A pipeline dredging robot

Abstract

The application discloses a pipeline dredging robot, which comprises a main power part and a cabin body located on the top of the main power part, wherein the cabin body is provided with a dredging part and a secondary power part at two ends respectively; the dredging part comprises a first rotating structure arranged at the end of the cabin body and a ball head rotatably arranged on the first rotating structure, and a ball is arranged between the first rotating structure and the ball head. According to the application, the dredging part with a guide structure is arranged, so that the robot can be quickly aligned and moved into the pipeline during the moving-in process, thereby continuously completing the dredging work of multiple pipelines, reducing the opening and closing frequency of the inspection well, improving the dredging efficiency, avoiding the exposure of personnel to the dangerous environment and improving the work safety. Furthermore, the main power part and the secondary power part can be lifted and the angle thereof can be adjusted, so that the robot can enter the pipeline with different heights and different angles to carry out the dredging work, and the application range is wider.

Description

Technical Field

[0001] This invention relates to the field of pipeline dredging technology, and in particular to a pipeline dredging robot. Background Technology

[0002] One of the major causes of urban flooding is the blockage of drainage pipes, which significantly reduces their drainage capacity. Without pipe dredging and unblocking, sewage overflows and environmental pollution occur. Pipe dredging has become an essential task for drainage departments. Traditional dredging methods involve manual dredging, but this is mainly used for large-diameter pipes. For small-diameter pipes, the limited working space makes dredging difficult due to the inability of personnel to enter.

[0003] To address the aforementioned issues, a robot for pipeline dredging has emerged in the existing technology. While this robot can enter narrow pipes for dredging, it requires manual assistance for positioning when entering the pipe opening. This means that after the robot travels a certain distance, a manhole needs to be opened to guide it into another section of the pipe, making the dredging work unsustainable and affecting dredging efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings mentioned above by providing a pipeline dredging robot that can perform continuous dredging and improve dredging efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a pipeline dredging robot, comprising: a main power unit and a cabin located at the top of the main power unit, wherein a dredging unit and a secondary power unit are respectively provided at both ends of the cabin; the dredging unit includes a first rotating structure provided at the end of the cabin and a ball head rotatably provided on the first rotating structure, wherein a ball is provided between the first rotating structure and the ball head, and a funnel-shaped dredging head is threaded on the ball head, wherein a spiral guide plate, a guide head and a scraper are respectively provided on the side of the funnel-shaped dredging head away from the ball head;

[0006] The auxiliary power unit includes a second rotating structure disposed at the end of the cabin and a turntable fixedly disposed on the second rotating structure. A first electric push rod is disposed on the side of the turntable away from the second rotating structure, and a track transmission mechanism is disposed at the telescopic end of the first electric push rod.

[0007] It also includes a sludge discharge pipe that runs sequentially through the sludge removal section, the cabin, and the auxiliary power section.

[0008] Furthermore, the main propulsion unit includes a Mecanum wheel carriage and a second electric push rod connecting the Mecanum wheel carriage to the cabin.

[0009] Furthermore, both the first rotating structure and the second rotating structure include the following structures:

[0010] A first motor is fixedly installed inside the cabin, and a driven gear ring is rotatably mounted on the cabin. The output end of the first motor is fixedly connected to a driving gear that meshes with the driven gear ring. The end of the driven gear ring away from the driving gear is located outside the cabin.

[0011] Furthermore, the ball head is rotatably disposed within the driven gear ring, and both the ball head and the driven gear ring have grooves for the movement of the ball. The grooves are hemispherical grooves, and two adjacent grooves can be combined to form a spherical groove. The radius of the spherical groove is not greater than the diameter of the ball. The turntable is fixedly disposed at the end of the driven gear ring away from the driving gear.

