Garbage cleaning robot suitable for municipal drainage pipeline and operation method

Abstract

This invention discloses a garbage cleaning robot and its operating method suitable for municipal drainage pipes. The device includes a support device and a reaction device, with a hydraulic jack installed between the support device and the reaction device. It includes a robot body with a walking mechanism on it, and one end of the robot body is connected to an automatic cleaning device. The automatic cleaning device is used to loosen the garbage inside the pipe and automatically collect and remove it to the outside of the pipe. The robot of this invention has a simple structure. Utilizing a rotating drum with a shovel, it can better overcome resistance and clean garbage through a rotary cutting motion. Simultaneously, the shovel can be opened and closed, allowing for easy sealing after garbage collection, preventing garbage from falling and improving garbage collection efficiency. Cleaning and removal can be completed in one go. The method of this invention avoids situations where the robot slips, tipps over, or cannot continue cleaning when cleaning pipe garbage.

Description

Technical Field

[0001] This invention belongs to the field of municipal drainage technology, and specifically relates to a garbage cleaning robot and its operation method suitable for municipal drainage pipelines. Background Technology

[0002] Sewage in drainage pipes can carry various types of garbage such as silt, plastic, paper towels, and branches. These can easily accumulate in the pipes during drainage. If not cleaned regularly, they can cause blockages in the pipes, leading to sewage overflows and seriously affecting residents' lives. Therefore, cleaning up garbage in municipal drainage pipes has become an important part of the daily operation and maintenance of the pipe network.

[0003] Currently, apart from sludge with a certain moisture content, which can be cleaned using expensive special-purpose dredging vehicles, most pipeline garbage removal is done manually, which is time-consuming, labor-intensive, costly, dangerous, and has poor cleaning results.

[0004] To address this issue, inventors have proposed corresponding solutions. Chinese patent publication number CN 112901894 A discloses a mobile municipal drainage pipe garbage cleaning robot, which includes an installation cylinder, a walking mechanism, a front-end agitation mechanism, and a rear-end crushing mechanism. It uses rotation to circumferentially crush and clean the garbage blocking the drainage pipe. The rotation of the set rotating cam provides a forward impact force to the agitator head, further cleaning the blockage.

[0005] This patent only cuts and pulverizes the debris blocking the pipe, but it cannot remove the debris from the pipe in one go. After the debris is pulverized and cut, a large amount of debris falls off the pipe wall. If the debris is not removed, it will still cause pipe blockage. In addition, the patent has a complex structure and uses a lot of gears. The debris in the pipe will inevitably have a significant impact on the operation of the gears, and may even cause them to jam. In actual use, the failure rate is relatively high. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a garbage cleaning robot suitable for municipal drainage pipes. This cleaning robot can separate the garbage inside the pipe from the pipe wall in one go and remove the detached garbage from the pipe, thus thoroughly cleaning the garbage inside the pipe.

[0007] The technical objective of this invention is achieved through the following technical solution: a garbage cleaning robot suitable for municipal drainage pipes, comprising a robot body, a walking mechanism on the robot body, and an automatic cleaning device connected to one end of the robot body, the automatic cleaning device being used to loosen the garbage in the pipe and automatically collect and remove it to the outside of the pipe.

[0008] Preferably, the automatic cleaning device includes a support base connected to one end of the robot body. The support base is fixedly connected to a top plate disposed inside the robot body via a support column. The top plate is connected to a thrust cylinder. A hydraulic station is installed inside the robot body and is connected to the thrust cylinder. A first servo motor is installed on the support base. A rotating drum is connected to the shaft of the first servo motor. An opening is provided at one end of the rotating drum. Two motor mounts are fixedly connected to the end of the rotating drum. A second servo motor is installed in each of the motor mounts. A shovel is connected to the shaft of each of the two second servo motors. The shafts of the two second servo motors are perpendicular to the shafts of the first servo motors in space, and the two shovels open or close the rotating drum after rotating with the second servo motors.

