Obstacle-clearing robot

Abstract

The present invention belongs to the technical field of obstacle removal, and specifically is an obstacle removal robot, comprising a base, an upper surface of the base is fixedly connected to a fixed platform, an upper surface of the fixed platform is fixedly connected to a fixed block, one side of the fixed block is rotatably connected to a first camera, one side of the base is fixedly connected to a connecting head, the other side of the base is rotatably connected to a rotating column, one side of the rotating column is fixedly connected to a fixed frame, a first slot is provided in the fixed frame, a rotating block is rotatably connected to the first slot, one side of the rotating block is fixedly connected to a positioning platform, one side of the positioning platform is rotatably connected to a second camera, a side of the positioning platform close to the second camera is rotatably connected to a connecting column, and an end of the connecting column away from the second camera is clamped with a drill bit. By providing the positioning frame, the problem of needing to spend a lot of time for replacement in the existing obstacle removal process is solved, thereby solving the problem of low working efficiency of the obstacle removal robot.

Description

Technical Field

[0001] The invention belongs to the technical field of obstacle removal, in particular to an obstacle removal robot. Background Art

[0002] The obstacle removal robot is an intelligent special operation robot that integrates detection, rock drilling and slag removal functions. It is suitable for detection and slag removal in high-risk environments such as municipal pipelines, culverts and box culverts. It is a powerful tool for slag removal in confined spaces.

[0003] In the process of using the existing obstacle-clearing robots, when the municipal pipeline system needs to be upgraded or expanded, some pipelines may need to be modified, such as expanding the diameter, changing the line or adding branches, etc. The obstacle-clearing robot can assist in rock drilling and drilling of municipal pipelines. First, the obstacle-clearing robot is started, and then the rotating wheels of the obstacle-clearing robot will drive the drill bit at the front end of the obstacle-clearing robot to abut against the cement wall of the municipal pipeline. When the drill bit is started, the cement wall in the municipal pipeline network will be drilled and broken;

[0004] After drilling and crushing, the existing obstacle clearing robot usually withdraws the obstacle clearing robot, then replaces the drill bit at the output end of the obstacle clearing robot with a slag cleaning device, and then lowers the obstacle clearing robot to perform slag cleaning work. After the slag cleaning is completed, it is necessary to replace the drill bit again, and repeat this operation repeatedly to dredge the municipal pipeline. However, the replacement process is cumbersome and takes a lot of time. In addition, the wear of the main shaft of the obstacle clearing robot is aggravated during the back and forth replacement, which not only causes the problem of low work efficiency, but also reduces the service life of the obstacle clearing robot.

[0005] To this end, the present invention provides an obstacle-clearing robot. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problems is: the obstacle clearing robot described in the present invention comprises a base, a fixed platform is fixedly connected to the upper surface of the base, a fixed block is fixedly connected to the upper surface of the fixed platform, a first camera is rotatably connected to one side of the fixed block, a connecting head is fixedly connected to one side of the base, a rotating column is rotatably connected to the other side of the base, a fixed frame is fixedly connected to one side of the rotating column, a first slot is provided in the fixed frame, a rotating block is rotatably connected to the first slot, a positioning platform is fixedly connected to one side of the rotating block, a second camera is rotatably connected to one side of the positioning platform, a connecting column is rotatably connected to a side of the positioning platform close to the second camera, a drill is clamped on one end of the connecting column away from the second camera, and a switching component is provided on the side of the positioning platform close to the second camera.

[0008] The switching assembly includes a first motor fixedly connected to one side of the positioning platform, a rotating plate fixedly connected to the output end of the first motor, the rotating plate is rotatably connected to the drill bit, a positioning frame is rotatably connected to one side of the rotating plate, an inclined plate is fixedly connected to one end of the positioning frame, and the inclined plate is used to push up cement slag ash.

[0009] Preferably, the connecting column is slidably connected with an insert block on the side close to the drill bit, a fixing groove is provided on the rotating plate at a position corresponding to the drill bit, an annular groove is provided on the inner wall of the fixing groove, a fixing ring is fixedly connected to the position of the drill bit corresponding to the annular groove, the drill bit can rotate in the fixing groove through the fixing ring, a slot is provided on the side of the drill bit close to the insert block, and the insert block and the slot are both cross-shaped.

[0010] Preferably, a collection frame is fixedly connected to one side of the positioning frame, the collection frame is communicated with the positioning frame, a second motor is fixedly connected to the upper surface of the collection frame, an output end of the second motor is fixedly connected to a fixed shaft, one end of the fixed shaft is fixedly connected to a transmission wheel, the transmission wheel is transmission-connected to a first strip steel, an end of the first strip steel away from the fixed shaft is transmission-connected to a rotating shaft, and a plurality of auxiliary rods are fixedly connected to the circumferential surface of the rotating shaft.

