CN209502468U - Crawling device in a kind of pipe - Google Patents
Crawling device in a kind of pipe Download PDFInfo
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- CN209502468U CN209502468U CN201920211895.1U CN201920211895U CN209502468U CN 209502468 U CN209502468 U CN 209502468U CN 201920211895 U CN201920211895 U CN 201920211895U CN 209502468 U CN209502468 U CN 209502468U
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- 230000009193 crawling Effects 0.000 title claims abstract description 37
- 230000006698 induction Effects 0.000 claims abstract description 15
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 5
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 8
- 239000012459 cleaning agent Substances 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
Description
技术领域technical field
本实用新型涉及管内清洗装置技术领域，特别涉及一种管内爬行装置。The utility model relates to the technical field of cleaning devices in pipes, in particular to a crawling device in pipes.
背景技术Background technique
目前的管道清洗如果依靠人工清洗，成本较高，清洗也不够彻底。专利号为CN107486449A和CN107830308A的文件虽然各自公开了用于在管道内清洗管道的爬行装置，但是上述两个公开文件中的爬行装置无法自动的对管径进行适应，也无法有效测出用于清洁的喷嘴的转速。If the current pipe cleaning relies on manual cleaning, the cost is high and the cleaning is not thorough enough. Although the documents with patent numbers CN107486449A and CN107830308A respectively disclose crawling devices for cleaning pipelines in pipelines, the crawling devices in the above two public documents cannot automatically adapt to the pipe diameter, nor can they effectively measure the water used for cleaning. the speed of the nozzle.
实用新型内容Utility model content
本实用新型所要解决的技术问题是：提供一种自动适应不同管径且清洁效果好的管内爬行装置。The technical problem to be solved by the utility model is: to provide a crawling device in a pipe that automatically adapts to different pipe diameters and has a good cleaning effect.
为了解决上述技术问题，本实用新型采用的技术方案为：In order to solve the above technical problems, the technical solution adopted by the utility model is:
一种管内爬行装置，包括机体、喷管、推动装置和两个的伞骨结构；A crawling device in a tube, including a body, a nozzle, a pushing device and two rib structures;
所述伞骨结构包括支撑架、分别一一对应设置的至少三个的伞骨、至少三个的伸缩件和至少三个的滑轮；The rib structure includes a support frame, at least three ribs, at least three telescopic elements, and at least three pulleys arranged in one-to-one correspondence;
两个支撑架沿机体的轴向相对设于机体上；Two supporting frames are arranged on the body oppositely along the axial direction of the body;
所述伞骨的一端与支撑架可转动连接，所述滑轮设于伞骨的另一端，所述伸缩件的一端与伞骨的骨身相连，所述伸缩件的另一端与相对设置的支撑架可转动连接；One end of the umbrella rib is rotatably connected to the support frame, the pulley is arranged at the other end of the umbrella rib, one end of the telescopic element is connected to the bone body of the umbrella rib, and the other end of the telescopic element is connected to the opposite support frame. rotatable connection;
所述推动装置包括推动杆、限位件、弹性件、第一感应件和第二感应件；The pushing device includes a pushing rod, a limit piece, an elastic piece, a first induction piece and a second induction piece;
所述推动杆的一端与一个支撑架相连，所述限位件穿过另一个支撑架并与推动杆的另一端相连，所述弹性件设于限位件与支撑架之间，所述第一感应件设于限位件朝向支撑架的一侧，所述第二感应件设于支撑架朝向限位件的一侧，所述第一感应件和第二感应件接触触发，所述推动杆可伸缩设置，所述第一感应件和第二感应件分别与预设的推动杆的控制端电连接；One end of the push rod is connected with a supporting frame, the limiting member passes through another supporting frame and is connected with the other end of the pushing rod, the elastic member is arranged between the limiting member and the supporting frame, and the first One sensing part is arranged on the side of the limiting part facing the support frame, the second sensing part is arranged on the side of the supporting frame facing the limiting part, the first sensing part and the second sensing part are contacted and triggered, and the pushing The rod can be telescopically arranged, and the first induction part and the second induction part are respectively electrically connected to the preset control end of the push rod;
所述喷管绕机体的中心轴线可转动地设于机体的一端，所述喷管的喷嘴沿机体的径向设置。The spray pipe is rotatably arranged at one end of the machine body around the central axis of the machine body, and the nozzle of the spray pipe is arranged along the radial direction of the machine body.
