Pipeline dredging robot and device

Abstract

The present invention belongs to the technical field of pipeline cleaning, and specifically relates to a pipeline desilting robot and device, wherein the pipeline desilting robot comprises a frame, a walking mechanism, and a crushing mechanism; the crushing mechanism comprises: a crushing motor, an active bevel gear coaxially connected to the output shaft of the crushing motor, a lateral bevel gear meshing with the active bevel gear, a forward bevel gear directly opposite to the active bevel gear and in front of the lateral bevel gear, a vertical crushing roller coaxially connected to the forward bevel gear, and a horizontal crushing roller coaxially connected to the lateral bevel gear. The present invention drives the vertical crushing roller and the horizontal crushing roller to rotate simultaneously through a crushing motor, cuts and stirs the sludge, breaks up the fibrous garbage such as plastic and branches inside the pipeline, breaks up the blocky sludge, and can crush and clean large obstacles such as stones and branches accumulated in the pipeline, and has a good desilting effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline cleaning, and in particular relates to a pipeline dredging robot and device. Background Art

[0002] Deodorization and quality improvement of rivers have become key projects for water departments in various cities. Dredging is an important way to eliminate endogenous pollution and restore water dynamics. Generally speaking, more engineering machinery can be used for open channel dredging, and the dredging process is relatively simple. However, there are many limiting factors for culverts, and cleaning is difficult. Traditional culvert dredging is mainly equipped with high-power delivery pumps upstream of the interception, and interception before and after the inspection well. Generally, the spacing between the interception wells is less than 100m. When the incoming water passes through the well, it is discharged to the downstream river channel, which plays a bypass role. The water in the interception well is discharged by the water pump, and the staff can go down to the well to work. If there is a drainage pipe in the well, it is necessary to continue pumping water during the dredging operation to ensure that the water intake is less than the discharge volume. Generally, the sludge is transported to the inspection well mouth by machinery and manual labor, and then cleared out of the box culvert by a suction truck or grab truck. The sediment in the culvert has accumulated for many years and continued to ferment. After shoveling, it will emit toxic gases. Workers going down the well need to be equipped with breathing masks with external air sources, wear protective clothing, and need continuous forced ventilation. In addition, manual dredging is greatly affected by the weather and generally needs to avoid the rainy season. Therefore, the time available for construction in southern cities is very limited. In summary, in the culvert dredging project, manual dredging is difficult, inefficient, easy to cause secondary pollution, and there are certain safety hazards. It is difficult to meet the requirements of safe and civilized construction. After the introduction of dredging robots, these problems can be easily solved.

[0003] At present, the conventional method of pipeline dredging is a high-pressure cleaning vehicle + sewage suction vehicle. This method is relatively mature. The working principle of this method is to use high-pressure water to flush the silt in the pipeline, and then the sewage flows into the inspection well, and the mud and water mixture is sucked out of the pipeline by the sewage suction vehicle. However, if the siltation in the pipeline is serious, the dredging efficiency may be low. At the same time, if there is sand or large sediment in the pipeline, it is difficult to deal with. Therefore, it is necessary to develop a dedicated dredging robot equipment.

[0004] First, the dredging robot can operate in complex pipeline environments, such as the passability of the pipeline, and the anti-slip problem when the dredging robot walks should be considered; secondly, the pipeline is often oval or has large obstacles, and its obstacle-crossing ability should be considered. Therefore, the dredging robot should have a certain obstacle-crossing ability on the basis of having a certain anti-slip ability; the dredging robot should be able to provide real-time feedback to the operator on the situation in the pipeline so that the operator can make judgments based on the situation in the pipeline; since the pipeline generally has a certain length, in order to ensure complete silt removal inside the pipeline, it should also be ensured that the mobile robot is equipped with a dredging pump to improve the dredging efficiency; in addition, sometimes there will be foreign objects such as branches or tree roots penetrating into the pipeline, and the obstacle-clearing function of the equipment should be considered. For some fibrous debris, it is necessary to ensure that they are completely broken up; finally, there may be mud, stones or large obstacles in the pipeline that the equipment cannot overcome, and it is necessary to consider whether the equipment can clear them out of the pipeline. Summary of the invention

[0005] The purpose of the present invention is to overcome the defect in the prior art that obstacles such as mud, stones, etc. in the pipeline affect the operation of the dredging robot, and to provide a pipeline dredging robot that can crush and clean large obstacles such as stones and branches accumulated in the pipeline and has a good dredging effect.

