Pipeline drilling and reaming cleaning system and pipeline drilling and reaming cleaning robot

Abstract

The invention discloses a pipeline drilling, reaming and cleaning system which comprises a drill bit assembly used for drilling, reaming and cleaning obstructions in a pipeline. The drill bit assembly comprises a stepped drill bit and a drill bit driving assembly. The drill bit driving assembly comprises a first motor, a first driving gear fixedly connected with an output shaft of the first motor, and a first driven gear coaxial with the stepped drill bit and fixedly connected with the stepped drill bit. And the first driving gear is meshed with the first driven gear. The invention further provides a pipeline drilling and reaming cleaning robot. When the front of the pipeline is blocked by multiple hard dirt, the stepped drill bit is used for drilling, reaming and cleaning the hard dirt; furthermore, the eccentric rotation of the stepped drill bit is realized through the transmission of the two groups of ball-hinged mounting seats, and the stepped drill bit drills through front obstructions in an annular track, so that the related angle range is wide. An industrial camera and a lamp are further carried, and the detection and self-cleaning functions are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline cleaning and drilling processing, and in particular to a pipeline drilling and reaming cleaning system and a pipeline drilling and reaming cleaning robot. Background Art

[0002] At present, drilling refers to the general term for machinery and equipment that uses a tool that is harder and sharper than the target object to leave a cylindrical hole or hole on the target object through rotary cutting or rotary extrusion. It plays a very important role in industrial production. Pipeline cleaning robots are usually composed of a drilling / reaming cleaning mechanism, a control mechanism, and a moving mechanism. The robot's moving mechanism carries the corresponding drilling / reaming cleaning mechanism, or is connected to the drilling / reaming cleaning mechanism, and moves and cleans in the pipeline, so that the inside of the pipeline can be inspected and cleaned, thereby unblocking the pipeline.

[0003] In the process of realizing the present invention, the inventors found that the existing related technologies have the following problems: In industrial production, the pipeline will accumulate dirt and scale after running for a period of time. If it is not cleaned in time, it will cause damage such as corrosion, cracks, dents or deformation. Due to the small space inside the pipeline, manual cleaning is impossible in most cases, and a pipeline robot is required to complete the cleaning work. At present, most of the drill bits on the market are single-directional, which is difficult to drill hard dirt on the inner wall of the pipeline, and it is easy to get stuck in the pipeline, which is not suitable for front installation. Summary of the invention

[0004] The present invention provides a pipeline drilling and reaming cleaning system and a pipeline drilling and reaming cleaning robot to solve the technical problems existing in the known technology.

[0005] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0006] A pipeline drilling and reaming cleaning system includes a drill bit assembly for drilling and reaming to clean obstructions in a pipeline; the drill bit assembly includes a step drill bit and a drill bit driving assembly; the drill bit driving assembly includes a first motor, a first driving gear fixedly connected to the output shaft of the first motor, and a first driven gear coaxial with the step drill bit and fixedly connected to each other; the first driving gear is meshed and connected with the first driven gear.

[0007] Furthermore, it also includes an eccentric assembly for causing the step drill bit to rotate eccentrically; the eccentric assembly includes a second motor, a second driving gear fixed to the output shaft of the second motor, and a second driven gear meshingly connected to the second driving gear; the second driven gear is ball-jointed with the first driven gear and the axes of the two do not intersect.

[0008] Furthermore, it also includes a base, a first mounting seat, a second mounting seat, a first support arm and a second support arm; one end of the first support arm is fixed to the second mounting seat, and the other end thereof is fixedly connected to the first motor housing; one end of the second support arm is fixed to the base, and the other end thereof is fixedly connected to the second motor housing; the first mounting seat is fixedly connected to the first driven gear, and a spherical surface or a spherical groove is provided at a rear end thereof; the second mounting seat is fixedly connected to the second driven gear, and a rear end thereof is ball-jointed with a front end of the first mounting seat; when the second motor drives the second driving gear to rotate, the second driven gear drives the second mounting seat to rotate around the base; when the first motor drives the first driving gear to rotate, the first driven gear drives the first mounting seat to rotate around the second mounting seat; the axes of the first mounting seat and the second mounting seat do not intersect.

