An underwater intelligent dredging robot for underground pipe network and a dredging method thereof

Abstract

The application discloses an underwater intelligent dredging robot for underground pipe networks and a dredging method thereof, which comprises a crawler chassis, a vehicle body and a reamer suction device, the crawler chassis is hingedly connected between a crawler frame and a chassis frame; the reamer suction device comprises a reamer mechanism and a reamer deformation mechanism, the reamer deformation mechanism is symmetrically hingedly connected with the reamer mechanism on both sides; linear extension devices are symmetrically arranged between both sides of the vehicle body and the crawler frame, so that the crawler frame can change the angular position relative to the chassis frame; the reamer suction device can change the up-down position relative to the vehicle body. The application can simultaneously adapt to circular and square culverts and complete the task requirements of continuous pipe dredging operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of dredging equipment, in particular to an underwater intelligent dredging robot for underground pipe network and a dredging method thereof. BACKGROUND

[0002] The underground pipe network is an important infrastructure to ensure the normal operation of the city. Pipe dredging refers to dredging the pipe of the underground pipe network, cleaning the silt and other waste in the pipe, and keeping it unblocked for a long time to prevent urban waterlogging. If the pipe is not dredged regularly, it will cause sewage to flow indiscriminately and pollute the environment.

[0003] With the rapid development of urban pipe network, various structure forms of culverts such as circular and square have appeared in the pipe.

[0004] The existing self-propelled dredging device is mostly propeller-driven, towed or rigidly connected double-track driving scheme, which is suitable for square box culverts, lacks track driving devices for circular pipe culverts, is only suitable for single working conditions or terrain, and cannot be used in circular pipe culverts and square box culverts at the same time, which cannot meet the requirements of continuous operation of underground pipe network dredging. And most of the current dredging bits are integrated with suction, which is a semi-spiral rigid reamer scheme, which has the disadvantages of narrow working surface, difficult control of suction head, etc. The above scheme leads to the existing dredging device having poor applicability, poor ability to perceive the environment, poor controllability, and low working efficiency. SUMMARY

[0005] The main purpose of the present application is to provide an underwater intelligent dredging robot for underground pipe network and a dredging method thereof, which can simultaneously adapt to circular and square culverts and complete continuous pipe dredging.

[0006] The underwater intelligent dredging robot for underground pipe network and the dredging method thereof provided by the present application comprise a track chassis, a vehicle body and a reamer-sucker device, the track chassis is hingedly connected between the track frame and the chassis frame; the reamer-sucker device comprises a reamer mechanism and a reamer deformation mechanism, the reamer deformation mechanism is symmetrically hingedly connected with the reamer mechanism on both sides; straight line extension devices are symmetrically arranged between the two sides of the vehicle body and the track frame, so that the track frame can change the angular position relative to the chassis frame; the reamer-sucker device can change the up-down position relative to the vehicle body.

[0007] In one embodiment of the above robot, the reamer mechanism comprises an end face extension seat, a universal coupling and a spiral reamer; the inside of the end face extension seat is connected and fixed with the universal coupling, the other end of the universal coupling is provided with not less than two groups of spiral reamers, and the spiral reamers are connected through the universal coupling.

[0008] In an embodiment of the robot, the end face telescopic seat comprises a sliding member, a reamer end shaft, a bearing, a sliding groove, a spring, a pre-tightening force adjusting nut and an end cover; the sliding member is a hollow cylinder, the reamer end shaft is inserted into one end of the sliding member and rotatably connected with the sliding member through the bearing; the sliding member is slidable in the sliding groove, the sliding groove is fixedly connected with the reamer cover; a dustproof sealing member is arranged between the bottom of the sliding member and the sliding groove; the other end of the sliding groove is provided with the pre-tightening force adjusting nut, the spring is arranged between the sliding member and the pre-tightening force adjusting nut and has a certain pre-tightening force; the end cover is buckled outside the reamer cover, and a threaded rod inside the end cover is clamped in the pre-tightening force adjusting nut.

