A pipeline sludge cleaning robot

Abstract

The present invention relates to the field of robot technology, and in particular to a pipeline sludge cleaning robot, comprising a crawler machine, a shell is installed on the upper surface of the crawler machine, a sludge storage device is installed on one side of the inner lower surface of the shell, a sludge transport device is installed on the other side of the inner lower surface of the shell, a limiting device for limiting the sludge storage device is installed on the front side of the shell, first positioning devices are symmetrically installed on both sides of the outer side of the shell, a second movable plate is installed on the output end of the second electric telescopic rod, a rotating brush is installed on the output end of the first motor through the sliding plate, and a plurality of second positioning devices are installed at equal intervals on the outer side of the mounting cylinder. Compared with the prior art, the present invention has good use effect, can greatly improve the dredging efficiency of the pipeline, and has good cleaning effect, can meet the dredging of pipelines of different sizes, reduces the labor intensity of the staff, has strong practicality, high stability, and is worthy of vigorous promotion and use.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a pipeline sludge cleaning robot. Background Art

[0002] The urban drainage system is an engineering facility system for treating and removing urban sewage and rainwater, and is a component of urban public facilities. The urban drainage system planning is a component of the city's overall planning. The urban drainage system is usually composed of drainage pipes and sewage treatment plants. In the case of sewage and rainwater diversion, sewage is collected by drainage pipes, sent to sewage treatment, and then discharged into water bodies or recycled; rainwater is collected by drainage pipes and discharged into nearby water bodies.

[0003] At present, domestic pipeline desilting is all done manually. Due to the limited working environment of pipelines, manual desilting has the following problems: 1. It is impossible to observe while desilting; 2. Desilting is not thorough; 3. The working length is limited; 4. Improper high-pressure operation may cause work-related injuries; 5. Low efficiency of manual operation. In short, technology is developing, but the pipeline desilting industry is still working in a primitive and traditional way, which is inevitably inconsistent with today's society.

[0004] In view of the above problems, we propose a pipeline sludge cleaning robot to solve the shortcomings of the existing technology. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a pipeline sludge cleaning robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a pipeline sludge cleaning robot is designed, including a crawler machine, a shell is installed on the upper surface of the crawler machine, a control cabinet is installed on the upper surface of the shell, a sludge storage device is installed on one side of the inner lower surface of the shell, and a sludge transportation device is installed on the other side of the inner lower surface of the shell, a limiting device for limiting the sludge storage device is installed on the front side of the shell, and first positioning devices are symmetrically installed on both sides of the outside of the shell, an L-shaped plate is installed on the upper left side of the shell, a support plate is installed on the upper surface of the horizontal plate of the L-shaped plate, a lighting lamp and a camera are installed on one side of the support plate, and a second slide rail is vertically and symmetrically installed on one side of the vertical plate of the L-shaped plate, and a second slider is slidably connected to the outer side of the second slide rail, two first slide rails are commonly installed between the two second sliders, and the first slider is slidably installed on the outer side of the two first slide rails, and a fixed shell is commonly installed on one side of the two first sliders. The cam is provided with a first end for receiving the rotation of the rotating shaft, and a second end for receiving the rotation of the rotating shaft is provided with a first end for receiving the rotation of the rotating shaft, and a second end for receiving the rotation of the rotating shaft is provided with a second end for receiving the rotation of the rotating shaft.

[0007] Preferably, the sludge storage device includes multiple rotating shafts and storage boxes, the rotating shafts are located at the lower inner part of the outer shell and are rotatably connected to the outer shell, the storage box is located at the upper part of the rotating shafts, and a baffle for limiting the storage box is installed on one side of the inner side of the outer shell.

[0008] Preferably, the limit device includes a limit lever, a limit shell, a limit push plate and a limit spring, the limit shell is fixed to the shell, the limit shell and the shell have a limit lever passing through them, and one end of the limit lever is a wedge-shaped structure, the outer side of the limit lever is fixedly mounted with a limit push plate located inside the limit shell, the outer side of the limit lever is movably mounted with a limit spring located inside the limit shell, and the limit spring is located close to the limit push plate and away from the shell.

