Municipal drainage pipeline cleaning robot and cleaning method
By designing an automated cleaning robot for municipal drainage pipes, the problems of low cleaning efficiency and safety hazards in the prior art are solved, and efficient and safe pipeline cleaning is achieved.
Patent Information
- Application Number
- CN202411953111.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-03-21
AI Technical Summary
The prior art is inefficient and has safety hazards in the cleaning of municipal drainage pipes, low efficiency in manual cleaning, and risks such as hypoxia may occur when entering the pipes.
A municipal drainage pipe cleaning robot is designed, including a cylindrical outer shell, cleaning motor, rotating disc and blade. The walking mechanism can be telescopic and abutted with the inner wall of the pipe, and the robot can automatically clean it in the pipe.
Automatic cleaning of drainage pipes has been achieved, cleaning efficiency has been improved, the necessity of manual entry into dangerous environments has been reduced, and the safety of staff has been ensured.
Smart Images
Figure CN119663975A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of municipal drainage, and in particular relates to a municipal drainage pipe cleaning robot and a cleaning method. Background Art
[0002] The municipal drainage system is an important part of urban infrastructure, mainly used to collect and discharge rainwater, domestic sewage and industrial wastewater. It not only protects the city's environmental sanitation, but also prevents the occurrence of floods and waterlogging disasters, ensuring the quality of life of residents and the safe operation of the city. However, with the acceleration of urbanization and the growth of population, the load on the municipal drainage system continues to increase, and sediments, garbage, grease and other debris in the pipes can easily cause pipe blockages and affect the normal operation of the drainage system. Therefore, it is essential to clean the municipal drainage system regularly.
[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 uncertain factors. Manual entry into the drain pipe may lead to dangers such as hypoxia. For this reason, we propose a municipal drainage pipe cleaning robot and cleaning method. Summary of the invention
[0004] In view of the deficiencies in the prior art, the present invention provides a municipal drainage pipe cleaning robot and a cleaning method to solve the technical problems existing in the prior art.
[0005] A first aspect of the present invention provides a municipal drainage pipe cleaning robot, comprising a cylindrical outer shell, fixed plates are provided at both ends of the outer shell, a cleaning motor is fixedly installed on the fixed plate at the front end of the outer shell, the output shaft of the cleaning motor extends out of the fixed plate, a rotating disk is connected to the output shaft of the cleaning motor, a plurality of scrapers are arrayed on the outer circumference of the rotating disk, a plurality of cross bars are connected in parallel between the two fixed plates, the cross bars are provided with two mounting plates, each of the mounting plates is connected with three sets of walking mechanisms, the walking mechanisms extend and retract the outer shell, the walking mechanisms are used to abut against the inner wall of the drain pipe and walk in the drain pipe, a power supply is also provided in the outer shell, the power supply is used to power the cleaning motor and the walking mechanism.
[0006] Preferably, the walking mechanism includes two connecting rods connected to the mounting plate, a transmission shaft box is connected between the ends of the two connecting rods, both ends of the transmission shaft box are rotatably connected to a roller, a bevel gear is connected to the rotating shaft of the roller, a driving motor is provided on the outside of the transmission shaft box, a driving gear is provided on the output shaft of the driving motor, and the driving gear is meshed with the bevel gear.
[0007] Preferably, one set of walking mechanisms on the two mounting plates are hinged to the mounting plates, and a support rod is hinged between the two sets of hinged walking mechanisms. An adjustment plate is also slidably connected to the cross bar, and the adjustment plate is arranged between the mounting plate at the rear end and the fixed plate at the rear end. A pull rod is hinged between the adjustment plate and the mounting plate, and a spring is arranged between the adjustment plate and the fixed plate, and the spring is sleeved on the cross bar.
[0008] Preferably, the angle between two adjacent groups of the walking mechanisms is 60°.
[0009] Preferably, the scraper includes a radial scraper and a circumferential scraper, the radial scraper extends in the radial direction of the rotating disk, the circumferential scraper extends in the circumferential direction of the rotating disk, and the radial scraper and the circumferential scraper are integrally formed.
[0010] Preferably, a connecting ring is provided on the outer circumference of the rotating disk, and the scraper is detachably mounted on the connecting ring.
[0011] Preferably, the diameter of the rotating disk is greater than the diameter of the outer shell.
