Underwater robot for cleaning tunnel sewage pipes

Abstract

The present invention provides an underwater robot for cleaning a sewage pipe in a tunnel, comprising a cleaning component and an underwater walking mechanism arranged at the end of the cleaning component, wherein the cleaning component comprises a box connected to the underwater walking mechanism, a cleaning unit movably arranged on one side of the box, and a driving unit for driving the cleaning unit to work; the cleaning unit and the underwater walking mechanism are arranged on both sides of the box relative to each other, the cleaning unit and the box are connected by a cylinder, and the cleaning unit can perform a circular motion around the cylinder to clean the dirt on the inner wall of the sewage pipe; after the cleaning work is completed, water can be passed into the sewage pipe to flush away the dirt cleaned from the inner wall of the sewage pipe, thereby completing the cleaning of the sewage pipe. In the above manner, an underwater robot for cleaning a sewage pipe in a tunnel with high cleaning efficiency and suitable for cleaning sewage pipes is provided.

Description

Technical Field

[0001] The invention relates to the technical field of sewage pipe management, and in particular to an underwater robot for cleaning tunnel sewage pipes. Background Art

[0002] The sewage pipes in the urban drainage network are important facilities in the process of domestic and industrial sewage discharge. The dirt deposited inside the pipes is not easy to remove, and the dirt accumulated on the pipes gradually thickens if not removed, making the cleaning process more difficult. At this time, high-pressure cleaning vehicles must be used for cleaning. The most commonly used method is to use high-pressure water jet technology combined with chemical cleaning agents to comprehensively and effectively dredge and clean the pipes. However, the above cleaning methods have the problems of low work efficiency, poor cleaning effect, more water resource waste and high operating costs.

[0003] In the prior art, a utility model with announcement number CN207880297U discloses a sewage pipe robot, including a robot body and a robot shell, the robot shell is arranged in the middle of the robot body, two telescopic support feet are fixed to the upper and lower end surfaces of the robot shell, the ends of the telescopic support feet are connected to walking wheels, a control module is fixed to the right position of the robot shell, and a compressed air tank is fixed to the middle position of the robot shell, a rear air nozzle is passed through the rear end of the compressed air tank, a first solenoid valve is fixed on the surface of the rear air nozzle, and a right air nozzle is passed through the right side of the compressed air tank. While the robot is moving, the rotating motor can drive the cleaning brush to make a circular motion through the rotating shaft and the rotating rod, so as to efficiently clean the dirt attached to the inner wall of the pipe. However, in the above technical solution, the circular motion of the cleaning brush in the pipe is used to remove the dirt on the inner wall of the pipe. However, the cleaning brush is easily damaged when cleaning the dirt in the pipe, which affects the cleaning efficiency. In addition, during the process of the robot cleaning the pipe, sewage is easily accumulated inside the robot, causing it to be contaminated. If the robot itself is not cleaned in time, it will affect the robot's work efficiency and even cause damage to the robot.

[0004] In view of this, it is necessary to design an improved underwater robot for cleaning tunnel sewage pipes to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater robot for cleaning a tunnel sewage pipe.

[0006] To achieve the above-mentioned purpose, the present invention provides an underwater robot for cleaning a tunnel sewage pipe, comprising a cleaning component and an underwater walking mechanism arranged at the end of the cleaning component, wherein the cleaning component comprises a box connected to the underwater walking mechanism, a cleaning unit movably arranged at one side of the box, and a driving unit driving the cleaning unit to work;

[0007] The cleaning unit and the underwater walking mechanism are arranged on both sides of the box body relatively to each other. The cleaning unit and the box body are connected via a cylinder body. The cleaning unit can perform circular motion around the cylinder body, thereby cleaning the dirt on the inner wall of the sewage pipe.

[0008] Preferably, the cleaning unit is arranged in the radial direction of the cylinder, and comprises a plurality of support plates arranged on the outer peripheral wall of the cylinder along the radial direction of the cylinder and an elastic wheel rotatably arranged on the support plates, wherein the elastic wheel is provided with a plurality of first friction strips.

