Dredging and obstacle removing integrated pipeline robot with Tai Chi tool bit

Abstract

The invention relates to the technical field of pipeline maintenance equipment, in particular to a Tai Chi tool bit desilting and obstacle removing integrated pipeline robot which is characterized in that a three-in-one pipeline cable, a silt suction vehicle, a hydraulic station, an integrated servo three-in-one cable winding machine and the like are arranged on a robot system; the desilting and obstacle removing integrated robot is provided with a desilting Tai Chi tool bit machine body assembly, a lifting supporting probe assembly, a left lifting driving wheel assembly, a right lifting driving wheel assembly, a quick-release silt suction assembly, a spiral barrel, a material box barrel trolley assembly and a hoisting structure. According to the invention, interaction between the ground robot and the underwater robot is realized, the robot is connected through the sewage cleaning pipe to cooperatively complete the dredging work of the robot and realize separation, compression, cleaning and post-treatment of various obstacles, and the robot can stably and reliably carry out real-time digital stable work, so that the working efficiency is greatly improved, and the labor intensity and the cost are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline maintenance equipment, and in particular to a Tai Chi blade-type pipeline robot with integrated silt removal and obstacle removal. Background Art

[0002] With the rapid development of urbanization, the infrastructure of many cities, especially the underground drainage pipe system, is gradually aging and prone to blockage and silt accumulation. Blocked pipes will affect the normal drainage function, increase the risk of urban waterlogging, and may cause sewage overflow and environmental pollution during the rainy season or flood season. Regular silt removal and silt suction are both vital maintenance work. The traditional methods of municipal pipeline dredging include manual dredging, bamboo dredging, rotary rod dredging, hydraulic dredging, winch dredging, and water jet dredging.

[0003] In the existing technology, the mainstream construction method for dredging and clearing obstacles in branch and trunk drainage pipes adopts high-pressure water cleaning and manual entry into the pipes for cleaning. It has high construction preparation requirements and certain risks of manual downhole construction, and the labor efficiency is low during the construction process. The dredging robot technology is highly complex, difficult to maintain, high cost and environmentally sensitive.

[0004] Therefore, we need to develop a low-cost, full-scenario product that is suitable for all types of pipelines. It can maintain the balance of the machine under conditions of high water level, high mud level, and strong blockage, and adapt to the complex pipeline environment. It can perform obstacle clearance operations based on the accurate acquisition of multi-source information and the judgment of target problems. This can greatly improve work efficiency and reduce labor intensity and cost. Summary of the invention

[0005] In response to the deficiencies in the prior art, the present invention provides an integrated pipeline robot with a Tai Chi blade head for dredging and obstacle removal, which can complete efficient dredging and obstacle removal of pipelines with little mud, half mud or full mud in water-free, semi-water or full-water scenarios. The main working head of the robot cuts and crushes sediments and obstacles, and efficiently swallows them into the robot. The mud and objects are separated through sorting and compression. The mud is pumped onto the dredging vehicle, and the broken obstacles or debris are compressed into the material box barrel.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a Tai Chi blade dredging and obstacle removal integrated pipeline robot, comprising a dredging and obstacle removal integrated robot, on which a three-in-one pipeline cable is arranged, characterized in that: the dredging and obstacle removal integrated robot is provided with a dredging pipe, a control cable and a hydraulic station, a silt suction vehicle is provided on the dredging pipe, and an integrated servo three-in-one cable winding machine is provided on the three-in-one pipeline cable; The desilting and obstacle removal integrated robot comprises a quick-detachable silt suction component, a material box trolley component and a lifting structure. The quick-detachable silt suction component is provided with a lifting support probe component, the lifting support probe component is provided with a right lifting drive wheel component and a left lifting drive wheel component, and the lifting support probe component is provided with a desilting Tai Chi blade head body component; The integrated servo three-in-one cable winding machine includes a roller assembly and a hydraulic station.

[0007] Preferably, the lifting support probe assembly includes a clamping swing rod, a rear clamping swing rod, a probe bracket, a sliding bottom plate and a lifting transmission assembly; The clamping swing rod, the rear clamping swing rod, the probe bracket and the sliding bottom plate are connected via a pin shaft and a second pin shaft; The lifting transmission assembly includes a pan / tilt lifting motor, a driving gear, a driven gear, a transmission screw, a screw nut and a telescopic rod. A waterproof joint is provided on the lifting motor. The lifting transmission assembly is connected to the clamping swing arm through a long connecting pin. The probe bracket is connected to the front mounting seat and the rubber-coated wheel through screws. The rear clamping swing arm is fixed to the front mounting seat through a pin. A tension spring is provided on one side of the sliding base plate, and the other side of the tension spring is fixed to the clamping swing arm. The sliding base plate is connected to a switch through screws. The probe bracket is provided with a probe connecting guide rod and a rubber-covered wheel, the probe connecting guide rod is provided with a probe assembly, and the probe connecting guide rod is provided with a pan / tilt telescopic motor and a friction driving wheel.

