Robot for the dredging of municipal pipes

Abstract

The application provides a robot for municipal pipeline dredging. The robot comprises a dredging mechanism, a pipeline detection mechanism and a pipeline repair mechanism arranged at intervals along the extension direction of the pipeline, and a walking mechanism for driving the dredging mechanism, the pipeline detection mechanism and the pipeline repair mechanism to walk along the pipeline, wherein the dredging mechanism is used for cleaning the silt in the pipeline, the pipeline detection mechanism is used for detecting the damage information of the inner wall of the pipeline after the silt is cleaned, and the pipeline repair mechanism is connected with the pipeline detection mechanism and is repaired based on the damage information of the inner wall of the pipeline fed back by the pipeline detection mechanism. The robot integrates the silt cleaning, the pipeline damage detection and the pipeline repair, avoids the repetitive work in the traditional municipal pipeline, and does not need manual cleaning in the pipeline, thereby liberating the manual work and having the advantages of high work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of pipeline dredging technology, specifically relating to a robot used for dredging municipal pipelines. Background Technology

[0002] Municipal pipelines are one type of municipal infrastructure construction project, including water pipelines, communication pipelines, and other types of pipelines.

[0003] Over long-term use, municipal pipelines accumulate large amounts of silt, affecting their normal operation. Therefore, periodic silt removal is necessary. Current municipal pipeline dredging techniques mostly rely on manual cleaning with brushes, which is time-consuming, labor-intensive, and inefficient. Secondly, due to their long service life, the internal pipe walls inevitably suffer damage, potentially causing sewage leaks and impacting the surrounding environment. Regular pipeline inspection and repair are required, but current repair work is separated from dredging, necessitating repeated airbag pumping, resulting in high repetition and low efficiency. Finally, during dredging and repair, the internal condition of the pipeline cannot be observed, making it difficult to ascertain the extent of silt removal and whether other problems remain. Summary of the Invention

[0004] The purpose of this invention is to provide a robot that integrates sludge cleaning, pipeline damage detection and pipeline repair, which has the advantages of high work efficiency and can monitor the sludge and pipe wall conditions in real time.

[0005] To achieve the above objectives, the present invention provides a robot for municipal pipeline dredging, comprising:

[0006] A dredging mechanism for cleaning silt in the pipeline, comprising a first housing, a rotary dredging unit housed in the first housing for cutting silt in the pipeline, a water jet dredging unit for flushing silt in the pipeline with high-pressure water flow, and a conveying unit for conveying sludge and sewage in the first housing.

[0007] A pipeline inspection mechanism, comprising a second housing spaced apart from the first housing along the extension direction of the pipeline, a plurality of sonar scanners and a plurality of magnetic flux leakage detectors respectively mounted on the outer surface of the housing wall of the second housing, wherein the plurality of sonar scanners and the plurality of magnetic flux leakage detectors are respectively located at both ends of the housing wall of the second housing;

[0008] A pipeline repair mechanism is connected to the pipeline inspection mechanism and repairs the damaged pipeline wall based on the pipeline damage information fed back by the pipeline inspection mechanism. The pipeline repair mechanism includes a third housing that is spaced apart from the second housing and located at the end of the second housing away from the first housing, multiple pipe wall cleaning components and multiple repair components installed on the outer side of the housing wall of the third housing.

[0009] The walking mechanism comprises nine identical walking units. The dredging mechanism, pipeline inspection mechanism, and pipeline repair mechanism are each equipped with three walking units. The first walking unit of the three walking units abuts against the top surface of the pipeline and moves along the top surface of the pipeline. The second and third walking units of the three walking units abut against the two opposite sides of the pipeline and move along the sides of the pipeline.

[0010] In one specific embodiment, the robot further includes a flexible shaft mechanism, which comprises two steel cables, a water supply hose, a centralized sewage pipe, and cables for transmitting power and data. The two ends of the first steel cable are connected to a first housing and a second housing, respectively, and the two ends of the second steel cable are connected to the second housing and a third housing, respectively. The inlet of the water supply hose is connected to a high-pressure water supply device located on the ground, and the outlet of the water supply hose is connected to the water jet cleaning unit and the plurality of pipe wall cleaning components. The inlet of the centralized sewage pipe is connected to the conveying unit, and the outlet of the centralized sewage pipe is connected to a sewage treatment device located on the ground.

[0011] In one specific embodiment, each of the pipe cleaning components includes a first hollow telescopic rod installed on the shell wall of the third housing and a hollow water pipe fixedly connected to the telescopic end of the first hollow telescopic rod, the hollow water pipe being connected to the water supply hose; each of the repair components includes a second hollow telescopic rod installed on the shell wall of the third housing and a hollow rubber tube fixedly connected to the telescopic end of the second hollow telescopic rod, the hollow rubber tube being connected to a rubber box located inside the third housing via an internal pipe.

[0012] In one specific embodiment, the first housing includes a cylindrical main housing and a sludge chamber disposed at the end of the main housing away from the pipeline inspection mechanism. The sludge chamber includes a chamber body connected to the main housing and a bucket disposed at the end of the chamber body away from the main housing. The bucket is used to penetrate the sludge in the pipeline.