[0006] The technical solution adopted by the present invention to solve the technical problem is:

[0007] A pipeline dredging robot, characterized in that it comprises a frame, a traveling mechanism installed on the frame, and a crushing mechanism located at the front end of the frame; the crushing mechanism comprises a crushing motor, a driving bevel gear coaxially connected to the output shaft of the crushing motor, a lateral bevel gear meshing with the driving bevel gear, a forward bevel gear facing the driving bevel gear and meshing with the lateral bevel gear, a vertical crushing roller coaxially connected to the forward bevel gear, and a horizontal crushing roller coaxially connected to the lateral bevel gear.

[0008] Furthermore, there are two lateral bevel gears, which are symmetrically meshed on the left and right sides of the active bevel gear; there are two horizontal crushing rollers, which are respectively located on the left and right sides of the vertical crushing roller; and the rotating axes of the vertical crushing roller and the horizontal crushing roller are perpendicular to each other.

[0009] Furthermore, it also includes a bulldozer bucket located outside the horizontal crushing roller, and the bulldozer bucket includes a horizontal bulldozer plate and arc-shaped plates located on both sides of the horizontal bulldozer plate.

[0010] Furthermore, the horizontal crushing roller includes a cylindrical body and a plurality of rows of conical barbs arranged in a circumferential array on the outer circumferential surface of the cylindrical body.

[0011] Furthermore, the vertical crushing roller comprises a conical body which is wider at the rear and narrower at the front, and a plurality of rows of crescent-shaped barbs arranged in a circumferential array on the outer peripheral surface of the conical body.

[0012] Furthermore, the pulverizing motor is installed in a motor box, the pulverizing mechanism is installed on the motor box, an electric push rod is installed at the front end of the frame, and the telescopic end of the electric push rod is connected to the motor box.

[0013] Furthermore, it also includes a camera arranged on the top of the frame.

[0014] Furthermore, a forward searchlight and a rearward searchlight are respectively installed at the front and rear ends of the frame.

[0015] Furthermore, it also includes a sewage suction pump, the sewage suction port of the sewage suction pump is arranged below the frame, a sewage suction pump bracket is arranged on the frame, and a pipe connected to the sewage suction pump outlet passes through the sewage suction pump bracket and is connected to the outside of the pipe.

[0016] The present invention also discloses a pipeline dredging device, comprising the pipeline dredging robot and an engineering vehicle above the ground, wherein the engineering vehicle is provided with a mud-water separator and an electric control cabinet, and when the pipeline dredging robot is in working state, the outlet of the sewage suction pump is connected to the mud-water separator through a pipeline.

[0017] The beneficial effects of the pipeline dredging robot and device of the present invention are:

[0018] 1. The present invention uses a crushing motor to drive the vertical crushing roller and the horizontal crushing roller to rotate simultaneously, so as to cut and stir the sludge, break up the fibrous garbage such as plastic and branches inside the pipe, break up the blocky sludge, and can crush and clean large obstacles such as stones and branches accumulated in the pipe, with good dredging effect.

[0019] 2. At the bottom of the crushing mechanism, there is a bulldozer bucket for collecting and pushing the crushed sludge, which can be replaced according to the amount of sludge deposited in the working pipeline.

[0020] 3. Use high-definition cameras and high-power searchlights to monitor the surrounding environment, and feed the signal back to the electric control cabinet, which is manually operated to control the position and posture of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 is a structural diagram of a pipeline desilting device according to an embodiment of the present invention;

[0023] Figure 2 is a front-view stereoscopic diagram of a dredging robot according to an embodiment of the present invention;

[0024] Figure 3 is a rear perspective stereoscopic diagram of a dredging robot according to an embodiment of the present invention;

[0025] Figure 4 is a bottom view of the dredging robot according to an embodiment of the present invention;

[0026] Figure 5 It is a partial structural diagram of the crushing mechanism of an embodiment of the present invention.

