Pipe diameter self-adaptive crawler chassis of pipeline dredging robot

Abstract

The utility model discloses a pipe diameter self-adaptive crawler chassis of a pipeline dredging robot, which belongs to the technical field of robot chassis and comprises a chassis body, a fixed protruding block, a movable protruding block, a locking bolt, a crawler traveling device and a balancing weight. A fixed protruding block arranged on the lower portion of the outer side wall of the chassis body is connected with a movable protruding block arranged on the outer side wall of the crawler belt advancing device through a hinge device, and the upper portion of the outer side wall of the chassis body is connected with the crawler belt advancing device through a reciprocating type mechanical locking mechanism. A counterweight hanging bearing plate arranged on the outer side of the crawler belt advancing device is connected with a counterweight block through a fixing bolt, and the end face of a fixing protruding block providing an extending connection function is welded to the lower portion of the outer side wall of the chassis body. The phenomenon of slipping is prevented, and the desilting efficiency of the sewer is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot chassis, in particular to a crawler chassis of a pipeline dredging robot with adaptive pipe diameter. Background Art

[0002] With the acceleration of urbanization and the continuous growth of population, the urban sewer system is facing increasing pressure. Sewer pipes often suffer from blockages and backlogs, which brings many troubles to the urban environment and residents' lives.

[0003] At present, the dredging of urban sewage pipes in my country is mainly done by manual cleaning in wells, which is inefficient and labor-intensive. Toxic and harmful gases are easily present in urban sewage pipes, which seriously endanger the health of workers.

[0004] The existing tracked pipe dredging robot chassis has certain defects when in use. For example, the cross-section of existing sewer pipes is generally circular, and the tracks of the dredging robot are generally fixed to the chassis. During operation, only the outermost side of the tracks contacts the pipe wall, providing limited friction, which makes it easy for the tracks to slip, affecting the dredging efficiency. Utility Model Content

[0005] The utility model aims to provide a pipeline dredging robot crawler chassis with adaptive pipe diameter to solve the problems raised in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a crawler chassis of a pipeline dredging robot with an adaptive pipe diameter, comprising a chassis body, a fixed protruding block, a movable protruding block, a locking bolt, a crawler traveling device, and a counterweight block;

[0007] A fixed protruding block arranged at the lower part of the outer side wall of the chassis body and a movable protruding block arranged at the outer side wall of the crawler traveling device are connected through a hinge device;

[0008] The upper part of the outer side wall of the chassis body is connected to the crawler travel device through a reciprocating mechanical locking mechanism;

[0009] The counterweight hanging receiving plate arranged on the outer side of the crawler traveling device is connected with the counterweight block through fixing bolts.

[0010] Preferably, the end surface of the fixed protruding block providing the extending connection function is welded to the lower portion of the outer side wall of the chassis body.

[0011] Preferably, one end of the fixed protruding block away from the chassis body is connected to the movable protruding block through a hinge device.

[0012] Preferably, the upper portion of the outer side wall of the chassis body is connected to the track travel device via a reciprocating mechanical locking mechanism.

[0013] Preferably, the side surface of the reciprocating mechanical locking mechanism is movably connected to the locking bolt via a through slot, and the locking bolt is threadedly connected to the chassis body.

[0014] Preferably, the side surface of the counterweight hanging receiving plate is arranged on the side of the crawler traveling device away from the movable protruding block.

[0015] Preferably, the fixing bolt is arranged on the side of the counterweight hanging receiving plate, and the threaded end of the fixing bolt threads through the counterweight block.

[0016] Compared with the prior art, the technical effects and advantages of the utility model are as follows:

[0017] The crawler chassis of the pipeline dredging robot with adaptive pipe diameter has a connection structure that separates the crawler traveling device from the chassis body, which makes it easy to control the angle of the crawler traveling device and adapt to different usage requirements inside the sewer, prevent the crawler body of the crawler traveling device from slipping due to loose contact with the sewer pipe, and thus facilitate improving the dredging efficiency of the sewer. At the same time, a hinge device is used to connect the reciprocating mechanical locking mechanism, and the reciprocating mechanical locking mechanism can be adjusted according to the different diameters of the sewer pipe to control the opening angle of the crawler traveling device so that the stop is closely fitted with the pipe wall. At the same time, a locking bolt is provided to fix the position of the reciprocating mechanical locking mechanism, thereby improving the structural stability of its components.

[0018] The crawler chassis of the pipeline dredging robot with adaptive pipe diameter is provided with a counterweight hanging receiving plate on the outer side of the crawler traveling device. The counterweight hanging receiving plate is provided to increase the deadweight of the crawler chassis of the pipeline dredging robot, and to improve the extrusion strength between the crawler body and the sewer during transmission. By increasing the extrusion strength between the crawler body and the sewer, the static friction between the crawler body and the sewer is strengthened, so that the crawler chassis of the pipeline dredging robot is prevented from slipping, and the sewer dredging efficiency of the crawler chassis of the pipeline dredging robot is reduced. At the same time, the crawler chassis can be connected to the counterweight block by bolts, and the bolts are detachable. The counterweight block can be replaced according to different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of the utility model;

[0021] Figure 2 It is a front view of the utility model;

[0022] Figure 3 It is a schematic diagram of the hinged connection between the chassis body and the crawler traveling device of the utility model;

[0023] Figure 4 It is a schematic diagram of the connection between the chassis body and the reciprocating mechanical locking mechanism of the crawler travel device of the utility model;

[0024] Figure 5 It is a schematic diagram of a counterweight hanging receiving plate of a crawler traveling device of the utility model;

[0025] Figure 6 It is a structural schematic diagram of the counterweight block and crawler track body of the utility model.