[0009] In an embodiment of the robot, the reamer deformation mechanism comprises a lifting rail, a lifting oil cylinder and a driving box; the lifting rail is vertically arranged in the middle of the top end of the inner cavity of the reamer cover, and the driving box is slidable up and down in the lifting rail through the lifting oil cylinder; the reamer mechanism is connected to the two sides of the driving box.

[0010] In an embodiment of the robot, the crawler chassis comprises a chassis frame, a crawler frame, a driving wheel, a supporting wheel, a crawler belt and a displacement support oil cylinder; one crawler frame is arranged on each of the left and right sides of the chassis frame, a reaming seat is arranged on the inner side of each of the front and rear of the crawler frame, and the chassis frame is hingedly connected with the two crawler frames; the driving wheel is clamped and connected to the rear side of the two crawler frames, and a hydraulic driving motor is arranged on the driving wheel; two supporting wheels are arranged in front of and behind the bottom end of each of the two crawler frames; the crawler belt is arranged on the crawler frame, the inner ring is engaged with the driving wheel, and the supporting wheel travels on the crawler belt; the middle part of the inner side of each of the two crawler frames is provided with a reaming seat, and the bottom end of the displacement support oil cylinder is hingedly connected thereto.

[0011] In an embodiment of the robot, the vehicle body main body comprises a vehicle frame and a vehicle cover; the vehicle frame is a rectangular frame, and semicircular end plates are fixed to the front and rear ends of the vehicle frame; the vehicle cover is a semicircular cylinder, and is fixed to the vehicle frame; the vehicle frame is fixed to the upper end of the chassis frame through bolts.

[0012] In an embodiment of the robot, the top end of the displacement support oil cylinder is hingedly connected to the two sides of the vehicle frame through reaming seats.

[0013] In an embodiment of the robot, the front end of the vehicle frame is provided with a reamer adjusting frame, the reamer adjusting frame is H-shaped, and the bottom end of the reamer adjusting frame is hingedly connected to the vehicle frame; two reamer adjusting oil cylinders are hingedly arranged between the front end of the chassis frame and the two side walls of the reamer adjusting frame.

[0014] In an embodiment of the robot, the reamer cover device is fixedly connected with the reamer adjusting frame.

[0015] The method for dredging underground pipe networks by using the robot provided by the application comprises the following steps:

[0016] I. For square box culverts

[0017] (1) When the width size of the square box culvert matches the robot articulated suction device, the robot is placed in the square box culvert and started; the articulated suction device is driven by the track chassis to advance along the box culvert to perform dredging work;

[0018] (2) When the size of the square box culvert is larger than the size of the robot, the articulated suction device is driven by the track chassis to perform multiple dredging work along the box culvert;

[0019] II. For circular pipe culvert

[0020] (1) When the diameter of the circular pipe culvert matches the size adjustment range of the robot, the structure of the track chassis and the articulated suction device is adjusted according to the size of the pipe culvert to adapt to the arc shape of the circular pipe culvert, and finally the articulated suction device of the robot is driven by the track chassis to advance along the pipe culvert to perform dredging work;

[0021] (2) When the circular pipe culvert is too wide to exceed the size of the robot, the track chassis and the articulated suction device of the robot are adjusted to the appropriate angle, and the robot is placed in the circular pipe culvert to perform multiple dredging work along the pipe culvert.

[0022] The beneficial effects of the present application are:

[0023] 1. The double-articulated variable-position track driving technology can better adapt to complex terrain and can be used in circular pipe culverts, directional pipe culverts and other complex culvert environments.

[0024] 2. The self-adaptive adjustable spiral cutting chain knife technology can better adapt to complex terrain and can be used in circular pipe culverts and directional pipe culverts.

[0025] 3. The reamer and track chassis have high adaptability and can adapt to different culverts by adjusting their own structure. The environment perception system has high adaptability to complex environments, and based on the large working surface structure of the reamer, efficient dredging work of urban sewage pipe networks can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a structural schematic diagram of an embodiment of the present application.

[0027] Figure 2 is Figure 1 is a structural schematic diagram of the track driving mechanism.

