Pipe dry sludge cleaning robot

Abstract

The application provides a pipeline dry sludge cleaning robot, and belongs to the technical field of pipeline robots. The soil storage tank 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 cloths and a rear baffle adjusting cylinder. The side baffles, the front longitudinal beams, the rotating cross beams and the rear baffle located on the same side form a foldable parallelogram, the soft cloths are arranged on the parallelograms on the two sides, the baffle adjusting cylinder can drive the soil storage tank to fold and unfold, thereby adjusting the size of the robot, and the robot can be conveniently hoisted into a working pipeline.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline robots, and more particularly relates to a pipeline dry sludge cleaning robot. BACKGROUND

[0002] In China, drainage pipelines are distributed in every corner of the underground of a city, and are ensuring the safe operation of the city at every moment. However, due to the deposition of household garbage, city street dust, and construction site slurry in the rainwater pipeline, excessive accumulation causes pipeline blockage, which affects the daily life of residents, and even disrupts the normal life rhythm of the entire city. Therefore, it is necessary to clean and dredge it in time. The pipeline of the drainage system is distributed in every place of the underground of the city, and is complex. In the dry season, the pipeline is dry, and in the rainy season, heavy rain may cause urban waterlogging.

[0003] The pipeline robot can clean the sundries in the pipeline to make the pipeline unobstructed. The walking mechanism of the robot body is the basis for the pipeline dredging robot to walk in the pipeline. The dredging device and other auxiliary devices are carried on it. Due to the limitation of the wellhead size, the overall size of the robot outside matches the size of the pipe diameter. Therefore, the structure of the pipeline dredging robot needs to be newly designed to make it stretch and shrink or the longitudinal size can pass through the inspection wellhead. SUMMARY

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

[0005] In order to achieve the above purpose, the present application provides a pipeline dry sludge cleaning robot, which comprises a vehicle body and a soil storage box arranged on the upper surface of the vehicle body, wherein the soil storage box comprises:

[0006] a bottom plate;

[0007] a pair of side plates, the pair of side plates being fixedly connected to the two sides of the bottom plate;

[0008] a rear plate, the lower end of the rear plate being rotatably connected to the rear end of the pair of side plates;

[0009] a pair of front longitudinal beams, the lower end of the pair of front longitudinal beams being rotatably connected to the front end of the pair of side plates;

[0010] a pair of rotating cross beams, the pair of rotating cross beams being arranged in pairs with the front longitudinal beams, one end of the rotating cross beam being rotatably connected to the upper end of the front longitudinal beam, the other end of the rotating cross beam being rotatably connected to the upper part of the side edge of the rear plate, and the rear plate and the pair of front longitudinal beams being capable of synchronous forward and backward flipping;

[0011] A pair of soft cloth, a pair of the soft cloth is respectively arranged on both sides of the soil storage box, the upper edge of the soft cloth is connected with the rotating cross beam, the lower edge of the soft cloth is connected with the side baffle, the front edge of the soft cloth is connected with the front longitudinal beam, and the rear edge of the soft cloth is connected with the side edge of the rear baffle.

[0012] The rear baffle adjusting cylinder is connected with the rear baffle, and the rear baffle adjusting cylinder is used to drive the rear baffle to overturn.

[0013] Optionally, a pair of upper cover plates are arranged above the rotating cross beams.

[0014] Optionally, the rear baffle has an upward extension, and an upper end of the extension is provided with a camera.

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

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

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

[0018] A soil shoveling plate;

[0019] A soil shoveling wheel connected with the upper surface of the soil shoveling plate through a pair of connecting rods, one end of the connecting rod is rotationally connected with the rotating shaft of the soil shoveling wheel, the other end of the connecting rod is fixedly connected with the soil shoveling plate, the rotating shaft of the soil shoveling wheel is further rotationally connected with one end of a pair of supporting arms, and the other end of the supporting arm is rotationally connected with the soil shoveling plate on the vehicle body and can be synchronously flipped forward and backward;

[0020] A soil shoveling plate lifting cylinder, the fixed end of the soil shoveling plate lifting cylinder is rotationally connected to the front end of the vehicle body, and the telescopic end of the soil shoveling plate lifting cylinder is rotationally connected to the upper surface of the soil shoveling plate.

[0021] Optionally, the cleaning mechanism further comprises:

[0022] A soil shoveling plate translation cylinder, the soil shoveling plate translation cylinder is arranged at the bottom of the vehicle body, and the telescopic end of the soil shoveling plate translation cylinder is arranged in the advancing direction of the vehicle body.

[0023] The shovel plate translation extension plate is slidingly connected to the bottom of the vehicle body, one end of the shovel plate translation extension plate is fixedly connected to the telescopic end of the shovel plate translation cylinder, and the other end of the shovel plate translation extension plate is hingedly connected to the fixed end of the shovel plate lifting cylinder.