[0011] Preferably, the positioning frame is fixedly connected with an electric shaft at a position corresponding to the auxiliary rod, the circumferential surface of the electric shaft is fixedly connected with a fixing tube, the circumferential surface of the fixing tube is fixedly connected with a plurality of auxiliary columns, and the auxiliary columns are used to remove the iron wire on the auxiliary rod.

[0012] Preferably, guide rails are fixedly connected to both sides of the inner wall of the collection frame, and guide grooves are provided on the sides where the two guide rails are close to each other. Two guide blocks are slidably connected in each guide groove, and several guide blocks are fixedly connected to the same sealing plate, which is used to seal the collection frame.

[0013] Preferably, a spray assembly is provided above the positioning frame, and the spray assembly includes a piston rod slidably arranged above the second motor, and a piston tube fixedly connected to the lower surface of the positioning frame, one end of the piston rod is fixedly connected to a piston block, and a positioning box is provided on the upper surface of the piston tube, and a plurality of spray holes are opened on one side of the positioning box.

[0014] Preferably, the output end of the second motor is transmission-connected to the second strip steel, two auxiliary blocks are fixedly connected to the upper surface of the collecting frame, a connecting shaft is rotatably connected between the two auxiliary blocks, a reciprocating thread is provided on the circumferential surface of the connecting shaft, a sliding block is slidably connected on the circumferential surface of the connecting shaft, the sliding block is fixedly connected to the piston rod, a first cavity is provided in the piston tube, the piston block can squeeze the air in the first cavity, a connecting hole is provided on the upper surface of the piston tube, a connecting tube is fixedly connected to the upper surface of the connecting hole, and the piston tube is fixedly connected to the positioning box via the connecting tube.

[0015] Preferably, an air inlet is opened at one end of the piston tube, and an auxiliary plate is rotatably connected to the piston tube at a position corresponding to the air inlet, and the auxiliary plate is used to introduce air into the piston tube.

[0016] Preferably, a limit block is fixedly connected to one side of the base platform, one side of the limit block is rotatably connected to a limit rod, one end of the limit rod is fixedly connected to a base plate, one side of the base plate is fixedly connected to a first hydraulic cylinder, an output end of the first hydraulic cylinder is rotatably connected to a positioning block, a position of the positioning block corresponding to the output end of the first hydraulic cylinder is fixedly connected to a limit axis, an oil storage tank is fixedly connected to a position of the base platform corresponding to the limit axis, a pressure pump is fixedly connected to the upper surface of the oil storage tank, two nozzles are fixedly connected to the lower surface of the oil storage tank, and a sealing cover is threadedly connected to the upper surface of the oil storage tank.

[0017] Preferably, a protective cover is fixedly connected to the position of the positioning frame corresponding to the second motor, and the protective cover is used to protect the first steel strip and the second motor.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The obstacle clearing robot described in the present invention can be connected with the drill bit by starting the connecting column, and then the obstacle clearing robot is controlled to move to the corresponding position in the municipal pipeline to perform rock drilling. When the rock drilling is completed, the connecting column is separated from the drill bit, and the first motor is started again to drive the rotating plate to rotate. The rotation of the rotating plate will drive the positioning frame to rotate until it is aligned with the connecting column. After the drill bit and the positioning frame are switched, the positioning frame can be used to clean the cement debris drilled by the drill bit, and a road can be opened for the obstacle clearing robot to continue moving, which is convenient for the obstacle clearing robot to continue rock drilling, thereby achieving the effect of improving the working efficiency of the obstacle clearing robot.

[0020] 2. The obstacle clearing robot described in the present invention realizes the fixed connection between the connecting column and the drill bit by cooperating the sliding plug block on one side of the connecting column with the slot on the side of the drill bit. When the drill bit is aligned with the connecting column, the built-in hydraulic cylinder in the connecting column is started to drive the plug block to be inserted into the slot of the drill bit. Because both of them are cross-shaped, the stability of the connection is enhanced, and it is also convenient for precise alignment and rapid installation and disassembly. When the plug block slides completely into the slot, the drill bit is locked on the rotating plate. At this time, the fixing ring on the drill bit is nested in the annular groove on the rotating plate, allowing the drill bit to rotate freely around its axis when driven, thereby realizing rock drilling operations and achieving the effect of improving work efficiency. The rapid docking and separation of the plug block and the slot greatly shortens the time for replacing the drill bit and reduces the time for downtime waiting for replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 is a three-dimensional diagram of the first embodiment of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the main body of the present invention;

[0024] Figure 3 is a schematic structural diagram of a first hydraulic cylinder of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the guide rail of the present invention;

[0026] Figure 5 is a schematic structural diagram of the first steel strip of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the positioning box of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the piston tube of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the guide block of the present invention;