[0027] In the figure: 1. dredging robot, 2. engineering vehicle, 3. mud-water separator, 4. operator, 5. electric control cabinet, 6. track wheel, 7. pitch axis, 8. camera, 9. vertical axis, 10. electric push rod, 11. forward searchlight, 12. bulldozer, 121. horizontal bulldozer plate, 122. arc plate, 13. horizontal crushing roller, 131. cylindrical body, 132. conical barb, 14. vertical crushing roller, 141. conical body, 142. crescent-shaped barb, 15. gearbox, 16. rear searchlight, 17. control module, 18. sewage suction pump, 19. sewage suction pump bracket, 20. waterproof stepping motor, 21. motor box, 22. lifting support plate, 23. crushing motor, 24. driving bevel gear, 25. lateral bevel gear, 26. forward bevel gear. DETAILED DESCRIPTION

[0028] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0029] like Figure 1 The pipeline dredging device of the present invention shown in the figure comprises an engineering vehicle 2 and a pipeline dredging robot 1. The engineering vehicle 2 is provided with a mud-water separator 3 and an electric control cabinet 5. The rear end of the engineering vehicle 2 is provided with a lifting support plate 22. In a non-working state, the pipeline dredging robot 1 is located in the engineering vehicle 2. When it is necessary to enter the pipeline for dredging, the pipeline dredging robot 1 descends to the ground via the lifting support plate 22 and moves into the pipeline.

[0030] See also Figure 2-Figure 5 The pipeline desilting robot 1 includes a frame, a walking mechanism installed on the frame, a crushing mechanism located at the front end of the frame, a camera 8 and a sewage suction pump 18 arranged at the top of the frame.

[0031] The walking mechanism adopts a waterproof stepping motor 20 plus a planetary reducer to output the driving force, and the walking part is a track wheel 6 with a large friction coefficient. The friction with the ground is increased by adopting a track-type travel mode to ensure free walking on muddy roads.

[0032] The crushing mechanism includes: a crushing motor 23, a driving bevel gear 24 coaxially connected to the output shaft of the crushing motor 23, a lateral bevel gear 25 meshing with the driving bevel gear 24, a forward bevel gear 26 facing the driving bevel gear 24 and meshing with the lateral bevel gear 25, a vertical crushing roller 14 coaxially connected to the forward bevel gear 26, and a horizontal crushing roller 13 coaxially connected to the lateral bevel gear 25. The lateral bevel gear 25, the driving bevel gear 24 and the forward bevel gear 26 are all arranged in the gearbox 15 to prevent sludge from entering the meshing teeth and affecting the accuracy.

[0033] In this embodiment, there are two lateral bevel gears 25, which are symmetrically meshed on the left and right sides of the active bevel gear 24; there are two horizontal crushing rollers 13, which are respectively located on the left and right sides of the vertical crushing roller 14; the rotating axes of the vertical crushing roller 14 and the horizontal crushing roller 13 are perpendicular to each other. Figure 5 The horizontal crushing roller 13 includes a cylindrical body 131 and a plurality of rows of conical barbs 132 arranged in a circumferential array on the outer circumference of the cylindrical body 131. The vertical crushing roller 14 includes a conical body 141 that is wider at the rear and narrower at the front and a plurality of rows of crescent-shaped barbs 142 arranged in a circumferential array on the outer circumference of the conical body 141. A crushing motor 23 drives the vertical crushing roller 14 and the horizontal crushing roller 13 to rotate simultaneously, cutting and stirring the sludge, breaking up the fibrous garbage such as plastic and branches inside the pipe, and breaking up the blocky sludge. In addition, the conical barbs 132 and the crescent-shaped barbs 142 can assist in tearing up the garbage.

[0034] At the bottom of the crushing mechanism, there is a bulldozer 12 for collecting and pushing the crushed sludge. The bulldozer 12 is located outside the horizontal crushing roller 13. The bulldozer 12 includes a horizontal bulldozer plate 121 and arc plates 122 located on both sides of the horizontal bulldozer plate 121. Bulldozers 12 of different sizes can be replaced according to the amount of sludge deposited in the working pipeline and the diameter of the pipeline. The width of the bulldozer 12 is consistent with the width of the crawler, and the structure of the arc plate 122 is consistent with the inner wall of the pipeline, so as to ensure that the sludge is fully removed.

[0035] The crushing motor 23 is installed in the motor box 21, the crushing mechanism is installed on the motor box 21, and the front end of the frame is installed with an electric push rod 10, and the telescopic end of the electric push rod 10 is connected to the motor box 21. The angle and height of the crushing mechanism are adjusted by the telescopic end of the electric push rod 10.

