Self-walking type pipeline dredging robot

Abstract

The invention belongs to the technical field of intelligent robots, and discloses a self-walking type pipeline desilting robot which comprises a walking mechanism and a desilting mechanism. The walking mechanism comprises a main frame, a sliding frame and a walking roller, the main frame comprises a first center column, a second center column and a third center column which are sequentially fixed, the sliding frame is slidably connected to the outer side of the second center column, the sliding direction of the sliding frame is tangent to the first center column, and the walking roller is in an ellipsoid shape; the middle portion of the walking roller is rotationally installed on the sliding frame, the outer side of the third center column is connected with a driving assembly used for driving the walking roller to rotate, and a rotating center shaft of the walking roller is parallel to the sliding direction of the sliding frame; and the dredging mechanism II comprises a driving shaft coaxially and rotatably installed on the main frame, N elastic telescopic rods are evenly fixed to the outer side of the driving shaft in a radial shape, a dredging tool is installed at the free end of each elastic telescopic rod, and therefore efficient dredging can be achieved in pipelines with different inner diameters.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a self-propelled pipeline desilting robot. Background Art

[0002] Pipeline is a common long-distance transport device for transporting gas, liquid or solid particles. Pipeline devices are widely used, mainly in the fields of farmland irrigation, energy transmission and water conservancy projects. However, in actual use, factors such as internal corrosion or waste accumulation in the pipeline will cause a significant reduction in the pipeline's transportation capacity and service life. Traditional pipeline cleaning mainly relies on manual work, and some pipelines are pre-buried underground, which greatly increases the difficulty of manual cleaning. Therefore, the use of robots to achieve automatic silt removal in pipelines has become the main direction of current research. Summary of the invention

[0003] In view of this, in order to solve the problems raised in the above background technology, an object of the present invention is to provide a self-propelled pipeline dredging robot.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A self-propelled pipeline desilting robot, comprising a walking mechanism and a desilting mechanism;

[0006] The walking mechanism I includes a main frame, a slide and a walking roller. The main frame includes a first central column, a second central column and a third central column which are fixed in sequence. The slide is slidably connected to the outer side of the second central column, and the sliding direction of the slide is tangent to the first central column. The walking roller is ellipsoidal, and the middle part of the walking roller is rotatably mounted on the slide. The outer side of the third central column is connected to a driving component for driving the walking roller to rotate, and the rotation center axis of the walking roller is parallel to the sliding direction of the slide.

[0007] The desilting mechanism II comprises a driving shaft coaxially mounted on the main frame, N elastic telescopic rods are evenly fixed radially on the outside of the driving shaft, and a desilting tool is mounted on the free end of each elastic telescopic rod.

[0008] Preferably, a transmission gear is rotatably mounted on the slide, and a tooth groove meshing with the transmission gear is provided on the travel roller.

[0009] Preferably, the driving assembly includes a swivel, a driving gear sleeve and a transmission gear shaft. The swivel is coaxially assembled on the outside of the third center column, and a plurality of bosses are fixed in a circular array at the axial end of the swivel. The driving gear sleeve is sleeved on the swivel, and a spiral guide groove that slides with the boss is opened in the driving gear sleeve. The driving gear sleeve, the transmission gear shaft and the transmission gear are meshed in sequence.

[0010] Preferably, a first support frame and a second support frame are fixed to the outer side of the third center column, a third support frame is fixed to the outer side of the second center column, and the swivel is rotatably installed on the first support frame, the driving gear sleeve is rotatably installed on the second support frame, and the transmission gear shaft is rotatably installed on the third support frame.

[0011] Preferably, the driving assembly further comprises a driving gear fixed on the driving shaft, a transmission gear is meshingly connected between the outer side of the driving gear and the inner side of the rotating ring, and the transmission gear is rotatably mounted on the first supporting frame.

[0012] Preferably, a plurality of the walking rollers are evenly arranged around the second center column, and a lead screw for driving the slide to slide is installed on the second center column.

