Automatic cleaning robot for silt accumulation on inner wall of pressure pipe of multi-silt river channel

Abstract

The application discloses a robot for automatically cleaning the inner wall of a pressure pipe of a river with much sediment, and relates to the technical field of robots, which comprises a vehicle-mounted mechanical arm, a supporting structure is fixedly installed at the bottom end of the vehicle-mounted mechanical arm, a cleaning execution structure is fixedly installed at the bottom end of the supporting structure, the cleaning execution structure comprises an L-shaped shell, an intermediate connecting seat, a mounting seat two and a rotating shunt frame, an extension shield is fixedly installed outside the intermediate connecting seat, a position control assembly is arranged between the L-shaped shell and the intermediate connecting seat, the sediment inside the pressure pipe is washed out of the pressure pipe by water flow, the rotating shunt frame is rotated to rotate a plurality of axial flushing holes arranged in a staggered mode, the vehicle-mounted mechanical arm is operated to move the cleaning execution structure up and down and left and right within a range, and the inside of the pressure pipe is cleaned comprehensively, the pressure measuring equipment inside the pressure pipe is washed by water flow impact, and the damage of the pressure measuring equipment inside the pressure pipe is reduced while ensuring that the pressure measuring equipment inside the pressure pipe is cleaned completely.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an automatic cleaning robot for the inner wall of a pressure measuring pipe in a river with a lot of silt. Background Technology

[0002] Seepage monitoring is required for reservoir dams, especially earth-rock dams, where seepage is a mandatory test. This is carried out by burying piezometers in the dam body. During long-term use, seepage can carry sediment particles into the piezometers. In addition, improper protection of the pipe openings can also cause soil to fall into the pipe. When the sediment accumulates to a certain amount, it can clog the monitoring instruments, making them unusable and affecting the monitoring results.

[0003] Therefore, various auxiliary equipment is used to clean the inside of the pressure measuring tube. However, during the application of the pressure measuring tube cleaning equipment, the blades on the equipment make hard contact with the tube wall, which can easily cause scratches and damage to the tube wall. In severe cases, it can even damage the pressure measuring equipment inside the pressure measuring tube, leading to the abandonment of the pressure measuring tube.

[0004] For example, patent application publication number CN110711749A discloses a pressure-measuring pipe hydraulic sludge remover, including a first ring sleeve, with second ring sleeves fixed at both ends of the first ring sleeve. A first vertical rod passes through the upper and lower walls of the second ring sleeve. A square block is fixed at one end of the two first vertical rods facing each other. A spring is fixed between the square block and the inner wall of the second ring sleeve and sleeved on the first vertical rod. A scale is provided on the first vertical rod. A first sleeve is fixed at the upper and lower ends of the first ring sleeve respectively. A second vertical rod passes through the first sleeve. A bolt for fastening the second vertical rod is provided on the first sleeve. The two second vertical rods pass through the upper and lower walls of the first ring sleeve respectively and are fixed to a first motor.

[0005] Taking the aforementioned sludge cleaner as an example, it uses a motor to drive the cutter head to rotate, thereby cleaning the inside of the pressure measuring tube. This can easily cause scratches and damage to the tube wall, and may even damage the pressure measuring equipment inside the tube. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic cleaning robot for the inner wall of piezometers in river channels with high sediment content, so as to solve the problems mentioned in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic cleaning robot for the inner wall siltation of a pressure measuring pipe in a river with high sediment content, comprising a vehicle-mounted robotic arm, a support structure fixedly installed at the bottom of the vehicle-mounted robotic arm, a cleaning execution structure fixedly installed at the bottom of the support structure, the cleaning execution structure comprising an L-shaped housing, an intermediate connecting seat, a mounting seat II, and a rotating diverter frame, a telescopic protective cover fixedly installed on the outer side of the intermediate connecting seat, a positioning control component provided between the L-shaped housing and the intermediate connecting seat, and a drive component provided between the intermediate connecting seat and the rotating diverter frame.

[0008] Preferably, the support structure includes an upper mounting plate and a lower mounting plate, and four filter brackets are fixedly connected between the upper mounting plate and the lower mounting plate. A guide groove is provided on the side of each filter bracket near the upper mounting plate, and a filter decanter is provided between the four filter brackets.