进一步的，还包括驱动电机，所述驱动电机的动力输出轴上套设有第一齿轮，所述喷管的管身上套设有第二齿轮，所述第一齿轮与第二齿轮啮合，所述机体与喷管相连的一端设有光电感应器，所述光电感应器与第一齿轮的齿槽对应设置。Further, it also includes a drive motor, a first gear is sheathed on the power output shaft of the drive motor, a second gear is sheathed on the pipe of the nozzle, the first gear meshes with the second gear, and the A photoelectric sensor is provided at one end of the machine body connected to the nozzle, and the photoelectric sensor is arranged correspondingly to the tooth groove of the first gear.
进一步的，两个的支撑架上的伞骨沿机体的周向交错设置。Further, the umbrella ribs on the two supporting frames are staggered along the circumference of the body.
进一步的，所述机体与喷管相连的一端设有至少三个的激光测距感应器，至少三个的激光测距感应器绕机体的中心轴线均匀设置，所述激光测距感应器的感应端朝向机体的外侧且沿机体的径向设置。Further, at least three laser distance measuring sensors are provided at the end connected to the nozzle of the body, and at least three laser distance measuring sensors are evenly arranged around the central axis of the body, and the induction of the laser distance measuring sensors The end faces the outside of the body and is arranged along the radial direction of the body.
进一步的，所述机体的另一端与靠近机体的另一端的支撑架上分别设有行程开关，两个的行程开关对应设置。Further, travel switches are respectively provided on the other end of the body and the supporting frame close to the other end of the body, and the two travel switches are set correspondingly.
进一步的，还包括至少六个的驱动组件，至少六个的驱动组件分别一一对应设于六个的伞骨上，所述驱动组件驱动对应的滑轮转动。Further, at least six driving assemblies are included, and the at least six driving assemblies are arranged on the six umbrella ribs one by one, and the driving assemblies drive the corresponding pulleys to rotate.
进一步的，所述第一感应件为金属感应块，所述第二感应件为金属感应开关。Further, the first sensing element is a metal sensing block, and the second sensing element is a metal sensing switch.
进一步的，所述伸缩件为弹簧。Further, the telescopic member is a spring.
本实用新型的有益效果在于：在爬行装置上设置了两个伞骨架构，其伞骨的末端设有滑轮用于行走；当推动杆拉动两个支撑架靠近时，两个伞骨被伸缩件撑开直到滑轮抵靠在管道的内壁上，此时伞骨无法被撑开，而推动杆继续收缩，拉动一端的限位件朝限位件穿过的支撑架移动，当限位件上的第一感应件与第二感应件接触时，传递信号给控制推动杆的控制端，控制端控制推动杆不再收缩。The beneficial effect of the utility model is that: two umbrella frame structures are set on the crawling device, and the ends of the umbrella frames are provided with pulleys for walking; Stretch until the pulley is against the inner wall of the pipe. At this time, the ribs cannot be stretched, and the push rod continues to shrink, and the limit piece at one end is pulled to move towards the support frame through which the limit piece passes. When the limit piece on the limit piece When the first sensing part contacts the second sensing part, a signal is transmitted to the control end of the control push rod, and the control end controls the push rod to no longer shrink.