[0013] Preferably, the lead screw and the slide are cooperated to form an angle α, 0°<α<90°, a sliding sleeve is screwed on the lead screw, a limiting rod is fixedly connected to the sliding sleeve, and a sliding groove that slidably cooperates with the limiting rod is provided on the slide, and the sliding direction of the limiting rod in the sliding groove is perpendicular to the sliding direction of the slide on the second center column.

[0014] Preferably, a worm is coaxially fixed to one end of the lead screw, an external rotating sleeve of the first center column is provided with a turbine sleeve, and a plurality of worms are tangentially meshed with the outer side of the turbine sleeve.

[0015] Preferably, the dredging tool comprises a tool holder fixedly connected to the elastic telescopic rod and a scraper slidably connected to the tool holder.

[0016] Preferably, a guide groove is provided on one side of the knife seat, a threaded rod is rotatably installed in the guide groove, and the central axis of the threaded rod is parallel to the central axis of the main frame, a sliding seat is screwed on the threaded rod, and the sliding seat is fixedly connected to the scraper.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The self-propelled pipeline desilting robot of the present invention is provided with an ellipsoidal walking roller that can move on the radial cross-section of the pipeline. The movement of the walking roller is specifically utilized to change the contact position between the inner wall of the pipeline and the arc surface of the walking roller, thereby making the overall robot flexibly applicable to pipelines with different inner diameters.

[0019] (2) The driving gear, transmission gear, swivel, driving gear sleeve and transmission gear shaft are used to realize the linkage between the driving shaft and the walking roller, so that the whole robot can realize automatic walking and rotating dredging under the drive of a motor.

[0020] (3) The second center column, slide, lead screw, worm and turbine sleeve are used to realize the synchronous movement of multiple walking rollers, and the mutual interference between the moving drive structure and the self-rotation drive structure of the walking roller is effectively avoided, thereby improving the rationality of the overall robot structure assembly.

[0021] (4) The scraper of the dredging tool is able to contact the inner wall of the pipe by using an elastic telescopic rod, and the scraper can be effectively driven to move and adjust along the axial direction of the pipe by using the cooperation of the threaded rod and the sliding seat, so that multiple scrapers can be displaced in the axial direction, thereby changing the spiral forward path of each scraper, thereby facilitating multiple scraping of dirt on the inner wall of the pipe and improving the dredging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 It is an exploded view of the walking mechanism in the present invention;

[0024] Figure 3 for Figure 2 A in the enlarged view;

[0025] Figure 4 It is a structural schematic diagram of the silt removal mechanism in the present invention;

[0026] Figure 5 It is an exploded view of the structure of the main frame, drive shaft, drive gear and turbine sleeve in the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the cooperation between the slide, the lead screw and the turbine sleeve in the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the screw and the worm gear in the present invention;

[0029] Figure 8 It is a cross-sectional view of the cooperation between the carriage and the travel roller in the present invention;

[0030] Fig. 9 It is a cross-sectional view of the cooperation between the walking roller, the driving gear sleeve, the transmission gear shaft and the transmission gear in the present invention;

[0031] Fig.10 is a cross-sectional view of the dredging tool of the present invention;

[0032] Fig.11 for Fig.10 The enlarged view of point B in the figure;

[0033] Fig.12 This is a schematic diagram of the use of the self-propelled pipeline desilting robot of the present invention;

[0034] Fig.13This is a schematic diagram of the changes of the self-propelled pipeline desilting robot of the present invention;

[0035] In the figure: walking mechanism-Ⅰ; dredging mechanism-Ⅱ;

[0036] Main frame-1; first central column-101; second central column-102; third central column-103; slide-2; walking roller-3; driving shaft-4; elastic telescopic rod-5; dredging tool-6; tool holder-601; scraper-602; threaded rod-603; slide-604; swivel-7; boss-701; driving gear sleeve-8; spiral guide groove-801; transmission gear shaft-9; transmission gear-10; driving gear-11; transmission gear-12; screw-13; sleeve-14; limit rod-15; worm-16; turbine sleeve-17. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] like Figure 1 As shown, the self-propelled pipeline desilting robot provided by the present invention mainly includes a walking mechanism I and a desilting mechanism II, and the self-propelled pipeline desilting robot works according to Fig.12 The state shown is contained within the pipe.