[0009] Preferably, a telescopic spring tube is fixedly connected to the bottom end of the filter decanter, a water pump is fixedly connected to the top of the lower mounting plate, the bottom end of the telescopic spring tube is fixedly connected to the water inlet end of the water pump, a main water supply pipe is fixedly connected to the water outlet end of the water pump, a water pipe fixing bracket is fixedly connected between the outer side of the main water supply pipe and the L-shaped housing, and a detector is fixedly embedded on the side of the lower mounting plate facing the rotating diverter.

[0010] Preferably, a flexible connecting sleeve is fixedly connected between one end of the L-shaped housing and the intermediate connecting seat, and a telescopic sealing sleeve is fixedly connected between the intermediate connecting seat and the second mounting seat. The rotating diverter is rotatably mounted on one side of the second mounting seat. Multiple axial flushing holes are opened at the end of the rotating diverter away from the L-shaped housing, and multiple radial flushing holes are opened on the outer side of the rotating diverter. Multiple agitating protrusions are fixedly installed on the outer side of the rotating diverter, and the agitating protrusions and radial flushing holes are staggered.

[0011] Preferably, the outer side of the intermediate connecting seat is provided with a storage groove, the telescopic cover is disposed inside the storage groove, the outer side of the intermediate connecting seat is provided with multiple hydraulic communication holes, the hydraulic communication holes are connected to the inside of the telescopic cover, and one side of the telescopic cover is provided with multiple cover guide ports.

[0012] Preferably, a control module is fixedly connected inside the L-shaped housing, a booster pump is fixedly installed inside the rotating diverter on the side close to the L-shaped housing, and a one-way valve is fixedly installed inside the rotating diverter on the side away from the L-shaped housing.

[0013] Preferably, the control assembly includes a media storage tank. Multiple short fixing brackets are fixedly connected between the outer wall of the media storage tank and the L-shaped housing. A pressure regulating piston is located inside the media storage tank on the side away from the rotating diverter. A hydraulic cylinder is located on one side of the pressure regulating piston. The hydraulic cylinder is fixedly mounted on the media storage tank, and its piston end is fixedly connected to the pressure regulating piston. A hydraulic sensor is fixedly embedded on the side of the media storage tank near the rotating diverter. Delivery pipes are fixedly connected to both sides of the media storage tank. A hydraulic connector is fixedly connected to one end of each delivery pipe. A hydraulic distribution pipe is fixedly connected between the two hydraulic connectors. A flow guide support box is fixedly connected to the outside of the hydraulic distribution pipe. A diverter box is fixedly connected to the outside of the flow guide support box. The diverter box is fixedly installed inside the intermediate connecting seat. Multiple chamber communication holes are opened on one side of the diverter box, and multiple hydraulic diversion holes are opened on the outside of the diverter box.

[0014] Preferably, transmission gears are fixedly installed at both ends of the outer side of the hydraulic distribution pipe, and the two transmission gears mesh with racks. A transmission frame is fixedly connected between the two racks. A drive seat is fixedly connected inside the transmission frame. An mounting seat is fixedly installed inside the L-shaped housing. A hydraulic cylinder and a telescopic rod are fixedly connected to one side of the mounting seat. The piston end of the hydraulic cylinder and the piston end of the telescopic rod are both fixedly connected to the drive seat.

[0015] Preferably, the drive assembly includes a hydraulic cylinder three and two telescopic rods two. The outer walls of the hydraulic cylinder three and the telescopic rods two are both fixedly connected to the distributor box, and the piston ends of the hydraulic cylinder three and the telescopic rods two are both fixedly connected to the mounting base two.