[0024] Optionally, the shovel plate translation extension plate is connected to the vehicle body through a translation sliding block and a shovel plate translation sliding rail.

[0025] Optionally, the bottom plate is provided with a first vibrator.

[0026] Optionally, the shovel plate is provided with a second vibrator.

[0027] Optionally, the side plates, the front longitudinal beams, the rotating cross beams and the rear plates on the same side form parallelograms.

[0028] The pipe dry mud cleaning robot has the advantages that the soil storage box comprises a bottom plate, a pair of side plates, a rear plate, a pair of front longitudinal beams, a pair of rotating cross beams, a pair of soft cloths and a rear plate adjusting cylinder, the side plates, the front longitudinal beams, the rotating cross beams and the rear plates on the same side form foldable parallelograms, the soft cloths are arranged on the parallelograms on the two sides, the rear plate adjusting cylinder can drive the soil storage box to fold and unfold, thereby adjusting the size of the robot, and the robot can be conveniently hoisted into a working pipe.

[0029] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the several views, and in which:

[0031] Figure 1 A schematic structural view of a pipe dry mud cleaning robot in a cleaning state according to one embodiment of the present application is shown.

[0032] Figure 2 A schematic structural view of a pipe dry mud cleaning robot in a folding state according to one embodiment of the present application is shown.

[0033] Figure 3 A schematic structural view of a pipe dry mud cleaning robot in a shovel plate lifting state according to one embodiment of the present application is shown.

[0034] Figure 4 A schematic structural view of a pipe dry mud cleaning robot in a soil unloading state according to one embodiment of the present application is shown.

[0035] Reference signs:

[0036] 1, carriage pin shaft; 2, rear baffle; 3, camera; 4, rear baffle adjusting cylinder; 5, earth storage box; 6, earth storage box lifting cylinder; 7, shovel pin shaft; 8, earth removing wheel; 9, earth removing tooth; 10, earth; 11, earth shoveling plate; 12, earth shoveling plate lifting cylinder; 13, earth shoveling plate translation lengthening plate; 14, translation sliding block; 15, earth shoveling plate translation sliding rail; 16, earth shoveling plate translation cylinder; 17, walking track chassis; 18, chassis connecting plate; 19, steel wire rope; 20, multi-core cable; 21, first vibrator; 22, second vibrator; 23, earth storage bucket; 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 application will be described in more detail below. Although the preferred embodiments of the present application are described below, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0038] As Figures 1-4 shown, the present embodiment provides a pipeline dry earth cleaning robot, which comprises a vehicle body and an earth storage box 5 arranged on the upper surface of the vehicle body, the earth storage box 5 comprising:

[0039] a bottom plate;

[0040] a pair of side baffles 26 fixedly connected to the two sides of the bottom plate;

[0041] a rear baffle 2, the lower end of the rear baffle 2 being rotatably connected to the rear end of the 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 baffles 26;

[0043] a pair of rotating cross beams 25, the rotating cross beams 25 being arranged in pairs with the front longitudinal beams 24, one end of the rotating cross beam 25 being rotatably connected to the upper end of the front longitudinal beam 24, the other end of the rotating cross beam 25 being rotatably connected to the upper part of the side edge of the rear baffle 2, the rear baffle 2 and the pair of front longitudinal beams 24 being capable of synchronous forward and backward flipping;

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

[0045] The rear baffle adjusting cylinder 4 is connected with the rear baffle 2, and is used to drive the rear baffle 2 to overturn.

[0046] In the embodiment, the vehicle body is provided with a walking track chassis 17, the walking track chassis 17 is divided into two identical track mechanisms, and the two track mechanisms are connected together through a chassis connecting plate 18. Two front longitudinal beams 24 are hingedly installed on the upper front side of the earth storage box 5. A rotating cross beam 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 cross beam 25 and the rear baffle 2 located on the same side form a parallelogram, and soft cloth is arranged on the two sides of the parallelogram to facilitate deformation. When the rear baffle adjusting cylinder 4 is retracted, the rear baffle 2 is flattened, the rotating cross beam 25 and the front longitudinal beam 24 are pushed forward to lie down, the soft cloth on the two sides is folded, and the entire robot is in a minimum state, facilitating hoisting and lowering into the well. When the robot is placed on the bottom of the well, the rear baffle adjusting cylinder 4 is extended, the rear baffle 2 is erected, and the mechanism involved in the parallelogram is unfolded to form a box with an opening facing forward.

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

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

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

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

[0051] Specifically, the camera 3 can observe the working state of the robot, and the upper cover plate made of transparent material facilitates the camera 3 to observe the state of the earth storage box 5.

