A pipeline robot that automatically replaces waste bags

Abstract

The present invention provides a pipeline robot for automatically replacing a waste bag, comprising a body and a waste bag replacing mechanism, wherein the waste bag replacing mechanism is arranged below the body, and comprises a feed inlet, a left guide rope, a right guide rope, a plurality of waste bags and a motor, wherein the feed inlet comprises an outer frame and an inner frame which are coaxially arranged; an upper notch and a lower notch are respectively arranged at the upper and lower ends of the outer frame; the outer frame and the inner frame are connected with each other through a partition plate to form a left annular groove and a right annular groove; the left guide rope passes through the left annular groove; the right guide rope passes through the right annular groove; the motor is arranged at the lower notch, and a take-up shaft is arranged at the output end of the motor; the ends of the left guide rope and the right guide rope are respectively wound around the front end and the rear end of the take-up shaft; a plurality of guide rings are arranged at the bag opening of the waste bag; the guide rings are symmetrically arranged and respectively sleeved on the left guide rope and the right guide rope; the waste bag can be automatically replaced in the process of collecting waste dropped in the pipeline.

Description

Technical Field

[0001] The invention belongs to the field of pipeline robots, and in particular relates to a pipeline robot capable of automatically replacing a waste bag. Background Art

[0002] As a channel for transporting materials, pipelines exist in all aspects of our lives. They are indispensable equipment in the fields of energy, drainage, sewage discharge, etc. Once a pipeline has been used for a long time, it needs to be cleaned and repaired. However, some pipelines are set up in places that are difficult to reach by manpower, so pipeline robots came into being. Traditional pipeline robots clean pipelines by flushing, and such robots are helpless when faced with pipelines that cannot wade through water. Although there are some robots for waterless pipelines that can clean the pipe walls by scraping the dirt inside the pipe walls, when these robots collect pipe dirt, they often cannot continue to operate when the dirt bags are full, and they need to exit the pipe again for replacement. Summary of the invention

[0003] The present invention provides a pipeline robot capable of automatically replacing a waste bag, which can automatically replace the waste bag in the process of collecting waste dropped in a pipeline.

[0004] The present invention is achieved in the following ways:

[0005] A pipeline robot for automatically replacing a waste bag comprises a body and a waste bag replacement mechanism, wherein the waste bag replacement mechanism is arranged below the body and is characterized in that the waste bag replacement mechanism comprises a feed inlet, a left guide rope, a right guide rope, a plurality of waste bags and a motor, wherein the feed inlet comprises an outer frame and an inner frame arranged coaxially; an upper notch and a lower notch are respectively arranged at the upper and lower ends of the outer frame; the outer frame and the inner frame are connected with a partition plate to form a left annular groove and a right annular groove; the left guide rope passes through the left annular groove; the right guide rope passes through the right annular groove; the motor is arranged at the lower notch, and a take-up shaft is arranged at the output end of the motor; the ends of the left guide rope and the right guide rope are respectively wound around the front end and the rear end of the take-up shaft; the waste bag mouth is provided with a plurality of guide rings; the guide rings are symmetrically arranged and respectively sleeved on the left guide rope and the right guide rope.

[0006] Furthermore, a connecting plate is provided near the upper notch of the outer frame; the outer frame is connected to the body via the connecting plate.

[0007] Furthermore, the opening of the waste bag is provided with an elastic drawstring.

[0008] Furthermore, the plurality of waste bags are sequentially passed through the left guide rope and the right guide rope from top to bottom.

[0009] Furthermore, the waste bag replacement mechanism also includes a left pay-off shaft and a right pay-off shaft, the left guide rope one end away from the take-up shaft is wound around the left pay-off shaft; the right guide rope one end away from the take-up shaft is wound around the right pay-off shaft.

[0010] The beneficial effects of the present invention are as follows: a pipeline robot for automatically replacing a waste bag is provided, which can cause the guide ropes to slide downward by starting the motor and pulling the left and right guide ropes, and the guide ropes drive the guide rings to slide downward, thereby driving the waste bag to slide downward together, and when the waste bag slides to the position of the annular groove, it will expand along the shape enclosed by the left annular groove and the right annular groove, thereby realizing automatic bagging of the waste bag.

