Pipeline inspection and desilting integrated robot imitating shield tunneling machine tool bit and control method of pipeline inspection and desilting integrated robot

Abstract

The invention provides a shield tunneling machine tool bit imitating pipeline inspection and desilting integrated robot and a control method thereof, and belongs to the field of pipeline robotics.The shield tunneling machine tool bit imitating pipeline inspection and desilting integrated robot comprises a robot body; the cleaning unit is arranged at the front end of the robot body; the cleaning unit comprises a simulated shield cutter head assembly, a rotating assembly and a telescopic assembly, and the rotating assembly and the telescopic assembly are both connected with the simulated shield cutter head assembly; the shield-imitating cutter head assembly comprises a plurality of cleaning cutter heads arranged in an umbrella shape, each cleaning cutter head comprises a fixed seat, continuous blades and spaced cutter teeth, and the continuous blades and the spaced cutter teeth are arranged on the fixed seat in parallel at intervals; and the variable-diameter advancing unit is arranged on the side wall of the robot body. Through the arrangement of the variable-diameter advancing unit, the telescopic assembly and the rotating assembly, dredging operation is achieved; and by arranging the continuous blades and the spaced cutter teeth, the dredging effect can be improved through diversified blade combinations, and meanwhile falling objects are prevented from winding the cleaning cutter head.

Description

Technical Field

[0001] This application relates to the technical field of pipeline robots, and particularly relates to a shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot and its control method. Background Art

[0002] With the continuous development of society and the continuous improvement of people's living standards, the coverage of urban underground pipe networks is becoming wider and wider. While bringing convenience to people's lives, the underground pipe networks also expose many problems. For example, as the pipeline usage time increases, silt will appear in the pipeline and block the pipeline. Therefore, it is necessary to clean the pipeline in time. Due to the high-risk complex unknown environmental characteristics of underground pipelines, such as limited internal space, liquid accumulation, harmful gas presence, and limited visible light, manual silt cleaning has problems such as incomplete silt cleaning, low silt cleaning efficiency, and potential safety hazards. Therefore, it has become an irresistible trend to use pipeline robots for silt cleaning. However, the cutter head structure of existing pipeline robots is relatively single, making the silt cleaning effect to be improved. Summary of the Invention

[0003] In view of the technical problems existing in the background art, this application provides a shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot and its control method. The shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot has a simple structure and a good silt cleaning effect.

[0004] In a first aspect, an embodiment of this application provides a shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot, including: a robot body; a cleaning unit disposed at the front end of the robot body; the cleaning unit includes a shield cutter head assembly, a rotating assembly, and a telescopic assembly, and both the rotating assembly and the telescopic assembly are connected to the shield cutter head assembly; the shield cutter head assembly includes a plurality of cleaning cutter heads arranged in an umbrella shape, and each cleaning cutter head includes a fixed seat, a continuous blade, and spaced teeth. The continuous blade and the spaced teeth are parallel and spaced on the fixed seat; a variable diameter traveling unit disposed on the side wall of the robot body; the variable diameter traveling unit drives the shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot to advance in the pipeline with a suitable diameter, the telescopic assembly adjusts the shield cutter head assembly to a suitable diameter, and the rotating assembly drives the continuous blade and the spaced teeth to rotate to achieve pipeline silt cleaning.

[0005] In the technical solution of the embodiment of this application, by setting the variable diameter traveling unit, the shield machine cutter head imitating pipeline inspection and silt cleaning integrated robot is driven to run smoothly in the pipeline with a suitable diameter; by setting the telescopic assembly, the diameter variation of the shield cutter head assembly is realized; by setting the rotating assembly, the shield cutter head assembly is driven to rotate to smoothly carry out the silt cleaning operation; by setting the continuous blade and the spaced teeth, the diversified blade combination can improve the silt cleaning effect and prevent the falling objects from winding around the cleaning cutter head.

[0006] In some embodiments, the rotating assembly includes a rotating rod and a rotating motor. One end of the rotating rod is connected to the output shaft of the rotating motor, and the other end is hinged to the shield - like cutter head assembly.

[0007] In this embodiment, by setting the rotating motor, the rotating rod and the shield - like cutter head assembly are driven to rotate for dredging operations.

[0008] In some embodiments, the telescopic assembly includes a connecting rod, a bearing group, and an electric push rod; the rotating rod sequentially passes through the bearing group and the robot body; one end of the connecting rod is hinged to the fixed seat, and the other end is hinged to the bearing group; the electric push rod passes through the robot body and is connected to the bearing group.

[0009] In this embodiment, through the coordinated cooperation of the connecting rod, the bearing group, and the electric push rod, the opening and closing degree of the umbrella - shaped structure of several cleaning cutter heads arranged in an umbrella shape of the shield - like cutter head assembly is adjusted to adapt to pipeline cross - sections with different radii.

