A pipe network blockage removal robot with separated power source

Abstract

The present invention discloses a pipeline unblocking robot with a separated power source, characterized in that it comprises a ground power source module and a unblocking robot; the ground power source module comprises a power component transport vehicle, a power module, and an operating room, and the power module and the operating room are respectively arranged on the power component transport vehicle; the unblocking robot comprises a walking component, a cavity, a swing arm cylinder, a swing arm cylinder swing arm platform mounting seat, a swing arm platform, a lifting cylinder, a large arm, a flip cylinder, and an unblocking execution component; the power source of the present invention is separated from the robot, which reduces the size of the robot and is suitable for a wider range of underground pipelines; construction personnel do not need to go down the well to operate equipment, thereby avoiding personal injuries to construction personnel caused by the harsh underground construction environment; there is no need to frequently excavate pits, thereby avoiding unnecessary construction costs and reducing unnecessary traffic jams.

Description

Technical Field

[0001] The invention belongs to the technical field of environmental protection equipment, and in particular relates to a pipe network blockage removal robot with a separated power source. Background Art

[0002] As the urban population continues to increase, the pressure on underground drainage pipe networks is increasing, urban flooding occurs from time to time, and the problem of unblocking underground pipe networks is becoming increasingly prominent. The current methods of unblocking include the following:

[0003] 1. Construction workers go down the well for manual work: Construction workers wear waterproof clothing and breathing masks, enter the sewer network to manually dredge and remove the blockage from the underground network;

[0004] 2. Mechanical treatment after excavation by engineering machinery: Use an excavator to dig up the covering soil layer above the blocked underground pipe network, and then remove the blockage in the underground pipe network.

[0005] This method of manual work by construction workers going down into the well may endanger the personal safety of construction workers and is inefficient; while the mechanical treatment measure after excavation by construction machinery is a large project, with a large impact on the surrounding environment, and the recovery project is difficult. Summary of the invention

[0006] In view of the above problems, the present invention provides a safe and efficient underground pipe network blockage removal solution, which can remove the underground pipe network blockage without personnel going down the well and without excavation or with less excavation, thereby achieving the purpose of avoiding casualties and reducing construction costs. The technical solution of the present invention is as follows:

[0007] A pipe network blockage removal robot with a separated power source, comprising a ground power source module and a blockage removal robot;

[0008] The ground power source module includes a power component transport vehicle, a power module, and an operation room, wherein the power module and the operation room are respectively arranged on the power component transport vehicle;

[0009] The power module in the power source module includes a diesel engine, a hydraulic pump, and a hydraulic oil tank, wherein the diesel engine is connected to the hydraulic pump to provide power for the hydraulic pump;

[0010] The hydraulic pump is connected to the blockage clearing robot via a long-distance hydraulic transmission oil pipe to provide power for the blockage clearing robot;

[0011] The operating room includes an operating table and a control box, which are connected to the blockage clearing robot via a control cable and are used to control the blockage clearing robot;

[0012] The blockage removal robot comprises a walking component, a cavity, a swing arm cylinder, a swing arm cylinder swing arm platform mounting seat, a swing arm platform, a lifting cylinder, a large arm, a flip cylinder, and a blockage removal execution component;

[0013] The walking assembly includes a crawler and a chassis, and the cavity is mounted on the crawler through the chassis; the blockage removal actuator is hinged on the boom through a tilting cylinder, and one hinge point of the boom is connected to the boom reaming hole of the swing arm platform through a pin shaft, one end of the lifting cylinder is connected to the lifting cylinder reaming hole of the swing arm platform through a pin shaft, and the other end is connected to another hinge point of the boom 7 through a pin shaft, and the tail end of the swing arm cylinder is connected to the swing arm cylinder reaming hole of the swing arm platform mounting seat welded on the cavity through a pin shaft, and the other end is hinged to the swing arm cylinder reaming hole on the swing arm platform;

[0014] A hydraulic valve group, an electric control box group and a signal feedback device are arranged inside the cavity. The control cable enters the cavity through the hole at the rear of the cavity and is connected to the electric control box group, and then the electric control box group is connected to the hydraulic valve group.

