Diameter-variable pipeline dredging and cleaning robot for sewer pipeline

Abstract

The utility model relates to a sewer line diameter-variable pipeline dredging and cleaning robot, which comprises a diameter-variable mechanism, a wheel set mechanism, a shell and a cleaning and dredging unit, the diameter-variable mechanism is positioned at the tail part and the middle part of the shell, and a stepping motor for providing power for the whole diameter-variable mechanism is arranged at the tail part; the cleaning and dredging units are located at the head of the shell and in front of the head, a stepping motor for providing power for the whole cleaning and dredging units is arranged at the head, the cleaning and dredging units of the device are arranged in front of the head, and the wheel set mechanisms are circumferentially arranged at intervals of 120 degrees. The wheel set is connected with the reducing mechanism through the connecting rod to achieve reducing motion, and the cleaning unit is also variable in diameter due to the fact that the cleaning unit needs to adapt to the change of the caliber of the pipeline. The working occasion of the device is mainly a household sewer line, the diameter of the device can be changed at will in a pipeline with the caliber of 25-35 cm, and the device has important significance for solving the problem of cleaning the household sewer line in China.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, and belongs to a robot suitable for dredging and cleaning sewer pipes. Background Art

[0002] In our daily lives, we often face a variety of pipelines, such as household sewer pipes, natural gas pipelines, and line pipelines. In particular, community household sewer pipes are often not cleaned in time, and impurities will accumulate over time, causing poor transmission and blockage in the pipeline, which will affect our daily lives. However, due to the complex structure of these pipelines and the various connection methods, it is difficult to dredge and clean them when they are blocked. At the same time, their diameters are different, and it is extremely difficult and time-consuming to clean them manually or with ordinary cleaning and dredging equipment. In addition, many pipelines are underground, and it is difficult to enter their interior through manual cleaning, and the work efficiency is extremely low. Summary of the invention

[0003] In order to solve the problem of difficult unblocking and cleaning of sewer pipes in daily life, the utility model patent can be used to unblock and clean pipes of different diameters, achieving the characteristics of high utilization rate and good safety of the device. It has a good performance in adapting to different diameter changes; in order to solve the above technical problems, the technical solution adopted by this device is: a variable diameter pipe unblocking and cleaning robot, including a shell, a diameter-changing mechanism, a wheel group mechanism, and a cleaning and unblocking unit. The wheel group mechanism is connected to the diameter-changing mechanism through a connecting rod to realize the diameter-changing movement. The cleaning and unblocking unit is located at the head of the shell and the front end of the head. Because it needs to adapt to the changes in the diameter of the pipe, the cleaning unit should also be variable in diameter. The unblocking unit is located at the front end of the cleaning unit, and its function is to unblock, so this unblocking unit does not need to meet the diameter-changing requirements.

[0004] The diameter-changing mechanism of the device is powered by a stepper motor located at the rear of the device housing. The stepper motor is connected to the lead screw through a coupling. The connecting block on the lead screw is fixed together with a connecting nut by bolts. The connecting block performs linear motion on the lead screw to drive the connecting rod to expand and achieve the purpose of diameter change. The connecting rod mechanism can be regarded as a set of five-link structures. Since the parallelogram mechanism has the characteristic that the two cranks rotate in the same direction at the same speed, the present structure is composed of a set of parallelogram double crank mechanisms plus an active connecting rod, which is driven by a stepper motor to achieve the ultimate diameter change purpose.

[0005] The cleaning and unblocking unit of the device can also be of variable diameter. This variable diameter cleaning and unblocking unit adopts an integrated cleaning and unblocking module. Both modules are located at the front end of the device head. The cleaning unit uses a spring as a power source, which is connected by a connecting rod and restricted by the inner wall of the pipe to achieve the variable diameter requirement. A fixing seat is installed on the output shaft of the stepper motor to fix and connect the connecting rod, and a roller brush is installed on the other end of the connecting rod. One end of the spring applies elastic force to the active connecting rod to change its diameter, and the other end restricts it to fix it. The power source of the unblocking unit is also this stepper motor, and its three conical gears are distributed at 120° intervals, and the top has a pointed tip that can well dredge the blocked part.

[0006] The wheel group structure design of the device is that since the wheel group of this variable diameter cleaning robot is dual-driven, two double-output shaft reduction stepper motors need to be stored in one wheel group unit. At the same time, considering that the interval between the two wheels should not be too large, the box of the wheel group should not be too large, and it is limited by it, so the box of the wheel group should not be too large, and it is enough to store the variable diameter mechanism. At the same time, a convex groove needs to be installed on the wheel group cover for connection with the connecting rod. It is more appropriate to choose a double-output shaft reduction stepper motor for the wheel group mechanism of this device, and it is arranged in a symmetrical manner. When the device encounters an obstacle, the two double-output shaft reduction stepper motors work at the same time, which is conducive to overcoming the obstacle and improving the passability of the product. The double-output shaft reduction stepper motor is placed in the box from top to bottom from the box cover position, and is fixed to the side of the box by bolts and keyways. The output shaft of the double-output shaft reduction stepper motor and the wheel are connected by a coupling.