[0010] In some embodiments, the bearing group includes a ball bearing support frame, a ball bearing, a double - bearing support frame, and a linear bearing sleeved from outside to inside in sequence; the ball bearing support frame is connected to the electric push rod, the linear bearing is sleeved on the rotating rod, and one end of the connecting rod is hinged to the fixed seat and the other end is hinged to the double - bearing support frame.

[0011] In this embodiment, by setting the ball bearing and hinging one end of the connecting rod to the double - bearing support frame, the rotation of the rotating rod can be realized, and at the same time, the connecting rod is driven to rotate to realize the rotation of the shield - like cutter head assembly for dredging operations.

[0012] In some embodiments, the shield - like cutter head assembly further includes a drill bit, the drill bit is connected to the end of the rotating rod away from the rotating motor, and the drill bit is hinged to the fixed seat.

[0013] In this embodiment, by setting the drill bit, on the one hand, the hinging of the rotating rod and the fixed seat can be better realized; on the other hand, the dredging effect can be improved.

[0014] In some embodiments, the variable - diameter traveling unit includes a plurality of variable - diameter traveling components spaced around the robot body. Each variable - diameter traveling component includes a telescopic support frame, a support wheel, and a driving motor; the support wheel is arranged on the side of the telescopic support frame away from the robot body; the driving motor is connected to the support wheel, and a first housing is arranged outside the driving motor.

[0015] In this embodiment, a driving motor is provided to supply power to the variable-diameter traveling unit, ensuring that the shield machine cutter head pipeline inspection and dredging integrated robot moves along the axial direction of the pipeline; by setting up a telescopic support frame, the variable diameter of the variable-diameter traveling unit can be realized to adapt to pipelines with different diameters.

[0016] In some embodiments, the robot body includes a first body and a second body connected to each other. The first body is disposed close to the cleaning unit, and the outer diameter of the first body is smaller than that of the second body; the telescopic support frame includes a sliding component disposed outside the first body and a support rod connected to the sliding component; the sliding component includes a lead screw, a nut, and a sliding motor. One end of the lead screw close to the cleaning unit is connected to the first body, and the other end passes through the second body and is connected to the output shaft of the sliding motor. The nut is sleeved on the lead screw and is in meshing connection with the lead screw; the support rod includes a first support rod and a second support rod. One end of the first support rod is hinged to the nut, and the other end is hinged to the first housing. One end of the second support rod is hinged to the first housing, and the other end is hinged to the second body.

[0017] In this embodiment, by setting up a sliding component and hinging both ends of the first support rod to the first housing and the nut respectively, the variable diameter of the variable-diameter traveling unit is successfully realized under the mutual cooperation of the sliding component, the first support rod, and the second support rod.

[0018] In some embodiments, a detection unit is provided at one end of the robot body close to the cleaning unit; the detection unit includes a lighting component and a camera.

[0019] In this embodiment, by setting up a lighting component, lighting support is provided for image acquisition in the pipeline, so that the camera can obtain clearer images; by setting up a camera, images of the interior of the pipeline can be acquired.

[0020] In some embodiments, the shield machine cutter head pipeline inspection and dredging integrated robot further includes a wire winding unit disposed at the rear end of the robot body; the wire winding unit includes a wire winding box, a wire winding shaft, a wire winding wheel, and a wire winding motor; the wire winding shaft and the wire winding wheel are disposed in the wire winding box, the wire winding motor is disposed on one side of the wire winding box away from the robot body, and the wire winding shaft is connected to the output shaft of the wire winding motor.

[0021] In this embodiment, by setting up a wire winding motor, the shaft of the wire winding shaft and the wire winding wheel is driven to rotate to collect the cable.

[0022] In a second aspect, an embodiment of the present application provides a control method for the shield machine cutter head pipeline inspection and dredging integrated robot provided in the first aspect of the present application, including the following steps: S1. Obtain the variable diameter range of the variable diameter traveling unit and the shield - like cutter head assembly based on the inner diameter of the pipeline, control the variable diameter traveling unit to be in an appropriate expansion and contraction degree, and at the same time control the shield - like cutter head assembly to be in an appropriate opening and closing angle; S2. Control the variable diameter traveling unit to work to drive the shield - like cutter head pipeline inspection and silt cleaning integrated robot to advance in the pipeline with an appropriate diameter; at the same time, control the rotating assembly to work to drive the continuous blades and the spaced teeth to rotate to achieve pipeline silt cleaning.

[0023] In the technical solution of the embodiment of the present application, by controlling the work of the shield - like cutter head pipeline inspection and silt cleaning integrated robot with a specific structure through a specific method, the smooth, efficient and low - residue cleaning of the silt in the pipeline is realized.

