An expanding fixing mechanism and a pipeline robot thereof

Abstract

The application discloses a pipe robot and an expansion fixing mechanism thereof, and the device provided with the mechanism is supported on the inner wall of a pipe to realize positioning and prevent sliding down. The mechanism comprises an expansion fixing shell, a first mounting seat and a second mounting seat, a driving unit, a screw nut unit and at least two groups of expansion fixing units. The driving unit drives the screw nut unit to drive the expansion and contraction of the two groups of expansion fixing units. The pipe robot is used for dredging the accumulation and blockage of wet filter cake in a vertical pipe. The pipe robot comprises the expansion fixing mechanism and a functional module structure. The functional module structure is at least one of a filter cake drying mechanism and a stirring dredging mechanism. Through the replacement of the functional module structure, the pipe robot can at least realize filter cake drying and stirring dredging after drying, and can complete the blockage dredging of a city sewer pipe. The pipe robot is economical and practical, compact in structure and reliable.

Description

Technical Field

[0001] This invention relates to the field of pipe dredging, and in particular to a tightening and fixing mechanism and its pipe robot. Background Technology

[0002] Currently, clearing blockages in urban sewer pipes mainly involves manual unblocking, high-pressure water jet unblocking, or trenching-style pipe dredging. Manual unblocking is labor-intensive and inefficient. High-pressure water jet unblocking utilizes the reaction force generated by the high-pressure water jet sprayed from behind the nozzle to push the nozzle forward, and then uses the high-pressure water jet from the nozzle's front orifice to cut through the silt inside the pipe. This method requires a large amount of water to ensure the operation. Trenching-style pipe dredging involves pulling ropes back and forth between the two ends of the blocked pipe, using a dredging trench attached to the ropes to excavate the silt. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems, and one solution is a tightening and fixing mechanism. Equipment with this mechanism is supported on the inner wall of a pipe to achieve positioning and prevent slippage. The mechanism includes:

[0004] An expansion and fixing housing 1, wherein the expansion and fixing housing 1 has at least two openings 101;

[0005] The first mounting base 2 and the second mounting base 3 are respectively installed at both ends of the expansion and fixing housing 1;

[0006] The drive unit 4 is mounted at one end of the first mounting base 2 and located outside the expansion and fixing housing 1;

[0007] The lead screw nut unit 5 is installed between the first mounting base 2 and the second mounting base 3 and is located inside the expansion and fixing housing 1;

[0008] At least two sets of expansion and fixing units 6 are located inside the expansion and fixing housing 1;

[0009] Among them, the drive unit 4 drives the expansion and contraction functions of the two sets of expansion and fixing units 6 through the drive screw and nut unit 5.

[0010] Furthermore, the driving unit 4 includes:

[0011] Drive unit housing 401;

[0012] The driver 402 is located inside the drive unit housing 401;

[0013] The coupling 403 has one end mounted on the first mounting base 2 and the other end mounted on the end face of the drive unit housing 401;

[0014] The drive end of the driver 402 extends out of the drive unit housing 401 and is located inside the coupling 403.

[0015] Furthermore, the lead screw nut unit 5 includes:

[0016] The lead screw 501 has one end mounted on the first mounting base 2 via a bearing and connected to the drive end of the driver 402, and the other end mounted on the second mounting base 3 via a bearing.

[0017] Nut 502 is mounted on lead screw 501;

[0018] At least two guide rods 503 are fixedly mounted at both ends on the first mounting base 2 and the second mounting base 3, respectively;

[0019] An annular guide block 504 has at least two guide rings 5041 and at least two mounting blocks 5042 on its outer surface. The annular guide block 504 is mounted on a nut 502 via bearings, and each guide ring 5041 is fitted onto a corresponding guide rod 503.

[0020] Specifically, by driving the lead screw 501 to rotate, the nut 502 is driven to rotate along the axial direction of the lead screw 501, which in turn drives the guide ring 5041 to move linearly along the axial direction of the guide rod 503.