[0009] Furthermore, the first and second driving gears and the first and second driven gears are all provided with gear protection covers.

[0010] Furthermore, it also includes an industrial camera component for collecting images of scenes in the pipeline, and the industrial camera component includes an industrial camera and a transparent glass cover located in front of the camera lens.

[0011] Furthermore, it also includes a glass wiping assembly for wiping the transparent glass cover, the glass wiping assembly includes a cleaning brush and a brush driving mechanism for moving the cleaning brush up and down; the brush driving mechanism includes a rack and a gear meshing with the rack; the rack is installed on the left and / or right sides of the transparent glass cover, and the gear is fixedly connected to the cleaning brush; when the transparent glass cover is contaminated, the gear moves up and down along the rack, driving the cleaning brush to move up and down to clean the dirt on the transparent glass cover.

[0012] Furthermore, it also includes a collection box for collecting dirt dropped by wiping; the collection box is arranged below the transparent glass cover.

[0013] Furthermore, it also includes a lamp assembly for providing lighting for the industrial camera when collecting images of scenes in the pipeline, and the lamp assembly includes a lamp.

[0014] Furthermore, the step drill bit is a spiral groove step drill bit; the step drill bit is made of aluminum alloy material with a density of ≥2.74ɡ / cm 3 , elastic modulus ≥7×10 10 Pa, Poisson's ratio ≥ 0.35.

[0015] The present invention also provides a pipeline drilling and reaming cleaning robot, comprising a moving component moving in a pipeline; and also comprising the above-mentioned pipeline drilling and reaming cleaning system; the pipeline drilling and reaming cleaning system is installed on the moving component.

[0016] The advantages and positive effects of the present invention are as follows: a pipeline drilling and reaming cleaning system of the present invention adopts a stepped drill bit to drill and ream to clean the hard dirt when there are multiple hard dirt blocking the front of the pipeline; further, through two sets of ball-hinged mounting seat transmission, the eccentric rotation of the stepped drill bit is realized, and the stepped drill bit is made to drill through the front obstruction in a circular trajectory, covering a wide angle range.

[0017] The present invention is further equipped with industrial cameras and lamps, and has detection and self-cleaning functions. According to the images collected by the industrial camera, the rotation speed and propulsion speed of the step drill can be changed, the wiping component can be controlled, and the working time and life of the mechanism can be extended. The problem of the step drill bit being easy to detach is effectively avoided through the limited fixing method of the fixing plate and the set screw, and it is convenient to disassemble and install. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a pipeline drilling and reaming cleaning system.

[0019] Figure 2 The present invention is a front view of a pipeline drilling and reaming cleaning system.

[0020] Figure 3 for Figure 2 Right view of .

[0021] Figure 4 for Figure 2 Left view of .

[0022] Figure 5 The present invention is a schematic diagram of the disassembly of a pipeline drilling and reaming cleaning system.

[0023] Figure 6 The present invention is a schematic diagram of a disassembly of a pipe drilling and reaming cleaning system without a second mounting seat.

[0024] Figure 7 It is a cross-sectional view of the wiping component and the industrial camera component in the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the wiping component and the industrial camera component in the present invention.

