阅读说明：本技术 一种管道除垢机器人 (Pipeline descaling robot ) 是由 梁平华 冯常 张志刚 高永明 窦普 陈志波 廖礼斌 于 2021-03-10 设计创作，主要内容包括：本发明公开了一种管道除垢机器人,包括前驱动轮组件、机器人本体框架、打磨除垢组件和后支撑轮组件。前驱动轮组件通过单蜗杆与多蜗轮啮合将动力一分为多,通过同步带传递至驱动轮,实现机器人前进后退。打磨除垢组件同轴安装在机器人本体框架上,通过除垢电机定子产生旋转磁场驱动除垢电机转子及除垢甩块旋转,打磨管道内壁面,实现除垢作用。前驱动轮组件和后支撑轮组件分别安装在机器人本体框架的两端,在管道内支撑起管道除垢机器人。前驱动轮组件和后支撑轮组件可在一定范围内摆动,适应不同口径管道及管道内的复杂环境。管道除垢机器人采用物理方式去除管道内沉积的水垢,能有效去除管道内沉积的水垢,降低管道维护成本。(The invention discloses a pipeline descaling robot which comprises a front driving wheel assembly, a robot body frame, a polishing descaling assembly and a rear supporting wheel assembly. The front driving wheel assembly divides power into a plurality of parts by meshing a single worm and a plurality of worm wheels, and the power is transmitted to the driving wheels through the synchronous belt, so that the robot moves forwards and backwards. The polishing and descaling assembly is coaxially arranged on the robot body frame, and the descaling motor stator generates a rotating magnetic field to drive the descaling motor rotor and the descaling throwing block to rotate, so that the inner wall surface of the pipeline is polished, and the descaling effect is realized. The front driving wheel assembly and the rear supporting wheel assembly are respectively arranged at two ends of the robot body frame, and the pipeline descaling robot is supported in the pipeline. The front driving wheel assembly and the rear supporting wheel assembly can swing within a certain range, and are suitable for pipelines with different calibers and complex environments in the pipelines. The pipeline descaling robot adopts a physical mode to remove scale deposited in the pipeline, can effectively remove the scale deposited in the pipeline, and reduces the maintenance cost of the pipeline.)

1. A pipeline descaling robot is characterized in that: constitute by preceding driving wheel subassembly (1), robot body frame (2), the descaling subassembly (3) of polishing and back supporting wheel subassembly (4), preceding driving wheel subassembly (1) is installed at a terminal surface of robot body frame (2), and another terminal surface at robot body frame (2) is installed in back supporting wheel subassembly (4), and descaling subassembly (3) coaxial arrangement of polishing can be relative robot body frame (2) circumferential direction on robot body frame (2).

2. The pipe descaling robot of claim 1, wherein: the front driving wheel assembly (1) is composed of a driving wheel (5), a driving wheel pin shaft (6), an arm fork (7), a torsion spring (8), an arm fork pin shaft (9), a main synchronous pulley (10), a secondary synchronous pulley (11), a synchronous belt (12), a worm wheel (13) and a central worm (14), the worm (14) is used as the center, and the front driving wheel assembly (1) at least comprises three groups of power assemblies which are uniformly distributed in the circumferential direction;

the driving wheel (5) and the driven synchronous pulley (11) are arranged at the tail end of the arm fork (7) through a driving wheel pin shaft (6); the arm fork (7), the torsion spring (8), the main synchronous belt wheel (10) and the worm wheel (13) are installed on the robot body frame (2) through an arm fork pin shaft (9), at least three groups of parts from the driving wheel (5) to the arm fork pin shaft (9) are installed on the end face of the robot body frame (2) at equal intervals.