[0011] When the dirt bag is full and needs to be replaced, the motor is restarted to make the left and right guide ropes continue to slide downward. At this time, the guide rings move downward with the left and right guide ropes and will continue to tighten. When they reach the bottom, the guide ropes will tear off the guide rings on the dirt bag, causing the dirt bag to fall off. When the previous dirt bag falls off, the next dirt bag will continue to open at the feed inlet with the traction of the guide ropes.

[0012] An elastic rope is passed through the opening of the waste bag. When the waste bag falls off, the elastic rope will shrink automatically, so that the opening of the waste bag will be automatically tightened. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the pipeline robot of the present invention;

[0014] Figure 2 It is a three-dimensional schematic diagram of a dirt bag replacement mechanism;

[0015] Figure 3 It is a schematic diagram of the outer frame and inner frame of the dirt bag replacement mechanism;

[0016] Figure 4 for Figure 3 Schematic diagram of A in the figure;

[0017] Figure 5 is a schematic diagram of a dirt bag;

[0018] Figure 6 for Figure 5 Schematic diagram of B in the figure;

[0019] Figure 7 It is a schematic diagram of the main view of the dirt bag replacement mechanism;

[0020] Figure 8 It is a cross-sectional schematic diagram of the outer frame and inner frame of the dirt bag replacement mechanism;

[0021] Fig. 9 Schematic diagram of the winding shaft. DETAILED DESCRIPTION

[0022] Combination Figure 1, Figure 2 The present invention provides a pipeline robot for automatically replacing a waste bag, comprising a body 1 and a waste bag replacement mechanism 2, wherein the waste bag replacement mechanism 2 is arranged below the body, and comprises a feed inlet 21, a left guide rope 22, a right guide rope 23, a plurality of waste bags 24 and a motor 25, wherein the feed inlet 21 comprises an outer frame 211 and an inner frame 212 arranged coaxially; an upper notch 2111 and a lower notch 2112 are respectively arranged at the upper and lower ends of the outer frame 211; the outer frame 211 and the inner frame 212 are connected by a The partition 213 is connected to form a left annular groove 214 and a right annular groove 215; the left guide rope 22 passes through the left annular groove 214; the right guide rope 23 passes through the right annular groove 215; the motor 25 is arranged at the lower notch 2112, and a take-up shaft 251 is provided at the output end of the motor 25; the ends of the left guide rope 22 and the right guide rope 23 are respectively wound around the front end and the rear end of the take-up shaft 251; a plurality of guide rings 241 are provided at the bag opening of the waste bag 24; the guide rings 241 are symmetrically arranged and respectively inserted into the left guide rope 22 and the right guide rope 23.

[0023] By starting the motor, pulling the left and right guide ropes 22, 23, the take-up shaft 251 rotates, so that the left and right guide ropes are continuously wound around the take-up shaft 251, so that the left and right guide ropes 22, 23 slide downward, and the left and right guide ropes 22, 23 drive the dirt bag guide ring 241 to slide downward, thereby driving the dirt bag to slide downward together. When the dirt bag slides to the position of the annular groove, the guide ring will enter the left and right annular grooves 214, 215 respectively along with the left and right guide ropes 22, 23; the bag mouth of the dirt bag 24 will also be expanded along with the shape enclosed by the left annular groove 214 and the right annular groove 215, thereby realizing automatic bagging of the dirt bag 24.

[0024] When the waste bag 24 is full and needs to be replaced, the motor 25 is restarted to make the left and right guide ropes 22 and 23 continue to slide downward. At this time, the left and right guide ropes 22 and 23 will drive the guide rings 241 to slide downward along the left and right ring grooves, and the waste bag will continue to be tied. When it moves to the bottom, the guide rope will tear off the guide ring 241 on the waste bag 24, or tear the guide ring 241 off the waste bag, so that the waste bag falls off. When the previous waste bag 24 falls off, the next waste bag will continue to open at the feed inlet with the traction of the guide rope.

[0025] An elastic rope 26 is passed through the opening of the waste bag 24. When the waste bag 24 falls off, the elastic rope 26 will shrink by itself, so that the opening of the waste bag will be automatically tightened.

[0026] Preferably, a cutting piece 2121 is provided near the lower notch at the lower end of the inner frame 212. When the guide rope drives the guide ring to the lower notch, the guide ring will be stuck in the cutting piece 2121, making it easier for the guide ring 241 to fall off from the dirt bag.