[0009] Preferably, the rotating drum has a through hole extending into the rotating drum.

[0010] Preferably, the rotating drum is cylindrical, and the two shovels are both semi-circular. After the two shovels rotate with the second servo motor, they shovel the garbage in the pipe into the rotating drum and then close the opening of the rotating drum.

[0011] Preferably, the walking mechanism includes walking wheels rotatably mounted on the bottom of the robot body, and a power system is installed in the robot body, the power system being connected to the walking wheels.

[0012] Preferably, the robot body is also equipped with an anti-slip mechanism.

[0013] Preferably, the anti-slip mechanism includes three hydraulic telescopic struts connected to both sides and the top of the robot body, and each of the three hydraulic telescopic struts is hinged to a support plate at its end; the hydraulic telescopic struts are connected to the hydraulic station.

[0014] Preferably, the support plate is configured as an arc-shaped structure that adapts to the inner wall of the pipe.

[0015] Preferably, a control motherboard is installed inside the robot body, and a wireless transmission module is connected to the control motherboard. The power system is electrically connected to the control motherboard. A front camera and a rear camera are also installed at both ends on the top of the robot body. The front camera and the rear camera are electrically connected to the wireless transmission module. The first servo motor and the second servo motor are both electrically connected to the control motherboard.

[0016] This invention also provides a method for operating a garbage cleaning robot suitable for municipal drainage pipes, comprising the following steps:

[0017] In the initial state of S1, the rotating drum is stationary and the shovel plate is in the open state on the rotating drum;

[0018] After the S2 robot enters the pipe, when the rotating drum and shovel encounter garbage, it controls the first servo motor to rotate the rotating drum. The shovel on the rotating drum is in the open state and rotates with the rotating drum. While the robot is moving, the rotating drum and shovel work together to clean and collect the garbage.

[0019] When the robot encounters too much resistance and slips and cannot move forward, the S3 controls the extension of the hydraulic telescopic struts to make the support plates at the ends of the three hydraulic telescopic struts press tightly against the inner wall of the pipe. The thrust cylinder extends to push the support seat to move. When the thrust cylinder reaches its maximum stroke, the thrust cylinder and the hydraulic telescopic struts retract.

[0020] S4 repeats S2 to continue the operation. If the robot encounters too much resistance and cannot move forward and slips, then jump to step S3 to continue the operation.

[0021] After running for a period of time, S5 stops moving forward and controls the second servo motor to rotate and close the shovel to seal the cleaned garbage. The first servo motor drives the drum to rotate for a certain period of time, and the garbage in the drum is dehydrated and then leaves the pipeline.

[0022] S6 moves the robot to the designated garbage dump, opens the shovel door to empty the garbage, and then returns to its initial state.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. This invention utilizes a rotating drum with a shovel plate to better overcome resistance and perform garbage collection through a rotary cutting method; at the same time, the shovel plate can be opened and closed, and the garbage can be easily sealed after being filled, preventing garbage from falling and improving garbage collection efficiency. During cleaning, cleaning and removal can be completed in one go.

[0025] 2. This invention utilizes a retractable support rod and support base to enable the robot's standing arm to perform rotary cutting and peristaltic cleaning, further increasing the upper limit of the resistance value that can be overcome during garbage cleaning, thereby expanding the robot's applicable range of working conditions.

[0026] 3. The rotating drum of the present invention has through holes in its body, which can dehydrate the sludge in real time during rotary cutting and door-sealing drying, reduce the water content, and greatly reduce the difficulty of processing high water content sludge after cleaning under traditional operation methods.

[0027] 4. The structure of this invention installs the power system inside the robot body, and the robot body can be assembled in a closed manner, which can better adapt to the usage scenario of pipeline garbage cleaning, avoid the garbage from causing the robot's own power system to jam or other obstacles, greatly improve work efficiency and reduce the difficulty and intensity of operation for operators.

