Drainage pipeline cleaning robot and pipeline cleaning method

Abstract

The invention relates to a drainage pipeline cleaning robot and a pipeline cleaning method.The robot comprises an outer shell, a motor is fixedly installed in the outer shell, an output shaft of the motor extends out of the outer shell and is rotationally connected with the front end face of the outer shell, and a rotating disc is connected to a rotating shaft and arranged outside the front end face of the outer shell; a plurality of mounting tables are arranged on the outer circumference of the rotating disc, shovel pieces are connected to the mounting tables, a plurality of planes are formed on the outer circumferential face of the outer shell, and automatic pressing walking wheel sets are arranged on the planes and used for abutting against the inner wall of the drainage pipe and walking in the drainage pipe. The cleaning robot is adopted to achieve automatic cleaning of the drainage pipe, meanwhile, the robot is manually controlled by operators, the garbage blocking condition in the drainage pipe can be accurately judged according to the technical experience of technicians, the state and the cleaning mode of the cleaning robot are flexibly adjusted, the control efficiency of the robot is improved, and the cleaning efficiency is improved. And the cleaning efficiency of the drainage pipe is also improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of municipal drainage, and in particular relates to a drainage pipe cleaning robot and a pipe cleaning method. Background Art

[0002] After the municipal drainage network has been in operation for a certain period of time, scabs and debris will appear on the inner wall of the pipe, resulting in a reduction in the effective drainage inner diameter of the drainage pipe, and thus failing to meet the designed drainage requirements. It is necessary to clean up the retained debris in the drainage pipe or the stubborn garbage adhering to the inner wall of the pipe to ensure effective drainage of the drainage pipe and avoid blockage of the drainage pipe or flooding, pipe rupture, etc. caused by untimely drainage.

[0003] For cleaning inside drain pipes, commonly used methods include manual cleaning and cleaning robot cleaning. The efficiency of manual cleaning is explained. Because the drainage network has been in operation for many years, there are many uncertainties. Manual entry into the drain pipe may lead to dangers such as hypoxia. The current main technical development direction is for pipeline robots to enter the pipeline for cleaning. Currently, commonly used cleaning robots use independent control, use cameras for surveys, and then use remote control to operate the robot for pipeline cleaning through an independent walking mechanism. However, when the robot encounters stubborn garbage that cannot be removed in the pipeline, it will cause the robot to stagnate in the drain pipe and cannot achieve the ideal cleaning effect.

[0004] To this end, we propose a semi-automatic manually operated robot that combines the robot's automatic cleaning function with manual operation and leverages the technicians' accumulated experience to complete efficient cleaning of drain pipes. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a drainage pipe cleaning robot and a pipe cleaning method to solve the technical difficulties existing in the prior art. The present invention combines the automatic cleaning function of the robot with manual operation and utilizes the accumulated experience of technicians to complete the efficient cleaning of the drainage pipe.

[0006] According to a first aspect of the present invention, a drainage pipe cleaning robot is provided, comprising an outer shell, in which a motor is fixedly installed, an output shaft of the motor extends out of the outer shell and is rotatably connected to the front end face of the outer shell, a rotating disk is connected to the rotating shaft, and the rotating disk is arranged outside the front end face of the outer shell, a plurality of mounting platforms are arranged in an array on the outer circumference of the rotating disk, a detachable connecting shovel blade is arranged on the mounting platform, a connecting seat is arranged on the rear end face of the outer shell, a plurality of planes are constructed on the outer circumferential surface of the outer shell, an automatic clamping walking wheel group is arranged on the plane, and the automatic clamping walking wheel group is used to abut against the inner wall of the drain pipe and walk in the drain pipe.

[0007] Preferably, the automatic clamping walking wheel group includes an articulated seat, which is fixedly connected to the plane, a wheel frame is hinged at both ends of the articulated seat, a roller is rotatably installed at the end of the wheel frame, a fixing rod is provided in the middle of the wheel frame, and a spring is connected between the two fixing rods of the two wheel frames.

[0008] Preferably, two heat dissipation holes are provided on each of the planes, and the two heat dissipation holes are distributed at the front and rear ends of the hinge seat. A baffle is provided on the wheel frame, and the width of the baffle is greater than the width of the heat dissipation holes.

