Pipeline dry mud cleaning robot

Abstract

The invention provides a pipeline dry mud cleaning robot, and belongs to the technical field of pipeline robots, a soil storage box of the pipeline dry mud cleaning robot comprises a bottom plate, a pair of side baffles, a rear baffle, a pair of front longitudinal beams, a pair of rotating cross beams, a pair of soft cloth and a rear baffle adjusting cylinder. The side baffles, the front longitudinal beams, the rotating cross beams and the rear baffles which are located on the same side define foldable parallelograms, the soft cloth is arranged on the parallelograms on the two sides, the baffle adjusting cylinders can drive the soil storage box to be folded and unfolded, then the size of the robot is adjusted, and the robot can be conveniently hoisted into an operation pipeline.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline robots, and more specifically, relates to a pipeline dry mud cleaning robot. Background Art

[0002] In my country, drainage pipes are spread all over the city's underground, ensuring the safe operation of the city at all times. However, due to the precipitation of household garbage, dust on city streets, mud on infrastructure construction sites, etc. in rainwater pipes, excessive siltation causes pipe blockage, which affects the daily life of residents at a small level and disrupts the normal rhythm of life in the entire city at a serious level. Therefore, they must be cleaned and unblocked in a timely manner. The pipes of the drainage system are spread all over the city's underground, crisscrossing and complex. The pipes dry up in the dry season, and heavy rainfall in the rainy season may cause urban waterlogging.

[0003] The pipeline robot can clean up the debris in the pipeline and make the pipeline unobstructed. The robot's main walking mechanism is the basis for the pipeline dredging robot to walk in the pipeline. The dredging device and other auxiliary devices need to be mounted on it. Due to the limitation of the wellhead size, the overall size of the robot's exterior must match the pipe diameter. Therefore, a new design of the structure of the pipeline dredging robot is required to enable it to stretch and shrink or its longitudinal size can pass through the inspection wellhead. Summary of the invention

[0004] The purpose of the present invention is to provide a pipeline dry mud cleaning robot to solve the problem that the pipeline robot in the prior art cannot adjust its own size.

[0005] In order to achieve the above object, the present invention provides a pipeline dry mud cleaning robot, comprising a body and a soil storage box arranged on the upper surface of the body, wherein the soil storage box comprises:

[0006] Base plate;

[0007] A pair of side baffles, wherein the pair of side baffles are fixedly connected to two sides of the bottom plate;

[0008] A rear baffle, the lower end of which is rotatably connected to the rear ends of a pair of side baffles;

[0009] A pair of front longitudinal beams, wherein the lower ends of the pair of front longitudinal beams are rotatably connected to the front ends of the pair of side guard plates;

[0010] A pair of rotating cross beams, the rotating cross beams and the front longitudinal beams are arranged in pairs, one end of the rotating cross beam is rotatably connected to the upper end of the front longitudinal beam, and the other end of the rotating cross beam is rotatably connected to the upper side of the rear fender, and the rear fender and the pair of front longitudinal beams can be synchronously flipped forward and backward;

[0011] A pair of soft cloths, the pair of soft cloths are respectively arranged on both sides of the soil storage box, the upper edge of the soft cloths is connected to the rotating cross beam, the lower edge of the soft cloths is connected to the side baffle, the front edge of the soft cloths is connected to the front longitudinal beam, and the rear edge of the soft cloths is connected to the side of the rear baffle;

[0012] A tailgate adjusting cylinder is connected to the tailgate and is used to drive the tailgate to flip.

[0013] Optionally, an upper cover plate is provided above the pair of rotating beams.

[0014] Optionally, the tailgate has an upward extension, and a camera is provided at the upper end of the extension;

[0015] The upper cover plate is made of transparent material.

[0016] Optionally, the rear end of the base plate is rotatably connected to the rear end of the vehicle body, a soil storage box lifting cylinder is arranged between the base plate and the upper surface of the vehicle body, a fixed end of the soil storage box lifting cylinder is hinged to the upper surface of the vehicle body, and a telescopic end of the soil storage box lifting cylinder is hinged to the lower surface of the base plate.

