CN-122014955-A - Pipeline robot and cooperative operation method thereof

CN122014955ACN 122014955 ACN122014955 ACN 122014955ACN-122014955-A

Abstract

The invention discloses a pipeline robot and a cooperative operation method thereof, which comprise a robot pipe body, wherein a positioning plate is fixedly arranged at one end of the robot pipe body, a bearing piece is assembled on the side face of the positioning plate, a cleaning disc is rotatably arranged through the bearing piece, a flange is fixedly arranged on the other side of the cleaning disc, and a cone breaking cylinder at the front end of a pipeline is fixedly arranged on the other side of the flange. The pipeline robot utilizes the cone-shaped structure of the cone breaking cylinder to pre-break pipeline dirt, and cooperates with a plurality of pipeline cleaning bristles embedded around the outer circumferential surface of the cleaning disc to realize a collaborative operation mode of crushing before cleaning, so that the cleaning efficiency of stubborn dirt and blockage is effectively improved, and the positioning assembly is used for realizing accurate centering and quick disassembly and assembly of the cleaning plate and the threaded rod through plug-in positioning connection, so that the coaxiality and stability of the cleaning plate during working are ensured, and the cleaning plates with different specifications or materials are convenient to replace according to operation requirements.

Inventors

YAO ZHENLONG
HE LIPING
KONG SIQI
GUO SIQI
HUANG WANYI
LIN WENPING

Assignees

广州理工学院

Dates

Publication Date: 20260512
Application Date: 20260127

Claims (9)

1. The pipeline robot is characterized by comprising a robot pipe body; a positioning plate is fixedly arranged at one end of the robot pipe body, a bearing piece is assembled on the side face of the positioning plate, a cleaning disc is rotatably arranged through the bearing piece, and a plurality of pipeline cleaning bristles are circumferentially embedded at the outer circumferential face of the cleaning disc; The cleaning device comprises a positioning plate, a cleaning plate, a flange plate, a pipeline front end cone breaking cylinder and a pipeline cleaning plate, wherein the flange plate is fixedly arranged on one side, far away from the positioning plate, of the cleaning plate; One end of the robot pipe body is connected with a slip ring in a sliding manner, three mounting seats are distributed around the outside of the slip ring, a compression spring is sleeved outside the slip ring, one end of the compression spring is abutted with the positioning plate, and the other end of the compression spring is abutted with the slip ring; The three mounting seats in each group are respectively connected with a first connecting rod, a second connecting rod and a third connecting rod through rotating shafts in a rotating mode, wherein the first connecting rod is arranged between the second connecting rod and the third connecting rod in the middle, one end of the second connecting rod is hinged with the middle of the first connecting rod through the rotating shafts, the other end of the second connecting rod extends to be connected with the mounting seat on the slip ring, three mounting seats which are arranged in a straight line along the outer axis of the robot tube are arranged in a group, the other ends of the first connecting rod and the third connecting rod are connected with mounting rods through rotating shafts in a common mode, and two ends of each mounting rod are connected with idler wheels through rotating shafts in a rotating mode; the other end of robot pipe shaft is equipped with locating component, locating component's one end is provided with circular clearance board.
2. The pipe robot of claim 1, wherein the positioning assembly comprises a mounting cylinder, a mounting plate is assembled on the bottom wall of the mounting cylinder, four arc-shaped limiting clamping plates are assembled around one side of the mounting plate, which is close to the circular cleaning plate, and a mounting ring is assembled on one end of the mounting cylinder, which is close to the circular cleaning plate.
3. The pipeline robot according to claim 2, wherein the inner wall of the mounting ring is provided with an internal thread ring, the internal thread of the internal thread ring is connected with a threaded rod, and one side of the threaded rod is provided with a through hole.
4. The pipeline robot of claim 3, wherein the end of the threaded rod away from the circular cleaning plate is provided with an arc-shaped groove, and the end of the four arc-shaped limiting clamping plates close to the circular cleaning plate is provided with an arc surface.
5. The pipeline robot of claim 2, wherein the inner wall of the mounting cylinder is provided with four positioning blocks in a surrounding manner, the outer part of the mounting plate is provided with four mounting grooves in a surrounding manner, and the four positioning blocks are respectively clamped in the four mounting grooves.
6. The pipe robot of claim 3, wherein a positioning rod is provided at a middle portion of one side of the circular cleaning plate and corresponds to the through hole at one side of the threaded rod in size.
7. The robot of claim 1, wherein a drive motor is embedded in the positioning plate, and an output end of the drive motor penetrates through the bearing piece and is connected with a side wall of the cleaning disc.
8. A pipeline robot collaborative work method implemented by the pipeline robot according to any one of claims 1-7, comprising the steps of: The method comprises the steps of feeding a pipeline robot into a pipeline to be cleaned along the pipeline direction, guiding the robot to stably enter the pipeline through a slip ring which is connected with a pipe body of the robot in a sliding way and six mounting seats which are distributed in a surrounding way, enabling rollers at two ends of the mounting rod to be adaptively adjusted to be in contact with the inner wall of the pipeline by matching with the extrusion arrangement between the slip ring and a compression spring by utilizing the hinge structures of a first connecting rod, a second connecting rod and a third connecting rod, and enabling the robot to stably position and move in the pipeline through the support and rolling of the rollers; According to the inner diameter size of a pipeline to be cleaned, an inner threaded ring assembled on the inner wall of a mounting ring is rotated to drive a threaded rod in threaded connection with the inner threaded ring to axially move, arc-shaped grooves at one end of the threaded rod push arc-shaped ends of four arc-shaped limiting clamping plates assembled around one side of a mounting disc to expand outwards or contract inwards, different positioning rods are clamped and fixed, the effective cleaning diameter of a circular cleaning plate is adjusted to enable the circular cleaning plate to be matched with the inner diameter of the pipeline, and after adjustment is completed, the positioning rods in the middle of one side of the circular cleaning plate are inserted into through holes at one side of the threaded rod to realize positioning and fixed installation of the cleaning plate; Simultaneously, the flange plate fixedly arranged on the other side of the cleaning disc and the cone breaking cylinder at the front end of the pipeline work cooperatively, the cone breaking cylinder at the front end of the pipeline breaks and decomposes refractory dirt and caking matters in the pipeline at first, and then the pipeline cleaning brush hairs clean the broken dirt, thereby realizing a cooperative operation mode of front end breaking and rear end cleaning.
9. The pipe robot collaborative work method according to claim 8, further comprising the steps of: In the cleaning process, the robot moves through external traction equipment or a traction rope, meanwhile, through the sliding function of the slip ring and the hinged coordination of the connecting rod mechanism on the mounting seat, the roller always keeps effective contact pressure with the inner wall of the pipeline, the cleaning and covering of the circular cleaning plate and the cleaning plate on the inner wall of the pipeline are ensured while the robot stably moves in the pipeline, when the pipe diameter changes or the complex pipeline structure of the elbow is met, the unfolding angle and the contact position of the roller are adjusted through the hinged structures of the first connecting rod, the second connecting rod and the third connecting rod, and finally the cleaning task of the whole section of pipeline is completed through the size adjustment function realized through the arc limiting clamping plate in cooperation with the circular cleaning plate.