[0009] Preferably, the sludge transport device includes a second motor, a driving shaft, a support rod, a first movable plate, a first electric telescopic rod, a conveyor belt, a hopper and a connecting plate, the first electric telescopic rod is located on the inner lower surface of the shell, the first movable plate is connected to the output end of the first electric telescopic rod, support rods are installed on both sides of the upper surface of the first movable plate, a driving shaft is rotatably installed between the two support rods, a second motor is installed on one side of any one of the support rods, the output end of the second motor is connected to the driving shaft, a connecting plate is installed on one side of the first movable plate, a hopper is installed on one side of the connecting plate, one end of the hopper extends to the outside of the shell, a driven shaft is installed inside the hopper, and a conveyor belt is transmission-connected between the driven shaft and the driving shaft.

[0010] Preferably, the first positioning device includes a first cylinder and a universal wheel, and the universal wheel is located at the output end of the first cylinder.

[0011] Preferably, the rotating device includes a third slide rail, a third slider, a third motor, a push head, a rack, a gear, a rotating shaft, a rectangular frame and a turntable, the third slide rail is located on the inner lower surface of the fixed shell, the third slider is slidably installed on the outer upper part of the third slide rail, the upper end of the third slider is installed with a rectangular frame, the upper end of the rectangular frame is installed with a rack, the rotating shaft is located in the middle of one side of the rotating block, one end of the rotating shaft passes through the mounting cylinder and is installed with a gear meshing with the rack, the third motor is located on the inner lower surface of the fixed shell, the output end of the third motor is installed with a turntable, and the push head located inside the rectangular frame is installed on one side edge of the turntable.

[0012] Preferably, a ball groove is provided on the outer edge and the right side of the rotating block, a ball is installed inside the ball groove, and the surface of the ball is in contact with the installation tube.

[0013] The pipeline sludge cleaning robot proposed by the present invention has the following beneficial effects: the first positioning device provided in the present invention can place the crawler in the central lower part of the pipeline, the first electric telescopic rod provided drives the first movable plate to move, and the first movable plate drives the hopper to move through the connecting plate, so that the lower surface of the hopper can be closely fitted, so that the sludge cleaning is more thorough and can meet the cleaning needs of pipelines of different sizes. The sludge can be transported to the storage box through the conveyor belt, the lighting lamp and the camera provided can clearly observe the situation in the pipeline, the second positioning device provided can place the fixed shell in the central position of the pipeline through the first slider, the first slide rail, the second slider and the second slide rail, and the second electric telescopic rod provided drives the first movable plate to move, and the first movable plate drives the hopper to move through the connecting plate, so that the lower surface of the hopper can be closely fitted, so that the sludge cleaning is more thorough and can meet the cleaning needs of pipelines of different sizes. The second movable plate moves, the second movable plate drives the push rod, the push rod drives the sliding plate to move, the sliding plate drives the first motor and the rotating brush to move, so as to meet the needs of dredging pipes of different sizes. The third motor drives the turntable to rotate, the turntable drives the push head to rotate, the push head drives the rectangular frame to reciprocate, the rectangular frame drives the rotating block to reciprocate through the rack and the gear, so that the rotating drum reciprocates, and the rotating drum drives the rotating brush to reciprocate, thereby improving the dredging effect on the pipe. Compared with the prior art, the present invention has good practical effect, can greatly improve the dredging efficiency of the pipe, and at the same time has good cleaning effect, meets the needs of dredging pipes of different sizes, reduces the labor intensity of the staff, has strong practicality, high stability, and is worthy of vigorous promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the first-person perspective structure of a pipeline sludge cleaning robot proposed by the present invention;

[0015] Figure 2 A schematic diagram of the structure of a pipeline sludge cleaning robot from a second perspective;

[0016] Figure 3 A schematic diagram of a third-view partial stereoscopic structure of a pipeline sludge cleaning robot proposed by the present invention;

[0017] Figure 4 A schematic diagram of a partial stereoscopic structure of a pipeline sludge cleaning robot proposed by the present invention from a fourth viewing angle;

[0018] Figure 5 This is a schematic structural diagram of a limiting device of a pipeline sludge cleaning robot proposed by the present invention;

[0019] Figure 6 This is a schematic diagram of the internal structure of a fixed shell of a pipeline sludge cleaning robot proposed by the present invention.