[0026] Description of reference numerals:

[0027] In the figure: 1. chassis body; 2. fixed protrusion; 3. movable protrusion; 4. articulation device; 5. reciprocating mechanical locking mechanism; 6. locking bolt; 7. track travel device; 8. driving wheel; 9. driven wheel; 10. counterweight hanging receiving plate; 11. fixing bolt; 12. counterweight block; 13. track body. DETAILED DESCRIPTION

[0028] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0029] Unless otherwise defined, the directions of up, down, left, right, front, back, inside and outside involved in this document are based on the directions of up, down, left, right, front, back, inside and outside in the figures shown in the present utility model, and are explained here together.

[0030] The connection method can be bonding, welding, bolt connection, etc., depending on actual needs.

[0031] In order to solve the problem that the crawler chassis of the adaptive pipe diameter pipeline desilting robot is prone to slipping when desilting the sewer pipe, which affects the desilting efficiency, please refer to Figures 1 to 6The structure of the device body is as follows: it includes a chassis body 1, a fixed protruding block 2, a movable protruding block 3, a hinge device 4, a reciprocating mechanical locking mechanism 5, a locking bolt 6, a track travel device 7, a driving wheel 8, a driven wheel 9, a counterweight hanging receiving plate 10, a fixing bolt 11, a counterweight block 12, and a track body 13. The fixed protruding block 2 arranged at the lower part of the outer wall of the chassis body 1 is connected with the movable protruding block 3 arranged on the outer wall of the track travel device 7 through a hinge device 4. The relative rotation of the fixed protruding block 2 and the movable protruding block 3 is realized through the hinge device 4, and the fixed protruding block 2 and the movable protruding block 3 are prevented from falling off from each other, thereby improving the structural stability of the components of the track chassis of the pipeline dredging robot with adaptive pipe diameter.

[0032] The upper part of the outer wall of the chassis body 1 is connected to the tracked travel device 7 through the reciprocating mechanical locking mechanism 5, so that the reciprocating mechanical locking mechanism 5 is set on the upper part of the outer wall of the chassis body 1, so that the position of the reciprocating mechanical locking mechanism 5 can be controlled. Under the support provided by the reciprocating mechanical locking mechanism 5 to the tracked travel device 7, the angle of the tracked travel device 7 can be adjusted to adapt to different use environments of the sewer, increase the contact area between the tracked chassis of the pipeline dredging robot with adaptive pipe diameter and the sewer, prevent slipping, and improve the cleaning efficiency of the sewer. At the same time, the side of the reciprocating mechanical locking mechanism 5 is slidably connected to the chassis body 1 to realize the flexible movement of the reciprocating mechanical locking mechanism 5.

[0033] The counterweight hanging receiving plate 10 arranged on the outside of the crawler travel device 7 is connected to the counterweight block 12 by a fixing bolt 11, and the side of the counterweight block 12 abuts against the counterweight hanging receiving plate 10. The position of the counterweight block 12 is fixed by the set fixing bolts 11 to prevent the counterweight block 12 from falling off, thereby improving the structural stability of the components of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter, and at the same time, it is convenient to release the position fixation of the counterweight block 12 by the fixing bolts 11, so as to realize the convenient disassembly of the counterweight block 12, thereby improving the ease of use of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter.

[0034] The end face of the fixed protrusion block 2 providing an extended connection function is welded to the lower part of the outer side wall of the chassis body 1 to fix the position of the fixed protrusion block 2. At the same time, the four fixed protrusion blocks 2 provide support for the chassis body 1. The two pairs of fixed protrusion blocks 2 are respectively located at the lower parts of the two outer side walls of the chassis body 1. The end of the fixed protrusion block 2 away from the chassis body 1 is connected to the movable protrusion block 3 through a hinge device 4 to achieve relative rotation between the fixed protrusion block 2 and the movable protrusion block 3. The upper part of the outer side wall of the chassis body 1 is connected to the crawler travel device 7 through a reciprocating mechanical locking mechanism 5. The side of the reciprocating mechanical locking mechanism 5 is movably connected to the locking bolt 6 through a through groove.

[0035] By releasing the locking bolt 6 to fix the position of the reciprocating mechanical locking mechanism 5, and by moving the position of the reciprocating mechanical locking mechanism 5, it is convenient to adjust the angle of the tracked traveling device 7 during the transmission process to adapt to different usage environments of the sewer, improve the traveling stability of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter, and prevent slipping. The locking bolt 6 is threadedly connected to the chassis body 1, and the side of the counterweight hanging receiving plate 10 is arranged on the side of the crawler traveling device 7 away from the movable protruding block 3. The fixing bolt 11 is arranged on the side of the counterweight hanging receiving plate 10, and the threaded end of the fixing bolt 11 threadably penetrates the counterweight block 12. The counterweight block 12 is arranged to facilitate increasing the squeezing force between the crawler body 13 and the sewer, thereby achieving an anti-skid effect on the traveling of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter.

