A pipeline dredging robot

Abstract

The present application provides a kind of pipeline dredging robot, comprising: spiral wheel and vehicle body;Vehicle body includes: swing arm, driven swing arm device, power supply, controller and active swing arm device;The frame of vehicle body is built by aluminum profile;Active swing arm device is installed in the front end of vehicle body frame by T screw;Driven swing arm device is installed in the rear end of vehicle body frame;The bottom of vehicle body is installed aluminum plate;Power supply and controller are installed on aluminum plate;Swing arm is 4, wherein the small end of two swing arms is connected with active swing arm device by screw, and the small end of other two swing arms is connected with driven swing arm device by screw;The large end of swing arm has hexagonal hole, and spiral wheel is connected with swing arm through hexagonal hole.The beneficial effects provided by the present application are: can adapt to different diameter pipes;Can prevent skidding, improve adaptability;Can realize modular installation, facilitate staff;Can carry out crushing treatment to silt.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a pipeline silt-clearing robot. Background Art

[0002] Urban drainage systems are engineering facilities that treat and remove urban sewage and rainwater, and are integral to urban utilities. Most urban drainage pipes in my country range in diameter from 200 to 1000 mm, making them prone to blockage. Clearing these pipes consumes significant manpower and resources, and is inefficient. Consequently, there is an urgent need for mechanical equipment that can replace manual labor for clearing pipes, improving efficiency and saving manpower and resources. For small and medium-sized pipelines, most commercially available pipeline inspection robots are incapable of crushing or removing sludge. To better remove sludge and ensure the safety of drainage pipes, we have independently developed a pipeline sludge cleaning robot with both sludge crushing and inspection capabilities. Summary of the Invention

[0003] In order to solve the problem that existing pipeline inspection robots are unable to complete silt removal, the present invention provides a pipeline silt removal robot. The technical problem actually solved by the present invention is: to provide a pipeline silt removal robot.

[0004] The present invention proposes a pipeline silt removal robot, which specifically includes:

[0005] spiral wheels and hull;

[0006] The vehicle body includes: a swing arm, a driven swing arm device, a power supply, a controller and an active swing arm device;

[0007] The frame of the vehicle body is built from aluminum profiles;

[0008] The active swing arm device is installed on the front end of the vehicle body frame by T-screws;

[0009] The driven swing arm device is installed at the rear end of the vehicle body frame;

[0010] An aluminum plate is installed on the bottom of the vehicle body; the power supply and controller are installed on the aluminum plate;

[0011] There are 4 swing arms in total, of which the small ends of two swing arms are connected to the active swing arm device through screws, and the small ends of the other two swing arms are connected to the driven swing arm device through screws;

[0012] There is a hexagonal hole at the large end of the swing arm, and the spiral wheel is connected to the swing arm through the hexagonal hole.

[0013] The beneficial effects provided by the present invention are: it can adapt to pipes of different diameters; it can prevent slipping and improve adaptability; it can realize modular installation and facilitate workers; and it can crush sludge. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 : Axonometric view of the pipe sludge cleaning robot

[0015] Figure 2 : Axonometric view of the screw wheel

[0016] Figure 3 : Cross-sectional view of the screw wheel

[0017] Figure 3 : 1 - sharp cone, 2 - hexagonal collar, 3 - second connecting disc, 4 - end cover, 5 - second bearing, 6 - shoulder collar, 7 - motor sleeve, 8 - screw body, 9 - inner ring, 10 - rubber ring, 11 - second end cover, 12 - third connecting disc, 13 - O-ring, 14 - brushless motor, 15 - blocking ring, 16 - first bearing, 17 - connecting disc

[0018] Figure 4 : Layout of the vehicle interior

[0019] Figure 4 : 18 - camera, 19 - aluminum profile, 20 - swing arm, 21 - driven swing arm device, 22 - power supply, 23 - controller, 24 - active swing arm device

[0020] Figure 5 : Axonometric view of the active swing arm device

[0021] Figure 6 : Internal structure of the active swing arm device

[0022] Figure 6 : 25 - D-shaped short shaft, 26 - gear, 27 - cover plate, 28 - shoulder blocking ring, 29 - bearing, 30 - gear, 31 - stepper motor, 32 - gear, 33 - shaft end blocking ring, 34 - electromagnetic brake, 35 - gear, 36 - second shoulder blocking ring, 37 - 8-shaped connecting ring, 38 - D-shaped middle shaft, 39 - gear, 40 - second D-shaped short shaft, 41 - D-shaped long shaft, 42 - shaft slot

[0023] Figure 7 : Axonometric view of the driven swing arm device

[0024] Figure 8 : Internal structure of the driven swing arm device

[0025] Figure 8 : 43 - cover plate, 44 - shaft slot, 45 - D-shaped shaft, 46 - bearing, 47 - 8-shaped connecting ring, 48 - gear, 49 - gear, 50 - shoulder blocking ring

[0026] Figure 9 : Distance between the two screw wheels of the pipe sludge cleaning robot DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described below with reference to the drawings.