[0008] Preferably, the left lifting drive wheel assembly comprises a front and rear wheel transmission gear housing, a wheel set lifting mounting plate is arranged on the front and rear wheel transmission gear housing, the lifting electric cylinder is connected to the wheel set lifting mounting plate through an inner hexagonal cylindrical head shoulder screw, a travel drive assembly is arranged on the front and rear wheel transmission gear housing, a front drive wheel set is arranged on the front and rear wheel transmission gear housing, and a rear drive wheel set is arranged on the travel drive assembly; The lifting electric cylinder comprises a travel lifting motor, a motor adapter shaft is arranged on the travel lifting motor, a spur gear is arranged on the motor adapter shaft, an intermediate gear is arranged on the spur gear, a driven gear is arranged on the intermediate gear, a wheel leg lifting transmission screw is arranged on the driven gear, a wheel leg lifting screw nut and a wheel leg lifting telescopic rod are arranged on the wheel leg lifting transmission screw; The travel drive assembly includes a wheel group travel transmission motor, on which a travel active grinding gear spur gear and a travel motor waterproof line gland are arranged, on which the travel active grinding gear spur gear is arranged a travel intermediate grinding gear spur gear, on which the intermediate grinding gear spur gear is arranged a travel driven grinding gear spur gear, on which a secondary transmission shaft is arranged, and on which a left transmission gear and a right transmission gear are arranged.

[0009] Preferably, the left transmission gear is provided with an equal-tooth-number gear 1, and the equal-tooth-number gear 1 rotates the barrel cover front and rear wheel drive shafts relative to the equal-tooth-number gear 2, and the equal-tooth-number gear 2 is provided with an equal-tooth-number gear 3, and the equal-tooth-number gear 3 is provided with a quasi-hyperbolic small bevel gear, and the quasi-hyperbolic large bevel gear is provided on the quasi-hyperbolic small bevel gear, and the quasi-hyperbolic large bevel gear is provided on the driving wheel core shaft, and the driving wheel core shaft rotates the front driving wheel group connected to it through a driving key.

[0010] Preferably, the dredging Tai Chi blade head body assembly includes a front end flange, front and rear flange connecting columns and a rear end flange, and the front and rear flange connecting columns are provided with a point sonar assembly and a distribution box assembly, and a swing ring, a lifting ring and an electric tail hook are provided between the front end flange and the rear end flange.

[0011] Preferably, a wire brush is provided on the front end flange, the wire brush is provided with a rotating cutter head through a screw, a spiral cylinder is provided on the rotating cutter head, a hollow large gear plate and an active wide cylindrical gear are provided on the spiral cylinder, deep groove ball bearings are provided between the spiral cylinder, the front end flange and the rear end flange, and two hydraulic rotary motors are provided on the active wide cylindrical gear.

[0012] Preferably, the quick-release silt suction assembly includes a tail adapter flange and a detachable flange, a four-inch silt cleaning pipe connecting flange is provided on the tail adapter flange, the four-inch silt cleaning pipe connecting flange and the detachable flange are connected by screws, three horn screws are provided on the tail adapter flange, the tail adapter flange is connected to the rear end flange by screws, and an aluminum alloy handle is provided on the detachable flange.

[0013] Preferably, the material box trolley assembly includes a material box barrel, a material box barrel lifting ring, a connecting hook, a dredging pipe connecting flange, a material box barrel rear cover and a quick-turn knob. The material box barrel trolley assembly is connected to the dredging and obstacle clearing robot through the connecting hook. The material box barrel is equipped with four rubber wheels. A partition plate is installed inside the material box barrel. The material box barrel is connected to the dredging pipe through the dredging pipe connecting flange.

[0014] Preferably, the roller assembly is provided with a manual rotating handle and a rotating chain, the roller assembly is connected to a winding mechanism frame via a bearing, the winding mechanism frame is connected to a self-locking universal wheel via screws, the three-in-one pipeline cable is wound around the roller assembly, a guide device is provided on the roller assembly, and a meter is provided on the guide device.

[0015] Preferably, the lifting mechanism includes hook No. 1, hook No. 2, and hook No. 3, hook No. 1 is connected to the swing ring at the front end of the dredging and obstacle removing robot, hook No. 2 is connected to the upper material box barrel ring at the rear side of the material box barrel of the dredging and obstacle removing robot, and hook No. 3 is connected to the lower electric tail hook at the rear side of the dredging and obstacle removing robot.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is adaptable to multiple environments. It can maintain the balance of the machine body under high water level, high mud level and strong blocking conditions, and adapt to complex pipeline environments to perform obstacle removal operations. The robot adopts a lifting chassis and support centering design to ensure that the pipeline cannot be cut when it rotates to the end. It has a simple structure and only three pipes are used in combination with a sewage suction truck to work, which is low in cost. 2. The lifting chassis walking mechanism has sufficient deformation margin, adaptively crossing obstacles to prevent pipeline deformation and jamming. The multi-beam omnidirectional sonar transmits pipeline cross-section data, which can detect the silt status in all directions. When the environment is full of water, it can detect the silt cleaning status in the pipeline, and can realize the cleaning and post-processing of various obstacles, such as scum and suspended matter, construction waste, soft sediment, scaling, penetrating foreign matter, construction waste, and pipeline broken objects; 3. It has high operating efficiency and adopts the servo three-in-one cable winding machine winding mechanism to directly connect the robot, which is convenient to carry and has stable data transmission. The meter determines the walking distance of the robot, and three sets of electric hooks are used to assist the robot to enter the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the composition of the pure Tai Chi blade dredging and obstacle removal integrated pipeline robot system of the present invention.

[0018] Figure 2 This is a schematic diagram of the overall structure of the Pure Tai Chi blade silt removal and obstacle removal integrated pipeline robot.

[0019] Figure 3 It is a schematic diagram of the lifting and telescopic pan-tilt structure of the lifting support pan-tilt assembly.

[0020] Figure 4 It is a schematic diagram of the transmission and lifting structure of the left lifting wheel group.

[0021] Figure 5 It is a schematic diagram of the transmission of the rotary cutter head assembly and the cutter head structure.

[0022] Figure 6 It is a schematic diagram of the structure of the quick-release dirt suction buckle.