3. The pipe descaling robot of claim 2, wherein: the secondary synchronous pulley (11) and the driving wheel (5) are coaxially connected; the primary synchronous pulley (10) transmits power to the secondary synchronous pulley (11) through a synchronous belt (12); the main synchronous belt wheel (10) is connected with a worm wheel (13) through an arm fork pin shaft (9); the worm wheel (13) and the arm fork (7) are installed on the robot body frame (2), one end of the torsion spring (8) acts on the arm fork (7) and the other end acts on the robot body frame (2), the arm fork (7) always has the tendency of opening outwards, and the driving wheel (5) can be always attached to the inner wall surface of the pipeline.

4. The pipe descaling robot of claim 1, wherein: the robot body frame (2) is composed of a driving wheel support (15), a shell (16), a walking motor (17), a descaling motor support (18) and a supporting wheel support (19), and the walking motor (17) is positioned in the shell (16) and is installed on the driving wheel support (15); an output shaft of the walking motor (17) is fixedly connected with the worm (14); the descaling motor support (18) is of a hollow step shaft structure, a radial wiring groove is formed in the larger end face of the descaling motor support, and a threaded hole is formed in the circumferential surface of the descaling motor support; a screw counter bore is formed in the shell (16), and two ends of the screw counter bore are respectively connected and fixed with the driving wheel support (15) and the descaling motor support (18); the central hole of the supporting wheel bracket (19) is an internal threaded hole and is in adaptive connection with an external threaded section on the descaling motor bracket (18); at least 3 groups of hinge seats which are uniformly distributed are arranged on the driving wheel bracket (15) and the supporting wheel bracket (19) and are respectively used for installing the front driving wheel component (1) and the rear supporting wheel component (4).

5. The pipe descaling robot of claim 1, wherein: the polishing descaling assembly (3) consists of a reset tension spring (20), a descaling motor stator (21), a rotor bearing (22), a descaling motor rotor (23) and a descaling throwing block (24), wherein the descaling motor stator (21) is installed on a descaling motor support (18) and is screwed and fixed through the rotor bearing (22) and a support wheel support (19) at the end part; the descaling motor rotor (23) is arranged on the outer ring of the rotor bearing (22), and one or more groups of annular grooves are formed in the outer side of the descaling motor rotor; the descaling throwing block (24) is embedded into an annular groove of a descaling motor rotor (23), the root part of the descaling throwing block is connected through a hinge, and the descaling throwing block keeps an inward tightening trend under the action of a reset tension spring (20);

a descaling motor rotor (23) arranged on a rotor bearing (22) and a descaling throwing block (24) and a return tension spring (20) arranged on the descaling motor rotor are rotatable relative to the robot body; the inner side cylindrical surface of the descaling motor rotor (23) is embedded with a permanent magnet, and the descaling motor rotor (23) is driven to rotate by a rotating magnetic field generated by the descaling motor stator (21).

6. The pipe descaling robot of claim 1, wherein: the rear supporting wheel assembly (4) consists of a supporting wheel bracket (19), a supporting swing shaft (25), an arm fork (7), a supporting wheel shaft (26), a supporting wheel (27) and a torsion spring (8), wherein an inner circular surface of the supporting wheel bracket (19) is provided with an inner thread, an outer circular surface of the descaling motor bracket (18) is provided with an outer thread, and the inner circular surface and the outer circular surface are connected and fixed in a matching way; at least 3 groups of arm forks (7) are arranged on the support wheel bracket (19) at equal intervals through a support pendulum shaft (25); the supporting wheel (27) is arranged at the tail end of the arm fork (7) through a supporting wheel shaft (26); the torsion spring (8) is arranged on the support pendulum shaft (25), one end of the torsion spring is pressed on the arm fork (7), and the other end of the torsion spring is pressed on the support wheel bracket (19).

7. The pipe descaling robot according to any one of claims 1 to 6, wherein: a descaling motor rotor (23) in the polishing descaling assembly (3) rotates and floats in the circumferential direction relative to the robot body, when the descaling motor rotor (23) rotates, a descaling throwing block (24) is thrown outwards under the action of centrifugal force, and a sawtooth part on the descaling throwing block (24) polishes the inner wall of the pipeline to realize pipeline descaling; the descaling throwing blocks (24) are distributed at least 2 groups at equal intervals in the circumferential direction, and 1 or more groups are arranged in the axial direction; the tail end of the descaling throwing block (24) is provided with a serrated polishing head for polishing and descaling.