通过上述结构控制伞骨结构，可以保证爬行装置可以自适应各种管道的管径；Controlling the structure of the ribs through the above structure can ensure that the crawling device can adapt to the diameter of various pipes;
进一步的，在机身的一端设置喷管，将喷管所在的方向作为爬行装置的前进方向，喷管绕机身的中心轴线转动，喷管可通过管路与预存的清洗剂连通，爬行装置前进的时喷管转动清洗管壁，使得清洗效果好。Further, a nozzle is provided at one end of the fuselage, and the direction where the nozzle is located is used as the forward direction of the crawling device. The nozzle rotates around the central axis of the fuselage. The nozzle can be communicated with the pre-stored cleaning agent through the pipeline, and the crawling device When moving forward, the spray pipe rotates to clean the pipe wall, so that the cleaning effect is good.
附图说明Description of drawings
图1为本实用新型实施例的管内爬行装置的结构示意图；Fig. 1 is a schematic structural view of a crawling device in a pipe according to an embodiment of the present invention;
图2为本实用新型实施例的管内爬行装置的省略推动杆的内部的结构示意图；Fig. 2 is a schematic diagram of the internal structure of the crawling device in the pipe according to the embodiment of the present invention, omitting the push rod;
图3为本实用新型实施例的管内爬行装置的侧面示意图；Fig. 3 is a schematic side view of the crawling device in the pipe according to the embodiment of the present invention;
图4为本实用新型实施例的管内爬行装置的纵向截面示意图；Fig. 4 is a schematic diagram of a longitudinal section of a crawling device in a pipe according to an embodiment of the present invention;
标号说明：Label description:
10、机体；11、激光测距感应器；10. Body; 11. Laser ranging sensor;
20、喷管；21、第二齿轮20. Nozzle; 21. Second gear
30、伞骨结构；31、支撑架；32、伞骨；33、伸缩件；34、滑轮；35、行程开关；30. Rib structure; 31. Support frame; 32. Rib; 33. Expansion piece; 34. Pulley; 35. Travel switch;
40、推动装置；41、推动杆；42、限位件；43、弹性件；44、第一感应件；45、第二感应件；40. Pushing device; 41. Push rod; 42. Limiting member; 43. Elastic member; 44. First sensing part; 45. Second sensing part;
50、第一齿轮；51、光电感应器。50. The first gear; 51. The photoelectric sensor.
具体实施方式Detailed ways
为详细说明本实用新型的技术内容、所实现目的及效果，以下结合实施方式并配合附图予以说明。In order to describe the technical content, the achieved purpose and the effect of the present utility model in detail, the following will be described in conjunction with the embodiments and accompanying drawings.
本实用新型最关键的构思在于：利用推动杆控制支撑架，使得伞骨结构撑开滑轮，并通过第一感应件和第二感应件的配合自动控制推动杆停止活动，使得爬行装置适应多种管径。The most critical idea of the utility model is: use the push rod to control the support frame, so that the umbrella frame structure stretches the pulley, and automatically control the push rod to stop the activity through the cooperation of the first induction part and the second induction part, so that the crawling device can adapt to various diameter.