[0009] Preferably, a connecting tube is provided on one side of the support plate, and the connecting tube and the insertion rod are elastically connected through a spring in the connecting tube. An arc plate is provided on the insertion rod, and a plurality of second friction strips are provided on the outer peripheral wall of the arc plate. The arc plate is close to the elastic wheel; preferably, the arc plate is an elastic plate.

[0010] Preferably, a support ring is provided on the cylinder, the support ring is away from the box body, a plurality of weight-reducing grooves are provided on the support ring, and a conical shell is provided on a side of the cylinder away from the box body.

[0011] Preferably, the cylinder includes a first cylinder and a second cylinder sleeved outside the first cylinder, the outer wall portions of the first cylinder and the second cylinder partially overlap, one end of the second cylinder is open, the first cylinder is fixedly connected to the box, the support plate is arranged on the outer peripheral wall of the first cylinder, and the support ring is arranged on the outer peripheral wall of the second cylinder.

[0012] Preferably, a groove is provided on one end of the support plate away from the cylinder, and the elastic wheel is fixed between two opposite walls of the groove by a rotating rod, one end of the rotating rod extends above the support ring, and the support ring is "disc-shaped".

[0013] Preferably, a gear ring is provided on the peripheral wall of the support ring, a plurality of weight-reducing grooves are provided on the support ring, and a first gear is provided at one end of the rotating rod close to the support ring, and the first gear is meshed with the gear ring.

[0014] Preferably, a support rod coaxial with the cylinder is provided in the cylinder, the support rod passes through the cylinder and extends to the middle of the box body, a first screw is provided at one end of the support rod located in the box body, a first threaded rod is provided at a corresponding position of the box body, and the first threaded rod is threadedly connected to the first screw.

[0015] Preferably, a limit assembly for limiting the rotation of the support rod is provided in the box, and the limit assembly includes a limit rod vertically passing through the support rod, a second threaded rod and a second screw rod threadedly connected to the second threaded rod, and the second threaded rod is fixed in the box.

[0016] Preferably, the driving unit comprises a waterproof motor arranged inside the box body and a second gear connected to the output shaft of the waterproof motor, an annular gear ring is arranged on the inner wall of the first cylinder, and the second gear meshes with the annular gear ring.

[0017] The beneficial effects of the present invention are:

[0018] 1. The underwater robot for cleaning tunnel sewage pipes provided by the present invention comprises a cleaning assembly and an underwater walking mechanism arranged at the end of the cleaning assembly, the cleaning assembly comprises a box connected to the underwater walking mechanism, a cleaning unit movably arranged on one side of the box, and a driving unit for driving the cleaning unit to work, and the cleaning assembly is provided with elastic wheels and arc plates close to each other, and friction strips are arranged on the elastic wheels and the arc plates, and the dirt deposited on the inner wall of the sewage pipe can be removed by utilizing the contact between the two and the inner wall of the sewage pipe. Through the above method, the cleaning efficiency of the sewage pipe is effectively improved.