[0016] Preferably, a drive motor is fixedly installed inside the mounting base two, a transmission shaft is fixedly connected to the output end of the drive motor, a transmission frame two is fixedly installed on the outside of the transmission shaft, and the transmission frame two is fixedly installed inside the rotary diverter.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In use, high-pressure water passes through a one-way valve and is discharged through multiple axial flushing holes and multiple radial flushing holes. The water jets from the multiple axial flushing holes move axially inside the pressure testing tube, cleaning the mud and sand on the pressure testing equipment inside the tube. The water jets from the multiple radial flushing holes spray onto the inner wall of the pressure testing tube, washing away the mud and sand adhering to the inner wall. At this time, the hydraulic pressure inside the pressure testing tube is higher than that outside, and the mud and sand inside the pressure testing tube are flushed out by the water flow. The rotating diverter causes the multiple axial flushing holes to rotate, and the on-board robotic arm works to make the cleaning execution structure move up, down, left, and right within the range, thoroughly cleaning the inside of the pressure testing tube. The water flow impact cleans the pressure testing equipment inside the pressure testing tube, ensuring that the pressure testing equipment inside the tube is cleaned while reducing damage to the pressure testing equipment inside the tube. At the same time, the hydraulic cylinder is controlled to alternately extend and retract, causing the multiple radial flushing holes to reciprocate inside the pressure testing tube, completing the thorough cleaning of the inner wall of the pressure testing tube.

[0019] 2. When using this application, the pressure measuring tube is set at an angle. After controlling the working of the vehicle-mounted robotic arm to adjust the orientation of the cleaning execution structure on the horizontal plane, the hydraulic cylinder two is controlled to work, adjusting the tilt angle of the guide support box and the tilt angle of the rotating diverter, so that the rotating diverter can be inserted into the pressure measuring tube to flush and clean the inside of the pressure measuring tube. This can adapt to the cleaning and dredging work of mud and sand inside the pressure measuring tube under different installation conditions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the supporting structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the installation disk structure of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the intermediate connecting seat of the present invention;

[0024] Figure 5 This is a schematic diagram of the rotating flow divider of the present invention;

[0025] Figure 6 This is a cross-sectional view of the cleanup execution structure of the present invention;

[0026] Figure 7 for Figure 6 Enlarged view of structure A;

[0027] Figure 8 This is a schematic diagram of the structure of the media storage box of the present invention;

[0028] Figure 9This is a cross-sectional view of the media storage box of the present invention;

[0029] Figure 10 This is a schematic diagram of the flow guide support box of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of the mounting base 2 of the present invention;

[0031] Figure 12 This is a schematic diagram of the structure of the telescopic protective cover of the present invention.

[0032] Numbering on the map:

[0033] 1. Support structure; 11. Upper mounting plate; 12. Filter bracket; 13. Guide chute; 14. Lower mounting plate; 15. Detector; 16. Filter decanter; 17. Telescopic spring tube; 18. Water pump; 19. Main water supply pipe; 110. Water pipe fixing bracket; 2. Cleaning execution structure; 21. L-shaped housing; 22. Control module; 23. Media storage tank; 24. Short fixing bracket; 25. Hydraulic sensor; 26. Hydraulic cylinder one; 27. Pressure regulating piston; 28. Delivery pipe; 29. ​​Hydraulic connector; 210. Hydraulic distribution pipe; 211. Transmission gear; 212. Rack; 213. Transmission frame one; 214. Drive seat; 215. Hydraulic cylinder two; 216. Telescopic rod 1. Mounting base 1; 217. Flow guide support box; 219. Diverter box; 220. Intermediate connecting seat; 221. Hydraulic connecting hole; 222. Telescopic protective cover; 223. Storage slot; 224. Chamber connecting hole; 225. Telescopic rod 2; 226. Hydraulic cylinder 3; 227. Mounting base 2; 228. Drive motor; 229. Drive shaft; 230. Transmission frame 2; 231. Rotary diverter frame; 232. Booster pump; 233. Check valve; 234. Axial flushing hole; 235. Radial flushing hole; 236. Agitating protrusion; 237. Telescopic sealing sleeve; 238. Flexible connecting sleeve; 239. Protective cover guide port; 240. Hydraulic diverter hole; 3. Vehicle-mounted robotic arm. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example: Figures 1-12As shown, the present invention provides an automatic cleaning robot for the inner wall siltation of pressure measuring pipes in river channels with high sediment content. It includes a vehicle-mounted robotic arm 3, a support structure 1 fixedly installed at the bottom of the vehicle-mounted robotic arm 3, and a cleaning execution structure 2 fixedly installed at the bottom of the support structure 1. The cleaning execution structure 2 includes an L-shaped shell 21, an intermediate connecting seat 220, a mounting seat 227, and a rotating diverter 231. A telescopic cover 222 is fixedly installed on the outside of the intermediate connecting seat 220. A control component is provided between the L-shaped shell 21 and the intermediate connecting seat 220, and a drive component is provided between the intermediate connecting seat 220 and the rotating diverter 231.