[0021] Furthermore, the expansion and fixing unit 6 includes:

[0022] The first connecting rod 601 has one end rotatably connected to the mounting block 5042;

[0023] The second link 602, the other end of the first link 601 is rotatably connected to the middle part of the second link 602, and one end of the second link 602 is rotatably connected to the second mounting base 3;

[0024] A rubber block 603, the bottom of which is rotatably connected to the other end of the second connecting rod 602;

[0025] In this process, the mounting block 5042 moves linearly along the axial direction of the guide rod 503, the first connecting rod 601 supports the second connecting rod 602, and then the second connecting rod 602 supports the rubber block 603 to extend out of the opening 101, so that the equipment with this mechanism is supported on the inner wall of the pipe, achieving positioning and preventing slippage.

[0026] Another proposed solution is a pipeline robot used to unclog and clear the accumulation and blockage of wet filter cake in vertical pipelines. This robot includes the aforementioned tightening and fixing mechanism and functional module structure, wherein the functional module structure is at least one of a filter cake drying mechanism and a stirring and unblocking mechanism.

[0027] Furthermore, when the functional module structure is a filter cake drying mechanism, the filter cake drying mechanism includes: a drying mechanism 7 and an air outlet guide hood 8. One end of the drying unit 7 is connected to the expansion and fixing mechanism, and the other end is connected to the air outlet guide hood 8.

[0028] Furthermore, the drying mechanism 7 includes:

[0029] Drying and mounting housing 701;

[0030] The third mounting base 702 and the fourth mounting base 703 are respectively mounted on both ends of the drying mounting housing 701, and the third mounting base 702 is mounted on the expansion and fixing housing 1, so that the drying mounting housing 701 is connected to the expansion and fixing housing 1.

[0031] The drying bracket 704 is installed inside the drying mounting housing 701;

[0032] An electric heating wire 705 is wrapped around the outer surface of the drying mounting housing 701;

[0033] A drying motor 706 is installed inside a drying bracket 704, with the rotating end of the drying motor 706 extending out of the drying bracket 704 near the third mounting base 702.

[0034] Fan blade 707 is mounted on the rotating end of drying motor 706, and the airflow generated by the rotation of fan blade 707 is away from the third mounting base 702.

[0035] The airflow generated by the drying motor 706 driving the fan blades 707 to rotate carries the hot air generated by the electric heating wire 705 out of the robot through the air outlet guide cover 8, thereby drying the wet filter cake in the vertical pipe.

[0036] Furthermore, when the functional module structure is a mixing and unblocking mechanism, the mixing and unblocking mechanism 9 includes:

[0037] Stirring and unclogging the shell 901;

[0038] The fifth mounting base 902 is mounted on the stirring and unblocking housing 901 and on the expansion and fixing housing 1, so that the stirring and unblocking housing 901 is connected to the expansion and fixing housing 1.

[0039] The feeding unit 903 is installed inside the stirring and unblocking housing 901;

[0040] A visible rotary transmission cutter head unit 904 is slidably mounted on the feed unit 903;

[0041] The feed unit 903 drives the visible rotary transmission cutter head unit 904 to realize the feed function, and the visible rotary transmission cutter head unit 904 completes the clearing of the silt and blockage of the dried wet filter cake in the vertical pipe.

[0042] Furthermore, the feed unit 903 includes:

[0043] Feed mounting bracket 9031;

[0044] The feed motor 9032 is mounted on the feed mounting bracket 9031;

[0045] The drive pulley 9033 is connected at its center to the drive end of the feed motor 9032;

[0046] Nut driven pulley 9034 is mounted on feed mounting bracket 9031 via bearing;

[0047] Pulley 9035 is fitted onto drive pulley 9033 and driven pulley 9034 with nut;

[0048] The screw 9036 is installed inside the nut driven pulley 9034. The screw 9036 is driven to move along the axial direction of the feed unit 903 by the rotation of the nut driven pulley 9034.

[0049] At least one guide post 9037 is mounted on the inner surface of the stirring and unblocking housing 901;

[0050] The feed seat 9038 has at least one guide groove 90381, and the feed seat 9038 is located inside the stirring and unblocking housing 901. The guide column 9037 is located inside the guide groove 90381.

