Small-caliber pipeline operation robot and system

Abstract

The small-caliber pipeline operation robot comprises an electromagnetic power vehicle body, a control vehicle body and a tool bit, one end of the power vehicle body is movably connected with the control vehicle body through a connecting piece, and the other end of the power vehicle body is provided with a tool bit assembly; a first lifting hook is arranged at the tail of the control vehicle body, and a second lifting hook capable of being matched with the first lifting hook for self-locking is arranged on a vehicle body shell of the power vehicle body. A walking motor and a cutting motor are arranged in the vehicle body shell, the output end of the walking motor is connected with a first speed reducer, a bevel gear transmission mechanism is installed at the output end of the first speed reducer, and the tail end of the bevel gear transmission mechanism is connected with a front wheel. Through the structural characteristic of high integration, the radial size of the whole machine is greatly reduced, and a precondition is created for the robot to enter a 200 mm pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of cutting equipment, and in particular, to a small-diameter pipeline operation robot and system. Background Art

[0002] Urban underground drainage pipelines are an important part of municipal infrastructure construction. Whether the drainage pipelines are unobstructed directly affects the normal operation of urban infrastructure construction. With the increase of service time, the pipelines will have deformation, corrosion, rupture and other conditions. In this case, weeds and tree roots often grow and spread at the damaged and joint parts of the pipelines, causing the accumulation of sundries such as branches in the pipelines and forming blockages. In this case, using a robot to complete the cutting and cleaning work of pipeline tree roots has obvious economic value and social benefits.

[0003] At present, for pipelines with a diameter of 600 mm and above, there are relatively mature robots that can replace manual work. However, for small-diameter pipelines, especially pipelines with a diameter of 200 mm, it is still a difficult problem at present. A cutting robot according to the present application that can conveniently enter a 200-mm pipeline for operation can conveniently enter the pipeline and effectively cut sundries such as tree roots growing in the pipeline according to its own structural characteristics. In particular, the device can adapt to the deformation of the pipeline and normally perform cutting work under the condition of pipeline collapse and deformation. Driven by a motor, the cutting head rotates together with the turntable. A spring piston structure arranged at one end of the cutting head can be close to the pipe wall for cutting under the action of centrifugal force, and can radially contract under the action of an external force to adapt to the deformation of the pipe wall. A quick connector arranged at one end of the cutting head can be quickly installed on the mobile vehicle body, and the cutting work of the entire pipeline can be completed as the vehicle body moves.

[0004] The Chinese patent with the publication number CN213672155U discloses a cutting robot, including a frame, a supporting mechanism and a cutting mechanism. The frame is provided with a cylinder; the supporting mechanism includes a guide sleeve, a first driving component and a plurality of connecting rod assemblies circumferentially spaced apart on the guide sleeve. The guide sleeve is sleeved outside the cylinder; the cutting mechanism is installed on the frame. The cutting mechanism includes a rotation driving component, a transfer driving component and a cutting component. The transfer driving component is used to drive the cutting component to switch between a first position and a second position to cut into or disengage from the pipe wall. The rotation driving component is used to drive the transfer driving component to rotate to drive the cutting component to cut the pipe wall circumferentially. Lower the cutting robot into the pipe pile, and the first driving component drives the guide sleeve to move relative to the cylinder, so that the connecting rod assemblies extend outwards and support on the inner pipe wall. After the cutting component cuts into the pipe wall, it cuts the pipe wall circumferentially to realize cutting operation in a limited space in a deep-water environment, with safe and efficient construction. The disadvantage of this prior art is that it cannot adapt to the working environment of small-diameter operations, and the equipment has poor flexibility, adaptability and low integration. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this application is to provide a small-diameter pipeline operation robot.

[0006] A small-diameter pipeline operation robot provided according to this application includes: a power vehicle body, a control vehicle body, and a cutter head. One end of the power vehicle body is movably connected to the control vehicle body through a connecting member, and a cutter head assembly is provided at the other end.

[0007] A first hook is provided at the tail of the control vehicle body, and a second hook capable of cooperating with the first hook for self-locking is provided on the body shell of the power vehicle body.

[0008] A traveling motor and a cutting motor are provided inside the body shell. The output end of the traveling motor is connected to a first speed reducer. The output end of the first speed reducer is equipped with a bevel gear transmission mechanism, and the end of the bevel gear transmission structure is connected to the front wheels.

