Crawler-type pipe duct desilting robot

Abstract

The invention provides a crawler-type pipe duct desilting robot, and belongs to the technical field of pipe duct desilting robots, the crawler-type pipe duct desilting robot comprises a vehicle body, a pair of crawler mechanisms, a pair of expansion and contraction mechanisms and a lifting mechanism, the pair of crawler mechanisms is connected to the two sides of the vehicle body through the pair of expansion and contraction mechanisms; the unfolding and retracting mechanism can drive the crawler belt mechanism to outwards expand or inwards retract in the width direction of the vehicle body; the lifting mechanism is arranged at the bottom of the vehicle body, can extend outwards in the height direction of the vehicle body and make contact with the bottom wall of the pipe channel so that the crawler mechanisms can be disengaged from the bottom wall of the pipe channel, and can retract in the height direction of the vehicle body and make contact with the bottom wall of the pipe channel. The width of the robot can be reduced in the well descending process, an inspection well cover plate does not need to be dismantled, normal operation of a pipe duct is not affected, and the crawler belt mechanism can be unfolded to adapt to operation environments of different sizes after the robot enters the operation pipe duct.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipe and canal desilting robots, and more specifically, relates to a tracked pipe and canal desilting robot. Background Art

[0002] After long-term use, silt will accumulate in the drainage pipes and need to be cleaned in time to ensure smooth drainage. Currently, there are three commonly used dredging methods: jet dredging, manual dredging, and mechanical cleaning, all of which have certain disadvantages. Jet dredging is suitable for small pipes, manual dredging is a limited space operation with greater risks, and mechanical cleaning equipment is large in size and needs to occupy the road for operation.

[0003] In the prior art, drainage pipe desilting robots are usually used to reduce hidden dangers of working in limited spaces, reduce the workload of personnel, and improve the water flow capacity of pipes and canals. However, traditional drainage pipe desilting robots cannot adjust their own size, and the manhole cover needs to be removed when the robot is placed in the working pipe, which affects the normal operation of the pipe. Summary of the invention

[0004] The purpose of the present invention is to provide a tracked canal desilting robot to solve the problem that the existing robots cannot adjust their own size.

[0005] In order to achieve the above object, the present invention provides a crawler-type canal dredging robot, comprising:

[0006] Vehicle body;

[0007] A pair of crawler mechanisms,

[0008] A pair of unfolding and retracting mechanisms, wherein the pair of crawler mechanisms are connected to both sides of the vehicle body through the pair of unfolding and retracting mechanisms, and the unfolding and retracting mechanisms can drive the crawler mechanisms to extend outward or retract inward in the width direction of the vehicle body;

[0009] A lifting mechanism is arranged at the bottom of the vehicle body, the lifting mechanism can be extended outward in the height direction of the vehicle body and contact the bottom wall of the channel so that the pair of crawler mechanisms can be separated from the bottom wall of the channel, and the lifting mechanism can be retracted in the height direction of the vehicle body and separated from the bottom wall of the channel so that the pair of crawler mechanisms can contact the bottom wall of the channel.

[0010] Optionally, the expansion and contraction mechanism comprises:

[0011] A front swing arm, one end of which is rotatably connected to the front part of the side of the vehicle body, and the other end of which is rotatably connected to the front part of the crawler mechanism, and the front swing arm can swing in a horizontal plane;

[0012] A rear swing arm, one end of which is rotatably connected to the rear portion of the vehicle body side, and the other end of which is rotatably connected to the rear portion of the crawler mechanism, and the rear swing arm can swing in a horizontal plane;

[0013] A first driving mechanism is installed on the vehicle body and is transmission-connected to the front swing arm or the rear swing arm.

[0014] Optionally, the lifting mechanism comprises:

[0015] A chassis, the chassis being fixedly connected to the bottom of the vehicle body;

[0016] Four legs, the four legs are respectively arranged at the left front part, the left rear part, the right front part and the right rear part of the chassis, one end of the leg is rotatably connected to the chassis, and the other end of the leg is used to contact the bottom wall of the pipe channel;

[0017] A pair of leg connecting rods, wherein the pair of leg connecting rods are respectively arranged on both sides of the chassis, and the two ends of the leg connecting rods are respectively rotatably connected to the middle parts of the two legs on the same side, and the four legs can swing in a vertical plane along the length direction of the vehicle body;

[0018] A second driving mechanism, the second driving mechanism is fixedly mounted on the bottom of the chassis;

[0019] A lead screw is arranged along the length direction of the vehicle body, one end of which is transmission-connected to the second driving mechanism.