[0030] Fig. 9 It is a structural schematic diagram of the plug block of the present invention;

[0031] Fig.10 It is a schematic diagram of the split structure of the fixing ring of the present invention;

[0032] In the figure: 1, base; 11, fixed platform; 12, fixed block; 13, first camera; 14, connector; 15, rotating column; 16, fixed frame; 17, first slot; 18, rotating block; 19, positioning platform; 110, second camera; 111, connecting column; 112, plug block; 113, fixed groove; 114, annular groove; 115, slot; 116, fixed ring;

[0033] 2. Limit block; 21. Limit rod; 22. Bottom plate; 23. First hydraulic cylinder; 24. Positioning block; 25. Limit shaft; 26. Oil storage tank; 27. Nozzle; 28. Pressure pump; 29. ​​Sealing cover;

[0034] 3. The first motor; 31. The rotating plate; 32. The drill bit; 33. The positioning frame; 34. The collecting frame; 35. The inclined plate; 36. The second motor; 37. The auxiliary block; 38. The fixed shaft; 39. The transmission wheel; 310. The first strip steel; 311. The rotating shaft; 312. The auxiliary rod; 313. The second strip steel; 314. The connecting shaft; 315. The sliding block; 316. The piston rod; 317. The piston block; 318. The piston tube; 319. The first cavity; 320. The connecting hole; 321. The auxiliary plate; 322. The air inlet; 323. The connecting tube; 324. The positioning box; 325. The electric shaft; 326. The fixed tube; 327. The auxiliary column; 328. The spray hole; 329. The guide rail; 330. The guide groove; 331. The guide block; 332. The sealing plate; 333. The protective cover. DETAILED DESCRIPTION

[0035] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0036] Embodiment 1

[0037] like Figures 1 to 10 As shown, the obstacle clearing robot described in the embodiment of the present invention includes a base 1, a fixed platform 11 is fixedly connected to the upper surface of the base 1, a fixed block 12 is fixedly connected to the upper surface of the fixed platform 11, a first camera 13 is rotatably connected to one side of the fixed block 12, a connector 14 is fixedly connected to one side of the base 1, a rotating column 15 is rotatably connected to the other side of the base 1, a fixed frame 16 is fixedly connected to one side of the rotating column 15, a first slot 17 is provided in the fixed frame 16, a rotating block 18 is rotatably connected to the first slot 17, a positioning platform 19 is fixedly connected to one side of the rotating block 18, a second camera 110 is rotatably connected to one side of the positioning platform 19, a connecting column 111 is rotatably connected to the side of the positioning platform 19 close to the second camera 110, a drill bit 32 is clamped on one end of the connecting column 111 away from the second camera 110, and a switching component is provided on the side of the positioning platform 19 close to the second camera 110.

[0038] The switching assembly includes a first motor 3 fixedly connected to one side of the positioning platform 19, the output end of the first motor 3 is fixedly connected to a rotating plate 31, the rotating plate 31 is rotatably connected to a drill bit 32, one side of the rotating plate 31 is rotatably connected to a positioning frame 33, one end of the positioning frame 33 is fixedly connected to an inclined plate 35, and the inclined plate 35 is used to push up cement slag ash.

[0039] Specifically, in the process of using the existing obstacle-clearing robot, when the municipal pipeline system needs to be upgraded or expanded, some pipelines may need to be modified, such as expanding the diameter, changing the line or adding branches, etc. The obstacle-clearing robot can assist in rock drilling and drilling of the municipal pipeline. First, the obstacle-clearing robot is started, and then the rotating wheels of the obstacle-clearing robot will drive the drill bit 32 at the front end of the obstacle-clearing robot to abut against the cement wall of the municipal pipeline. When the drill bit 32 is started, the cement wall in the municipal pipeline network will be drilled and broken;

[0040] After drilling and crushing, the existing obstacle-clearing robot usually withdraws the obstacle-clearing robot, and then replaces the drill bit 32 at the output end of the obstacle-clearing robot with a slag-clearing device, and then lowers the obstacle-clearing robot to perform slag-clearing work. After the slag-clearing is completed, it is necessary to replace the drill bit 32 again, and the operation is repeated repeatedly to dredge the municipal pipeline. However, the replacement process is cumbersome and takes a lot of time. In addition, the wear of the main shaft of the obstacle-clearing robot is aggravated during the back-and-forth replacement, which not only causes the problem of low work efficiency, but also reduces the service life of the obstacle-clearing robot.