[0036] The camera 8 of this embodiment adopts a high-definition underwater camera 8. The camera 8 is installed on the pitch axis 7 and the vertical axis 9. It can rotate 360 ​​degrees along the vertical axis, realize pitch shooting, monitor the environment inside the pipeline and send it to the electric control cabinet 5, and manually detect the position and posture of the robot underwater.

[0037] The forward searchlight 11 and the rearward searchlight 16 are submersible high-intensity searchlights, which assist the camera 8 in capturing clear images.

[0038] The pipeline desilting robot also includes a sewage suction pump 18, which is a submersible sewage suction pump 18, and the sewage suction port of the sewage suction pump 18 is set below the vehicle frame. A cutting blade device is installed at the sewage suction port to further tear the garbage at the sewage suction port, which has the characteristics of no blockage, anti-winding, corrosion resistance, etc. A sewage suction pump bracket 19 is set on the vehicle frame, and the pipeline connected to the outlet of the sewage suction pump 18 passes through the sewage suction pump bracket 19 and is connected to the mud and water separator 3 outside the pipeline.

[0039] The frame is also provided with a control module 17. The operator sends commands to the control module 17 through the electric control cabinet. The control module 17 controls the acquisition of camera images, the movement of the walking mechanism, the crushing action of the crushing mechanism, and the like.

[0040] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A pipeline desilting robot, characterized in that: The invention comprises a frame, a traveling mechanism mounted on the frame, and a crushing mechanism located at the front end of the frame; the crushing mechanism comprises: a crushing motor (23), a driving bevel gear (24) coaxially connected to the output shaft of the crushing motor (23), a lateral bevel gear (25) meshing with the driving bevel gear (24), a forward bevel gear (26) facing the driving bevel gear (24) and meshing with the lateral bevel gear (25), a vertical crushing roller (14) coaxially connected to the forward bevel gear (26), and a horizontal crushing roller (13) coaxially connected to the lateral bevel gear (25); the horizontal crushing roller (13) comprises a cylindrical The vertical crushing roller (14) comprises a conical body (141) which is wider at the rear and narrower at the front, and a plurality of crescent-shaped barbs (142) which are arranged in a circumferential array on the outer circumferential surface of the conical body (141); the dredging robot further comprises a sewage suction pump (18); a sewage suction port of the sewage suction pump (18) is arranged below the vehicle frame; a sewage suction pump bracket (19) is arranged on the vehicle frame; a pipe connected to the outlet of the sewage suction pump (18) passes through the sewage suction pump bracket (19) and is connected to the outside of the pipe; and a cutting blade device is installed at the sewage suction port.

2. A pipeline desilting robot according to claim 1, characterized in that: There are two lateral bevel gears (25), and the two lateral bevel gears (25) are symmetrically meshed on the left and right sides of the active bevel gear (24); there are two horizontal crushing rollers (13), which are respectively located on the left and right sides of the vertical crushing roller (14); the rotating axes of the vertical crushing roller (14) and the horizontal crushing roller (13) are perpendicular to each other.

3. A pipeline desilting robot according to claim 1, characterized in that: It also comprises a bulldozer (12) located outside the horizontal crushing roller (13), wherein the bulldozer (12) comprises a horizontal bulldozer plate (121) and arc-shaped plates (122) located on both sides of the horizontal bulldozer plate (121).

4. The pipeline desilting robot according to claim 1, characterized in that: The pulverizing motor (23) is installed in a motor box (21), the pulverizing mechanism is installed on the motor box (21), an electric push rod (10) is installed at the front end of the frame, and the telescopic end of the electric push rod (10) is connected to the motor box (21).

5. The pipeline desilting robot according to claim 1, characterized in that: It also includes a camera (8) arranged on the top of the frame.

6. A pipeline desilting robot according to claim 5, characterized in that: A forward searchlight (11) and a rearward searchlight (16) are respectively installed at the front and rear ends of the vehicle frame.

7. A pipeline desilting device, characterized in that: It comprises the pipeline dredging robot as claimed in claim 6 and an engineering vehicle (2) above the ground, wherein the engineering vehicle (2) is provided with a mud-water separator (3) and an electric control cabinet (5), and when the pipeline dredging robot is in working state, the outlet of the sewage suction pump (18) is connected to the mud-water separator (3) through a pipeline.

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