[0009] The output end of the cutting motor is connected to a second speed reducer. The output end of the second speed reducer is connected to an aligning gear. The output end of the aligning gear is equipped with a rotating turntable, and a cutter head assembly is provided on the rotating turntable.

[0010] The cutter head assembly includes: a bushing, a piston, a plug, and a compression spring. The bushing is installed on the rotating turntable. A piston, a plug, and a compression spring are provided inside the bushing. The plug is arranged at the port of the bushing and is threadedly connected to the bushing. One end of the compression spring contacts the plug, and the other end contacts the end of the piston.

[0011] A transfer plate is installed at the end of the piston with a relatively large cross-section. A universal ball is embedded in the transfer plate. The radial end of the transfer plate is fixedly connected to the cutter head.

[0012] Preferably, the maximum radial dimension does not exceed 150 mm.

[0013] Preferably, the front wheels transmit motion to the rear wheels through a chain.

[0014] Preferably, a motor driver, a control board, a power conversion module, a water tank, and a water pump are provided inside the control vehicle body.

[0015] Preferably, a camera illumination module is also provided on the cutter head assembly.

[0016] Preferably, at least one cutter head assembly is provided on the rotating turntable.

[0017] Preferably, the cutter head assembly is arranged at the outer edge of the rotating turntable.

[0018] The present application also provides a small-diameter pipeline operation robot system, which is characterized by including the above-mentioned small-diameter pipeline operation robot.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1. Due to the highly integrated structural characteristics of the present application, the radial dimension of the whole machine is greatly reduced, creating a prerequisite for the robot to enter a 200-mm pipeline.

[0021] 2. Through the split-type structural layout of the present application, the robot can conveniently enter the cross well from the manhole, reducing the difficulty of manual operation.

[0022] 3. With the cutting head that can adapt to deformation in the present application, under the action of centrifugal force, the cutting tool head can be closest to the pipe wall for cutting to the greatest extent, without damaging the pipe wall and leaving too much root residue, improving the thoroughness of the cutting work.

[0023] 4. By setting universal balls on the tool head assembly in the present application, under the action of external force, the tool head can radially contract to adapt to the deformation of the pipe wall. At the same time, it can also avoid the damage to the pipe wall caused by the collapse and deformation of the pipeline, improving the working efficiency, expanding the scope of use, and enhancing the economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more obvious:

[0025] Figure 1 It is a schematic assembly structure diagram of the small-diameter pipeline operation robot mainly embodied in the present application;

[0026] Figure 2 It is a schematic cross-sectional view of the small-diameter pipeline operation robot mainly embodied in the present application;

[0027] Figure 3 It is a schematic connection structure diagram of the small-diameter pipeline operation robot mainly embodied in the present application;

[0028] Figure 4 It is a schematic structure diagram of the tool head assembly of the small-diameter pipeline operation robot mainly embodied in the present application.

[0029] As shown in the figure: 1. Sleeve; 2. Piston; 3. Plug; 4. Compression spring; 5. Universal ball; 6. Adapter plate; 7. Tool head; 8. First hook; 9. Control vehicle body; 10. Connector; 11. Power vehicle body; 12. Second hook. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several changes and improvements can still be made. These all fall within the protection scope of the present application.

[0031] According to the small-diameter pipeline operation robot provided by the present application, it includes: a power vehicle body 11, a control vehicle body 9, and a cutter head 7. One end of the power vehicle body 11 is movably connected to the control vehicle body 9 through a connecting member 10, and a cutter head assembly is provided at the other end.

[0032] A first hook 8 is provided at the tail of the control vehicle body 9, and a second hook 12 that can cooperate with the first hook 8 for self-locking is provided on the body shell of the power vehicle body 11.

[0033] A traveling motor and a cutting motor are provided inside the body shell. The output end of the traveling motor is connected to a first reducer, a bevel gear transmission mechanism is installed at the output end of the first reducer, and the end of the bevel gear transmission structure is connected to the front wheels.

[0034] The output end of the cutting motor is connected to a second reducer, the output end of the second reducer is connected to an aligning gear, a rotating turntable is installed at the output end of the aligning gear, and a cutter head assembly is provided on the rotating turntable.