[0041] Therefore, the present invention solves this problem by setting a certain structure. During the use of the obstacle clearing robot, the first motor 3 is first started to drive the rotating plate 31 at its output end to align with the connecting column 111. After the drill bit 32 is aligned with the connecting column 111, the connecting column 111 is started, and the structure inside the connecting column 111 can be engaged with the drill bit 32. Then, the obstacle clearing robot is controlled to move to the corresponding position in the municipal pipeline to perform rock drilling. When the rock drilling work is completed, the connecting column 111 is separated from the drill bit 32, and the first motor 3 is started again to drive the rotating plate 31 to rotate. The rotation of the rotating plate 31 will drive the positioning frame 33 to rotate to align with the connecting column 111. After the drill bit 32 and the positioning frame 33 are switched, the positioning frame 33 can be used to clean the cement debris drilled by the drill bit 32, so as to open up a road for the obstacle clearing robot to continue moving, so as to facilitate the obstacle clearing robot to continue to perform rock drilling work, thereby achieving the effect of improving the working efficiency of the obstacle clearing robot.

[0042] The problem that a lot of time is needed for replacement in the existing obstacle removal process is solved, thereby solving the problem of low working efficiency of the obstacle removal robot.

[0043] like Figure 3As shown, in this embodiment, a plug block 112 is slidably connected to the side of the connecting column 111 close to the drill bit 32, a fixing groove 113 is provided at a position of the rotating plate 31 corresponding to the drill bit 32, an annular groove 114 is provided on the inner wall of the fixing groove 113, a fixing ring 116 is fixedly connected to the position of the drill bit 32 corresponding to the annular groove 114, and the drill bit 32 can rotate in the fixing groove 113 through the fixing ring 116, a slot 115 is provided on the side of the drill bit 32 close to the plug block 112, and both the plug block 112 and the slot 115 are cross-shaped.

[0044] Specifically, the connecting column 111 and the drill bit 32 are fixedly connected by matching the sliding block 112 on one side of the connecting column 111 with the slot 115 on the side of the drill bit 32. When the drill bit 32 is aligned with the connecting column 111, the built-in hydraulic cylinder in the connecting column 111 is started to drive the block 112 to be inserted into the slot 115 of the drill bit 32. Because both are cross-shaped, the stability of the connection is enhanced, and it is also convenient for accurate alignment and rapid installation and disassembly. When the block 112 is completely slid into the slot 115, the drill bit 32 is locked on the rotating plate 31. At this time, the fixing ring 116 on the drill bit 32 is nested in the annular groove 114 on the rotating plate 31, allowing the drill bit 32 to rotate freely around its axis when subjected to driving force, thereby realizing rock drilling operations and achieving the effect of improving work efficiency. The rapid docking and separation of the block 112 and the slot 115 greatly shortens the time for replacing the drill bit 32 and reduces the time for downtime waiting for replacement.

[0045] like Figure 5 As shown, a collecting frame 34 is fixedly connected to one side of the positioning frame 33 of the present embodiment, and the collecting frame 34 is connected to the positioning frame 33. A second motor 36 is fixedly connected to the upper surface of the collecting frame 34, and a fixed shaft 38 is fixedly connected to an output end of the second motor 36. A transmission wheel 39 is fixedly connected to one end of the fixed shaft 38. The transmission wheel 39 is transmission-connected to a first steel strip 310. An end of the first steel strip 310 away from the fixed shaft 38 is transmission-connected to a rotating shaft 311, and a plurality of auxiliary rods 312 are fixedly connected to the circumferential surface of the rotating shaft 311.

[0046] Specifically, in the process of using the positioning frame 33, a collecting frame 34 is fixedly connected to one side of the positioning frame 33. When the positioning frame 33 pushes the slag, an inclined plate 35 is fixedly connected to the position where the positioning frame 33 abuts the ground. Through the setting of the inclined plate 35, in the process of pushing the slag, when a certain amount of slag is accumulated on the inclined plate 35, the slag will accumulate on both sides, thereby clearing a road. In addition, because there are many debris in the municipal pipeline, there will be certain iron wires and cables entangled with each other, resulting in these iron wires gathering the slag during the slag cleaning process, affecting the movement of the slag to both sides. Therefore, by starting the second motor 36, the start of the second motor 36 will drive the fixed shaft 38 at its output end to rotate, and the rotation of the fixed shaft 38 can drive the transmission wheel 39 to rotate, and the transmission wheel 39 drives the rotating shaft 311 to rotate, thereby driving a plurality of auxiliary rods 312 on the circumferential surface of the rotating shaft 311 to rotate, and the rotation of the plurality of auxiliary rods 312 can hook out the cables and iron wires in the slag, thereby achieving a better slag cleaning effect.

[0047] like Figure 6 As shown, in this embodiment, the positioning frame 33 is fixedly connected to the position of the auxiliary rod 312 with an electric shaft 325, the circumferential surface of the electric shaft 325 is fixedly connected to a fixed tube 326, the circumferential surface of the fixed tube 326 is fixedly connected to a plurality of auxiliary columns 327, and the auxiliary columns 327 are used to remove the iron wire on the auxiliary rod 312.