[0013] In one specific embodiment, the rotary dredging unit includes a dredging wheel for cutting silt, a central shaft installed at the center of the dredging wheel, and two drive components for driving the dredging wheel to rotate. Each drive component includes a drive pulley, a drive motor for driving the drive belt to rotate, a transmission pulley connected to the drive pulley via a transmission belt, a drive sprocket coaxially arranged with the transmission pulley and located outside the transmission pulley, a transmission sprocket connected to the drive sprocket via a transmission chain, and an eccentric wheel. The transmission sprocket and the eccentric wheel are both installed at the end of the central shaft, and the eccentric wheel is located adjacent to the dredging wheel. The drive motor is fixed to the first housing.

[0014] In one specific embodiment, each of the walking units includes two connecting legs arranged opposite each other, a connecting assembly for hinged connection of the two connecting legs, and a walking assembly fixedly connected to the connecting assembly. The connecting legs are solidly connected to the cylinder and can deform to match pipes of different diameters. The walking assembly abuts against the inner wall of the pipe and can walk along the inner wall of the pipe. The cylinder is any one of the first shell, the second shell, and the third shell.

[0015] In one specific embodiment, each connecting leg includes a rhomboid connecting leg body, a connecting plate with one end connected to the connecting leg body and the other end fixedly connected to the cylinder, and shock-absorbing components with their two ends located at opposite vertices of the connecting leg body. The walking component and the connecting plate are respectively located at opposite vertices of the connecting leg body. One end of the shock-absorbing component is fixedly connected to the connecting plate, and the other end of the shock-absorbing component is fixedly connected to the connecting component.

[0016] In one specific embodiment, the connecting leg body includes a first groove plate and a second groove plate arranged in parallel with each other, and a third groove plate and a fourth groove plate arranged in parallel with each other. The first groove plate, the third groove plate, the second groove plate, and the fourth groove plate are connected end to end to form a rhombus shape. The connecting assembly includes a first connecting pin installed at a first vertex of the connecting leg body and hinged to the first groove plate, the third groove plate, and the connecting plate; a second connecting pin installed at a second vertex of the connecting leg body and hinged to the second groove plate and the third groove plate; a third connecting pin installed at a third vertex of the connecting leg body and hinged to the second groove plate and the fourth groove plate; a fourth connecting pin installed at a fourth vertex of the connecting leg body and hinged to the fourth groove plate and the first groove plate; and four pin caps that are used in conjunction with the first connecting pin, the second connecting pin, the third connecting pin, and the fourth connecting pin respectively. The rhombus-shaped connecting leg body can rotate to a certain extent within its plane to achieve a bending and stretching function.

[0017] In one specific embodiment, each of the shock-absorbing components includes a sleeve fixedly connected to the connecting plate, a telescopic rod extending into the sleeve and having its other end fixedly connected to the third connecting pin, and a spring sleeved on the gas pressure rod and having its two ends abutting against the gas pressure rod cylinder and the sleeve, respectively.

[0018] In one specific embodiment, the walking assembly includes two rubber tires facing each other, a tire spindle passing through the center holes of the two rubber tires, two synchronous motors respectively mounted at both ends of the tire spindle and connected to the tire spindle at their output ends, and a wheel leg support plate with one end fixedly connected to the tire spindle and the other end fixedly connected to the third connecting pin.

[0019] The beneficial effects of the present invention include at least the following:

[0020] I. This invention provides a robot for dredging municipal pipelines. The robot includes a dredging mechanism, a pipeline inspection mechanism, and a pipeline repair mechanism spaced apart along the extension direction of the pipeline, as well as a walking mechanism for moving the dredging mechanism, the pipeline inspection mechanism, and the pipeline repair mechanism along the pipeline. The dredging mechanism is used to clean the silt inside the pipeline, the pipeline inspection mechanism is used to detect damage information on the inner wall of the pipeline after silt removal, and the pipeline repair mechanism is connected to the pipeline inspection mechanism and repairs the pipeline based on the damage information on the inner wall of the pipeline fed back by the pipeline inspection mechanism. Thus, this robot integrates silt removal, pipeline damage detection, and pipeline repair, avoiding repetitive work in traditional municipal pipelines and eliminating the need for manual cleaning inside the pipeline, thus freeing up manpower and offering high work efficiency.

[0021] Second, the dredging mechanism provided by this invention utilizes the sharp part of the bucket to penetrate deep into the solidified silt, and then combines high-pressure water flushing and eccentric wheel rotary excavation device to cut the silt in the pipe, resulting in good dredging effect.

[0022] III. The walking unit provided by the present invention includes two connecting legs arranged opposite each other, a connecting assembly for hinged connection of the two connecting legs, and a walking assembly fixedly connected to the connecting assembly. The connecting leg includes a rhomboid connecting leg body, a connecting plate with one end connected to the connecting leg body and the other end fixedly connected to the cylinder, and a shock-absorbing assembly with its two ends located at opposite vertices of the connecting leg body. The rhomboid connecting leg body can rotate to a certain extent in its plane to achieve flexion and extension functions. In this way, the walking unit can adapt to different pipe diameters. The compression of the spring in the shock-absorbing assembly can make the rubber tire in the walking assembly press tightly against the inner wall of the pipe, providing sufficient friction. At the same time, the damping effect of the air rod and spring in the shock-absorbing assembly can counteract the vibration effect brought by the rotary dredging unit, maintaining the stability of the robot's operation.