[0019] 2. The underwater robot for cleaning a tunnel sewage pipe provided by the present invention can be used to push the cleaning component to move in the sewage pipe by arranging the cleaning component at one end of the underwater walking mechanism; the cleaning component is arranged as a box body, a cleaning unit movably arranged at one side of the box body, and a driving unit that drives the cleaning unit to work, and the cleaning unit is arranged in the radial direction of a cylinder connected to the box body, and the cleaning unit is driven to rotate by the rotation of the cylinder body, so that the cleaning unit contacts the inner wall of the sewage pipe, thereby improving the cleaning efficiency; the cylinder body is restricted to the box body by using a support rod and a limit assembly, and the cylinder body can be removed from the box body when the box body and the cylinder body need to be cleaned, and at the same time, the cylinder body is arranged as a partially nested first cylinder body and a second cylinder body, and the first cylinder body is connected to the driving unit Then, when the device is working, only the first cylinder and the cleaning unit thereon can be rotated without affecting the operating state of the structure on the second cylinder. The practicality of the device is improved by the above method; by arranging a support ring and a conical shell on the second cylinder, and at the same time arranging a gear ring on the peripheral wall of the support ring, and making the gear ring mesh with the first gear connected to the elastic wheel, the first gear can be moved on the gear ring during the rotation of the cleaning unit to ensure that the movement trajectory of each component is not offset during the rotation of the cleaning component. In addition, the setting of the support ring can also prevent the cleaning unit from being damaged by large pollutants in the pipe when the device is running in the sewage pipe. Secondly, the setting of the weight-reducing grooves on the conical shell and the support ring can effectively reduce the resistance encountered by the device when it moves in the sewage pipe, which is conducive to improving the cleaning efficiency of the device. Through the above method, an underwater robot for cleaning tunnel sewage pipes that is suitable for sewage pipe cleaning and has high cleaning efficiency is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of an underwater robot for cleaning a tunnel sewage pipe according to the present invention;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure of the cleaning component in FIG.

[0022] Figure 3 for Figure 2 A cross-sectional view of the cleaning component in FIG.

[0023] The reference numerals are as follows:

[0024] 100. An underwater robot for cleaning sewage pipes in tunnels; 10. A casing; 101. A casing cover; 102. A first threaded rod; 11. A waterproof motor; 12. A second gear; 13. An annular gear ring; 20. An underwater walking mechanism; 30. A cylinder; 301. A first cylinder; 302. A second cylinder; 303. A support rod; 304. A limit rod; 305. A second threaded rod; 31. A support plate; 32. An elastic wheel; 321. A first friction strip; 322. A rotating rod; 323. A first gear; 33. A connecting pipe; 34. An insert rod; 341. An arc plate; 342. A second friction strip; 35. A support ring; 351. A gear ring; 352. A weight-reducing groove; 36. A conical shell. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the scheme of the present invention are shown in the drawings, while other details that are not closely related to the present invention are omitted.

[0027] In addition, it should be noted that the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0028] See also Figures 1 to 3 As shown, the underwater robot 100 for cleaning a tunnel sewage pipe provided by the present invention comprises a cleaning component and an underwater walking mechanism 20 arranged at the end of the cleaning component, the cleaning component comprises a box body 10 connected to the underwater walking mechanism 20, a cleaning unit movably arranged on one side of the box body 10 and a driving unit for driving the cleaning unit to work, a box cover 101 is provided on the top of the box body 10, the cleaning unit and the underwater walking mechanism 20 are arranged on both sides of the box body 10 relatively, the underwater walking mechanism 20 can push the cleaning component to move in the sewage pipe, and the cleaning unit performs a circular motion around the cylinder under the drive of the driving unit, thereby cleaning the dirt on the inner wall of the sewage pipe, and after the cleaning work is completed, the cleaned dirt can be washed away by passing water into the sewage pipe, thereby completing the cleaning of the sewage pipe.

[0029] See also Figure 1 Combined with Figure 2As shown, the cleaning unit is connected to the box body 10 through the cylinder body 30. The cleaning unit is arranged in the radial direction of the cylinder body 30, including a plurality of support plates 31 arranged on the outer peripheral wall of the cylinder body 30 along the radial direction of the cylinder body 30 and an elastic wheel 32 rotatably arranged on the support plate 31, and a plurality of first friction strips 321 are arranged on the elastic wheel 32. Specifically, a groove is arranged at one end of the support plate 31 away from the cylinder body 30, and the elastic wheel 32 is fixed between two opposite walls of the groove by a rotating rod 322. The axis of the rotating rod 322 is parallel to the axis of the cylinder body 30, and the side of the rotating rod 322 away from the box body 10 is connected to a first gear 323. In some embodiments, the box cover 101 is also provided with a handle so that the box cover 101 can be placed on and removed from the box body 10.