[0027] Furthermore, the winding shaft 251 includes a convex ring 2511, which divides the winding shaft into a front section 2513 and a rear end 2512; the end of the left guide rope 22 is wound around the front section; and the end of the right guide rope 23 is wound around the rear section.

[0028] Furthermore, the outer frame 211 is provided with two symmetrically arranged left connecting plates 2113 and right connecting plates 2114 near the upper notch 2111 ; the outer frame 211 is connected to the body 1 via the left connecting plates 2113 and the right connecting plates 2114 .

[0029] The left and right connecting plates 2113, 2114 are integrally formed with the outer frame, and the dirt bag and the left and right guide ropes are arranged between the left and right connecting plates, so that the left and right connecting plates also limit the dirt bag.

[0030] Wherein, the plurality of waste bags are sequentially arranged on the left guide rope and the right guide rope from top to bottom.

[0031] It also includes a left pay-off shaft 27 and a right pay-off shaft 28. The end of the left guide rope 22 away from the take-up shaft is wound around the left pay-off shaft 27; the end of the right guide rope 23 away from the take-up shaft is wound around the right pay-off shaft 28.

[0032] The left pay-off shaft 27 and the right pay-off shaft 28 are arranged in the machine body.

[0033] Furthermore, the motor is fixedly connected to the lower end of the inner frame via a support plate.

[0034] In this embodiment, the motor is electrically connected to the built-in power supply of the pipeline robot body and is controlled. The power-on and start-stop control of the motor is a conventional method of using the motor, so it is not described in detail in the embodiment.

[0035] Specifically, automatic replacement of the dirt bag is achieved through the following steps.

[0036] 1) Several guide rings are arranged at the openings of several waste bags;

[0037] 2) A left guide rope and a right guide rope are provided, the upper ends of the left guide rope and the right guide rope are respectively wound on the pay-off shaft and the right pay-off shaft, and the guide rings of the waste bag are respectively inserted into the left guide rope and the right guide rope; a number of waste bags are arranged from top to bottom along the guide rope;

[0038] 3) Put the left guide rope and the right guide rope into the left and right ring grooves;

[0039] 4) Wrap the lower ends of the left and right guide ropes around the motor take-up shaft;

[0040] 5) Turn the motor to make the left guide rope and the right guide rope slide downward synchronously;

[0041] 6) The dirt bag is driven by the guide rope to open the bag mouth, and the shape of the bag mouth is adapted to the ring groove;

[0042] After the dirt bag is full, the motor continues to rotate, and the guide rope pulls the guide ring of the dirt bag downward. When it reaches the end, the guide ring will be stuck in the partition. The motor continues to rotate to tear the guide ring off or tear the guide ring off the dirt bag. At the same time, the next dirt bag continues to be stretched open.

Claims

1. A pipeline robot for automatically replacing a waste bag, comprising a body and a waste bag replacement mechanism, wherein the waste bag replacement mechanism is arranged below the body, and is characterized in that: The dirt bag replacement mechanism includes a feed inlet, a left guide rope, a right guide rope, a plurality of dirt bags and a motor. The feed inlet includes an outer frame and an inner frame arranged coaxially; an upper notch and a lower notch are respectively arranged at the upper and lower ends of the outer frame; the outer frame and the inner frame are connected by a partition to form a left annular groove and a right annular groove; the left guide rope passes through the left annular groove; the right guide rope passes through the right annular groove; the motor is arranged at the lower notch, and a take-up shaft is arranged at the output end of the motor; the ends of the left guide rope and the right guide rope are respectively wound around the front end and the rear end of the take-up shaft; The opening of the waste bag is provided with a plurality of guide rings; the guide rings are symmetrically arranged and respectively inserted on the left guide rope and the right guide rope; a plurality of waste bags are sequentially inserted on the left guide rope and the right guide rope from top to bottom; a connecting plate is provided near the upper notch of the outer frame; the outer frame is connected to the machine body through the connecting plate; an elastic drawstring is provided at the opening of the waste bag; the waste bag replacement mechanism also includes a left pay-off shaft and a right pay-off shaft, the left guide rope is wound around the left pay-off shaft at one end away from the take-up shaft; the right guide rope is wound around the right pay-off shaft at one end away from the take-up shaft.

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