[0012] Furthermore, the sludge discharge pipe includes a pump connection section, an intermediate section, and a sludge inlet section connected in sequence. The pump connection section and the intermediate section are both hollow flexible tubes. The end of the pump connection section away from the intermediate section is connected to the sludge pump. The intermediate section is located inside the chamber, and both ends of the intermediate section extend outside the chamber. The sludge inlet section is located inside the funnel-shaped sludge removal head. An L-shaped sludge inlet groove is provided in the sludge inlet section. One end of the L-shaped sludge inlet groove is connected to the intermediate section, and the other end is open upwards for collecting the sludge transported by the spiral guide plate.

[0013] Furthermore, the intermediate section is fixedly connected to the sludge inlet section, and a connecting mechanism is provided on the pump connecting section and the intermediate section. The connecting mechanism includes a second motor fixedly installed on the intermediate section and a hanging rod fixedly installed on the pump connecting section. The output end of the second motor is fixedly provided with a hook that can be rotatably hung on the hanging rod.

[0014] Furthermore, both the intermediate section and the pump connection section have cover plates mounted on their opposite ends via torsion springs.

[0015] Furthermore, the cabin is equipped with a fixing frame for securing the intermediate section.

[0016] Furthermore, a monitoring mechanism is fixedly installed on the outer periphery of the cabin. The monitoring mechanism includes a third electric push rod fixedly installed on the outer periphery of the cabin and a monitor fixedly installed on the telescopic end of the third electric push rod.

[0017] Furthermore, a lifting ring is fixedly installed on the top of the cabin.

[0018] The beneficial effects of this invention are reflected in:

[0019] This invention, by incorporating a dredging unit with a guiding structure, enables the robot to quickly and accurately navigate into the pipeline during its movement. This allows for the continuous dredging of multiple pipelines, reducing the frequency of opening and closing manholes, improving dredging efficiency, and preventing personnel from being exposed to hazardous environments, thus enhancing work safety. Furthermore, by incorporating a lifting and angle-adjustable main power unit and auxiliary power unit, the robot can enter pipelines at different heights and angles for dredging, broadening its applicability. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is an exploded view of the present invention;

[0022] Figure 3 This is a structural view of the dredging section;

[0023] Figure 4 This is a view showing the ball bearing assembly.

[0024] Figure 5 This is a partial cross-sectional view of the present invention;

[0025] Figure 6 for Figure 1 A magnified view of a portion of point A shown.

[0026] In the picture:

[0027] 1. Main power unit; 11. Mecanum wheel trolley; 12. Second electric push rod; 2. Cabin; 3. Dredging unit; 31. First rotating structure; 32. Ball head; 33. Ball bearing; 34. Funnel-shaped dredging head; 35. Spiral guide plate; 36. Guide head; 37. Scraper; 4. Secondary power unit; 41. Second rotating structure; 411. First motor; 412. Driven gear ring; 4121. Groove; 413. Drive gear; 42. Turntable; 43. First electric push rod; 44. Track drive mechanism; 5. Dredging pipe; 51. Pump connection section; 52. Intermediate section; 53. Dredging section; 531. L-shaped dredging trough; 6. Connecting mechanism; 61. Second motor; 62. Hanging rod; 63. Hook; 7. Cover plate; 8. Fixing frame; 9. Monitoring mechanism; 91. Third electric push rod; 92. Monitor; 10. Lifting ring. Detailed Implementation

[0028] 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 a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. 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.

[0029] Please see Figure 1-6 This invention discloses a pipeline dredging robot, comprising: a main power unit 1 and a cabin 2 located at the top of the main power unit 1. A dredging unit 3 and a secondary power unit 4 are respectively provided at both ends of the cabin 2. The dredging unit 3 includes a first rotating structure 31 provided at the end of the cabin 2 and a ball head 32 rotatably provided on the first rotating structure 31. A ball bearing 33 is provided between the first rotating structure 31 and the ball head 32. A funnel-shaped dredging head 34 is threaded on the ball head 32. A spiral guide plate 35, a guide head 36 and a scraper 37 are respectively provided on the side of the funnel-shaped dredging head 34 away from the ball head 32. The number of spiral guide plates 35, guide heads 36 and scrapers 37 is not less than two.

