Pipeline robot suitable for dredging operation of urban drainage pipeline

Abstract

The utility model discloses a pipeline robot suitable for dredging operation of urban drainage pipelines. The pipeline robot comprises a robot body, a clearing device arranged at the front end of the robot body, a rotation driving device and a walking device. The walking device comprises at least three crawler belts, supporting mechanisms arranged between the crawler belts and the robot body and an opening driving mechanism. The cleaning device comprises a spray head assembly arranged at the front end of the robot body and an inner wall cleaning mechanism arranged on the spray head assembly. The inner wall cleaning mechanism comprises a plurality of scrapers, connecting rod mechanisms arranged between the scrapers and the spray head assembly and an adjusting mechanism used for adjusting the connecting rod mechanisms to move so that the scrapers can be tightly attached to the inner wall of the drainage pipeline. The spray head assembly is located in the center of the multiple scrapers. During dredging operation, the pipeline robot can stably walk in the drainage pipeline, the stability is higher, it is guaranteed that dredging work is smoothly conducted, and the dredging efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline desilting, and in particular to a pipeline robot suitable for desilting operations of urban drainage pipelines. Background Art

[0002] In recent years, with the continuous acceleration of urbanization, the construction of urban drainage pipeline systems has become increasingly large and complex. However, due to long-term use and the influence of external factors, urban drainage pipelines are prone to accumulate a large amount of sediment, garbage and dirt, leading to pipeline blockage, poor water flow and other problems. These problems seriously affect the normal operation of urban drainage systems and easily cause adverse effects such as urban waterlogging and road waterlogging.

[0003] In order to effectively solve the above problems, urban drainage pipe desilting robots have emerged. Existing urban drainage pipe desilting robots usually use four-wheel drive or double-track walking devices. When desilting, the silt impurities in the drainage pipe are removed by driving the blade to rotate, and then the silt impurities left on the pipe wall are washed and cleaned by a high-pressure water gun. However, the above urban drainage pipe desilting robots have the following shortcomings:

[0004] The urban drainage pipe desilting robot uses a four-wheel drive or double-track walking device to walk. This walking method lacks sufficient wall-grasping force. When encountering a fast water flow in the drainage pipe, it is difficult to maintain balance, thus affecting the desilting work. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide a pipeline robot suitable for dredging operations in urban drainage pipes. During the dredging operation, the pipeline robot can walk stably in the drainage pipe with higher stability, thereby ensuring the smooth progress of the dredging work and higher dredging efficiency.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A pipeline robot suitable for desilting urban drainage pipelines comprises a robot body, a cleaning device arranged at the front end of the robot body for cleaning mud and impurities inside the drainage pipeline, a rotation drive device for driving the cleaning device to rotate, and a walking device arranged at the side of the robot body for the robot body to walk inside the drainage pipeline; wherein,

[0008] The walking device includes at least three crawlers evenly distributed along the circumferential direction, a support mechanism arranged between each crawler and the robot body, and a spreading drive mechanism for driving the support mechanism to move so that the crawler is closely attached to the inner wall of the drainage pipe;

[0009] The cleaning device includes a nozzle assembly arranged at the front end of the robot body for spraying water and an inner wall cleaning mechanism arranged on the nozzle assembly for cleaning sludge and impurities on the inner wall of the drainage pipe. The inner wall cleaning mechanism includes a plurality of scrapers evenly distributed along the circumferential direction, a connecting rod mechanism arranged between each scraper and the nozzle assembly, and an adjusting mechanism for adjusting the movement of the connecting rod mechanism so that the scraper is tightly attached to the inner wall of the drainage pipe; the nozzle assembly is located at the center of the plurality of scrapers.

[0010] The working principle of the above pipeline robot suitable for urban drainage pipeline desilting operations is:

[0011] During operation, the crawler can drive the pipeline robot to walk in the drainage pipe, and the expansion drive mechanism drives the supporting mechanism to move so that the crawler is close to the inner wall of the drainage pipe, so that the pipeline robot can walk stably in the drainage pipe. The water sprayed by the nozzle assembly can flush and remove the sludge and impurities in the center directly in front of the pipeline robot. The adjustment mechanism adjusts the movement of the connecting rod mechanism to make the scraper close to the inner wall of the drainage pipe. The rotating drive device drives the nozzle assembly and the inner wall cleaning mechanism to rotate together. The rotating scraper will clean the sludge and impurities on the inner wall of the drainage pipe, so that the sludge and impurities on the inner wall of the drainage pipe are separated from the inner wall of the drainage pipe. The water sprayed by the nozzle assembly can fill the drainage pipe with water, and flush the sludge and impurities inside the drainage pipe out of the drainage pipe.

[0012] A preferred solution of the utility model, wherein the support mechanism includes two support rods arranged parallel to each other, a mounting plate is provided between the track and each of the support rods, one end of the support rod is hinged to the robot body, the other end of the support rod is hinged to one end of the mounting plate, the other end of the mounting plate is fixedly connected to the track, and the expansion drive mechanism is connected to the support rods. In the above structure, the mounting plate is used to install the track, and by setting two support rods, a stable support effect can be provided for the track. The robot body, the track, the two mounting plates and the two support rods constitute a first parallel four-bar linkage mechanism. According to the diameter of the drainage pipe, the support rods are driven by the expansion drive mechanism to swing around the robot body, thereby realizing the movement of the track, so that the track can be closely attached to the inner wall of the drainage pipe. The track rotates and can stably walk in the drainage pipe.