[0017] Optionally, the pipeline dry mud cleaning robot further comprises a cleaning mechanism disposed at the front end of the vehicle body, and the cleaning mechanism comprises:

[0018] Shovel board;

[0019] A scraper wheel, the scraper wheel is connected to the upper surface of the scraper plate through a pair of connecting rods, one end of the connecting rod is rotatably connected to the rotating shaft of the scraper wheel, the other end of the connecting rod is fixedly connected to the scraper plate, the rotating shaft of the scraper wheel is also rotatably connected to one end of a pair of support arms, the other end of the support arm is rotatably connected to the vehicle body together with the scraper plate and can be synchronously flipped forward and backward;

[0020] A scraper plate lifting cylinder, wherein the fixed end of the scraper plate lifting cylinder is rotatably connected to the front end of the vehicle body, and the telescopic end of the scraper plate lifting cylinder is rotatably connected to the upper surface of the scraper plate.

[0021] Optionally, the cleaning mechanism further comprises:

[0022] A shovel blade translation cylinder, wherein the shovel blade translation cylinder is arranged at the bottom of the vehicle body, and the telescopic end of the shovel blade translation cylinder is arranged along the forward direction of the vehicle body;

[0023] A scraper blade translation extension plate, the scraper blade translation extension plate is slidably connected to the bottom of the vehicle body, one end of the scraper blade translation extension plate is fixedly connected to the telescopic end of the scraper blade translation cylinder, and the other end of the scraper blade translation extension plate is hinged to the fixed end of the scraper blade lifting cylinder.

[0024] Optionally, the scraper blade translation extension plate is connected to the vehicle body via a translation slider and a scraper blade translation rail.

[0025] Optionally, the base plate is mounted with a first vibrator.

[0026] Optionally, the cutting blade is equipped with a second vibrator.

[0027] Optionally, the side baffle, the front longitudinal beam, the rotating cross beam and the rear baffle located on the same side form a parallelogram.

[0028] The beneficial effect of the present invention is that it provides a pipeline dry mud cleaning robot, whose soil storage box includes: a bottom plate, a pair of side baffles, a rear baffle, a pair of front longitudinal beams, a pair of rotating cross beams, a pair of soft cloths and a rear baffle adjustment cylinder. The side baffles, front longitudinal beams, rotating cross beams and rear baffles located on the same side form a foldable parallelogram, the soft cloths are arranged on the parallelograms on both sides, and the baffle adjustment cylinder can drive the soil storage box to fold and unfold, thereby adjusting the size of the robot, so as to facilitate the robot to be hoisted into the working pipeline.

[0029] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 A schematic structural diagram of a pipeline dry mud cleaning robot in a cleaning state according to an embodiment of the present invention is shown.

[0032] Figure 2 A schematic structural diagram of a pipeline dry mud cleaning robot in a folded state according to an embodiment of the present invention is shown.

[0033] Figure 3 A schematic structural diagram of a pipeline dry mud cleaning robot in a state where a shovel blade is raised according to an embodiment of the present invention is shown.

[0034] Figure 4 A schematic structural diagram of a pipeline dry mud cleaning robot in a soil unloading state according to an embodiment of the present invention is shown.

[0035] Description of reference numerals:

[0036] 1. Carriage pin shaft; 2. Tailgate; 3. Camera; 4. Tailgate adjustment cylinder; 5. Soil storage box; 6. Soil storage box lifting cylinder; 7. Shovel board pin shaft; 8. Digging wheel; 9. Digging teeth; 10. Mud and sand; 11. Shovel board; 12. Shovel board lifting cylinder; 13. Shovel board translation extension plate; 14. Translation slider; 15. Shovel board translation slide rail; 16. Shovel board translation cylinder; 17. Walking crawler chassis; 18. Chassis connecting plate; 19. Wire rope; 20. Multi-core cable; 21. First vibrator; 22. Second vibrator; 23. Mud storage basket; 24. Front longitudinal beam; 25. Rotating cross beam; 26. Side baffle; 27. Connecting rod; 28. Support arm. DETAILED DESCRIPTION

[0037] 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.