[0048] Specifically, when the several auxiliary rods 312 on the rotating shaft 311 hook out the ropes and wires in the slag, in order to make the wires on the auxiliary rods 312 smoothly detach from the auxiliary rods 312, the electric shaft 325 in the positioning frame 33 is started and the electric shaft 325 is electrically controlled to rotate. The electric shaft 325 will drive the fixed tube 326 on its circumferential surface to rotate. The rotation of the fixed tube 326 can drive the several auxiliary columns 327 fixed to its circumferential surface to hook out the wires and cables on the auxiliary rods 312, and continuously clean the auxiliary rods 312 back and forth, thereby achieving the effect of improving the working efficiency of the auxiliary rods 312.

[0049] like Figure 8 As shown, guide rails 329 are fixedly connected to both sides of the inner wall of the collection frame 34 of this embodiment, and guide grooves 330 are opened on the sides where the two guide rails 329 are close to each other. Two guide blocks 331 are slidably connected in each guide groove 330, and several guide blocks 331 are fixedly connected to the same sealing plate 332, which is used to seal the collection frame 34.

[0050] Specifically, the smooth sliding control of the sealing plate 332 is achieved through the guide rails 329 and the guide grooves 330 fixed on both sides of the inner wall. When the slag cleaning is completed, the charged guide block 331 is started to drive the sealing plate 332 to slide along the guide groove 330, so that the sealing plate 332 can seal one side opening of the collection frame 34, thereby avoiding the leakage of the wires and cables collected in the collection frame 34, thereby achieving the effect of facilitating subsequent continuous use.

[0051] Embodiment 2

[0052] like Figures 2 to 10 As shown, compared with Example 1, another embodiment of the present invention is: a spray assembly is arranged above the positioning frame 33, and the spray assembly includes a piston rod 316 slidably arranged above the second motor 36, and a piston tube 318 fixedly connected to the lower surface of the positioning frame 33, one end of the piston rod 316 is fixedly connected to a piston block 317, and a positioning box 324 is arranged on the upper surface of the piston tube 318, and a plurality of spray holes 328 are opened on one side of the positioning box 324.

[0053] Specifically, the spray assembly configured on the positioning frame 33 drives the piston rod 316 to move up and down through the second motor 36, driving the piston block 317 to reciprocate in the piston tube 318, thereby generating a pressure difference. The spray hole 328 in the positioning box 324 fixed on the piston tube 318 can therefore evenly spray out mist-like water mist, achieve precise spraying, improve the uniformity and efficiency of the spray, and reduce the manual operation cost through mechanical automation. It can prevent excessive smoke and dust from being raised during the slag cleaning process, causing dust to accumulate in the bearings of the obstacle removal robot, thereby reducing the service life of the obstacle removal robot.

[0054] like Figure 6 As shown, the output end of the second motor 36 of this embodiment is transmission-connected with the second steel strip 313, two auxiliary blocks 37 are fixedly connected to the upper surface of the collecting frame 34, a connecting shaft 314 is rotatably connected between the two auxiliary blocks 37, a reciprocating thread is provided on the circumferential surface of the connecting shaft 314, a sliding block 315 is slidably connected on the circumferential surface of the connecting shaft 314, the sliding block 315 is fixedly connected to the piston rod 316, a first cavity 319 is provided in the piston tube 318, the piston block 317 can squeeze the air in the first cavity 319, a connecting hole 320 is provided on the upper surface of the piston tube 318, a connecting pipe 323 is fixedly connected to the upper surface of the connecting hole 320, and the piston tube 318 is fixedly connected to the positioning box 324 via the connecting pipe 323.

[0055] Specifically, the second motor 36 drives the connecting shaft 314 to rotate through the second strip steel 313. The reciprocating thread on the connecting shaft 314 enables the sliding block 315 to reciprocate thereon, and this movement drives the piston rod 316 to move back and forth in the piston tube 318, and the piston block 317 squeezes the air in the first cavity 319 to form a pressure difference. When the piston block 317 moves on one side of the connecting tube 323, the air in the first cavity 319 is compressed and pushed into the positioning box 324 through the connecting tube 323, and then evenly sprayed out from the spray hole 328 on the side of the positioning box 324 to form a mist-like water mist. This process realizes the automatic control of the spray, and also improves the uniformity and efficiency of the spray through mechanical transmission, thereby achieving the effect of protecting the working environment of the obstacle removal robot, preventing excessive smoke and dust from being raised during the slag removal process, causing dust to accumulate in the bearings of the obstacle removal robot, and reducing the service life of the obstacle removal robot.