[0023] Figure 7 This is a schematic diagram of the structure of the integrated dredging and obstacle removal robot connected to the material box barrel.

[0024] Figure 8 This is a structural diagram of an integrated servo three-in-one cable winding machine.

[0025] Fig. 9 This is a schematic diagram of the lifting process of the silt suction robot going down the well.

[0026] Fig.10 This is a topological diagram of the relationship between the various functional systems of dredging.

[0027] Fig.11 This is a schematic diagram of the dredging control system.

[0028] Fig.12 Schematic diagram of the dredging system workflow.

[0029] In the figure: 1. All-in-one robot for dredging and obstacle removal; 2. Silt suction vehicle; 3. Integrated servo three-in-one cable winding machine; 4. Three-in-one pipeline cable; 5. Silt removal pipe; 6. Silt removal Tai Chi cutter head body assembly; 7. Lifting support probe assembly; 8. Right lifting drive wheel assembly; 9. Left lifting drive wheel assembly; 10. Quick-release silt suction assembly; 11. Material box barrel trolley assembly; 12. Clamping swing rod; 13. Rear clamping swing rod; 14. Lifting transmission assembly; 15. Long connecting pin; 16. Probe bracket; 17. Front mounting seat; 18. Pin; 19. Pin II; 20. Sliding bottom plate; 21. Tension spring; 22. Inch rubber-coated wheel; 23. Probe assembly; 24. PTZ lifting motor; 25. Driving gear; 26. Driven gear; 27. Transmission screw; 28. Screw nut; 29. ​​Telescopic rod; 30. Waterproof joint; 31. Proximity switch; 32. Pan / tilt telescopic motor; 33. Friction drive wheel; 34. Probe connecting guide rod; 35. Front drive wheel set; 36. Rear drive wheel set; 37. Lifting electric cylinder; 38. Wheel set lifting mounting plate; 39. Hexagon socket head shoulder screw; 40. Travel drive assembly; 41. Front and rear wheel transmission gear box; 42. Travel lifting motor; 43. Motor adapter shaft; 44. Spur gear; 45. Intermediate cylindrical gear; 46. Driven cylindrical gear; 47. Wheel leg lifting transmission screw; 48. Wheel leg lifting screw nut; 49. Wheel leg lifting telescopic rod; 50. Wheel set travel transmission motor; 51. Travel active grinding spur gear; 52. Travel intermediate Intermediate grinding spur gear; 53, walking driven grinding spur gear; 54, secondary transmission shaft; 55, left transmission gear; 56, right transmission gear; 57, walking motor waterproof line gland; 58, equal tooth number gear one; 59, front and rear wheel transmission shaft; 60, equal tooth number gear two; 61, equal tooth number gear three; 62, hypoid small bevel gear; 63, hypoid large bevel gear; 64, driving wheel spindle; 65, key; 66, rotating cutter head; 67, wire brush; 68, hydraulic rotating motor; 69, active wide cylindrical gear; 70, hollow large gear plate; 71, front end flange; 72, front and rear flange connecting column; 73, distribution box assembly; 74, swing ring; 75, lifting ring; 76, electric tail hook; 77, rear end flange; 78, screw Rotating cylinder; 79, deep groove ball bearing; 80, point sonar assembly; 81, tail adapter flange; 82, removable flange; 83, aluminum alloy handle; 84, horn screw; 85, four-inch dredging pipe connection flange; 86, material box barrel; 87, material box barrel lifting ring; 88, connecting hook; 89, rubber wheel; 90, dredging pipe connection flange; 91, partition plate; 92, material box barrel rear cover; 93, quick turn knob; 94, winding mechanism frame; 95, cooling fan; 96, drum assembly; 97, waterproof gland; 98, self-locking universal wheel; 99, winding handle; 100, rotating chain; 101, mushroom head antenna; 102, guide device; 103, warning light; 104, winding machine control box; 105, lead screw; 106, drag chain;107, servo motor; 108, sprocket; 109, reciprocating sprocket; 110, meter; 111, hydraulic station; 112, tensioning sprocket; 113, lifting mechanism; 114, No. 1 hook; 115, No. 2 hook; 116, No. 3 hook. ; DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0031] Please refer to the attached Figure 1 The Tai Chi blade dredging and obstacle removal system is mainly composed of a dredging and obstacle removal robot 1, a sludge suction vehicle 2, an integrated servo three-in-one cable winding machine 3, a three-in-one pipeline cable 4, and a dredging pipe 5. The dredging and obstacle removal robot 1 can cut and crush various obstacles by rotating the cutting head, and use the spiral conveying structure of the spiral drum to transport the crushed obstacles to the dredging pipe 5. The sludge suction vehicle 2 is equipped with a centrifugal fan for vacuuming, and is connected to the dredging and obstacle removal machine 1 through the dredging pipe 5 to suck silt. The sludge suction vehicle 2 is equipped with a pressure tank for storing and transporting the extracted debris and sewage, and will not cause the deposited sewage to be discharged back into the pipeline. The integrated servo three-in-one cable winding machine 3 is connected to the dredging and obstacle removal robot 1 through the tensile harness 4 to control the dredging and obstacle removal robot 1 to move forward and backward, the rotation of the dredging blade, and the lifting and lowering of the robot and the probe.