[0013] Preferably, the expansion drive mechanism includes a screw rod arranged inside the robot body, a screw nut arranged on the screw rod, an expansion rod arranged between the support rod and the screw nut, and an expansion drive motor for driving the screw rod to rotate; one end of the expansion rod is hinged to the screw nut, and the other end of the expansion rod is hinged to the middle part of the support rod; the axis of the screw rod coincides with the axis of the robot body. During operation, the expansion drive motor drives the screw rod to rotate, and the screw nut will move on the screw rod. Under the transmission of the expansion rod, it will drive the support rod to swing, and then drive the track away from the robot body. The support rod is in an expanded state, so that the track is close to the inner wall of the drainage pipe; when the expansion drive motor drives the screw rod to rotate in the reverse direction, the track can be brought close to the robot body, and the support rod is in a contracted state, so that the track is separated from the inner wall of the robot body.

[0014] Preferably, the nozzle assembly includes a water pipe rotatably arranged at the front end of the robot body and a water rat nozzle arranged at the front end of the water pipe; the rotating drive device is connected to the water pipe. By adopting the above structure, the water rat nozzle is a high-pressure nozzle, and the high-pressure water sprayed toward the center of the drainage pipe is flushed to the silt impurities in the center of the drainage pipe, and the drainage pipe is filled with water, so that all silt impurities can be flushed out of the drainage pipe. The water rat nozzle is used, and the water flow sprayed out is more focused and powerful than that of an ordinary nozzle, which can clean up the blockage or dirt such as silt impurities in the drainage pipe, which not only avoids the high cost of ordinary high-pressure water gun dredging and the problem of water source, but also combines with the rotating scraper to improve the cleaning effect.

[0015] Preferably, the connecting rod mechanism includes a first connecting rod, a second connecting rod, an L-shaped connecting rod, an intermediate connecting rod, a first long connecting rod, a second long connecting rod, a first short connecting rod and a second short connecting rod; a sliding mounting seat is slidably provided on the water pipe, and a first fixed mounting seat and a second fixed mounting seat are fixedly provided on the water pipe; the sliding mounting seat is located at the front end of the second fixed mounting seat, and the first fixed mounting seat is located between the sliding mounting seat and the second fixed mounting seat; wherein, one end of the first short connecting rod is respectively hinged to one end of the first connecting rod, the middle part of the L-shaped connecting rod and one end of the first long connecting rod; the other end of the first short connecting rod is respectively hinged to the second long connecting rod One end of the rod and one end of the second connecting rod are hinged; the other end of the first connecting rod is hinged to the sliding mounting seat; the other end of the first long connecting rod is hinged to one end of the second short connecting rod; the other end of the second long connecting rod is hinged to the other end of the second short connecting rod; one end of the L-shaped connecting rod is hinged to one end of the intermediate connecting rod, and the other end of the L-shaped connecting rod is hinged to the first fixed mounting seat; the other end of the intermediate connecting rod is hinged to the middle part of the second long connecting rod; the other end of the second connecting rod is hinged to the second fixed mounting seat; the scraper is arranged on the second short connecting rod; and the adjustment mechanism is connected to the sliding mounting seat. In the above structure, the first long link, the second long link, the first short link and the second short link constitute a second parallel four-bar linkage. The adjustment mechanism can adjust the sliding mounting seat to slide on the water pipe, thereby driving the first link, the L-shaped link and the second link to swing synchronously. The L-shaped link drives the middle link to move, and the middle link drives the second parallel four-bar linkage to swing, thereby driving the movement of the scraper to achieve the scraper approaching or moving away from the water pipe, thereby achieving the telescopic movement of the scraper. During operation, the scraper is moved away from the water pipe through the movement of the link mechanism and is close to the inner wall of the drainage pipe. Under the rotation of the water pipe, the link mechanism is driven to rotate, thereby driving the scraper to rotate, thereby achieving the cleaning of sludge and impurities.

[0016] Preferably, the adjustment mechanism is an adaptive adjustment mechanism, which includes a spring sleeved on the water pipe and a third fixed mounting seat fixedly arranged on the water pipe; the third fixed mounting seat is located between the sliding mounting seat and the first fixed mounting seat; one end of the spring acts on the sliding mounting seat, and the other end of the spring acts on the first fixed mounting seat. By setting the spring, the position of the scraper can be adaptively adjusted by the elastic force of the spring; specifically, the elastic force of the spring will push the sliding mounting seat to move forward, thereby driving the first connecting rod, the L-shaped connecting rod, and the second connecting rod to swing forward synchronously, the L-shaped connecting rod drives the middle connecting rod to move, the middle connecting rod drives the second parallel four-bar linkage to swing, and then drives the scraper to move in a direction away from the water pipe; under the action of the spring, the inner wall cleaning mechanism can adapt to drainage pipes of different diameters, so that the scraper is always pressed against the inner wall of the drainage pipe; when the scraper needs to be separated from the inner wall of the drainage pipe, the sliding mounting seat is pushed to move backward by overcoming the elastic force of the spring.