[0056] like Figure 7 As shown, an air inlet 322 is opened at one end of the piston tube 318 of this embodiment, and an auxiliary plate 321 is rotatably connected to the piston tube 318 corresponding to the position of the air inlet 322 . The auxiliary plate 321 is used to introduce air into the piston tube 318 .

[0057] Specifically, an air inlet 322 is provided at one end of the piston tube 318 close to the connecting tube 323. When the piston rod 316 and the piston block 317 approach one end of the connecting tube 323, the piston rod 316 will squeeze the air in the first cavity 319. At the same time, the auxiliary plate 321 blocks the air inlet 322 through the built-in torsion spring, so that the air in the first cavity 319 will pass into the positioning box 324 along the connecting tube 323. When the piston rod 316 moves away from the connecting tube 323, the built-in blocking plate in the positioning box 324 will block the air inlet 322 of the connecting tube 323. At this time, due to the internal and external pressure difference, the auxiliary plate 321 is pushed open, thereby allowing air to pass into the first cavity 319, so that the pressure in the piston tube 318 can be balanced, and the piston movement can continue, thereby improving the working efficiency of the piston rod 316.

[0058] like Figure 3 As shown, in this embodiment, a limit block 2 is fixedly connected to one side of the base 1, and a limit rod 21 is rotatably connected to one side of the limit block 2. One end of the limit rod 21 is fixedly connected to a base plate 22, and a first hydraulic cylinder 23 is fixedly connected to one side of the base plate 22. A positioning block 24 is rotatably connected to the output end of the first hydraulic cylinder 23, and a limit shaft 25 is fixedly connected to the position of the positioning block 24 corresponding to the output end of the first hydraulic cylinder 23. An oil storage tank 26 is fixedly connected to the position of the base 1 corresponding to the limit shaft 25, and a pressure pump 28 is fixedly connected to the upper surface of the oil storage tank 26. Two nozzles 27 are fixedly connected to the lower surface of the oil storage tank 26, and a sealing cover 29 is threadedly connected to the upper surface of the oil storage tank 26.

[0059] Specifically, in the process of using the obstacle clearing robot, in order to improve the application scope of the obstacle clearing robot and make the angle adjustment of the obstacle clearing robot more extensive, the first hydraulic cylinder 23 is started to shrink the output end of the first hydraulic cylinder 23, so that the first hydraulic cylinder 23 drives the bottom plate 22 fixed at its bottom end, and the bottom plate 22 is rotatably connected to the limit block 2. Because the limit block 2 is fixed to the positioning platform 19, the positioning platform 19 can be driven to rotate during the rotation and lifting of the bottom plate 22, thereby adjusting the angle of the positioning platform 19 to achieve the effect of adjusting the angle of the drill bit 32.

[0060] like Figure 4 As shown, in this embodiment, a protective cover 333 is fixedly connected to the position of the positioning frame 33 corresponding to the second motor 36 , and the protective cover 333 is used to protect the first steel strip 310 and the second motor 36 .

[0061] Specifically, by setting a protective cover 333 at the position of the positioning frame 33 corresponding to the second motor 36, the protective cover 333 can protect the first strip steel 310 at the output end of the second motor 36, thereby reducing the impact of excessive dust on the movement of the first strip steel 310 and the bearing, and extending the service life of the positioning frame 33.

[0062] Working principle: When using the obstacle removal robot, first start the first motor 3 to drive the rotating plate 31 at its output end to align with the connecting column 111. After the drill bit 32 is aligned with the connecting column 111, start the connecting column 111, and the sliding plug 112 on one side of the connecting column 111 cooperates with the slot 115 on the side of the drill bit 32 to achieve the fixed connection between the connecting column 111 and the drill bit 32. When the drill bit 32 is aligned with the connecting column 111, start the built-in hydraulic cylinder in the connecting column 111 to drive the plug 112 to be inserted into the slot 115 of the drill bit 32. Because both use The cross shape enhances the stability of the connection and is also convenient for accurate alignment and quick installation and removal. When the insert block 112 completely slides into the slot 115, the drill bit 32 is locked on the rotating plate 31. At this time, the fixing ring 116 on the drill bit 32 is nested in the annular groove 114 on the rotating plate 31, allowing the drill bit 32 to rotate freely around its axis when driven, thereby achieving rock drilling operations and improving work efficiency. The quick docking and separation of the insert block 112 and the slot 115 greatly shortens the time for replacing the drill bit 32 and reduces the downtime waiting for replacement.