[0026] In the figure: 1. stepped drill bit; 2. first motor; 3. second motor; 4. first driving gear; 5. first driven gear; 6. second driving gear; 7. second driven gear; 8. spherical groove; 9. second mounting seat; 10. flange; 11. industrial camera; 12. bolt; 13. lifting gear; 14. rack; 15. lamp protection cover; 16. gear protection cover; 17. transparent glass cover; 18. collection box; 19. cleaning brush; 20. first support arm; 21. industrial camera protection cover; 22. through hole B; 23. base; 24. lamp; 25. second support arm; 26. first mounting seat; 27. lighting support arm; 28. embedded groove. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0028] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "connected" and "connection" used in the present invention should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can also be an electrical connection or signal transmission; for those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0029] See also Figures 1 to 8 A pipeline drilling and reaming cleaning system includes a drill assembly for drilling and reaming to clean obstructions in a pipeline; the drill assembly includes a step drill bit 1 and a drill drive assembly; the drill drive assembly includes a first motor 2, a first driving gear 4 fixedly connected to the output shaft of the first motor 2, and a first driven gear 5 that is coaxial with the step drill bit 1 and fixedly connected to each other; the first driving gear 4 is meshedly connected to the first driven gear 5.

[0030] Preferably, it may also include an eccentric assembly for causing the step drill bit 1 to rotate eccentrically; the eccentric assembly includes a second motor 3, a second driving gear 6 fixedly connected to the output shaft of the second motor 3, and a second driven gear 7 meshingly connected to the second driving gear 6; the second driven gear 7 is ball-jointed with the first driven gear 5 and the axes of the two do not intersect.

[0031] Preferably, it may also include a base 23, a first mounting seat 26, a second mounting seat 9, a first support arm 20 and a second support arm 25; one end of the first support arm 20 is fixed to the second mounting seat 9, and the other end thereof is fixedly connected to the housing of the first motor 2; one end of the second support arm 25 is fixed to the base 23, and the other end thereof is fixedly connected to the housing of the second motor 3; the first mounting seat 26 is fixedly connected to the first driven gear 5, and a spherical surface or spherical groove 8 is provided at its rear end; the second mounting seat 9 is fixedly connected to the second driven gear 7, and its rear end is ball-hinged with the front end of the first mounting seat 26; when the second motor 3 drives the second driving gear 6 to rotate, the second driven gear 7 drives the second mounting seat 9 to rotate around the base 23; when the first motor 2 drives the first driving gear 4 to rotate, the first driven gear 5 drives the first mounting seat 26 to rotate around the second mounting seat 9; the axes of the first mounting seat 26 and the second mounting seat 9 do not intersect.

[0032] The structure in which the rear end of the second mounting seat 9 is ball-jointed with the front end of the first mounting seat 26 can adopt the following structural combination: a spherical surface is provided at the rear end of the first mounting seat 26, and a spherical groove 8 is provided at the front end of the second mounting seat 9 to match the spherical surface of the first mounting seat 26; a spherical groove 8 is provided at the rear end of the first mounting seat 26, and a spherical surface is provided at the front end of the second mounting seat 9 to match the spherical groove 8 of the first mounting seat 26.

[0033] Preferably, the first and second driving gears and the first and second driven gears may be provided with gear protection covers 16 .

[0034] Preferably, an industrial camera 11 component for collecting images of scenes in the pipeline may also be included, and the industrial camera 11 component includes an industrial camera 11 and a transparent glass cover 17 located in front of the camera lens.

[0035] Preferably, a glass wiping assembly for wiping the transparent glass cover 17 may also be included, the glass wiping assembly includes a cleaning brush 19 and a brush driving mechanism for moving the cleaning brush 19 up and down; the brush driving mechanism includes a rack 14 and a gear meshing with the rack 14; the rack 14 is installed on the left and / or right sides of the transparent glass cover 17, and the gear is fixedly connected to the cleaning brush 19; when the transparent glass cover 17 is contaminated, the gear moves up and down along the rack 14, driving the cleaning brush 19 to move up and down to clean the dirt on the transparent glass cover 17. The cleaning brush 19 may be cylindrical, the gear may be coaxial and fixedly connected with the cleaning brush 19, and the gear drives the cleaning brush 19 to roll and move up and down. The gear may be driven by a third motor, and the gear may be directly fixedly connected to the motor output shaft.