[0017] Preferably, a guide mechanism is provided between the sliding mounting seat and the third fixed mounting seat, the guide mechanism comprising a guide connecting rod, a guide groove provided on the guide connecting rod, and a sliding rod provided on the third fixed mounting seat; the front end of the guide connecting rod is connected to the sliding mounting seat, and the sliding rod is slidably connected to the guide groove. In the above structure, the guide groove can guide the sliding rod, and then guide the sliding mounting seat, thereby ensuring that the sliding mounting seat can slide stably on the water pipe.

[0018] Preferably, the front end of the robot body is provided with an outer sleeve, the inner sleeve is rotatably provided with an inner sleeve, and the rear end of the water pipe is arranged inside the inner sleeve; the rotation drive device is connected to the inner sleeve; a first inner cavity is provided between the outer sleeve and the inner sleeve, a second inner cavity is provided between the inner sleeve and the water pipe, a hose is provided on the outer sleeve, and the hose is connected with the first inner cavity; a first water inlet hole is provided on the inner sleeve, and the first water inlet hole connects the first inner cavity with the second inner cavity; a second water inlet hole is provided at the rear end of the water pipe, and the second water inlet hole connects the second inner cavity with the water pipe. In the above structure, water transportation and rotation of the water pipe can be realized; specifically, water in the hose enters the first inner cavity, then enters the second inner cavity through the first water inlet hole, and finally enters the water pipe through the second water inlet hole, and then sprays out from the water mouse nozzle of the water pipe; the rotation drive device drives the inner sleeve to rotate, drives the water pipe to rotate together, and then realizes the rotation of the inner wall cleaning mechanism.

[0019] Preferably, the scraper includes a blade arranged on the second short connecting rod, a brush arranged on the blade, and a limiting protrusion. In the above structure, the limiting protrusion can prevent the blade from directly contacting the inner wall of the drainage pipe. Through the limiting protrusion, the limiting protrusion is closely attached to the inner wall of the drainage pipe, so that there is a certain gap between the blade and the drainage pipe, ensuring that the blade can smoothly scrape off the sludge impurities on the inner wall of the drainage pipe, while preventing the blade from damaging the inner wall of the drainage pipe; when cleaning, the brush can brush off the sludge impurities on the inner wall of the drainage pipe, further improving the cleaning effect.

[0020] Preferably, the number of the crawler tracks and the scraper blades are both three. The three crawler tracks and the three scrapers are all distributed at 120 degrees, which has higher stability and faster cleaning efficiency.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] 1. The pipeline robot in the utility model adopts multiple tracks. The contact area between the tracks and the inner wall of the drainage pipe is large, the load-bearing capacity is large, the moving speed is fast, and the adaptability to the inner wall of the drainage pipe is strong. Different from the double-tracked or wheeled robots in the prior art, the structure of the three tracks has large friction, and it can move fast in the complex environment of the drainage pipe, turn relatively easily, have greater traction, good adaptability to rough roads, strong obstacle crossing ability, and stronger climbing, anti-skid, fixing and turning capabilities.

[0023] 2. The pipeline robot in the utility model drives the support mechanism to move by expanding the driving mechanism so that the track is in close contact with the inner wall of the drainage pipe, thereby enabling the pipeline robot to move stably in the drainage pipe. With more than three tracks, the stability is higher, ensuring the smooth progress of the dredging work. In addition, the support mechanism cooperates with the expanding driving mechanism to have a good supporting effect, maintain the stability of the pipeline robot, and also enable the pipeline robot to adapt to drainage pipes of different diameters and achieve stable walking inside drainage pipes of different diameters, making the pipeline robot more flexible and able to move in spaces of different sizes and heights.

[0024] 3. The pipeline robot in the utility model can improve the dredging efficiency of the scraper by arranging multiple scrapers, and the multiple scrapers rotate together; the water sprayed from the nozzle assembly can flush and remove the silt impurities in the center of the front of the pipeline robot, and cooperate with the scraper to clean the silt impurities on the inner wall of the drainage pipe. The cleaning effect is good, the structure is simple and reliable, and hard dirt can be effectively removed. The parts are easy to install and easy to clean. It also has a good dredging effect when the inner wall of the drainage pipe is rough.

[0025] 4. The pipeline robot in the utility model can realize the synchronous opening and contraction of multiple scrapers through the connecting rod mechanism and the adjusting mechanism, so that the scrapers can adapt to drainage pipes of different diameters and have higher adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional structural schematic diagram of one specific implementation mode of a pipeline robot suitable for desilting operations in urban drainage pipelines in the utility model.

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the pipeline robot in the present invention from another viewing angle.

[0028] Figure 3 This is the front view of the pipeline robot in the utility model.

[0029] Figure 4 It is a left view of the pipeline robot in the present utility model.

[0030] Figure 5 This is a schematic diagram of the internal structure of the pipeline robot in the present utility model.

[0031] Figure 6 It is a three-dimensional structural schematic diagram of the walking device in the utility model.

[0032] Figure 7 for Figure 5 A partial enlarged view of point A in the middle.