[0030] Furthermore, a connecting tube 33 is provided on one side of the support plate 31, and the connecting tube 33 extends upward from the side of the support plate 31. The connecting tube 33 and the insertion rod 34 are elastically connected by a spring in the connecting tube 33. An arc plate 341 is provided on the insertion rod 34, and the arc plate 341 is an elastic plate. The outer peripheral wall of the arc plate 341 is provided with a plurality of second friction strips 342. It should be noted that the arc plate 341 and the elastic wheel 32 should be as close as possible. Such an arrangement can make full use of the space between the box body 10 and the support plate 31, and as many cleaning units as possible can be arranged, so that the cleaning unit is fully in contact with the pipeline, thereby improving the cleaning efficiency of the device for the sewage pipe.

[0031] Furthermore, a support ring 35 is provided on the other side of the cylinder 30. The support ring 35 is a circular plate surface. A gear ring 351 is provided on the peripheral wall of the support ring 35. The gear ring 351 is meshed with the first gear 323. A plurality of weight-reducing grooves 352 are provided on the support ring 35. The setting of the weight-reducing grooves 352 can facilitate the passage of sewage when the device moves underwater, so as to reduce the resistance of sewage to the robot during the movement. In particular, a conical shell 36 is provided on the end of the cylinder 30 away from the box body 10. The conical shell 36 can reduce the resistance of the robot during the movement, so as to facilitate the movement of the device in the sewage pipe. With such a setting, the support ring 35 can be used to protect the cleaning unit to prevent the cleaning unit from being damaged by large pollutants in the sewage pipe during the cleaning process.

[0032] See also Figure 2 Combined with Figure 3As shown, the cylinder 30 is cylindrical, including a first cylinder 301 and a second cylinder 302 partially fitted on the outside of the first cylinder 301, the outer circumferential wall of the first cylinder 301 is tightly fitted with the inner circumferential wall of the second cylinder 302, one end of the second cylinder 302 is open, the first cylinder 301 is a hollow tube, the first cylinder 301, the second cylinder 302 and the inner wall of the box 10 form a cavity, the first cylinder 301 is fixedly connected to the box 10, the support plate 31 is arranged on the outer circumferential wall of the first cylinder 301, and the support ring 35 is movably arranged on the outer circumferential wall of the second cylinder 302. Under the driving action of the driving unit, the first cylinder 301 rotates, and the cleaning unit starts to clean the sewage pipe wall. Among them, the driving unit includes a waterproof motor 11 arranged inside the box body 10 and a second gear 12 connected to the output shaft of the waterproof motor 11, and the second gear 12 cooperates with the annular ring gear 13 arranged in the first cylinder 301; specifically, the waterproof motor 11 is arranged on the wall surface where the box body 10 and the first cylinder 301 are in contact, and a rotating shaft (not shown in the figure) is provided on the output shaft of the waterproof motor 11, and a through hole (not numbered in the figure) for the rotating shaft to pass through is provided on the box body 10, and a rotating shaft sealing ring (not shown in the figure) is provided on the wall of the through hole; the second gear 12 is arranged on the rotating shaft, and the second gear 12 is meshed with the annular ring gear 13. Through the above arrangement, the waterproof motor 11 can drive the rotating shaft to rotate, the rotating shaft drives the second gear 12 to rotate, and the second gear 12 drives the annular ring gear 13 to rotate, thereby rotating the first cylinder 301, and further driving the support plate 31 on the first cylinder 301 to rotate.