[0051] The end of the screw 9036 away from the fifth mounting base 902 is fixedly connected to the center of the feed base 9038;

[0052] The feed motor 9032 drives the driven pulley 9034 of the nut to rotate through the transmission of the pulley 9035, so that the screw feed unit 903 moves along the axial direction of the feed unit 903, and drives the feed seat 9038 to move along the axial direction of the feed unit 903, so that the visible rotary transmission cutter head unit 904 reaches the position of the dried wet filter cake in the vertical pipe.

[0053] Furthermore, the visible rotary transmission cutter head unit 904 includes:

[0054] The geared motor 9041 is mounted on the feed seat 9038;

[0055] The drive gear 9042 is connected at its center to the rotating end of the geared motor 9041;

[0056] Driven internal gear 9043, whose internal teeth mesh with drive gear 9042;

[0057] The main tool post 9044 is fixedly connected to the driven internal gear 9043 at its edge, and its central shaft is mounted at the center of the feed seat 9038 through a bearing, so that the main tool post 9044 can rotate.

[0058] The secondary tool post 9045 is mounted on the end face of the main tool post 9044;

[0059] The secondary tool holder 9045 is equipped with at least a center drill 9046, an inner layer agitator 9047, an outer layer agitator 9048, and an inner wall scraper 9049.

[0060] The rotation of the main cutter holder 9044 drives the rotation of the center drill 9046, the inner layer agitator 9047, the outer layer agitator 9048 and the inner wall scraper 9049, thereby completing the stirring of the dried wet filter cake in the vertical pipe and the scraping of the residue on the inner wall, thus clearing the silt and blockage of the vertical pipe.

[0061] Endoscope 90410 is mounted on feed seat 9038 via clamp 90411;

[0062] Window 90412 is mounted on the main tool post 9044;

[0063] The endoscope 90410 can observe the siltation and blockage of its vertical channel and the removal of the dried wet filter cake through the viewing window 90412.

[0064] The advantages of the expansion and fixing mechanism and its lifting device made using the technical solution of the present invention are as follows: the robot uses the expansion and fixing mechanism to support the inner wall of the pipe, and through various replacements of functional module structures, it can at least achieve the drying of filter cake and the stirring and unblocking after drying, thus completing the unblocking of urban sewer pipes. It is economical, practical, compact in structure and highly reliable. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the expansion and fixing mechanism described in Embodiment 1 of the present invention;

[0066] Figure 2 This is the invention described Figure 1 Side view;

[0067] Figure 3 This is the invention described Figure 2 AA section view;

[0068] Figure 4 This is a schematic diagram of the internal structure of the expansion and fixing mechanism described in this invention;

[0069] Figure 5 This is a schematic diagram of the structure of the annular guide block described in Embodiment 1 of the present invention;

[0070] Figure 6 This is a schematic diagram of the pipeline robot when the functional module structure is a filter cake drying mechanism, as described in Embodiment 2 of the present invention.

[0071] Figure 7 This is the invention described Figure 6 Side view;

[0072] Figure 8 This is the invention described Figure 7 BB section view;

[0073] Figure 9 This is a schematic diagram of the internal structure of the drying mechanism described in Embodiment 2 of the present invention;

[0074] Figure 10 This is a schematic diagram of the robot structure when the functional module structure is a stirring and unblocking mechanism, as described in Embodiment 2 of the present invention.

[0075] Figure 11 This is the invention described Figure 10 The main view;

[0076] Figure 12 This is the invention described Figure 10 Side view;

[0077] Figure 13 This is the invention described Figure 12 CC section view;

[0078] Figure 14 This is the invention described Figure 12 DD sectional view;

[0079] Figure 15 This is a schematic diagram of the stirring and unblocking mechanism described in this invention;

[0080] Figure 16 This is the invention described Figure 15 Side view;

[0081] Figure 17 This is the invention described Figure 16 EE sectional view;

[0082] Figure 18 This is the invention described Figure 16 FF sectional view;

[0083] Among them, 1. a tightening and fixing shell; 101. an opening;