[0039] About the walking mechanism Ⅰ:

[0040] like Figure 2 As shown, the walking mechanism I includes a main frame 1, a slide 2 and walking rollers 3.

[0041] like Figure 5 As shown, the main frame 1 includes a first central column 101, a second central column 102 and a third central column 103 fixed in sequence, wherein: the first central column 101 and the third central column 103 are preferably cylinders, and the second central column 102 is preferably a quadrangular prism.

[0042] Combination Figure 2 and Figure 6 It can be known that the slide 2 is slidably connected to the outer side of the second center column 102 , and the sliding direction of the slide 2 is tangent to the first center column 101 .

[0043] Combination Figure 2 and Figure 8It can be seen that the walking roller 3 is ellipsoidal, and the middle part of the walking roller 3 is rotatably mounted on the slide 2 (as shown in the figure, an inner groove is formed in the middle part of the walking roller 3, and the slide 2 is embedded in the inner groove, so as to ensure that the robot contacts the inner wall of the pipe through the surface wall of the walking roller 3 during dredging work).

[0044] In addition, a driving assembly for driving the walking roller 3 to rotate is connected to the outer side of the third center column 103 , and the rotation center axis of the walking roller 3 is parallel to the sliding direction of the slide 2 .

[0045] About Dredging Organization II:

[0046] like Figure 4 As shown, the dredging mechanism II includes a driving shaft 4 coaxially rotatably mounted on the main frame 1, N elastic telescopic rods 5 are evenly and radially fixed on the outer side of the driving shaft 4, and a dredging tool 6 is installed at the free end of each elastic telescopic rod 5.

[0047] In summary, the working principle of the self-propelled pipeline dredging robot is:

[0048] After the robot enters the pipeline, Fig.13 The principle shown in the figure uses the movement of the carriage 2 to change the relative contact position between the walking roller 3 and the inner wall of the pipe, thereby facilitating the robot to enter the pipe and adapting to pipes with different inner diameters (such as Fig.13 The desilting cutter 6 is also pressed against the inner wall of the pipe under the restriction of the elastic telescopic rod 5 (the elastic telescopic rod 5 adopts the prior art, specifically including the outer tube, spring and inner rod shown in the figure).

[0049] After the outer wall of the walking roller 3 is pressed against the inner wall of the pipeline, the driving assembly is used to drive the walking roller 3 to rotate, thereby realizing the automatic walking of the entire robot, and the dredging tool 6 is used to scrape off the dirt attached to the inner wall of the pipeline during the walking process. Specifically, a motor for driving the driving shaft 4 to rotate can be installed on the first central column 101, thereby enabling N dredging tools 6 to comprehensively clean the inner wall of the pipeline according to the spiral advancing path.

[0050] In a preferred embodiment of the present invention, the moving structure of the carriage 2 and the walking roller 3 is as follows: Figure 6As shown: a lead screw 13 for driving the slide 2 to slide is installed on the second center column 102, and the lead screw 13 cooperates with the slide 2 to form an angle α, 0°<α<90°, and a sleeve 14 is screwed on the lead screw 13, and a limit rod 15 is fixedly connected to the sleeve 14, and a slide groove for sliding cooperation with the limit rod 15 is provided on the slide 2, and the sliding direction of the limit rod 15 in the slide groove is perpendicular to the sliding direction of the slide 2 on the second center column 102, so that when the lead screw 13 rotates, the sleeve 14 and the limit rod 15 can be driven to move, and the cooperation between the limit rod 15 and the slide groove can drive the slide 2 to move, thereby driving the walking roller 3 to move. In the figure, four walking rollers 3 are evenly arranged around the second center column 102, and four corresponding lead screws 13 are also arranged. As shown Figure 7 As shown, a worm 16 is coaxially fixed at one end of each of the lead screws 13, a turbine sleeve 17 is provided on the external rotating sleeve of the first center column 101, and the four worms 16 are tangentially engaged with the outer side of the turbine sleeve 17. Based on this, by taking one of the lead screws 13 as the active drive (connected to the motor), the synchronous movement of the four lead screws 13 and the four walking rollers 3 can be achieved.