[0020] In the figure: crawler 1, limit device 2, limit stop rod 201, limit housing 202, limit push plate 203, limit spring 204, first positioning device 3, housing 4, control cabinet 5, L-shaped plate 6, first cylinder 7, universal wheel 8, support plate 9, lighting lamp 10, camera 11, first slider 12, second positioning device 13, first slide rail 14, mounting cylinder 15, ball 16, first motor 17, retaining ring 18, rotating cylinder 19, rotating brush 20, sliding plate 21, mounting plate 22, push rod 23, slide trough 24, transmission Belt 25, hopper 26, fixed shell 27, second slider 28, storage box 29, second motor 30, rotating shaft 31, driving shaft 32, support rod 33, first movable plate 34, first electric telescopic rod 35, connecting plate 36, second movable plate 37, third slide rail 38, third slider 39, ball groove 40, third motor 41, push head 42, rack 43, gear 44, rotating shaft 45, rotating block 46, limit baffle 47, second electric telescopic rod 48, rectangular frame 49, turntable 50, baffle 51, second slide rail 52. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Reference Figure 1-6 A pipeline sludge cleaning robot includes a crawler machine 1, a shell 4 is installed on the upper surface of the crawler machine 1, a control cabinet 5 is installed on the upper surface of the shell 4, a sludge storage device is installed on one side of the inner lower surface of the shell 4, the sludge storage device includes multiple rotating shafts 31 and a storage box 29, the rotating shaft 31 is located at the lower inner part of the shell 4 and is rotatably connected to the shell 4, the storage box 29 is located at the upper part of the rotating shaft 31, and a baffle 51 for limiting the storage box 29 is installed on one side of the inner part of the shell 4. The structure is simple and easy to use. When the storage box 29 moves on the rotating shaft 31, the rotating shaft 31 rotates to convert sliding friction into rolling friction. The rotating shaft 31 can make it easier to place and remove the storage box 29, and the baffle 51 can limit the installation position of the storage box 29.

[0023] A sludge transport device is installed on the other side of the inner lower surface of the shell 4, and the sludge transport device includes a second motor 30, a driving shaft 32, a support rod 33, a first movable plate 34, a first electric telescopic rod 35, a conveyor belt 25, a hopper 26 and a connecting plate 36. The first electric telescopic rod 35 is located on the inner lower surface of the shell 4, and the first movable plate 34 is connected to the output end of the first electric telescopic rod 35. Support rods 33 are installed on both sides of the upper surface of the first movable plate 34, and a driving shaft 32 is rotatably installed between the two support rods 33. A second motor 30 is installed on one side of any support rod 33, and the second motor 3 0 is connected to the driving shaft 32, a connecting plate 36 is installed on one side of the first movable plate 34, a hopper 26 is installed on one side of the connecting plate 36, one end of the hopper 26 extends to the outside of the shell 4, a driven shaft is installed inside the hopper 26, a conveyor belt 25 is connected between the driven shaft and the driving shaft 32, the cleaned sludge can be transported to the storage box 29 through the conveyor belt 25, the first electric telescopic rod 35 can change the height of the hopper 26 through the first movable plate 34 and the connecting plate 36, so that the hopper 26 can fully fit with the lower part of the cleaned pipe, so that the sludge is cleaned more thoroughly.

[0024] A limit device 2 for limiting the sludge storage device is installed on the front side of the shell 4, and the limit device 2 includes a limit stop rod 201, a limit shell 202, a limit push plate 203 and a limit spring 204. The limit shell 202 is fixed to the shell 4, and the limit stop rod 201 runs through the limit shell 202 and the shell 4, and one end of the limit stop rod 201 is a wedge-shaped structure. The outer side of the limit stop rod 201 is fixedly installed with a limit push plate 203 located inside the limit shell 202, and the outer side of the limit stop rod 201 is movably installed with a limit spring 204 located inside the limit shell 202, and the limit spring 204 is located on the side close to the limit push plate 203 away from the shell 4. The structure is simple and the practical effect is good. The storage box 29 can be blocked by the limit stop rod 201, so that the position of the storage box 29 can be limited to prevent the storage box 29 from being displaced during use.