[0036] Preferably, a collection box 18 for collecting dirt dropped by wiping may also be included; the collection box 18 is arranged below the transparent glass cover 17. The collection box 18 may be cleaned regularly.

[0037] Preferably, a lamp assembly for providing lighting for the industrial camera 11 when capturing images of scenes in the pipeline may also be included, and the lamp assembly includes a lamp 24 .

[0038] Preferably, the step drill bit 1 can be a spiral groove step drill bit 1; the step drill bit 1 can be made of aluminum alloy material with a density of ≥2.74ɡ / cm 3 , elastic modulus ≥7×10 10 Pa, Poisson's ratio ≥ 0.35.

[0039] The present invention also provides a pipeline drilling and reaming cleaning robot, comprising a moving component moving in a pipeline; and also comprising the above-mentioned pipeline drilling and reaming cleaning system; the pipeline drilling and reaming cleaning system is installed on the moving component.

[0040] The structure and working principle of the present invention are further described below with reference to a preferred embodiment of the present invention:

[0041] Reference Figure 1 and Figure 8 A pipeline drilling and reaming cleaning system includes a drill bit assembly for drilling and reaming to clean obstructions in a pipeline, an eccentric assembly for causing a step drill bit 1 to rotate eccentrically, and an industrial camera 11 assembly for collecting images of scenes in the pipeline.

[0042] The drill bit assembly includes a step drill bit 1 and a drill bit driving assembly; the drill bit driving assembly includes a first motor 2, a first driving gear 4 fixedly connected to the output shaft of the first motor 2, and a first driven gear 5 coaxial with the step drill bit 1 and fixedly connected to each other; the first driving gear 4 is meshedly connected to the first driven gear 5.

[0043] The eccentric assembly includes a second motor 3, a second driving gear 6 fixedly connected to the output shaft of the second motor 3, and a second driven gear 7 meshingly connected to the second driving gear 6; the second driven gear 7 is ball-jointed with the first driven gear 5 and the axes of the two do not intersect.

[0044] The first and second driven gears are both provided with a gear protection cover 16 .

[0045] The industrial camera 11 assembly includes the industrial camera 11 and a transparent glass cover 17 located in front of the camera lens.

[0046] Furthermore, it also includes a lamp assembly for providing lighting for the industrial camera 11 when collecting images of scenes in the pipeline, and the lamp assembly includes a lamp 24.

[0047] It also includes a base 23, a first mounting seat 26, a second mounting seat 9, a first support arm 20 and a second support arm 25; one end of the first support arm 20 is fixed to the second mounting seat 9, and the other end thereof is fixedly connected to the housing of the first motor 2; one end of the second support arm 25 is fixed to the base 23, and the other end thereof is fixedly connected to the housing of the second motor 3; the first mounting seat 26 is fixedly connected to the first driven gear 5, and a spherical surface or spherical groove 8 is provided at its rear end; the second mounting seat 9 is fixedly connected to the second driven gear 7, and its rear end is ball-hinged with the front end of the first mounting seat 26; when the second motor 3 drives the second driving gear 6 to rotate, the second driven gear 7 drives the second mounting seat 9 to rotate around the base 23; when the first motor 2 drives the first driving gear 4 to rotate, the first driven gear 5 drives the first mounting seat 26 to rotate around the second mounting seat 9; the axes of the first mounting seat 26 and the second mounting seat 9 do not intersect.