Technical Field

The invention relates to the field of pipeline robots, in particular to a pipeline cleaning robot.

Background

The pipeline can deposit water scale on the inner wall because the conveying medium contains mineral substances and is used for a long time, and the water scale is difficult to remove and becomes thicker and thicker due to daily accumulation, so that the effective conveying caliber of the pipeline is reduced. Especially for pipes carrying hot water, scale deposits are very likely to form on the inner walls of the pipes. The scale deposit can form very big additional head loss when the pipeline carries liquid medium at the pipeline inner wall, increases the transportation cost, even unable normal transport forms great potential safety hazard.

At present, no practical and effective method is available for the problem of scale formation in pipelines, and for pipelines exposed outside, the scale formation is shaken off by knocking the pipelines to remove internal scale, but the method cannot be implemented for pipelines which are embedded underground, on walls or inaccessible to workers, and the effectiveness of scale removal cannot be evaluated. The other descaling method is to dissolve the scale in the pipeline through a specific solution such as hydroxypropionic acid, cation exchange resin and the like by chemical reaction and finally discharge the scale, but the method is often high in cost and only suitable for pipelines with short length and small caliber, and the method is also not suitable for certain pipelines with food safety requirements.

In view of various problems existing in the prior pipeline descaling, the invention provides a novel pipeline descaling robot. The scale is removed by adopting a pure physical mode, so that the pipeline is not subjected to toxic and harmful risks, and is not influenced by the position of the pipeline, whether the pipeline is exposed to the external environment or not and the scale of the pipeline. The robot directly goes deep into inside the pipeline, polishes the clearance and realizes the scale removal to the pipeline inner wall. The effectiveness of pipeline descaling is ensured, and the use and maintenance cost of the pipeline is reduced.

Therefore, the workers in the field are dedicated to research on a pipe descaling robot suitable for descaling and cleaning various pipes.

Disclosure of Invention

In view of the above defects in the prior art, the technical problem to be solved by the present invention is to provide a pipeline descaling robot, which solves the problems that the existing conveying pipeline is difficult to remove scale and the cleaning cost is high.

In order to achieve the technical purpose, the invention provides a pipeline descaling robot which comprises a front driving wheel assembly, a robot body frame, a polishing descaling assembly and a rear supporting wheel assembly. The front driving wheel assembly is installed on one end face of the robot body frame, the rear supporting wheel assembly is installed on the other end face of the robot body frame, and the polishing and descaling assembly is coaxially installed on the robot body frame and can rotate circumferentially relative to the robot body frame.

The front driving wheel assembly consists of a driving wheel, a driving wheel pin shaft, an arm fork, a torsion spring, an arm fork pin shaft, a main synchronous belt wheel, a secondary synchronous belt wheel, a synchronous belt, a turbine and a central worm. The driving wheel and the driven synchronous belt wheel are arranged at the tail end of the arm fork through a driving wheel pin shaft by taking the worm as a center; the arm fork, the torsion spring, the main synchronous belt wheel and the worm wheel are arranged on the robot body frame through an arm fork pin shaft. The part from the driving wheel to the arm fork pin shaft at least comprises three groups, and the three groups are arranged on the end surface of the robot body frame at equal intervals.

The secondary synchronous pulley and the driving wheel are coaxially connected; the primary synchronous pulley transmits power to the secondary synchronous pulley through a synchronous belt; the main synchronous belt wheel is connected with a worm wheel through an arm fork pin shaft; the worm wheel and the arm fork are installed on the robot body frame, one end of the torsion spring acts on the arm fork, the other end of the torsion spring acts on the robot body frame, the arm fork always has the tendency of outwards opening, and the driving wheel can be always attached to the inner wall surface of the pipeline.

