Progressive robot for pipeline dredging

Abstract

The utility model provides a pipeline dredging progressive robot, and belongs to the field of dredging robots. The device comprises a head-section moving device and a tail-section moving device, moving assemblies are arranged at the bottoms of the head-section moving device and the tail-section moving device, the head-section moving device and the tail-section moving device are connected through a stroke shaft, one end of the stroke shaft is fixedly connected with the head-section moving device or the tail-section moving device, and the other end of the stroke shaft is fixedly connected with the tail-section moving device. The end, away from the tail-section moving device, of the head-section moving device is provided with a desilting blade assembly, a power source of the desilting blade assembly is arranged in the head-section moving device, and the stroke shaft is connected with a moving power device. The head section moving device and the tail section moving device are each provided with an extensible fixing structure, and the extensible fixing structures can abut against the interior of the pipeline after being unfolded.

Description

Technical Field

[0001] The utility model belongs to the field of dredging robots, and in particular relates to a pipeline dredging progressive robot. Background Art

[0002] With urban development, debris on the road is increasing. When rainfall is heavy, debris will enter the sewer pipes with rainwater. Pipes are often filled with silt deposits at the bottom, dirt on the pipe walls, construction debris, tree roots and other infiltrates, causing blockages. When existing pipes become clogged, they are usually cleared manually with wire or other tools. This method has the following drawbacks: First, the pipes are not completely cleared, and some congestion still exists; second, manual labor is required and the dredging efficiency is low; third, the presence of methane in the sewer pipes poses a certain threat to the personal safety of the cleaning personnel; fourth, the reduced cross-section of the pipe diameter makes it difficult to install the airbag, and hard, sharp garbage may puncture or scratch the airbag, causing damage to the airbag or creating safety hazards.

[0003] For example, a Chinese invention patent discloses a pipeline dredging robot [application number CN201610737301.1], which includes a ground control station, an underwater silt monitoring system, a powerful intelligent suction cup system, a forearm intelligent telescopic rod system, an intelligent drive wheel system and a carrying platform. A dredging device is provided at the front end of the carrying platform. The monitoring system monitors the location of the silt and transmits it to the ground control station through a communication cable. The ground control station controls the suction cup system to be adsorbed on the top wall of the pipeline, and at the same time controls the telescopic rod to extend against the side walls on both sides of the pipeline, and starts the dredging equipment to dredge. The intelligent drive wheel system is arranged on the rear side of the carrying platform, and the forearm intelligent telescopic rod system is located at the front end of the intelligent drive wheel system. Utility Model Content

[0004] The purpose of the utility model is to provide a pipeline desilting progressive robot in response to the above problems.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A pipeline dredging progressive robot includes a first-section moving device and a tail-section moving device, wherein the first-section moving device and the tail-section moving device are both provided with a moving component at the bottom, and the first-section moving device and the tail-section moving device are connected by a stroke shaft, one end of the stroke shaft is fixedly connected to the first-section moving device or the tail-section moving device, and the other end is slidably connected to the other moving device, a dredging blade assembly is provided at the end of the first-section moving device away from the tail-section moving device, and the power source of the dredging blade assembly is arranged in the first-section moving device, the stroke shaft is connected to a moving power device, and the first-section moving device and the tail-section moving device are both provided with an expandable fixed structure, and the expandable fixed structure can be offset against the inside of the pipeline after expansion.

[0007] In the above-mentioned progressive pipeline dredging robot, the dredging blade assembly includes a rotating shaft, which is connected to a rotating motor arranged in a first-stage moving device. One end of the rotating shaft extending out of the first-stage moving device is provided with a plurality of support rods, and the plurality of support rods are distributed at equal intervals, and each support rod is provided with a plurality of rotating blades.

[0008] In the above-mentioned pipeline desilting progressive robot, the inclination angle of the rotating blade of the support rod is different from the inclination angles of the rotating blades on other support rods.