[0048] See also Figure 5 to Figure 6 The installation and connection sequence is as follows: the step drill bit 1 is installed at the front end of the first mounting seat 26 and fixed to the first mounting seat 26 by bolts 12; the first and second mounting seats are both provided with flanges 10, and a non-through embedded groove 28 is provided on the circumferential surface of the flange 10, and the embedded groove 28 has three side walls and a groove bottom; a threaded hole is provided on the side wall parallel to the end surface of the flange 10; the inner rings of the first and second driven gears are provided with protrusions matching the embedded groove 28, and the protrusions are provided with through holes A, and the protrusions of the first and second driven gears are correspondingly plugged into the embedded grooves 28 of the first and second mounting seats; the bolts 12 pass through the through holes A and are threadedly connected to the threaded holes on the flanges 10 of the first and second mounting seats.

[0049] The rear end of the base 23 is provided with three through holes B22 for connecting the base 23 to the moving components of the pipeline drilling, reaming and cleaning robot.

[0050] Three lighting support arms 27 for mounting a lamp 24 are also mounted on the base 23 , and the lamp 24 is also provided with a lamp protection cover 15 .

[0051] The industrial camera 11 is placed on the base 23 and protected by the industrial camera protection cover 21. The installation position of the industrial camera 11 can slide forward and backward according to the detection needs. The industrial camera protection cover 21 is provided with a transparent glass cover 17 in front of the lens of the industrial camera 11.

[0052] The utility model also includes a glass wiping assembly for wiping the transparent glass cover 17, the glass wiping assembly includes a cleaning brush 19 and a brush driving mechanism for moving the cleaning brush 19 up and down; the brush driving mechanism includes a rack 14 and a gear meshing with the rack 14; the gear is called a lifting gear 13; the rack 14 is installed on the left and / or right sides of the transparent glass cover 17, and the cleaning brush 19 is cylindrical; the lifting gear 13 is fixedly connected to the cleaning brush 19; when the transparent glass cover 17 is contaminated, the lifting gear 13 moves up and down along the rack 14, driving the cleaning brush 19 to move up and down to clean the dirt on the transparent glass cover 17.

[0053] The utility model also comprises a collection box 18 for collecting dirt dropped by wiping; the collection box 18 is arranged below the transparent glass cover 17 .

[0054] The flanges 10 of the first and second mounting seats are relatively eccentric; the second mounting seat 9 is spherically hinged to the front end of the first mounting seat 26; the step drill bit 1 can rotate eccentrically relative to the base 23, and the rotation axis can form an angle greater than 0° with the axis of the base 23.

[0055] The first and second motors can be connected to the first and second driving gears through couplings to drive the first and second driving gears, and further drive the first and second driven gears to rotate.

[0056] Working principle of the present invention: before starting the equipment, first check whether the step drill bit 1 is stably installed and the flange 10 is at the correct angle of deviation. After starting, when the industrial camera 11 detects that there is an obstruction in the front pipeline, the second motor 3 drives the second driving gear 6 to rotate, and the second driven gear 7 drives the second mounting seat 9 to rotate around the base 23; the first motor 2 drives the first driving gear 4 to rotate, and the first driven gear 5 drives the first mounting seat 26 to rotate around the second mounting seat 9; so that the step drill bit 1 rotates accordingly to form a circular drilling / reaming trajectory to drill the obstruction in front. When the industrial camera 11 does not detect the obstruction, the step drill bit 1 and the first and second motors will stop rotating to save energy and protect the life of the equipment. When the transparent glass in front of the industrial camera 11 is contaminated by pipeline dirt, the glass wiping assembly starts to operate, and the lifting gear 13 moves up and down along the rack 14, driving the cleaning brush 19 to move up and down to clean the dirt on the transparent glass cover 17. Pollutants and sewage will be drained to the collection box 18 below, which is convenient for later collection and discharge.

[0057] The above-mentioned stepped drill bit, first motor, second motor, first driving gear, first driven gear, second driving gear, second driven gear, spherical groove, second mounting seat, flange, industrial camera, bolt, lifting gear, rack, lamp protection cover, gear protection cover, transparent glass cover, collection box, cleaning brush, first support arm, industrial camera protection cover, base, lamp, second support arm, first mounting seat, lighting support arm, embedded groove, spherical groove, ball hinge and other components and structures can all adopt applicable components and structures in the prior art, or adopt components and structures in the prior art and construct by conventional technical means.