[0007] The shell structure design of the device adopts a segmented structure consisting of a head, a middle bearing support, a middle part and a tail. The head is placed with a stepper motor for providing power to the cleaning device, the middle bearing support is used to support the bearing, the middle part is the moving part of the lead screw and the connecting nut, and the tail is placed with a stepper motor for driving the lead screw to rotate. The entire shell is connected by bolts and nuts. The main function of the head is to store the stepper motor that provides power to the cleaning and dredging unit. Since the front end needs to be passed through by the stepper motor output shaft, a hole with a diameter slightly larger than the stepper motor output shaft is left at the front end. This stepper motor is intended to use a square stepper motor, so a fixing frame is installed inside the shell to fix the stepper motor by bolts. The surface of the tail is distributed with convex grooves for connecting the connecting rod and the middle bearing support at intervals of 120°. The middle bearing support connects the head and the middle part on the one hand, and is used to support the bearing on the other hand, so a circular hole with a diameter the same as the bearing diameter should be left in the center to clamp the bearing. The tail of this variable diameter pipe cleaning robot has two functions. 1. This part needs to store a stepper motor for driving the variable diameter mechanism and the dredging mechanism. 2. This part needs to fix the connecting rod of the wheel set. In view of the above two functional requirements, first of all, a frame with the same size as the stepper motor needs to be designed inside this structure to fix the stepper motor, and a small hole is left at the bottom for wire input. Secondly, the 120° intervals of the convex grooves in this part are used to connect the middle part and the connecting rod of the reducer mechanism. The middle part of this variable diameter pipe dredging and cleaning robot is the core part of the entire shell of the device, which plays a role in supporting the entire device. Since the active connecting rod of the reducer mechanism needs to pass through this part, three gaps with 120° intervals are left on its surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is the positive triaxial measurement of the utility model.

[0009] Figure 2 It is a front view of the utility model.

[0010] Figure 3 It is a positive triaxial measurement drawing of the wheel set mechanism of the utility model.

[0011] Figure 4 It is the internal front view of the utility model.

[0012] Figure 5 It is the positive triaxial measurement drawing of the cleaning unit of the utility model.

[0013] In the figure: 1. Shell tail, 2. Shell middle, 3. Shell head, 4. Connecting rod, 5. Connecting rod, 6. Connecting rod, 7. Connecting rod, 8. Connecting rod, 9. Box, 10. Wheel, 11. Wheel cover, 12. Coupling, 13. Double-output shaft reduction stepper motor, 14. Stepper motor, 15. Coupling, 16. Lead screw, 17. Connecting nut, 18. Connecting block, 19. Middle bearing support, 20. Bearing, 21. Stepper motor, 22. Connecting block, 23. Fixed seat, 24. Connecting block, 25. Tooth cone, 26. Spring, 27. Connecting rod. 28. Roller brush DETAILED DESCRIPTION

[0014] The following will further explain the utility model patent according to the drawings and specific implementations, so that those skilled in the art can more clearly and completely understand the utility model and implement it. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them.

[0015] Reference Figure 1 , Figure 2 , Figure 3 The present invention discloses a sewer pipe variable diameter dredging and cleaning robot, wherein the outer shell is the main body of the entire robot, and is composed of an outer shell tail portion (1), an outer shell middle portion (2), and an outer shell head portion (3). The diameter-changing mechanism is a stepper motor (14) located at the outer shell tail portion (1) as a power source, the stepper motor (14) is connected to a lead screw (16) through a coupling (15), and a connecting block (18) on the lead screw (16) is fixed together with a connecting nut (17) by bolts, and the connecting block (18) is fixed to the lead screw. The linear motion on (16) drives the connecting rod (4) to push the connecting rod (5) and the connecting rod (6) to rotate. The other end of the lead screw (16) is connected to the middle bearing support (19) located in the middle part of the housing (2) through a bearing (20). The entire connecting rod mechanism can be regarded as a group of five-link structures. Since the parallelogram mechanism has the characteristic that the two cranks rotate at the same speed at the same time, it is composed of connecting rods (4), (5), and (6). Through the drive of the stepper motor (14), the purpose of diameter change is finally achieved.