[0012] A second aspect of the present invention provides a municipal drainage pipe cleaning method, using a municipal 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, select a suitable scraper according to the inner diameter of the drain pipe, and install the scraper on the rotating disk of the cleaning robot so that the scraper slightly contacts the inner wall of the drain pipe or maintains a gap of no more than 2 mm; The cleaning robot is placed at the outlet of the drain pipe, so that the rollers of the running mechanism abut against the inner wall of the drain pipe, and the rollers of one set of the running mechanisms abut against the top of the drain pipe, so that the adhesives cleaned from the inner wall of the drain pipe pass between the two sets of running mechanisms at the bottom or are pushed forward by the rotating disk; Connect the cleaning motor and the driving motor to a power source, start the cleaning motor to make the rotating disk start to rotate, and then start the driving motor to make the cleaning robot move forward along the pipeline; The above process is repeated, and when a section of the drain pipe is cleaned, the cleaning robot is transferred from the drain pipe to the next drain pipe to continue cleaning.
[0013] Compared with the existing method, the present invention has the following beneficial effects: The present invention uses a cleaning robot to realize automatic cleaning of the drain pipe, which not only improves the control efficiency of the robot, but also improves the cleaning efficiency of the drain pipe. The cleaning motor at the front end of the robot is connected to the rotating disk through the output shaft, and a plurality of scrapers are arranged in an array on the outer circumference of the rotating disk. This design allows the scraper to clean the inner wall of the pipe comprehensively and evenly while the robot is moving forward. The rotating motion of the scraper can effectively remove stubborn dirt such as sediment, sludge, grease, etc. in the pipe, ensuring a thorough cleaning effect; the scraper array is distributed on the outer circumference of the rotating disk, and as the rotating disk rotates, the scraper can contact the inner wall of the pipe from multiple angles, ensuring that dirt at different positions can be effectively removed. Compared with traditional single-point cleaning tools, this multi-angle cleaning method greatly improves the cleaning efficiency.
[0014] The cleaning robot provided by the present invention can move flexibly in pipes of different diameters and shapes, has strong adaptability, and is particularly suitable for cleaning operations in complex pipe networks. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a schematic diagram of the external structure of the drainage pipe cleaning robot in the present invention.
[0016] Figure 2 This is a schematic diagram of the internal structure of the drainage pipe cleaning robot in the present invention.
[0017] Figure 3 A schematic diagram of the three-dimensional structure of the drainage pipe cleaning robot in the present invention.
[0018] Figure 4 It is a schematic structural diagram of a walking mechanism in a preferred embodiment of the present invention.
[0019] In the above drawings: 10, outer shell; 11, fixing plate; 12, cleaning motor; 13, rotating disk; 14, scraper; 15, cross bar; 16, mounting disk; 17, adjusting plate; 18, pull rod; 19, spring; 20, walking mechanism; 21, connecting rod; 22, transmission shaft box; 23, roller; 24, rotating shaft; 25, bevel gear; 26, driving motor; 27, driving gear; 28, support rod; 29, radial scraper; 30, circumferential scraper; 31, connecting ring. DETAILED DESCRIPTION
[0020] The present invention is described in detail below in conjunction with specific implementation modes.
[0021] This embodiment provides a municipal drainage pipe cleaning robot. Figure 1-Figure 4As shown, it includes a cylindrical outer shell 10, both ends of the outer shell 10 are provided with fixed plates 11, and a cleaning motor 12 is fixedly installed on the fixed plate located at the front end of the outer shell 10, and the output shaft of the cleaning motor 12 extends out of the fixed plate 11, and the output shaft of the cleaning motor 12 is connected to a rotating disk 13, and a plurality of scrapers 14 are arranged in an array on the outer circumferential surface of the rotating disk 13, and a plurality of cross bars 15 are connected in parallel between the two fixed plates 11, and two mounting disks 16 are fixedly installed on the cross bars 15, and three groups of walking mechanisms 20 are connected to each of the mounting disks 16, and the walking mechanism 20 retracts and contracts the outer shell 10, and the walking mechanism 20 is used to abut against the inner wall of the drain pipe and walk in the drain pipe, and a power supply is also provided in the outer shell 10, and the power supply is used to power the cleaning motor 12 and the walking mechanism 20.
[0022] In the above embodiment, Figure 2 and Figure 4 As shown, the walking mechanism 20 includes two connecting rods 21 connected to the mounting plate 16, a transmission shaft box 22 is connected between the ends of the two connecting rods 21, and both ends of the transmission shaft box 22 are rotatably connected to a roller 23, and a bevel gear 25 is connected to the rotating shaft 24 of the roller 23. A driving motor 26 is provided on the outside of the transmission shaft box 22, and a driving gear 27 is provided on the output shaft of the driving motor 26, and the driving gear 27 is meshed with the bevel gear 25.