[0024] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are hereinafter specifically exemplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present application, the drawings used in the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic structural diagram of the shield - like cutter head pipeline inspection and silt cleaning integrated robot in the embodiment of the present application; Figure 2 It is a side view of the cleaning unit in the embodiment of the present application; Figure 3 It is a left view of the cleaning unit in the embodiment of the present application; Figure 4 It is a schematic structural diagram of the shield - like cutter head assembly in the embodiment of the present application; Figure 5 It is a schematic structural diagram of the robot body in the embodiment of the present application; Figure 6 It is a schematic structural diagram of the variable diameter traveling unit in the embodiment of the present application; Figure 7 For Figure 6 the enlarged view of A in Figure 8 It is a schematic structural diagram of the wire - winding unit in the embodiment of the present application; Description of the reference numerals in the drawings: 100 - Shield - like cutter head pipeline inspection and silt cleaning integrated robot; 1 - Robot body; 2 - Cleaning unit; 3 - Variable - diameter traveling unit; 4 - Detection unit; 5 - Wire - winding unit; 6 - Spring; 11 - First body; 12 - Second body; 13 - Pillar; 21 - Shield - like cutter head assembly; 22 - Rotating assembly; 23 - Telescopic assembly; 31 - Telescopic support frame; 32 - Support wheel; 33 - First housing; 34 - Shovel plate; 41 - Lighting assembly; 42 - Camera; 51 - Wire - winding box; 52 - Wire - winding shaft; 53 - Wire - winding wheel; 54 - Wire - winding motor; 55 - Wire - winding hole; 211 - Fixed seat; 212 - Continuous blade; 213 - Spaced cutter teeth; 214 - Drill bit; 221 - Rotating rod; 222 - Rotating motor; 231 - Connecting rod; 232 - Electric push rod; 233 - Bearing group; 311 - Lead screw; 312 - Second housing; 313 - First support rod; 314 - Second support rod; 315 - Sliding motor; 316 - Third support rod; 2331 - Ball - bearing support frame; 2332 - Ball bearing; 2333 - Double - bearing support frame; 2334 - Linear bearing. Detailed implementation manners

[0027] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above - mentioned drawings are intended to cover non - exclusive inclusion.

[0029] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary - secondary relationship of the indicated technical features. In the description of the embodiments of this application, "a plurality of" means more than two unless otherwise specifically defined.

[0030] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0031] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0032] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "front", "rear", "inner", "outer", "axial direction", "radial direction", "circumferential direction", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present application.

[0033] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0034] While the underground pipe network brings convenience to people's lives, many problems are also exposed. For example, as the use time of the pipeline increases, sediment will appear in the pipeline and block the pipeline. Therefore, it is necessary to dredge the pipeline in time. Due to the particularity of underground pipelines, pipeline robot dredging has become an irresistible trend. However, the cutter head structure of existing pipeline robots is relatively single, making the dredging effect to be improved.

[0035] To solve the technical problem that the dredging effect of existing pipeline robots needs to be improved, the present application provides a pipe inspection and dredging integrated robot with a shield machine cutter head and its control method. Among them, by setting a variable diameter traveling unit, the pipe inspection and dredging integrated robot with a shield machine cutter head is driven to run smoothly in the pipeline with a suitable diameter; by setting a telescopic component, the variable diameter of the shield cutter head component is realized, and by setting a rotating component, the shield cutter head component is driven to rotate to smoothly carry out the dredging operation; by setting continuous blades and spaced teeth, the diversified blade combination can improve the dredging effect and prevent the falling objects from winding around the cleaning cutter head.

[0036] Please refer to Figure 1 and Figure 2 , a pipe inspection and dredging integrated robot 100 with a shield machine cutter head provided for the embodiments of the present application itself, includes: The robot body 1; The cleaning unit 2 is arranged at the front end of the robot body 1; the cleaning unit 2 includes a shield - like cutter head assembly 21, a rotating assembly 22 and a telescopic assembly 23, and both the rotating assembly 22 and the telescopic assembly 23 are connected to the shield - like cutter head assembly 21; the shield - like cutter head assembly 21 includes a plurality of cleaning cutter heads arranged in an umbrella shape, such as Figure 4 shown. Each cleaning cutter head includes a fixed seat 211, a continuous blade 212 and spaced teeth 213. The continuous blade 212 and the spaced teeth 213 are arranged in parallel and at intervals on the fixed seat 211; specifically, there are two rows of cleaning blades on the fixed seat 211. One row is a continuous blade body, that is, the continuous blade 212, and the other row is a plurality of spaced - apart tooth - shaped cutters, that is, the spaced teeth 213. The fixed seat 211 gradually narrows in the direction away from the rotating assembly 22, and the distance between the continuous blade 212 and the spaced teeth 213 gradually decreases in the direction away from the rotating assembly 22.

[0037] The variable - diameter traveling unit 3 is arranged on the side wall of the robot body 1.