[0084] 2. First mounting bracket; 3. Second mounting bracket;

[0085] 4. Drive unit; 401. Drive unit housing; 402. Driver; 403. Coupling;

[0086] 5. Lead screw and nut unit; 501. Lead screw; 502. Nut; 503. Guide rod; 504. Annular guide block; 5041. Guide ring; 5042. Mounting block;

[0087] 6. Tensioning and fixing unit; 601. First connecting rod; 602. Second connecting rod; 603. Rubber block;

[0088] 7. Drying mechanism; 701. Drying mounting housing; 702. Third mounting base; 703. Fourth mounting base; 704. Drying bracket; 705. Electric heating wire; 706. Drying motor; 707. Fan blades;

[0089] 8. Air outlet deflector;

[0090] 9. Mixing and unblocking mechanism; 901. Mixing and unblocking housing; 902. Fifth mounting base; 903. Feeding unit; 9031. Feeding mounting bracket; 9032. Feeding motor; 9033. Drive pulley; 9034. Nut driven pulley; 9035. Belt pulley; 9036. Screw; 9037. Guide column; 9038. Feed seat; 90381. Guide groove;

[0091] 904. Visual rotary transmission cutter head unit; 9041. Gear motor; 9042. Drive gear; 9043. Driven internal gear; 9044. Main tool post; 9045. Secondary tool post; 9046. Center drill; 9047. Inner layer agitator; 9048. Outer layer agitator; 9049. Inner wall scraper; 90410. Endoscope; 90411. Clamp; 90412. Viewing window. Detailed Implementation

[0092] The present invention will now be described in detail with reference to the accompanying drawings, but the invention is not limited to these embodiments. In the following detailed description of the invention, certain specific details are described in detail. Those skilled in the art will fully understand the invention even without these details. To avoid obscuring the essence of the invention, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0093] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0094] Unless the context explicitly requires it, words such as "including" or "contains" in the instruction manual should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0095] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0096] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0097] Example 1

[0098] like Figures 1-5 As shown, a tightening and fixing mechanism is provided, in which equipment is supported on the inner wall of a pipe to achieve positioning and prevent slippage. The mechanism includes:

[0099] An expansion and fixing housing 1, wherein the expansion and fixing housing 1 has at least two openings 101;

[0100] Furthermore, it also includes a first mounting base 2 and a second mounting base 3, which are respectively mounted on both ends of the expansion and fixing housing 1;

[0101] Furthermore, it also includes a drive unit 4, which is installed at one end of the first mounting base 2 and located outside the expansion and fixing housing 1;

[0102] Specifically, the driving unit 4 includes:

[0103] Drive unit housing 401;

[0104] The driver 402 is located inside the drive unit housing 401;

[0105] Specifically, the driver 402 is, but is not limited to, a geared motor as in the prior art.

[0106] The coupling 403 has one end mounted on the first mounting base 2 and the other end mounted on the end face of the drive unit housing 401;

[0107] The drive end of the driver 402 extends out of the drive unit housing 401 and is located inside the coupling 403.

[0108] Furthermore, it also includes a lead screw nut unit 5, which is installed between the first mounting base 2 and the second mounting base 3 and located inside the expansion and fixing housing 1;

[0109] Specifically, the lead screw nut unit 5 includes:

[0110] The lead screw 501 has one end mounted on the first mounting base 2 via a bearing and connected to the drive end of the driver 402, and the other end mounted on the second mounting base 3 via a bearing.

[0111] Nut 502 is mounted on lead screw 501;

[0112] At least two guide rods 503 are fixedly mounted at both ends on the first mounting base 2 and the second mounting base 3, respectively;

[0113] An annular guide block 504 has at least two guide rings 5041 and at least two mounting blocks 5042 on its outer surface. The annular guide block 504 is mounted on a nut 502 via bearings, and each guide ring 5041 is fitted onto a corresponding guide rod 503.

[0114] Specifically, by driving the lead screw 501 to rotate, the nut 502 is driven to rotate along the axial direction of the lead screw 501, which in turn drives the guide ring 5041 to move linearly along the axial direction of the guide rod 503.