[0015] The blockage removal execution component is a hydraulic impact pick or a high-pressure water gun or a tree root crushing mechanism;

[0016] The hydraulic circuit connection method of the present invention is: the hydraulic pump transports the hydraulic oil to the hydraulic valve group in the cavity of the blockage removal robot through a long-distance hydraulic transmission oil pipe, and distributes the hydraulic oil to the motor, swing arm cylinder, lifting cylinder, flip cylinder, and blockage removal execution component in the walking component through the hydraulic valve group, and the hydraulic valve group controls the direction of the liquid flow in the circuit through an electromagnet. The electromagnet in the hydraulic valve group is given relevant operations in the operating room and the signal is transmitted to the electronic control box through the control cable for control.

[0017] The present invention uses the constant pressure function in hydraulic pressure to achieve long-distance transmission of liquid flow, keeps the pressure in the long-distance transmission hose unchanged, shortens the response time of the system, and reduces the elastic deformation of the hose during operation. A higher pressure is used as the transmission starting point to meet the pressure value required by the actuator. Since the liquid flow in the system is always in a high-pressure state, the liquid pressure transmission speed is fast, the time for the pressure output to the actuator is short, and there will be no delay control.

[0018] This constant pressure system mainly uses hydraulic components, including hydraulic pumps, multi-way valves and actuators. The main function of the hydraulic pump is to provide the system with the set pressure of the pump within the rated displacement of the pump. For example, when the pump has a displacement of 50, the set pressure is 100 bar, and the speed is 1000r / min, the pump always provides the system with a constant pressure of 100 bar when the flow required by the system does not reach 50L / min. The multi-way valve provides hydraulic control for the system. When the system is not in motion, the valve oil inlet is cut off and there is no flow loss in the system, which makes the torque required by the pump at this time the minimum, saving the power of the prime mover, and saving energy compared with other hydraulic systems.

[0019] The working principle of the present invention is as follows:

[0020] (I) The ground power module realizes the following functions:

[0021] 1. Provide power: All actions of the underground blockage removal robot are completed by hydraulics, and the pressure oil drives the hydraulic motor, cylinder and other action elements.

[0022] 2. Provide a construction site: The construction personnel operation room on the transport vehicle is a fixed place for construction personnel.

[0023] 3. Free movement: The transport vehicle can easily and quickly transport the power source to the construction site, without the need for cranes or other equipment to assist in construction.

[0024] , Blockage-clearing robot function

[0025] The crawler provides the robot with walking, steering and other actions. The other components are mounted on the crawler through the chassis. The electric control box, hydraulic valve group and some signal feedback devices are installed inside the cavity, which is used to protect the safety of hydraulic and electrical components. The three oil cylinders are responsible for controlling the position of the unblocking actuator. The unblocking actuator includes hydraulic impact pick, high-pressure water gun, and tree root crushing mechanism. Different components are replaced according to different blockage conditions. After receiving the operating instructions of the ground operator, the electric control box controls the hydraulic valve group to control the actions of each actuator.

[0026] The beneficial effects of the present invention are as follows: the power source is separated from the robot, which reduces the size of the robot and makes it suitable for a wider range of underground pipe networks; construction workers do not need to go down the well to operate equipment, thus avoiding personal injury to construction workers caused by the harsh underground construction environment; there is no need to frequently excavate pits, thus avoiding unnecessary construction costs and reducing unnecessary traffic jams. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the jam removal robot of the present invention.

[0028] Figure 2 It is a schematic diagram of the overall structure of the present invention

[0029] Figure 3 This is the hydraulic principle diagram of the present invention

[0030] Figure 4 Schematic diagram of the interior of the cavity of the present invention

[0031] Figure 5 Schematic diagram of the interior of the operating room of the present invention

[0032] Explanation of the accompanying figures: 1 walking assembly, 2 cavity, 3 swing arm cylinder, 4 swing arm cylinder swing arm platform mounting seat, 5 swing arm platform, 6 lifting cylinder, 7 big arm, 8 flip cylinder, 9 unblocking actuator, 10 power assembly transport vehicle, 11 power module, 12 operation room, 13 control cable, 14 long-distance hydraulic transmission oil pipe, 15 sewer network, 16 soil layer, 17 hydraulic valve group, 18 electric control box, 19 operating table, 20 control box, 21 oil tank, 22 filter, 23 hydraulic pump, 25 control element, 26 actuator DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. As shown in the drawings, a pipe network blockage removal robot with a separated power source of the present invention comprises a ground power source module and a blockage removal robot;

[0034] The ground power source module includes a power component transport vehicle 10, a power module 11, and an operating room 12, wherein the power module 11 and the operating room 12 are respectively arranged on the power component transport vehicle 10;

[0035] The power module 11 in the power source module includes a diesel engine, a hydraulic pump, and a hydraulic oil tank. The diesel engine is connected to the hydraulic pump to provide power for the hydraulic pump.