[0023] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of a robot for dredging municipal pipelines according to an embodiment of the present invention;

[0025] Figure 2 A three-dimensional structural diagram of a robot's dredging mechanism that conceals part of the first housing, provided in an embodiment of the present invention;

[0026] Figure 3 for Figure 1 A cross-sectional view of the first housing portion of the robot shown.

[0027] Figure 4 for Figure 1 The diagram shows the structural schematic of the rotary dredging unit in the robot.

[0028] Figure 5 for Figure 1 The diagram shows the structure of the walking unit in the robot.

[0029] Figure 6 for Figure 1 The diagram shows the structure of the flexible shaft mechanism in the robot.

[0030] Explanation of reference numerals in the attached figures:

[0031]

[0032] Detailed Implementation

[0033] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be limited to and covered by various different embodiments according to the claims.

[0034] Please see Figures 1 to 5 This invention provides a robot 100 for dredging municipal pipelines. It is used to clean silt from municipal pipelines and also has the functions of detecting pipeline damage and repairing damaged parts. That is, it integrates dredging, damage detection and pipe wall repair into one, and has the advantage of high dredging efficiency.

[0035] The robot 100 includes three functional modules spaced apart along the extension direction of the pipeline, a walking mechanism 40 for driving the three functional modules forward, and a flexible shaft mechanism 50 for connecting the three functional modules and transporting materials. The three functional modules are a dredging mechanism 10, a pipeline inspection mechanism 20, and a pipeline repair mechanism 30. The dredging mechanism 10 is located at the front end of the robot, the pipeline repair mechanism 30 is located at the rear end of the robot, and the pipeline inspection mechanism 20 is located between the dredging mechanism 10 and the pipeline repair mechanism 30.

[0036] The dredging mechanism 10 is used to clean the silt in the pipeline. It includes a first housing 11, a rotary dredging unit 12 and a water jet dredging unit 13 housed in the first housing 11, and a conveying unit 14 for conveying silt and sewage to the flexible shaft mechanism 50.

[0037] The first housing 11 includes a main housing 111 and a sludge chamber 112 disposed at the end of the main housing 111 away from the pipeline inspection mechanism 20.

[0038] The main shell 111 is cylindrical, and the sludge chamber 112 is cylindrical with a notch at the top. The central axis of the main shell 111 and the central axis of the sludge chamber 112 are not on the same straight line, and the included angle between them is between 150 degrees and 170 degrees. In this embodiment, please refer to the relevant documentation. Figure 1 The sludge chamber 112 can be understood as being formed by the main shell 111 extending slightly to the right.

[0039] The main housing 111 includes a hollow, cylindrical housing portion 1111, a bottom plate 1112 disposed at one end of the housing portion 1111 near the pipe detection mechanism 20, a first sealing rubber ring sandwiched between the housing portion 1111 and the bottom plate 1112, a top plate 1114 disposed at one end of the housing portion 1111 away from the pipe detection mechanism 20, and a second sealing rubber ring sandwiched between the housing portion 1111 and the top plate 1114. The bottom plate 1112 and the top plate 1114 are both circular plates used to seal the openings at both ends of the housing portion 1111. The addition of the first and second sealing rubber rings is used to prevent water seepage from affecting the robot's operation.

[0040] In this embodiment, the top plate 1114 is provided with multiple slots for convenient installation of the rotary dredging unit 12 and the water jet dredging unit 13.

[0041] The sludge bin 112 includes a bin body 1121 connected to the main shell 111, a bucket 1122 disposed at one end of the bin body 1121 away from the main shell 111, and a cover plate 1123 covering the upper end of the bin body 1121. The rotary dredging unit 12 is housed within the bin body 1121 and the main shell 111. The bucket 1122 is used to penetrate solidified sludge and provide support. The cover plate 1123 is used to protect the parts below it.

[0042] The rotary dredging unit 12 is used to cut silt.

[0043] Please refer to this carefully. Figure 3 and Figure 4 The rotary dredging unit 12 includes a dredging wheel 121 for cutting silt, a central shaft installed at the center of the dredging wheel 121, and two drive components 123 for driving the dredging wheel 121 to rotate. Each drive component 123 includes a drive pulley 1231, a drive motor 1232 for driving the drive pulley 1231 to rotate, a transmission pulley 1234 connected to the drive pulley 1231 via a transmission belt 1233, a drive sprocket 1235 coaxially arranged with the transmission pulley 1234 and located outside the transmission pulley 1234, a transmission sprocket 1237 connected to the drive sprocket 1235 via a transmission chain 1236, and an eccentric wheel 1238. The transmission sprocket 1237 and the eccentric wheel 1238 are both installed at the end of the central shaft, and the eccentric wheel 1238 is located near the dredging wheel 121.

[0044] In this embodiment, the drive motor 1232 is fixed to the main housing 111.

[0045] In this embodiment, the diameter of the drive pulley 1231 is larger than the diameter of the transmission pulley 1234.