[0032] Reference Figure 2The dredging and obstacle removal robot 1 is composed of a dredging Tai Chi cutter head body component 6, a lifting support probe component 7, a right lifting drive wheel component 8, a left lifting drive wheel component 9, and a quick-release silt suction component 10. The dredging Tai Chi cutter head body component 6 adopts a Tai Chi cutter head and a spiral conveyor integrated structure, which can dredge and remove obstacles on the entire section - cutting and crushing tree roots, compaction, grease blocks, clothes, plastic bags, etc., and at the same time, all materials collected from the cutter head are transported to the rear end material box barrel. The spiral barrel has a sufficient conveying capacity for materials with good fluidity such as particles. The lifting support probe component 7 adopts a screw-driven single-stage scissor-type lift and a roller-driven probe structure. The support component contacts the top of the pipe to make up for the risk of the robot being unable to move forward due to insufficient grip due to insufficient deadweight. The single-stage scissor-type lift structure can adjust the probe height to ensure that it can be extended above the rotating cutter head; the telescopic probe carries a sensor and directly extends to the front end of the robot, which can detect the un-dredged section. The right lifting drive wheel assembly 8 and the left lifting drive wheel assembly 9 can realize the lifting of the dredging Tai Chi blade head body assembly 6. The driving wheel assembly adopts a large torque motor. Under high load conditions, the dredging and obstacle removal integrated robot 1 can move forward and backward easily. The quick-release silt suction assembly 10 is connected to the silt removal pipe 5, and the debris crushed by the dredging Tai Chi blade head body assembly 6 can be directly sucked into the silt suction vehicle 2. The whole machine adopts a quick-release structure, which can realize the cleaning and washing of debris in the robot rotating drum.

[0033] Reference Figure 3The lifting probe assembly is mainly composed of a clamping pendulum 12, a rear clamping pendulum 13, a probe bracket 16, a sliding base plate 20, and a lifting transmission assembly 14. The clamping pendulum 12, the rear clamping pendulum 13, the probe bracket 16, and the sliding base plate 20 are connected by pins 18 and 219 to form a single-stage scissor-type parallel four-link structure, and the lifting power is provided by the main lifting transmission assembly 14. The main lifting transmission assembly 14 is connected to the clamping pendulum 12 through a long connecting pin 15, the front mounting seat 17 is fixed to the probe bracket 16 by screws, the rear clamping pendulum 13 is fixed to the front mounting seat 17 by pins 18, the front mounting seat 17 is fixed to the probe bracket 16 by screws, and four 2-inch rubber-coated wheels 22 are connected to the probe bracket 16 by pins, and the probe assembly 23 is fixed to the probe guide rod 34 by screws. One side of the tension spring 21 is fixed to the sliding base plate 20, and the other side is fixed to the clamping pendulum 12, which plays a buffering role. The lifting transmission assembly 14 is composed of a pan-tilt lifting motor 24, a driving gear 25, a driven gear 26, a transmission screw 27, a screw nut 28, and a telescopic rod 29. The rotation of the pan-tilt lifting motor 24 drives the driving gear 25 to rotate, the driving gear 25 drives the driven gear 26 to rotate, the driven gear 26 drives the transmission screw 27 to rotate, the transmission screw 27 drives the screw nut 28 to reciprocate, and the screw nut 28 drives the telescopic rod 29 to telescopic motion, so as to realize the lifting and lowering motion of the probe bracket 16. By calculating the current of the lifting motor 24, the pressure when the support arm extends outward to support the inner wall of the pipeline can be detected, and the movement of the lifting motor 24 can be controlled to solve the stuck phenomenon. The wiring harness of the lifting motor 24 is waterproofed by a waterproof connector 30, and is aggregated to the three-in-one pipeline cable 4 and connected to the integrated servo three-in-one cable winding machine 3. The proximity switch 31 is fixed to the sliding base plate 20 by screws, and is used for the detection of the lowering of the probe assembly 23. The 2-inch rubber-coated wheel 22 contacts the top of the pipe, making up for the robot's insufficient grip due to insufficient weight, which makes it unable to move forward. The pan / tilt telescopic motor 32 rotates to drive the friction drive wheel 33 to rotate, and the friction drive wheel 33 rotates to drive the probe connecting guide rod 34 to reciprocate, thereby realizing the reciprocating motion of the probe assembly 23. The probe assembly 23 directly extends to the front end of the robot to detect the undrained section.

[0034] Reference Figure 4The left lifting drive wheel assembly 9 is mainly composed of a front driving wheel set 35, a rear driving wheel set 36, a lifting electric cylinder 37, a travel drive assembly 40, and a front and rear wheel transmission gear box 41. The lifting electric cylinder 37 is connected to the wheel set lifting mounting plate 38 on the front and rear wheel transmission gear box 41 through a hexagon socket head shoulder screw 39 to realize the lifting and lowering of the front driving wheel set 35 and the rear driving wheel set 36. When the dredging and obstacle removal integrated robot 1 needs to lift the chassis, the travel lifting motor 42 drives the spur gear 44 connected to the motor adapter shaft 43 to rotate, the spur gear 44 drives the intermediate cylindrical gear 45 to rotate, and the driven cylindrical gear 46 rotates accordingly. The driven cylindrical gear 46 drives the wheel leg lifting transmission screw 47 to rotate, the wheel leg lifting screw nut 48 reciprocates, and the lifting screw nut 48 drives the wheel leg lifting telescopic rod 49 to extend and retract, thereby driving the lifting and lowering of the front driving wheel set 35 and the rear driving wheel set 36. When the dredging and obstacle clearing robot 1 moves forward and backward, the wheel group travel transmission motor 50 rotates, driving the walking active grinding gear spur gear 51 to rotate, the walking active grinding gear spur gear 51 drives the walking intermediate grinding gear spur gear 52 to rotate, the intermediate grinding gear spur gear 52 drives the walking driven grinding gear spur gear 53 to rotate, the walking driven grinding gear spur gear 53 drives the secondary transmission shaft 54 ​​to rotate, and the secondary transmission shaft 54 ​​simultaneously drives the left transmission gear 55 and the right transmission gear 56 to rotate. The left transmission gear 55 drives the equal-tooth gear 1 58 to rotate, and the equal-tooth gear 1 58 drives the equal-tooth gear 2 60 with the front and rear wheel transmission shaft 59 to rotate, and the equal-tooth gear 2 60 drives the equal-tooth gear 3 61 to rotate, and the equal-tooth gear 3 61 drives the small hypoid bevel gear 62 to rotate, and the small hypoid bevel gear 62 drives the large hypoid bevel gear 63 to rotate, and the large hypoid bevel gear 63 drives the driving wheel mandrel 64 to rotate, and the driving wheel mandrel 64 drives the front driving wheel group 35 connected to the key 65 to rotate, so as to realize its walking function. The torque of the wheel can be checked by the current of the walking motor 50 to judge whether it is overloaded during the operation, and the travel distance of the equipment. Through the speed control of the walking motor 50, the differential operation of the four wheels can be realized, and the position of the dredging and obstacle removal integrated robot 1 in the pipeline can be adjusted. The cable of the walking motor 50 is waterproofed through the walking motor waterproof cable gland 57, and is aggregated to the three-in-one pipeline cable 4 and connected to the portable winding machine 3.