[0028] Figure 3 is Figure 1 is a structural schematic diagram of the vehicle body main body. (The cover is not shown)

[0029] Figure 4 is Figure 1 is a structural schematic diagram of the articulated suction device. (The mud plate is not shown)

[0030] Figure 5For Figure 4 Side view structure diagram of the hinge suction device.

[0031] Figure 6 For Figure 4 Front view structure diagram of the hinge suction device.

[0032] Figure 7 For Figure 6 Enlarged sectional view of the hinge cutter mechanism.

[0033] Figure 8 The state diagram of the square box culvert in the dredging operation of the embodiment.

[0034] Figure 9 The state diagram of the circular pipe culvert in the dredging operation of the embodiment. DETAILED DESCRIPTION

[0035] As Figure 1 shown, the underground pipe network underwater intelligent dredging robot and the dredging method thereof disclosed by the embodiment include a crawler chassis 1, a vehicle body 2, and a hinge suction device 3. The vehicle body is connected above the crawler chassis, and the hinge suction device is connected with the vehicle body.

[0036] As Figure 2 shown, the crawler chassis 1 includes a chassis frame 11, a track frame 12, a drive wheel 13, a supporting wheel 14, a track 15, and a displacement support oil cylinder 16.

[0037] The left and right sides of the chassis frame 11 are each provided with a track frame 12. The inner sides of the track frames are each provided with a hinge seat in front and back. The chassis frame is hingedly connected with the two track frames.

[0038] The rear side of the two track frames 12 is clamped and connected with the drive wheel 13. The drive wheel is provided with a hydraulic drive motor.

[0039] The bottom ends of the two track frames are each provided with two supporting wheels 14 arranged in front and back.

[0040] The track 15 is sleeved on the track frame. The inner ring is engaged with the drive wheel, and the supporting wheel travels on the track. The track has a certain height of the track tooth, which can adapt to the soft bottom terrain.

[0041] The middle part of the inner side of the two track frames 12 is provided with a hinge seat, and the bottom end of the displacement support oil cylinder 16 is hingedly connected therewith.

[0042] The crawler chassis can adjust the track angle through the displacement support oil cylinder, so as to ensure the gripping capacity and be suitable for box culverts and different diameter pipeline culverts.

[0043] As Figure 3As shown, the vehicle body main body 2 includes a vehicle frame 21 and a vehicle cover 22. The vehicle frame 21 is a rectangular frame, and semicircular end plates are fixed to the front and rear ends thereof. The semicircular cylindrical vehicle cover 22 is fixed to the vehicle frame.

[0044] The vehicle frame 21 is fixed to the upper end of the chassis frame 11 by bolts, and the top ends of the two displacement support oil cylinders 16 are respectively hingedly connected to the two sides of the vehicle frame by hinge seats. By controlling the extension and retraction of the displacement support oil cylinders, the crawler belt and the crawler frame can be driven to rotate around the chassis frame.

[0045] The front end of the vehicle frame is provided with a reamer adjusting frame 23, which is H-shaped and hingedly connected to the vehicle frame at the bottom end thereof.

[0046] Two reamer adjusting oil cylinders 24 are hingedly arranged between the front end of the chassis frame 11 and the two side walls of the reamer adjusting frame 23. By controlling the extension and retraction of the reamer adjusting oil cylinders, the up and down displacement of the reamer adjusting frame can be driven.

[0047] In combination with Figure 4 , Figure 5 and Figure 6 , it can be seen that the reamer suction device 3 includes a reamer suction cover 31, a reamer mechanism 32, a reamer deformation mechanism 33, a jet nozzle 34, and a sliding plate sensing mechanism 35.

[0048] The corners of the reamer suction cover 31 are arc transitions, and the front end thereof is open. Two overflow hole plates 311 are arranged on the two sides of the rear end of the reamer suction cover, which is beneficial to water overflow to reduce the driving resistance; the middle of the rear end thereof is an arc transition material collecting port, and the center of the material collecting port is connected to a conveying hose 312 at the rear end. The bottom of the rear end of the reamer suction cover is a flexible mud guard 313, which has a certain structural strength and can be flexibly deformed to adapt to hard bottom layers without being damaged.