[0030] The auxiliary power unit 4 includes a second rotating structure 41 disposed at the end of the cabin 2 and a turntable 42 fixedly disposed on the second rotating structure 41. A first electric push rod 43 is disposed on the side of the turntable 42 away from the second rotating structure 41, and a track transmission mechanism 44 is disposed at the telescopic end of the first electric push rod 43.

[0031] It also includes a sludge discharge pipe 5 that runs through the sludge removal section 3, the cabin 2, and the auxiliary power section 4 in sequence.

[0032] In this invention, during the robot's entry into the pipeline, the guide head 36 on the sludge removal unit 3 is first inserted into the pipeline. Under the push of the main power unit 1, the funnel-shaped sludge removal head 34 continuously adjusts its angle under the guidance of the guide head 36 until it is completely pushed into the pipeline. Then, during the movement, the first rotating structure 31 drives the funnel-shaped sludge removal head 34 to rotate, causing the spiral guide plate 35 and the scraper 37 to rotate together. During the rotation, the scraper 37 scrapes off the adhering material from the inner wall of the pipeline, while the spiral guide plate 35 rotates and lifts the sludge deposited in the pipeline, allowing the sludge to be dumped into the sludge discharge pipe 5 under the action of gravity. Then, the collected sludge is extracted through the sludge discharge pipe 5. At the same time, during the movement inside the pipeline, the turntable 42 drives the track transmission mechanism 44 to rotate close to the top wall of the pipeline. Then, the first electric push rod 43 pushes the track transmission mechanism 44 to stick to the pipeline, increasing the moving power through the track transmission mechanism 44 and preventing slippage.

[0033] Preferably, the funnel-shaped sludge removal head 34 needs to be replaced with a corresponding model according to the inner diameter of the sludge removal pipe. In this way, the funnel-shaped sludge removal head 34 can push the sludge inside the pipe to collect, increase the amount of sludge transported by the spiral guide plate 35 each time, and enable the scraper 37 to contact the inner wall of the pipe to complete the scraping work.

[0034] In one embodiment, the main power unit 1 includes a Mecanum wheel carriage 11 and a second electric push rod 12 connecting the Mecanum wheel carriage 11 and the cabin 2.

[0035] This design utilizes the Mecanum wheel trolley 11's ability to rotate in place, allowing the robot to rotate and enter the side of the pipe for sludge removal. When facing pipes of different heights, the robot can first use the turntable 42 to drive the track drive mechanism 44 to rotate and approach the bottom of the pipe. Then, by extending and retracting the first electric push rod 43 and the second electric push rod 12, the height of the funnel-shaped sludge removal head 34 is aligned with the pipe height. The funnel-shaped sludge removal head 34 is then pushed into the pipe. Afterward, the second electric push rod 12 is extended and retracted to adapt to the pipe, and the track drive mechanism 44 provides the propulsion, allowing the cabin 2 to also enter the pipe. Finally, by resetting the auxiliary power unit 4, the robot can continue to move inside the pipe.

[0036] In one embodiment, both the first rotating structure 31 and the second rotating structure 41 include the following structures:

[0037] A first motor 411 is fixedly installed inside the cabin 2 and a driven gear ring 412 is rotatably mounted on the cabin 2. The output end of the first motor 411 is fixedly connected to a driving gear 413 that meshes with the driven gear ring 412. The end of the driven gear ring 412 away from the driving gear 413 is located outside the cabin 2.

[0038] This design allows the output of the first motor 411 to rotate, which in turn drives the driven gear ring 412 that meshes with the drive gear 413, thereby driving the ball head 32 or the turntable 42 to rotate. This enables the funnel-shaped sludge removal head 34 to clean the sludge or adjust the working direction of the track transmission mechanism 44.