[0038] When pipeline dredging (i.e., cleaning the silt) is required, the variable - diameter traveling unit 3 drives the shield - like cutter head pipeline inspection and dredging integrated robot 100 to move forward in the pipeline with a suitable diameter. After the telescopic assembly 23 adjusts the plurality of cleaning cutter heads to a suitable opening degree (i.e., the umbrella opens at a suitable angle) or at the same time, the rotating assembly 22 drives the continuous blade 212 and the spaced teeth 213 to rotate to clean the silt in the pipeline.

[0039] In the technical solution of the embodiment of the present application, by providing a variable-diameter traveling unit 3, the shield machine head pipe inspection and silt cleaning integrated robot 100 can smoothly operate in the pipe at an appropriate diameter. By providing a telescopic assembly 23, the shield machine head assembly 21 is at an appropriate diameter, providing favorable conditions for the full and complete cleaning of the silt in the pipe. By providing a rotating assembly 22, power is provided for the rotation of the shield machine head assembly 21, the rotation of the shield machine head assembly 21 is realized, and then the rotation of the continuous blade 212 and the spaced cutter teeth 213 is realized. As the continuous blade 212 and the spaced cutter teeth 213 continuously rotate, the silt is cut and broken, and the silt cleaning operation is smoothly carried out. By setting the cleaning cutter head as parallel continuous blades 212 and spaced cutter teeth 213, the mutual cooperation of the two different forms of cutter heads can not only better clean the silt, but also better clean the silt of different shapes and types; by providing continuous blades 212 and spaced cutter teeth 213, and making the continuous blades 212 and the spaced cutter teeth 213 parallel and spaced, and at the same time making the cutter teeth on the spaced cutter teeth 213 spaced, during the silt cleaning process, the cut and broken silt can fall off from the gaps between the continuous blades 212 and the spaced cutter teeth 213 and the gaps between different cutter teeth of the spaced cutter teeth 213, so that it will not wind around the cleaning cutter head and avoid the failure of the shield machine head pipe inspection and silt cleaning integrated robot 100.

[0040] Further, in the embodiment of the present application, as Figure 2 shown, the rotating assembly 22 includes a rotating rod 221 and a rotating motor 222. One end of the rotating rod 221 is connected to the output shaft of the rotating motor 222, and the other end is hinged to the shield machine head assembly 21 (bearing seats are provided at the hinge joints of the present application). Specifically, the rotating rod 221 penetrates through the robot body 1, and the rotating motor 222 is arranged in the inner cavity of the robot body 1.

[0041] In the technical solution of the embodiment of the present application, by providing the rotating motor 222, the rotating rod 221 is driven to rotate, and then the shield machine head assembly 21 is driven to rotate for the silt cleaning operation.

[0042] Further, in the embodiment of the present application, as Figure 2 and Figure 3As shown in the figure, the telescopic assembly 23 includes a connecting rod 231, a bearing group 233, and an electric push rod 232; the bearing group 233 is parallel to the end face of the robot body 1 close to the cleaning unit 2, and the rotating rod 221 sequentially penetrates through the bearing group 233 and the end face of the robot body 1 parallel to the bearing group 233, and the rotating rod 221 is movably connected to the bearing group 233; one end of the connecting rod 231 is hinged to the fixed seat 211, and the other end is hinged to the bearing group 233; the electric push rod 232 penetrates through the robot body 1, and one end of the electric push rod 232 is connected to the bearing group 233. Specifically, the number of the connecting rods 231 is the same as the number of the cleaning cutter heads; the number of the electric push rods 232 is several, and they are evenly distributed around the robot body 1. When the cleaning unit 2 needs to change the diameter, the electric push rod 232 expands and contracts, thereby driving the bearing group 233 to slide along the rotating rod 221, and further driving the connecting rod 231 to rotate, so that the angle of the cleaning cutter heads changes, that is, the umbrellalike opening degree of the umbrellalike structure formed by several cleaning cutter heads changes, realizing the diameter change of the shield-like cutter head assembly 21 to adapt to different pipelines and improving the dredging effect.

[0043] In the technical solution of the embodiment of the present application, by setting the electric push rod 232 to provide a power source for the movement of the bearing group 233 on the rotating rod 221; at the same time, by setting the bearing group 233, the rotating rod 221 is movably connected to the bearing group 233, and during the expansion and contraction of the electric push rod 232, the bearing group 233 is driven to move on the rotating rod 221, realizing the radial movement of the whole bearing group 233; furthermore, the connecting rod 231 is hinged to both the fixed seat 211 and the bearing group 233 at the same time. During the movement of the bearing group 233 on the rotating rod 221, the diameter change of the shield-like cutter head assembly 21 can be realized, that is, under the mutual cooperation of the rotating rod 221, the electric push rod 232, and the connecting rod 231, the opening degree of the umbrellalike structure of several cleaning cutter heads arranged in an umbrellalike shape of the shield-like cutter head assembly 21 is adjusted to adapt to the pipeline cross-section with different radii. At the same time, the connecting rod 231 can also provide support for the shield-like cutter head assembly 21 to improve its strength. In addition, by setting the bearing group 233, the smooth rotation of the shield-like cutter head assembly 21 can also be realized, so as to carry out the dredging operation.