[0033] Figure 8 It is a three-dimensional structural schematic diagram of the cleaning device, the rotation driving device and part of the robot body in the utility model.

[0034] Fig. 9 It is a three-dimensional structural schematic diagram of the cleaning device and the rotating drive device in the utility model.

[0035] Fig.10 It is a schematic diagram of a partial structure of the cleaning device in the utility model.

[0036] Fig.11 This is a schematic diagram of the internal structure of a part of the robot body in the utility model.

[0037] Fig.12 It is a three-dimensional structural schematic diagram of the scraper in the utility model. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0039] Example 1

[0040] See also Figure 1-Figure 4 The present embodiment discloses a pipeline robot suitable for desilting operations in urban drainage pipes, including a robot body 1, a cleaning device arranged at the front end of the robot body 1 for cleaning sludge and impurities inside the drainage pipe, a rotation driving device for driving the cleaning device to rotate, and a walking device arranged on the side of the robot body 1 for the robot body 1 to walk inside the drainage pipe.

[0041] See also Figure 1-Figure 4 The walking device includes at least three tracks 2 evenly distributed along the circumferential direction, a support mechanism 3 arranged between each track 2 and the robot body 1, and a spreading drive mechanism 4 for driving the support mechanism 3 to move so that the track 2 is tightly attached to the inner wall of the drainage pipe.

[0042] See also Figure 1-Figure 4 The cleaning device includes a nozzle assembly 5 arranged at the front end of the robot body 1 for spraying water and an inner wall cleaning mechanism arranged on the nozzle assembly 5 for cleaning sludge and impurities on the inner wall of the drainage pipe. The inner wall cleaning mechanism includes a plurality of scrapers 6 evenly distributed along the circumferential direction, a connecting rod mechanism 7 arranged between each scraper 6 and the nozzle assembly 5, and an adjusting mechanism 8 for adjusting the movement of the connecting rod mechanism 7 so that the scraper 6 is tightly attached to the inner wall of the drainage pipe; the nozzle assembly 5 is located at the center of the plurality of scrapers 6, that is, the nozzle assembly 5 is coaxially arranged with the robot body 1.

[0043] See also Figure 1-Figure 6 The support mechanism 3 includes two support rods 3-1 arranged in parallel with each other, a mounting plate 9 is arranged between the track 2 and each of the support rods 3-1, one end of the support rod 3-1 is hinged to the robot body 1, the other end of the support rod 3-1 is hinged to one end of the mounting plate 9, the other end of the mounting plate 9 is fixedly connected to the track 2, and the expansion drive mechanism 4 is connected to the support rod 3-1. In the above structure, the mounting plate 9 is used to install the track 2. By setting two support rods 3-1, the track 2 can be stably supported. The robot body 1, the track 2, the two mounting plates 9 and the two support rods 3-1 constitute a first parallel four-bar linkage. According to the diameter of the drainage pipe, the support rods 3-1 are driven by the expansion drive mechanism 4 to swing around the robot body 1, thereby realizing the movement of the track 2, so that the track 2 can be closely attached to the inner wall of the drainage pipe. The track 2 rotates and can stably walk in the drainage pipe.

[0044] See also Figure 1-Figure 6The expansion drive mechanism 4 includes a screw 4-1 arranged inside the robot body 1, a screw nut 4-2 arranged on the screw 4-1, an expansion rod 4-3 arranged between the support rod 3-1 and the screw nut 4-2, and an expansion drive motor 4-4 for driving the screw 4-1 to rotate; one end of the expansion rod 4-3 is hinged to the screw nut 4-2, and the other end of the expansion rod 4-3 is hinged to the middle part of the support rod 3-1; the axis of the screw 4-1 coincides with the axis of the robot body 1. During operation, the expansion drive motor 4-4 drives the screw rod 4-1 to rotate, and the screw nut 4-2 will move on the screw rod 4-1. Under the transmission of the expansion rod 4-3, the support rod 3-1 will swing, and then drive the track 2 away from the robot body 1. The support rod 3-1 is in an expanded state, so that the track 2 is close to the inner wall of the drainage pipe; when the expansion drive motor 4-4 drives the screw rod 4-1 to rotate in the reverse direction, the track 2 can be brought close to the robot body 1, and the support rod 3-1 is in a contracted state, so that the track 2 is separated from the inner wall of the robot body 1.

[0045] See also Figure 6 The two support rods 3-1 are respectively a first support rod at the front end and a second support rod at the rear end. The number of the support rods 4-3 is the same as the number of the tracks 2. The support rods 4-3 are arranged one-to-one with the second support rods, and the support rods 4-3 are hinged to the middle part of the second support rod.

[0046] See also Figure 1-Figure 5 and Figure 7-10 The nozzle assembly 5 includes a water pipe 5-1 rotatably arranged at the front end of the robot body 1 and a water rat nozzle 5-2 arranged at the front end of the water pipe 5-1; the rotation drive device is connected to the water pipe 5-1. By adopting the above structure, the water rat nozzle 5-2 is a high-pressure nozzle, and the high-pressure water sprayed toward the center of the drainage pipe is flushed to the silt impurities in the center of the drainage pipe, and the drainage pipe is filled with water, so that all silt impurities can be flushed out of the drainage pipe. The water rat nozzle 5-2 is used, and the water flow sprayed out is more focused and powerful than that of an ordinary nozzle, which can clean the blockage or dirt such as silt impurities in the drainage pipe, not only avoiding the high cost of ordinary high-pressure water gun dredging and the problem of water source, but also combined with the rotating scraper 6, the cleaning effect is improved.