[0020] A lead screw nut, the lead screw nut is slidably disposed at the bottom of the chassis and is threadedly connected to the other end of the lead screw;

[0021] A thrust rod, one end of which is rotatably connected to the lead screw nut, and the other end of which is rotatably connected to a pair of leg connecting rods, and the thrust rod can swing in a vertical plane along the length direction of the vehicle body.

[0022] Optionally, the vehicle body further comprises:

[0023] A bottom bracket, the bottom bracket is fixedly mounted on the top of the vehicle body, and the bottom bracket is a concave structure that gradually shrinks from top to bottom;

[0024] A truck bucket, the bottom of which is an outward convex structure matching the shape of the base, and the truck bucket is detachably arranged on the base;

[0025] A bucket is arranged at the front part of the vehicle body, the bucket has a toothed front end, and the bucket can be lifted and lowered.

[0026] Optionally, the first driving mechanism comprises:

[0027] A first motor, wherein the first motor is fixedly disposed on the vehicle body;

[0028] A reducer, wherein the first motor is connected to the front swing arm or the rear swing arm through the reducer

[0029] Optionally, the front swing arm, the rear swing arm, the side of the vehicle body and the track mechanism on the same side form a parallelogram.

[0030] Optionally, the thrust rod is triangular in shape, a first angle of the thrust rod is rotationally connected to the lead screw nut, and a second angle and a third angle of the thrust rod are rotationally connected to a pair of leg connecting rods, respectively.

[0031] Optionally, the two legs on the same side, the leg connecting rod and the side edges of the chassis form a parallelogram.

[0032] Optionally, the lead screw nut is slidably connected to the chassis via a slider and a guide rail.

[0033] Optionally, the second driving mechanism comprises:

[0034] A second motor, the second motor is fixedly mounted on the bottom of the chassis;

[0035] A coupling, wherein the second motor is connected to the lead screw via the coupling.

[0036] The beneficial effects of the present invention are: providing a crawler-type pipeline desilting robot, including a vehicle body, a pair of crawler mechanisms, a pair of unfolding and retracting mechanisms and a lifting mechanism, wherein the pair of crawler mechanisms are connected to both sides of the vehicle body through a pair of unfolding and retracting mechanisms, and the unfolding and retracting mechanisms can drive the crawler mechanisms to extend or retract in the width direction of the vehicle body; the lifting mechanism is arranged at the bottom of the vehicle body, and the lifting mechanism can extend in the height direction of the vehicle body and contact the bottom wall of the pipeline to make the pair of crawler mechanisms detach from the bottom wall of the pipeline, and the lifting mechanism can be recovered in the height direction of the vehicle body and detach from the bottom wall of the pipeline to make the pair of crawler mechanisms contact the bottom wall of the pipeline. The robot can reduce its own width during the process of going down the well, does not need to remove the inspection well cover, does not affect the normal operation of the pipeline, and can unfold the crawler mechanism after entering the working pipeline to adapt to working environments of different sizes.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0039] Figure 1 A schematic structural diagram of a crawler-type canal desilting robot according to an embodiment of the present invention is shown.

[0040] Figure 2 A schematic structural diagram of a lifting mechanism according to an embodiment of the present invention is shown.

[0041] Figure 3 A schematic structural diagram of a crawler-type pipe desilting robot in a raised state according to an embodiment of the present invention is shown.

[0042] Figure 4 A schematic structural diagram of a crawler-type pipe channel desilting robot in a state where the base and bucket are separated according to an embodiment of the present invention is shown.