[0036] The hydraulic pump is connected to the blockage clearing robot via a long-distance hydraulic transmission oil pipe 14 to provide power for the blockage clearing robot;

[0037] The operating room 12 includes an operating table 19 and a control box 20, which are connected to the blockage removal robot via a control cable 13 and are used to control the blockage removal robot;

[0038] The blockage removal robot comprises a walking component 1, a cavity 2, a swing arm cylinder 3, a swing arm cylinder swing arm platform mounting seat 4, a swing arm platform 5, a lifting cylinder 6, a large arm 7, a flip cylinder 8, and a blockage removal execution component 9;

[0039] The walking assembly 1 includes a crawler and a chassis, and the cavity 2 is mounted on the crawler through the chassis; the unblocking actuator 9 is hinged on the boom 7 through the tilting cylinder 8, and one hinge point of the boom 7 is connected to the boom reaming hole of the swing arm platform 5 through a pin shaft, one end of the lifting cylinder 6 is connected to the lifting cylinder reaming hole of the swing arm platform 5 through a pin shaft, and the other end is connected to another hinge point of the boom 7 through a pin shaft, and the tail end of the swing arm cylinder 3 is connected to the swing arm cylinder reaming hole of the swing arm cylinder swing arm platform mounting seat 4 welded on the cavity through a pin shaft, and the other end is hinged to the swing arm cylinder reaming hole on the swing arm platform 5;

[0040] A hydraulic valve group 17, an electric control box 18 and a signal feedback device are arranged inside the cavity. The control cable 13 enters the cavity through the hole at the rear of the cavity 2 and is connected to the electric control box, which is then connected to the hydraulic valve group 17. The feedback device can feed back the circuit signal and hydraulic signal of the blockage removal robot to the operating room, providing a basis for the operator to judge the working condition of the blockage removal robot.

[0041] The blockage removal execution component is a hydraulic impact pick or a high-pressure water gun or a tree root crushing mechanism;

[0042] The hydraulic circuit connection method of the present invention is: the hydraulic pump transports the hydraulic oil to the hydraulic valve group 17 in the cavity 2 of the jam-removing robot through the long-distance hydraulic transmission oil pipe 14, and distributes the hydraulic oil to the motor, swing arm cylinder 3, lifting cylinder 6, flip cylinder 8, and jam-removing actuator 9 in the walking component 1 through the hydraulic valve group 17, and the hydraulic valve group 17 controls the direction of the liquid flow in the circuit through the electromagnet. The electromagnet in the hydraulic valve group 17 is given relevant operations by the operating room 12 and controls the signal transmitted to the electric control box 18 through the control cable 13.

[0043] The present invention uses the constant pressure function in hydraulic pressure to achieve long-distance transmission of liquid flow, keeps the pressure in the long-distance transmission hose unchanged, shortens the response time of the system, and reduces the elastic deformation of the hose during operation. A higher pressure is used as the transmission starting point to meet the pressure value required by the actuator. Since the liquid flow in the system is always in a high-pressure state, the liquid pressure transmission speed is fast, the time for the pressure output to the actuator is short, and there will be no delay control.

[0044] This constant pressure system mainly uses hydraulic components, including hydraulic pumps, multi-way valves and actuators. The main function of the hydraulic pump is to provide the system with the set pressure of the pump within the rated displacement of the pump. For example, when the pump has a displacement of 50, the set pressure is 100 bar, and the speed is 1000r / min, the pump always provides the system with a constant pressure of 100 bar when the flow required by the system does not reach 50L / min. The multi-way valve provides hydraulic control for the system. When the system is not in motion, the valve oil inlet is cut off and there is no flow loss in the system, which makes the torque required by the pump at this time the minimum, saving the power of the prime mover, and saving energy compared with other hydraulic systems.

[0045] This hydraulic system has the following advantages:

[0046] 1. The high-pressure liquid flow is directly output by the pump and transmitted in a long and flexible pipeline, which shortens the expansion time of the soft pipeline during the pressure increase process.