[0009] Preferably, the top surface of the mounting platform is constructed as an inclined plane relative to the center line of the rotating disk, the angle between the inclined plane and the center line along the center line of the rotating disk is between 5° and 15°, and the shovel blade is an arc-shaped blade.

[0010] Preferably, heat dissipation holes are provided on the front end surface and the rear end surface of the outer shell.

[0011] Preferably, the diameter of the rotating disk is larger than the diameter of the outer shell, and an interception net is provided on the rotating disk, the interception net is used to intercept garbage in the drain pipe, and the interception net is composed of interception columns arranged radially and interception rings arranged circumferentially.

[0012] Preferably, two connecting seats are provided on the rear end face of the outer shell, and the two connecting seats are symmetrically arranged on both sides of the center of the rear end face. A hinge shaft is provided on the connecting seat, and the two connecting shafts are used to connect a joystick, and the joystick is used to control the robot.

[0013] A second aspect of the present invention provides a drainage pipe cleaning method, using a drainage pipe cleaning robot as described in any one of the above, specifically comprising the following steps: Lower the cleaning robot into the inspection well, connect two joysticks on the rear end face of the cleaning robot, connect the motor to the power supply, and then place the cleaning robot at the outlet of the drain pipe, so that the rollers of the automatic pressing walking wheel group are pressed against the inner wall of the drain pipe, and select an appropriate shovel blade according to the inner diameter of the drain pipe, and install the shovel blade on the mounting platform of the cleaning robot, so that the shovel blade slightly abuts against the inner wall of the drain pipe or maintains a gap of no more than 3mm; The motor is connected to the power supply to make the rotating disk start to rotate. The operator controls the two joysticks with both hands to push the robot forward, and at the same time controls the cleaning robot to keep from rotating along the axis or to maintain a small angle reciprocating rotation when encountering resistance in the circumferential direction; When encountering stubborn adhesives that prevent the robot from moving forward, the operator pulls the joystick to make the cleaning robot retreat a certain distance and then move forward again until the stubborn adhesives are removed; The above process is repeated. When a section of the drain pipe is cleaned, the operator pulls the joystick to take the cleaning robot out of the drain pipe and continues cleaning in the next drain pipe.

[0014] Compared with the existing method, the present invention has the following beneficial effects: The present invention adopts a cleaning robot to realize automatic cleaning of the drain pipe. At the same time, the robot is controlled manually by an operator. By utilizing the technical experience of the technician, the garbage blockage in the drain pipe can be accurately judged, and the state and cleaning method of the cleaning robot can be flexibly adjusted, which not only improves the control efficiency of the robot, but also improves the cleaning efficiency of the drain pipe.

[0015] The present invention uses a dual joystick to control the robot. On the one hand, the force state of the robot can be directly transmitted to the technician through the joystick, so that the technician can intuitively feel the force state of the robot and quickly make control adjustments. On the other hand, using a dual joystick to control the robot can effectively provide reaction force to prevent the robot from rotating in the drain pipe after encountering stubborn adhesives, thereby effectively protecting the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the drainage pipe cleaning robot in the present invention.

[0017] Figure 2 This is a schematic diagram of the main structure of the drainage pipe cleaning robot in the present invention.

[0018] Figure 3 This is a right view structural diagram of the drainage pipe cleaning robot in the present invention. Figure 4 Another three-dimensional structural schematic diagram of the drainage pipe cleaning robot in the present invention.

[0019] Figure 5 It is a schematic diagram of the tilted state of the mounting platform in a preferred embodiment of the present invention.

[0020] Figure 6 It is a schematic structural diagram of an automatic clamping walking wheel set in a preferred embodiment of the present invention.

[0021] In the above drawings: 10, outer shell; 11, rear end face; 12, motor; 13, rotating disk; 14, mounting table; 15, shovel blade; 16, connecting seat; 17, plane; 18, heat dissipation hole; 19, hinge shaft; 20, automatic clamping walking wheel group; 21, hinge seat; 22, wheel frame; 23, roller; 24, fixing rod; 25, spring; 30, interception net; 31, interception column; 32, interception ring; 40, joystick. DETAILED DESCRIPTION

[0022] The present invention is described in detail below in conjunction with specific implementation modes.