[0058] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A pipeline drilling and reaming cleaning system, characterized in that: It comprises a drill assembly for drilling and reaming to clear obstructions in a pipeline; the drill assembly comprises a step drill bit and a drill drive assembly; the drill drive assembly comprises a first motor, a first driving gear fixedly connected to the output shaft of the first motor, and a first driven gear coaxial with the step drill bit and fixedly connected to each other; the first driving gear is meshedly connected to the first driven gear.

2. The pipeline drilling and reaming cleaning system according to claim 1, characterized in that: It also includes an eccentric assembly for making the step drill bit rotate eccentrically; the eccentric assembly includes a second motor, a second driving gear fixedly connected to the output shaft of the second motor, and a second driven gear meshingly connected to the second driving gear; the second driven gear is ball-jointed with the first driven gear and the axes of the two do not intersect.

3. The pipeline drilling and reaming cleaning system according to claim 2, characterized in that: It also includes a base, a first mounting base, a second mounting base, a first support arm and a second support arm; one end of the first support arm is fixed to the second mounting base, and the other end thereof is fixedly connected to the first motor housing; one end of the second support arm is fixed to the base, and the other end thereof is fixedly connected to the second motor housing; the first mounting base is fixedly connected to the first driven gear, and a spherical surface or a spherical groove is provided at the rear end thereof; The second mounting seat is fixedly connected to the second driven gear, and its rear end is ball-jointed with the front end of the first mounting seat; when the second motor drives the second driving gear to rotate, the second driven gear drives the second mounting seat to rotate around the base; when the first motor drives the first driving gear to rotate, the first driven gear drives the first mounting seat to rotate around the second mounting seat; the axes of the first mounting seat and the second mounting seat do not intersect.

4. The pipeline drilling and reaming cleaning system according to claim 2, characterized in that: The first and second driving gears and the first and second driven gears are all provided with gear protection covers.

5. The pipeline drilling and reaming cleaning system according to claim 1, characterized in that: It also includes an industrial camera component for collecting images of scenes in the pipeline, and the industrial camera component includes an industrial camera and a transparent glass cover located in front of the camera lens.

6. The pipeline drilling and reaming cleaning system according to claim 5, characterized in that: The invention also comprises a glass wiping assembly for wiping the transparent glass cover, the glass wiping assembly comprises a cleaning brush and a brush driving mechanism for moving the cleaning brush up and down; the brush driving mechanism comprises a rack and a gear meshed with the rack; the rack is installed on the left and / or right sides of the transparent glass cover, and the gear is fixedly connected to the cleaning brush; when the transparent glass cover is contaminated, the gear moves up and down along the rack, driving the cleaning brush to move up and down to clean the dirt on the transparent glass cover.

7. The pipeline drilling and reaming cleaning system according to claim 6, characterized in that: It also includes a collection box for collecting dirt dropped by wiping; the collection box is arranged below the transparent glass cover.

8. The pipeline drilling and reaming cleaning system according to claim 5, characterized in that: It also includes a lamp assembly for providing lighting when an industrial camera collects images of scenes in a pipeline, and the lamp assembly includes a lamp.

9. The pipeline drilling and reaming cleaning system according to claim 1, characterized in that: The step drill bit is a spiral groove step drill bit; the step drill bit is made of aluminum alloy with a density of ≥2.74ɡ / cm 3 , elastic modulus ≥7×10 10 Pa, Poisson's ratio ≥ 0.

35.

10. A pipeline drilling, reaming and cleaning robot, comprising a moving assembly that travels in a pipeline; characterized in that: It also includes the pipe drilling and reaming cleaning system as described in any one of claims 1 to 9; the pipe drilling and reaming cleaning system is installed on the moving component.

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