[0025] The first positioning device 3 is symmetrically installed on both sides of the outside of the shell 4. The first positioning device 3 includes a first cylinder 7 and a universal wheel 8. The universal wheel 8 is located at the output end of the first cylinder 7. It has a simple structure and can place the crawler machine 1 in the lower center of the cleaning pipe to prevent the crawler machine 1 from deviating from the cleaning pipe during movement.

[0026] An L-shaped plate 6 is installed on the upper left side of the shell 4, a support plate 9 is installed on the upper surface of the horizontal plate of the L-shaped plate 6, a lighting lamp 10 and a camera 11 are installed on one side of the support plate 9, a second slide rail 52 is vertically and symmetrically installed on one side of the vertical plate of the L-shaped plate 6, the outer side of the second slide rail 52 is slidably connected with a second slider 28, two first slide rails 14 are installed between the two second sliders 28, the outer sides of the two first slide rails 14 are slidably installed with a first slider 12, and a fixed shell 27 is installed on one side of the two first sliders 12, and a rotating device is installed inside the fixed shell 27. The rotating device includes a third slide rail 38, a third slider 39, a third motor 41, a push head 42, a rack 43, a gear 44, a rotating shaft 45, a rectangular frame 49 and a turntable 50, and the third slide rail 38 is located in the fixed shell 2 7, a third slider 39 is slidably installed on the outer upper part of the third slide rail 38, a rectangular frame 49 is installed on the upper end of the third slider 39, a rack 43 is installed on the upper end of the rectangular frame 49, one end of the rotating shaft 45 is fixed to the middle of the rotating block 46, the other end of the rotating shaft 45 passes through the mounting cylinder 15 and is installed with a gear 44 meshing with the rack 43, the third motor 41 is located on the inner lower surface of the fixed shell 27, a turntable 50 is installed at the output end of the third motor 41, and a pusher head 42 located inside the rectangular frame 49 is installed on one side edge of the turntable 50, which can enable the rotating block 46 to realize reciprocating rotation, the rotating block 46 drives the rotating cylinder 19 to rotate reciprocatingly, and all components on one side of the rotating cylinder 19 follow the reciprocating motion, thereby realizing the reciprocating rotation of the rotating brush 20 and improving the cleaning effect of the rotating brush 20 on the pipeline.

[0027] A mounting cylinder 15 is installed at one end of the fixed shell 27, and a rotating block 46 is installed inside the mounting cylinder 15. Ball grooves 40 are provided on the outer edge and right side of the rotating block 46. A sphere 16 is installed inside the ball groove 40. The surface of the sphere 16 contacts the mounting cylinder 15, which can reduce the friction between the rotating block 46 and the mounting cylinder 15, so that the rotating block 46 can have a better rotation effect.

[0028] A limit baffle 47 is installed at one end of the rotating block 46, a baffle ring 18 for resisting the limit baffle 47 is installed on the left side of the mounting cylinder 15, a rotating cylinder 19 is installed on one side of the limit baffle 47, a second electric telescopic rod 48 is installed inside the rotating cylinder 19, a second movable plate 37 is installed at the output end of the second electric telescopic rod 48, a mounting plate 22 is installed at one end of the rotating cylinder 19, a plurality of slide grooves 24 are provided between the mounting plate 22 and the rotating cylinder 19 at equal intervals, and a sliding plate 21 is installed inside the slide groove 24 on the mounting plate 22. A first motor 17 is installed on one side of the sliding plate 21, and a rotating brush 20 is installed on the output end of the first motor 17 that passes through the sliding plate 21. A plurality of push rods 23 corresponding to the sliding plate 21 are rotatably installed at equal intervals on the edge of the second movable plate 37, and one end of the push rod 23 is rotatably connected to the sliding plate 21. The number of sliding plates 21 and push rods 23 is the same, and each push rod 23 drives a sliding plate 21 to move. A plurality of second positioning devices 13 are equidistantly installed on the outside of the mounting tube 15, and the second positioning device 13 has the same structure as the first positioning device 3.