Description

Pipeline robot and cooperative operation method thereof Technical Field The invention relates to the field of pipeline robots, in particular to a pipeline robot and a cooperative operation method thereof. Background The pipeline cleaning robot is an automatic device specially used for cleaning the interior of a pipeline, and can automatically or remotely control the pipeline with various pipe diameters to remove dirt, sediment, rust and the like on the inner wall of the pipeline by carrying cleaning brushes, cleaning plates, high-pressure water jet or other cleaning tools. The equipment is generally provided with a driving system, a navigation positioning system, a cleaning executing mechanism and a control system, can meet pipeline cleaning requirements in different fields such as petrochemical industry, municipal water supply and drainage, industrial pipelines and the like, has the advantages of high operation efficiency, stable cleaning quality, capability of entering a narrow space which cannot be reached by personnel, reduction of operation risk and the like compared with the traditional manual cleaning mode, and is important technical equipment in modern pipeline maintenance and cleaning operation. In the pipeline maintenance process, the dismantlement of clean-up equipment often is a complicated and time consuming link, current pipeline inner wall cleaning device relies on cleaning brush or clearance board mostly, these equipment need dismantle and wash after using, the dismantlement process is not only hard, moreover, lead to equipment damage or wearing and tearing easily, the degree of difficulty of subsequent maintenance has been increased, this has not only delayed whole construction process, still probably influence the overall efficiency of project, current pipeline cleaning robot's cleaning brush or clearance board is owing to adopt fixed size design, can't carry out self-adaptation regulation according to the pipeline of different internal diameters, result in the too big and unable deep or the rotation of cleaning brush is hindered in the path pipeline, cleaning brush is too little and unable fully contact pipe wall in the path pipeline of big, cause the clearance dead angle and blind area. Therefore, a pipeline robot and a cooperative working method thereof are provided to solve the problems. Disclosure of Invention In order to overcome the defects of the prior art, the invention aims to provide the pipeline robot and the cooperative operation method thereof, which have the advantages of thorough cleaning, high overall cleaning efficiency and easiness in maintenance and cleaning after cleaning. The technical aim of the invention is realized by the following technical scheme: a pipeline robot comprises a robot pipe body; a positioning plate is fixedly arranged at one end of the robot pipe body, a bearing piece is assembled on the side face of the positioning plate, a cleaning disc is rotatably arranged through the bearing piece, and a plurality of pipeline cleaning bristles are circumferentially embedded at the outer circumferential face of the cleaning disc; The cleaning device comprises a positioning plate, a cleaning plate, a flange plate, a pipeline front end cone breaking cylinder and a pipeline cleaning plate, wherein the flange plate is fixedly arranged on one side, far away from the positioning plate, of the cleaning plate; One end of the robot pipe body is connected with a slip ring in a sliding manner, three mounting seats are distributed around the outside of the slip ring, a compression spring is sleeved outside the slip ring, one end of the compression spring is abutted with the positioning plate, and the other end of the compression spring is abutted with the slip ring; The three mounting seats in each group are respectively connected with a first connecting rod, a second connecting rod and a third connecting rod through rotating shafts in a rotating mode, wherein the first connecting rod is arranged between the second connecting rod and the third connecting rod in the middle, one end of the second connecting rod is hinged with the middle of the first connecting rod through the rotating shafts, the other end of the second connecting rod extends to be connected with the mounting seat on the slip ring, three mounting seats which are arranged in a straight line along the outer axis of the robot tube are arranged in a group, the other ends of the first connecting rod and the third connecting rod are connected with mounting rods through rotating shafts in a common mode, and two ends of each mounting rod are connected with idler wheels through rotating shafts in a rotating mode; the other end of robot pipe shaft is equipped with locating component, locating component's one end is provided with circular clearance board. Preferably, the positioning assembly comprises a mounting cylinder, a mounting disc is assembled on the bottom wall of the mounting cylinder, four arc-shaped limiting