[0036] The chassis body 1 and the crawler travel device 7 rotate around the hinge device 4 as a fixed axis, and the chassis body 1 and the crawler travel device 7 rotate around the reciprocating mechanical locking mechanism 5 as a moving axis. When the chassis body 1 and the crawler travel device 7 are at a suitable angle and the crawler body 13 is in full contact with the pipe wall, the locking bolt 6 is tightened to fix the relative position of the chassis body 1 and the crawler travel device 7. The driving device drives the active wheel 8 to rotate, and the active wheel 8 is engaged with the crawler body 13, driving the driven wheel 9 to rotate. The active wheel 8 and the driven wheel 9 bear the force transmitted from the chassis body 1 and transmit it to the crawler body 13. The crawler body 13 is in full contact with the pipe wall to provide maximum friction and improve the chassis passing performance. A counterweight hanging receiving plate 10 is provided on the outer side of the crawler travel device 7. According to the working conditions, a counterweight block 12 can be selected to be added. The counterweight hanging receiving plate 10 is connected to the counterweight block 12 by fixing bolts 11. When adding a counterweight block 12, the fixing bolts 11 are tightened to fix the counterweight block 12 to the counterweight hanging receiving plate 10, thereby enhancing the friction and improving the chassis passing performance.

[0037] The working principle, size and model are irrelevant to the function of this application, so they are not described in detail. The control method of the utility model is controlled by a controller, and the control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field, and the utility model is mainly used to protect mechanical devices, so the utility model will no longer explain the control method and circuit connection in detail.

[0038] How it works

[0039] When using the crawler chassis of the pipeline dredging robot with adaptive pipe diameter, the user releases the locking bolt 6 to fix the position of the reciprocating mechanical locking mechanism 5, so that the reciprocating mechanical locking mechanism 5 moves its position, and provides pulling and pushing effects on the crawler travel device 7 during the transmission process. At the same time, the articulated device 4 is arranged to realize the relative rotation of the fixed protruding block 2 and the movable protruding block 3, thereby realizing the angle adjustment of the crawler travel device 7. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter is adapted to different use environments of the sewer. During the transmission process, the contact area between the crawler body 13 and the sewer is increased to achieve an anti-skid effect, thereby improving the sewage cleaning efficiency of the sewer.

[0040] The counterweight block 12 is arranged to increase the deadweight of the crawler travel device 7, and strengthen the squeezing force between the crawler body 13 and the sewer during transmission, thereby facilitating the increase of the static friction between the crawler body 13 and the sewer, and realizing the anti-skid effect of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter. At the same time, it is convenient to disassemble the counterweight block 12 through the arranged fixing bolts 11, so as to adapt to the different usage requirements of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter, and improve the usage convenience of the crawler chassis of the pipeline dredging robot with adaptive pipe diameter.

[0041] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A crawler chassis of a pipeline dredging robot with an adaptive pipe diameter, comprising a chassis body (1), a fixed protruding block (2), a movable protruding block (3), a locking bolt (6), a crawler traveling device (7), and a counterweight (12); characterized in that: A fixed protruding block (2) provided at the lower part of the outer side wall of the chassis body (1) and a movable protruding block (3) provided at the outer side wall of the crawler travel device (7) are connected via a hinge device (4); The upper portion of the outer side wall of the chassis body (1) is connected to the crawler track travel device (7) via a reciprocating mechanical locking mechanism (5); A counterweight hanging receiving plate (10) arranged outside the crawler traveling device (7) is connected to a counterweight block (12) via fixing bolts (11).

2. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 1 is characterized in that: The end surface of the fixed protruding block (2) providing an extended connection function is welded to the lower part of the outer side wall of the chassis body (1).

3. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 2 is characterized in that: One end of the fixed protruding block (2) away from the chassis body (1) is connected to the movable protruding block (3) via a hinge device (4).

4. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 3 is characterized by: The upper portion of the outer side wall of the chassis body (1) is connected to the crawler track travel device (7) via a reciprocating mechanical locking mechanism (5).

5. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 4 is characterized in that: The side surface of the reciprocating mechanical locking mechanism (5) is movably connected to the locking bolt (6) via a through slot, and the locking bolt (6) is threadedly connected to the chassis body (1).

6. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 5 is characterized by: The side surface of the counterweight hanging receiving plate (10) is arranged on a side of the crawler traveling device (7) away from the movable protruding block (3).

7. The crawler chassis of the pipeline dredging robot with adaptive pipe diameter according to claim 6 is characterized by: The fixing bolt (11) is arranged on the side of the counterweight hanging receiving plate (10), and the threaded end of the fixing bolt (11) is threadedly penetrated through the counterweight block (12).

Images