[0052] Optionally, a rear end of the bottom plate is rotationally connected to a rear end of the vehicle body, a earth storage box lifting cylinder 6 is arranged between the bottom plate and an upper surface of the vehicle body, a fixed end of the earth storage box lifting cylinder 6 is hingedly connected to the upper surface of the vehicle body, and a telescopic end of the earth storage box lifting cylinder 6 is hingedly connected to a lower surface of the bottom plate.

[0053] In the embodiment, a pin shaft sleeve matched with the car body pin shaft 1 is arranged on the upper rear side of the chassis connecting plate 18, so that the earth storage box 5 can rotate around the car body pin shaft 1. The bottom of the earth storage box lifting cylinder 6 is fixed on the chassis connecting plate 18, and when the earth storage box lifting cylinder 6 is lifted, the earth storage box 5 can rotate around the car body pin shaft 1, forming an unloading mode. When the earth storage box lifting cylinder 6 is retracted, the earth storage box 5 is fixed in a horizontal state. When the robot full of mud and sand 10 retreats to the pre-prepared mud storage basket 23 at the well mouth position, the earth storage box lifting cylinder 6 is extended, and at this time, the earth storage box 5 is lifted around the car body pin shaft 1, and the mud and sand 10 is unloaded from the rear of the earth storage box 5 to the mud storage basket 23.

[0054] Optionally, the pipeline dry dredging robot further comprises a cleaning mechanism arranged at the front end of the vehicle body, and the cleaning mechanism comprises:

[0055] the earth scraping plate 11;

[0056] the earth scraping wheel 8 is connected to the upper surface of the earth scraping plate 11 through a pair of connecting rods 27, one end of the connecting rod 27 is rotationally connected to the rotating shaft of the earth scraping wheel 8, the other end of the connecting rod 27 is fixedly connected to the earth scraping plate 11, and the rotating shaft of the earth scraping wheel 8 is further rotationally connected to one end of a pair of support arms 28, the other end of the support arm 28 is rotationally connected to the vehicle body together with the earth scraping plate 11 and can be synchronously flipped forward and backward;

[0057] the earth scraping plate lifting cylinder 12, the fixed end of the earth scraping plate lifting cylinder 12 is rotationally connected to the front end of the vehicle body, and the telescopic end of the earth scraping plate lifting cylinder 12 is rotationally connected to the upper surface of the earth scraping plate 11.

[0058] In this embodiment, the shovel pin shaft 7 is arranged at the upper part of the front end of the chassis connecting plate 18, the earth scraping wheel 8 and the earth scraping plate 11 are connected through the shovel pin shaft 7, a plurality of earth scraping plates are installed on the circumference of the earth scraping wheel 8, and a plurality of earth scraping teeth 9 are installed on the earth scraping plates, the hardness of the earth scraping teeth 9 is moderate, the earth scraping teeth 9 can loosen the silt 10, and the earth scraping teeth 9 will not damage the pipeline itself, the earth scraping wheel 8 rotates to scrape and cut the silt 10, and the silt 10 is thrown to the rear and into the silt storage box 5, the silt 10 in the silt storage box 5 is blocked by the wall surface and falls into the silt storage box 5, and a small part of the silt 10 also falls on the earth scraping plate 11; the bottom of the earth scraping plate 11 is provided with the earth scraping plate lifting cylinder 12, which can drive the earth scraping wheel 8 and the earth scraping plate 11 to rotate together around the shovel pin shaft 7 to adjust the height of the earth scraping wheel 8, and the earth scraping wheel 8 and the earth scraping plate 11 swing together, so as not to interfere with each other.

[0059] Optionally, the cleaning mechanism further comprises:

[0060] the earth scraping plate translation cylinder 16 is arranged at the bottom of the vehicle body, and the telescopic end of the earth scraping plate translation cylinder 16 is arranged in the forward direction of the vehicle body;

[0061] the earth scraping plate translation extension plate 13 is slidingly connected to the bottom of the vehicle body, one end of the earth scraping plate translation extension plate 13 is fixedly connected to the telescopic end of the earth scraping plate translation cylinder 16, and the other end of the earth scraping plate translation extension plate 13 is hingedly connected to the fixed end of the earth scraping plate lifting cylinder 12.

[0062] In this embodiment, the shovel plate translation lengthening plate 13 is connected with the vehicle body through the translation slider 14 and the shovel plate translation slide rail 15. The head of the shovel plate lifting cylinder 12 is hinged to the bottom of the shovel plate 11, the tail of the shovel plate lifting cylinder 12 is hinged to the shovel plate translation lengthening plate 13, the shovel plate translation lengthening plate 13 is fixed on the translation slider 14 through screws, the translation slider 14 can only move forward and backward on the shovel plate translation slide rail 15, the shovel plate translation slide rail 15 is fixed on the bottom plate of the walking track chassis 17, the shovel plate translation cylinder 16 pushes the shovel plate translation lengthening plate 13 and the translation slider 14 to move forward and backward along the shovel plate translation slide rail 15, which can increase the movement stroke and further increase the turning angle of the shovel plate 11. When the sand 10 in the soil storage box 5 will be full, the shovel plate lifting cylinder 12 and the shovel plate translation cylinder 16 are extended to make the shovel plate 11 stand up to prevent the sand 10 in the soil box 5 from leaking out.