[0028] Referring to Figure 1 A pipeline dredging robot comprises the following: a spiral wheel and a vehicle body.

[0029] Referring to Figure 2 and Figure 3 For the spiral wheel, an integrated technology is adopted to embed the motor inside the spiral wheel, thereby reducing energy loss.

[0030] First, the brushless motor 14 is connected to the motor sleeve 7 through screws, then the end cover is fixedly connected with the output shaft of the brushless motor 14 through screws, then the retaining ring 15 is sleeved on the outer wall of the motor sleeve 7, then the second bearing 5 is installed on the outer wall of the motor sleeve 7 close to the retaining ring 15, then the shaft shoulder collar 6 is installed in the groove of the outer wall of the motor sleeve 7, then the second connecting disc 3 is installed on the end cover 4 through screws, then the hexagonal collar 2 is placed on the cylindrical boss of the second connecting disc 3, and the end with a smaller hole diameter is close to the end face of the second connecting disc 3, then the first bearing 16 is placed in the inner hole of the hexagonal collar 2, then another hexagonal collar 2 is reversely installed on the first bearing 16, then the protruding part of the connecting disc 17 is installed in the gap between the inner side of the bearing 16 and the cylindrical boss of the second connecting disc 3, and the second connecting disc 3 and the connecting disc 17 are fixedly connected through screws, and the pointed cone 1 and the connecting disc 17 are fixedly connected through screws.

[0031] Then the inner ring and the motor sleeve 7 are fixedly connected together, then the rubber ring 10 is placed in the inner wall of the inner ring 9, then the spiral body passes through the second bearing 5, then the spiral body 8 and the end cover 4 are fixedly connected together through screws. Then the O-ring is installed in the groove of the second end cover 11, then the second end cover 11 and the spiral body 8 are coaxially installed, and the second end cover 11 and the inner ring 9 are fixedly connected through screws. Then the third connecting disc is fixedly connected with the second end cover 11, and one side of the third connecting disc 12 is hexagonal, facilitating the connection of the swing arm.

[0032] Referring to Figure 4, the frame of the vehicle body is built by aluminum profiles 19, first, the active swing arm device 24 is installed at the front end of the vehicle body frame through T screws, then the driven swing arm device 21 is installed at the rear end of the vehicle body frame, then the aluminum plate is installed at the bottom of the vehicle body, then the power supply 22 and the controller 23 are installed on the aluminum plate, then the aluminum plate is installed around the vehicle body, and the camera 18 is placed at the head, finally the small end of the swing arm 20 is installed in the swing arm device by screws, the large end of the swing arm 20 has a hexagonal hole connected with the hexagonal ends of the spiral wheels, and has the characteristics of modularity.

[0033] Please refer to Figure 5 and Figure 6 , the active swing arm device is responsible for mediating the distance between the spiral wheels, the main components of the structure are as follows Figure 6The first step is to install the stepper motor 31 and the electromagnetic brake 34 on the first cover plate 27, then install the third gear 32 (m=2, z=10) on the output shaft of the stepper motor 31, and install the 33-axle end stop ring at the end of the output shaft of the stepper motor 31. Next, install the D-second type short shaft 40 on the first cover plate 27 on the left side of the stepper motor 31, then install the first axle shoulder stop ring 28 on the D-second type short shaft 40, then install the third gear 32 (m=2, z=10), and then install the washer and screw at the end of the D-second type short shaft 40 to prevent the gear from moving. Next, install the first gear 30 (m=2, z=25) on the output shaft of the electromagnetic brake 34. Then install the third bearing 29 on the first cover plate 27 on the left end of the electromagnetic brake 34, then pass the D-shaped long shaft 41 through the third bearing 29, and screw the D-shaped long shaft 41 at one end through the bearing, then pass the D-shaped long shaft 41 through the first axle shoulder stop ring 28, the second gear 26 (m=2, z=20), the second axle shoulder stop ring 36, and the fourth gear 35 (m=2, z=15) in order. Next, connect the small end of the first 8-shaped connecting ring 37 to the boss of the fourth gear 35 (m=2, z=15), then install the first axle shoulder stop ring 28 and the third bearing 29 on the D-shaped long shaft 41. Next, install the fifth gear 39 (m=2, z=25) on the large end of the first 8-shaped connecting ring 37, then install the D-shaped middle shaft 38 in the hole of the fifth gear 39 (m=2, z=25), and screw and install the D-shaped middle shaft 38 at one end through the hole of the fifth gear 39 (m=2, z=25), and install the first axle shoulder stop ring 28 on the other side of the fifth gear 39 (m=2, z=25). Next, install the third bearing 29 on the first cover plate 27 on the right side of the stepper motor 31, then pass the D-shaped short shaft 25 through the third bearing 29, and connect the screw and the D-shaped short shaft 25 at one end through the third bearing 29. Then install the first axle shoulder stop ring 28 and the first gear 30 (m=2, z=25) on the D-shaped short shaft 25 in order, and install the washer and screw at the end of the D-shaped short shaft 25 to prevent the gear from moving. Next, install the remaining components on the right side of the stepper motor 31 in the same way as on the left side of the electromagnetic brake 34. Then connect the 42-axle slot with the first cover plate 27, then install the first axle shoulder stop ring 28 on the protruding shaft outside the 42-axle slot, and then install the swing arm.