[0035] Reference Figure 5The dredging cutter head body assembly 6 is mainly composed of a rotating cutter head 66, a wire brush 67, a hydraulic rotary motor 68, an active wide cylindrical gear 69, a hollow large gear plate 70, a front flange 71, a front and rear flange connecting column 72, a distribution box assembly 73, a swing ring 74, a lifting ring 75, an electric tail hook 76, a rear flange 77, a spiral cylinder 78, a deep groove ball bearing 79, and a point sonar assembly 80. The fixed part of the dredging Tai Chi cutter head assembly 6 is composed of a front flange 71 and a rear flange 77 and three front and rear flange connecting columns 72. The front flange 71 and the rear flange 77 are connected by three front and rear flange connecting columns 72 to form a fixed frame of the dredging and obstacle removal robot. The point sonar assembly 80 is fixed to the front and rear flange connecting columns 72 by screws, and can detect pipeline sediments. The swing ring 74, the lifting ring 75 and the electric tail hook 76 are connected to the front flange 71 and the rear flange 77 by hinges, which can realize the lifting function of the robot. The rotating part of the dredging Tai Chi cutter head assembly 6 is composed of a wire brush 67, a rotating cutter head 66, a hollow large gear disc 70 and a spiral barrel 78. The wire brush 67 is fixed to the rotating cutter head 66 by screws, and the rotating cutter head 66 is fixed to the spiral barrel 78 by screws. At the same time, the hollow large gear disc 70 is fixed to the spiral barrel 78 by screws. The spiral barrel 78 is fixed to the front end flange 71 and the rear end flange 77 by a deep groove ball bearing 79. The spiral barrel 78 rotates together with the inner ring of the deep groove ball bearing 79, and the outer ring of the deep groove ball bearing 79 is fixed to the front end flange 71 and the rear end flange 77. When the dredging and obstacle removal integrated robot 1 is working, the two hydraulic rotary motors 68 drive the two active wide cylindrical gears 69 to rotate, and the two active wide cylindrical gears 69 rotate to drive the hollow large gear disc 70 to rotate, and the hollow large gear disc 70 drives the wire brush 67, the rotating cutter head 66 and the spiral barrel 78 to rotate together. The rotating cutter head 66 and the spiral barrel 78 are welded with spiral blades inside, which can cut and crush obstacles. At the same time, the debris of the obstacles can be transported to the dredging pipe connection flange 85 through the spiral blades, and connected to the dredging pipe 5 of the sludge suction vehicle 2, so as to absorb the debris of the obstacles. The current of the hydraulic rotary motor 68 can be used to determine whether the cutter head is stuck. If the cutter head is stuck, the robot cutter head can be controlled to reverse and move backward at the same time to pull out the dredging and obstacle removal robot 1. The point sonar component 80 can detect the sludge cleaning situation in the pipeline. After the dredging is completed, the detection can support the cost and audit settlement, and detect the pipeline diameter and the sludge thickness before and after dredging.

[0036] Reference Figure 6The quick-release silt suction assembly 10 is mainly composed of a tail adapter flange 81, a detachable flange 82, an aluminum alloy handle 83, a horn screw 84, and a four-inch silt removal pipe connection flange 85. The quick-release part is mainly composed of a detachable flange 82, an aluminum alloy handle 83, and a four-inch silt removal pipe connection flange 85. The four-inch silt removal pipe connection flange 85 and the detachable flange 82 are connected by screws. Different sizes of silt removal pipe connection flanges can be replaced to adapt to silt suction vehicles with different silt suction pipes. The fixed part is composed of a tail adapter flange 81 and three horn screws 84. The tail adapter flange 81 is fixed to the rear end flange 77 by 16 screws, and the three horn screws 84 are threadedly connected to the tail adapter flange 81. When removing the quick-release part, first loosen the three clevis screws 84 on the tail adapter flange 81, then hold the aluminum alloy handle 83, rotate the quick-release part 45° counterclockwise, and then remove it directly from the notch of the tail adapter flange 81. When installing the quick-release part, insert the quick-release part into the notch of the tail adapter flange 81, rotate it 45° clockwise to the limit, and then tighten the three clevis screws 84.