[0035] The cutter head assembly includes: a bushing 1, a piston 2, a plug 3, and a compression spring 4. The bushing 1 is installed on the rotating turntable. The piston 2, the plug 3, and the compression spring 4 are provided inside the bushing 1. The plug 3 is provided at the port of the bushing 1 and is threadedly connected to the bushing 1. One end of the compression spring 4 contacts the plug 3, and the other end contacts the end of the piston 2.

[0036] A transfer plate 6 is installed at the end of the piston 2 with a relatively large cross-section. A universal ball 5 is embedded in the transfer plate 6, and the radial end of the transfer plate 6 is fixedly connected to the cutter head 7.

[0037] The maximum radial dimension does not exceed 150 mm. The front wheels transmit the motion to the rear wheels through a chain. A motor driver, a control board, a power conversion module, a water tank, and a water pump are provided inside the control vehicle body 9. A camera illumination module is also provided on the cutter head assembly. At least one cutter head assembly is provided on the rotating turntable. The cutter head assembly is provided at the outer edge of the rotating turntable.

[0038] The present application also provides a small-diameter pipeline operation robot system, which is characterized in that it includes the above-mentioned small-diameter pipeline operation robot.

[0039] A small-diameter pipeline operation robot of the present application includes a robot power vehicle body 11, a robot control vehicle body 9, and a movable connecting member 10. The power vehicle body 11 includes a traveling power module, a cutting head module, a camera lighting module, a headlight cleaning module, a body shell combination, etc.; the control vehicle body 9 module includes a drive control module, a main control module, a water tank water pump integration module, a power conversion module, and a body shell combination. The outer dimension is controlled within a diameter of 150 mm. In this way, it can walk and operate smoothly in the underground pipeline; the overall robot is in a split-type movable connection mode, and the body angle is adjusted through two hooks. Such a design can facilitate entry into the horizontal pipeline from the manhole and perform operations inside the pipeline. The above measures solve the problem that common robots cannot normally enter a 200-mm ultra-small pipeline and perform cutting operations.

[0040] The power vehicle body 11 integrates a traveling power module, including a traveling motor, a reducer, a bevel gear mechanism, and a chain mechanism, which transmits the output power of the motor to the four traveling wheels to realize the forward, backward, and turning of the vehicle body. The power vehicle body 11 also integrates a cutting power module, including a cutting motor, an aligning gear structure, a transfer shaft arranged on the central shaft, which connects a sleeve, a central drill bit, and a central swing arm, and can cut other sundries in the axial direction of the pipeline while cutting along the pipe wall. Under the overall action, the cutting and cleaning work of the entire pipeline can be realized.

[0041] The control vehicle body 9 integrates the drivers, control boards, power conversion modules, water tanks, water pumps of all motors and the body shell, realizes the split-type structural layout and control, reduces the radial dimension of the whole machine, and at the same time, the movable connection structure can adjust the body posture at will according to needs, which is convenient to enter the pipeline.

[0042] Specifically, a feasible embodiment is provided below for the present application.

[0043] As Figure 1 shown, the present application provides a small-diameter pipeline operation robot, including a power vehicle body 11, a cutting head fixed on the power vehicle body 11, a hook fixed on the body shell, a control vehicle body 9, a connecting member 10 connecting the power vehicle body 11 and the control vehicle body 9, and a hook installed on the control vehicle body 9.

[0044] The power vehicle body 11 includes a body shell, in which a traveling motor and a cutting motor are integrated. The output end of the traveling motor is connected to the reducer, the output end of the reducer is installed with a bevel gear mechanism, the wheels are connected to the end of the bevel gear mechanism, and the front and rear wheels are driven by a chain; the cutting motor is connected to the reducer, the output end of the reducer is connected to the aligning gear, the output end of the aligning gear is fixedly installed with a rotating turntable, a cutting tool head assembly is installed on the rotating turntable, and is connected to the vehicle body through a fixed end cover. The fixed end cover integrates a camera lighting module for real-time feedback of the internal condition of the pipeline.