[0046] The transmission sprockets 1237 and the eccentric wheel 1238 of the two drive components are respectively installed at both ends of the central shaft. Under the drive of the drive motor 1232, the drive pulley 1231 drives the transmission pulley 1234 to rotate through the transmission belt 1233. Since the diameter of the drive pulley 1231 is larger than that of the transmission pulley 1234, the rotational speed decreases and the torque increases. The transmission pulley 1234 is coaxial with the drive sprocket 1235, and further transmits power to the eccentric wheel 1238 through the transmission chain 1236 and the transmission sprocket 1237. Under the action of the eccentric wheel 1238, the dredging wheel 121 generates eccentric rotation and then evolves into a cutting and digging action, which is very beneficial to the dredging work and greatly speeds up the dredging speed.

[0047] Preferably, the rotary dredging unit 12 further includes two opposing transmission plates 124 with accommodating space. One end of the transmission plate 124 near the dredging wheel 121 is sleeved on the central shaft, and the other end of the transmission plate 124 away from the dredging wheel 121 is coaxially arranged with the transmission pulley 1234 and the drive sprocket 1235.

[0048] More preferably, the drive sprocket 1235, the transmission chain 1236 and the transmission sprocket 1237 are located on the same side and are all housed in the receiving space of the transmission plate 124, while the transmission pulley 1234 and the eccentric wheel 1238 are located on the other side of the transmission plate 124.

[0049] More preferably, the transmission plate 124 can move up and down in the slot of the top plate 1114 with the drive sprocket 1235 as the center, so as to drive the dredging wheel 121 to move up and down and expand the dredging area.

[0050] Preferably, the dredging mechanism 10 further includes a plurality of flushing nozzles 15 arranged along the circumferential direction of the bucket 1122. The flushing nozzles 15 are connected to the water supply hose of the flexible shaft mechanism 50 and are used to clean the sludge attached to the dredging impeller 121.

[0051] The silt obtained by the dredging impeller 121 is cut and excavated and enters the bin 1121 through the gap between the dredging impeller 121 and the bucket 1122, and is transported to the flexible shaft mechanism 50 through the conveying unit 14 connected to the bin 1121.

[0052] The water jet sludge removal unit 13 includes a first water pipe 131 connected to the water supply hose of the flexible shaft mechanism 50, and a second water pipe 132 extending perpendicularly from the first water pipe 132. The second water pipe 132 extends from the upper end of the top plate 1114, and the outlet of the second water pipe 132 faces the sludge in front. The water jet sludge removal structure 13 is used to cut and scour the sludge in front of it with high-pressure water flow.

[0053] The conveying unit 14 includes a suction pipe 141 connected to the silo body 1121, an impeller pump 142 with its inlet end connected to the suction pipe 141, and a sludge discharge pipe 143 connected to the output end of the impeller pump 142. The sludge discharge pipe 143 is connected to the flexible shaft mechanism 50. Under the action of the impeller pump, the sludge generated by the rotary dredging wheel 121 is conveyed through the suction pipe 141 to the sludge discharge pipe 143, and then discharged through the centralized sewage discharge pipe in the flexible shaft mechanism 50.

[0054] In this embodiment, the suction pipe 141 has a conical structure, and the large opening of the suction pipe 141 is connected to the chamber 1121.

[0055] The pipeline inspection mechanism 20 is used to detect damage information on the inner wall of the pipeline.

[0056] The pipeline inspection mechanism 20 includes a cylindrical second housing 21, a plurality of sonar scanners 22 and a plurality of magnetic flux leakage detectors 23 mounted on the outer surface of the housing wall of the second housing 21, wherein the plurality of sonar scanners 22 and the plurality of magnetic flux leakage detectors 23 are respectively located at both ends of the housing wall of the second housing 21.

[0057] In this embodiment, both ends of the second housing 21 are sealed with sealing rings to prevent water from penetrating into the second housing 21.

[0058] Preferably, multiple sonar scanners 22 and multiple magnetic flux leakage detectors 23 are connected to the pipeline repair mechanism 30. The pipeline repair mechanism 30 repairs the pipeline based on the pipeline damage information obtained by the sonar scanners 22 and the magnetic flux leakage detectors 23. Specifically, the sonar scanner 22 converts the returned acoustic pulses into electrical signals, which are then transmitted to the ground and the pipeline repair mechanism 30 via internal cables. Based on the received electrical signals, a detection map that can be used to determine the depth and hardness of the pipe wall is obtained, thereby determining the pipeline damage information. The magnetic flux leakage detector 23 carries a permanent magnet that generates magnetic lines of force. When there are no defects in the pipe wall, the magnetic lines of force are evenly distributed inside the pipe and penetrate the pipe wall to generate magnetic flux leakage. The pipeline damage information is determined based on the magnetic flux leakage phenomenon.

[0059] The magnetic flux leakage detector 23 is suitable for municipal pipelines constructed of ferromagnetic materials and has higher accuracy.

[0060] In this embodiment, a plurality of sonar scanners 22 are disposed at one end of the second housing 21 near the first housing 11. The number of sonar scanners 22 is three, and they are evenly distributed along the circumferential direction of the second housing 21.

[0061] In this embodiment, a plurality of magnetic flux leakage detectors 23 are disposed at one end of the second housing 21 away from the first housing 11. The number of magnetic flux leakage detectors 23 is three, and they are evenly distributed along the circumferential direction of the second housing 21.

[0062] Preferably, the pipeline inspection mechanism 20 further includes a pumping unit 24 for drawing sewage from the pipeline into a centralized sewage pipe within the flexible shaft mechanism 50, thereby facilitating the sonar scanner 22 to accurately acquire image data.