[0047] See also Figure 1-Figure 5 and Figure 7-10The connecting rod mechanism 7 includes a first connecting rod 7-1, a second connecting rod 7-2, an L-shaped connecting rod 7-3, an intermediate connecting rod 7-4, a first long connecting rod 7-5, a second long connecting rod 7-6, a first short connecting rod 7-7 and a second short connecting rod 7-8; a sliding mounting seat 10 is slidably provided on the water pipe 5-1, and a first fixed mounting seat 11 and a second fixed mounting seat 12 are fixedly provided on the water pipe 5-1; the sliding mounting seat 10 is located at the front end of the second fixed mounting seat 12, and the first fixed mounting seat 11 is located between the sliding mounting seat 10 and the second fixed mounting seat 12; wherein, one end of the first short connecting rod 7-7 is respectively hinged to one end of the first connecting rod 7-1, the middle part of the L-shaped connecting rod 7-3 and one end of the first long connecting rod 7-5; the other end of the first short connecting rod 7-7 is respectively hinged to the One end of the second long link 7-6 and one end of the second link 7-2 are hinged; the other end of the first link 7-1 is hinged to the sliding mounting seat 10; the other end of the first long link 7-5 is hinged to one end of the second short link 7-8; the other end of the second long link 7-6 is hinged to the other end of the second short link 7-8; one end of the L-shaped link 7-3 is hinged to one end of the intermediate link 7-4, and the other end of the L-shaped link 7-3 is hinged to the first fixed mounting seat 11; the other end of the intermediate link 7-4 is hinged to the middle part of the second long link 7-6; the other end of the second link 7-2 is hinged to the second fixed mounting seat 12; the scraper 6 is arranged on the second short link 7-8; the adjustment mechanism 8 is connected to the sliding mounting seat 10. In the above structure, the first long link 7-5, the second long link 7-6, the first short link 7-7 and the second short link 7-8 constitute a second parallel four-bar linkage. The adjustment mechanism 8 can adjust the sliding mounting seat 10 to slide on the water pipe 5-1, thereby driving the first link 7-1, the L-shaped link 7-3 and the second link 7-2 to swing synchronously. The L-shaped link 7-3 drives the middle link 7-4 to move, and the middle link 7-4 drives the second parallel four-bar linkage to swing, thereby driving the movement of the scraper 6 to achieve the scraper 6 to approach or move away from the water pipe 5-1, thereby achieving the telescopic movement of the scraper 6. During operation, the scraper 6 is moved away from the water pipe 5-1 through the movement of the link mechanism 7 and is close to the inner wall of the drainage pipe. Under the rotation of the water pipe 5-1, the link mechanism 7 is driven to rotate, thereby driving the scraper 6 to rotate, thereby achieving the cleaning of sludge and impurities.

[0048] See also Figure 1-Figure 5 and Figure 7-10The adjustment mechanism 8 is an adaptive adjustment mechanism, which includes a spring 8-1 sleeved on the water pipe 5-1 and a third fixed mounting seat 8-2 fixedly arranged on the water pipe 5-1; the third fixed mounting seat 8-2 is located between the sliding mounting seat 10 and the first fixed mounting seat 11; one end of the spring 8-1 acts on the sliding mounting seat 10, and the other end of the spring 8-1 acts on the first fixed mounting seat 11. By setting the spring 8-1, the position of the scraper 6 can be adaptively adjusted by the elastic force of the spring 8-1; specifically, the elastic force of the spring 8-1 will push the sliding mounting seat 10 to move forward, thereby driving the first connecting rod 7-1, the L-shaped connecting rod 7-3, and the second connecting rod 7-2 to swing forward synchronously, the L-shaped connecting rod 7-3 drives the middle connecting rod 7-4 to move, and the middle connecting rod 7-4 drives the second parallel four-bar linkage to swing, thereby driving the scraper 6 to move in the direction away from the water pipe 5-1; under the action of the spring 8-1, the inner wall cleaning mechanism can adapt to drainage pipes of different diameters, so that the scraper 6 is always pressed against the inner wall of the drainage pipe; when the scraper 6 needs to be separated from the inner wall of the drainage pipe, the sliding mounting seat 10 is pushed to move backward by overcoming the elastic force of the spring 8-1.

[0049] See also Fig.10 A guide mechanism is provided between the sliding mounting seat 10 and the third fixed mounting seat 8-2, and the guide mechanism includes a guide connecting rod 13, a guide groove 14 provided on the guide connecting rod 13, and a sliding rod 15 provided on the third fixed mounting seat 8-2; the front end of the guide connecting rod 13 is connected to the sliding mounting seat 10, and the sliding rod 15 is slidably connected to the guide groove 14. In the above structure, the guide groove 14 extends toward the axial direction of the water pipe 5-1, and the guide groove 14 can guide the sliding rod 15, and further guide the sliding mounting seat 10, thereby ensuring that the sliding mounting seat 10 can slide stably on the water pipe 5-1.