请参照图1-4，一种管内爬行装置，包括机体10、喷管20、推动装置40和两个的伞骨结构30；Please refer to Figures 1-4, a crawling device in a pipe, including a body 10, a nozzle 20, a pushing device 40 and two rib structures 30;
所述伞骨结构30包括支撑架31、分别一一对应设置的至少三个的伞骨32、至少三个的伸缩件33和至少三个的滑轮34；The rib structure 30 includes a support frame 31, at least three ribs 32, at least three telescopic elements 33, and at least three pulleys 34 respectively arranged in one-to-one correspondence;
两个支撑架31沿机体10的轴向相对设于机体10上；Two support frames 31 are arranged on the body 10 opposite to each other along the axial direction of the body 10;
所述伞骨32的一端与支撑架31可转动连接，所述滑轮34设于伞骨32的另一端，所述伸缩件33的一端与伞骨32的骨身相连，所述伸缩件33的另一端与相对设置的支撑架31可转动连接；One end of the umbrella rib 32 is rotatably connected with the support frame 31, the pulley 34 is arranged at the other end of the umbrella rib 32, one end of the telescopic member 33 is connected with the bone body of the umbrella rib 32, and the other end of the telescopic member 33 One end is rotatably connected with the supporting frame 31 arranged oppositely;
所述推动装置40包括推动杆41、限位件42、弹性件43、第一感应件44和第二感应件45；The pushing device 40 includes a pushing rod 41, a limiter 42, an elastic member 43, a first sensing member 44 and a second sensing member 45;
所述推动杆41的一端与一个支撑架31相连，所述限位件42穿过另一个支撑架31并与推动杆41的另一端相连，所述弹性件43设于限位件42与支撑架31之间，所述第一感应件44设于限位件42朝向支撑架31的一侧，所述第二感应件45设于支撑架31朝向限位件42的一侧，所述第一感应件44和第二感应件45接触触发，所述推动杆41可伸缩设置，所述第一感应件44和第二感应件45分别与预设的推动杆41的控制端电连接；One end of the push rod 41 is connected to a support frame 31, the stopper 42 passes through the other support frame 31 and is connected to the other end of the push rod 41, and the elastic member 43 is arranged between the stopper 42 and the support Between the frames 31, the first sensing element 44 is arranged on the side of the limiting element 42 facing the support frame 31, and the second sensing element 45 is arranged on the side of the supporting frame 31 facing the limiting element 42. An inductive element 44 and a second inductive element 45 are contacted and triggered, and the push rod 41 is telescopically arranged, and the first inductive element 44 and the second inductive element 45 are respectively electrically connected to the preset control end of the push rod 41;
所述喷管20绕机体10的中心轴线可转动地设于机体10的一端，所述喷管20的喷嘴沿机体10的径向设置。The nozzle pipe 20 is rotatably arranged at one end of the body 10 around the central axis of the body 10 , and the nozzles of the nozzle pipe 20 are arranged along the radial direction of the body 10 .
从上述描述可知，本实用新型的有益效果在于：在爬行装置上设置了两个伞骨架构，其伞骨的末端设有滑轮用于行走；当推动杆拉动两个支撑架靠近时，两个伞骨被伸缩件撑开直到滑轮抵靠在管道的内壁上，此时伞骨无法被撑开，而推动杆继续收缩，拉动一端的限位件朝限位件穿过的支撑架移动，当限位件上的第一感应件与第二感应件接触时，传递信号给控制推动杆的控制端，控制端控制推动杆不再收缩。It can be seen from the above description that the beneficial effect of the utility model is that: two rib structures are set on the crawling device, and the ends of the ribs are provided with pulleys for walking; when the push rod pulls the two support frames close, the two The umbrella rib is stretched by the telescopic piece until the pulley is against the inner wall of the pipe. At this time, the umbrella rib cannot be stretched, but the push rod continues to shrink, and the limit piece at one end is pulled to move towards the support frame through which the limit piece passes. When the first sensing part on the limiting part contacts the second sensing part, a signal is transmitted to the control end of the control push rod, and the control end controls the push rod to no longer shrink.
通过上述结构控制伞骨结构，可以保证爬行装置可以自适应各种管道的管径；Controlling the structure of the ribs through the above structure can ensure that the crawling device can adapt to the diameter of various pipes;
进一步的，在机身的一端设置喷管，将喷管所在的方向作为爬行装置的前进方向，喷管绕机身的中心轴线转动，喷管可通过管路与预存的清洗剂连通，爬行装置前进的时喷管转动清洗管壁，使得清洗效果好。Further, a nozzle is provided at one end of the fuselage, and the direction where the nozzle is located is used as the forward direction of the crawling device. The nozzle rotates around the central axis of the fuselage. The nozzle can be communicated with the pre-stored cleaning agent through the pipeline, and the crawling device When moving forward, the spray pipe rotates to clean the pipe wall, so that the cleaning effect is good.