[0049] Two reamer mechanisms 32 are symmetrically arranged at the left and right ends of the reamer suction cover 31, and the reamer mechanism includes an end face expansion seat 321, a universal coupling 322, and a spiral reamer 323.

[0050] As shown in Figure 7 , the end face expansion seat 321 includes a sliding member, a reamer end shaft, a bearing, a sliding groove, a spring, a pre-tightening force adjusting nut, and an end cover.

[0051] The sliding member is a hollow cylinder, and the reamer end shaft is inserted into one end of the sliding member and rotatably connected to the sliding member through the bearing. The sliding member can slide in the sliding groove, and the sliding groove is fixedly connected to the reamer suction cover; a dustproof sealing member is arranged between the bottom of the sliding member and the sliding groove.

[0052] The other end of the sliding groove is provided with a pre-tightening force adjusting nut, and a spring is arranged between the sliding member and the pre-tightening force adjusting nut and has a certain pre-tightening force.

[0053] The end cover is buckled outside the reamer cover, and the inner side has a threaded rod clamped in the pre-tightening adjusting nut. By rotating the end cover, the displacement of the pre-tightening adjusting nut can be controlled, and the pre-tightening force of the spring is adjusted, so as to ensure the tightness of the reamer mechanism as a whole.

[0054] The universal coupling 322 is fixed by bolt fastening at the end of the reamer end shaft. The other end of the universal coupling is provided with two groups of spiral reamers 323. The spiral reamers are connected through the universal coupling.

[0055] The reamer deformation mechanism 33 is arranged at the center of the reamer suction device. The spiral reamers at the ends of the two groups of reamer mechanisms are connected to the reamer deformation mechanism.

[0056] The reamer deformation mechanism 33 includes a lifting rail 331, a lifting oil cylinder 332, a drive box 333, a mud separating plate 334, and a pulley 335.

[0057] The lifting rail 331 is vertically arranged in the middle of the top end of the inner cavity of the reamer cover. The drive box 333 can slide up and down in the lifting rail through the lifting oil cylinder 332. The front end of the drive box is provided with the mud separating plate 334, and the bottom end is provided with the pulley 335. The spiral reamers at the ends of the two groups of reamer mechanisms are connected to the two sides of the drive box.

[0058] The mud separating plate separates the front accumulated material to the two sides of the reamer suction, reducing the driving resistance.

[0059] The jet nozzle 34 can generate a high-pressure water jet to automatically flush the accumulated mud and adhesion on the reamer mechanism.

[0060] The slide plate sensing mechanism 35 has two groups, which are arranged at the two ends of the reamer cover. The slide plate sensing mechanism includes a slide plate 351, a displacement sensor 352, and a pressure sensor 353.

[0061] The slide plate 351 is connected to the two ends of the reamer cover through a spring, and the pressure sensor 353 is arranged on the spring; the displacement sensor 352 is arranged between the spring and the reamer cover.

[0062] The displacement sensor, the pressure sensor, and the spring are used to monitor the strength of the accumulated mud at the bottom of the reamer suction device, automatically adjust the height of the reamer suction device, reduce the probability of the reamer suction device touching the bottom, improve the bottom adaptability, and ensure the dredging effect.

[0063] The reamer suction device 3 controls the lifting oil cylinder to descend through the drive box, so that the position on one side of the adjacent reamer mechanism is lowered, driving the flexible deformation of the reamer mechanism, forming a circular arc reamer chain, which can be applied to arc-shaped dredging terrain.

[0064] When the drive box drives the reamer center to descend, the slider of the end face telescopic seat slides outward with a certain tension to compensate for the lengthening of the reamer chain and keep the reamer mechanism working normally; when the drive box drives the reamer center to recover, the slider of the end face telescopic seat recovers and keeps the tension, compensating for the shortening of the reamer chain and keeping the reamer mechanism working normally.