[0034] Please refer to Figure 7 and Figure 8 The main purpose of the driven swing arm device is to keep the turning angles of the two sides of the vehicle body consistent, and the specific structure is as follows Figure 8, with a certain degree of symmetry. First, install the driven swing arm assembly. First, install the fourth bearing 46 in the hole of shaft groove 44. Then, insert the D-shaped shaft 45 into the hole of the fourth bearing 46, and then insert the third shoulder retaining ring 50. Next, install gear 48 (m=2, z=25) and gear 49 (m=2, z=15) on the 8-shaped connecting ring 47. Then, install the inner hole of gear 48 (m=2, z=25) on the shaft near the center of the assembly. Install gear 49 (m=2, z=15) on the other shaft near the outer wall of shaft groove 44, and install a gasket and screws on the shaft end. Then, follow the same steps to install the other component. Next, connect the cover plate 43 to the shaft groove 44. Finally, install the third shoulder retaining ring 50 on the protruding shaft portion of the driven swing arm assembly, and then install the swing arm.

[0035] Please refer to Figure 9 Under the control of the vehicle controller, the spiral wheel of this invention can move forward, backward, left, and right. The distance between the two spiral wheels can be adjusted by controlling the angle between the front and rear swing arms, adapting to different sewer pipe diameters and having a wide range of applications. The spiral wheel can also cut sludge to a certain extent. The adjustable distance between the two spiral wheels enables this invention to perform sludge crushing operations over a large area in sewer pipes. A camera is also installed on the top of the vehicle body to enable pipeline inspections.