[0009] In the above-mentioned pipeline dredging progressive robot, the deployable fixed structure includes several top columns slidably connected to the mobile device, the top columns extend from the mobile device, a rocker arm is rotatably arranged inside the mobile device, the rotation center of the rocker arm is located at the center of the rocker arm, and both ends of the rocker arm are hinged to the top columns.

[0010] In the above-mentioned pipeline desilting progressive robot, the deployable fixed structure includes a plurality of abutments rotatably connected to the moving device, the moving device is provided with a first linear drive, and the output shaft of the first linear drive abuts against the abutments.

[0011] In the above-mentioned pipeline desilting progressive robot, the upper end of the abutment is rotatably connected to the moving device, and a plurality of push pieces are fixed on the output shaft of the first linear drive, and the push pieces abut against the abutment.

[0012] In the above-mentioned pipeline dredging progressive robot, the mobile power device includes a second linear drive arranged in one of the mobile devices, the output shaft of the second linear drive is fixedly connected to the stroke shaft, and the stroke shaft extends into the other mobile device and is fixedly connected thereto.

[0013] In the above-mentioned pipeline dredging progressive robot, the moving component includes a base, and each end of the base is provided with an arc support block adapted to the moving device and fixed to its bottom, and the bottom of the arc support block is provided with a moving wheel.

[0014] In the above-mentioned pipeline desilting progressive robot, the rotating shaft is fixed to the output shaft of the rotating motor via a detachable fixing structure.

[0015] In the above-mentioned pipeline desilting progressive robot, a silt extraction pipe is provided at the bottom of the mobile device, and the silt extraction pipe extends to the ground and is connected to the sludge treatment device.

[0016] Compared with the existing technology, the advantages of this utility model are:

[0017] 1. The utility model scrapes and cleans the inner wall of the pipeline by a progressive movement method, and processes the pipeline section by section. There is no need for the background to remotely control the robot all the time, and it also replaces manual labor, reducing the dangers of workers in the pipeline.

[0018] 2. The dredging blade assembly is provided with multiple rotating blades. When dredging, multiple rotating blades are used simultaneously to speed up the dredging process.

[0019] 3. Through several groups of rotating blades with different inclination angles, thicker sludge can be gradually removed, and some sludge that is firmly adhered to the inner wall of the pipe can be processed by different scraping forces.

[0020] 4. The moving wheels are used to reduce friction on the one hand and to raise the moving device on the other hand to prevent the moving device from being subjected to excessive resistance when moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the entire utility model;

[0022] Figure 2 yes Figure 1 A schematic diagram of the housing of the first section of the mobile device hidden in the figure;

[0023] Figure 3 yes Figure 1 Schematic diagram of the housing of the hidden tail section mobile device.

[0024] In the figure: the first section moving device 10, the tail section moving device 11, the moving assembly 12, the stroke shaft 13, the dredging blade assembly 14, the deployable fixed structure 15, the rotating shaft 16, the support rod 17, the rotating blade 18, the top column 19, the rocker arm 20, the stop piece 21, the first linear drive 22, the push piece 23, the second linear drive 24, the base 25, the arc support block 26, and the moving wheel 27. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0026] The utility model provides a pipeline desilting progressive robot, combined with Figure 1-3As shown, it includes a first-section moving device 10 and a tail-section moving device 11, and the bottom of the first-section moving device 10 and the tail-section moving device 11 are both provided with a moving component 12, and the first-section moving device 10 and the tail-section moving device 11 are connected by a stroke shaft 13, one end of the stroke shaft 13 is fixedly connected to the first-section moving device 10 or the tail-section moving device 11, and the other end is slidably connected to the other moving device, and the end of the first-section moving device 10 away from the tail-section moving device 11 is provided with a dredging blade assembly 14 and the power source of the dredging blade assembly 14 is arranged in the first-section moving device 10, the stroke shaft 13 is connected to a mobile power device, and the first-section moving device 10 and the tail-section moving device 11 are both provided with an expandable fixed structure 15, and the expandable fixed structure 15 can be offset against the inside of the pipeline after expansion.