[0063] Then the obstacle clearing robot is controlled to move to the corresponding position in the municipal pipeline to perform rock drilling. When the rock drilling work is completed, the connecting column 111 is separated from the drill bit 32, and the first motor 3 is started again to drive the rotating plate 31 to rotate. The rotation of the rotating plate 31 will drive the positioning frame 33 to rotate to align with the connecting column 111. After the drill bit 32 and the positioning frame 33 are switched, the positioning frame 33 can be used to clean up the cement debris drilled by the drill bit 32. In the process of using the positioning frame 33, a collecting frame 34 is fixedly connected to one side of the positioning frame 33. When the positioning frame 33 is pushing the slag, the inclined plate 35 is fixedly connected to the position where the positioning frame 33 abuts against the ground. Through the setting of the inclined plate 35, in the process of pushing the slag, When a certain amount of slag is accumulated on the inclined plate 35, the slag will accumulate on both sides, thereby clearing a road. Because there are many debris in the municipal pipeline, there will be some iron wires and cables entangled with each other, resulting in these iron wires gathering the slag during the slag cleaning process, affecting the movement of the slag to both sides. Therefore, by starting the second motor 36, the start of the second motor 36 will drive the fixed shaft 38 at its output end to rotate, and the rotation of the fixed shaft 38 can drive the transmission wheel 39 to rotate, and the transmission wheel 39 drives the rotating shaft 311 to rotate, thereby driving the plurality of auxiliary rods 312 on the circumferential surface of the rotating shaft 311 to rotate, and the rotation of the plurality of auxiliary rods 312 can hook out the cables and iron wires in the slag, thereby achieving a better slag cleaning effect.

[0064] A road can be opened up for the obstacle removal robot to continue moving, which is convenient for the obstacle removal robot to continue drilling, thus achieving the effect of improving the working efficiency of the obstacle removal robot;

[0065] In addition, the guide rails 329 and guide grooves 330 fixed on both sides of the inner wall realize the smooth sliding control of the sealing plate 332. When the slag cleaning is completed, the charged guide block 331 is started to drive the sealing plate 332 to slide along the guide groove 330, so that the sealing plate 332 can seal the opening on one side of the collection frame 34, thereby preventing the iron wires and cables collected in the collection frame 34 from leaking out, achieving the effect of facilitating subsequent continuous use.

[0066] After the second motor 36 is started, the second motor 36 drives the connecting shaft 314 to rotate through the second strip steel 313. The reciprocating thread on the connecting shaft 314 enables the sliding block 315 to reciprocate thereon. This movement drives the piston rod 316 to reciprocate back and forth in the piston tube 318, and the piston block 317 squeezes the air in the first cavity 319 to form a pressure difference. When the piston block 317 moves on one side of the connecting tube 323, the air in the first cavity 319 is compressed and pushed into the positioning box 324 through the connecting tube 323, and then evenly sprayed out from the spray hole 328 on the side of the positioning box 324 to form a mist-like water mist. This process realizes the automatic control of the spray, and also improves the uniformity and efficiency of the spray through mechanical transmission, thereby achieving the effect of protecting the working environment of the obstacle removal robot, preventing excessive smoke and dust from being raised during the slag removal process, causing dust to accumulate in the bearings of the obstacle removal robot, and reducing the service life of the obstacle removal robot.

[0067] Finally, after continuously switching the drill bit 32 and the positioning frame 33 to work, the rock drilling and slag removal work of the municipal pipeline is completed.

[0068] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An obstacle-clearing robot, comprising a base (1), wherein a fixing platform (11) is fixedly connected to an upper surface of the base (1), a fixing block (12) is fixedly connected to an upper surface of the fixing platform (11), a first camera (13) is rotatably connected to one side of the fixing block (12), a connecting head (14) is fixedly connected to one side of the base (1), a rotating column (15) is rotatably connected to the other side of the base (1), a fixing frame (16) is fixedly connected to one side of the fixing frame (16), and the fixing frame (16) A first slot (17) is provided inside the first slot (17), a rotating block (18) is rotatably connected inside the first slot (17), a positioning platform (19) is fixedly connected to one side of the rotating block (18), a second camera (110) is rotatably connected to one side of the positioning platform (19), a connecting column (111) is rotatably connected to the side of the positioning platform (19) close to the second camera (110), and a drill bit (32) is clamped on one end of the connecting column (111) away from the second camera (110), characterized in that: A switching component is provided on a side of the positioning platform (19) close to the second camera (110), the switching component comprising a first motor (3) fixedly connected to one side of the positioning platform (19), a rotating plate (31) fixedly connected to an output end of the first motor (3), the rotating plate (31) being rotatably connected to a drill bit (32), a positioning frame (33) being rotatably connected to one side of the rotating plate (31), an inclined plate (35) fixedly connected to one end of the positioning frame (33), the inclined plate (35) being used to push up cement slag; An insert block (112) is slidably connected to a side of the connecting column (111) close to the drill bit (32); a fixing groove (113) is provided on the rotating plate (31) at a position corresponding to the drill bit (32); an annular groove (114) is provided on the inner wall of the fixing groove (113); a fixing ring (116) is fixedly connected to a position of the drill bit (32) corresponding to the annular groove (114); the drill bit (32) can be rotated in the fixing groove (113) via the fixing ring (116); a slot (115) is provided on a side of the drill bit (32) close to the insert block (112); and both the insert block (112) and the slot (115) are cross-shaped.