[0036] Specifically, such as Figure 1 , Figure 2 and Figure 3 In the support structure 1, four filter brackets 12 are fixedly connected between the upper mounting plate 11 and the lower mounting plate 14. A guide groove 13 is provided on the side of the filter bracket 12 near the upper mounting plate 11. A filter decanter 16 is arranged between the four filter brackets 12. The guide groove 13 makes the outer wall of the filter decanter 16 fit tightly against the filter bracket 12, and the filter decanter 16 moves up and down between the four filter brackets 12.

[0037] The telescopic spring tube 17, which is fixedly connected to the bottom of the filter decanter 16, can extend and retract. The top of the lower mounting plate 14 is fixedly connected to the water pump 18. The bottom of the telescopic spring tube 17 is fixedly connected to the water inlet of the water pump 18. The water outlet of the water pump 18 is fixedly connected to the main water supply pipe 19. A water pipe fixing bracket 110 is fixedly connected between the outer side of the main water supply pipe 19 and the L-shaped housing 21. Therefore, the operation of the water pump 18 is controlled by the telescopic spring tube 17 and the filter decanter 16 to pump water. The water pump 18 delivers water to the inside of the L-shaped housing 21. The support structure 1 supplies water to the cleaning execution structure 2. A detector 15 is fixedly embedded on the side of the lower mounting plate 14 facing the rotating diverter 231. The detector 15 is used to detect the position of the pressure measuring tube in the river water area.

[0038] Specifically, such as Figure 3 , Figure 4 , Figure 5 and Figure 6 A flexible connecting sleeve 238 is fixedly connected between one end of the L-shaped housing 21 and the intermediate connecting seat 220. The flexible connecting sleeve 238 can deform, and the intermediate connecting seat 220 can move. A telescopic sealing sleeve 237 is fixedly connected between the intermediate connecting seat 220 and the second mounting seat 227. The telescopic sealing sleeve 237 can extend and retract. Under the condition that the inside of the L-shaped housing 21 is sealed, the intermediate connecting seat 220 and the second mounting seat 227 can move accordingly. The rotating diverter 231 is rotatably installed on one side of the second mounting seat 227. The rotating diverter 231 can rotate.

[0039] The rotating diversion frame 231 has multiple axial flushing holes 234 at one end away from the L-shaped housing 21, and multiple radial flushing holes 235 on the outside of the rotating diversion frame 231. The axial flushing holes 234 and radial flushing holes 235 are used for drainage. Multiple agitating protrusions 236 are fixedly installed on the outside of the rotating diversion frame 231. The agitating protrusions 236 and the radial flushing holes 235 are staggered. The agitating protrusions 236 increase the agitation of mud and sand during the rotation and forward movement of the rotating diversion frame 231.

[0040] The intermediate connecting seat 220 has a storage groove 223 on its outer side. The telescopic cover 222 is set inside the storage groove 223, so that the telescopic cover 222 is stored in the storage groove 223, reducing the possibility of damage to the telescopic cover 222 during movement. The intermediate connecting seat 220 has multiple hydraulic connecting holes 221 on its outer side. The hydraulic connecting holes 221 communicate with the inside of the telescopic cover 222. The diversion box 219 has multiple hydraulic diversion holes 240 on its outer side. The hydraulic diversion holes 240 correspond one-to-one with the hydraulic connecting holes 221. The inside of the diversion box 219 communicates with the inside of the telescopic cover 222 through the hydraulic diversion holes 240 and the hydraulic connecting holes 221.

[0041] Multiple shield guide ports 239 are provided on one side of the telescopic shield 222. When the telescopic shield 222 is filled with liquid and unfolded, the shield guide ports 239 open.