[0027] The dredging device 11 is moved to a position where it can move the dredging blade 14 and the dredging blade 14 ... to a position where it can move the dredging blade 14 to a position where it can move the dredging blade 14 to a position where The utility model scrapes and cleans the inner wall of the pipeline in a progressive moving manner, and processes the pipeline section by section. There is no need for the background to remotely control the robot all the time, and it also replaces manual labor, reducing the dangers of workers processing in the pipeline.

[0028] The dredging blade assembly 14 includes a rotating shaft 16, which is connected to a rotating motor arranged in the first-section moving device 10. One end of the rotating shaft 16 extending out of the first-section moving device 10 is provided with a plurality of support rods 17, and the plurality of support rods 17 are distributed at equal intervals, and each support rod 17 is provided with a plurality of rotating blades 18.

[0029] In the present invention, a plurality of rotating blades 18 are provided on the dredging blade assembly 14. When dredging, the plurality of rotating blades 18 are operated simultaneously, thereby accelerating the dredging process.

[0030] The inclination angle of the rotating blade 18 on the support rod 17 is different from the inclination angles of the rotating blades 18 on other support rods 17 .

[0031] In the present invention, some pipe inner walls are accumulated with thick sludge and some sludge is firmly adhered to the pipe inner walls. Therefore, several groups of rotating blades 18 with different inclination angles can gradually remove the thick sludge and can handle the sludge firmly adhered to the pipe inner walls by different scraping forces.

[0032] In the present invention, the deployable fixing structure 15 has two embodiments;

[0033] In the first embodiment, the unfolding fixed structure 15 includes a plurality of top columns 19 slidably connected to the mobile device. The top columns 19 extend from the mobile device. A swing rod 20 is rotatably provided in the mobile device. The rotation center of the swing rod 20 is located at the center of the swing rod 20. Both ends of the swing rod 20 are hinged to the top columns 19.

[0034] In this embodiment, a power device connected to the rocker arm 20 is arranged in the mobile device, and the top column 19 is extended and retracted back and forth by the rotation of the rocker arm 20. When the mobile device needs to be fixed, the rocker arm 20 is rotated to the maximum extent to move the top column 19 out and fix it against the inner wall of the pipe.

[0035] In the second embodiment, the deployable fixed structure 15 includes a plurality of abutments 21 rotatably connected to a moving device. The moving device is provided with a first linear actuator 22. The output shaft of the first linear actuator 22 abuts against the abutments 21. The upper end of the abutment 21 is rotatably connected to the moving device. The output shaft of the first linear actuator 22 is fixed with a plurality of push pieces 23. The push pieces 23 abut against the abutment 21.

[0036] In this embodiment, when the moving device needs to be fixed, the first linear drive 22 works to make its output shaft push the retaining plate 21 to rotate, so that the lower end of the retaining plate 21 is against the inner wall of the pipe. When moving, the first linear drive 22 works to make its output shaft move back, and the retaining plate 21 rotates under the action of its own gravity to break away from the connection with the inner wall of the pipe.

[0037] The mobile power device includes a second linear drive 24 arranged in one of the mobile devices. The output shaft of the second linear drive 24 is fixedly connected to the stroke shaft 13. The stroke shaft 13 extends into the other mobile device and is fixedly connected thereto.

[0038] The moving assembly 12 includes a base 25 , each end of which is provided with an arc support block 26 adapted to the moving device and fixed to the bottom thereof, and a moving wheel 27 is provided at the bottom of the arc support block 26 .

[0039] In the present invention, the moving wheel 27 is used to reduce friction on the one hand, and to elevate the moving device on the other hand to prevent the moving device from being subjected to excessive resistance when moving.

[0040] The rotating shaft 16 is fixed to the output shaft of the rotating motor via a detachable fixing structure.

[0041] In the present invention, long-term use may cause the rotating blade 18 to be damaged, and the rotating blade 18 can be replaced and maintained through the detachable fixing structure.