2. The obstacle-clearing robot according to claim 1, characterized in that: A collecting frame (34) is fixedly connected to one side of the positioning frame (33), and the collecting frame (34) is communicated with the positioning frame (33). A second motor (36) is fixedly connected to the upper surface of the collecting frame (34), and an output end of the second motor (36) is fixedly connected to a fixed shaft (38). One end of the fixed shaft (38) is fixedly connected to a transmission wheel (39), and the transmission wheel (39) is transmission-connected to a first steel strip (310). One end of the first steel strip (310) away from the fixed shaft (38) is transmission-connected to a rotating shaft (311), and a plurality of auxiliary rods (312) are fixedly connected to the circumferential surface of the rotating shaft (311).

3. The obstacle-clearing robot according to claim 2, characterized in that: An electric shaft (325) is fixedly connected to the position of the positioning frame (33) corresponding to the auxiliary rod (312); a fixing tube (326) is fixedly connected to the circumferential surface of the electric shaft (325); a plurality of auxiliary columns (327) are fixedly connected to the circumferential surface of the fixing tube (326); the auxiliary columns (327) are used to remove the iron wire on the auxiliary rod (312).

4. The obstacle-clearing robot according to claim 2, characterized in that: Guide rails (329) are fixedly connected to both sides of the inner wall of the collection frame (34); guide grooves (330) are provided on the sides of the two guide rails (329) close to each other; two guide blocks (331) are slidably connected in each guide groove (330); a plurality of the guide blocks (331) are fixedly connected to the same sealing plate (332); the sealing plate (332) is used to seal the collection frame (34).

5. The obstacle-clearing robot according to claim 2, characterized in that: A spray assembly is arranged above the positioning frame (33), and the spray assembly comprises a piston rod (316) slidably arranged above the second motor (36), and a piston tube (318) fixedly connected to the lower surface of the positioning frame (33), one end of the piston rod (316) is fixedly connected to a piston block (317), and a positioning box (324) is arranged on the upper surface of the piston tube (318), and a plurality of spray holes (328) are opened on one side of the positioning box (324).

6. The obstacle-clearing robot according to claim 5, characterized in that: The output end of the second motor (36) is drivingly connected to a second steel strip (313); two auxiliary blocks (37) are fixedly connected to the upper surface of the collecting frame (34); a connecting shaft (314) is rotatably connected between the two auxiliary blocks (37); a reciprocating thread is provided on the circumferential surface of the connecting shaft (314); a sliding block (315) is slidably connected to the circumferential surface of the connecting shaft (314); the sliding block (315) is fixedly connected to a piston rod (316); a first cavity (319) is provided in the piston tube (318); the piston block (317) can squeeze the air in the first cavity (319); a connecting hole (320) is provided on the upper surface of the piston tube (318); a connecting tube (323) is fixedly connected to the upper surface of the connecting hole (320); the piston tube (318) is fixedly connected to a positioning box (324) via the connecting tube (323).

7. The obstacle-clearing robot according to claim 6, characterized in that: An air inlet (322) is provided at one end of the piston tube (318), and an auxiliary plate (321) is rotatably connected to the piston tube (318) at a position corresponding to the air inlet (322), and the auxiliary plate (321) is used to introduce air into the piston tube (318).

8. The obstacle-clearing robot according to claim 1, characterized in that: A limit block (2) is fixedly connected to one side of the base (1), and a limit rod (21) is rotatably connected to one side of the limit block (2), and one end of the limit rod (21) is fixedly connected to a base plate (22). A first hydraulic cylinder (23) is fixedly connected to one side of the base plate (22), and an output end of the first hydraulic cylinder (23) is rotatably connected to a positioning block (24). A position of the positioning block (24) corresponding to the output end of the first hydraulic cylinder (23) is fixedly connected to a limit shaft (25), and an oil storage tank (26) is fixedly connected to a position of the base (1) corresponding to the limit shaft (25), a pressure pump (28) is fixedly connected to the upper surface of the oil storage tank (26), two nozzles (27) are fixedly connected to the lower surface of the oil storage tank (26), and a sealing cover (29) is threadedly connected to the upper surface of the oil storage tank (26).

9. The obstacle-clearing robot according to claim 2, characterized in that: A protective cover (333) is fixedly connected to the position of the positioning frame (33) corresponding to the second motor (36), and the protective cover (333) is used to protect the first steel strip (310) and the second motor (36).

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