[0065] The flexible swing of the two reamer mechanisms is realized by driving the box to ascend and descend, so that the ability to adapt to the terrain and bottom quality is achieved, and the operation surface of the box culvert or pipe culvert can be changed.

[0066] The vehicle body is also provided with a camera holder 25, a forward-looking sonar 26, a forward-looking lamp 27, a ranging radar 28 and a lifting ring 29.

[0067] The camera holder 25, the forward-looking sonar 26 and the forward-looking lamp 27 are fastened to the front end of the vehicle cover 22 through bolts and supports; the ranging radar 28 is arranged on one side of the vehicle cover; and the four lifting rings 29 are evenly fastened to the top of the vehicle body through threaded connections.

[0068] The camera holder 25 and the forward-looking lamp 27 can identify the culvert water surface environment or the water environment with high visibility. The camera holder 25 can rotate by 180°, and the monitoring range can cover all directions in front of the dredging robot. The forward-looking lamp 27 provides a light source for the camera holder. The forward-looking sonar 26 obtains the surrounding environment in the water environment by using sound wave signals. The ranging radar 28 obtains the culvert wall conditions on both sides of the dredging robot in the water environment, and obtains the distance between the culvert wall and the dredging robot, so as to ensure that the robot does not collide with the culvert wall. The above-mentioned devices perceive the complex environment of the culvert through sensor testing methods to ensure the safety of the devices.

[0069] The four lifting rings 29 are evenly connected with the vehicle body through threaded connections, and are used as lifting points to lift the entire dredging robot.

[0070] The specific dredging method of the robot is as follows:

[0071] 1. When dredging in a square box culvert:

[0072] The robot is placed in the square box culvert and started; the suction device is driven by the track chassis to perform dredging operation.

[0073] 2. When dredging in a circular pipe culvert:

[0074] The robot is adjusted and deformed; the track frame of the track chassis is driven by the displacement support oil cylinder to rotate around the chassis frame to adapt to the angle of the circular pipe culvert; the reamer deformation mechanism of the suction device drives the reamer mechanism to deform into a circular arc shape; finally, the robot is placed in the circular pipe culvert for dredging operation.

[0075] 3. When alternatingly dredging in a square box culvert and a circular pipe culvert:

[0076] When the robot drives from a square box culvert into a circular pipe culvert, the track frame of the track chassis is wrapped to both sides, the reamer deformation mechanism of the reamer suction device is displaced downward, and the reamer mechanism becomes a circular arc; when driving from a circular pipe culvert into a square box culvert, the deformation is reversed.

[0077] If the robot is not matched with the size of the culvert during use, it can reciprocatingly drive and work, thereby ensuring the dredging effect.

[0078] The advantages of using the robot are that:

[0079] 1. The double-reamer variable-position track driving technology can better adapt to complex terrains and can be applied in circular pipe culverts and directional pipe culverts and other complex culvert environments.

[0080] 2. The self-adaptive adjustable spiral cutting chain knife technology can better adapt to complex terrains and can be applied in circular pipe culverts and directional pipe culverts simultaneously.

[0081] 3. The reamer and the track chassis have high adaptability and can adapt to different culverts by adjusting their own structures. The environment perception system has a high ability to adapt to complex environments, and based on the large working surface structure of the reamer, efficient dredging of urban sewage pipe networks can be realized.