[0044] Further, in the embodiment of the present application, as Figure 3As shown in the figure, the bearing set 233 includes a ball bearing support frame 2331, a ball bearing 2332, a double bearing support frame 2333, and a linear bearing 2334, which are sleeved from the outside to the inside in sequence; the ball bearing support frame 2331 is connected to the electric push rod 232, the linear bearing 2334 is sleeved on the rotating rod 221, one end of the connecting rod 231 is hinged to the fixed seat 211, and the other end is hinged to the double bearing support frame 2333. Specifically, the front end faces and the rear end faces of the ball bearing support frame 2331, the ball bearing 2332, the double bearing support frame 2333, and the linear bearing 2334 along the advancing direction of the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 coincide. During rotation, the rotating motor 222 drives the rotating rod 221 to rotate, and the ball bearing 2332 drives the double bearing support frame 2333 and the linear bearing 2334 to rotate.

[0045] In the technical solution of the embodiment of the present application, by setting the ball bearing support frame 2331, while providing a accommodation space for the ball bearing 2332, the connection with the electric push rod 232 is realized; by setting the ball bearing 2332 and hinging one end of the connecting rod 231 to the double bearing support frame 2333, the smooth rotation of the rotating rod 221 can be realized, and at the same time, the double bearing support frame 2333 and the connecting rod 231 are driven to rotate, so as to realize the rotation of the shield cutter head assembly 21 and carry out silt cleaning operations.

[0046] Furthermore, in the embodiment of the present application, as Figure 2 shown, the shield cutter head assembly 21 further includes a drill bit 214, the drill bit 214 is connected to the end of the rotating rod 221 far from the rotating motor 222, and the drill bit 214 is hinged to the fixed seat 211. When the rotating motor 222 works, it drives the rotating rod 221 to rotate axially, thereby driving the drill bit 214 to rotate axially, and further driving the continuous blade 212 and the spaced teeth 213 to rotate. The rotating motor 222 is a high-torque motor.

[0047] In the technical solution of the embodiment of the present application, by setting the drill bit 214, on the one hand, the hinged connection between the rotating rod 221 and the fixed seat 211 can be better realized, so as to drive the rotation of the continuous blade 212 and the spaced teeth 213 by the rotating motor 222; on the other hand, the presence of the drill bit 214 can clean the silt in the center of the pipeline during the silt cleaning process and improve the silt cleaning effect. By setting the rotating motor 222 as a high-torque motor, the rotation speed of the drill bit 214, the continuous blade 212 and the spaced teeth 213 is increased, and the cutting and crushing of silt such as branches, grease blocks, nylon ropes, and plastic bags can be realized under high load conditions.

[0048] Furthermore, in the embodiment of the present application, as Figure 6 and Figure 7As shown in the figure, the variable-diameter traveling unit 3 includes a number of variable-diameter traveling components arranged at intervals around the robot body 1. Each variable-diameter traveling component includes a telescopic support frame 31, a support wheel 32, and a driving motor (not shown in the figure); the support wheel 32 is arranged on the side of the telescopic support frame 31 away from the robot body 1; the driving motor is connected to the support wheel 32. Specifically, each variable-diameter traveling component includes an even number of support wheels 32. The even number of support wheels 32 are arranged in two columns, and two support wheels 32 located in opposite positions in the two columns are connected to the same driving motor. A coupling is provided between the driving motor and the support wheel 32. A first housing 33 is provided outside the driving motor, and a shovel plate 34 is provided at one end of the first housing 33 close to the cleaning unit 2.

[0049] In the technical solution of the embodiment of the present application, by providing a driving motor, a power source is provided for the variable-diameter traveling unit 3. The driving motor drives the support wheel 32 to rotate to ensure that the shield machine cutter head pipeline inspection and silt cleaning integrated robot 100 moves along the axial direction of the pipeline; by providing a telescopic support frame 31, the variable diameter of the variable-diameter traveling unit 3 can be realized, that is, the scaling of the support wheel 32 is realized through the telescopic support frame 31 to adapt to pipelines with different diameters. By providing a shovel plate 34 at one end of the first housing 33 close to the cleaning unit 2, the silt on the pipe wall in front of the traveling route of the first housing 33 can be shoveled as much as possible, which can improve the silt cleaning effect while ensuring that the shield machine cutter head pipeline inspection and silt cleaning integrated robot 100 travels stably and smoothly, avoiding blockage or slipping. The silt on the pipe wall can be cleaned; by providing the first housing 33, the driving motor is sealed in the first housing 33 to prevent the driving motor from being flooded or damaged by silt, protecting the driving motor.