[0063] In this embodiment, the drainage unit 24 includes a pumping pipe, a pumping pump whose inlet end is connected to the pumping pipe, and a drainage pipe connected to the outlet end of the pumping pump. The drainage pipe is connected to the centralized sewage pipe in the flexible shaft mechanism 50.

[0064] In this embodiment, a horn-shaped pipe head is also installed at the front end of the drainage pipe.

[0065] The pipeline repair mechanism 30 includes a cylindrical third housing 31, a plurality of pipe wall cleaning components 32 and a plurality of repair components 33 installed on the outer side of the housing wall of the third housing 31. The plurality of pipe wall cleaning components 32 are located at one end of the third housing 31 near the second housing and are evenly distributed along the circumferential direction of the third housing 31. The plurality of repair components 33 are located at one end of the third housing 31 away from the second housing 21 and are evenly distributed along the circumferential direction of the third housing 31. The pipe wall cleaning components 32 are used to flush the pipe wall with high-pressure water, and the repair components 33 repair the damaged pipe wall based on the damage information fed back by the pipeline detection mechanism 20.

[0066] In this embodiment, both ends of the third housing 31 are sealed with sealing rings to prevent water from penetrating into the second housing 31.

[0067] In this embodiment, there are six pipe wall cleaning components 32 and six repair components 33.

[0068] In this embodiment, each pipe cleaning assembly 32 includes a first hollow telescopic rod 321 installed on the shell wall of the third housing 31, and a hollow water pipe 322 fixedly connected to the telescopic end of the first hollow telescopic rod 321. The hollow water pipe 322 is connected to the water supply hose of the flexible shaft mechanism 50 through an internal pipe. In this way, the distance between the hollow water pipe 322 and the pipe wall can be changed by the first hollow telescopic rod 321, which is convenient for adapting to pipes of different diameters.

[0069] In this embodiment, each repair component 33 includes a second hollow telescopic rod 331 installed on the shell wall of the third shell 31, and a hollow rubber tube 332 fixedly connected to the telescopic end of the second hollow telescopic rod 331. The hollow rubber tube 332 communicates with a rubber box located inside the third shell 31 through an internal pipe. In this way, the distance between the hollow rubber tube 332 and the pipe wall can be changed by the second hollow telescopic rod 331, which is convenient for adapting to pipes of different diameters.

[0070] In this embodiment, before construction, the distance between the hollow water pipe and the hollow rubber hose and the pipe wall needs to be adjusted according to the inner diameter of the pipe. Preferably, the minimum distance between the hollow water pipe and the pipe wall and the minimum distance between the hollow rubber hose and the pipe wall are 1 to 2 cm.

[0071] In this embodiment, the adhesive in the adhesive box is a UV-curable adhesive. Furthermore, the pipe repair mechanism 30 also includes an ultraviolet light strip 34 attached to the end of the third housing 31 away from the second housing 21. Specifically, the ultraviolet light strip 34 is attached to the sealing ring of the third housing 31.

[0072] Please refer to this carefully. Figure 5 The walking mechanism 40 is used to drive the dredging mechanism 10, the pipeline inspection mechanism 20 and the pipeline repair mechanism 30 forward.

[0073] The walking mechanism 40 includes nine identical walking units 40A. The dredging mechanism 10, the pipeline inspection mechanism 20, and the pipeline repair mechanism 30 are each configured with three walking units. The first walking unit of the three walking units abuts against the top surface of the pipeline and walks along the top surface of the pipeline. The second and third walking units of the three walking units abut against the two opposite sides of the pipeline and walk along the sides of the pipeline. In this embodiment, the three walking units are evenly distributed.

[0074] Specifically, the three walking units corresponding to the dredging mechanism 10 are installed in the middle of the main housing and are evenly distributed along the circumferential direction of the main housing. The three walking units corresponding to the pipeline inspection mechanism 20 are installed in the middle of the second housing and are evenly distributed along the circumferential direction of the second housing. The three walking units corresponding to the pipeline repair mechanism 30 are installed in the middle of the third housing and are evenly distributed along the circumferential direction of the third housing.

[0075] Since three walking units 40A are installed in the main housing, three walking units 40A are installed in the second housing, and three walking units are installed in the third housing, for the convenience of describing the walking units below, the main housing, the second housing, and the third housing will be collectively referred to as the cylinder.

[0076] Each of the walking units 40A includes two connecting legs 41 arranged opposite each other, a connecting component 42 for hinged connection of the two connecting legs 41, and a walking component 43 fixedly connected to the connecting component 42.

[0077] In this embodiment, the connecting leg 41 is solidly connected to the cylinder, the walking component 43 abuts against the inner wall of the pipe, and the connecting leg is deformable and has a bending and stretching function, thereby enabling the robot to work in pipes with different diameters.

[0078] Each connecting leg 41 includes a rhomboid connecting leg body 411, a connecting plate 412 with one end connected to the connecting leg body 411 and the other end fixedly connected to the cylinder, and a shock-absorbing component 413 with its two ends located at opposite vertices of the connecting leg body 412. The walking component 43 and the connecting plate 412 are respectively located at opposite vertices of the connecting leg body 411. One end of the shock-absorbing component 413 is fixedly connected to the connecting plate 412, and the other end of the shock-absorbing component 413 is fixedly connected to the connecting component 42.

