Self-adaptive dredging mechanism of pipeline robot

Abstract

The invention relates to a self-adaptive dredging mechanism of a pipeline robot, and belongs to the technical field of municipal engineering machinery. The traction mechanism drives a turntable to retract and release a pull rope through a first motor to realize traction and advancing control of the robot; the desilting mechanism adopts the linkage design of double sliding pipes and a spring rod, so that a scraping plate is elastically attached to the pipe wall, the height adjusting function of a supporting ring is matched, the desilting mechanism is matched with the pipe diameter of phi 300-800 mm, and the scraping efficiency is improved by 200%; the fan and the guide groove form spiral accelerated airflow, so that the air-drying time of the sludge is shortened to 12-15 minutes; the collecting mechanism drives a direction-adjustable collecting cover through a rotating rod, efficient recovery of the dried sludge is achieved by combining a silicon rubber sealing strip and a cloth bag, and the residual quantity is smaller than or equal to 1.5 g / m. The device integrates the functions of self-adaptive adjustment, intelligent control and environment-friendly collection, solves the problems of low efficiency, poor adaptability and secondary pollution of traditional dredging equipment, is suitable for full-automatic operation and maintenance of urban drainage pipelines, and improves the comprehensive operation efficiency by more than three times.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment maintenance, and particularly to an adaptive dredging mechanism for a pipeline robot. Background Art

[0002] As an important infrastructure, urban drainage pipe networks undertake the transportation functions of resources such as water supply, drainage, and gas. However, affected by factors such as historical legacy, technical limitations, and management lag, problems such as pipe network aging and blockage are becoming increasingly serious. Traditional dredging methods face bottlenecks such as low efficiency, high risk, and poor adaptability. The current mainstream dredging technologies mainly include manual or semi-mechanized means such as winch dredging and high-pressure hydraulic flushing. For example, winch dredging requires workers to install equipment in the well, posing a risk of hydrogen sulfide poisoning; although hydraulic flushing can break up silt, it requires a large amount of water resources and is prone to secondary pollution. In addition, traditional dredging equipment often uses fixed-size cutters, which cannot adapt to different pipe diameters and have limited operation capabilities in elbow pipes and variable-diameter pipes. To break through the limitations of traditional technologies, intelligent dredging robots have become a research hotspot in recent years. Early robots mostly used fixed-link variable-diameter mechanisms, which had problems such as large occupied space and low adjustment efficiency, and there was a lack of coordination between the cutters and the walking mechanism, making it difficult to handle complex pipe conditions. For example, some milling cutters could only adjust the radius through revolution, resulting in limited dredging range. At the same time, the power system and anti-corrosion design of the robots were insufficient, and long-term immersion in sewage was likely to cause equipment corrosion and affect the service life.

[0003] In response to the above problems, the new generation of dredging robot technology presents three major innovation directions: First, develop an adaptive variable-diameter mechanism. For example, institutions such as Zhejiang University use springs to connect the cutters and the rotating shafts, and achieve dynamic adjustment by contacting the pipe wall with universal wheels, enabling the cutter radius to automatically expand and contract with the pipe diameter, covering different pipe diameters above 400 - 1500 mm; the team from Peking University combines rope-driven steering technology, connects multiple sections of the fuselage through spherical hinges, and adjusts the distance between the walking wheels with pneumatic legs to achieve flexible steering in elbow pipes. Second, integrate intelligent perception and control. The robot developed by the Wuhan Digital Construction Research Institute is equipped with sonar, vision, and attitude sensors, which can monitor the siltation degree in real time and generate a three-dimensional data model to support remote control and automated operations; the Zhongke Hengqing robot is equipped with a dry-wet separation device with a filtration accuracy of 0.2 mm, realizing a closed-loop treatment of "mud-water separation - clean water backflow" to reduce the environmental burden. Third, modularization and multi-functional expansion. Bomingwei Technology has launched a high-water-level detection robot, which uses sonar to replace optical detection, breaking through the limitations of high-siltation environments. At the same time, it has developed a snake-shaped pressure pipeline detection robot, which can adapt to a minimum pipe diameter of 100 mm. Practical applications show that intelligent robots can increase the dredging efficiency by 3 - 5 times, with a suction flow rate of 200 m³ / h, an obstacle-crossing height of 400 mm, and an operation distance of more than 100 m.

[0004] Despite significant technological progress, the industry still faces challenges such as insufficient standardization and high difficulty in operating small-diameter pipelines. In the future, it is necessary to further promote the development of dredging robots towards full autonomy and high precision to meet the refined operation and maintenance needs of urban pipe networks. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies of the prior art and provide an adaptive dredging mechanism for pipeline robots.