进一步的，还包括驱动电机，所述驱动电机的动力输出轴上套设有第一齿轮50，所述喷管20的管身上套设有第二齿轮21，所述第一齿轮50与第二齿轮21啮合，所述机体10与喷管20相连的一端设有光电感应器51，所述光电感应器51与第一齿轮50的齿槽对应设置。Further, it also includes a drive motor, the power output shaft of the drive motor is sheathed with a first gear 50, the pipe of the nozzle 20 is sheathed with a second gear 21, and the first gear 50 and the second The gears 21 are engaged, and the end of the machine body 10 connected to the nozzle 20 is provided with a photoelectric sensor 51 , and the photoelectric sensor 51 is arranged correspondingly to the tooth groove of the first gear 50 .
由上述描述可知，通过第一齿轮50和第二21实现传动，同时，通过设置光电感应器41可以感应第一齿轮50的转动速度，从而获知喷管20的转速。It can be seen from the above description that the transmission is realized through the first gear 50 and the second gear 21 , and at the same time, the rotation speed of the first gear 50 can be sensed by setting the photoelectric sensor 41 , so as to know the rotation speed of the nozzle 20 .
进一步的，两个的支撑架31上的伞骨32沿机体10的周向交错设置。Further, the ribs 32 on the two supporting frames 31 are arranged alternately along the circumferential direction of the machine body 10 .
由上述描述可知，两个伞骨结构30的开口方向相向设置，两个伞骨结构30的伞骨30交错设置可以减少机身10在轴向上的长度，从而减小爬行装置的体积。It can be seen from the above description that the opening directions of the two rib structures 30 are arranged facing each other, and the ribs 30 of the two rib structures 30 are arranged alternately so as to reduce the length of the fuselage 10 in the axial direction, thereby reducing the volume of the crawler.
进一步的，所述机体10与喷管20相连的一端设有至少三个的激光测距感应器11，至少三个的激光测距感应器11绕机体10的中心轴线均匀设置，所述激光测距感应器11的感应端朝向机体10的外侧且沿机体10的径向设置。Further, at least three laser distance measuring sensors 11 are provided at the end of the body 10 connected to the nozzle 20, and at least three laser distance measuring sensors 11 are evenly arranged around the central axis of the body 10, and the laser distance measuring sensors 11 The sensing end of the distance sensor 11 faces the outside of the body 10 and is arranged along the radial direction of the body 10 .
由上述描述可知，由于管道可能存在三通管，因此在爬行装置前进的一端设置激光测距感应器11，用于测量管道内壁与机体之间的距离，当监测到管壁有缺口时发送信号至控制端，使得爬行装置停止前进。It can be seen from the above description that since there may be a tee pipe in the pipeline, a laser ranging sensor 11 is installed at the advancing end of the crawling device to measure the distance between the inner wall of the pipeline and the body, and send a signal when a gap is detected in the pipe wall to the control end, causing the crawler to stop advancing.
进一步的，所述机体10的另一端与靠近机体10的另一端的支撑架31上分别设有行程开关35，两个的行程开关35对应设置。Further, the other end of the machine body 10 and the support frame 31 close to the other end of the machine body 10 are respectively provided with travel switches 35 , and the two travel switches 35 are set correspondingly.
由上述描述可知，通过设置行程开关35可以控制支撑架331沿机体10轴向的活动范围。It can be known from the above description that the movable range of the support frame 331 along the axial direction of the machine body 10 can be controlled by setting the travel switch 35 .
进一步的，还包括至少六个的驱动组件，至少六个的驱动组件分别一一对应设于六个的伞骨32上，所述驱动组件驱动对应的滑轮34转动。Further, at least six driving assemblies are included, and the at least six driving assemblies are respectively arranged on the six ribs 32 one by one, and the driving assemblies drive the corresponding pulleys 34 to rotate.
进一步的，所述第一感应件44为金属感应块，所述第二感应件45为金属感应开关。Further, the first sensing element 44 is a metal sensing block, and the second sensing element 45 is a metal sensing switch.