[0043] Description of reference numerals:

[0044] 1. Car body; 2. Track mechanism; 3. Track; 4. Track drive; 5. Front swing arm; 6. Rear swing arm; 7. Chassis; 8. Outrigger; 9. Outrigger connecting rod; 10. Screw; 11. Screw nut; 12. Thrust rod; 13. Slider; 14. Guide rail; 15. Bottom support; 16. Cargo bucket; 17. Bucket; 18. First motor; 19. Reducer; 20. Second motor; 21. Coupling; 22. Fixed bracket. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0046] like Figure 1-3 As shown, this embodiment provides a crawler-type pipeline dredging robot, comprising:

[0047] Car body 1;

[0048] A pair of crawler mechanisms 2,

[0049] A pair of unfolding and retracting mechanisms, a pair of crawler mechanisms 2 are connected to both sides of the vehicle body 1 through a pair of unfolding and retracting mechanisms, and the unfolding and retracting mechanisms can drive the crawler mechanisms 2 to extend outward or retract inward in the width direction of the vehicle body 1;

[0050] The lifting mechanism is arranged at the bottom of the vehicle body 1. The lifting mechanism can be extended outward in the height direction of the vehicle body 1 and contact the bottom wall of the pipeline to make a pair of crawler mechanisms 2 separate from the bottom wall of the pipeline. The lifting mechanism can be retracted in the height direction of the vehicle body 1 and separate from the bottom wall of the pipeline to make a pair of crawler mechanisms 2 contact the bottom wall of the pipeline.

[0051] Specifically, when the crawler-type pipeline desilting robot goes down the well, the pair of crawler mechanisms 2 are retracted inwards by the unfolding and retracting mechanism to reduce the width of the robot; after going down the well, the robot is first raised by the lifting mechanism to make the crawler mechanism 2 separate from the bottom wall of the pipeline, and then the pair of crawler mechanisms 2 are unfolded outwards by the unfolding and retracting mechanism, and finally the robot is lowered by the lifting mechanism to make the crawler mechanism 2 contact the bottom wall of the pipeline to carry out the desilting operation. The crawler-type pipeline desilting robot can reduce its own width during the process of going down the well, does not need to remove the inspection well cover, does not affect the normal operation of the pipeline, and can unfold the crawler mechanism after entering the working pipeline to adapt to working environments of different sizes.

[0052] In this embodiment, the crawler mechanism 2 adopts the existing technical structure, including a crawler 3 and a crawler drive 4. The crawler mechanism 2 can drive the vehicle body 1 to move.

[0053] Optionally, the expansion and contraction mechanism includes:

[0054] A front swing arm 5, one end of which is rotatably connected to the front portion of the side of the vehicle body 1, and the other end of which is rotatably connected to the front portion of the crawler mechanism 2, so that the front swing arm 5 can swing in a horizontal plane;

[0055] A rear swing arm 6, one end of which is rotatably connected to the rear portion of the side of the vehicle body 1, and the other end of which is rotatably connected to the rear portion of the crawler mechanism 2, so that the rear swing arm 6 can swing in a horizontal plane;

[0056] The first driving mechanism is installed on the vehicle body 1 and is transmission-connected to the front swing arm 5 or the rear swing arm 6 .

[0057] In this embodiment, the front swing arm 5 and the rear swing arm 6 are rotatably connected to the vehicle body 1 and the crawler mechanism 2 through a plurality of pins. The first driving mechanism can drive the front swing arm 5 to swing in the horizontal plane. The front swing arm 5 is a power swing arm, and the rear swing arm 6 is a driven swing arm. The front swing arm 5, the rear swing arm 6, the side of the vehicle body 1 and the crawler mechanism 2 on the same side form a parallelogram. When the front swing arm 5 swings, the parallelogram is deformed, so that the distance between the crawler mechanism 2 and the vehicle body 1 changes, and the width of the robot changes.

[0058] Optionally, the lifting mechanism comprises:

[0059] A chassis 7, the chassis 7 is fixedly connected to the bottom of the vehicle body 1;

[0060] Four legs 8, which are respectively arranged at the left front part, the left rear part, the right front part and the right rear part of the chassis 7, one end of the leg 8 is rotatably connected to the chassis 7, and the other end of the leg 8 is used to contact the bottom wall of the pipe channel;

[0061] A pair of outrigger connecting rods 9, the pair of outrigger connecting rods 9 are respectively arranged on both sides of the chassis 7, the two ends of the outrigger connecting rods 9 are respectively rotatably connected to the middle parts of the two outriggers 8 on the same side, and the four outriggers 8 can all swing in a vertical plane along the length direction of the vehicle body 1;

[0062] A second driving mechanism, the second driving mechanism is fixedly mounted on the bottom of the chassis 7;

[0063] The lead screw 10 is arranged along the length direction of the vehicle body 1, and one end of the lead screw 10 is transmission-connected to the second driving mechanism.