[0042] A control module 22 is fixedly connected inside the L-shaped housing 21. The control module 22 is used for power supply and working mode control of the position control component and drive component. The control module 22 is used to receive and process ground commands. A booster pump 232 is fixedly installed inside the rotating diverter 231 on the side close to the L-shaped housing 21. The booster pump 232 plays a boosting role. A one-way valve 233 is fixedly installed inside the rotating diverter 231 on the side away from the L-shaped housing 21. Under the one-way conduction characteristic of the one-way valve 233, it prevents external river water from flowing to the booster pump 232, thus protecting the booster pump 232, position control component and drive component.

[0043] Specifically, such as Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10In the control assembly, multiple short fixing brackets 24 are fixedly connected between the outer wall of the medium storage tank 23 and the L-shaped housing 21. The medium storage tank 23 is suspended inside the L-shaped housing 21. A pressure regulating piston 27 is provided on the side of the medium storage tank 23 away from the rotating diverter 231. A hydraulic cylinder 26 is fixedly installed on the side of the pressure regulating piston 27 and passes through the medium storage tank 23. The piston end of the hydraulic cylinder 26 is fixedly connected to the pressure regulating piston 27. By controlling the operation of the hydraulic cylinder 26, the position of the pressure regulating piston 27 inside the medium storage tank 23 can be controlled, thereby controlling the hydraulic value detected by the hydraulic sensor 25 fixedly embedded on the side of the medium storage tank 23 near the rotating diverter 231.

[0044] Both sides of the medium storage tank 23 are fixedly connected to conveying pipes 28. One end of each conveying pipe 28 is fixedly connected to a hydraulic connector 29. A hydraulic distribution pipe 210 is fixedly connected between the two hydraulic connectors 29. The hydraulic distribution pipe 210 is connected to the inside of the two conveying pipes 28. A diversion box 219 is fixedly connected to the outside of the flow guide support box 218. The diversion box 219 is fixedly installed inside the intermediate connecting seat 220. The diversion box 219 moves synchronously with the intermediate connecting seat 220. Multiple chamber communication holes 224 are opened on one side of the diversion box 219 to connect the spaces on both sides of the diversion box 219.

[0045] Both ends of the hydraulic distribution pipe 210 are fixedly mounted with transmission gears 211, and both transmission gears 211 mesh with racks 212. A transmission frame 213 is fixedly connected between the two racks 212. The transmission frame 213 drives the two racks 212 to move synchronously. A drive seat 214 is fixedly connected inside the transmission frame 213. A hydraulic cylinder 215 and a telescopic rod 216 are fixedly connected to one side of a mounting seat 217 fixedly mounted inside the L-shaped housing 21. The piston end of the hydraulic cylinder 215 and the telescopic rod 216 are connected to the telescopic rod 216. The piston ends are all fixedly connected to the drive seat 214. Under the action of the telescopic rod 216 and the hydraulic cylinder 215, the drive seat 214, the transmission frame 213 and the two racks 212 move horizontally. The transmission gear 211 meshing with the racks 212 rotates. According to the extension or retraction of the hydraulic cylinder 215, the end of the guide support box 218 rotates counterclockwise and rises, or the end of the guide support box 218 rotates clockwise and moves downward. The guide support box 218 drives the intermediate connecting seat 220 to move synchronously by driving the diverter box 219.

[0046] Specifically, such as Figure 6 , Figure 11 and Figure 12In the drive assembly, hydraulic cylinder 226 and two telescopic rods 225 are fixedly connected to the diverter box 219. The piston ends of hydraulic cylinder 226 and telescopic rods 225 are fixedly connected to mounting base 227. By controlling the hydraulic cylinder 226 to work, the mounting base 227 moves with the cooperation of telescopic rods 225. The rotating diverter 231 connected to the mounting base 227 moves synchronously.

[0047] A drive motor 228 is fixedly installed inside the mounting base 227. A transmission frame 230 is fixedly installed on the outside of the transmission shaft 229, which is fixedly connected to the output end of the drive motor 228. The transmission frame 230 is fixedly installed inside the rotating diverter 231 and controls the operation of the drive motor 228. The drive motor 228 drives the rotating diverter 231 to rotate through the transmission shaft 229 and the transmission frame 230. With the cooperation of the hydraulic cylinder 226 and the drive motor 228, the rotating diverter 231 moves horizontally during its rotation.