[0028] 5. When the robot and method of the present invention encounter obstacles in their forward movement due to unremovable debris, they can use an anti-slip mechanism to clean up the firmly adhered debris, ensuring the smoothness of the robot's debris removal in the pipeline. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention.

[0030] Figure 2 This is another structural schematic diagram of the present invention.

[0031] Figure 3 This is a schematic diagram of the shovel plate of the present invention in the closed state.

[0032] Figure 4 This is a schematic diagram of the connection structure of the support base in this invention.

[0033] Figure 5 yes Figure 1 Enlarged structural diagram of section A in the middle.

[0034] Figure 6 This is a schematic diagram of the structure in one usage state of the present invention.

[0035] In the above attached figures: 1. Robot body; 2. Walking mechanism; 3. Walking wheels; 4. Automatic cleaning device; 5. Support base; 6. Support column; 7. Top plate; 8. Thrust cylinder; 9. First servo motor; 10. Rotary drum; 11. Motor base; 12. Second servo motor; 13. Shovel plate; 14. Through hole; 15. Hydraulic telescopic strut; 16. Support plate; 17. Front camera; 18. Rear camera; 19. Pipeline. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] refer to Figures 1-6As a preferred embodiment of the present invention, this embodiment provides a garbage cleaning robot suitable for municipal drainage pipes, including a robot body 1, a walking mechanism 2 on the robot body 1, the walking mechanism 2 including walking wheels 3 rotatably mounted on the bottom of the robot body 1, a power system installed inside the robot body 1, the power system being connected to the walking wheels 3; an automatic cleaning device 4 is connected to one end of the robot body 1, the automatic cleaning device 4 being used to loosen the garbage in the pipe and automatically collect and remove it to the outside of the pipe; the automatic cleaning device 4 includes a support base 5 connected to one end of the robot body 1, the support base 5 being connected to a top plate disposed inside the robot body 1 via a support column 6. 7. Fixed connection: The top plate 7 is connected to the thrust cylinder 8. A hydraulic station is installed inside the robot body 1, and the hydraulic station is connected to the thrust cylinder 8. A first servo motor 9 is installed on the support base 5. A rotating drum 10 is connected to the rotating shaft of the first servo motor 9. An opening is provided at one end of the rotating drum 10. Two motor seats 11 are fixedly connected to the end of the rotating drum 10. A second servo motor 12 is installed in each of the motor seats 11. A shovel plate 13 is connected to the rotating shaft of each of the two second servo motors 12. The rotating shafts of the two second servo motors 12 are perpendicular to the rotating shaft of the first servo motor 9 in space, and the two shovel plates 13 open or close the opening of the rotating drum 10 after rotating with the second servo motors 12.

[0039] In the description of the above embodiments, the power system that propels the walking wheels on the robot body 1 is well known in the art. For example, using an electric motor as the power source and a gear transmission as the transmission system can easily enable the robot to walk. This part of the structure is not the core improvement point of the present invention, and will not be described in detail in the description of this application. However, those skilled in the art should know that, without departing from the concept of the present invention, any power system that enables the robot to walk can be used to implement the present invention.

[0040] In some preferred embodiments, a through hole 14 extending into the rotating drum 10 is provided on the rotating drum 10. The function of the through hole 14 is to allow liquid in the garbage to be thrown out by rotation after the rotating drum 10 is filled with garbage, thereby reducing the moisture content of the garbage and improving the garbage removal efficiency.

[0041] In some preferred embodiments, the rotating drum 10 is cylindrical, and the two shovels 13 are both semi-circular. After the two shovels 13 rotate with the second servo motor 12, they shovel the garbage in the pipe into the rotating drum 10 and then close the opening of the rotating drum 10. When the rotating drum 10 adopts the structural form of this embodiment, the rotating drum 10 corresponds to the structural form of the pipe, which is beneficial for the robot to move forward or backward in the pipe.