[0050] Further, in the embodiment of the present application, as Figure 5As shown in the figure, the robot body 1 includes a connected first body 11 and a second body 12. The first body 11 is disposed close to the cleaning unit 2, and the outer diameter of the first body 11 is smaller than that of the second body 12. The telescopic support frame 31 includes a sliding assembly disposed outside the first body 11 and a support rod connected to the sliding assembly. The sliding assembly includes a lead screw 311, a nut, and a sliding motor 315. One end of the lead screw 311 close to the cleaning unit 2 is connected to the first body 11, and the other end penetrates through the second body 12 and extends into the inner cavity of the second body 12. The lead screw 311 is connected to the output shaft of the sliding motor 315. The sliding motor 315 is disposed in the inner cavity of the second body 12. A third housing (not shown in the figure) connected to the second body 12 is provided outside the sliding motor 315. The nut is sleeved on the lead screw 311, and the nut is meshed and connected with the lead screw 311. A second housing 312 is sleeved outside the nut. When the sliding motor 315 operates, it drives the lead screw 311 to rotate, so that the nut and the second housing 312 reciprocate on the lead screw 311. The support rod includes a first support rod 313 and a second support rod 314. One end of the first support rod 313 is hinged to the first housing 33, and the other end is hinged to the second housing 312. One end of the second support rod 314 is hinged to the first housing 33, and the other end is hinged to the outer wall of the second body 12. The first support rod 313 and the second support rod 314 are cross-shaped. During the process of the second housing 312 reciprocating on the lead screw 311, it drives the first support rod 313 to rotate, and then drives the second support rod 314 to rotate, realizing the telescoping of the support rod, so that the support wheel 32 can adapt to pipes of different diameters. Specifically, the support rod further includes a third support rod 316. One end of the third support rod 316 is hinged to the first housing 33, and the other end is hinged to the outer wall of the second body 12. The second support rod 314 and the third support rod 316 are parallel. The second support rod 314, the third support rod 316, the outer wall of the second body 12 (referring to the outer wall where the second support rod 314 and the third support rod 316 are hinged) and the first housing 33 form a parallelogram pitching structure. During the process of the second housing 312 reciprocating on the lead screw 311, it drives the first support rod 313 to rotate, and then drives the second support rod 314 and the third support rod 316 to rotate, realizing the telescoping of the support rod, that is, converting the reciprocating movement of the nut along the lead screw 311 into the change of the pitching angle of the support rod. Cooperating with the parallelogram pitching structure, it drives the corresponding support wheel 32 to radially extend or retract, thereby realizing diameter variation. A support column 13 is provided outside the first body 11. The electric push rod 232 is disposed outside the first body 11. The rotating rod 221 penetrates through the first body 11 and the second body 12. Bearings are provided at the joints of the rotating rod 221 with the first body 11 and the second body 12.

[0051] In the technical solution of the embodiment of the present application, by providing a sliding component, and hinging both ends of the first support rod 313 to the first housing 33 and the second housing 312 respectively, and by providing a second support rod 314 that intersects the first support rod 313 at a cross, under the mutual cooperation of the sliding component, the first support rod 313 and the second support rod 314, the diameter variation of the diameter-variation traveling unit 3 is successfully realized. At the same time, the first support rod 313 and the second support rod 314 can support the first housing 33 to enable it to vary the diameter smoothly; by providing a third support rod 316, the stable support for the first housing 33 is further realized; by providing a third housing connected to the second body 12 outside the sliding motor 315, on the one hand, the fixation of the sliding motor 315 is realized, on the other hand, the sliding motor 315 is protected from damage and plays a certain waterproof role. By providing a support column 13, the stability of the first body 11 is improved.

[0052] Further, in the embodiment of the present application, as Figure 1 shown, a detection unit 4 is provided at one end of the robot body 1 close to the cleaning unit 2; the detection unit 4 includes an illumination component 41 and a camera 42. The illumination component includes a plurality of LED tubes evenly arranged around the robot body 1. Specifically, the LED tubes are arranged on the front end face of the first body 11 close to the cleaning unit 2, and the LED tubes are fixed to the front end face of the first body 11 by glue. The camera 42 faces one end close to the cleaning unit 2. A control circuit is provided inside the robot body 1, and the control circuit is electrically connected to the LED tubes, the camera 42, the rotation motor 222 (arranged in the inner cavity of the second body 12), the sliding motor 315, and the electric push rod 232. The robot body 1 is internally provided with a rechargeable battery for power supply, or is powered by connecting to an external power source through a cable.

[0053] In the technical solution of the embodiment of the present application, by providing the illumination component 41, illumination support is provided for image acquisition in the pipeline, so that the camera 42 can acquire clearer images; by providing the camera 42, images inside the pipeline can be acquired, and the control circuit of the robot body 1 transmits the images acquired by the camera 42 in a wired or wireless manner.