进一步的，所述伸缩件33为弹簧。Further, the telescopic member 33 is a spring.
请参照图1-4，本实用新型的实施例一为：Please refer to Fig. 1-4, embodiment one of the present utility model is:
一种管内爬行装置，包括机体10、喷管20、推动装置40、驱动电机、驱动组件和两个的伞骨结构30；A crawling device in a pipe, including a body 10, a nozzle 20, a pushing device 40, a driving motor, a driving assembly and two rib structures 30;
所述机体10内预先设有清洁剂和控制端，控制端用于控制整个爬行装置的各个部件的运动；The body 10 is pre-installed with a cleaning agent and a control terminal, and the control terminal is used to control the movement of various parts of the entire crawling device;
所述伞骨结构30包括支撑架31、分别一一对应设置三个伞骨32、三个伸缩件33和三个滑轮34，The rib structure 30 includes a support frame 31, and three ribs 32, three telescopic members 33 and three pulleys 34 are respectively arranged in one-to-one correspondence,
两个支撑架31沿机体10的轴向相对设于机体10上，两个支撑架31既可以均沿机体10的轴向可移动设置，也可以一个支撑架31固定机体10上，另一个支撑架31沿机体10的轴向可移动设置，在本具体实施例中，靠近机体10的前进方向的支撑架31固定设置，远离机体10的前进方向的支撑架32沿机体10的轴向可移动设置；Two support frames 31 are oppositely arranged on the body 10 along the axial direction of the body 10, and the two support frames 31 can both be movably arranged along the axial direction of the body 10, or one support frame 31 can be fixed on the body 10, and the other supports The frame 31 is movably arranged along the axial direction of the body 10. In this specific embodiment, the support frame 31 close to the advancing direction of the body 10 is fixedly arranged, and the supporting frame 32 far away from the advancing direction of the body 10 is movable along the axial direction of the body 10. set up;
所述伞骨32的一端与支撑架31可转动连接，所述滑轮34设于伞骨32的另一端，所述伸缩件33的一端与伞骨32的骨身相连，所述伸缩件33的另一端与相对设置的支撑架31可转动连接；两个的支撑架31上的伞骨32沿机体10的周向交错设置，两个伞骨结构30呈开口相向的设置，当两个支撑架31靠近时，两个伞骨结构30均被撑开，伸缩件33起到支撑的作用；One end of the umbrella rib 32 is rotatably connected with the support frame 31, the pulley 34 is arranged at the other end of the umbrella rib 32, one end of the telescopic member 33 is connected with the bone body of the umbrella rib 32, and the other end of the telescopic member 33 One end is rotatably connected to the opposite support frame 31; the umbrella ribs 32 on the two support frames 31 are arranged alternately along the circumferential direction of the body 10, and the two umbrella rib structures 30 are arranged with openings facing each other. When the two support frames 31 When approaching, the two umbrella rib structures 30 are stretched apart, and the telescopic member 33 plays a supporting role;
所述推动装置40包括推动杆41、限位件42、弹性件43、第一感应件44和第二感应件45；The pushing device 40 includes a pushing rod 41, a limiter 42, an elastic member 43, a first sensing member 44 and a second sensing member 45;
所述推动杆41的一端与固定的支撑架31相连，所述限位件42穿过可移动的支撑架31并与推动杆41的另一端相连，所述弹性件43设于限位件42与可移动的支撑架31之间，所述第一感应件44设于限位件42朝向可移动的支撑架31的一侧，所述第二感应件45设于可移动的支撑架31朝向限位件42的一侧，所述第一感应件44和第二感应件45接触触发，即当两个感应件接触时触发信号，所述第一感应件44和第二感应件45分别与预设的推动杆41的控制端电连接，所述推动杆41可伸缩设置，其本身为电动或气动推动杆，这样设置的好处在于有更大的自锁力和支撑力，从而实现机器人在管道内更稳定的支撑；One end of the push rod 41 is connected with the fixed support frame 31, the stopper 42 passes through the movable support frame 31 and is connected with the other end of the push rod 41, and the elastic member 43 is arranged on the stopper 42 Between the movable supporting frame 31, the first sensing part 44 is arranged on the side of the limiter 42 facing the movable supporting frame 31, and the second sensing part 45 is arranged on the side of the movable supporting frame 31 facing On one side of the limiting part 42, the first sensing part 44 and the second sensing part 45 are contacted and triggered, that is, when the two sensing parts touch, the trigger signal, the first sensing part 44 and the second sensing part 45 are respectively connected to The control end of the preset push rod 41 is electrically connected, and the push rod 41 is telescopically set, which itself is an electric or pneumatic push rod. More stable support in the pipeline;
所述机体10的另一端与靠近机体10的另一端的支撑架31上分别设有行程开关35，两个的行程开关35对应设置。The other end of the body 10 and the support frame 31 close to the other end of the body 10 are respectively provided with travel switches 35 , and the two travel switches 35 are correspondingly arranged.