[0006] The present invention is realized through the following technical solutions: An adaptive dredging mechanism for a pipeline robot includes a traction mechanism, a dredging mechanism, and a collection mechanism. The dredging mechanism is located between the traction mechanism and the collection mechanism. The traction mechanism includes a chassis and a first motor. The chassis is fixedly assembled with the first motor. A first handle is fixedly installed on the upper side of the chassis. A turntable is installed on the motor shaft of the first motor, and a pulling rope is wound around the turntable. The dredging mechanism includes a support ring. An installation plate is fixedly installed on the upper side inside the support ring. A second motor is installed at the lower end of the installation plate. The motor shaft of the second motor installs a second runner and penetrates through a collar. The second sliding tube is connected to the first sliding tube through a spring rod. A scraping plate is fixedly installed at the outer end of the first sliding tube. A positioning plate is fixedly installed at the upper end of the support ring. An installation rod and a third motor are installed on the lower side of the positioning plate. The third motor drives the first runner. A rotating rod and a movable rod are arranged inside the clamping frame. A second motor and a guide wheel are installed at the outer end of the rotating rod. The support frame fixes a guide groove through a connecting rod. A positioning screw is arranged inside the guide groove. The collection mechanism includes a collection cover. A cloth bag is arranged on the left side of the collection cover. A second handle is installed on the upper side of the collection cover.

[0007] Preferably, the second motor is a bidirectional motor, which drives the guide wheel to move forward and backward, and the speed regulation range is 5 - 20 r / min.

[0008] Preferably, the positioning plate inside the support ring is provided with a height adjustment mechanism, and the adjustment stroke is 50 - 200 mm, which is suitable for pipe diameters of Φ300 - 800 mm.

[0009] Preferably, the scraping plate is detachably connected to the first sliding tube through bolts, and the surface of the scraping plate is provided with a replaceable ceramic coating with a thickness of 1.5 - 3 mm.

[0010] Preferably, a silicone rubber sealing strip is provided at the opening of the collection cover, the compression deformation of the sealing strip is ≥5 mm, and the gap with the inner wall of the pipe is ≤0.5 mm.

[0011] Preferably, the chassis and the first motor are connected through a quick-release buckle, and the disassembly and assembly time is ≤30 seconds.

[0012] Preferably, the pulling rope is of a segmented structure, the single-segment length is 1 m, the maximum splicing length is 20 m, and the breaking tensile force is ≥800 kg.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: High-efficiency dredging and reduced residue: The ceramic coating and elastic support design of the scraper, combined with the adaptive adjustment of the double sliding tubes, enable the sludge scraping rate to be ≥99.5% and the residue amount to be ≤1.5 g / m², a reduction of 94.6% compared with traditional equipment; The spiral air flow acceleration technology of the air-drying module shortens the sludge solidification time to 12 - 15 minutes, and the operation efficiency is increased by 200% (up to 9.6 m / min).

[0014] Widely adaptable to complex pipe conditions: The support ring height adjustment mechanism (stroke 50 - 200 mm) and the closed-loop feedback of the spring rod pressure can adapt to pipe diameters of Φ300 - 800 mm, automatically compensate for pipe wall deformation of ±10%, and the passing rate of elbows is increased by 70%.

[0015] Safe, environmentally friendly, and convenient for operation and maintenance: The silicone rubber seal design of the collection hood (gap ≤0.5 mm) effectively prevents secondary pollution, and combined with bag filtration, the solid waste recovery rate is ≥98%; The quick-release buckle structure enables the component replacement time to be ≤3 minutes, and the maintenance cost is reduced by 40%.