[0048] The cleaning robot consists of a support structure 1 and a cleaning execution structure 2. The working principle of the cleaning robot is as follows:

[0049] The L-shaped shell 21 in the support structure 1 is fixedly connected to the vehicle-mounted robotic arm 3. The vehicle-mounted robotic arm 3 is installed on a shore-moving device, such as a transport vehicle. The vehicle-mounted robotic arm 3 works to clean the robot entering the water and control its position.

[0050] When the cleaning robot approaches the pressure measuring tube in the river, the detector 15 works to detect the pressure measuring tube's position data. The pressure measuring tube's position data is fed back to the shore equipment, which controls the vehicle-mounted robotic arm 3 to adjust the cleaning robot's vertical position, horizontal orientation, and left-right-forward-backward position. The rotating diverter 231 at the end of the cleaning execution structure 2 aligns with the pressure measuring tube.

[0051] After the rotating diverter 231 at the end of the cleaning execution structure 2 is aligned with the pressure testing tube and positioned on one side of the pressure testing tube, the hydraulic cylinder 226 is controlled to push the mounting base 227 into the pressure testing tube. At the same time, the drive motor 228 is controlled to drive the rotating diverter 231 to rotate through the transmission shaft 229 and the transmission frame 230. The rotating diverter 231 and the multiple agitating protrusions 236 fixedly installed on the outside of the rotating diverter 231 rotate. The rotating diverter 231 and the multiple agitating protrusions 236 advance into the pressure testing tube. When one end of the rotating diverter 231 moves to a preset distance position on the side of the pressure testing device inside the pressure testing tube, the hydraulic cylinder 226 stops working, completing the preparation work for unblocking the inside of the pressure testing tube.

[0052] During the preparation work for unblocking the pressure testing pipe, because a telescopic spring tube 17 that can extend and retract is installed between the filter decanter 16 and the water pump 18, the filter decanter 16 floats on the surface of the water. Since there is less sediment on the surface, the filter decanter 16 has a lighter filtration load and is less prone to clogging, ensuring a consistent water intake rate. After the preparation work for unblocking the pressure testing pipe is completed, the water pump 18 is controlled to operate. The water pump 18 operates through the telescopic spring tube... 17. The filtered water inside the filter decanter 16 is drawn out. The water pump 18 delivers the clean water through the main water supply pipe 19 into the L-shaped housing 21. The water enters the rotating diverter 231 through the flexible connecting sleeve 238, the multiple chamber connecting holes 224 on the diverter box 219, and the telescopic sealing sleeve 237. The booster pump 232 installed inside the rotating diverter 231 pressurizes the water and discharges it. The high-pressure water passes through the one-way valve 233 and then through multiple axial flushing holes 234 and multiple radial flushing holes 234. The flushing hole 235 discharges water, and the water jets from multiple axial flushing holes 234 move along the axial direction inside the pressure measuring tube to clean the mud and sand on the pressure measuring equipment inside the pressure measuring tube. The water jets from multiple radial flushing holes 235 spray onto the inner wall of the pressure measuring tube to wash away the mud and sand adhering to the inner wall. At this time, the hydraulic pressure inside the pressure measuring tube is higher than that outside, and the mud and sand inside the pressure measuring tube are flushed out by the water flow. The rotating diverter 231 causes the multiple axial flushing holes 234 to rotate, and the vehicle-mounted robotic arm 3 works to make the cleaning execution structure 2 move up, down, left and right within the range to thoroughly clean the inside of the pressure measuring tube. The water flow impact cleans the pressure measuring equipment inside the pressure measuring tube, ensuring that the pressure measuring equipment inside the pressure measuring tube is clean while reducing the damage to the pressure measuring equipment inside the pressure measuring tube. At the same time, the hydraulic cylinder 226 is controlled to alternately extend and retract, causing the multiple radial flushing holes 235 to reciprocate inside the pressure measuring tube to complete the thorough cleaning of the inner wall of the pressure measuring tube.