[0036] The beneficial effects provided by the present invention are: it can adapt to pipes of different diameters; it can prevent slipping and improve adaptability; it can realize modular installation and facilitate workers; and it can crush sludge.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pipeline silt removal robot, characterized by: include: spiral wheel and body; The vehicle body comprises: a swing arm (20), a driven swing arm device (21), a power supply (22), a controller (23) and an active swing arm device (24); The frame of the vehicle body is constructed from aluminum profiles (19); The active swing arm device (24) is mounted on the front end of the vehicle body frame by means of T-shaped screws; The driven swing arm device (21) is installed at the rear end of the vehicle body frame; An aluminum plate is installed on the bottom of the vehicle body; a power supply (22) and a controller (23) are installed on the aluminum plate; There are four swing arms (20), wherein the small ends of two swing arms (20) are connected to the active swing arm device (24) by screws, and the small ends of the other two swing arms (20) are connected to the driven swing arm device (21) by screws; The large end of the swing arm (20) has a hexagonal hole, and the spiral wheel is connected to the swing arm through the hexagonal hole; The spiral wheel comprises: a pointed cone (1), a hexagonal clamping ring (2), a second connecting disk (3), an end cover (4), a second bearing (5), a shaft shoulder clamping ring (6), a motor sleeve (7), a spiral body (8), an inner ring (9), a rubber ring (10), a second end cover (11), a third connecting disk (12), an O-ring (13), a brushless motor (14), a retaining ring (15), a first bearing (16), and a connecting disk (17); The brushless motor (14) is connected to the motor sleeve (7) via screws; The end cover (4) is fixedly connected to the output shaft of the brushless motor (14) by screws; The retaining ring (15) is sleeved on the outer wall of the motor sleeve (7); The second bearing (5) is mounted on the outer wall of the motor sleeve (7) close to the retaining ring (15); The shaft shoulder clamping ring (6) is installed in the groove of the outer wall of the motor sleeve (7); The second connecting plate (3) is mounted on the end cover (4) by screws; A hexagonal clamping ring (2) is placed on the cylindrical boss of the second connecting plate (3); The first bearing (16) on one side is placed in the inner hole of the hexagonal clamping ring (2), and the hexagonal clamping ring (2) on the other side is placed on the first bearing (16) in reverse. The protruding portion of the connecting plate (17) is placed in the gap between the inner side of the first bearing (16) and the cylindrical boss of the second connecting plate (3), the second connecting plate (3) and the connecting plate (17) are screw-connected, and the pointed cone (1) and the connecting plate (17) are also screw-connected; The inner ring (9) and the motor sleeve (7) are fixedly connected together; a rubber ring (10) is installed in the inner wall of the inner ring (9); The spiral body (8) passes through the second bearing (5), and the spiral body (8) and the end cover (4) are connected by screws; The O-ring (13) is installed in the groove of the second end cover (11); The second end cover (11) and the spiral body (8) are coaxially mounted; The second end cover (11) and the inner ring (9) are connected by screws; The third connecting plate (12) is fixedly connected to the second end cover (11), and one side of the third connecting plate (12) is hexagonal; The active swing arm device (24) comprises: a D-shaped short shaft (25), a second gear (26), a first cover plate (27), a first shaft shoulder retaining ring (28), a third bearing (29), a first gear (30), a stepping motor (31), a third gear (32), a shaft end retaining ring (33), an electromagnetic brake (34), a fourth gear (35), a second shaft shoulder retaining ring (36), a first 8-shaped connecting ring (37), a D-shaped middle shaft (38), a fifth gear (39), a D-shaped second short shaft (40), a D-shaped long shaft (41) and a first shaft groove (42); The stepping motor (31) and the electromagnetic brake (34) are mounted on the first cover plate (27); The third gear (32) is mounted on the output shaft of the stepping motor (31), and a shaft end retaining ring (33) is mounted on the end of the output shaft of the stepping motor (31); A second D-shaped short shaft (40) is installed on the first cover plate (27) on the left side of the stepping motor (31); The second D-shaped short shaft (40) is installed with the first shaft shoulder ring (28) and the third gear (32); A first gear (30) is mounted on the output shaft of the electromagnetic brake (34); A third bearing (29) is mounted on the first cover plate (27) at the left end of the electromagnetic brake (34); The D-shaped long shaft (41) passes through the third bearing (29), and a screw is installed on one end of the D-shaped long shaft (41) passing through the bearing; The D-shaped long shaft (41) passes through the first shaft shoulder retaining ring (28), the second gear (26), the second shaft shoulder retaining ring (36), and the fourth gear (35) in sequence; The small end of the first 8-shaped connecting ring (37) is connected to the boss of the fourth gear (35); The D-shaped long shaft (41) is installed with a first shaft shoulder retaining ring (28) and a third bearing (29); The fifth gear (39) is mounted on the large end of the first 8-shaped connecting ring (37); The D-shaped middle shaft (38) is installed in the hole of the fifth gear (39), and a screw and a washer are installed on one end of the D-shaped middle shaft (38) passing through the hole of the fifth gear (39); The first shoulder retaining ring (28) is mounted on the other side of the fifth gear (39); A third bearing (29) is mounted on the first cover plate (27) on the right side of the stepping motor (31); The D-shaped short shaft (25) passes through the third bearing (29), and the screw is connected to one end of the D-shaped short shaft (25) passing through the third bearing (29); A first shaft shoulder ring (28) and a first gear (30) are sequentially mounted on the D-shaped short shaft (25); The installation of the remaining components on the right side of the stepper motor (31) is the same as that on the left side of the electromagnetic brake (34); The first shaft groove (42) is connected to the first cover plate (27); The protruding shaft outside the first shaft groove (42) is mounted with a first shaft shoulder retaining ring (28); The driven swing arm device (21) comprises: a second cover plate (43), a second shaft groove (44), a D-shaped shaft (45), a fourth bearing (46), a second 8-shaped connecting ring (47), a gear (48), a seventh gear (49) and a third shaft shoulder retaining ring (50); The hole of the second shaft groove (44) is provided with a fourth bearing (46); Insert the D-shaped shaft (45) into the hole of the fourth bearing (46), and then insert the third shoulder retaining ring (50); The gear (48) and the seventh gear (49) are mounted on the second 8-shaped connecting ring (47), and the inner hole of the gear (48) is mounted near the intermediate shaft of the driven swing arm device (21); The seventh gear (49) is mounted on another shaft close to the outer wall of the second shaft groove (44), and a washer and a screw are mounted on the shaft end; The second cover plate (43) is connected to the second shaft groove (44); A third shaft shoulder retaining ring (50) is installed on the protruding shaft portion of the driven swing arm device (21); The frame of the vehicle body is constructed from aluminum profiles (19), specifically: First, the active swing arm device (24) is installed on the front end of the vehicle frame by T-shaped screws, and then the driven swing arm device (21) is installed on the rear end of the vehicle frame. Then, an aluminum plate is installed on the bottom of the vehicle body, and then the power supply (22) and the controller (23) are installed on the aluminum plate. Then, aluminum plates are installed around the vehicle body, and a camera (18) is placed on the head. Finally, the small end of the swing arm (20) is installed in the swing arm device by screws. The large end of the swing arm (20) has a hexagonal hole, which will be connected to the hexagons at both ends of the spiral wheel.

Images