[0029] Working principle: When in use, each electrical component can be controlled by the control cabinet 5, and the robot is placed in the pipeline to be desilted. The first cylinder 7 on the first positioning device 3 drives the universal wheel 8 to move, and the universal wheel 8 conflicts with the inner wall of the pipeline, so that the crawler 1 can be located in the central lower part of the pipeline. The first electric telescopic rod 35 drives the first moving plate 34 to move, and the first moving plate 34 drives the hopper 26 to move through the connecting plate 36, so that the lower surface of the hopper 26 can be closely fitted with the pipeline, so that the sludge can be cleaned more thoroughly. For pipelines of different diameters, when the robot is in them, the distance between the hopper 26 and the inner wall of the pipeline is different, and at the same time, pipelines of different sizes can be cleaned. The second motor 30 drives the driving shaft 32 to rotate, and the driving shaft 32 drives the conveyor belt 25 to rotate. The sludge can be transported to the storage box 29 through the conveyor belt 25. The lighting lamp 10 and the camera 1 can clearly observe the situation in the pipeline. The second positioning device 13 is provided, and the first cylinder 7 on the second positioning device 13 drives the universal wheel 8 to move , the universal wheel 8 is in conflict with the inner wall of the pipeline, and the fixed housing 27 can be located at the center of the pipeline through the first slider 12, the first slide rail 14, the second slider 28 and the second slide rail 52. The second electric telescopic rod 48 drives the second movable plate 37 to move, and the second movable plate 37 drives the push rod 23 to move, and the push rod 23 drives the sliding plate 21 to move, and the rotating brush 20 on the sliding plate 21 can move, so that the position between adjacent rotating brushes 20 changes, and the sliding plate 21 drives the first motor 17 and the rotating brush 20 to move, and the first motor 17 drives the rotating brush 20 to rotate, which can meet the requirements of dredging pipelines of different sizes, and the third motor 41 drives the rotating disk 50 to rotate, and the rotating disk 50 drives the push head 42 to rotate in a circle, and the push head 42 drives the rectangular frame 49 to reciprocate, and the rectangular frame 49 drives the rotating block 46 to reciprocate through the rack 43 and the gear 44, so that the rotating cylinder 19 reciprocates, and the rotating cylinder 19 drives the rotating brush 20 to reciprocate through a series of connection relationships, thereby improving the dredging effect on the pipeline.