Claims

1. An intelligent underwater dredging robot for underground pipelines, comprising a tracked chassis, a main body, and a suction device, characterized in that: The track frame and chassis frame of the tracked chassis are hinged together; The hinge suction device includes a hinge suction cover, a reamer mechanism, and a reamer deformation mechanism. The reamer deformation mechanism is symmetrically hinged to the reamer mechanism on both sides. The edges and corners of the hinge suction cover are rounded, and its front end is open. The reamer mechanism includes an end face telescopic seat, a universal coupling, and a spiral reamer; the inner side of the end face telescopic seat is connected and fixed to the universal coupling, and the other end of the universal coupling is provided with no less than two sets of spiral reamers, which are connected to each other through the universal coupling. The end-face telescopic seat includes a sliding member, a reamer end shaft, a bearing, a slide groove, a spring, a preload adjusting nut, and an end cap. The sliding member is a hollow cylinder. The reamer end shaft is inserted into one end of the sliding member and rotatably connected to the sliding member through the bearing. The sliding member can slide in the slide groove, which is fixedly connected to the suction cover. A dustproof seal is provided between the bottom of the sliding member and the slide groove. A preload adjusting nut is provided at the other end of the slide groove. A spring with a certain preload force is provided between the sliding member and the preload adjusting nut. The end cap is fastened to the outside of the suction cover, and a threaded rod on its inner side is engaged with the preload adjusting nut. The reamer deformation mechanism includes a lifting rail, a lifting cylinder, and a drive box; the lifting rail is vertically located in the middle of the top of the reamer suction cover cavity, and the drive box can slide up and down within the lifting rail via the lifting cylinder; the reamer mechanism is connected to both sides of the drive box. The two sides of the vehicle body are symmetrically provided with linear telescopic devices between the track frame and the vehicle body, so that the track frame can change its angle and position relative to the chassis frame. The hinge device can change its vertical position relative to the vehicle body.

2. The intelligent underwater dredging robot for underground pipelines as described in claim 1, characterized in that: The tracked chassis includes a chassis frame, track frame, drive wheels, track rollers, tracks, and displacement support cylinders; A track frame is installed on each of the left and right sides of the chassis frame. A hinge seat is provided at the front and rear of the inner side of the track frame. The chassis frame is hinged to the two track frames respectively. A drive wheel is clamped and connected to the rear side of the two track frames. A hydraulic drive motor is installed on the drive wheel. Two support rollers are arranged in a front and rear arrangement at the bottom of each track frame. The track sleeve is placed on the track frame, and the inner ring meshes with the drive wheel. The support roller travels on the track. A hinge seat is provided in the middle of the inner side of the two track frames. The bottom end of the displacement support cylinder is hinged to it.

3. The intelligent underwater dredging robot for underground pipelines as described in claim 2, characterized in that: The vehicle body includes a frame and a cover; the frame is an approximately rectangular frame with semi-circular end plates fixed at its front and rear ends; the semi-cylindrical cover is fixed to the frame; the frame is fixed to the upper end of the chassis frame by bolts.

4. The intelligent underwater dredging robot for underground pipelines as described in claim 3, characterized in that: The top of the displacement support cylinder is hinged to both sides of the vehicle frame via hinge seats.

5. The intelligent underwater dredging robot for underground pipelines as described in claim 4, characterized in that: The front end of the vehicle frame is provided with a scissor adjustment frame, which is H-shaped and its bottom end is hinged to the vehicle frame; two scissor adjustment cylinders are hinged between the front end of the chassis frame and the two side walls of the scissor adjustment frame.

6. The intelligent underwater dredging robot for underground pipelines as described in claim 5, characterized in that: The reamer suction device is fixedly connected to the reamer adjustment frame.

7. A method for dredging underground pipe networks using the robot described in any one of claims 1-6, comprising the following steps: I. For square box culverts (1) When the width of the square box culvert matches the width of the robot's suction device, the pre-assembled robot is placed inside the square box culvert and started; the suction device moves along the box culvert under the drive of the tracked chassis to carry out dredging operations. (2) When the size of the square box culvert is larger than the size of the robot, the suction device will carry out multiple dredging operations along the box culvert under the drive of the tracked chassis; II. For circular culverts (1) When the diameter of the circular culvert matches the size adjustment range of the robot, the structure of the track chassis and the suction device is adjusted according to the size of the culvert to adapt to the arc of the circular culvert. Finally, the robot's suction device moves along the culvert to carry out dredging operations under the drive of the track chassis. (2) When the circular culvert is too wide and exceeds the size of the robot, adjust the robot's track chassis and suction device to a suitable angle, then place the robot into the circular culvert and carry out multiple dredging operations along the culvert.

Images