[0050] See also Figure 5 and Figure 7-Figure 11The front end of the robot body 1 is provided with an outer sleeve 16, and the inner sleeve 17 is rotatably provided inside the outer sleeve 16. The rear end of the water pipe 5-1 is arranged inside the inner sleeve 17; the rotation driving device is connected to the inner sleeve 17; a first inner cavity 18 is provided between the outer sleeve 16 and the inner sleeve 17, and a second inner cavity 19 is provided between the inner sleeve 17 and the water pipe 5-1. A hose 28 is provided on the outer sleeve 16, and the hose 28 is connected to the first inner cavity 18; a first water inlet hole 20 is provided on the inner sleeve 17, and the first water inlet hole 20 connects the first inner cavity 18 with the second inner cavity 19; a second water inlet hole 21 is provided at the rear end of the water pipe 5-1, and the second water inlet hole 21 connects the second inner cavity 19 with the water pipe 5-1. In the above structure, water transportation and rotation of the water pipe 5-1 can be realized; specifically, water in the hose 28 enters the first inner cavity 18, then enters the second inner cavity 19 through the first water inlet hole 20, and finally enters the water pipe 5-1 through the second water inlet hole 21, and then is sprayed out from the water mouse nozzle 5-2 of the water pipe 5-1; the rotation drive device drives the inner shaft sleeve 17 to rotate, driving the water pipe 5-1 to rotate together, thereby realizing the rotation of the inner wall cleaning mechanism.

[0051] See also Figure 5 and Figure 7-Figure 11 The pipeline robot also includes a water tank. The hose 28 penetrates from the rear end of the robot body 1 and is connected to the outer sleeve 16. The volume of the water tank is relatively large, and the drainage pipe can be filled with water to flush all impurities out of the drainage pipe.

[0052] See also Fig. 9 The front end and the surrounding sides of the water rat nozzle 5-2 are provided with spray holes, which can not only spray water in front of the pipeline robot but also spray water around the drainage pipe, further improving the desilting effect. In addition, the shape of the water rat nozzle 5-2 is a drill bit shape. When the water rat nozzle 5-2 rotates, it can also break hard dirt and has a drill bit function.

[0053] See also Fig.10 and Fig.12 The scraper 6 includes a blade 6-1 arranged on the second short connecting rod 7-8, a brush 6-2 arranged on the blade 6-1, and a limiting protrusion 6-3. In the above structure, the limiting protrusion 6-3 can prevent the blade 6-1 from directly contacting the inner wall of the drainage pipe. Through the limiting protrusion 6-3, the limiting protrusion 6-3 is closely attached to the inner wall of the drainage pipe, so that there is a certain gap between the blade 6-1 and the drainage pipe, ensuring that the blade 6-1 can smoothly scrape off the sludge impurities on the inner wall of the drainage pipe, while preventing the blade 6-1 from damaging the inner wall of the drainage pipe; when cleaning, the brush 6-2 can brush off the sludge impurities on the inner wall of the drainage pipe, further improving the cleaning effect.

[0054] See also Figure 1-Figure 4 The number of the crawlers 2 and the scrapers 6 are both three, and correspondingly, the number of the support mechanisms 3 is also three, and the three support mechanisms 3 are arranged one-to-one with the three crawlers 2, and the number of the connecting rod mechanisms 7 is also three, and the three connecting rod mechanisms 7 are arranged one-to-one with the number of the three scrapers 6. The three crawlers 2 and the three scrapers 6 are all distributed at 120 degrees, which has higher stability and faster cleaning efficiency.

[0055] See also Figure 5 and Figure 7-Figure 9 The rotation drive device includes a rotation drive motor 22 disposed inside the robot body 1, and the rotation drive motor 22 is connected to the rear end of the inner sleeve 17. The rotation drive motor 22 can drive the inner sleeve 17 to rotate, thereby driving the water pipe 5-1 to rotate, and finally realizing the overall rotation of the cleaning device.

[0056] See also Figure 5-Figure 9 , the pipeline robot also includes a host computer, a lower computer and a power supply arranged inside the robot body 1; the power supply provides electrical energy for the pipeline robot, and the host computer and the lower computer are used to control the action of the pipeline robot, signal acquisition and real-time detection of the working state of the pipeline robot. The host computer uses the ROS algorithm to realize the autonomous navigation and path planning of the pipeline robot, and realizes question-and-answer communication with the lower computer. By controlling the lower computer, opening the drive motor 4-4 and rotating the drive motor 22, the various components of the pipeline robot work together, and the lower computer receives the command of the host computer and sends the relevant sensor data back to the host computer through the serial port; at the same time, the host computer realizes wired communication with the ground station, and the data is sent back to the ground station terminal for visual display of the data so that the operator can understand the drainage pipeline and the pipeline robot. In the lower computer, in addition to receiving and realizing the commands from the host computer, it is also necessary to monitor the drainage pipeline data in real time. The lower computer is equipped with a variety of sensors, and the sensor detects the drainage pipeline environment by writing code, and transmits the detection data back to the host computer. On the ground station, the position of the pipeline robot in the drainage pipe is displayed and the drainage pipe environmental data and pipeline robot working data are displayed in real time. The expansion drive mechanism 4 uses a ball screw nut pair (composed of a screw 4-1 and a screw nut 4-2) and an expansion rod 4-3 to keep the pipeline robot stably deployed in the drainage pipe. The three crawlers 2 control the robot to walk in the drainage pipe. The scraper 6 and the water rat nozzle 5-2 are responsible for cleaning the silt and impurities in the drainage pipe, and the hose 28 delivers high-pressure water.