[0016] Reference Figure 2 , Figure 4The wheel unit is composed of a box (9), a wheel cover (11), a double-shaft reduction stepper motor (13), a coupling (12) and a wheel (10). Two double-shaft reduction stepper motors (13) need to be stored in one wheel unit of the wheel mechanism. Considering that the interval between the two wheels should not be too large, the box (9) of the wheel should not be too large, and it is sufficient to store two double-shaft reduction stepper motors (13). At the same time, a convex groove needs to be installed on the wheel cover (11) for connecting with the connecting rods (5) and (6). Considering the size of the pipe diameter and the limitation of the overall mechanism size, this wheel (10) selects a 52mm wheel hub. Since the device needs to move in a vertical pipe, a tire with greater friction is selected, so the tire uses a 52mm tire with a straight groove. The double-outlet shaft reduction stepper motor (13) provides a power source and is bolted to the wheel (10) through a coupling (12). The double-outlet shaft reduction stepper motor (13) is symmetrically placed inside the box (9) to increase the driving force and avoid the situation of being stuck when encountering obstacles. The entire wheel set is distributed at 120° intervals around the shell.

[0017] Reference Figure 2 , Figure 5 The cleaning unit is powered by a driving stepper motor (21) to drive the connecting rod (27) to rotate. The connecting block (24) is fixed to the connecting rod (27) through a fixing seat (23). The connecting rod (7) and the connecting rod (8) are connected to the connecting block (24) and the connecting block (22) respectively through bolts. The other end of the connecting rod (8) is connected to the roller brush (28). One end of the spring (26) is fixed and the other end is in contact with the connecting block (22). When the device enters the pipeline, the spring (26) is in a compressed state, converting the elastic force into a driving force acting on the connecting block (22), so that the entire connecting rod mechanism opens, and the roller brush (28) contacts the inner wall of the pipeline, limiting the connecting rod mechanism so that it cannot open indefinitely, thereby achieving the purpose of changing the diameter. The tooth cone (25) is located at the front end of the entire cleaning unit and plays a role in dredging when rotating. When the driving stepper motor (21) rotates, the entire device achieves the working purpose of dredging and cleaning.

Claims

1. A sewer pipe variable diameter dredging robot, comprising a variable diameter mechanism, a wheel mechanism, a housing and a dredging unit, characterized in that: The reducing mechanism is located at the tail and middle part of the shell. The stepper motor that provides power to the entire reducing mechanism is placed at the tail. The middle part is the lead screw and the connecting nut that drives the connecting rod mechanism to move. The cleaning and dredging unit is located at the head and front of the head of the shell. The stepper motor that provides power to the entire cleaning and dredging unit is placed at the head of the shell. The wheel assembly mechanism adopts a circular arrangement with 120° intervals.

2. A sewer pipe variable diameter pipe dredging and cleaning robot according to claim 1, characterized in that: The diameter-changing mechanism is driven by a stepper motor and connected to a lead screw through a coupling. The connecting nut and the connecting block perform linear motion on the lead screw to drive the connecting rod to push the wheel assembly mechanism to achieve the purpose of diameter changing.

3. The sewer pipe variable diameter pipe dredging and cleaning robot according to claim 1, characterized in that: The wheel assembly mechanism is dual-drive, so two double-output shaft reduction stepper motors need to be stored in one wheel assembly unit. At the same time, considering that the interval between the two wheels should not be too large, due to its limitation, the box of the wheel assembly mechanism should not be too large, and it only needs to be able to store the double-output shaft reduction stepper motor. At the same time, a convex groove needs to be installed on the wheel assembly cover for connecting with the connecting rod.

4. The sewer pipe variable diameter pipe dredging and cleaning robot according to claim 1, characterized in that: The shell adopts a segmented structure consisting of a head, a middle bearing support, a middle part and a tail part. The head part is placed with a stepper motor for providing power to the cleaning and dredging unit, the middle bearing support is used to support the bearing, the middle part is the moving part of the lead screw and the connecting nut, and the tail part is placed with a stepper motor for driving the lead screw to rotate. The entire shell is connected by bolts and nuts.

5. The sewer pipe variable diameter pipe dredging and cleaning robot according to claim 1, characterized in that: The cleaning and dredging unit is also variable in diameter. The principle of variable diameter is to use the spring force to drive the connecting block to push the connecting rod so that the roller brush that cleans the inner wall can expand to meet the needs of different pipe types. The inner wall of the pipe will also limit the roller brush so that it will not expand infinitely. After the roller brush is close to the inner wall of the pipe, it cleans the inner wall of the pipe by rotating. The dredging unit is located at the front end of the cleaning unit, and the purpose of dredging the pipe is achieved by rotating the tooth cone.

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