[0115] Furthermore, it also includes at least two sets of expansion and fixing units 6, which are located inside the expansion and fixing housing 1;

[0116] Specifically, the expansion and fixing unit 6 includes:

[0117] The first connecting rod 601 has one end rotatably connected to the mounting block 5042;

[0118] The second link 602, the other end of the first link 601 is rotatably connected to the middle part of the second link 602, and one end of the second link 602 is rotatably connected to the second mounting base 3;

[0119] A rubber block 603, the bottom of which is rotatably connected to the other end of the second connecting rod 602;

[0120] In this process, the mounting block 5042 moves linearly along the axial direction of the guide rod 503, the first connecting rod 601 supports the second connecting rod 602, and then the second connecting rod 602 supports the rubber block 603 to extend out of the opening 101, so that the equipment with this mechanism is supported on the inner wall of the pipe, achieving positioning and preventing slippage.

[0121] Among them, the drive unit 4 drives the expansion and contraction functions of the two sets of expansion and fixing units 6 through the drive screw and nut unit 5.

[0122] Furthermore, a lifting ring is provided on the end of the drive unit housing 401 away from the coupling 403, which can be used to lift existing robotic arms or hoisting machines.

[0123] Its working process is as follows: The lifting ring is installed in the robotic arm or hoist and extends into the pipe. The driver 402 is turned on, which drives the lead screw 501 to rotate and drives the nut 502 to rotate along the axial direction of the lead screw 501. This, in turn, drives the guide ring 5041 to move linearly along the axial direction of the guide rod 503. The linear movement of the guide ring 5041 causes the mounting block 5042 located on it to also move linearly along the axial direction of the guide rod 503. The first connecting rod 601 supports the second connecting rod 602, and then the second connecting rod 602 supports the rubber block 603 to extend out of the opening 101. This enables the equipment with this mechanism to be supported on the inner wall of the pipe, achieving positioning and preventing slippage.

[0124] Example 2

[0125] like Figures 6-18 As shown, a pipeline robot is used to unclog and clear the accumulation and blockage of wet filter cake in a vertical pipeline. It includes a tightening and fixing mechanism and a functional module structure as described in Embodiment 1 above. The functional module structure is at least one of a filter cake drying mechanism and a stirring and unblocking mechanism.

[0126] Furthermore, when the functional module structure is a filter cake drying mechanism, the filter cake drying mechanism includes: a drying mechanism 7 and an air outlet guide hood 8. One end of the drying unit 7 is connected to the expansion and fixing mechanism, and the other end is connected to the air outlet guide hood 8.

[0127] Furthermore, the drying mechanism 7 includes:

[0128] Drying and mounting housing 701;

[0129] The third mounting base 702 and the fourth mounting base 703 are respectively mounted on both ends of the drying mounting housing 701, and the third mounting base 702 is mounted on the expansion and fixing housing 1, so that the drying mounting housing 701 is connected to the expansion and fixing housing 1.

[0130] The drying bracket 704 is installed inside the drying mounting housing 701;

[0131] An electric heating wire 705 is wrapped around the outer surface of the drying mounting housing 701;

[0132] A drying motor 706 is installed inside a drying bracket 704, with the rotating end of the drying motor 706 extending out of the drying bracket 704 near the third mounting base 702.

[0133] Fan blade 707 is mounted on the rotating end of drying motor 706, and the airflow generated by the rotation of fan blade 707 is away from the third mounting base 702.

[0134] The airflow generated by the drying motor 706 driving the fan blades 707 to rotate carries the hot air generated by the electric heating wire 705 out of the robot through the air outlet guide cover 8, thereby drying the wet filter cake in the vertical pipe.

[0135] Furthermore, when the functional module structure is a mixing and unblocking mechanism, the mixing and unblocking mechanism 9 includes:

[0136] Stirring and unclogging the shell 901;

[0137] The fifth mounting base 902 is mounted on the stirring and unblocking housing 901 and on the expansion and fixing housing 1, so that the stirring and unblocking housing 901 is connected to the expansion and fixing housing 1.