[0053] After the cleaning of the pressure testing tube is completed, the rotating diverter 231 is positioned approximately in the middle of the pressure testing tube. With the hydraulic cylinder 226 in a retracted state, one end of the L-shaped housing 21 is moved into the pressure testing tube. Once the horizontal portion of the L-shaped housing 21 is fully inside the pressure testing tube, the hydraulic cylinder 26 is activated, the pressure regulating piston 27 moves, and the hydraulic pressure inside the medium storage tank 23 increases. The hydraulic pressure inside the delivery pipe 28, which is fixedly connected to the medium storage tank 23, also increases. The hydraulic pressure inside the hydraulic distribution pipe 210, which is fixedly connected to the hydraulic connector 29, and the flow guide support box 218, which is fixedly connected to the outside of the hydraulic distribution pipe 210, also increase. The hydraulic pressure inside the diverter box 219 increases, the telescopic shield 222 is filled with fluid, and the telescopic shield 222 expands. When the telescopic shield 222 expands and contacts the inner wall of the pressure measuring tube, the hydraulic pressure inside the telescopic shield 222 increases. The hydraulic sensor 25 detects the hydraulic pressure inside the medium storage tank 23. When the hydraulic pressure inside the medium storage tank 23 reaches a preset value, the control module 22 controls the hydraulic cylinder 26 to stop working. At this time, the telescopic shield 222 expands and presses against the inner wall of the pressure measuring tube. At this time, multiple shield guide ports 239 expand, making the two sides of the telescopic shield 222 connected. The movement of the telescopic shield 222 will not have an adverse effect on the pressure measuring equipment inside the pressure measuring tube. Then, the control cleaning execution structure 2 moves completely away from the inside of the pressure measuring tube. The telescopic shield 222 pushes out the larger stones that were not flushed out inside the pressure measuring tube, thus completely completing the cleaning work of the pressure measuring tube.

[0054] When the cleaning actuator 2 moves completely away from the inside of the pressure measuring tube, the control hydraulic cylinder 26 retracts, the pressure regulating piston 27 resets, and the telescopic cover 222 rebounds and retracts.

[0055] In addition, during the preparation work for unblocking the inside of the pressure testing pipe, if the pressure testing pipe is set at an angle, after controlling the vehicle-mounted robotic arm 3 to adjust the orientation of the cleaning execution structure 2 on the horizontal plane, control the hydraulic cylinder 215 to work, adjust the pitch angle of the guide support box 218, and adjust the pitch angle of the rotating diverter 231 so that the rotating diverter 231 can be inserted into the inside of the pressure testing pipe to flush and clean the inside of the pressure testing pipe. This can adapt to the cleaning and unblocking work of mud and sand inside the pressure testing pipe under different installation conditions.

[0056] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic cleaning robot for the inner wall of a piezometer in a river with a lot of silt, including a vehicle-mounted robotic arm (3), characterized in that: The bottom end of the vehicle-mounted robotic arm (3) is fixedly installed with a support structure (1), and the bottom end of the support structure (1) is fixedly installed with a cleaning execution structure (2). The cleaning execution structure (2) includes an L-shaped housing (21), an intermediate connecting seat (220), a second mounting seat (227), and a rotating diverter (231). A telescopic cover (222) is fixedly installed on the outside of the intermediate connecting seat (220), and a positioning component is provided between the L-shaped housing (21) and the intermediate connecting seat (220). A drive assembly is provided between the intermediate connecting seat (220) and the rotating diverter (231). A flexible connecting sleeve (238) is fixedly connected between one end of the L-shaped housing (21) and the intermediate connecting seat (220). A telescopic sealing sleeve (237) is fixedly connected between the intermediate connecting seat (220) and the second mounting seat (227). The rotating diverter (231) is rotatably mounted on one side of the second mounting seat (227). A plurality of axial flushing holes (234) are provided at the end of the rotating diverter (231) away from the L-shaped housing (21). A plurality of radial flushing holes (235) are provided on the outer side of the rotating diverter (231). A plurality of agitating protrusions (236) are fixedly installed on the outer side of the rotating diverter (231). The agitating protrusions (236) and the radial flushing holes (235) are staggered. The control assembly includes a media storage tank (23). Multiple short fixing brackets (24) are fixedly connected between the outer wall of the media storage tank (23) and the L-shaped housing (21). A pressure regulating piston (27) is provided on the side of the media storage tank (23) away from the rotating diverter (231). A hydraulic cylinder (26) is provided on one side of the pressure regulating piston (27). The hydraulic cylinder (26) is fixedly mounted on the media storage tank (23), and its piston end is fixedly connected to the pressure regulating piston (27). A hydraulic sensor (25) is fixedly embedded on the side of the media storage tank (23) near the rotating diverter (231). Both sides of the medium storage tank (23) are fixedly connected to conveying pipes (28), and one end of each of the two conveying pipes (28) is fixedly connected to a hydraulic connector (29). A hydraulic distribution pipe (210) is fixedly connected between the two hydraulic connectors (29). A flow guide support box (218) is fixedly connected to the outside of the hydraulic distribution pipe (210). A flow divider box (219) is fixedly connected to the outside of the flow guide support box (218). The flow divider box (219) is fixedly installed inside the intermediate connecting seat (220). Multiple chamber communication holes (224) are opened on one side of the flow divider box (219). Multiple hydraulic flow divider holes (240) are opened on the outside of the flow divider box (219). Both ends of the hydraulic distribution pipe (210) are fixedly installed with transmission gears (211), and both transmission gears (211) are meshed with racks (212). A transmission frame (213) is fixedly connected between the two racks (212). A drive seat (214) is fixedly connected inside the transmission frame (213). A mounting seat (217) is fixedly installed inside the L-shaped housing (21). A hydraulic cylinder (215) and a telescopic rod (216) are fixedly connected to one side of the mounting seat (217). The piston end of the hydraulic cylinder (215) and the piston end of the telescopic rod (216) are both fixedly connected to the drive seat (214). The drive assembly includes a hydraulic cylinder three (226) and two telescopic rods two (225). The outer walls of the hydraulic cylinder three (226) and the telescopic rods two (225) are fixedly connected to the diversion box (219). The piston ends of the hydraulic cylinder three (226) and the telescopic rods two (225) are fixedly connected to the mounting base two (227).