[0042] In some preferred embodiments, the robot body 1 is also provided with an anti-slip mechanism. The main function of the anti-slip mechanism is to fix the robot itself when the garbage in the pipe cannot be removed smoothly, especially when the garbage cannot be detached from the inner wall of the pipe by the shovel. The robot uses a strong reaction force to cut the stubborn garbage off the inner wall of the pipe.

[0043] In some preferred embodiments, the anti-slip mechanism includes three hydraulic telescopic struts 15 connected to both sides and the top of the robot body 1, with each end of the three hydraulic telescopic struts 15 hinged to a support plate 16; the hydraulic telescopic struts 15 are connected to the hydraulic station. In this embodiment, the robot is fixed in multiple directions by the three hydraulic telescopic struts 15. In this case, the thrust cylinder 8 is used to push the support base 5 forward, that is, to push the rotating drum 10 forward. The fixed robot is used as a reaction point to remove stubborn garbage adhering to the inner wall of the pipe. This makes the removal of pipe garbage more thorough, avoids omissions and residues, and effectively unclogs the pipe.

[0044] In some preferred embodiments, the support plate 16 is configured as an arc-shaped structure that adapts to the inner wall of the pipe. With this structure, the support plate 16 can make better contact with the inner wall of the pipe 19, has a larger contact area, and can make the robot body more stable when fixing the robot, preventing situations such as the robot tipping over.

[0045] In some preferred embodiments, a control motherboard is installed inside the robot body 1, and a wireless transmission module is connected to the control motherboard. The power system is electrically connected to the control motherboard. A front camera 17 and a rear camera 18 are also installed at both ends of the top of the robot body 1. The front camera 17 and the rear camera 18 are electrically connected to the wireless transmission module. The first servo motor 9 and the second servo motor 12 are both electrically connected to the control motherboard. In this embodiment, the robot can be remotely controlled. Combined with the two cameras on the robot body, it can more efficiently clean pipe debris. Pipe sections without debris can be quickly passed through, and pipes with more debris can be quickly cleaned using the various cleaning methods described above, reducing the downtime of municipal pipelines.

[0046] Example 2

[0047] This invention also provides a method for operating a garbage cleaning robot suitable for municipal drainage pipes, comprising the following steps:

[0048] In the initial state of S1, the rotating drum 10 is stationary, and the shovel plate 13 is in the open state on the rotating drum 10;

[0049] After the S2 robot enters the pipe 19, when the rotating drum 10 and the shovel plate 13 encounter garbage, the first servo motor 9 is controlled to rotate the rotating drum 10. The shovel plate 13 on the rotating drum 10 is in the open state and the shovel plate follows the rotating drum 10 to rotate. While the robot is walking, the rotating drum 10 and the shovel plate 13 work together to clean and collect the garbage.

[0050] S3 Reference Figure 6 When encountering too much resistance, the robot slips and cannot move forward. The hydraulic telescopic struts 15 are extended, so that the support plates 16 at the ends of the three hydraulic telescopic struts 15 are pressed against the inner wall of the pipe 19. The thrust cylinder 8 extends and pushes the support seat 5 to move. When the thrust cylinder 8 reaches its maximum stroke, the thrust cylinder 8 and the hydraulic telescopic struts 15 are retracted.

[0051] S4 repeats S2 to continue the operation. If the robot encounters too much resistance and cannot move forward and slips, then jump to step S3 to continue the operation.

[0052] After running for a period of time, S5 stops moving forward and controls the second servo motor 12 to rotate and close the shovel plate to seal the cleaned garbage. The first servo motor 9 drives the rotating drum 10 to rotate for a certain period of time, dehydrates the garbage in the rotating drum 10, and then leaves the pipeline.