[0033] Furthermore, a support rod 303 is provided in the cylinder 30, the support rod 303 is coaxial with the cylinder 30, the support rod 303 penetrates the cylinder 30 and extends to the middle of the box 10, a first screw is provided at one end of the support rod 303 located in the box 10, a first threaded rod 102 is provided at a corresponding position of the box 10, the first threaded rod 102 is threadedly connected to the first screw, a limit assembly for limiting the rotation of the support rod 303 is provided in the box 10, and the limit assembly includes a limit rod 304 vertically passing through the support rod 303, a second threaded rod 305 and a limit rod 306 connected to the second threaded rod 306. The second screw rod is threadedly connected, specifically, the support rod 303 is provided with a limiting hole for the limiting rod 304 to pass through, the second threaded rod 305 is fixed in the box body 10, and the limiting rod 304 is provided with a knob. In this way, the first cylinder 301 and the second cylinder 302 can be fixed together. In addition, when it is necessary to clean the cylinder 30 and the box body 10, the box cover 101 can be opened, the limiting rod 304 can be removed, and then the second cylinder 302 can be rotated to disengage the first threaded rod 102 from the first screw rod, and the second cylinder 302 can be removed from the box body 10.

[0034] In particular, the present invention also provides a method for cleaning a sewage pipe using the underwater robot 100 for cleaning a tunnel sewage pipe, which specifically includes the following steps:

[0035] S1, placing the underwater robot into the sewage pipe to be cleaned, making the friction strips on the elastic wheel 32 and the arc plate 341 contact with the inner wall of the pipe, and adjusting the underwater walking mechanism 20 to make it close to the inner wall of the pipe;

[0036] S2, start the underwater walking mechanism 20 and the power assembly, the underwater walking mechanism 20 pushes the cleaning assembly forward along the sewage pipe, and the power assembly drives the first cylinder 301 to rotate;

[0037] S3, the first cylinder 301 rotates to make the support plate 31 drive the elastic wheel 32 to rotate. Under the action of the rotating assembly, the rotating rod 322 drives the elastic wheel 32 to rotate. At the same time, the second friction strip 342 revolves around the first cylinder 301. The first friction strip 321 and the second friction strip 342 come into contact with the inner wall of the sewage pipe. Under the joint action of the first friction strip 321 and the second friction strip 342, the inner wall of the sewage pipe is quickly cleaned;

[0038] S4. After the inner wall of the sewage pipe is cleaned, water is passed into the sewage pipe to wash away the dirt cleaned from the inner wall of the sewage pipe, thereby completing the cleaning of the sewage pipe.

[0039] Working principle of the present invention: When the underwater robot 100 for cleaning a tunnel sewage pipe provided by the present invention is used to clean the sewage pipe, the device is first placed in the sewage pipe to be cleaned. At this time, the first friction strip 321, the second friction strip 342 and the underwater walking mechanism 20 are in contact with the inner wall of the sewage pipe; then, the underwater walking mechanism 20 and the waterproof motor 11 are turned on, and the cleaning component moves along the sewage pipe under the push of the underwater walking mechanism 20, and the waterproof motor 11 drives the first cylinder 301 to rotate, and when the first cylinder 301 rotates, the support plate 31 is driven The elastic wheel 32 rotates, and at the same time, the rotating rod 322 drives the elastic wheel 32 to rotate, and at the same time, the second friction strip 342 revolves around the first cylinder 301, and the first friction strip 321 and the second friction strip 342 come into contact with the inner wall of the sewage pipe. Under the joint action of the first friction strip 321 and the second friction strip 342, the dirt deposited on the inner wall of the sewage pipe can be removed; after the cleaning work is completed, the underwater walking mechanism 20 and the waterproof motor 11 are turned off, and clean water is introduced into the sewage pipe to flush away the dirt cleaned in the sewage pipe, and the sewage pipe is cleaned. If it is necessary to clean the cylinder 30 and the box 10, the box cover 101 can be opened, the limit rod 304 can be removed, and then the second cylinder 302 can be rotated to disengage the first threaded rod 102 from the first screw rod, and the second cylinder 302 can be removed from the box 10.