The robot body frame consists of a driving wheel support, a shell, a walking motor, a descaling motor support and a supporting wheel support. The walking motor is arranged in the shell and is arranged on the driving wheel bracket, and the output shaft is fixedly connected with the worm; the descaling motor support is of a hollow step shaft structure, a radial wiring groove is formed in the larger end face of the descaling motor support, and a threaded mounting hole is formed in the circumferential surface of the descaling motor support; the shell is provided with screw counter bores, and two ends of the shell are respectively connected and fixed with the driving wheel bracket and the descaling motor bracket; the central hole of the support wheel bracket is provided with an internal thread hole which is in adaptive connection with an external thread section on the descaling motor bracket; the driving wheel bracket and the supporting wheel bracket are respectively provided with at least 3 groups of hinge seats which are uniformly distributed and are respectively used for installing a front driving wheel assembly and a rear supporting wheel assembly; the walking motor is coaxially arranged in the shell and is fixedly connected with the end face of the driving wheel bracket.

The polishing and descaling assembly consists of a reset tension spring, a descaling motor stator, a rotor bearing, a descaling motor rotor and a descaling throwing block. The descaling motor stator is arranged on the descaling motor bracket and is screwed and fixed on the descaling motor bracket through the inner ring of the rotor bearing and the supporting wheel bracket at the end part; the descaling motor rotor is arranged on the outer ring of the rotor bearing, one or more groups of annular grooves are arranged on the outer side of the descaling motor rotor, and permanent magnets distributed at equal angle intervals are arranged on the inner side of the descaling motor rotor; the descaling throwing block is embedded into an annular groove of the descaling motor rotor, the root part of the descaling throwing block is connected through a hinge, the descaling throwing block can swing within a certain angle range relative to the descaling motor rotor, and the descaling throwing block keeps an inward tightening trend under the action of a reset tension spring.

The descaling motor rotor arranged on the rotor bearing, and the descaling swinging block and the reset tension spring on the descaling motor rotor are rotatable relative to the robot body; the permanent magnet is embedded on the inner side cylindrical surface of the descaling motor rotor, the descaling motor rotor is driven to rotate by a rotating magnetic field generated by the descaling motor stator, the descaling throwing block is thrown outwards under the action of centrifugal force, and the sawtooth polishing head on the descaling throwing block is tightly attached to the inner wall of the pipeline to rotate, so that the functions of polishing and descaling are realized.

The rear supporting wheel assembly consists of a supporting wheel bracket, a supporting pendulum shaft, an arm fork, a supporting wheel shaft, a supporting wheel and a torsional spring. The inner circular surface of the supporting wheel bracket is provided with internal threads, the outer circular surface of the descaling motor bracket is provided with external threads, and the internal threads and the external threads are connected and fixed in a matched manner; the multiple groups of arm forks are arranged on the support wheel bracket at equal angular intervals through the support pendulum shaft; the supporting wheel is arranged at the tail end of the arm fork through a supporting wheel shaft; the torsional spring is installed on supporting the pendulum shaft, and one end is pressed on the arm fork, and the other end is pressed on supporting wheel support.

The descaling motor rotor in the polishing and descaling assembly rotates and floats in the circumferential direction relative to the robot body, when the descaling motor rotor rotates, the descaling throwing block is thrown outwards under the action of centrifugal force, and the sawtooth parts on the descaling throwing block polish the inner wall of the pipeline to realize pipeline descaling; the descaling throwing blocks are distributed in at least 2 groups at equal intervals in the circumferential direction, and 1 or more groups are arranged in the axial direction; the tail end of the descaling throwing block is provided with a serrated polishing head for polishing and descaling.

Compared with the prior art, the invention has the advantages that:

(1) the robot directly enters the pipeline to polish and remove water scale in the pipeline, and compared with the traditional modes of external knocking, chemical dissolution and the like, the robot has higher reliability, greatly reduces the requirements on the layout scene of the pipeline on the characteristics and application occasions, and has higher universality.