[0023] This embodiment provides a drainage pipe cleaning robot. Figure 1-Figure 4 As shown, it includes an outer shell 10, in which a motor 12 is fixedly installed, and the output shaft of the motor 12 extends out of the outer shell 10 and is rotatably connected to the front end surface of the outer shell 10. The rotating shaft is connected to a rotating disk 13, and the rotating disk 13 is arranged outside the front end surface of the outer shell 10. A plurality of mounting platforms 14 are arranged in an array on the outer circumference of the rotating disk 13, and a detachable connecting shovel blade 15 is provided on the mounting platform 14. A connecting seat 16 is provided on the rear end surface 11 of the outer shell 10, and a plurality of planes 17 are constructed on the outer circumferential surface of the outer shell 10, and an automatic clamping walking wheel group 20 is provided on the plane 17. The automatic clamping walking wheel group 20 is used to abut against the inner wall of the drain pipe and move in the drain pipe.

[0024] In the above embodiment, Figure 6 As shown, the automatic clamping walking wheel group 20 includes an articulated seat 21, and the articulated seat 21 is fixedly connected to the plane 17. A wheel frame 22 is hinged at both ends of the articulated seat 21, and a roller 23 is rotatably installed at the end of the wheel frame 22. A fixing rod 24 is provided in the middle of the wheel frame 22, and a spring 25 is connected between the two fixing rods 24 of the two wheel frames 22.

[0025] The automatic pressing walking wheel set 20 connects the two sets of wheel frames 22 by means of springs 25. When the rollers 23 are in contact with the inner wall of the drain pipe, the two sets of wheel frames 22 are pulled by the springs 25, so that the rollers 23 are always pressed against the inner wall of the drain pipe.

[0026] In some embodiments, in order to ensure the working efficiency of the motor, this embodiment provides two heat dissipation holes 18 on each of the planes 17, and the two heat dissipation holes 18 are distributed at the front and rear ends of the hinge seat 21. A baffle 26 is provided on the wheel frame 22, and the width of the baffle 26 is greater than the width of the heat dissipation hole 18. In this way, when the wheel frame 22 is rotating, it will not extend from the heat dissipation hole 18 into the interior of the outer shell 10. While ensuring the heat dissipation efficiency, the operation and adjustment efficiency of the wheel frame 22 is also improved.

[0027] In some preferred embodiments, Figure 1 and Figure 5 As shown, the top surface of the mounting platform 14 is constructed as an inclined plane relative to the center line of the rotating disk, and the angle between the inclined plane and the center line a along the center line direction of the rotating disk 13 is between 5° and 15°, and the shovel blade 15 is an arc-shaped blade.

[0028] In some other preferred embodiments, heat dissipation holes are provided on the front end surface and the rear end surface of the outer shell 10 .

[0029] In some preferred embodiments, Figure 1 and Figure 3 As shown, the diameter of the rotating disk 13 is larger than the diameter of the outer shell 10, and an interception net 30 is provided on the rotating disk 13. The interception net 30 is used to intercept garbage in the drain pipe. The interception net 30 is composed of interception columns 31 arranged radially and interception rings 32 arranged circumferentially.

[0030] In some embodiments, to better control the cleaning robot, such as Figure 4 As shown, in this embodiment, two connecting seats 16 are provided on the rear end face of the outer shell 10, and the two connecting seats are symmetrically arranged on both sides of the center of the rear end face. A hinge shaft 19 is provided on the connecting seat, and the two connecting shafts 19 are used to connect a joystick 40, and the joystick 40 is used to control the robot.