[0054] Further, in the embodiment of the present application, as Figure 8As shown, the shield tunneling machine cutter head pipeline inspection and dredging integrated robot 100 further includes a wire winding unit 5 arranged at the rear end of the robot body 1; the wire winding unit 5 includes a wire winding box 51, a wire winding shaft 52, a wire winding wheel 53 and a wire winding motor 54; the wire winding shaft 52 and the wire winding wheel 53 are arranged in the wire winding box 51, and the wire winding motor 54 is arranged on one side of the wire winding box 51 away from the robot body 1, and the wire winding shaft 52 is connected to the output shaft of the wire winding motor 54. Specifically, a wire winding hole 55 is provided at the bottom of the wire winding box 51 away from the robot body 1, and the wire winding motor 54 is fixed on the rear plate of the wire winding box 51; a spring 6 is provided between the robot body 1 and the wire winding unit 5, and the wire winding shaft 52 is placed at an angle of 30° with the horizontal plane.

[0055] In the technical solution of the embodiment of the present application, by setting the wire winding motor 54, the wire winding shaft 52 is driven to rotate, and then the shaft of the wire winding wheel 53 is driven to rotate, and the cable is collected on the wire winding wheel 53. At the same time, through a high-precision reducer and encoder, precise control of the cable winding and unwinding speed and position is achieved, and the winding and unwinding work is successfully completed; by placing the wire winding shaft 52 at an angle of 30° with the horizontal plane, the cable can be wound and unwound more precisely at the wire winding hole 55, effectively avoiding the winding phenomenon of the cable during the winding and unwinding process; by arranging a spring 6 between the robot body 1 and the wire winding unit 5, it plays a role in shock absorption and buffering.

[0056] In a second aspect, the present application also provides a control method for the shield tunneling machine cutter head pipeline inspection and dredging integrated robot 100 provided in the first aspect of the present application, including the following steps: S1. Based on the inner diameter of the pipeline, obtain the diameter change range of the variable diameter traveling unit 3 and the shield tunneling cutter head assembly 21, control the variable diameter traveling unit 3 to be in an appropriate expansion and contraction degree, and at the same time control the shield tunneling cutter head assembly 21 to be in an appropriate opening and closing angle; S2. Control the variable diameter traveling unit 3 to work to drive the shield tunneling machine cutter head pipeline inspection and dredging integrated robot 100 to advance in the pipeline with an appropriate diameter; at the same time, control the rotation assembly 22 to work to drive the continuous blade 212 and the spaced teeth 213 to rotate to realize pipeline dredging.

[0057] Specifically, the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 further includes a control unit, which can be a computer. The computer is connected to the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 by wire or wirelessly. Before silt cleaning the pipeline, first detect the inner diameter of the pipeline through a sensor or directly obtain the inner diameter of the pipeline according to the data stored in the computer; based on the obtained inner diameter data of the pipeline, the control unit calculates the telescopic degree of the telescopic support frame 31 and the opening and closing angle of the shield cutter head assembly 21 according to the structural parameters of the variable diameter traveling unit 3 and the cleaning unit 2, so that when the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 operates in the pipeline, the supporting wheels 32 are closely attached to the inner wall of the pipeline, and at the same time, the end of the fixed seat 211 contacts the inner wall of the pipeline; after adjusting the shapes of the variable diameter traveling unit 3 and the cleaning unit 2, the control unit controls the variable diameter traveling unit 3 and the rotating assembly 22 to work to achieve silt cleaning. It can be understood that there is no sequential order between step S1 and step S2. The unfolded state of the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 can be adjusted first, and then it can be placed inside the pipeline for silt cleaning; or the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 can be placed in the pipeline first, and its unfolded state can be adjusted during its forward movement.

[0058] In the technical solution of the embodiment of the present application, the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 with a specific structure is controlled by a specific control method to work, so as to realize the smooth, efficient and low-residue cleaning of the sediment in the pipeline.

[0059] Please refer to Figures 1 to 8 simultaneously. According to one or more embodiments of the present application, by setting the variable diameter traveling unit 3, the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 is driven to smoothly operate in the pipeline with a suitable diameter, providing favorable conditions for the silt cleaning operation; by setting the telescopic assembly 23, the variable diameter of the shield cutter head assembly 21 is realized, and by setting the rotating assembly 22, the shield cutter head assembly 21 is driven to rotate to smoothly carry out the silt cleaning operation; by setting the cleaning cutter head as parallel continuous blades 212 and spaced teeth 213, the mutual cooperation of the two different forms of cutter heads can not only better clean the sediment, but also better clean the sediment with different shapes and types. By arranging the continuous blades 212 and the spaced teeth 213 in parallel and at intervals, during the silt cleaning process, the cut and broken sediment can fall off from the gaps between the continuous blades 212 and the spaced teeth 213 and the gaps between different teeth of the spaced teeth 213, so that it will not entangle the cleaning cutter head and avoid the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot 100 from malfunctioning.

[0060] It should be noted that this application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and embodiments with the same composition and the same effect in terms of technical thinking within the scope of the technical solution of this application are included in the technical scope of this application. In addition, within the scope of not departing from the gist of this application, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways constructed by combining some constituent elements in the embodiments are also included in the scope of this application.

