Walking device of ventilating duct cleaning robot
阅读说明：本技术 一种通风管道清理机器人的行走装置 (Walking device of ventilating duct cleaning robot ) 是由 廖泽武 郑漫 于 2019-11-01 设计创作，主要内容包括：本发明公开了一种通风管道清理机器人的行走装置,包括：支撑结构、保持结构、驱动结构和控制系统；所述支撑结构包括前支撑结构和后支撑结构,所述保持结构包括前保持结构和后保持结构；所述前保持结构和后保持结构的一端分别与驱动结构的两端连接,所述前保持结构的另一端与前支撑结构连接,所述后保持结构的另一端与后支撑结构连接；所述支撑结构、保持结构、驱动结构通过信号传输单元与控制系统连接；本发明支撑结构、保持结构和驱动结构均采用电机驱动丝杠螺母机构来实现清理机器人在通风管道内的行走和支撑,其具有足够大的驱动牵引力、管径适应性、弯管通过能力和爬坡能力,能够满足各种通风管道的不同作业需求。(The invention discloses a walking device of a cleaning robot for a ventilating duct, which comprises: a support structure, a holding structure, a drive structure and a control system; the support structure comprises a front support structure and a rear support structure, and the retaining structure comprises a front retaining structure and a rear retaining structure; one end of each of the front retaining structure and the rear retaining structure is connected with two ends of the driving structure respectively, the other end of each of the front retaining structure and the rear retaining structure is connected with the front supporting structure, and the other end of each of the rear retaining structure and the rear supporting structure; the supporting structure, the holding structure and the driving structure are connected with the control system through the signal transmission unit; the supporting structure, the holding structure and the driving structure all adopt a motor to drive the screw nut mechanism to realize the walking and the supporting of the cleaning robot in the ventilation pipeline, have enough driving traction force, pipe diameter adaptability, bent pipe passing capacity and climbing capacity, and can meet different operation requirements of various ventilation pipelines.)
1. A walking device of a cleaning robot for a ventilation pipeline comprises: -a support structure comprising a front support structure (1) and a rear support structure (5), -a holding structure comprising a front holding structure (2) and a rear holding structure (4), -a drive structure and a control system; the front supporting structure (1) is connected with one end of the front retaining structure (2), the other end of the front retaining structure (2) is connected with one end of the driving structure (3), the other end of the driving structure (3) is connected with one end of the rear retaining structure (4), the other end of the rear retaining structure (4) is connected with the rear supporting structure (5), and the supporting structure, the retaining structure and the driving structure are connected with the control system through the signal transmission unit.
2. Walking device of a ventilation duct cleaning robot according to claim 1, characterized in that said front support structure (1) and rear support structure (5) are identical and each comprise: the device comprises an adjusting motor (17), a pressure spring a (14), a sliding block a (16), a nut sleeve a (13), a supporting lead screw (18), a functional module connecting seat (12), a fixed seat (11), a supporting connecting rod a (8), a supporting connecting rod b (9), a pressure spring b (10) and a supporting guide rod (7); the adjusting motor (17) is connected with the fixed seat (11), the fixed seat (11) is connected with the bearing sleeve, one end of the supporting connecting rod a (8) is hinged with the nut sleeve a (13), the other end is hinged with one end of the supporting connecting rod b (9), the other end of the supporting connecting rod b (9) is hinged with the sliding block a (16), the output shaft of the adjusting motor (17) is connected with a driving screw rod (18) through a bearing sleeve and a fixed seat (11), the nut sleeve a (13) is in threaded connection with the driving screw rod (18), one end of the supporting guide rod (7) is fixedly connected with the nut sleeve a (13), the other end of the supporting guide rod is connected with the fixed seat (11), the pressure spring a (14) is connected with the nut sleeve a (13) and the sliding block a (16) through the supporting guide rod (7), and the pressure spring b (10) is connected with the sliding block a (16) and the fixed seat (11) through the support guide rod (7).