[0047] 2. The pressure loss of high-pressure liquid flowing through the pipeline is the same as that of low-pressure control, and it can reduce the continuous expansion of the hose during operation and increase the service life of the hose.

[0048] 3. The hydraulic components used are all standard components and no non-standard modifications are required.

[0049] 4. The high-pressure liquid flow through the control element can directly adapt to any pressure required by the actuator under the rated pressure, so that the actuator can reduce the pressure building process and start the actuator quickly.

[0050] The working principle of the present invention is as follows:

[0051] (I) The ground power module realizes the following functions:

[0052] 1. Provide power: All actions of the underground blockage removal robot are completed by hydraulics, and the pressure oil drives the hydraulic motor, cylinder and other action elements.

[0053] 2. Provide a construction site: The construction personnel operation room on the transport vehicle is a fixed place for construction personnel.

[0054] 3. Free movement: The transport vehicle can easily and quickly transport the power source to the construction site, without the need for cranes or other equipment to assist in construction.

[0055] , Blockage-clearing robot function

[0056] The crawler provides the robot with walking, steering and other actions. The other components are mounted on the crawler through the chassis. The electric control box, hydraulic valve group and some signal feedback devices are installed inside the cavity, which is used to protect the safety of hydraulic and electrical components. The three oil cylinders are responsible for controlling the position of the unblocking actuator. The unblocking actuator includes hydraulic impact pick, high-pressure water gun, and tree root crushing mechanism. Different components are replaced according to different blockage conditions. After receiving the operating instructions of the ground operator, the electric control box controls the hydraulic valve group to control the actions of each actuator.

[0057] The above is an exemplary description of the present invention. Obviously, the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A pipe network blocking removal robot with separated power source, characterized in that: Includes ground power source module and jam removal robot; The ground power source module includes a power component transport vehicle, a power module, and an operation room, wherein the power module and the operation room are respectively arranged on the power component transport vehicle; The power module in the power source module includes a diesel engine, a hydraulic pump, and a hydraulic oil tank, wherein the diesel engine is connected to the hydraulic pump to provide power for the hydraulic pump; The hydraulic pump is connected to the blockage clearing robot via a long-distance hydraulic transmission oil pipe to provide power for the blockage clearing robot; The operating room includes an operating table and a control box, which are connected to the blockage clearing robot via a control cable and are used to control the blockage clearing robot; The blockage removal robot comprises a walking component, a cavity, a swing arm cylinder, a swing arm cylinder swing arm platform mounting seat, a swing arm platform, a lifting cylinder, a large arm, a flip cylinder, and a blockage removal execution component; The walking assembly includes a crawler and a chassis, and the cavity is mounted on the crawler through the chassis; the blockage removal execution assembly is hinged on the boom through a flip cylinder; A hydraulic valve group, an electric control box group and a signal feedback device are arranged inside the cavity. The control cable enters the cavity through the hole at the rear of the cavity and is connected to the electric control box group, and then the electric control box group is connected to the hydraulic valve group. A hinge point of the big arm of the jam removal robot is connected to the big arm reaming hole of the swing arm platform through a pin shaft, one end of the lifting cylinder is connected to the lifting cylinder reaming hole of the swing arm platform through a pin shaft, and the other end is connected to another hinge point of the big arm through a pin shaft, the tail end of the swing arm cylinder is connected to the swing arm cylinder reaming hole of the swing arm platform mounting seat welded on the cavity through a pin shaft, and the other end is hinged to the swing arm cylinder reaming hole on the swing arm platform; The hydraulic pump transports the hydraulic oil to the hydraulic valve group in the cavity of the jam-removing robot through a long-distance hydraulic transmission oil pipe, and distributes the hydraulic oil to the motor, swing arm cylinder, lifting cylinder, flip cylinder, and jam-removing actuator in the walking component through the hydraulic valve group. The hydraulic valve group controls the direction of the fluid flow in the circuit through an electromagnet. The electromagnet in the hydraulic valve group is given relevant operations by the operating room and the signal is transmitted to the electronic control box through the control cable for control.

2. A pipeline network blocking removal robot with separated power source according to claim 1, characterized in that: The blockage removal execution component of the blockage removal robot is a hydraulic impact pick or a high-pressure water gun or a tree root crushing mechanism.

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