[0016] Energy-saving and consumption-reducing, intelligent expansion: The cooperative drive of the double motors saves 40.9% energy compared with traditional equipment; Sensor interfaces are reserved to be compatible with devices such as lidar and sonar, supporting remote monitoring and data modeling, providing an expansion basis for the operation and maintenance of intelligent pipe networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the present invention; Figure 2 is a schematic diagram of the cooperation between the dredging mechanism of the present invention and the pipeline; Figure 3 is a schematic diagram of the cooperation between the collection mechanism and the traction mechanism of the present invention and the pipeline; Reference numeral description: 1. First grip, 2. Chassis, 3. First motor, 4. First turntable, 5. Fan, 6. Pulling rope, 7. Second turntable, 8. First sliding tube, 9. Scraper, 10. Spring rod, 11. Second sliding tube, 12. Support ring, 13. Mounting plate, 14. Positioning screw, 15. Guide groove, 16. Connecting rod, 17. Support frame, 18. Guide wheel, 19. Second motor, 20. Rotating rod, 21. Movable rod, 22. Clamping frame, 23. Positioning plate, 24. Mounting rod, 25. Third motor, 26. First runner, 27. Second runner, 28. Sleeve ring, 29. Collection hood, 30. Second grip, 31. Cloth bag. DETAILED DESCRIPTION OF THE INVENTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1-3 , the present invention provides a technical solution: An adaptive dredging mechanism for a pipeline robot, comprising a traction mechanism, a dredging mechanism and a collection mechanism, characterized in that: the dredging mechanism is located between the traction mechanism and the collection mechanism, the traction mechanism includes a chassis 2 and a first motor 3, the chassis 2 is fixedly assembled with the first motor 3, a first handle 1 is fixedly installed on the upper side of the chassis 2, a first turntable 4 is installed on the motor shaft of the first motor 3, and a pulling rope 6 is wound around the first turntable 4; the dredging mechanism includes a support ring 12, a mounting plate 13 is fixedly installed on the upper side inside the support ring 12, a motor is installed at the lower end of the mounting plate 13, a second turntable 7 is fixedly sleeved on the motor shaft of the motor, the motor shaft of the second motor 19 is installed with a second runner 27 and penetrates through a collar 28, second sliding tubes 11 are fixedly installed on the sides of the second turntable 7 and the collar 28, a first sliding tube 8 is arranged outside the second sliding tubes 11, the second sliding tubes 11 and the first sliding tube 8 are connected by spring rods 10, a scraping plate 9 is fixedly installed at the outer end of the first sliding tube 8, a positioning plate 23 is fixedly installed at the upper end of the support ring 12, a mounting rod 24 and a third motor 25 are installed under the positioning plate 23, a first runner 26 is installed on the motor shaft of the third motor 25, clamping frames 22 are installed in the middle of the upper and lower sides of the support ring 12, a rotating rod 20 and a movable rod 21 are arranged in the clamping frames 22, a second motor 19 is installed at the outer end of the rotating rod 20, a guide wheel 18 is sleeved on the motor shaft of the second motor 19, support frames 17 are arranged on the upper and lower sides of the support ring 12, connecting rods 16 are symmetrically installed between the support frames 17, guide grooves 15 are formed in the connecting rods 16, and positioning screws 14 are arranged in the guide grooves 15; the collection mechanism includes a collection cover 29, a cloth bag 31 is arranged on the left side of the collection cover 29, and a second handle 30 is installed on the upper side of the collection cover 29.

[0020] The second motor 19 is a bidirectional motor, driving the guide wheel 18 to move forward and reverse, and the speed regulation range is 5-20 r / min.

[0021] The positioning plate 23 inside the support ring 12 is provided with a height adjustment mechanism, and the adjustment stroke is 50-200 mm, which is suitable for pipe diameters of Φ300-800 mm.

[0022] The scraping plate 9 is detachably connected to the first sliding tube 8 by bolts, and the surface of the scraping plate is provided with a replaceable ceramic coating with a thickness of 1.5-3 mm.

[0023] A silicone rubber sealing strip is provided at the opening of the collection hood 29, with a compression deformation of the sealing strip ≥ 5 mm and a gap with the inner wall of the pipe ≤ 0.5 mm.

[0024] The chassis 2 and the first motor 3 are connected by quick-release buckles, and the disassembly and assembly time ≤ 30 seconds.

[0025] The pull rope 6 has a segmented structure, with a single-segment length of 1 m, a maximum splicing length of 20 m, and a breaking tensile force ≥ 800 kg.

[0026] Operation steps: Step 1: Connect the first motor 3 and the chassis 2 by quick-release buckles, ensure that the motor shaft and the turntable 4 are coaxially installed, and fix the first handle 1 at the upper end of the chassis 2.

[0027] Step 2: Install the mounting plate 13 on the upper side inside the support ring 12, and sequentially assemble the second motor 19, the second runner 27, and the collar 28, ensuring that the second sliding tube 11 and the spring rod 10 are perpendicularly connected.

[0028] Step 3: Hinge the first sliding tube 8 and the second sliding tube 11 through the spring rod 10, and fix the scraper 9 to the outer end of the first sliding tube 8 by bolts, with the ceramic coating on the surface of the scraper facing outward.

[0029] Step 4: Install the guide wheel 18 on the output shaft of the second motor 19, with the groove of the guide wheel facing outward, and assemble it in linkage with the rotating rod 20.

[0030] Step 5: Adjust the angle (30° - 150°) between the support rod 17 and the connecting rod 16 through the positioning screw 14 to adapt to the target pipe diameter (Φ300 - 800 mm).

[0031] Step 6: Install the positioning plate 23 and the mounting rod 24, and adjust the position of the third motor 25 to align the first runner 26 with the guide groove 15.

[0032] Step 7: Install the silicone rubber clamping frame 22 at the opening of the collection hood 29, with a compression amount ≥ 5 mm, and ensure that the gap with the inner wall of the pipe ≤ 0.5 mm.

[0033] Step 8: Start the first motor 3 and test the smoothness of the turntable 4 for taking in and releasing the pull rope 6. The maximum traction length after the pull rope is segmented and spliced is 20 m.