[0138] The feeding unit 903 is installed inside the stirring and unblocking housing 901;

[0139] A visible rotary transmission cutter head unit 904 is slidably mounted on the feed unit 903;

[0140] The feed unit 903 drives the visible rotary transmission cutter head unit 904 to realize the feed function, and the visible rotary transmission cutter head unit 904 completes the clearing of the silt and blockage of the dried wet filter cake in the vertical pipe.

[0141] Furthermore, the feed unit 903 includes:

[0142] Feed mounting bracket 9031;

[0143] The feed motor 9032 is mounted on the feed mounting bracket 9031;

[0144] The drive pulley 9033 is connected at its center to the drive end of the feed motor 9032;

[0145] Nut driven pulley 9034 is mounted on feed mounting bracket 9031 via bearing;

[0146] Pulley 9035 is fitted onto drive pulley 9033 and driven pulley 9034 with nut;

[0147] The screw 9036 is installed inside the nut driven pulley 9034. The screw 9036 is driven to move along the axial direction of the feed unit 903 by the rotation of the nut driven pulley 9034.

[0148] At least one guide post 9037 is mounted on the inner surface of the stirring and unblocking housing 901;

[0149] The feed seat 9038 has at least one guide groove 90381, and the feed seat 9038 is located inside the stirring and unblocking housing 901. The guide column 9037 is located inside the guide groove 90381.

[0150] The end of the screw 9036 away from the fifth mounting base 902 is fixedly connected to the center of the feed base 9038;

[0151] The feed motor 9032 drives the driven pulley 9034 of the nut to rotate through the transmission of the pulley 9035, so that the screw feed unit 903 moves along the axial direction of the feed unit 903, and drives the feed seat 9038 to move along the axial direction of the feed unit 903, so that the visible rotary transmission cutter head unit 904 reaches the position of the dried wet filter cake in the vertical pipe.

[0152] Furthermore, the visible rotary transmission cutter head unit 904 includes:

[0153] The geared motor 9041 is mounted on the feed seat 9038;

[0154] The drive gear 9042 is connected at its center to the rotating end of the geared motor 9041;

[0155] Driven internal gear 9043, whose internal teeth mesh with drive gear 9042;

[0156] The main tool post 9044 is fixedly connected to the driven internal gear 9043 at its edge, and its central shaft is mounted at the center of the feed seat 9038 through a bearing, so that the main tool post 9044 can rotate.

[0157] The secondary tool post 9045 is mounted on the end face of the main tool post 9044;

[0158] The secondary tool holder 9045 is equipped with at least a center drill 9046, an inner layer agitator 9047, an outer layer agitator 9048, and an inner wall scraper 9049.

[0159] The rotation of the main cutter holder 9044 drives the rotation of the center drill 9046, the inner layer agitator 9047, the outer layer agitator 9048 and the inner wall scraper 9049, thereby completing the stirring of the dried wet filter cake in the vertical pipe and the scraping of the residue on the inner wall, thus clearing the silt and blockage of the vertical pipe.

[0160] Endoscope 90410 is mounted on feed seat 9038 via clamp 90411;

[0161] Window 90412 is mounted on the main tool post 9044;

[0162] The endoscope 90410 can observe the siltation and blockage of its vertical channel and the removal of the dried wet filter cake through the viewing window 90412.

[0163] Its working process: When it is necessary to unclog the pipe, the pipe robot is first fixed to the inner wall of the pipe by the expansion and fixing mechanism to achieve positioning and prevent slippage;

[0164] When it is necessary to dry the wet filter cake in the pipeline, connect the filter cake drying mechanism with the expansion and fixing mechanism, turn on the drying motor 706 to drive the fan blades 707 to rotate and generate airflow, and carry the hot air generated by the electric heating wire 705 out of the robot through the air outlet guide cover 8 to realize the drying of the wet filter cake in the vertical pipeline.