[0039] In one embodiment, the ball head 32 is rotatably disposed within the driven gear ring 412, and both the ball head 32 and the driven gear ring 412 are provided with grooves 4121 for the movement of the ball 33. The grooves 4121 are hemispherical grooves, and two adjacent grooves 4121 can be combined to form a spherical groove. The radius of the spherical groove is not greater than the diameter of the ball 33. The turntable 42 is fixedly disposed at the end of the driven gear ring 412 away from the driving gear 413.

[0040] This design allows the first rotating structure 31 to drive the connected ball head 32 to rotate under the constraint of the ball 33, while also allowing the ball head 32 to be finely adjusted in all directions, which is beneficial for the funnel-shaped sludge removal head 34 to move into the pipe.

[0041] In one embodiment, the sludge discharge pipe 5 includes a pump connection section 51, an intermediate section 52, and an inlet section 53 connected in sequence. Both the pump connection section 51 and the intermediate section 52 are hollow flexible tubes. The end of the pump connection section 51 away from the intermediate section 52 is connected to the sludge pump. The intermediate section 52 is located inside the chamber 2, and both ends of the intermediate section 52 extend to the outside of the chamber 2. The inlet section 53 is located inside the funnel-shaped sludge removal head 34. An L-shaped sludge inlet groove 531 is provided inside the inlet section 53. One end of the L-shaped sludge inlet groove 531 is connected to the intermediate section 52, and the other end is open upwards for collecting the sludge transported by the spiral guide plate 35.

[0042] The intermediate section 52 is fixedly connected to the sludge inlet section 53. A connecting mechanism 6 is provided on the pump connecting section 51 and the intermediate section 52. The connecting mechanism 6 includes a second motor 61 fixedly installed on the intermediate section 52 and a hanging rod 62 fixedly installed on the pump connecting section 51. A hook 63 that can be rotatably hung on the hanging rod 62 is fixedly installed at the output end of the second motor 61.

[0043] A lifting ring 10 is fixedly installed on the top of the cabin 2.

[0044] This design allows the robot to clean multiple pipes without needing to return along the same route or manually separate the robot from the dredging pipes. Instead, by controlling the second motor 61, the hook 63 can be separated from the hanging rod 62. The separated robot can then be lifted out of the inspection well by hooking the lifting ring 10 with a crane, while the pipes can be pulled back from the end. This design avoids personnel injury or exposure to hazardous environments, improves work safety, and increases the efficiency of robot retrieval.

[0045] In one embodiment, a cover plate 7 is provided at the opposite end of the intermediate section 52 and the pump connection section 51 via a torsion spring. This design ensures that the separation points of the intermediate section 52 and the pump connection section 51 can be covered by the cover plate 7, thereby minimizing the problem of ground contamination caused by sludge not being completely drained from the intermediate section 52 and the pump connection section 51.

[0046] Preferably, the cabin 2 is provided with a fixing frame 8 for fixing the intermediate section 52, so as to prevent the intermediate section 52 from rotating along with the funnel-shaped sludge removal head 34 during rotation, and so that the sludge inlet section 53 can always be at the correct working angle.

[0047] In one embodiment, a monitoring mechanism 9 is fixedly installed on the outer periphery of the cabin 2. The monitoring mechanism 9 includes a third electric push rod 91 fixedly installed on the outer periphery of the cabin 2 and a monitor 92 fixedly installed on the telescopic end of the third electric push rod 91.

[0048] This design allows the robot to be moved into the dredged pipe when it is inside the inspection well. The third electric push rod 91 can be used to lift the monitor 92, which can then monitor the pipe position and remotely control the robot to move into the pipe. This avoids the impact of frequent opening and closing of the inspection well on the dredging efficiency.