[0037] Reference Figure 7 The material box barrel trolley assembly 11 is mainly composed of a material box barrel 86, a material box barrel lifting ring 87, a connecting hook 88, a rubber wheel 89, a dredging pipe connecting flange 90, a partition plate 91, a material box barrel rear cover 92, and a quick-twist knob 93. The material box barrel trolley assembly 11 is connected to the dredging and obstacle removal integrated robot 1 through the connecting hook 88. The material box barrel 86 is equipped with four rubber wheels 89. When the right lifting drive wheel assembly 8 of the dredging and obstacle removal integrated robot 1 moves forward, the material box barrel trolley assembly 11 is driven forward. A partition plate 91 is installed inside the material box barrel 86, which can realize the primary screening of block materials, leaving large pieces of materials in the material box barrel 86, and small pieces of materials are connected to the dredging pipe 5 through the dredging pipe connecting flange 90, and are directly sucked away by the silt suction vehicle 2. When the connecting hook 88 is separated from the silt removal and obstacle removal robot 1, the bin barrel trolley assembly 11 can be moved away from the exit by using the bin barrel lifting ring 87, and the bin barrel rear cover 92 can be removed by rotating the quick-twist knob 93, and the bulk materials remaining in the bin barrel 86 can be directly taken away. Sensors installed on the bin barrel can check the collected materials of the bin barrel to determine the effect of filtering large particles and sludge in the bin barrel.

[0038] Reference Figure 8The roller assembly 96 is fixed on the winding mechanism frame 94 through a bearing, and the self-locking universal wheel 98 is fixed on the winding mechanism frame 94 through a screw, which can realize the movement of the integrated servo three-in-one cable winding machine 3. The manual rotating handle 111 drives the roller assembly 96 to rotate, and at the same time drives the chain assembly 100 to rotate, and the three-in-one pipeline cable 4 is evenly wound on the roller assembly 96, which can ensure that the three-in-one pipeline cable 4 can be evenly wound on the roller assembly 96. The winding machine control box 104 connects the three-in-one pipeline cable 4 to provide power, network and control signals to the dredging and obstacle removal integrated robot, which can realize the wheel group driving speed and direction control, chassis height adjustment control, top tightening control, probe extension control, and knife head forward and reverse speed control. The meter 110 can detect the forward distance of the dredging and obstacle removal integrated machine. At the same time, the power of the manual rotating handle 99 is switched to the rotating servo motor 107, which can realize the automatic winding and releasing function of the winding mechanism, meet the power consumption, communication, meter counting of the robot body, and realize synchronous operation and automatic winding with the robot. The servo motor 107 drives the sprocket 108 to rotate, and at the same time drives the rotating chain 100 and the reciprocating sprocket 109 to rotate. The rotating chain 100 drives the roller assembly 96 to rotate to realize the winding of the three-in-one pipeline cable 4. The tensioning sprocket 112 realizes the tensioning of the rotating chain 100. The reciprocating sprocket 109 drives the lead screw 105 to rotate, and the lead screw 105 drives the guide device 102 to realize the reciprocating motion of the three-in-one pipeline cable 4. The drag chain 106 is equipped with a control harness to reciprocate, thereby realizing the uniform and orderly winding of the three-in-one pipeline cable 4. The guide device 102 is equipped with a meter 110 to realize the length measurement of the three-in-one pipeline cable 4. At the same time, a hydraulic station 111 is installed on the side of the winding mechanism frame to provide power for the 68 hydraulic rotary motor, thereby realizing the rotation of the dredging cutter head body assembly 6. The cooling fan 95 provides heat dissipation for the winding machine control box 104, the meter 110 ensures the real-time length record of the retracted and unreeled wires of the integrated servo three-in-one cable winding machine 3, and the warning light 103 and the mushroom head antenna 101 can communicate and flash and alarm in time when the equipment is abnormal.

[0039] Reference Fig. 9There are three hooks on the lifting mechanism 113. When the dredging robot just enters the pipe mouth, the No. 1 Tai Chi blade hook wire rope is hung on the swing ring 74 at the front end of the dredging and obstacle removal robot 1, the No. 2 hook wire rope is hung on the upper material box barrel ring 87 at the rear side of the material box barrel 11 of the dredging and obstacle removal robot 1, and the No. 3 hook wire rope is hung on the lower electric tail hook 76 at the rear side of the dredging and obstacle removal robot 1. When the robot enters the branch pipe, the No. 1 electric hook wire rope pulls up the swing ring 74 at the front of the body of the dredging and obstacle removal robot 1, and the No. 2 electric hook wire rope and the No. 3 hook wire are released at the same time, and cooperate with the No. 1 hook to rotate the robot 90° to enter the branch pipe. The three sets of hooks adjust the robot's posture until the robot is vertical to the inspection well mouth, push the lifting mechanism 113 to adjust the position, and the robot 1 is lifted into the pipeline by three electric hooks; after the robot 1 enters the pipeline mouth, it autonomously enters the branch pipe to perform dredging and obstacle removal operations through the rotation of the front drive wheel group 35 and the rear drive wheel group 36 of the right lifting drive wheel assembly 8 and the left lifting drive wheel assembly 9 of the walking assembly.