[0042] A sludge extraction pipe is provided at the bottom of the mobile device. The sludge extraction pipe extends to the ground and is connected to the sludge treatment device.

[0043] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

[0044] Although this article uses the first-section moving device 10, the tail-section moving device 11, the moving assembly 12, the stroke shaft 13, the dredging blade assembly 14, the expandable fixed structure 15, the rotating shaft 16, the support rod 17, the rotating blade 18, the top column 19, the rocker arm 20, the stop plate 21, the first linear drive 22, the push plate 23, the second linear drive 24, the base 25, the arc support block 26, the moving wheel 27, etc. more frequently, these terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A pipeline desilting progressive robot, comprising a first-stage moving device (10) and a tail-stage moving device (11), wherein the bottom of each of the first-stage moving device (10) and the tail-stage moving device (11) is provided with a moving component (12), characterized in that: The first section moving device (10) and the tail section moving device (11) are connected via a stroke shaft (13), one end of the stroke shaft (13) is fixedly connected to the first section moving device (10) or the tail section moving device (11), and the other end is slidably connected to the other moving device. The end of the first section moving device (10) away from the tail section moving device (11) is provided with a dredging blade assembly (14), and the power source of the dredging blade assembly (14) is arranged in the first section moving device (10). The stroke shaft (13) is connected to a mobile power device. The first section moving device (10) and the tail section moving device (11) are both provided with an expandable fixed structure (15), and the expandable fixed structure (15) can be against the inside of the pipeline after being expanded.

2. A pipeline desilting progressive robot according to claim 1, characterized in that: The dredging blade assembly (14) includes a rotating shaft (16), which is connected to a rotating motor arranged in a first-stage moving device (10). One end of the rotating shaft (16) extending out of the first-stage moving device (10) is provided with a plurality of support rods (17), the plurality of support rods (17) are distributed at equal intervals, and each support rod (17) is provided with a plurality of rotating blades (18).

3. A pipeline desilting progressive robot according to claim 2, characterized in that: The tilt angle of the rotating blade (18) of the support rod (17) is different from the tilt angles of the rotating blades (18) on other support rods (17).

4. A pipeline desilting progressive robot according to claim 1, characterized in that: The deployable fixed structure (15) includes a plurality of top columns (19) slidably connected to the mobile device, wherein the top columns (19) extend from the mobile device, and a rocker (20) is rotatably arranged in the mobile device, wherein the rotation center of the rocker (20) is located at the center of the rocker (20), and both ends of the rocker (20) are hinged to the top columns (19).

5. The pipeline desilting progressive robot according to claim 1, characterized in that: The expandable fixed structure (15) includes a plurality of abutments (21) rotatably connected to a moving device. A first linear drive (22) is provided in the moving device, and an output shaft of the first linear drive (22) abuts against the abutments (21).

6. The pipeline desilting progressive robot according to claim 5, characterized in that: The upper end of the abutment piece (21) is rotatably connected to the moving device. A plurality of push pieces (23) are fixed on the output shaft of the first linear driver (22). The push pieces (23) abut against the abutment piece (21).

7. The pipeline desilting progressive robot according to claim 1, characterized in that: The mobile power device comprises a second linear drive (24) arranged in one of the mobile devices, the output shaft of the second linear drive (24) is fixedly connected to the stroke shaft (13), and the stroke shaft (13) extends into the other mobile device and is fixedly connected thereto.

8. The pipeline desilting progressive robot according to claim 1, characterized in that: The moving assembly (12) includes a base (25), and each end of the base (25) is provided with an arc support block (26) adapted to the moving device and fixed to the bottom thereof, and the bottom of the arc support block (26) is provided with a moving wheel (27).

9. The pipeline desilting progressive robot according to claim 2, characterized in that: The rotating shaft (16) is fixed on the output shaft of the rotating motor via a detachable fixing structure.

10. The pipeline desilting progressive robot according to claim 1, characterized in that: A sludge extraction pipe is provided at the bottom of the mobile device. The sludge extraction pipe extends to the ground and is connected to the sludge treatment device.

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