[0023] In some embodiments, Figure 3 As shown, one set of walking mechanisms 20 on the two mounting plates 16 is hinged to the mounting plates 16, and a support rod 28 is hinged between the two sets of hinged walking mechanisms 20. An adjustment plate 17 is also slidably connected to the cross bar 15. The adjustment plate 17 is arranged between the mounting plate 16 at the rear end and the fixed plate 11 at the rear end. A pull rod 18 is hinged between the adjustment plate 17 and the mounting plate 16. A spring 19 is arranged between the adjustment plate 17 and the fixed plate 11, and the spring 19 is sleeved on the cross bar 15. In this embodiment, the walking mechanism 20 can automatically adjust the contact distance with the inner wall according to the diameter of the pipe, so that the robot can adapt to pipes of different diameters and shapes. This flexibility allows the robot to be widely used in various municipal drainage systems, rather than limited to specific types of pipes.
[0024] In other embodiments, Figure 1 and Figure 3As shown, the angle between two adjacent groups of the walking mechanisms 20 is 60°. In this embodiment, during the cleaning process, the adhesives (such as sludge, grease, etc.) cleaned from the inner wall of the drain pipe can be discharged through the gap between the two groups of walking mechanisms 20 located at the bottom, or pushed forward by the rotating disk. This design ensures that the cleaned dirt will not adhere to the inner wall of the pipe again, avoiding secondary pollution. Compared with the traditional high-pressure water gun cleaning method, this method is more environmentally friendly and reduces the generation and treatment costs of sewage.
[0025] In some preferred embodiments, Figure 1 As shown, the blade 14 includes a radial blade 29 and a circumferential blade 30, wherein the radial blade 29 extends radially along the rotating disk 13, and the circumferential blade 30 extends circumferentially along the rotating disk 13, and the radial blade 29 and the circumferential blade 30 are integrally formed. The design of the radial blade and the circumferential blade can bring many significant advantages to the municipal drainage pipe cleaning robot. The radial blade can go deep into the depressions on the inner wall of the pipe for deep scraping, while the circumferential blade is responsible for continuous scraping along the circumferential direction of the inner wall of the pipe. The two work together to achieve efficient cleaning at multiple angles and levels, ensuring the thoroughness and consistency of the cleaning effect. In addition, this design also reduces damage to the pipeline, prolongs the service life of the pipeline, adapts to complex pipeline environments, and has broad application prospects and market potential.
[0026] In other preferred embodiments, Figure 3 As shown, in order to facilitate the maintenance and replacement of the scraper 14, a connecting ring 31 is provided on the outer circumference of the rotating disk 13 in this embodiment, and the scraper 14 can be detachably mounted on the connecting ring.
[0027] In some preferred embodiments, the diameter of the rotating disk 13 is greater than the diameter of the outer shell 10, so that a sufficient gap is maintained between the outer shell 10 and the bottom of the pipe for the fallen garbage to pass through.
[0028] As another preferred embodiment of the present invention, this embodiment provides a municipal drainage pipe cleaning method, using a municipal drainage pipe cleaning robot as described in any one of the above items, specifically comprising the following steps: Lower the cleaning robot into the inspection well, select an appropriate blade 14 according to the inner diameter of the drain pipe, and install the blade 14 on the rotating disk 13 of the cleaning robot so that the blade 14 slightly contacts the inner wall of the drain pipe or maintains a gap of no more than 2 mm, ensuring that the blade can fit tightly against the inner wall of the pipe while avoiding excessive wear of the pipe. The precise adaptation of the blade enables the robot to effectively remove stubborn dirt such as sediment, grease, silt, etc. on the inner wall of the pipe during the cleaning process, ensuring a thorough cleaning effect. The cleaning motor drives the rotating disk to rotate, driving the blade to scrape the inner wall of the pipe. Since the blade maintains slight contact or a small gap with the inner wall of the pipe, the blade can continue to scrape off dirt attached to the inner wall during rotation without causing damage to the pipe. This design not only improves the cleaning efficiency, but also extends the service life of the pipe; The cleaning robot is placed at the outlet of the drain pipe, so that the rollers 23 of the walking mechanism 20 abut against the inner wall of the drain pipe, and the rollers 23 of one set of the walking mechanism 20 abut against the top of the drain pipe, so that the adhesives cleaned from the inner wall of the drain pipe pass between the two sets of walking mechanisms at the bottom or are pushed forward by the rotating disk; Connect the cleaning motor 12 and the driving motor 26 to a power source, start the cleaning motor 12 to make the rotating disk 13 start to rotate, and then start the driving motor 26 to make the cleaning robot move forward along the pipeline; The above process is repeated, and when a section of the drain pipe is cleaned, the cleaning robot is transferred from the drain pipe to the next drain pipe to continue cleaning.
[0029] In the above embodiment, the cleaning motor and the driving motor are responsible for the cleaning and walking functions respectively, and the two can be started at the same time, so that the robot can move along the pipeline while cleaning. This design greatly improves the cleaning efficiency and reduces the cleaning time and labor cost. The robot can complete the cleaning of multiple pipeline sections in one trip, avoiding the trouble of frequent entry and exit of the pipeline. At the same time, the connection between the cleaning motor, the driving motor and the power supply is simple and reliable, and it is easy to disassemble and replace. When a component fails, it can be quickly replaced to ensure that the robot can work continuously for a long time, further improving the cleaning efficiency.