(2) The invention adopts a mode that the pipeline robot directly carries out physical polishing and cleaning on the scale of the pipeline, the pipeline with more scale and difficult cleaning at present is often directly replaced by a corresponding pipeline, and the pipeline is descaled and repaired by adopting the invention, so that the pipeline replacement can be avoided, and the maintenance cost of the conveying pipeline can be greatly reduced.

(3) The invention fills the blank of the technical scheme of removing the water scale of the pipeline by using the pipeline robot.

Drawings

FIG. 1 is a schematic structural diagram of a pipeline descaling robot of the present invention, wherein 1 is a front driving wheel assembly, 2 is a robot body frame, 3 is a polishing descaling assembly, and 4 is a rear supporting wheel assembly;

fig. 2 is a schematic structural view of the front driving wheel assembly of the present invention, wherein 1 is the front driving wheel assembly, 5 is the driving wheel, 6 is the driving wheel pin, 7 is the arm fork, 8 is the torsion spring, 9 is the arm fork pin, 10 is the primary synchronous pulley, 11 is the secondary synchronous pulley, 12 is the synchronous belt, 13 is the worm wheel, 14 is the central worm;

FIG. 3 is a schematic structural diagram of a robot body frame of the present invention, wherein 2 is the robot body frame, 15 is a driving wheel support, 16 is a housing, 17 is a walking motor, 18 is a descaling motor support, and 19 is a supporting wheel support;

FIG. 4 is a schematic structural diagram of a polishing and descaling assembly according to the present invention, wherein 3 is the polishing and descaling assembly, 18 is a descaling motor bracket, 20 is a return tension spring, 21 is a descaling motor stator, 22 is a rotor bearing, 23 is a descaling motor rotor, and 24 is a descaling thrower;

fig. 5 is a schematic structural diagram of the rear support wheel assembly of the present invention, wherein 4 is the rear support wheel assembly, 7 is the arm fork, 8 is the torsion spring, 19 is the support wheel bracket, 25 is the support pendulum shaft, 26 is the support wheel shaft, and 27 is the support wheel.

Detailed Description

The present invention will be described in detail with reference to the drawings and examples, and it should be noted that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, do not indicate that the devices or components referred to must have a specific orientation, be configured and operated in a specific manner, and the like, and are not to be construed as limiting the present invention.

As shown in fig. 1, the pipeline descaling robot comprises a front driving wheel assembly 1, a robot body frame 2, a grinding descaling assembly 3 and a rear supporting wheel assembly 4. The front driving wheel assembly 1 is installed on the left end face of the robot body frame 2, the rear supporting wheel assembly 4 is installed on the right end face of the robot body frame 2, and the polishing and descaling assembly 3 is coaxially installed on the robot body frame 2 and can rotate circumferentially relative to the robot body frame 2. The driving wheel on the front driving wheel component 1 and the supporting wheel on the rear supporting wheel component 4 are always tightly attached to the inner wall of the pipeline under the action of the torsion spring 8, and the pipeline descaling robot is supported together.

As shown in fig. 2-3, the front driving wheel assembly 1 is composed of a driving wheel 5, a driving wheel pin 6, an arm fork 7, a torsion spring 8, an arm fork pin shaft 9, a primary synchronous pulley 10, a secondary synchronous pulley 11, a synchronous belt 12, a worm wheel 13 and a central worm 14. The central worm 14 is arranged on an output shaft of the walking motor 17, the central worm 14 is used as a center, and the front driving wheel assembly 1 at least comprises three groups of power assemblies which are uniformly distributed in the circumferential direction.

The driving wheel 5 and the secondary synchronous pulley 11 are arranged at the tail end of the arm fork 7 through a driving wheel pin shaft 6; the arm fork 7, the torsion spring 8, the primary timing pulley 10, and the worm wheel 13 are mounted on the robot body frame 2 through the arm fork pin shaft 9. At least three groups of parts from the driving wheels 5 to the arm fork pin shaft 9 are arranged on the end surface of the robot body frame 2 at equal intervals, and the worm wheel 13 in each group is in meshing relationship with the central worm 14, so that the motion consistency of all the driving wheels is ensured.