[0038] like Figure 1-4 As shown, this embodiment provides a pipeline dry mud cleaning robot, including a body and a soil storage box 5 arranged on the upper surface of the body, and the soil storage box 5 includes:

[0039] Base plate;

[0040] A pair of side baffles 26, a pair of side baffles 26 are fixedly connected to both sides of the bottom plate;

[0041] A rear baffle 2, the lower end of which is rotatably connected to the rear ends of a pair of side baffles 26;

[0042] a pair of front longitudinal beams 24, the lower ends of the pair of front longitudinal beams 24 being rotatably connected to the front ends of the pair of side fenders 26;

[0043] A pair of rotating cross beams 25, the rotating cross beams 25 and the front longitudinal beams 24 are arranged in pairs, one end of the rotating cross beam 25 is rotatably connected to the upper end of the front longitudinal beam 24, and the other end of the rotating cross beam 25 is rotatably connected to the upper side of the rear fender 2, so that the rear fender 2 and the pair of front longitudinal beams 24 can be turned forward and backward synchronously;

[0044] A pair of soft cloths, a pair of soft cloths are respectively arranged on both sides of the soil storage box 5, the upper edge of the soft cloth is connected to the rotating cross beam 25, the lower edge of the soft cloth is connected to the side baffle 26, the front edge of the soft cloth is connected to the front longitudinal beam 24, and the rear edge of the soft cloth is connected to the side of the rear baffle 2;

[0045] The tailgate adjusting cylinder 4 is connected to the tailgate 2 and is used to drive the tailgate 2 to flip.

[0046] In this embodiment, the vehicle body is provided with a crawler chassis 17, which is divided into two identical crawler mechanisms, which are connected together by a chassis connecting plate 18 in the middle. Two front longitudinal beams 24 are also hingedly installed on the upper front side of the soil storage box 5; a rotating crossbeam 25 is hingedly installed between the two front longitudinal beams 24 and the rear baffle 2; the side baffles 26, the front longitudinal beams 24, the rotating crossbeam 25 and the rear baffle 2 on the same side form a parallelogram, and soft cloth is arranged on both sides of the parallelogram for deformation. When the rear baffle adjustment cylinder 4 is retracted, the rear baffle 2 is driven to be laid flat, and the rotating crossbeam 25 and the front longitudinal beam 24 are pushed forward to lie down, and the soft cloth on both sides is folded, and the entire robot is in the smallest state, which is convenient for hanging and lowering into the well; when the robot enters the bottom of the well and is laid flat, the rear baffle adjustment cylinder 4 is extended, the rear baffle 2 stands up, and the mechanism involved in the parallelogram is pulled to unfold, forming a box body with an opening facing forward.

[0047] Optionally, an upper cover plate is provided above the pair of rotating beams 25 .

[0048] Specifically, the upper cover plate can increase the sealing performance of the soil storage box 5 and reduce the leakage of mud and sand 10.

[0049] Optionally, the rear baffle 2 has an upward extension, and a camera 3 is provided at the upper end of the extension;

[0050] The upper cover is made of transparent material.

[0051] Specifically, the camera 3 can observe the working status of the robot, and the upper cover is made of transparent material to facilitate the camera 3 to observe the status of the soil storage box 5.

[0052] Optionally, the rear end of the base plate is rotatably connected to the rear end of the vehicle body, and a soil storage box lifting cylinder 6 is arranged between the base plate and the upper surface of the vehicle body, the fixed end of the soil storage box lifting cylinder 6 is hinged to the upper surface of the vehicle body, and the telescopic end of the soil storage box lifting cylinder 6 is hinged to the lower surface of the base plate.