2. The automatic cleaning robot for the inner wall siltation of the piezometer in a river with abundant sediment as described in claim 1, characterized in that: The support structure (1) includes an upper mounting plate (11) and a lower mounting plate (14). Four filter brackets (12) are fixedly connected between the upper mounting plate (11) and the lower mounting plate (14). A guide groove (13) is provided on the side of the filter bracket (12) near the upper mounting plate (11). A filter decanter (16) is provided between the four filter brackets (12).

3. The automatic cleaning robot for the inner wall siltation of the piezometer in a river with abundant sediment as described in claim 2, characterized in that: The bottom end of the filter decanter (16) is fixedly connected to a telescopic spring tube (17), the top of the lower mounting plate (14) is fixedly connected to a water pump (18), the bottom end of the telescopic spring tube (17) is fixedly connected to the water inlet end of the water pump (18), the water outlet end of the water pump (18) is fixedly connected to a main water supply pipe (19), the outer side of the main water supply pipe (19) is fixedly connected to a water pipe fixing bracket (110) between the L-shaped housing (21), and a detector (15) is fixedly embedded on the side of the lower mounting plate (14) facing the rotating diverter (231).

4. The automatic cleaning robot for the inner wall siltation of the piezometer in a river with abundant sediment as described in claim 1, characterized in that: The intermediate connecting seat (220) has a storage groove (223) on its outer side, and the telescopic cover (222) is located inside the storage groove (223). The intermediate connecting seat (220) has multiple hydraulic communication holes (221) on its outer side, and the hydraulic communication holes (221) are connected to the inside of the telescopic cover (222). The telescopic cover (222) has multiple cover guide ports (239) on one side.

5. The automatic cleaning robot for the inner wall siltation of the piezometer in a river with abundant sediment as described in claim 1, characterized in that: A control module (22) is fixedly connected inside the L-shaped housing (21). A booster pump (232) is fixedly installed inside the rotating diverter (231) on the side close to the L-shaped housing (21). A one-way valve (233) is fixedly installed inside the rotating diverter (231) on the side away from the L-shaped housing (21).

6. The automatic cleaning robot for the inner wall siltation of the piezometer in a river with abundant sediment as described in claim 1, characterized in that: The second mounting base (227) has a drive motor (228) fixedly installed inside. The output end of the drive motor (228) is fixedly connected to a transmission shaft (229). The transmission frame (230) is fixedly installed on the outside of the transmission shaft (229). The transmission frame (230) is fixedly installed inside the rotating splitter frame (231).

Images