[0057] The ground station terminal and the host computer use constant current communication to transmit data. Compared with traditional constant voltage communication, constant voltage communication is easily disturbed by the drainage caused by the complex environment of the drainage pipe, and the amount of data that can be transmitted is small, while constant current communication has a larger data transmission volume. Using constant current communication can ensure the complete transmission of data.

[0058] See also Figure 3 , Figure 5 , Figure 7 and Fig.11 A waterproof baffle 23 is provided inside the robot body 1, and the upper computer, the lower computer, and the power supply can be installed on the waterproof baffle 23. The waterproof baffle 23 is coated with waterproof glue. The robot body 1 includes a cylindrical metal sheet and a conical metal sheet arranged at the front end of the cylindrical metal sheet. The outer sleeve 16 is arranged on the conical metal sheet, and the cylindrical metal sheet is provided with a square hole 27 for avoiding the support rod 4-3.

[0059] See also Figure 1-Figure 5 The working principle of the pipeline robot suitable for desilting of urban drainage pipelines is as follows:

[0060] When working, the crawler 2 can drive the pipeline robot to walk in the drainage pipe, and the driving mechanism 4 is opened to drive the supporting mechanism 3 to move so that the crawler 2 is close to the inner wall of the drainage pipe, so that the pipeline robot can walk stably in the drainage pipe. The water sprayed by the nozzle assembly 5 can flush and remove the sludge impurities in the center of the front of the pipeline robot. The adjustment mechanism 8 adjusts the movement of the connecting rod mechanism 7 to make the scraper 6 close to the inner wall of the drainage pipe. The rotating driving device drives the nozzle assembly 5 and the inner wall cleaning mechanism to rotate together. The rotating scraper 6 will clean the sludge impurities on the inner wall of the drainage pipe, so that the sludge impurities on the inner wall of the drainage pipe are separated from the inner wall of the drainage pipe. The water sprayed by the nozzle assembly 5 can fill the drainage pipe with water and flush the sludge impurities inside the drainage pipe out of the drainage pipe.

[0061] Specifically, when removing sludge impurities, multiple scrapers 6 rotate around the axis of the robot body 1, the rotating blade 6-1 can clean the lumpy sludge on the inner wall of the drainage pipe, and the rotating brush 6-2 can brush off the residues stuck on the inner wall of the drainage pipe; the elastic force of the spring 8-1 can cause the scraper 6 to stick to the inner wall of the drainage pipe to improve the cleaning effect; the water mouse nozzle 5-2 located in the front flushes away the sludge impurities in front of the drainage pipe by spraying water forward.

[0062] The three crawlers 2 in this embodiment can be distributed in a circle, and the top surfaces of the crawlers 2 are all facing the center of the circle; when working, the bottom of the crawler 2 is close to the inner wall of the drainage pipe. In other embodiments, the angle of the crawler 2 is adjustable, and after adjustment, the posture of two crawlers 2 can be set horizontally, that is, the two crawlers 2 are parallel to the ground, so that the two crawlers 2 can walk on the ground.

[0063] Example 2

[0064] See also Figure 5 and Figure 7-Figure 9In this embodiment, the rotation drive device further includes a disk 26 disposed on the inner sleeve 17 and multiple groups of guide drive components disposed inside the robot body 1 and distributed along the circumferential direction, each group of guide drive components includes an eccentric motor 24 and a roller 25 disposed on the eccentric motor 24, and the roller 25 and the disk 26 are connected to each other in cooperation. In the above structure, the cooperation between the roller 25 and the disk 26 can improve the stability of the rotation of the inner sleeve 17. At the same time, the eccentric motor 24 drives the roller 25 to rotate, and can also drive the disk 26 to rotate, thereby realizing the driving of the inner sleeve 17.

[0065] In another embodiment, the roller 25 is replaced by a driving gear, and the disc 26 is replaced by a driven gear. The driven gear meshes with the driving gear, and the driven gear and the eccentric motor form a guide drive assembly.

[0066] Example 3

[0067] The other structures of this embodiment are the same as those of the embodiment 1, except that the adjustment mechanism 8 includes an electric push rod, which is fixed on the water pipe 5-1, and the telescopic rod of the electric push rod is connected to the sliding mounting seat 10. The sliding mounting seat 10 is moved back and forth by the telescopic movement of the electric push rod, thereby adjusting the position of the scraper 6.