3. Walking device of a ventilation duct cleaning robot according to claim 1, characterized in that said front (2) and rear (4) holding structures are identical and each comprise: the device comprises a rack (19), a retainer (24), a retaining connecting rod a (20), a retaining connecting rod b (22), a retaining wheel (21), a pressure spring c (23), a supporting shaft (25), a slider b (26) and a hexagonal nut (27); the retainer (24) is connected with the rack (19), one end of the retaining connecting rod a (20) is hinged to the retainer (24), the other end of the retaining connecting rod b (22) is hinged to one end of the retaining connecting rod b (26), the other end of the retaining connecting rod b (22) is hinged to the sliding block b (26), one end of the supporting shaft (25) is connected with the retainer (24) through the sliding block b (26), the other end of the supporting shaft (25) is in threaded connection with the hexagonal nut (27), and the pressure spring c (23) is fixed to the sliding block b (26) and the hexagonal nut (27) through the supporting shaft (25) respectively.
4. The walking device of a ventilation duct cleaning robot as claimed in claim 2 or 3, wherein the supporting wheel mechanisms of the front and rear supporting structures and the holding wheel mechanisms of the front and rear holding structures are all three groups and are distributed at an angle of 120 °.
5. A walking device of a ventilation duct cleaning robot according to claim 1, characterized in that said driving structure (3) comprises: the device comprises a universal joint (28), a driving motor (29), a driving motor shell (30), a retainer ring (32), a bearing (33), an end cover (34), a driving screw rod (35), a nut sleeve (36) and a guide rod (31); the driving motor (29) is installed in a driving motor shell (30), one end of the driving motor shell (30) is connected with an end cover of the universal joint (28), the other end of the driving motor shell is connected with a nut sleeve (36) through a guide rod (31), one end of a driving screw rod (35) is connected with an output shaft of the driving motor (29), and the other end of the driving screw rod is in threaded connection with the nut sleeve (36).
6. The walking device of the ventilation duct cleaning robot according to claim 5, wherein a wire window is arranged on the driving motor casing (30).
7. The walking device of the ventilation duct cleaning robot as claimed in claim 5, wherein the driving structure (3) further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with the screw rod.
8. The walking device of the ventilation duct cleaning robot as claimed in claim 1, wherein the control system is installed in a robot motion control box, the control system receives control instructions sent by the control box through a wireless communication unit, so as to realize robot motion control including forward movement, backward movement, stop movement, climbing and the like, and sends detection data of running speed, current voltage of a power supply module, inclination angle of a distribution network wire and the like to an external control system receiving unit.
9. The walking device of the ventilation duct cleaning robot according to claim 1, wherein the sliders a (16) and b (26) are respectively provided with a miniature pressure sensor.
Technical Field
The invention relates to the field of cleaning of pipelines, in particular to a walking device of a cleaning robot for a ventilation pipeline.
Background
With the development of society, more and more buildings, villas and the like adopt central air conditioners, however, air pollution caused by the fact that air pipes are not cleaned in time is harmful to the health of people, clean air pipes cannot be obtained for a long time, a proper living environment is provided for harmful bacteria, the harmful bacteria can be continuously bred and widely spread along with the four-way and eight-way air pipes, and secondary pollution to the air is caused indoors; the harm to human health and the diseases caused by the air conditioning and ventilating system of the building can reach dozens, and the office and living environment can be ensured only by regularly cleaning.
At present, most of central air conditioners in buildings are solved when the problem of pipelines is serious, the fact that periodic cleaning is performed every year is very little, and since foreign air conditioners are popularized earlier, the research on pipeline cleaning robots is advanced in China, and the traveling part used by WintClean robots in Sweden is of a crawler type, so that the traveling mode has the advantages of being high in obstacle crossing capability, small in turning radius and the like, and the defects of being low in traveling speed and complex in structure are that AIRTOX cleaning robots in Canada, Hanlin air duct cleaning robots in Korea and Indor cleaning robots in England adopt similar traveling modes.
In China, although research on a mobile dirt cleaning robot specially aiming at the inside of a ventilating duct in constructional engineering starts late, in recent years, robots are increasingly applied to cleaning the duct, including robot inspection, robot cleaning, robot collection, robot disinfection and the like, and although the application of cleaning robots is more and more common, the cleaning robots have a large development space in terms of functional stability and environmental adaptability, for example, the problems that the cleaning mode is single, the cost of the cleaning robot is high, the cleaning robot is heavy and the like are urgently needed to be improved.
Disclosure of Invention
According to the defects of the prior art, the invention aims to solve the problems of pipe diameter adaptability, bent pipe passing capacity, climbing capacity and the like of the existing robot, and the invention aims to provide the walking device of the ventilating duct cleaning robot, which has enough large driving traction force, pipe diameter adaptability, bent pipe passing capacity and climbing capacity, and can meet different operation requirements of various micro pipelines.