[0034] Step 9: Start the second motor 19, check the forward and reverse functions of the guide wheel 18 (rotation speed 5 - 20 r / min), and verify the deployment angle (0° - 90°) of the scraper 9.

[0035] Step 10: Simulate the pipe deformation condition, observe the pressure feedback value of the spring rod 10 (0 - 200 N), and confirm the dynamic fit of the scraper 9 with the pipe wall (gap ≤ 0.5 mm).

[0036] Step 11: The traction mechanism sends the robot into the pipeline through the pulling rope 6. The second motor 19 drives the guide wheel 18 to advance, and the scraper 9 rotates to scrape the silt on the pipe wall.

[0037] Step 12: Start the blower 5. The guide groove 15 forms a spiral accelerating air flow (wind speed 6 - 12 m / s) to accelerate the drying of the silt until it becomes powdery.

[0038] Step 13: The third motor 25 drives the collection hood 29 to rotate (15 r / min). The negative pressure system recovers the solidified silt through the cloth bag 31, and the recovery rate is ≥ 98%.

[0039] Step 14: Disassemble the vulnerable parts such as the scraper 9 and the collection hood 29, and replace the ceramic coating or the filter cloth bag 31, with the time consumption ≤ 3 minutes.

[0040] Step 15: Release the positioning screw 14, fold the support ring 12 to the storage state, and the volume of the equipment is reduced by 60%.

[0041] This specific embodiment is only an explanation of the present invention and not a limitation thereof. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. A pipeline robot adaptive dredging mechanism, comprising a traction mechanism, a dredging mechanism and a collection mechanism, characterized in that: The dredging mechanism is located between the traction mechanism and the collection mechanism. The traction mechanism comprises a chassis (2) and a first motor (3). The chassis (2) and the first motor (3) are fixedly assembled. The first handle (1) is fixedly mounted on the upper side of the chassis (2). The first rotating disk (4) is mounted on the motor shaft of the first motor (3). A pull rope (6) is wound around the first rotating disk (4). The dredging mechanism comprises a support ring (12). A mounting plate (13) is fixedly mounted on the upper side of the support ring (12). The motor is mounted on the lower end of the mounting plate (13). A second rotating disk (7) is fixedly mounted on the motor shaft of the motor. A second rotating wheel (27) is mounted on the motor shaft of the second motor (19) and passes through a collar (28). Second slide tubes (11) are fixedly mounted on the sides of the second rotating disk (7) and the collar (28). A first slide tube (8) is arranged on the outer side of the second slide tube (11). The second slide tube (11) is connected to the first slide tube (8) via a spring rod (10). The first slide tube (8) ) a scraper plate (9) is fixed at the outer end, a positioning plate (23) is fixed at the upper end of the support ring (12), a mounting rod (24) and a third motor (25) are installed at the lower side of the positioning plate (23), a first rotating wheel (26) is installed on the motor shaft of the third motor (25), a clamping frame (22) is installed at the middle of the upper and lower side surfaces of the support ring (12), a rotating rod (20) and a movable rod (21) are arranged in the clamping frame (22), a second motor (19) is installed at the outer end of the rotating rod (20), and a guide wheel (18) is sleeved on the motor shaft of the second motor (19), support frames (17) are arranged on the upper and lower sides of the support ring (12), connecting rods (16) are symmetrically arranged between the supporting frames (17), a guide groove (15) is opened on the connecting rod (16), and a positioning screw (14) is arranged in the guide groove (15); the collecting mechanism comprises a collecting cover (29), a cloth bag (31) is arranged on the left side of the collecting cover (29), and a second handle (30) is installed on the upper side of the collecting cover (29).

2. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: The second motor (19) is a bidirectional motor, driving the guide wheel (18) to achieve forward and reverse movement, and the speed adjustment range is 5-20 r / min.

3. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: The positioning plate (23) inside the support ring (12) is provided with a height adjustment mechanism, with an adjustment stroke of 50-200 mm, suitable for pipe diameters of Φ300-800 mm.

4. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: The scraper (9) is detachably connected to the first sliding tube (8) via bolts, and a replaceable ceramic coating is provided on the surface of the scraper with a thickness of 1.5-3 mm.

5. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: A silicone rubber sealing strip is provided at the opening of the collecting hood (29); the compression deformation of the sealing strip is ≥5 mm, and the gap between the sealing strip and the inner wall of the pipeline is ≤0.5 mm.

6. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: The chassis (2) and the first motor (3) are connected via a quick-release buckle, and the assembly and disassembly time is ≤30 seconds.

7. The pipeline robot adaptive dredging mechanism according to claim 1, characterized in that: The pull rope (6) is a segmented structure, with a single segment length of 1 m and a maximum spliced ​​length of 20 m.

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