[0064] A lead screw nut 11, which is slidably disposed at the bottom of the chassis 7 and is threadedly connected to the other end of the lead screw 10;

[0065] A thrust rod 12, one end of which is rotatably connected to the lead screw nut 11, and the other end of which is rotatably connected to a pair of leg connecting rods 9, and the thrust rod 12 can swing in a vertical plane along the length direction of the vehicle body 1.

[0066] In this embodiment, the two legs 8 on the same side, the leg connecting rod 9 and the side of the chassis 7 form a parallelogram. The lead screw nut 11 is slidably connected to the chassis 7 through a slider 13 and a guide rail 14. The lead screw nut 11 is connected to the fixed bracket 22 by bolts, the fixed bracket 22 is connected to the slider 13 by bolts, the guide rail 14 is fixed to the lower surface of the chassis 7 by bolts, the guide rail 14 is arranged in the same direction as the lead screw 10, and the slider 13 slides with the guide rail 14 to guide and bear the weight of the chassis 7; the second driving mechanism drives the lead screw 10 to rotate, and the rotation of the lead screw 10 pushes the lead screw nut 11, the fixed bracket 22 and the slider 13 to move along the guide rail 14; the fixed bracket 22 is connected to the thrust rod 12 by a pin shaft, and the thrust rod 12 is also connected to the support leg 8 by a pin shaft; the movement of the fixed bracket 22 pushes the thrust rod 12 to move, thereby driving the support leg 8 to rotate around the axis; the two support legs 8 on the same side achieve synchronous movement through the support leg connecting rod 9; the support leg 8 opens and contacts the bottom wall of the canal to contact and support the vehicle body 1 to rise, so that the crawler mechanism 2 is separated from the bottom wall of the canal.

[0067] Optionally, the vehicle body 1 further includes:

[0068] Base 15, such as Figure 4 As shown, the bottom bracket 15 is fixedly installed on the top of the vehicle body 1, and the bottom bracket 15 is a concave structure that gradually shrinks from top to bottom;

[0069] Cargo box 16, such as Figure 4 As shown, the bottom of the bucket 16 is an outward convex structure matching the shape of the base 15, and the bucket 16 can be detachably arranged on the base 15;

[0070] The bucket 17 is disposed at the front of the vehicle body 1 . The bucket 17 has a toothed front end and can be lifted and lowered.

[0071] Specifically, the toothed front end of the bucket 17 can crush the sludge, scoop it up and throw it into the rear bucket 16. After the bucket 16 is full of sludge, it returns to the inspection well mouth. The staff lifts the bucket 16 from the well, unloads the sludge, and then puts it down to continue working.

[0072] In this embodiment, the first driving mechanism includes:

[0073] A first motor 18, the first motor 18 is fixedly disposed on the vehicle body 1;

[0074] The first motor 18 is connected to the front swing arm 5 or the rear swing arm 6 through the reducer 19.

[0075] In this embodiment, the thrust rod 12 is triangular in shape, a first corner of the thrust rod 12 is rotatably connected to the lead screw nut 11 , and a second corner and a third corner of the thrust rod 12 are rotatably connected to a pair of leg connecting rods 9 , respectively.

[0076] Specifically, the triangular structure can prevent the leg connecting rods 9 on both sides from being deflected by force and avoid asynchronous movements on both sides.

[0077] In this embodiment, the second driving mechanism includes:

[0078] A second motor 20, the second motor 20 is fixedly mounted on the bottom of the chassis 7;

[0079] The second motor 20 is connected to the lead screw 10 via the coupling 21 .

[0080] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A crawler-type canal dredging robot, characterized in that: include: Vehicle body (1); A pair of crawler mechanisms (2), A pair of unfolding and retracting mechanisms, wherein the pair of crawler mechanisms (2) are connected to both sides of the vehicle body (1) via the pair of unfolding and retracting mechanisms, and the unfolding and retracting mechanisms can drive the crawler mechanisms (2) to extend outward or retract inward in the width direction of the vehicle body (1); A lifting mechanism, wherein the lifting mechanism is arranged at the bottom of the vehicle body (1), the lifting mechanism can be extended outward in the height direction of the vehicle body (1) and contact the bottom wall of the pipeline so that the pair of crawler mechanisms (2) are separated from the bottom wall of the pipeline, and the lifting mechanism can be retracted in the height direction of the vehicle body (1) and separated from the bottom wall of the pipeline so that the pair of crawler mechanisms (2) are in contact with the bottom wall of the pipeline.