[0045] The cutting tool head assembly includes a bushing 1 fixedly installed on the turntable, a piston 2, a plug 3, and a compression spring 4 installed inside the bushing 1. At the end of the piston 2, a universal ball 5 and an adapter plate 6 are installed. At one end of the adapter plate 6, an arc-shaped cutting tool head 7 is fixed. In this embodiment, driven by the cutting motor, four groups of main cutting tool head assemblies evenly distributed in the radial direction rotate together with the turntable. The centrifugal force generated during the process makes the tool head 7 have the maximum rotation radius. When the universal ball 5 contacts the pipe wall, a rotation trajectory that conforms to the pipe wall is formed, and the cutting tool head 7 performs cutting work along the pipe wall. When the pipe wall has deformations such as collapses, the universal head is resisted and presses the spring in the radial direction. The spring is compressed under the force, and the piston 2 drives the tool head 7 and the universal ball 5 to contract in the radial direction until a new force balance is achieved, realizing the adaptation to the deformation of the pipe wall.

[0046] The control vehicle body 9 includes a control vehicle body 9, follower wheels, a control module, and a water pump. At the tail of the control vehicle body 9, a hook and an electrical connector are installed. At the front section of the control housing, a connecting piece 10 is installed. Through the connecting piece 10, the control vehicle body 9 is connected to the power vehicle body 11. This connection is a movable connection, and the overall body posture of the machine can be adjusted as needed.

[0047] In summary, the embodiment of the present application proposes a design scheme for a small-diameter pipeline operation robot. Through the highly integrated structural characteristics, on the premise of meeting the requirements of pipeline cutting work, the radial size of the overall machine is greatly reduced, creating a prerequisite for the robot to enter a 200-mm pipeline; the split structural layout and the movable joint connection scheme can adjust the overall body posture of the machine as needed, reducing the difficulty of the robot going down the well, and enabling the robot to conveniently enter the cross-well from the manhole for operation.

[0048] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0049] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present application. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A small-caliber pipeline operation robot, characterized in that: include: A power vehicle body (11), a control vehicle body (9) and a cutter head assembly, wherein one end of the power vehicle body (11) is movably connected to the control vehicle body (9) via a connecting piece (10), and the other end is provided with the cutter head assembly; The control vehicle body (9) is provided with a first hook (8) at the rear, and the body shell of the power vehicle body (11) is provided with a second hook (12) that can cooperate with the first hook (8) to self-lock; A travel motor and a cutting motor are arranged inside the vehicle body shell, the output end of the travel motor is connected to the first reducer, the output end of the first reducer is installed with a bevel gear transmission mechanism, and the end of the bevel gear transmission mechanism is connected to the front wheel; The output end of the cutting motor is connected to a second reducer, the output end of the second reducer is connected to a self-aligning gear, a rotating turntable is installed at the output end of the self-aligning gear, and a cutter head assembly is arranged on the rotating turntable; The cutter head assembly comprises: a sleeve (1), a piston (2), a screw plug (3) and a compression spring (4); the sleeve (1) is mounted on a rotating turntable; the sleeve (1) is provided with a piston (2), a screw plug (3) and a compression spring (4); the screw plug (3) is arranged at a port of the sleeve (1) and is threadedly connected to the sleeve (1); one end of the compression spring (4) contacts the screw plug (3) and the other end contacts the end of the piston (2); An adapter plate (6) is installed at the end of the piston (2) with a relatively large cross section, a universal ball (5) is embedded in the adapter plate (6), and the radial end of the adapter plate (6) is fixedly connected to the cutter head (7).

2. The small-diameter pipeline operation robot according to claim 1, characterized in that: The maximum radial dimension shall not exceed 150mm.

3. The small-diameter pipeline operation robot according to claim 2, characterized in that: The front wheel transmits motion to the rear wheel via a chain.

4. The small-diameter pipeline operation robot according to claim 1, characterized in that: The control vehicle body (9) is provided with a motor driver, a control panel, a power conversion module, a water tank and a water pump.

5. The small-diameter pipeline operation robot according to claim 1, characterized in that: The cutter head assembly is also provided with a camera lighting module.

6. The small-diameter pipeline operation robot according to claim 1, characterized in that: At least one cutter head assembly is arranged on the rotating turntable.

7. The small-diameter pipeline operation robot according to claim 1, characterized in that: The cutter head assembly is arranged on the outer edge of the rotating turntable.

8. A small-caliber pipeline operation robot system, characterized in that: It comprises a small-diameter pipeline operation robot as described in any one of claims 1 to 7.

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