[0165] When it is necessary to unclog the dried wet filter cake in a vertical pipe, the filter cake drying mechanism is disassembled and replaced with a stirring and unblocking mechanism. First, the feed motor 9032 is turned on, and through the transmission of the pulley 9035, the driven pulley 9034 of the nut is rotated, which completes the movement of the screw feed unit 903 along the axial direction of the feed unit 903, and drives the feed seat 9038 to move along the axial direction of the feed unit 903, so that the visible rotary transmission cutter head unit 904 reaches the position of the dried wet filter cake in the vertical pipe. Second, the reduction motor 9041 is turned on, which drives the rotation of the main cutter holder 9044, and in turn drives the rotation of the center drill 9046, the inner layer agitator 9047, the outer layer agitator 9048 and the inner wall scraper 9049, which completes the stirring of the dried wet filter cake in the vertical pipe and the scraping of the residue on the inner wall, thereby unblocking the silt and blockage in the vertical pipe. The endoscope 90410 can observe the siltation and blockage of its vertical channel and the removal of the dried wet filter cake through the viewing window 90412.

[0166] The above technical solutions only embody the preferred technical solutions of the present invention. Any modifications that may be made by those skilled in the art to certain parts thereof embody the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A pipeline robot, characterized in that, It includes a tightening and fixing mechanism and a functional module structure, wherein the functional module structure is at least one of a filter cake drying mechanism and a stirring and unblocking mechanism; when it is necessary to unblock the siltation and blockage of the dried wet filter cake in the vertical pipe, the filter cake drying mechanism is disassembled and replaced with the stirring and unblocking mechanism. The tightening and fixing mechanism includes: An expansion and fixing housing (1) is provided with at least two openings (101). The first mounting base (2) and the second mounting base (3) are respectively installed at both ends of the expansion and fixing housing (1); The drive unit (4) is mounted at one end of the first mounting base (2) and located outside the expansion and fixing housing (1); The lead screw nut unit (5) is installed between the first mounting base (2) and the second mounting base (3) and is located inside the expansion and fixing housing (1); At least two sets of expansion and fixing units (6) are located inside the expansion and fixing housing (1); Among them, the drive unit (4) drives the expansion and contraction functions of the expansion and contraction unit (6) through the drive screw nut unit (5); When the functional module structure is a filter cake drying mechanism, the filter cake drying mechanism includes: a drying mechanism (7) and an air outlet guide hood (8). The drying mechanism (7) includes: Dry the mounting housing (701); The third mounting base (702) and the fourth mounting base (703) are respectively mounted on both ends of the drying mounting housing (701), and the third mounting base (702) is mounted on the expansion fixing housing (1) so that the drying mounting housing (701) is connected to the expansion fixing housing (1); A drying bracket (704) is installed inside a drying mounting housing (701); An electric heating wire (705) surrounds the outer surface of the drying mounting housing (701); A drying motor (706) is installed inside a drying bracket (704), with the rotating end of the drying motor (706) extending out of the drying bracket (704) near the end of the third mounting base (702); The fan blade (707) is mounted on the rotating end of the drying motor (706), and the airflow generated by the rotation of the fan blade (707) is away from the third mounting base (702); Among them, the air flow generated by the rotation of the fan blades (707) driven by the drying motor (706) carries the hot air generated by the electric heating wire (705) out of the robot through the air outlet guide cover (8), thereby drying the wet filter cake in the vertical pipe. When the functional module structure is a stirring and unblocking mechanism, the stirring and unblocking mechanism (9) includes: Stirring and unblocking the shell (901); The fifth mounting base (902) is mounted on the stirring and unblocking housing (901) and on the expansion and fixing housing (1), so that the stirring and unblocking housing (901) is connected to the expansion and fixing housing (1); The feeding unit (903) is installed inside the stirring and unblocking housing (901); A visible rotary drive cutter head unit (904) is slidably mounted on the feed unit (903); The visible rotary transmission cutter head unit (904) includes: A geared motor (9041) is mounted on a feed seat (9038); The drive gear (9042) is connected at its center to the rotating end of the geared motor (9041); Driven internal gear (9043), whose internal teeth mesh with drive gear (9042); The main tool post (9044) has its edge fixedly connected to the driven internal gear (9043), and its central shaft is mounted at the center of the feed seat (9038) via a bearing; The secondary tool post (9045) is mounted on the end face of the main tool post (9044); The auxiliary tool holder (9045) is equipped with at least a center drill (9046), an inner layer agitator (9047), an outer layer agitator (9048), and an inner wall scraper (9049). The rotation of the main tool holder (9044) drives the rotation of the center drill (9046), the inner layer agitator (9047), the outer layer agitator (9048), and the inner wall scraper (9049); An endoscope (90410) is mounted on a feed seat (9038) via a clamp (90411); A viewing window (90412) is mounted on the main tool holder (9044).