[0040] In summary, the underwater robot 100 for cleaning a tunnel sewage pipe provided by the present invention comprises a cleaning assembly and an underwater walking mechanism 20 arranged at the end of the cleaning assembly, the cleaning assembly comprises a box 10 connected to the underwater walking mechanism 20, a cleaning unit movably arranged on one side of the box 10, and a driving unit for driving the cleaning unit to work, and the cleaning assembly is provided with elastic wheels 32 and arc plates 341 close to each other, and friction strips are provided on the elastic wheels 32 and the arc plates 341, and the dirt deposited on the inner wall of the sewage pipe can be removed by using the contact between the two and the inner wall of the sewage pipe. In the above manner, an underwater robot 100 for cleaning a tunnel sewage pipe that is suitable for cleaning sewage pipes and has high cleaning efficiency is provided.

[0041] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. An underwater robot for cleaning a tunnel sewage pipe, characterized in that: It comprises a cleaning assembly and an underwater walking mechanism arranged at the end of the cleaning assembly, wherein the cleaning assembly comprises a box connected to the underwater walking mechanism, a cleaning unit movably arranged at one side of the box, and a driving unit driving the cleaning unit to work; The cleaning unit and the underwater walking mechanism are arranged on both sides of the box body, and the cleaning unit and the box body are connected through a cylinder body. The cleaning unit can perform a circular motion around the cylinder body, so as to clean the dirt on the inner wall of the sewage pipe; The cleaning unit is arranged in the radial direction of the cylinder, and comprises a plurality of support plates arranged on the outer peripheral wall of the cylinder along the radial direction of the cylinder and an elastic wheel rotatably arranged on the support plates, wherein the elastic wheel is provided with a plurality of first friction strips; A connecting tube is provided on one side of the support plate, and the connecting tube and the insertion rod are elastically connected through a spring in the connecting tube. An arc plate is provided on the insertion rod, and a plurality of second friction strips are provided on the outer peripheral wall of the arc plate. The arc plate is close to the elastic wheel; A support ring is provided on the cylinder, the support ring is away from the box body, and a gear ring is provided on the peripheral wall of the support ring; a groove is provided on the end of the support plate away from the cylinder, and the elastic wheel is fixed between two opposite walls of the groove by a rotating rod, one end of the rotating rod extends above the support ring, and a first gear is provided on the end of the rotating rod close to the support ring, and the first gear is meshed with the gear ring; The cylinder comprises a first cylinder and a second cylinder sleeved outside the first cylinder, the outer wall portions of the first cylinder and the second cylinder partially overlap, one end of the second cylinder is open, the first cylinder is fixedly connected to the box, the support plate is arranged on the outer peripheral wall of the first cylinder, and the support ring is arranged on the outer peripheral wall of the second cylinder; The driving unit comprises a waterproof motor arranged inside the box body and a second gear connected to the output shaft of the waterproof motor. An annular gear ring is arranged on the inner wall of the first cylinder body, and the second gear is meshed with the annular gear ring.

2. The underwater robot for cleaning tunnel sewage pipes according to claim 1, characterized in that: The arc-shaped plate is an elastic plate.

3. The underwater robot for cleaning tunnel sewage pipes according to claim 1, characterized in that: The support ring is provided with a plurality of weight-reducing grooves, and a conical shell is provided on a side of the cylinder away from the box body.

4. The underwater robot for cleaning tunnel sewage pipes according to claim 1, characterized in that: The support ring is in a "disc shape".

5. The underwater robot for cleaning tunnel sewage pipes according to claim 1, characterized in that: A support rod coaxial with the cylinder is provided in the cylinder, and the support rod passes through the cylinder and extends to the middle of the box. A first screw is provided at one end of the support rod located in the box, and a first threaded rod is provided at a corresponding position of the box. The first threaded rod is threadedly connected to the first screw.

6. The underwater robot for cleaning tunnel sewage pipes according to claim 5, characterized in that: A limit assembly for limiting the rotation of the support rod is provided in the box body, and the limit assembly includes a limit rod vertically passing through the support rod, a second threaded rod and a second screw rod threadedly connected to the second threaded rod, and the second threaded rod is fixed in the box body.

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