[0030] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A pipeline sludge cleaning robot, comprising a crawler machine (1), characterized in that: The upper surface of the crawler machine (1) is mounted with a housing (4), the upper surface of the housing (4) is mounted with a control cabinet (5), one side of the inner lower surface of the housing (4) is mounted with a sludge storage device, the other side of the inner lower surface of the housing (4) is mounted with a sludge transport device, a front side of the housing (4) is mounted with a limiting device (2) for limiting the position of the sludge storage device, both sides of the outer side of the housing (4) are symmetrically mounted with first positioning devices (3), an L-shaped plate (6) is mounted on the upper left side of the housing (4), a support plate (9) is mounted on the upper surface of the horizontal plate of the L-shaped plate (6), and one side of the support plate (9) is mounted with a A lighting lamp (10) and a camera (11) are installed, a second slide rail (52) is vertically and symmetrically installed on one side of the vertical plate of the L-shaped plate (6), the outer side of the second slide rail (52) is slidably connected to a second slider (28), two first slide rails (14) are installed between the two second sliders (28), the outer side of the two first slide rails (14) is slidably installed with a first slider (12), one side of the two first sliders (12) is installed with a fixed shell (27), the interior of the fixed shell (27) is installed with a rotating device, one end of the fixed shell (27) is installed with a mounting tube (15), the mounting A rotating block (46) is installed inside the cylinder (15), a limit baffle (47) is installed at one end of the rotating block (46), a retaining ring (18) for resisting the limit baffle (47) is installed on the left side of the mounting cylinder (15), a rotating cylinder (19) is installed on one side of the limit baffle (47), a second electric telescopic rod (48) is installed inside the rotating cylinder (19), a second movable plate (37) is installed at the output end of the second electric telescopic rod (48), a mounting plate (22) is installed at one end of the rotating cylinder (19), and a plurality of slide grooves (24) are provided at equal intervals between the mounting plate (22) and the rotating cylinder (19). ), a sliding plate (21) is installed inside the slide groove (24) on the mounting plate (22), a first motor (17) is installed on one side of the sliding plate (21), an output end of the first motor (17) passes through the sliding plate (21) and is installed with a rotating brush (20), a plurality of push rods (23) corresponding to the sliding plate (21) are rotatably installed at equal intervals on the edge of the second movable plate (37), one end of the push rod (23) is rotatably connected to the sliding plate (21), a plurality of second positioning devices (13) are equidistantly installed on the outer side of the mounting cylinder (15), and the second positioning devices (13) and the first positioning devices (3) have the same structure; The sludge storage device comprises a plurality of rotating shafts (31) and a storage box (29), wherein the rotating shafts (31) are located at the lower inner part of the outer shell (4) and are rotatably connected to the outer shell (4), and the storage box (29) is located at the upper part of the rotating shafts (31), and a baffle (51) for limiting the position of the storage box (29) is installed on one side of the inner part of the outer shell (4); The limiting device (2) comprises a limiting lever (201), a limiting housing (202), a limiting push plate (203) and a limiting spring (204); the limiting housing (202) is fixed to the housing (4); the limiting housing (202) and the housing (4) are connected by a limiting lever (201); one end of the limiting lever (201) is a wedge-shaped structure; the limiting push plate (203) located inside the limiting housing (202) is fixedly mounted on the outer side of the limiting lever (201); the limiting spring (204) located inside the limiting housing (202) is movably mounted on the outer side of the limiting lever (201); and the limiting spring (204) is located on a side close to the limiting push plate (203) and away from the housing (4); The sludge transport device comprises a second motor (30), a driving shaft (32), a support rod (33), a first movable plate (34), a first electric telescopic rod (35), a conveyor belt (25), a hopper (26) and a connecting plate (36), wherein the first electric telescopic rod (35) is located on the inner lower surface of the housing (4), the first movable plate (34) is connected to the output end of the first electric telescopic rod (35), support rods (33) are installed on both sides of the upper surface of the first movable plate (34), a driving shaft (32) is rotatably installed between the two support rods (33), and any one of the support rods (33) is connected to the first electric telescopic rod (35). A second motor (30) is installed on one side of the housing (4), the output end of the second motor (30) is connected to the driving shaft (32), a connecting plate (36) is installed on one side of the first moving plate (34), a hopper (26) is installed on one side of the connecting plate (36), one end of the hopper (26) extends to the outside of the housing (4), a driven shaft is installed inside the hopper (26), and a conveyor belt (25) is connected between the driven shaft and the driving shaft (32) in a transmission manner; the first positioning device (3) comprises a first cylinder (7) and a universal wheel (8), and the universal wheel (8) is located at the output end of the first cylinder (7); The rotating device comprises a third slide rail (38), a third slider (39), a third motor (41), a push head (42), a rack (43), a gear (44), a rotating shaft (45), a rectangular frame (49) and a rotating disk (50), wherein the third slide rail (38) is located on the inner lower surface of the fixed housing (27), a third slider (39) is slidably mounted on the outer upper part of the third slide rail (38), and a rectangular frame (49) is mounted on the upper end of the third slider (39). A rack (43) is installed at the upper end of the rectangular frame (49); the rotating shaft (45) is located in the middle of one side of the rotating block (46); one end of the rotating shaft (45) passes through the mounting tube (15) and is installed with a gear (44) meshing with the rack (43); the third motor (41) is located on the lower surface of the interior of the fixed housing (27); a rotating disk (50) is installed at the output end of the third motor (41); and a push head (42) located inside the rectangular frame (49) is installed on one side edge of the rotating disk (50); The outer edge and right side of the rotating block (46) are both provided with a ball groove (40), a ball (16) is installed inside the ball groove (40), and the surface of the ball (16) is in contact with the installation cylinder (15).

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