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

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

[0065] Optionally, the shovel plate 11 is provided with a second vibrator 22.

[0066] In this embodiment, the second vibrator 22 is installed at the bottom of the shovel plate 11, and the shovel plate 11 can be vibrated by energizing to make the sand 10 attached to the shovel plate 11 fall off.

[0067] In this embodiment, an electric control box is arranged in the inside of the chassis connecting plate 18, which is connected with the control vehicle through a multi-core cable 20, so as to control the action of each electric cylinder, the walking speed of the track and the rotating speed of the soil digging wheel 8; a steel wire rope 19 is further arranged at the rear of the chassis connecting plate 18, which is used for lifting down the well or pulling the traction. When the rear baffle adjusting cylinder 4 is retracted to make the rear baffle 2 flat, the rotating cross beam 25 and the front longitudinal beam 24 are pushed to lie forward, the two sides of the soft cloth are folded, and the whole robot is in the smallest state, as shown in Figure 2As shown, at this time, the wire rope 19 can be hung with a tripod lifting hook to make the robot stand up and facilitate going down the well; when the robot enters the well bottom and lies flat, the rear baffle adjusting cylinder 4 is extended, the rear baffle 2 is erected, and the parallelogram mechanism involved is pulled to unfold, forming a box body with an opening facing forward; the camera 3 can observe the working status of the robot, adjust the robot's forward speed, and adjust the height of the plowing wheel 8 and the plowing plate 11 by adjusting the rotation speed of the plowing wheel 8 and the extension and contraction of the shovel plate 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 shovel plate 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 shovel plate lifting cylinder 12 and the shovel plate translation cylinder 16 are extended at the same time to make the shovel plate 11 stand up, as shown in FIG. Figure 3 As shown, at this time, the second vibrator 22 is started to pour the mud and sand 10 in the shovel plate 11; when the robot fully loaded with mud and sand 10 retreats back 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 to process the debris, and then the mud storage basket 23 is placed at the bottom of the inspection well at the wellhead, waiting for the robot to come back again after digging the soil.

[0068] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations 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: It 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 both sides of the bottom plate; A rear baffle (2), wherein the lower end of the rear baffle (2) 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), so that 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 being respectively arranged on both sides of the soil storage box (5), the upper edges of the soft cloths being connected to the rotating crossbeam (25), the lower edges of the soft cloths being connected to the side baffles (26), the front edges of the soft cloths being connected to the front longitudinal beams (24), and the rear edges of the soft cloths being connected to the side edges of the rear baffles (2); A rear baffle adjusting cylinder (4), the rear baffle adjusting cylinder (4) being connected to the rear baffle (2), and the rear baffle adjusting cylinder (4) being used to drive the rear baffle (2) to flip; The pipeline dry mud cleaning robot also includes a cleaning mechanism arranged at the front end of the vehicle body, and the cleaning mechanism includes: Shovel board (11); A scraping wheel (8), the scraping wheel (8) is connected to the upper surface of the scraping plate (11) through a pair of connecting rods (27), one end of the connecting rod (27) is rotatably connected to the rotating shaft of the scraping wheel (8), the other end of the connecting rod (27) is fixedly connected to the scraping plate (11), the rotating shaft of the scraping 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 scraping plate (11) and can be synchronously flipped forward and backward; A shovel plate lifting cylinder (12), wherein the fixed end of the shovel plate lifting cylinder (12) is rotatably connected to the front end of the vehicle body, and the telescopic end of the shovel plate lifting cylinder (12) is rotatably connected to the upper surface of the shovel plate (11); A shovel blade translation cylinder (16), 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 shovel blade translation extension plate (13) is slidably connected to the bottom of the vehicle body, one end of the shovel blade translation extension plate (13) is fixedly connected to the telescopic end of the shovel blade translation cylinder (16), and the other end of the shovel blade translation extension plate (13) is hinged to the fixed end of the shovel blade lifting cylinder (12).

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

3. The pipeline dry mud cleaning robot according to claim 2, characterized in that: The rear baffle (2) has an upward extension portion, and a camera (3) is provided at the upper end of the extension portion; The upper cover 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 provided 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: The scraper plate translation extension plate (13) is connected to the vehicle body via a translation slider (14) and a scraper plate translation rail (15).

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

7. The pipeline dry mud cleaning robot according to claim 1, characterized in that: The scraping plate (11) is equipped with a second vibrator (22).

8. 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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