[0079] In this embodiment, the connecting leg main body 411 includes a first groove plate 4111 and a second groove plate 4112 arranged in parallel with each other, and a third groove plate 4113 and a fourth groove plate 4114 arranged in parallel with each other. The first groove plate 4111, the third groove plate 4113, the second groove plate 4112 and the fourth groove plate 4114 are connected end to end to form a rhombus shape. The rhombus-shaped connecting leg main body can rotate to a certain extent in its plane to realize the bending and stretching function.

[0080] It is understood that there are two connecting legs 41, and correspondingly, there are two connecting leg main bodies 411, two connecting plates 412, and two shock-absorbing components 413. The number of the first groove plate 4111, the third groove plate 4113, the second groove plate 4112, and the fourth groove plate 4114 that make up the connecting leg main body 411 are also two.

[0081] The connecting assembly 42 includes a first connecting pin 421 installed at a first apex of the connecting leg body 411, a second connecting pin 422 installed at a second apex of the connecting leg body 411, a third connecting pin 423 installed at a third apex of the connecting leg body 411, a fourth connecting pin 424 installed at a fourth apex of the connecting leg body 411, and four pin caps that are used in conjunction with the first connecting pin 421, the second connecting pin 422, the third connecting pin 423, and the fourth connecting pin 424.

[0082] Mounting holes are provided at both ends of the first groove plate 4111, the third groove plate 4113, the second groove plate 4112, and the fourth groove plate 4114. A fixing hole is provided at the end of the connecting plate 412 away from the cylinder. The first connecting pin 421 passes sequentially through one fixing hole of the connecting plate 412, one mounting hole of the third groove plate 4113, two mounting holes of the first groove plate 4111, another mounting hole of the third groove plate 4113, and the fixing plate of the other connecting plate 412 before being locked by the pin cap. The second connecting pin 422 passes sequentially through one mounting hole of the second groove plate 4112, two mounting holes of the first groove plate 4111, two mounting holes of the third groove plate 4113, and the fixing plate of the other connecting plate 412. The third connecting pin 423 passes through the mounting holes of the third slot plate 4113 and the second slot plate 4112 in sequence and is then locked by the pin cap; the third connecting pin 423 passes through the mounting holes of the second slot plate 4112, the two mounting holes of the fourth slot plate 4114, and the other mounting hole of the second slot plate 4112 in sequence and is then locked by the pin cap, and the walking assembly 43 is fixedly connected to the third connecting pin 423; the fourth connecting pin 424 passes through the mounting holes of the fourth slot plate 4114, the two mounting holes of the first slot plate 4111, and the other mounting hole of the fourth slot plate 4114 in sequence and is then locked by the pin cap.

[0083] The first groove plate 4111, the third groove plate 4113, the second groove plate 4112 and the fourth groove plate 4114 are hinged by four connecting pins, so that the distance between the relative vertices of the connecting leg body 411 can be changed to accommodate pipes of different diameters.

[0084] In this embodiment, the maximum variable angle of the connecting leg body 411 is 120 degrees.

[0085] Preferably, the maximum deformation value of the diagonal length between the first vertex and the third vertex of the connecting leg body 411 is 200mm.

[0086] To facilitate understanding of the maximum deformation value, an example is given: when the main body of the connecting leg is in the first state, the diagonal length between the first vertex and the third vertex of the main body of the connecting leg is X mm; when the main body of the connecting leg is in the second state, the diagonal length between the first vertex and the third vertex of the main body of the connecting leg is Y mm. When both the first state and the second state are extreme states, the difference between X and Y is the maximum deformation value.

[0087] That is, the difference between the maximum and minimum distances between the first and third vertices of the connecting leg body is 200mm.

[0088] Each shock absorber assembly 413 includes a sleeve 4131 fixedly connected to the connecting plate 412, a telescopic rod 4131 extending into the sleeve 4131 and a pneumatic rod 4132 fixedly connected at one end to the third connecting pin 423, and a spring 4133 sleeved on the pneumatic rod 4132 and having its two ends abutting against the pneumatic rod cylinder of the pneumatic rod 4132 and the sleeve 4131, respectively.

[0089] When the robot works inside the pipeline, the spring 4133 and the pneumatic rod 4132 are compressed. Under their compression, the walking component 43 adheres to the inner wall of the pipeline. Moreover, the shock-absorbing component has good damping characteristics. Utilizing the dual damping effect of the spring and pneumatic rod, it counteracts the vibration effect caused by the eccentric rotation of the head rotary dredging unit. Furthermore, most of the impact force generated when the pipeline robot starts, stops, and moves is mitigated and filtered out by this shock-absorbing structure. The shock-absorbing component can automatically change the compression of the spring and the extension of the pneumatic rod, causing the connecting leg body to flex and extend, maintaining continuous good contact between the walking component and the inner wall of the pipeline. This greatly reduces the overall vibration of the robot caused by changes in the external environment, making the robot's walking posture stable and ensuring that the robot can work safely, stably, and efficiently.