[0051] In another preferred embodiment of the present invention, regarding the driving assembly for realizing the self-rotation of the walking roller 3:

[0052] like Figure 2 and Fig. 9 As shown, the driving assembly includes a swivel 7, a driving gear sleeve 8 and a transmission gear shaft 9, a first support frame and a second support frame are fixed to the outer side of the third center column 103, a third support frame is fixed to the outer side of the second center column 102, and the swivel 7 is rotatably mounted on the first support frame, the driving gear sleeve 8 is rotatably mounted on the second support frame, and the transmission gear shaft 9 is rotatably mounted on the third support frame.

[0053] Based on the above structure, the rotating ring 7 is coaxially assembled on the outside of the third center column 103, and as shown in FIG. Figure 3 As shown, a plurality of bosses 701 are fixed in a circular array at the axial end of the rotating ring 7 , the driving gear sleeve 8 is sleeved on the rotating ring 7 , and a spiral guide groove 801 is provided in the driving gear sleeve 8 for sliding cooperation with the bosses 701 .

[0054] In addition, a transmission gear 10 is rotatably mounted on the slide 2, and the driving gear sleeve 8 and the transmission gear shaft 9 are meshed with the transmission gear 10 in sequence, and a tooth groove meshing with the transmission gear 10 is provided on the walking roller 3 (the tooth groove is arranged in the inner groove in the middle part of the walking roller 3).

[0055] As described above, when the rotating ring 7 rotates around the third center column 103, the multiple protrusions 701 on the third center column 103 pass through the spiral guide groove 801 inside the driving gear sleeve 8, thereby driving the four driving gear sleeves 8 shown in the figure of the present invention to rotate synchronously, and the four driving gear sleeves 8 respectively drive the transmission gear shafts 9 and the transmission gear 10 meshing therewith to rotate, thereby realizing the synchronous rotation of the four walking rollers 3. Among them, the axial length of the transmission gear shaft 9 is greater than the axial length of the transmission gear 10, so that the transmission gear shaft 9 is used to perform the meshing transition between the driving gear sleeve 8 and the transmission gear 10, which can effectively ensure that the movement of the walking roller 3 and the self-rotation of the walking roller 3 will not interfere with each other.

[0056] In a further embodiment of the present invention, the driving assembly further comprises a driving gear 11 fixed on the driving shaft 4, a transmission gear 12 is meshedly connected between the outer side of the driving gear 11 and the inner side of the rotating ring 7, and the transmission gear 12 is rotatably mounted on the first support frame. Thus, when the driving shaft 4 rotates, the driving gear 11 can be driven to rotate, and the rotating ring 7 can be driven to rotate synchronously by the meshing of the driving gear 11 and the transmission gear 12, that is, a motor is used to synchronously drive the walking roller 3 and the dredging mechanism II, and the automatic walking and rotating dredging of the overall dredging robot are realized in linkage.

[0057] In a preferred embodiment of the present invention, Fig.10 and Fig.11 As shown, the dredging tool 6 includes a knife seat 601 fixedly connected to the elastic telescopic rod 5 and a scraper 602 slidably connected to the knife seat 601. A guide groove is provided on one side of the knife seat 601. A threaded rod 603 is rotatably installed in the guide groove, and the central axis of the threaded rod 603 is parallel to the central axis of the main frame 1. A slide seat 604 is screwed on the threaded rod 603, and the slide seat 604 is fixedly connected to the scraper 602. Based on this, the relative position of the knife seat 601 and the scraper 602 can be changed under the rotation adjustment of the threaded rod 603. There are six dredging tools 6 in total in the figure. By rotating the threaded rod 603, any one or more scrapers 602 are driven to move respectively, so that the six scrapers 602 can be dislocated in the axial direction, thereby changing the spiral forward route of each scraper 602, thereby facilitating the multiple scraping of dirt on the inner wall of the pipeline and improving the dredging effect.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Self-propelled pipeline desilting robot, characterized by: It includes a traveling mechanism (Ⅰ) and a dredging mechanism (Ⅱ); The walking mechanism (I) comprises a main frame (1), a slide (2) and a walking roller (3); the main frame (1) comprises a first central column (101), a second central column (102) and a third central column (103) which are fixed in sequence; the slide (2) is slidably connected to the outer side of the second central column (102), and the sliding direction of the slide (2) is tangent to the first central column (101); the walking roller (3) is ellipsoidal, and the middle part of the walking roller (3) is rotatably mounted on the slide (2); the outer side of the third central column (103) is connected to a driving component for driving the walking roller (3) to rotate, and the rotation center axis of the walking roller (3) is parallel to the sliding direction of the slide (2); The dredging mechanism (II) comprises a driving shaft (4) coaxially rotatably mounted on the main frame (1), N elastic telescopic rods (5) are evenly and radially fixed on the outer side of the driving shaft (4), and a dredging tool (6) is installed at the free end of each elastic telescopic rod (5).