[0053] S6 moves the robot to the designated garbage dump, opens the shovel door to empty the garbage, and then returns to its initial state.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A garbage cleaning robot suitable for municipal drainage pipes, comprising a robot body, on which a walking mechanism is mounted, characterized in that: One end of the robot body is connected to an automatic cleaning device, which is used to loosen the garbage in the pipe and automatically collect and remove it to the outside of the pipe. The automatic cleaning device includes a support base connected to one end of the robot body. The support base is fixedly connected to a top plate inside the robot body via a support column. The top plate is connected to a thrust cylinder. A hydraulic station is installed inside the robot body and is connected to the thrust cylinder. A first servo motor is installed on the support base. A rotating drum is connected to the shaft of the first servo motor. A through hole extending into the rotating drum is opened on the rotating drum. An opening is provided at one end of the rotating drum. Two motor mounts are fixedly connected to the end of the rotating drum. A second servo motor is installed in each of the motor mounts. A shovel is connected to the shaft of each of the two second servo motors. The shafts of the two second servo motors are perpendicular to the shafts of the first servo motors in space, and the two shovels open or close the rotating drum as the second servo motors rotate. The rotating drum is cylindrical, and the two shovels are semi-circular. After the two shovels rotate with the second servo motor, they shovel the garbage in the pipe into the rotating drum and then seal the opening of the rotating drum.

2. The garbage cleaning robot for municipal drainage pipes according to claim 1, characterized in that: The walking mechanism includes rotatably mounted wheels on the bottom of the robot body, and a power system is installed inside the robot body, with the power system connected to the wheels.

3. The garbage cleaning robot for municipal drainage pipes according to claim 1, characterized in that: The robot body is also equipped with an anti-slip mechanism.

4. The garbage cleaning robot for municipal drainage pipes according to claim 3, characterized in that: The anti-slip mechanism includes three hydraulic telescopic struts connected to the sides and top of the robot body, each end of which is hinged to a support plate; the hydraulic telescopic struts are connected to the hydraulic station.

5. The garbage cleaning robot for municipal drainage pipes according to claim 4, characterized in that: The support plate is constructed in an arc shape that conforms to the inner wall of the pipe.

6. The garbage cleaning robot for municipal drainage pipes according to claim 2, characterized in that: The robot body is equipped with a control motherboard, which is connected to a wireless transmission module. The power system is electrically connected to the control motherboard. A front camera and a rear camera are also installed at both ends on the top of the robot body. The front camera and the rear camera are electrically connected to the wireless transmission module. The first servo motor and the second servo motor are both electrically connected to the control motherboard.

7. The method of operation for a garbage cleaning robot applicable to municipal drainage pipes as described in any one of claims 4 or 5, characterized in that, Includes the following steps: In the initial state of S1, the rotating drum is stationary and the shovel plate is in the open state on the rotating drum; After the S2 robot enters the pipe, when the rotating drum and shovel encounter garbage, it controls the first servo motor to rotate the rotating drum. The shovel on the rotating drum is in the open state and rotates with the rotating drum. While the robot is moving, the rotating drum and shovel work together to clean and collect the garbage. When the robot encounters too much resistance and slips and cannot move forward, the S3 controls the extension of the hydraulic telescopic struts to make the support plates at the ends of the three hydraulic telescopic struts press tightly against the inner wall of the pipe. The thrust cylinder extends to push the support seat to move. When the thrust cylinder reaches its maximum stroke, the thrust cylinder and the hydraulic telescopic struts retract. S4 repeats S2 to continue the operation. If the robot encounters too much resistance and cannot move forward and slips, then jump to step S3 to continue the operation. After running for a period of time, S5 stops moving forward and controls the second servo motor to rotate and close the shovel to seal the cleaned garbage. The first servo motor drives the drum to rotate for a certain period of time, and the garbage in the drum is dehydrated and then leaves the pipeline. S6 moves the robot to the designated garbage dump, opens the shovel door to empty the garbage, and then returns to its initial state.

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