[0090] The walking assembly 43 includes two rubber tires 431 facing each other, a tire spindle 432 passing through the center holes of the two rubber tires 431, two synchronous motors 433 respectively installed at both ends of the tire spindle 432 and connected to the tire spindle 432 at their output ends, and a wheel leg support plate 434 with one end fixedly connected to the tire spindle 432 and the other end fixedly connected to the third connecting pin 423.

[0091] The synchronous motor 433 is the power component for the walking assembly 43. The two synchronous motors can ensure that the rubber tires rotate at the same speed when walking. Synchronous start and stop can maintain the stability of the robot's operation and prevent jerking from causing structural damage to the connecting legs.

[0092] In this embodiment, the outer surface of the rubber tire 431 is engraved with patterns, which can increase friction and protect the robot from moving normally inside the wet and slippery pipe wall.

[0093] Please refer to the following: Figure 6 The flexible shaft mechanism 50 includes two steel cables 51, a water supply hose 52, a centralized sewage pipe 53, and a cable 54 for transmitting power and data. The first steel cable 51 is connected to the first housing 11 and the second housing 21 at both ends, and the second steel cable 51 is connected to the second housing 21 and the third housing 31 at both ends. The water inlet of the water supply hose 52 is connected to a high-pressure water supply device located on the ground. The first outlet of the water supply hose 52 is connected to the first water pipe 131 of the water jet sludge removal unit 13. The second outlet of the water supply hose 52 is connected to the flushing nozzle 15. The third outlet of the water supply hose is connected to the hollow water pipe 322 of the pipe wall cleaning assembly. The first inlet of the centralized sewage pipe 53 is connected to the sludge discharge pipe 143 of the conveying unit 14. The second inlet of the centralized sewage pipe 53 is connected to the drainage pipe of the drainage unit 24. The outlet of the centralized sewage pipe 53 is connected to a sewage treatment device located on the ground.

[0094] In this embodiment, the water supply hose 52, the centralized sewage pipe 53, and the cable 54 are all pipes that pass through the main housing, the second housing, and the third housing.

[0095] Preferably, both sections of steel cable 51 are flexible tension steel cables, which can meet the turning requirements of the robot during operation.

[0096] Preferably, the flexible shaft mechanism 50 further includes a rubber housing 55, in which the steel cable 51, the water supply hose 52, the centralized sewage pipe 53, and the cable 54 are all housed.

[0097] Preferably, the robot 100 further includes an information collection mechanism 60, which includes a fixed plate 61 fixedly connected to the top plate 1114, two opposing support rods 62 with their first ends hinged to the fixed plate 61, a mounting rod 63 sandwiched between and hinged to the second ends of the two support rods 62, and cameras 64 and lighting lamps 65 respectively mounted on both ends of the mounting rod 63. When illuminated by the lighting lamp 65, the cameras 64 can clearly capture images of the inside of the pipe, allowing ground personnel to intuitively understand the dredging effect.

[0098] In this embodiment, the support rod 62 is hinged to the fixing plate 61, and the mounting rod 63 is hinged to the support rod 62. In this way, the lighting range of the lighting lamp 65 and the shooting range of the camera 64 can be adjusted by rotating the mounting rod 63.

[0099] Preferably, the robot 100 further includes a positioning chip, which is installed in the first housing and / or the second housing and / or the third housing, so that ground personnel can know the robot's working position.

[0100] In this embodiment, the robot 100 is connected to a display device located on the ground. The display device can receive, store, and display the pipeline inspection data and pipeline image data output by the pipeline inspection mechanism 20 and the information acquisition mechanism 60. At the same time, the operator can also issue control commands to the robot 100 through the display device. The commands include turning various functions on and off.

[0101] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions and substitutions can be made without departing from the inventive concept, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A robot for dredging municipal pipelines, characterized in that, include: A dredging mechanism for cleaning silt from the pipeline includes a first housing, a rotary dredging unit housed within the first housing for cutting silt from the pipeline, a water jet dredging unit for flushing the silt from the pipeline with high-pressure water, and a conveying unit for transporting sludge and wastewater from the first housing. The rotary dredging unit includes a dredging wheel for cutting silt, a central shaft installed at the center of the dredging wheel, and two drive components for driving the dredging wheel to rotate. Each drive component includes a drive pulley, a drive motor for driving the drive pulley to rotate, a transmission pulley connected to the drive pulley via a transmission belt, a drive sprocket coaxially arranged with the transmission pulley and located outside the transmission pulley, a transmission sprocket connected to the drive sprocket via a transmission chain, and an eccentric wheel. The transmission sprocket and the eccentric wheel are both installed at the end of the central shaft, and the eccentric wheel is located near the dredging wheel. The drive motor is fixed to the first housing. The rotary dredging unit also includes two opposing transmission plates with accommodating space. The end of the transmission plate near the dredging wheel is sleeved on the central shaft, and the end of the transmission plate away from the dredging wheel is coaxially arranged with the transmission pulley and the drive sprocket. The transmission plate moves up and down around the main shaft of the drive sprocket to drive the dredging wheel to move up and down. A pipeline inspection mechanism, comprising a second housing spaced apart from the first housing along the extension direction of the pipeline, a plurality of sonar scanners and a plurality of magnetic flux leakage detectors respectively mounted on the outer surface of the housing wall of the second housing, wherein the plurality of sonar scanners and the plurality of magnetic flux leakage detectors are respectively located at both ends of the housing wall of the second housing; A pipeline repair mechanism is connected to the pipeline inspection mechanism and repairs the damaged pipeline wall based on the pipeline damage information fed back by the pipeline inspection mechanism. The pipeline repair mechanism includes a third housing that is spaced apart from the second housing and located at the end of the second housing away from the first housing, multiple pipe wall cleaning components and multiple repair components installed on the outer side of the housing wall of the third housing. The walking mechanism comprises nine identical walking units. The dredging mechanism, pipeline inspection mechanism, and pipeline repair mechanism are each equipped with three walking units. The first walking unit of the three walking units abuts against the top surface of the pipeline and moves along the top surface of the pipeline. The second and third walking units of the three walking units abut against the two opposite sides of the pipeline and move along the sides of the pipeline.