The secondary timing pulley 11 and the drive wheel 5 are coaxially connected; the primary synchronous pulley 10 transmits power to the secondary synchronous pulley 11 through a synchronous belt 12; the primary synchronous belt wheel 10 is connected with a worm wheel 13 through an arm fork pin shaft 9; worm wheel 13 and arm fork 7 are installed on robot body frame 2, and torsional spring 9 pin one end is used in arm fork 7, and the other end is used in robot body frame 2, and arm fork 7 has the outward open trend all the time, makes drive wheel 5 hug closely the pipeline internal wall all the time.

As shown in fig. 1-3, the robot body frame 2 is composed of a driving wheel support 15, a housing 16, a walking motor 17, a descaling motor support 18 and a supporting wheel support 19. The walking motor 17 is positioned in the shell 16, and the end surface is arranged on the driving wheel bracket 15; an output shaft of the walking motor 17 is fixedly connected with the worm 14; the descaling motor bracket 18 is a hollow stepped shaft structure, a radial wiring groove is formed on the larger end surface, and a threaded mounting hole is formed on the circumferential surface; a screw counter bore is arranged on the shell 16, and two ends of the screw counter bore are respectively connected and fixed with the driving wheel bracket 15 and the descaling motor bracket 18; the central hole of the supporting wheel bracket 19 is provided with an internal thread hole which is in adaptive connection with the external thread on the descaling motor bracket 18; at least 3 groups of hinge seats which are uniformly distributed are arranged on the driving wheel bracket 15 and the supporting wheel bracket 19 and are respectively used for installing the front driving wheel assembly 1 and the rear supporting wheel assembly 4.

As shown in fig. 4, the grinding and descaling assembly 3 is composed of a return tension spring 20, a descaling motor stator 21, a rotor bearing 22, a descaling motor rotor 23 and a descaling flail block 24. The descaling motor stator 21 is arranged on the descaling motor bracket 18 and is screwed and fixed through a rotor bearing 22 and a supporting wheel bracket 19 at the end part; the descaling motor rotor 23 is arranged on the outer ring of the rotor bearing 22, and one or more groups of annular grooves are arranged on the outer side; the descaling throwing block 24 is embedded into an annular groove of the descaling motor rotor 23, the root part of the descaling throwing block is connected through a hinge, and the descaling throwing block keeps an inward tightening trend under the action of the reset tension spring 20. When the descaling motor rotor 23 reaches a certain rotating speed, the descaling throwing block 24 is thrown outwards under the action of centrifugal force, and the inner wall of the pipeline is polished at a high speed, so that the descaling function is realized.

A descaling motor rotor 23 arranged on a rotor bearing 22, a descaling throwing block 24 arranged on the descaling motor rotor, and a return tension spring 20 are rotatable relative to the robot body; the inner cylindrical surface of the descaling motor rotor 23 is embedded with a permanent magnet, and the descaling motor rotor 23 is driven to rotate by a rotating magnetic field generated by the descaling motor stator 21.

As shown in fig. 5, the rear support wheel assembly 4 is composed of a support wheel bracket 19, a support pendulum shaft 25, an arm fork 7, a support wheel shaft 26, a support wheel 27, and a torsion spring 8. The inner circle surface of the supporting wheel bracket 19 is provided with an internal thread, the outer circle surface of the descaling motor bracket 18 is provided with an external thread, and the internal thread and the external thread are connected and fixed in a matching way; at least 3 groups of arm forks 7 are arranged on the supporting wheel bracket 19 at equal intervals through supporting swing shafts 25; the supporting wheel 27 is arranged at the tail end of the arm fork 7 through a supporting wheel shaft 26; the torsion spring 8 is mounted on the support pendulum shaft 25 with one end pressing on the arm fork 7 and the other end pressing on the support wheel bracket 19, keeping the arm fork 7 in an outwardly tensioned state.