每个伞骨32上均设有所述驱动组件，驱动组件用于驱动滑轮34的转动；Each rib 32 is provided with the driving assembly, which is used to drive the rotation of the pulley 34;
所述喷管20绕机体10的中心轴线可转动地设于机体10的一端，所述喷管20的喷嘴沿机体10的径向设置，喷管20的转动通过所述驱动电机控制；The nozzle pipe 20 is rotatably arranged at one end of the body 10 around the central axis of the body 10, the nozzle of the nozzle pipe 20 is arranged along the radial direction of the body 10, and the rotation of the nozzle pipe 20 is controlled by the driving motor;
所述驱动电机的动力输出轴上套设有第一齿轮50，所述喷管20的管身上套设有第二齿轮21，所述第一齿轮50与第二齿轮21啮合，所述机体10与喷管20相连的一端设有光电感应器51，所述光电感应器51与第一齿轮50的齿槽对应设置。The power output shaft of the drive motor is sheathed with a first gear 50, and the pipe of the nozzle 20 is sheathed with a second gear 21, the first gear 50 meshes with the second gear 21, and the body 10 One end connected to the nozzle 20 is provided with a photoelectric sensor 51 , and the photoelectric sensor 51 is arranged correspondingly to the tooth groove of the first gear 50 .
所述机体10与喷管20相连的一端设有至少三个的激光测距感应器11，至少三个的激光测距感应器11绕机体10的中心轴线均匀设置，所述激光测距感应器11的感应端朝向机体10的外侧且沿机体10的径向设置。The end that the body 10 is connected to the nozzle 20 is provided with at least three laser ranging sensors 11, and at least three laser ranging sensors 11 are uniformly arranged around the central axis of the body 10, and the laser ranging sensors The sensing end of 11 faces the outside of the body 10 and is arranged along the radial direction of the body 10 .
综上所述，本实用新型提供了一种自动适应不同管径且清洁效果好的管内爬行装置。在爬行装置上设置了两个伞骨架构，其伞骨的末端设有滑轮用于行走；当推动杆拉动两个支撑架靠近时，两个伞骨被伸缩件撑开直到滑轮抵靠在管道的内壁上，此时伞骨无法被撑开，而推动杆继续收缩，拉动一端的限位件朝限位件穿过的支撑架移动，当限位件上的第一感应件与第二感应件接触时，传递信号给控制推动杆的控制端，控制端控制推动杆不再收缩。To sum up, the utility model provides a crawling device in a pipe that automatically adapts to different pipe diameters and has a good cleaning effect. Two rib structures are set on the crawler, and the ends of the ribs are equipped with pulleys for walking; when the push rod pulls the two support frames close, the two ribs are stretched by the telescopic parts until the pulleys are against the pipe On the inner wall of the umbrella, at this time, the ribs cannot be stretched, and the push rod continues to shrink, and the limit piece at one end is pulled to move toward the support frame through which the limit piece passes. When the first sensor on the limit piece and the second sensor When the parts are in contact, a signal is transmitted to the control end of the control push rod, and the control end controls the push rod to no longer shrink.