[0053] In this embodiment, a pin sleeve matching the carriage pin shaft 1 is provided on the upper rear side of the chassis connecting plate 18, so that the soil storage box 5 can rotate around the carriage pin shaft 1, and the bottom of the soil storage box lifting cylinder 6 is fixed on the chassis connecting plate 18. When the soil storage box lifting cylinder 6 rises, the soil storage box 5 can rotate around the carriage pin shaft 1, forming an unloading mode, and the soil storage box lifting cylinder 6 is retracted to fix the soil storage box 5 in a horizontal state; when the robot loaded with mud and sand 10 retreats to the pre-placed mud storage basket 23 at the wellhead position, the soil storage box lifting cylinder 6 is extended, and at this time the soil storage box 5 is lifted around the carriage pin shaft 1, and the mud and sand 10 is unloaded from the rear of the soil storage box 5 to the mud storage basket 23.

[0054] Optionally, the pipeline dry mud cleaning robot further includes a cleaning mechanism disposed at the front end of the vehicle body, and the cleaning mechanism includes:

[0055] Shovel board 11;

[0056] The scraper wheel 8 is connected to the upper surface of the scraper board 11 through a pair of connecting rods 27, one end of the connecting rod 27 is rotatably connected to the rotating shaft of the scraper wheel 8, and the other end of the connecting rod 27 is fixedly connected to the scraper board 11. The rotating shaft of the scraper wheel 8 is also rotatably connected to one end of a pair of supporting arms 28, and the other end of the supporting arm 28 is rotatably connected to the vehicle body together with the scraper board 11 and can be synchronously flipped forward and backward;

[0057] The scraper blade lifting cylinder 12 has a fixed end rotatably connected to the front end of the vehicle body, and a telescopic end of the scraper blade lifting cylinder 12 is rotatably connected to the upper surface of the scraper blade 11 .

[0058] In this embodiment, a shovel plate pin shaft 7 is provided at the upper front end of the chassis connecting plate 18, and the scraper wheel 8 and the scraper plate 11 are connected through the shovel plate pin shaft 7. A plurality of scraper plates are installed on the circumference of the scraper wheel 8, and a plurality of scraper teeth 9 are installed on the scraper plate. The hardness of the scraper wheel 8 is moderate, and the mud and sand 10 can be scraped loose without damaging the pipeline itself. The scraper wheel 8 rotates to scrape and cut the mud and sand 10, and throws the mud and sand 10 to the rear. The mud and sand 10 thrown into the soil storage box 5 is blocked by the wall and falls into the soil storage box 5, and a small part also falls on the scraper plate 11; a scraper plate lifting cylinder 12 is installed at the bottom of the scraper plate 11, which can drive the scraper wheel 8 and the scraper plate 11 to rotate together around the shovel plate pin shaft 7 to adjust the height of the scraper wheel 8, and the scraper wheel 8 and the scraper plate 11 swing together, so they will not interfere with each other.

[0059] Optionally, the cleaning mechanism further comprises:

[0060] The shovel blade translation cylinder 16 is arranged at the bottom of the vehicle body, and the telescopic end of the shovel blade translation cylinder 16 is arranged along the forward direction of the vehicle body;

[0061] The scraper board translation extension plate 13 is slidably connected to the bottom of the vehicle body, one end of the scraper board translation extension plate 13 is fixedly connected to the telescopic end of the scraper board translation cylinder 16, and the other end of the scraper board translation extension plate 13 is hinged to the fixed end of the scraper board lifting cylinder 12.

[0062] In this embodiment, the scraper blade translation extension plate 13 is connected to the vehicle body through the translation slider 14 and the scraper blade translation rail 15. The head of the scraper blade lifting cylinder 12 is hinged to the bottom of the scraper blade 11, and the tail of the scraper blade lifting cylinder 12 is hinged to the scraper blade translation extension plate 13. The scraper blade translation extension plate 13 is fixed to the translation slider 14 by screws. The translation slider 14 can only move forward and backward on the scraper blade translation rail 15. The scraper blade translation rail 15 is fixed to the bottom plate of the walking crawler chassis 17. The scraper blade translation cylinder 16 pushes the scraper blade translation extension plate 13 and the translation slider 14 to move forward and backward along the scraper blade translation rail 15, which can increase the movement stroke and thus increase the flip angle of the scraper blade 11. When the soil storage box 5 is almost full of silt 10, the shovel board lifting cylinder 12 and the shovel board translation cylinder 16 are extended to make the shovel board 11 stand up to prevent the silt 10 in the soil box 5 from leaking out.