[0030] The present invention enables the robot to complete the entire cleaning process of the pipeline autonomously, reducing the necessity of manual entry into dangerous environments (such as deeply buried pipelines and toxic gas environments) and ensuring the safety of workers. In particular, in some narrow, deeply buried pipelines or pipelines with high concentrations of toxic gases, the robot can replace manual cleaning operations to avoid exposure of personnel to dangerous environments.
[0031] On this basis, a communication module can also be set up. Through the built-in communication module, the robot can communicate with the background management system in real time. The operator can monitor the working status of the robot through the remote terminal and obtain data on the cleaning progress and effect. This remote monitoring method not only improves work efficiency, but also facilitates timely discovery and resolution of problems, ensuring the smooth completion of the cleaning task.
[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 municipal drainage pipe cleaning robot, characterized in that: It comprises a cylindrical outer shell, both ends of the outer shell are provided with fixing plates, a cleaning motor is fixedly mounted on the fixing plate at the front end of the outer shell, the output shaft of the cleaning motor extends out of the fixing plate, the output shaft of the cleaning motor is connected to a rotating disk, a plurality of scrapers are arrayed on the outer circumference of the rotating disk, a plurality of cross bars are connected in parallel between the two fixing plates, the cross bars are provided with two mounting plates, each of the mounting plates is connected with three sets of walking mechanisms, the walking mechanisms extend and retract the outer shell, the walking mechanisms are used to abut against the inner wall of the drain pipe and move in the drain pipe, a power supply is also provided in the outer shell, the power supply is used to power the cleaning motor and the walking mechanism.
2. A municipal drainage pipe cleaning robot according to claim 1, characterized in that: The walking mechanism includes two connecting rods connected to the mounting plate, a transmission shaft box is connected between the ends of the two connecting rods, both ends of the transmission shaft box are rotatably connected to a roller, a bevel gear is connected to the rotating shaft of the roller, a driving motor is provided on the outside of the transmission shaft box, a driving gear is provided on the output shaft of the driving motor, and the driving gear is meshed with the bevel gear.
3. A municipal drainage pipe cleaning robot according to claim 2, characterized in that: One set of walking mechanisms on the two mounting plates is hinged to the mounting plates, and a support rod is hinged between the two sets of hinged walking mechanisms. An adjustment plate is also slidably connected to the cross bar, and the adjustment plate is arranged between the mounting plate at the rear end and the fixed plate at the rear end. A pull rod is hinged between the adjustment plate and the mounting plate, and a spring is arranged between the adjustment plate and the fixed plate, and the spring is sleeved on the cross bar.
4. A municipal drainage pipe cleaning robot according to claim 3, characterized in that: The included angle between two adjacent groups of the walking mechanisms is 60°.
5. A municipal drainage pipe cleaning robot according to claim 4, characterized in that: The scraper comprises a radial scraper and a circumferential scraper. The radial scraper extends in the radial direction of the rotating disk, and the circumferential scraper extends in the circumferential direction of the rotating disk. The radial scraper and the circumferential scraper are integrally formed.
6. A municipal drainage pipe cleaning robot according to claim 4, characterized in that: A connecting ring is arranged on the outer circumference of the rotating disk, and the scraper is detachably mounted on the connecting ring.
7. The municipal drainage pipe cleaning robot according to claim 4, characterized in that: The diameter of the rotating disk is greater than the diameter of the outer shell.
8. A method for cleaning a municipal drainage pipe, characterized in that: Using a municipal drainage pipe cleaning robot according to any one of claims 4 to 7 specifically comprises the following steps: Lower the cleaning robot into the inspection well, select a suitable scraper according to the inner diameter of the drain pipe, and install the scraper on the rotating disk of the cleaning robot so that the scraper slightly contacts the inner wall of the drain pipe or maintains a gap of no more than 2 mm; The cleaning robot is placed at the outlet of the drain pipe, so that the rollers of the running mechanism abut against the inner wall of the drain pipe, and the rollers of one set of the running mechanisms abut against the top of the drain pipe, so that the adhesives cleaned from the inner wall of the drain pipe pass between the two sets of running mechanisms at the bottom or are pushed forward by the rotating disk; Connect the cleaning motor and the driving motor to a power source, start the cleaning motor to make the rotating disk start to rotate, and then start the driving motor to make the cleaning robot move forward along the pipeline; The above process is repeated, and when a section of the drain pipe is cleaned, the cleaning robot is transferred from the drain pipe to the next drain pipe to continue cleaning.