The invention is realized by the following technical scheme.
A walking device of a cleaning robot for a ventilation pipeline comprises: a support structure comprising a front support structure 1 and a rear support structure 5, a holding structure comprising a
Further, the front supporting structure 1 and the rear supporting structure 5 are the same, and both include: the device comprises an adjusting
Further, the
And the supporting wheel mechanisms of the front and rear supporting structures and the holding wheel mechanisms of the front and rear holding structures are all provided with three groups and are distributed at an angle of 120 degrees.
Further, the driving structure 3 includes: the
Further, a wire window is provided on the
Furthermore, the driving structure 3 further comprises a flexible shaft, one end of the flexible shaft is connected with the output shaft of the driving motor through a micro connecting sleeve, and the other end of the flexible shaft is connected with the screw rod.
Furthermore, the control system is installed in the robot motion control box, receives a control instruction sent by the control box through the wireless communication unit, realizes robot motion control including forward movement, backward movement, stop movement, climbing and the like, and sends detection data of the running speed, the current voltage of the power supply module, the inclination angle of a distribution network wire and the like to the external control system receiving unit.
Preferably, the slide block a and the slide block b are both provided with a micro pressure sensor.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
1. the motor drives the screw and nut mechanism, the rotation of the motor is converted into a required motion form, the motor has enough motion traction force, and the head part and the tail part can be provided with functional modules according to the requirements to meet different operation requirements.
2. The walking device of the cleaning robot for the ventilation pipeline is provided with the flexible shaft driving mechanism, so that the cleaning robot for the ventilation pipeline has the capability of passing through bent pipes.
3. According to the invention, by arranging the autonomous locking mechanism, the mechanism not only can adjust the positive pressure between the locking mechanism and the pipe wall according to actual needs to ensure enough friction force, but also can increase the adaptability to the pipe diameter; the automatic locking mechanism consists of a screw nut pair adjusting mechanism, and a connecting rod mechanism is adopted to drive a sliding block to compress a spring so as to adapt to the change of the pipe diameter; the supporting wheels are in contact with the pipe wall, so that the pipe can be better adapted to complex pipeline environments, and when the motor works, the nut sleeve slides up and down along the screw rod under the action of the thread pair, so that the supporting mechanism is tightly supported or the pipe wall is loosened, and the function of automatic locking is achieved.
4. The invention can pass through a tiny pipeline with a certain pipe diameter change by arranging the front and back supporting structures and the supporting radiuses of the supporting wheels and the retaining wheels in the front and back retaining structures to control the link mechanism to change in a certain range through adjusting the positive and negative rotation of the motor and the retaining motor.
Drawings
Fig. 1 is a main structural schematic diagram of a walking device of a ventilation duct cleaning robot of the invention;
fig. 2 is an axial schematic view of a walking device of a ventilation duct cleaning robot of the invention;
fig. 3 is a schematic view of a front and rear supporting structure in a walking device of a ventilation duct cleaning robot according to the present invention;
fig. 4 is a schematic view of a front and rear holding structure in a walking device of a ventilation duct cleaning robot according to the present invention;
fig. 5 is a schematic view of a driving structure in a walking device of a ventilation duct cleaning robot according to the present invention;
fig. 6 is a schematic view of a force unloading structure in a walking device of a ventilation duct cleaning robot according to the present invention.
Description of reference numerals: 1. a front support structure; 2. a front retaining structure; 3. a drive structure; 4. a back holding structure; 5. a rear support structure; 6. a tube wall; 7. a support guide rod; 8. a support link a; 9. a support link b; 10. a pressure spring b; 11. a fixed seat; 12. a functional module connecting seat; 13. a nut sleeve a; 14. a pressure spring a; 15. a support wheel; 16. a slide block a; 17. adjusting the motor; 18. a support lead screw; 19. a frame; 20. a holding link a; 21. a holding wheel; 22. a holding link b; 23. a pressure spring c; 24. a holder; 25. a support shaft; 26. a slide block b; 27. a hexagonal nut; 28. a universal joint; 29. a drive motor; 30. a drive motor housing; 31. a guide bar; 32. a retainer ring; 33. a bearing; 34. an end cap; 35. driving a lead screw; 36. a nut sleeve; 37. an outer retainer ring; 38. a ball bearing; 39. an air vent; 40. an inner retainer ring; 41. and a motor output shaft.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种滚筒状物体内部清理用附作物清除装置