2. The crawler-type canal desilting robot according to claim 1, characterized in that: The expansion and contraction mechanism comprises: A front swing arm (5), one end of which is rotatably connected to the front portion of the side of the vehicle body (1), and the other end of which is rotatably connected to the front portion of the crawler mechanism (2), and the front swing arm (5) can swing in a horizontal plane; A rear swing arm (6), one end of which is rotatably connected to the rear portion of the side of the vehicle body (1), and the other end of which is rotatably connected to the rear portion of the crawler mechanism (2), and the rear swing arm (6) can swing in a horizontal plane; A first driving mechanism, wherein the first driving mechanism is mounted on the vehicle body (1) and is transmission-connected to the front swing arm (5) or the rear swing arm (6).

3. The crawler-type canal desilting robot according to claim 1, characterized in that: The lifting mechanism comprises: A chassis (7), the chassis (7) being fixedly connected to the bottom of the vehicle body (1); Four supporting legs (8), the four supporting legs (8) being respectively arranged at the left front part, the left rear part, the right front part and the right rear part of the chassis (7), one end of the supporting leg (8) being rotatably connected to the chassis (7), and the other end of the supporting leg (8) being used to contact the bottom wall of the pipe channel; A pair of leg connecting rods (9), the pair of leg connecting rods (9) are respectively arranged on both sides of the chassis (7), the two ends of the leg connecting rods (9) are respectively rotatably connected to the middle parts of the two legs (8) on the same side, and the four legs (8) are all able to swing in a vertical plane along the length direction of the vehicle body (1); A second driving mechanism, the second driving mechanism is fixedly mounted on the bottom of the chassis (7); a lead screw (10), the lead screw (10) being arranged along the length direction of the vehicle body (1), one end of the lead screw (10) being transmission-connected to the second driving mechanism, A lead screw nut (11), the lead screw nut (11) being slidably disposed at the bottom of the chassis (7) and being threadedly connected to the other end of the lead screw (10); A thrust rod (12), one end of which is rotatably connected to the lead screw nut (11), and the other end of which is rotatably connected to a pair of leg connecting rods (9), and the thrust rod (12) is capable of swinging in a vertical plane along the length direction of the vehicle body (1).

4. The crawler-type canal desilting robot according to claim 1, characterized in that: The vehicle body (1) comprises: A bottom bracket (15), the bottom bracket (15) is fixedly mounted on the top of the vehicle body (1), and the bottom bracket (15) is a concave structure that gradually shrinks from top to bottom; A truck bucket (16), the bottom of which is an outward convex structure matching the shape of the base (15), and the truck bucket (16) is detachably arranged on the base (15); A bucket (17) is arranged at the front of the vehicle body (1), the bucket (17) has a toothed front end, and the bucket (17) can be lifted and lowered.

5. The crawler-type canal desilting robot according to claim 2, characterized in that: The first driving mechanism comprises: A first motor (18), the first motor (18) being fixedly arranged on the vehicle body (1); A reducer (19), wherein the first motor (18) is connected to the front swing arm (5) or the rear swing arm (6) via the reducer (19).

6. The crawler-type canal desilting robot according to claim 2, characterized in that: The front swing arm (5), the rear swing arm (6), the side of the vehicle body (1) and the crawler mechanism (2) on the same side form a parallelogram.

7. The crawler-type canal desilting robot according to claim 3, characterized in that: The thrust rod (12) is triangular in shape, a first angle of the thrust rod (12) is rotationally connected to the lead screw nut (11), and a second angle and a third angle of the thrust rod (12) are rotationally connected to a pair of leg connecting rods (9) respectively.

8. The crawler-type canal desilting robot according to claim 3, characterized in that: The two supporting legs (8) on the same side, the supporting leg connecting rod (9) and the side edges of the chassis (7) form a parallelogram.

9. The crawler-type canal desilting robot according to claim 3, characterized in that: The lead screw nut (11) is slidably connected to the chassis (7) via a slider (13) and a guide rail (14).

10. The crawler-type canal desilting robot according to claim 3, characterized in that: The second driving mechanism comprises: A second motor (20), the second motor (20) being fixedly mounted on the bottom of the chassis (7); A coupling (21), wherein the second motor (20) is connected to the lead screw (10) via the coupling (21).

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