[0040] Reference Fig.10 ,The APP is an application based on Android operation. The display interface is divided into four parts, namely video display, robot operation interface, status feedback interface, and abnormal alarm interface. The video interface mainly displays the images collected by the robot body, the robot operation mainly displays the settings and controls of each action, and the status feedback is mainly used to feedback the robot status involved, mainly including voltage, current, posture, speed, air pressure, etc. The abnormal alarm interface mainly displays whether it is overvoltage, undervoltage, the position of the relevant structure exceeds the limit position, the posture is unstable, etc.; Secondly, the APP sends a control command to the onshore main control. After receiving the command, the onshore main control directs its own structural action and the action of the dredging and obstacle removal machine according to different instructions. Its own action mainly includes the winding and releasing of the wire reel, the control of the hydraulic valve group and the matching of the robot's motion-related parameters, and interacts with the hydraulic station to adjust the oil volume and oil pressure of the hydraulic station's oil supply line to ensure that the subsequent robot has the corresponding matching power; if it is a command from the dredging and obstacle removal machine, the machine executes the corresponding action command, mainly including forward, backward, turning, cutter head rotation, chassis lifting, tightening action, etc.; and the feedback signal after the execution of the corresponding command is analyzed to form a closed loop. In addition, the silt removal and obstacle removal robot also interacts with the silo. The collection silo is mainly used to detect the silo filling degree, silo pressure, and silo status. The collection silo will integrate and edit the corresponding status parameters with the robot body parameters, and send them back to the shore organization through the robot, and the shore organization sends them back to the APP, thus forming an integrated collection, control, display and other functions. Reference Fig.11, the tablet APP is used as a client to establish a connection with the server of the onshore main control to form a wireless network communication. In this way, a wireless connection is established, so that corresponding instructions can be received and sent. The onshore main control collects the signal of the winding and releasing wire encoder to sense the current position of the winding reel and match the command sent by the APP to adjust the servo motor accordingly to perform the action. The onshore mechanism also collects the flow sensor data of the hydraulic station to control the hydraulic valve group to match the APP command to drive the robot body; the onshore mechanism and the robot body use a "three-in-one" cable, which contains hydraulic pipes, power supplies and control cables. The robot body is divided into a control system and a collection system. The control system is divided into the main control chassis lifting, tightening motor, pan-tilt control motor, motion control system, and cutter head control system. The motion control system is mainly used to control the robot to move forward and backward, turn left and right, etc. The cutter head control system is the core component and requires a large driving force. Therefore, a hydraulic control system is used. The hydraulic flow and pressure are closed-loop controlled by the onshore main control to ensure that the robot has appropriate power to collect obstacles inside the pipeline; the collection system is mainly used to collect functions such as cameras, attitude sensors, over-voltage and under-voltage detection, and temperature and humidity sensor detection. The robot body and the silo use Lora wireless communication. The silo mainly has pressure sensors, liquid level sensors, displacement sensors and other acquisition systems to collect the silo status and transmit it to the robot body wirelessly. The data collected by the robot body’s acquisition system and the data transmitted by the silo are integrated to form the robot status parameters, which are timely transmitted to the onshore main control system in the form of heartbeat packets. The onshore main control system combines its own status parameters and wirelessly transmits them to the APP end for status display. Reference Fig.12 , this system needs to turn on the power supply of the winding mechanism and the hydraulic station switch first to ensure the power and hydraulic supply; the system starts normally and completes the system self-check function, and the tablet is connected to the server. If it cannot be connected normally, it is checked. Under normal connection, all the status of the equipment will be returned to the tablet, which is visible to the operator, and the robot camera can be seen. According to the construction parameters of the road section to be desilted and cleared, such as: burial depth, pipe diameter, etc., the parameters are configured and issued, and the equipment adjusts the chassis parameters adaptively. After completion, the equipment can be hoisted and lowered into the well until the operation is completed and recovered.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A Tai Chi blade dredging and obstacle removal integrated pipeline robot, comprising a dredging and obstacle removal integrated robot (1), the dredging and obstacle removal integrated robot (1) being provided with a three-in-one pipeline cable (4), characterized in that: The integrated dredging and obstacle clearing robot (1) is provided with a dredging pipe (5), a control cable and a hydraulic station (111); the dredging pipe (5) is provided with a silt suction vehicle (2); and the three-in-one pipeline cable (4) is provided with an integrated servo three-in-one cable winding machine (3); The desilting and obstacle-clearing integrated robot (1) comprises a quick-detachable desilting suction component (10), a material box trolley component (11) and a lifting structure (103); a lifting support probe component (7) is arranged on the quick-detachable desilting suction component (10); a right lifting drive wheel component (8) and a left lifting drive wheel component (8) are arranged on the lifting support probe component (7); and a desilting Tai Chi blade head body component (6) is arranged on the lifting support probe component (7); The integrated servo three-in-one cable winding machine (3) comprises a roller assembly (96) and a hydraulic station (111).

2. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The lifting support probe assembly (7) comprises a clamping swing rod (12), a rear clamping swing rod (13), a probe bracket (16), a sliding base plate (20) and a lifting transmission assembly (14); The clamping swing rod (12), the rear clamping swing rod (13), the probe bracket (16) and the sliding base plate (20) are connected via a pin shaft (18) and a second pin shaft (19); The lifting transmission assembly (14) comprises a pan / tilt lifting motor (24), a driving gear (25), a driven gear (26), a transmission screw (27), a screw nut (28) and a telescopic rod (29); a waterproof joint (30) is provided on the lifting motor (24); the lifting transmission assembly (14) is connected to the clamping swing rod (12) via a long connecting pin (15); the probe bracket (16) is connected to the front mounting seat (17) and the rubber-coated wheel (22) via screws; the rear clamping swing rod (13) is fixed to the front mounting seat (17) via a pin (18); a tension spring (21) is provided on one side of the sliding base plate (20); the other side of the tension spring (21) is fixed to the clamping swing rod (12); and the sliding base plate (20) is connected to a switch (31) via screws; The probe bracket (16) is provided with a probe connecting guide rod (34) and a rubber-coated wheel (22), the probe connecting guide rod (34) is provided with a probe assembly (23), and the probe connecting guide rod (34) is provided with a pan / tilt telescopic motor (32) and a friction driving wheel (33).

3. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 2, characterized in that: The left lifting drive wheel assembly (9) comprises a front and rear wheel transmission gear housing (41), a wheel assembly lifting mounting plate (38) is arranged on the front and rear wheel transmission gear housing (41), a lifting electric cylinder (37) is connected to the wheel assembly lifting mounting plate (38) via a hexagon socket head shoulder screw (39), a travel drive assembly (40) is arranged on the front and rear wheel transmission gear housing (41), a front drive wheel assembly (35) is arranged on the front and rear wheel transmission gear housing (41), and a rear drive wheel assembly (36) is arranged on the travel drive assembly (40); The lifting electric cylinder (37) comprises a travel lifting motor (42), a motor adapter shaft (43) is arranged on the travel lifting motor (42), a spur gear (44) is arranged on the motor adapter shaft (43), an intermediate cylindrical gear (45) is arranged on the spur gear (44), a driven cylindrical gear (46) is arranged on the intermediate cylindrical gear (45), a wheel leg lifting transmission screw (47) is arranged on the driven cylindrical gear (46), and a wheel leg lifting screw nut (48) and a wheel leg lifting telescopic rod (49) are arranged on the wheel leg lifting transmission screw (47); The travel drive assembly (40) comprises a wheel group travel transmission motor (50), the wheel group travel transmission motor (50) is provided with a travel active grinding spur gear (51) and a travel motor waterproof line gland (57), the travel active grinding spur gear (51) is provided with a travel intermediate grinding spur gear (52), the intermediate grinding spur gear (52) is provided with a travel driven grinding spur gear (53), the travel driven grinding spur gear (53) is provided with a secondary transmission shaft (54), and the secondary transmission shaft (54) is provided with a left transmission gear (55) and a right transmission gear (56).

4. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 3, characterized in that: The left transmission gear (55) is provided with an equal-tooth-number gear 1 (58), and the equal-tooth-number gear 1 (58) rotates with respect to the equal-tooth-number gear 2 (60) through the barrel cover front and rear wheel transmission shafts (59), and the equal-tooth-number gear 2 (60) is provided with an equal-tooth-number gear 3 (61), and the equal-tooth-number gear 3 (61) is provided with a small hypoid bevel gear (62), and the small hypoid bevel gear (62) is provided with a large hypoid bevel gear (63), and the large hypoid bevel gear (63) is provided with a driving wheel core shaft (64), and the driving wheel core shaft (64) rotates with the front driving wheel set (35) connected thereto through a driving key (65).

5. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The dredging Tai Chi blade head body assembly (6) comprises a front end flange (71), front and rear flange connecting columns (72) and a rear end flange (77); a sonar assembly (80) and a distribution box assembly (73) are arranged on the front and rear flange connecting columns (72); and a swinging lifting ring (74), a lifting lifting ring (75) and an electric tail hook (76) are arranged between the front end flange (71) and the rear end flange (77).

6. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 5, characterized in that: The front end flange (71) is provided with a wire brush (67), the wire brush (67) is provided with a rotating cutter head (66) via a screw, the rotating cutter head (66) is provided with a spiral barrel (78), the spiral barrel (78) is provided with a hollow large gear plate (70) and a driving wide cylindrical gear (69), a deep groove ball bearing (79) is provided between the spiral barrel (78), the front end flange (71) and the rear end flange (77), and two hydraulic rotary motors (68) are provided on the driving wide cylindrical gear (69).

7. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The quick-detachable silt suction assembly (10) comprises a tail adapter flange (81) and a detachable flange (82), a four-inch silt removal pipe connection flange (85) is arranged on the tail adapter flange (81), the four-inch silt removal pipe connection flange (85) and the detachable flange (82) are connected by screws, three horn screws (84) are arranged on the tail adapter flange (81), the tail adapter flange (81) is connected to the rear end flange (77) by (16) screws, and an aluminum alloy handle (83) is arranged on the detachable flange (82).

8. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The material box trolley assembly (11) comprises a material box barrel (86), a material box barrel lifting ring (87), a connecting hook (88), a dredging pipe connecting flange (90), a material box barrel rear cover (92) and a quick-twist knob (93); the material box barrel trolley assembly (11) is connected to the dredging and obstacle removal integrated robot (1) via the connecting hook (88); the material box barrel (86) is equipped with four rubber wheels (89); a partition plate (91) is installed inside the material box barrel (86); and the material box barrel (86) is connected to the dredging pipe (5) via the dredging pipe connecting flange (90).

9. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The roller assembly (96) is provided with a manual rotating handle (99) and a rotating chain (100); the roller assembly (96) is connected to a winding mechanism frame (94) via a bearing; the winding mechanism frame (94) is connected to a self-locking universal wheel (98) via screws; the three-in-one pipeline cable (4) is wound on the roller assembly (96); a guide device (102) is provided on the roller assembly (96); and a meter (110) is provided on the guide device (102).

10. The Tai Chi blade dredging and obstacle removal integrated pipeline robot according to claim 1, characterized in that: The lifting mechanism (113) comprises a No. 1 hook (114), a No. 2 hook (115), and a No. 3 hook 116, wherein the No. 1 hook (114) is connected to a swinging lifting ring (74) at the front end of the dredging and obstacle removal robot 1, the No. 2 hook (115) is connected to an upper material box barrel lifting ring (87) at the rear side of a material box barrel (86) of the dredging and obstacle removal robot 1, and the No. 3 hook (116) is connected to a lower electric tail hook (76) at the rear side of the dredging and obstacle removal robot 1.

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