[0049] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0050] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0051] Additionally, "multiple" refers to two or more.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pipeline dredging robot, characterized in that, include: The main power unit (1) and the cabin (2) located at the top of the main power unit (1) are provided with a sludge removal unit (3) and a secondary power unit (4) at both ends of the cabin (2); the sludge removal unit (3) includes a first rotating structure (31) provided at the end of the cabin (2) and a ball head (32) rotatably provided on the first rotating structure (31). A ball bearing (33) is provided between the first rotating structure (31) and the ball head (32). A funnel-shaped sludge removal head (34) is threaded on the ball head (32). A spiral guide plate (35), a guide head (36) and a scraper (37) are provided on the side of the funnel-shaped sludge removal head (34) away from the ball head (32). The auxiliary power unit (4) includes a second rotating structure (41) disposed at the end of the cabin (2) and a turntable (42) fixedly disposed on the second rotating structure (41). A first electric push rod (43) is disposed on the side of the turntable (42) away from the second rotating structure (41), and a track transmission mechanism (44) is disposed at the telescopic end of the first electric push rod (43). It also includes a sludge discharge pipe (5) that runs through the sludge removal section (3), the cabin (2) and the auxiliary power section (4) in sequence; The main power unit (1) includes a Mecanum wheel carriage (11) and a second electric push rod (12) connecting the Mecanum wheel carriage (11) and the cabin (2).

2. The pipeline dredging robot according to claim 1, characterized in that: Both the first rotating structure (31) and the second rotating structure (41) include the following structures: A first motor (411) is fixedly installed inside the cabin (2) and a driven gear ring (412) is rotatably mounted on the cabin (2). The output end of the first motor (411) is fixedly connected to a driving gear (413) that meshes with the driven gear ring (412). The end of the driven gear ring (412) away from the driving gear (413) is located outside the cabin (2).

3. The pipeline dredging robot according to claim 2, characterized in that: The ball head (32) is rotatably disposed within the driven gear ring (412), and both the ball head (32) and the driven gear ring (412) are provided with grooves (4121) for the movement of the ball (33). The grooves (4121) are hemispherical grooves, and two adjacent grooves (4121) can be combined into a spherical groove. The radius of the spherical groove is not greater than the diameter of the ball (33). The turntable (42) is fixedly disposed at the end of the driven gear ring (412) away from the driving gear (413).

4. The pipeline dredging robot according to claim 1, characterized in that: The sludge discharge pipe (5) includes a pump connection section (51), an intermediate section (52) and a sludge inlet section (53) connected in sequence. The pump connection section (51) and the intermediate section (52) are both hollow hoses. The pump connection section (51) is connected to the sludge pump at one end away from the intermediate section (52). The intermediate section (52) is located inside the cabin (2) and both ends of the intermediate section (52) extend to the outside of the cabin (2). The sludge inlet section (53) is located inside the funnel-shaped sludge removal head (34). An L-shaped sludge inlet groove (531) is provided inside the sludge inlet section (53). One end of the L-shaped sludge inlet groove (531) is connected to the intermediate section (52), and the other end is open upwards to collect the sludge transported by the spiral guide plate (35).

5. The pipeline dredging robot according to claim 4, characterized in that: The intermediate section (52) is fixedly connected to the sludge inlet section (53). A connecting mechanism (6) is provided on the pump connecting section (51) and the intermediate section (52). The connecting mechanism (6) includes a second motor (61) fixedly installed on the intermediate section (52) and a hanging rod (62) fixedly installed on the pump connecting section (51). The output end of the second motor (61) is fixedly provided with a hook (63) that can be rotatably hung on the hanging rod (62).

6. The pipeline dredging robot according to claim 5, characterized in that: The middle section (52) and the pump connection section (51) are both equipped with cover plates (7) at opposite ends via torsion springs.

7. The pipeline dredging robot according to claim 4, characterized in that: The cabin (2) is equipped with a fixing frame (8) for fixing the intermediate section (52).

8. The pipeline dredging robot according to claim 1, characterized in that: The outer periphery of the cabin (2) is fixedly provided with a monitoring mechanism (9), which includes a third electric push rod (91) fixedly installed on the outer periphery of the cabin (2) and a monitor (92) fixedly installed on the telescopic end of the third electric push rod (91).

9. The pipeline dredging robot according to claim 1, characterized in that: The top of the cabin (2) is fixedly equipped with a lifting ring (10).

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