[0031] As another preferred embodiment of the present invention, this embodiment provides a drainage pipe cleaning method, using a drainage pipe cleaning robot as described in any one of the above, specifically comprising the following steps: The cleaning robot is lowered into the inspection well, two joysticks 40 are connected to the rear end face of the cleaning robot, the motor 12 is connected to the power supply, and then the cleaning robot is placed at the outlet of the drain pipe, so that the rollers of the automatic pressing walking wheel group 20 are pressed against the inner wall of the drain pipe, and an appropriate shovel blade 15 is selected according to the inner diameter of the drain pipe, and the shovel blade 15 is installed on the mounting platform 14 of the cleaning robot, so that the shovel blade 15 slightly abuts against the inner wall of the drain pipe or maintains a gap of no more than 3 mm; The motor is connected to the power supply to make the rotating disk 13 start to rotate. The operator controls the two joysticks 40 with both hands to push the robot forward, and at the same time controls the cleaning robot to keep from rotating along the axis or to maintain a small angle reciprocating rotation when encountering resistance in the circumferential direction; When encountering stubborn adhesives that prevent the robot from moving forward, the operator pulls the joystick to make the cleaning robot retreat a certain distance and then move forward again until the stubborn adhesives are removed; The above process is repeated. When a section of the drain pipe is cleaned, the operator pulls the joystick to take the cleaning robot out of the drain pipe and continues cleaning in the next drain pipe.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A drainage pipe cleaning robot, characterized in that: It includes an outer shell, in which a motor is fixedly installed, an output shaft of the motor extends out of the outer shell and is rotatably connected to the front end surface of the outer shell, the rotating shaft is connected to a rotating disk, the rotating disk is arranged outside the front end surface of the outer shell, a plurality of mounting platforms are arranged in an array on the outer circumference of the rotating disk, a detachable connecting shovel blade is arranged on the mounting platform, a connecting seat is arranged on the rear end surface of the outer shell, a plurality of planes are constructed on the outer circumferential surface of the outer shell, an automatic clamping walking wheel group is arranged on the plane, and the automatic clamping walking wheel group is used to abut against the inner wall of the drain pipe and travel in the drain pipe.

2. A drainage pipe cleaning robot according to claim 1, characterized in that: The automatic clamping walking wheel group includes an articulated seat, which is fixedly connected to the plane. A wheel frame is articulated at both ends of the articulated seat. A roller is rotatably installed at the end of the wheel frame. A fixing rod is provided in the middle of the wheel frame, and a spring is connected between the two fixing rods of the two wheel frames.

3. A drainage pipe cleaning robot according to claim 2, characterized in that: Two heat dissipation holes are arranged on each of the planes, and the two heat dissipation holes are distributed at the front and rear ends of the hinge seat. A baffle is arranged on the wheel frame, and the width of the baffle is greater than the width of the heat dissipation holes.

4. The drainage pipe cleaning robot according to claim 1, characterized in that: The top surface of the mounting platform is constructed as an inclined plane relative to the center line of the rotating disk. The angle between the inclined plane and the center line along the center line of the rotating disk is between 5° and 15°. The shovel blade is an arc-shaped blade.

5. The drainage pipe cleaning robot according to claim 1, characterized in that: The front end surface and the rear end surface of the outer shell are both provided with heat dissipation holes.

6. The drainage pipe cleaning robot according to claim 1, characterized in that: The diameter of the rotating disk is greater than the diameter of the outer shell, and an interception net is provided on the rotating disk. The interception net is used to intercept garbage in the drainage pipe. The interception net is composed of interception columns arranged radially and interception rings arranged circumferentially.

7. The drainage pipe cleaning robot according to claim 1, characterized in that: Two connecting seats are arranged on the rear end surface of the outer shell, and the two connecting seats are symmetrically arranged on both sides of the center of the rear end surface. A hinge shaft is arranged on the connecting seat, and the two connecting shafts are used to connect a joystick, and the joystick is used to control the robot.

8. A drainage pipe cleaning method, characterized in that: Using a drainage pipe cleaning robot according to any one of claims 1 to 7 specifically comprises the following steps: Lower the cleaning robot into the inspection well, connect two joysticks on the rear end face of the cleaning robot, connect the motor to the power supply, and then place the cleaning robot at the outlet of the drain pipe, so that the rollers of the automatic pressing walking wheel group are pressed against the inner wall of the drain pipe, and select an appropriate shovel blade according to the inner diameter of the drain pipe, and install the shovel blade on the mounting platform of the cleaning robot, so that the shovel blade slightly abuts against the inner wall of the drain pipe or maintains a gap of no more than 3mm; The motor is connected to the power supply to make the rotating disk start to rotate. The operator controls the two joysticks with both hands to push the robot forward, and at the same time controls the cleaning robot to keep from rotating along the axis or to maintain a small angle reciprocating rotation when encountering resistance in the circumferential direction; When encountering stubborn adhesives that prevent the robot from moving forward, the operator pulls the joystick to make the cleaning robot retreat a certain distance and then move forward again until the stubborn adhesives are removed; The above process is repeated. When a section of the drain pipe is cleaned, the operator pulls the joystick to take the cleaning robot out of the drain pipe and continues cleaning in the next drain pipe.

Images