2. The pipeline robot according to claim 1, characterized in that, The driving unit (4) includes: Drive unit housing (401); The driver (402) is located inside the drive unit housing (401); The coupling (403) has one end mounted on the first mounting base (2) and the other end mounted on the end face of the drive unit housing (401); The drive end of the driver (402) extends out of the drive unit housing (401) and is located inside the coupling (403).

3. The pipeline robot according to claim 2, characterized in that, The lead screw nut unit (5) includes: A lead screw (501) is mounted on a first mounting base (2) at one end via a bearing and connected to the drive end of a driver (402), and the other end is mounted on a second mounting base (3) via a bearing. Nut (502), which is mounted on lead screw (501); At least two guide rods (503) are fixedly mounted at both ends on the first mounting base (2) and the second mounting base (3), respectively; An annular guide block (504) has at least two guide rings (5041) and at least two mounting blocks (5042) on its outer surface. The annular guide block (504) is mounted on a nut (502) by bearings. Each guide ring (5041) is fitted onto a corresponding guide rod (503). The rotation of the drive screw (501) causes the nut (502) to move along the axial direction of the screw (501), which in turn causes the guide ring (5041) to move linearly along the axial direction of the guide rod (503).

4. The pipeline robot according to claim 3, characterized in that, The expansion and fixing unit (6) includes: The first link (601) is rotatably connected at one end to the mounting block (5042); The second link (602) has the other end of the first link (601) rotatably connected to the middle part of the second link (602), and one end of the second link (602) rotatably connected to the second mounting base (3); A rubber block (603), the bottom of which is rotatably connected to the other end of the second connecting rod (602); In this process, the first connecting rod (601) supports the second connecting rod (602) by the linear movement of the mounting block (5042) along the axial direction of the guide rod (503), and then the second connecting rod (602) supports the rubber block (603) to extend out of the opening (101).

5. The pipeline robot according to claim 4, characterized in that, One end of the drying mechanism (7) is connected to the expansion and fixing mechanism, and the other end is connected to the air outlet guide hood (8).

6. The pipeline robot according to claim 5, characterized in that, The feed unit (903) includes: Feed mounting bracket (9031); The feed motor (9032) is mounted on the feed mounting bracket (9031); The drive pulley (9033) is connected at its center to the drive end of the feed motor (9032); The nut driven pulley (9034) is mounted on the feed mounting bracket (9031) via a bearing; The pulley (9035) is fitted onto the driving pulley (9033) and the driven pulley (9034) with the nut; The screw (9036) is installed in the nut driven pulley (9034). The screw (9036) is driven to move along the axial direction of the feed unit (903) by the rotation of the nut driven pulley (9034). At least one guide post (9037) is mounted on the inner surface of the stirring and unblocking housing (901); The feed seat (9038) is provided with at least one guide groove (90381), the feed seat (9038) is located inside the stirring and unblocking housing (901), and the guide column (9037) is located inside the guide groove (90381); The end of the screw (9036) away from the fifth mounting base (902) is fixedly connected to the center of the feed seat (9038); The feed motor (9032) drives the driven pulley (9034) of the nut to rotate through the transmission of the pulley (9035), so that the screw moves along the axial direction of the feed unit (903) and drives the feed seat (9038) to move along the axial direction of the feed unit (903), so that the visible rotary transmission cutter head unit (904) reaches the position of the dried wet filter cake in the vertical pipe.

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