2. The self-propelled pipeline desilting robot according to claim 1, characterized in that: A transmission gear (10) is rotatably mounted on the slide (2), and a tooth groove meshing with the transmission gear (10) is provided on the walking roller (3).

3. The self-propelled pipeline desilting robot according to claim 2, characterized in that: The driving assembly comprises a rotating ring (7), a driving gear sleeve (8) and a transmission gear shaft (9); the rotating ring (7) is coaxially assembled on the outside of the third center column (103), and a plurality of protrusions (701) are fixed in a circular array at the axial end of the rotating ring (7); the driving gear sleeve (8) is sleeved on the rotating ring (7), and a spiral guide groove (801) is provided in the driving gear sleeve (8) for sliding cooperation with the protrusion (701); the driving gear sleeve (8), the transmission gear shaft (9) and the transmission gear (10) are meshed in sequence.

4. The self-propelled pipeline desilting robot according to claim 3, characterized in that: A first support frame and a second support frame are fixed to the outer side of the third center column (103), a third support frame is fixed to the outer side of the second center column (102), and a swivel (7) is rotatably mounted on the first support frame, a drive gear sleeve (8) is rotatably mounted on the second support frame, and a transmission gear shaft (9) is rotatably mounted on the third support frame.

5. The self-propelled pipeline desilting robot according to claim 4, characterized in that: The driving assembly further comprises a driving gear (11) fixed on the driving shaft (4); a transmission gear (12) is meshedly connected between the outer side of the driving gear (11) and the inner side of the rotating ring (7); and the transmission gear (12) is rotatably mounted on the first support frame.

6. The self-propelled pipeline desilting robot according to claim 5, characterized in that: A plurality of the walking rollers (3) are evenly arranged around the second central column (102), and a lead screw (13) for driving the slide frame (2) to slide is installed on the second central column (102).

7. The self-propelled pipeline desilting robot according to claim 6, characterized in that: The lead screw (13) and the slide (2) cooperate to form an angle α, 0°<α<90°, a sliding sleeve (14) is screwed on the lead screw (13), a limiting rod (15) is fixedly connected to the sliding sleeve (14), and a sliding groove that slidably cooperates with the limiting rod (15) is provided on the slide (2), and the sliding direction of the limiting rod (15) in the sliding groove is perpendicular to the sliding direction of the slide (2) on the second center column (102).

8. The self-propelled pipeline desilting robot according to claim 7, characterized in that: A worm (16) is coaxially fixed to one end of the lead screw (13), and an outer rotating sleeve of the first central column (101) is provided with a turbine sleeve (17), and a plurality of worms (16) are tangentially meshed with the outer side of the turbine sleeve (17).

9. The self-propelled pipeline desilting robot according to claim 1, characterized in that: The dredging tool (6) comprises a tool holder (601) fixedly connected to the elastic telescopic rod (5) and a scraper (602) slidably connected to the tool holder (601).

10. The self-propelled pipeline desilting robot according to claim 9, characterized in that: A guide groove is provided on one side of the knife seat (601), a threaded rod (603) is rotatably installed in the guide groove, and the central axis of the threaded rod (603) is parallel to the central axis of the main frame (1), a sliding seat (604) is screwed onto the threaded rod (603), and the sliding seat (604) is fixedly connected to the scraper (602).

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