通过上述结构控制伞骨结构，可以保证爬行装置可以自适应各种管道的管径；Controlling the structure of the ribs through the above structure can ensure that the crawling device can adapt to the diameter of various pipes;
进一步的，在机身的一端设置喷管，将喷管所在的方向作为爬行装置的前进方向，喷管绕机身的中心轴线转动，喷管可通过管路与预存的清洗剂连通，爬行装置前进的时喷管转动清洗管壁，使得清洗效果好。喷管的转速可以通过光电感应器测出。Further, a nozzle is provided at one end of the fuselage, and the direction where the nozzle is located is used as the forward direction of the crawling device. The nozzle rotates around the central axis of the fuselage. The nozzle can be communicated with the pre-stored cleaning agent through the pipeline, and the crawling device When moving forward, the spray pipe rotates to clean the pipe wall, so that the cleaning effect is good. The rotational speed of the nozzle can be measured by a photoelectric sensor.
以上所述仅为本实用新型的实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等同变换，或直接或间接运用在相关的技术领域，均同理包括在本实用新型的专利保护范围内。The above is only an embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent transformations made by using the utility model specification and accompanying drawings, or directly or indirectly used in related technical fields, are all the same. The theory is included in the patent protection scope of the present utility model.
Claims (8)
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| CN201920211895.1U CN209502468U (en) | 2019-02-19 | 2019-02-19 | Crawling device in a kind of pipe |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111408586A (en) * | 2020-03-24 | 2020-07-14 | 北京工业大学 | Flue oil stain cleaning device |
| CN112777552A (en) * | 2021-01-26 | 2021-05-11 | 周家祥 | Well site adds medicine funnel |
| CN114215164A (en) * | 2021-12-23 | 2022-03-22 | 安徽利达市政工程有限公司 | Municipal administration pipeline pull throughs |
| CN115106346A (en) * | 2022-08-30 | 2022-09-27 | 南通辑兴紧固件科技有限公司 | Inner surface cleaning equipment for metal pipe |
| CN115971178A (en) * | 2022-12-13 | 2023-04-18 | 厦门佰欧环境智能科技有限公司 | Pipeline cleaning method and cleaning device |
-
2019
- 2019-02-19 CN CN201920211895.1U patent/CN209502468U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111408586A (en) * | 2020-03-24 | 2020-07-14 | 北京工业大学 | Flue oil stain cleaning device |
| CN111408586B (en) * | 2020-03-24 | 2021-12-28 | 北京工业大学 | Flue oil stain cleaning device |
| CN112777552A (en) * | 2021-01-26 | 2021-05-11 | 周家祥 | Well site adds medicine funnel |
| CN114215164A (en) * | 2021-12-23 | 2022-03-22 | 安徽利达市政工程有限公司 | Municipal administration pipeline pull throughs |
| CN115106346A (en) * | 2022-08-30 | 2022-09-27 | 南通辑兴紧固件科技有限公司 | Inner surface cleaning equipment for metal pipe |
| CN115971178A (en) * | 2022-12-13 | 2023-04-18 | 厦门佰欧环境智能科技有限公司 | Pipeline cleaning method and cleaning device |
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Denomination of utility model: A crawling device in pipe Effective date of registration: 20210726 Granted publication date: 20191018 Pledgee: Bank of China Limited Xiamen Convention and Exhibition Center sub branch Pledgor: XIAMEN BAIOU ENVIRONMENTAL INTELLIGENCE TECHNOLOGY Co.,Ltd. Registration number: Y2021980006756 |
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Granted publication date: 20191018 Pledgee: Bank of China Limited Xiamen Convention and Exhibition Center sub branch Pledgor: XIAMEN BAIOU ENVIRONMENTAL INTELLIGENCE TECHNOLOGY Co.,Ltd. Registration number: Y2021980006756 |