[0063] Optionally, the bottom plate is mounted with a first vibrator 21 .

[0064] In this embodiment, the first vibrator 21 is installed at the bottom of the soil storage box 5. When powered on, the soil storage box 5 can be vibrated to make the mud and sand 10 attached to the soil storage box 5 fall off.

[0065] Optionally, the cutting blade 11 is equipped with a second vibrator 22 .

[0066] In this embodiment, the second vibrator 22 is installed at the bottom of the scraping board 11. When powered on, the scraping board 11 can be vibrated to make the mud and sand 10 attached to the scraping board 11 fall off.

[0067] In this embodiment, an electric control box is arranged inside the chassis connecting plate 18, which is connected to the control vehicle through a multi-core cable 20, so as to control the action of each electric cylinder, the speed of the crawler and the speed of the earth-moving wheel 8; a steel wire rope 19 is also arranged at the rear of the chassis connecting plate 18 for hoisting down the well or pulling. When the rear baffle adjusting cylinder 4 is retracted, the rear baffle 2 is laid flat, the rotating cross beam 25 and the front longitudinal beam 24 are pushed forward, and the soft cloth on both sides is folded, and the whole robot is in the smallest state, such as Figure 2As shown, at this time, the wire rope 19 can be hung by the tripod lifting hook to make the robot stand upright for easy going down the well; when the robot enters the well bottom and lies flat, the rear baffle adjustment cylinder 4 is extended, the rear baffle 2 is erected, and the parallelogram mechanism involved is pulled to unfold to form a box body with an opening facing forward; the camera 3 can observe the working state of the robot, adjust the forward speed of the robot, and adjust the height of the plowing wheel 8 and the plowing board 11 by adjusting the rotation speed of the plowing wheel 8 and the extension and contraction of the plowing board lifting cylinder 12. The plowing wheel 8 rotates to plow and cut the mud and sand 10, and throws the mud and sand 10 to the rear. The mud and sand 10 thrown into the open box is blocked by the wall and falls into the soil storage box 5, and a small part also falls on the plowing board 11; when it is observed through the camera 3 that the mud and sand 10 in the soil storage box 5 is about to be full, the plowing board lifting cylinder 12 and the plowing board translation cylinder 16 are extended at the same time to make the plowing board 11 stand up, as shown in FIG. Figure 3 As shown, at this time, the second vibrator 22 is started to pour the mud 10 in the shovel board 11; when the robot fully loaded with mud 10 retreats to the pre-placed mud storage basket 23 at the wellhead position, the soil storage box lifting cylinder 6 is extended, and the soil storage box 5 is lifted around the carriage pin 1, as shown in FIG. Figure 4 As shown, the mud and sand 10 is unloaded from the rear of the soil storage box 5 onto the mud storage basket 23; after unloading, the robot moves forward to recover and continue to complete the soil digging and cleaning operation. At this time, the mud storage basket 23 can be taken out from the wellhead, the debris can be processed, and then the mud storage basket 23 can be placed at the wellhead to inspect the bottom of the well, waiting for the robot to come back again after digging the soil.