2. The robot for municipal pipeline dredging according to claim 1, characterized in that, The robot also includes a flexible shaft mechanism, which comprises two steel cables, a water supply hose, a centralized sewage pipe, and cables for transmitting power and data. The first steel cable has its two ends connected to a first housing and a second housing, respectively, and the second steel cable has its two ends connected to a second housing and a third housing, respectively. The inlet of the water supply hose is connected to a high-pressure water supply device located on the ground, and the outlet of the water supply hose is connected to the water jet cleaning unit and the multiple pipe wall cleaning components. The inlet of the centralized sewage pipe is connected to the conveying unit, and the outlet of the centralized sewage pipe is connected to a sewage treatment device located on the ground.

3. The robot for municipal pipeline dredging according to claim 2, characterized in that, Each of the pipe wall cleaning components includes a first hollow telescopic rod installed on the shell wall of the third housing and a hollow water pipe fixedly connected to the telescopic end of the first hollow telescopic rod, the hollow water pipe being connected to the water supply hose; each of the repair components includes a second hollow telescopic rod installed on the shell wall of the third housing and a hollow rubber tube fixedly connected to the telescopic end of the second hollow telescopic rod, the hollow rubber tube being connected to a rubber box located inside the third housing via an internal pipe.

4. The robot for municipal pipeline dredging according to any one of claims 1 to 3, characterized in that, The first housing includes a cylindrical main housing and a sludge chamber disposed at the end of the main housing away from the pipeline inspection mechanism. The sludge chamber includes a chamber body connected to the main housing and a bucket disposed at the end of the chamber body away from the main housing. The bucket is used to penetrate the sludge in the pipeline.

5. The robot for municipal pipeline dredging according to any one of claims 1 to 3, characterized in that, Each of the walking units includes two connecting legs arranged opposite each other, a connecting assembly for hinged connection of the two connecting legs, and a walking assembly fixedly connected to the connecting assembly. The connecting legs are fixedly connected to the cylinder and can deform to match pipes of different diameters. The walking assembly abuts against the inner wall of the pipe and can walk along the inner wall of the pipe. The cylinder is any one of the first shell, the second shell, and the third shell.

6. The robot for municipal pipeline dredging according to claim 5, characterized in that, Each connecting leg includes a rhomboid connecting leg body, a connecting plate with one end connected to the connecting leg body and the other end fixedly connected to the cylinder, and shock-absorbing components with their two ends located at opposite vertices of the connecting leg body. The walking component and the connecting plate are respectively located at opposite vertices of the connecting leg body. One end of the shock-absorbing component is fixedly connected to the connecting plate, and the other end of the shock-absorbing component is fixedly connected to the connecting component.

7. The robot for municipal pipeline dredging according to claim 6, characterized in that, The connecting leg body includes a first groove plate and a second groove plate arranged in parallel, and a third groove plate and a fourth groove plate arranged in parallel. The first groove plate, the third groove plate, the second groove plate, and the fourth groove plate are connected end to end to form a rhombus shape. The connecting assembly includes a first connecting pin installed at the first vertex of the connecting leg body and hinged to the first groove plate, the third groove plate, and the connecting plate; a second connecting pin installed at the second vertex of the connecting leg body and hinged to the second groove plate and the third groove plate; a third connecting pin installed at the third vertex of the connecting leg body and hinged to the second groove plate and the fourth groove plate; a fourth connecting pin installed at the fourth vertex of the connecting leg body and hinged to the fourth groove plate and the first groove plate; and four pin caps that are used in conjunction with the first connecting pin, the second connecting pin, the third connecting pin, and the fourth connecting pin respectively. The rhombus-shaped connecting leg body can rotate to a certain extent within its plane to achieve a bending and extending function.

8. The robot for municipal pipeline dredging according to claim 7, characterized in that, Each shock absorber assembly includes a sleeve fixedly connected to the connecting plate, a telescopic rod extending into the sleeve and having its other end fixedly connected to the third connecting pin, and a spring sleeved on the gas rod and having its two ends abutting against the gas rod cylinder and the sleeve, respectively.

9. The robot for municipal pipeline dredging according to claim 7, characterized in that, The walking assembly includes two rubber tires facing each other, a tire spindle passing through the center holes of the two rubber tires, two synchronous motors respectively mounted at both ends of the tire spindle and connected to the tire spindle at their output ends, and a wheel leg support plate with one end fixedly connected to the tire spindle and the other end fixedly connected to the third connecting pin.

Images