Claims

1. A shield machine cutter head pipe inspection and silt cleaning integrated robot, characterized in that, Comprising: Robot body; Cleaning unit, arranged at the front end of the robot body; The cleaning unit includes a shield tunneling cutter head assembly, a rotating assembly and a telescopic assembly. The rotating assembly and the telescopic assembly are both connected to the shield tunneling cutter head assembly. The shield tunneling cutter head assembly includes a plurality of cleaning cutter heads arranged in an umbrella shape. Each cleaning cutter head includes a fixed seat, a continuous blade and spaced teeth. The continuous blade and the spaced teeth are arranged in parallel and at intervals on the fixed seat; Variable diameter traveling unit, arranged on the side wall of the robot body; The variable diameter traveling unit drives the shield tunneling cutter head pipeline inspection and silt cleaning integrated robot to advance in the pipeline with a suitable diameter. The telescopic assembly adjusts the shield tunneling cutter head assembly to a suitable diameter. The rotating assembly drives the continuous blade and the spaced teeth to rotate to realize pipeline silt cleaning.

2. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 1, characterized in that The rotating assembly includes a rotating rod and a rotating motor. One end of the rotating rod is connected to the output shaft of the rotating motor, and the other end is hinged to the shield tunneling cutter head assembly.

3. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 2, characterized in that, The telescopic assembly includes a connecting rod, a bearing group and an electric push rod. The rotating rod sequentially passes through the bearing group and the robot body. One end of the connecting rod is hinged to the fixed seat, and the other end is hinged to the bearing group. The electric push rod passes through the robot body and is connected to the bearing group.

4. The shield machine cutter head pipeline inspection and silt cleaning integrated robot according to claim 3, wherein The bearing group includes a ball bearing support frame, a ball bearing, a double bearing support frame and a linear bearing sleeved from the outside to the inside in sequence. The ball bearing support frame is connected to the electric push rod. The linear bearing is sleeved on the rotating rod. One end of the connecting rod is hinged to the fixed seat, and the other end is hinged to the double bearing support frame.

5. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 2, wherein, The shield tunneling cutter head assembly further includes a drill bit, which is connected to the end of the rotating rod far from the rotating motor, and the drill bit is hinged to the fixed seat.

6. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 1, characterized in that, The variable diameter traveling unit includes a plurality of variable diameter traveling components arranged at intervals around the robot body. Each variable diameter traveling component includes a telescopic support frame, a support wheel and a driving motor. The support wheel is arranged on the side of the telescopic support frame far from the robot body. The driving motor is connected to the support wheel, and a first housing is arranged outside the driving motor.

7. The shield machine cutter head pipeline inspection and silt cleaning integrated robot according to claim 6, wherein The robot body includes a first body and a second body connected to each other. The first body is arranged close to the cleaning unit, and the outer diameter of the first body is smaller than the outer diameter of the second body; The telescopic support frame includes a sliding component arranged outside the first body and a support rod connected to the sliding component; The sliding component includes a lead screw, a nut and a sliding motor. One end of the lead screw close to the cleaning unit is connected to the first body, and the other end passes through the second body and is connected to the output shaft of the sliding motor. The nut is sleeved on the lead screw and is meshed and connected with the lead screw; The support rod includes a first support rod and a second support rod. One end of the first support rod is hinged to the nut, and the other end is hinged to the first housing. One end of the second support rod is hinged to the first housing, and the other end is hinged to the second body.

8. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 1, characterized in that, One end of the robot body close to the cleaning unit is provided with a detection unit; The detection unit includes an illumination component and a camera.

9. The shield machine cutter head pipe inspection and dredging integrated robot according to claim 1, characterized in that, The shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot further includes a wire winding unit arranged at the rear end of the robot body; The wire winding unit includes a wire winding box, a wire winding shaft, a wire winding wheel and a wire winding motor; the wire winding shaft and the wire winding wheel are arranged in the wire winding box, the wire winding motor is arranged on one side of the wire winding box away from the robot body, and the wire winding shaft is connected to the output shaft of the wire winding motor.

10. A control method for a shield - machine - like cutter - head pipeline inspection and silt - cleaning integrated robot according to any one of claims 1 to 9, characterized in that, It includes the following steps: S1. Based on the inner diameter of the pipeline, obtain the diameter variation range of the variable diameter traveling unit and the shield tunneling cutter head assembly, control the variable diameter traveling unit to be at an appropriate expansion and contraction degree, and at the same time control the shield tunneling cutter head assembly to be at an appropriate opening and closing angle; S2. Control the variable diameter traveling unit to work to drive the shield tunneling machine cutter head pipeline inspection and silt cleaning integrated robot to advance in the pipeline at an appropriate diameter; at the same time, control the rotation assembly to work to drive the continuous blade and the spaced cutter teeth to rotate to realize pipeline silt cleaning.

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