[0068] 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 pipeline dry mud cleaning robot, characterized in that: The vehicle comprises a vehicle body and a soil storage box (5) arranged on the upper surface of the vehicle body, wherein the soil storage box (5) comprises: Base plate; A pair of side baffles (26), wherein the pair of side baffles (26) are fixedly connected to two sides of the bottom plate; A rear baffle (2), the lower end of which is rotatably connected to the rear ends of a pair of side baffles (26); A pair of front longitudinal beams (24), wherein the lower ends of the pair of front longitudinal beams (24) are rotatably connected to the front ends of the pair of side baffles (26); A pair of rotating cross beams (25), the rotating cross beams (25) and the front longitudinal beams (24) are arranged in pairs, one end of the rotating cross beam (25) is rotatably connected to the upper end of the front longitudinal beam (24), and the other end of the rotating cross beam (25) is rotatably connected to the upper side of the rear baffle (2), and the rear baffle (2) and the pair of front longitudinal beams (24) can be synchronously flipped forward and backward; A pair of soft cloths, the pair of soft cloths are respectively arranged on both sides of the soil storage box (5), the upper edge of the soft cloths is connected to the rotating crossbeam (25), the lower edge of the soft cloths is connected to the side baffle (26), the front edge of the soft cloths is connected to the front longitudinal beam (24), and the rear edge of the soft cloths is connected to the side of the rear baffle (2); A rear baffle adjusting cylinder (4), the rear baffle adjusting cylinder (4) is connected to the rear baffle (2), and the rear baffle adjusting cylinder (4) is used to drive the rear baffle (2) to flip.

2. The pipeline dry mud cleaning robot according to claim 1, characterized in that: An upper cover plate is arranged above the pair of rotating cross beams (25).

3. The pipeline dry mud cleaning robot according to claim 2, characterized in that: The rear baffle (2) has an upwardly extending portion, and a camera (3) is provided at the upper end of the extending portion; The upper cover plate is made of transparent material.

4. The pipeline dry mud cleaning robot according to claim 1, characterized in that: The rear end of the base plate is rotatably connected to the rear end of the vehicle body, and a soil storage box lifting cylinder (6) is arranged between the base plate and the upper surface of the vehicle body. The fixed end of the soil storage box lifting cylinder (6) is hinged to the upper surface of the vehicle body, and the telescopic end of the soil storage box lifting cylinder (6) is hinged to the lower surface of the base plate.

5. The pipeline dry mud cleaning robot according to claim 1, characterized in that: It also includes a cleaning mechanism disposed at the front end of the vehicle body, the cleaning mechanism comprising: Shovel board (11); A scraper wheel (8), the scraper wheel (8) is connected to the upper surface of the scraper plate (11) via a pair of connecting rods (27), one end of the connecting rod (27) is rotatably connected to the rotating shaft of the scraper wheel (8), the other end of the connecting rod (27) is fixedly connected to the scraper plate (11), the rotating shaft of the scraper wheel (8) is also rotatably connected to one end of a pair of support arms (28), the other end of the support arm (28) is rotatably connected to the vehicle body together with the scraper plate (11) and can be synchronously flipped forward and backward; A scraper plate lifting cylinder (12), wherein the fixed end of the scraper plate lifting cylinder (12) is rotatably connected to the front end of the vehicle body, and the telescopic end of the scraper plate lifting cylinder (12) is rotatably connected to the upper surface of the scraper plate (11).

6. The pipeline dry mud cleaning robot according to claim 5, characterized in that: The cleaning mechanism also includes: A shovel blade translation cylinder (16), wherein the shovel blade translation cylinder (16) is arranged at the bottom of the vehicle body, and the telescopic end of the shovel blade translation cylinder (16) is arranged along the forward direction of the vehicle body; A scraper blade translation extension plate (13), wherein the scraper blade translation extension plate (13) is slidably connected to the bottom of the vehicle body, one end of the scraper blade translation extension plate (13) is fixedly connected to the telescopic end of the scraper blade translation cylinder (16), and the other end of the scraper blade translation extension plate (13) is hinged to the fixed end of the scraper blade lifting cylinder (12).

7. The pipeline dry mud cleaning robot according to claim 6, characterized in that: The scraper plate translation extension plate (13) is connected to the vehicle body via a translation slider (14) and a scraper plate translation slide rail (15).

8. The pipeline dry mud cleaning robot according to claim 4, characterized in that: The bottom plate is mounted with a first vibrator (21).

9. The pipeline dry mud cleaning robot according to claim 5, characterized in that: The scraper blade (11) is equipped with a second vibrator (22).

10. The pipeline dry mud cleaning robot according to claim 1, characterized in that: The side baffle (26), the front longitudinal beam (24), the rotating cross beam (25) and the rear baffle (2) located on the same side form a parallelogram.

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