[0068] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A pipeline robot suitable for desilting urban drainage pipelines, characterized in that: It comprises a robot body, a cleaning device arranged at the front end of the robot body for cleaning mud and impurities inside the drainage pipe, a rotation driving device for driving the cleaning device to rotate, and a walking device arranged at the side of the robot body for the robot body to walk inside the drainage pipe; wherein, The walking device includes at least three crawlers evenly distributed along the circumferential direction, a support mechanism arranged between each crawler and the robot body, and a spreading drive mechanism for driving the support mechanism to move so that the crawler is closely attached to the inner wall of the drainage pipe; The cleaning device includes a nozzle assembly arranged at the front end of the robot body for spraying water and an inner wall cleaning mechanism arranged on the nozzle assembly for cleaning sludge and impurities on the inner wall of the drainage pipe. The inner wall cleaning mechanism includes a plurality of scrapers evenly distributed along the circumferential direction, a connecting rod mechanism arranged between each scraper and the nozzle assembly, and an adjusting mechanism for adjusting the movement of the connecting rod mechanism so that the scraper is tightly attached to the inner wall of the drainage pipe; the nozzle assembly is located at the center of the plurality of scrapers.

2. The pipeline robot according to claim 1, characterized in that: The support mechanism includes two support rods arranged parallel to each other, a mounting plate is provided between the track and each of the support rods, one end of the support rod is hinged to the robot body, the other end of the support rod is hinged to one end of the mounting plate, the other end of the mounting plate is fixedly connected to the track, and the expansion drive mechanism is connected to the support rods.

3. The pipeline robot according to claim 2, characterized in that: The expansion drive mechanism includes a screw rod arranged inside the robot body, a screw nut arranged on the screw rod, an expansion rod arranged between the support rod and the screw nut, and an expansion drive motor for driving the screw rod to rotate; one end of the expansion rod is hinged to the screw nut, and the other end of the expansion rod is hinged to the middle part of the support rod; the axis of the screw rod coincides with the axis of the robot body.

4. The pipeline robot according to claim 1, characterized in that: The nozzle assembly includes a water pipe rotatably arranged at the front end of the robot body and a water mouse nozzle arranged at the front end of the water pipe; the rotation driving device is connected to the water pipe.

5. The pipeline robot according to claim 4, characterized in that: The connecting rod mechanism includes a first connecting rod, a second connecting rod, an L-shaped connecting rod, an intermediate connecting rod, a first long connecting rod, a second long connecting rod, a first short connecting rod and a second short connecting rod; a sliding mounting seat is slidably provided on the water pipe, and a first fixed mounting seat and a second fixed mounting seat are fixedly provided on the water pipe; the sliding mounting seat is located at the front end of the second fixed mounting seat, and the first fixed mounting seat is located between the sliding mounting seat and the second fixed mounting seat; wherein, one end of the first short connecting rod is respectively hinged to one end of the first connecting rod, the middle part of the L-shaped connecting rod and one end of the first long connecting rod; the other end of the first short connecting rod is respectively hinged to the One end of the L-shaped connecting rod is hinged to one end of the second connecting rod; the other end of the first connecting rod is hinged to the sliding mounting seat; the other end of the first long connecting rod is hinged to one end of the second short connecting rod; the other end of the second long connecting rod is hinged to the other end of the second short connecting rod; one end of the L-shaped connecting rod is hinged to one end of the intermediate connecting rod, and the other end of the L-shaped connecting rod is hinged to the first fixed mounting seat; the other end of the intermediate connecting rod is hinged to the middle part of the second long connecting rod; the other end of the second connecting rod is hinged to the second fixed mounting seat; the scraper is arranged on the second short connecting rod; and the adjusting mechanism is connected to the sliding mounting seat.

6. The pipeline robot according to claim 5, characterized in that: The adjustment mechanism is an adaptive adjustment mechanism, which includes a spring sleeved on the water pipe and a third fixed mounting seat fixed on the water pipe; the third fixed mounting seat is located between the sliding mounting seat and the first fixed mounting seat; one end of the spring acts on the sliding mounting seat, and the other end of the spring acts on the first fixed mounting seat.

7. The pipeline robot according to claim 6, characterized in that: A guiding mechanism is provided between the sliding mounting seat and the third fixed mounting seat, and the guiding mechanism includes a guiding connecting rod, a guiding groove arranged on the guiding connecting rod, and a sliding rod arranged on the third fixed mounting seat; the front end of the guiding connecting rod is connected to the sliding mounting seat, and the sliding rod is slidably connected to the guiding groove.

8. The pipeline robot according to claim 4, characterized in that: An outer sleeve is provided at the front end of the robot body, an inner sleeve is rotatably provided inside the outer sleeve, and the rear end of the water pipe is arranged inside the inner sleeve; the rotation drive device is connected to the inner sleeve; a first inner cavity is provided between the outer sleeve and the inner sleeve, a second inner cavity is provided between the inner sleeve and the water pipe, a hose is provided on the outer sleeve, and the hose is connected to the first inner cavity; a first water inlet hole is provided on the inner sleeve, and the first water inlet hole connects the first inner cavity with the second inner cavity; a second water inlet hole is provided at the rear end of the water pipe, and the second water inlet hole connects the second inner cavity with the water pipe.

9. The pipeline robot according to claim 5, characterized in that: The scraper comprises a blade arranged on the second short connecting rod, a brush arranged on the blade and a limiting protrusion.

10. The pipeline robot according to claim 1, characterized in that: The number of the crawler belts and the number of the scrapers are both three.

Images