning arms arranged in a radioactive mode are arranged on the outer side of the cleaning turntable (1-8) at equal intervals, pipe wall cleaning ends are arranged at the end portions of the elastic cleaning arms, the cleaning device (1) adjusts the rotating speed of the cleaning turntable (1-8) in real time according to observed changed pipe inner diameter data, and it is guaranteed that the radial contact force between the pipe wall cleaning ends and the inner wall of a pipe meets preset requirements, so that scraping or cleaning of hard scales existing in the pipe is achieved, and a required cleaning effect is achieved.

2. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 1, wherein: the cleaning device comprises an elastic cleaning arm and a cleaning turntable (1-8), wherein the elastic cleaning arm comprises a plurality of sleeves which are arranged on the outer side of the cleaning turntable (1-8) along the circumferential direction at equal included angles, a guide chute is arranged in each sleeve, a reset damping spring (1-10) is arranged in each guide chute, a plunger (1-9) capable of sliding along the sleeve chute on the cleaning turntable in the radial direction is arranged on each guide chute of each sleeve through a plunger end cover (1-11) above each reset damping spring (1-10), each plunger end cover (1-11) is fixedly connected with each sleeve on the cleaning turntable (1-8) through a screw, and an inner hole of each plunger end cover plays a role in guiding and radially supporting the movable plunger (1-9); the inner side of the plunger end cover (1-11) supports the reset damping spring (1-10) and is connected with one end of the spring (1-10) through a hook, and the pipe wall cleaning end is arranged at the end part of the plunger (1-9).

3. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 2, wherein: the reset damping spring (1-10) is positioned in a closed space surrounded by an outer cylindrical surface of the movable plunger (1-9), an inner cylindrical surface of the sleeve and the inner side surface of the plunger end cover (1-11); one end of a reset damping spring (1-10) is supported on the inner side surface of the plunger end cover (1-11) and is connected with the plunger end cover through a hook, the other end of the reset damping spring supports the guide boss surface of the movable plunger (1-9) and is connected with the guide boss surface through the hook, when the cleaning device (1) is at a low rotating speed and does not work, the plunger (1-9) is controlled to reset, and the condition that the end of the plunger at the lower end sinks under the action of gravity to cause the robot to scratch the pipe wall in the advancing process is avoided; when the pipeline cleaning device works, the movable plunger (1-9) extends outwards along the radial direction under the action of centrifugal force, the outward centrifugal force of the movable plunger (1-9) is that the reset damping spring (1-10) is compressed, so that the spring pressure borne by the plunger (1-9) along the axial direction of the plunger is balanced with part of the centrifugal force, and the phenomenon that the inner wall of the pipeline is scratched due to the fact that the cleaning end of the pipeline wall excessively extrudes the inner wall of the pipeline is avoided; the compression amount of the springs (1-10) and the extension amount of the plungers (1-9) are determined by the rotating speed of the servo motors (1-4) and the inner diameter of the pipeline, the larger the rotating speed is, the larger the centrifugal force of the plungers (1-9) is, the larger the outward extension amount is, and the larger the compression amount of the springs (1-10) is; when the pipe wall cleaning end reaches the inner wall of the pipeline and begins to clean, the compression amount of the springs (1-10) and the extending length of the plungers (1-9) are basically fixed, so that the self-adaptive cleaning effect on the pipe wall is achieved; meanwhile, due to the fact that the dirt surface of the inner wall of the pipeline is irregular, the pipe wall cleaning end can be impacted and vibrated to a certain extent in the dirt cleaning process, at the moment, the springs (1-10) have the effects of buffering, shock absorption and energy absorption on the impact and vibration, and damage to the inner wall of the pipeline in the dirt cleaning process is further reduced.

4. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 2, wherein: the pipe wall cleaning end comprises cleaning scrapers (1-12) and cleaning brushes (1-13), and the cleaning scrapers (1-12) and the cleaning brushes (1-13) are alternately arranged at the end parts of the adjacent elastic cleaning arms; the top end of the movable plunger (1-9) is connected with the pipe wall cleaning end through threads, the tail end of the movable plunger (1-9) arranged in the sleeve is provided with a guide slide block, and the guide slide block is matched with a guide groove in the inner wall of the sleeve, so that the movable plunger (1-9) can axially slide along the movable plunger when in work and is circumferentially fixed.

5. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 2, wherein: six sleeves on the cleaning turntables (1-8) are arranged by welding, a rib plate is welded on each sleeve along the axial direction of the cleaning turntables (1-8), and the sleeves are connected by welding through the rib plates along the circumferential direction of the cleaning turntables (1-8) so as to improve the rigidity of the cleaning turntables.

6. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 2, wherein: the front and the back of a cleaning rotary table (1-8) are respectively provided with a front connecting disc (1-2) and a back connecting disc (1-3), the front connecting disc (1-2) and the back connecting disc (1-3) form a planetary gear train support through fastening connection of a positioning block and a connecting bolt, a coaxial sun gear shaft (1-6) is arranged at the joint of the center of the cleaning rotary table (1-8) and a coupler (1-5), an inner gear ring is arranged on the inner side of the cleaning rotary table (1-9), a plurality of matched planetary gears (1-7) are arranged between the inner gear ring and the sun gear shaft (1-6), and the inner gear ring of the cleaning rotary table (1-9) is matched with the planetary gears (1-7) to obtain movement and power during working; the bearing formed by the sun wheel shaft (1-6), the planetary gear (1-7) and the cleaning rotary table (1-8) is borne by the connecting disc (1-2) and the rear connecting disc (1-3), the sealing groove is formed in the inner side face, matched with the bearing, of the two ends of the cleaning rotary table (1-9) so as to improve the sealing performance of the device, the front end of the connecting disc (1-2) is provided with a front end cover (1-1) in a sealing mode, and a flange bolt hole used for being connected with the front end of the robot walking main body (3) is formed in a flange of the connecting disc (1-3).

7. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 4, wherein: the cleaning scraper (1-12) is provided with a front cutter angle and a rear cutter angle, the front cutter angle is a positive angle, stubborn dirt on the inner wall of the pipeline can be easily and effectively removed, and the existence of the rear cutter angle avoids redundant friction between the cleaning scraper (1-12) and the inner wall of the cleaned pipeline so as to reduce or even avoid scratching the inner wall of the pipeline; the cleaning brushes (1-13) and the cleaning scrapers (1-12) are alternately arranged along the circumferential direction, and the cleaning brushes (1-13) immediately scrub at the positions scraped by the cleaning scrapers (1-12) during working so as to remove residual fine dirt adsorbed or adhered to the pipe wall and improve the cleaning effect; during actual work, the number and the layout of the cleaning scrapers (1-12) and the cleaning brushes (1-13) can be properly adjusted and arranged according to the hardness and stubborn degree of dirt in the pipeline and specific working conditions so as to obtain better cleaning effect.

8. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 6, wherein: the sun wheel shaft (1-6) is connected with the servo motor (1-4) through an elastic coupling (1-5) to transmit torque; the three planetary gears (1-7) are respectively arranged on a planetary support consisting of a front connecting disc (1-2) and a rear connecting disc (1-3) in an angle of 120 degrees and are meshed with the sun gear shaft (1-6) and the inner gear rings of the cleaning rotating discs (1-8) to form a planetary gear transmission mechanism.

9. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 6, wherein: the planet carrier of the planetary gear transmission mechanism is fixed, power and power are divided to three planetary gears (1-7) meshed with the sun gear shafts (1-6) through the sun gear shafts and are finally transmitted to the cleaning turntables (1-8) meshed with the planetary gears, the transmission mode has large transmission ratio and compact structure, and the bearing capacity, the transmission balance and the shock and vibration resistance of the device of the gear are improved.

10. The pipeline inner wall self-adaptive robot dirt removing device based on the centrifugal force principle as claimed in claim 1, wherein: the servo motors (1-4) adopt Mitsubishi J4 series servo motors HG-SR502BJ, circumferential cutting force of pipe wall cleaning ends on dirt during cleaning can be accurately controlled through torque control, good cleaning capacity is achieved, and damage to pipe walls is reduced.

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