Shield type pipeline dredging robot

Abstract

The utility model belongs to the field of pipeline cleaning devices, and discloses a shield type pipeline dredging robot which comprises a machine body, a plurality of wheel modules and a driving assembly are fixedly connected to the machine body, bevel gear boxes are arranged on the wheel modules, and the power output ends of the bevel gear boxes are fixedly connected with the wheel modules. A transmission shaft fixedly connected with the power inlet and outlet end of the bevel gear box and a driven gear sleeving the transmission shaft are arranged on the machine body, the driven gear is fixedly connected with the transmission shaft, and the transmission shaft is in running fit with the machine body; the driving assembly comprises a toothed belt arranged on the outer sides of the driven gears and a second driving part fixedly connected to the machine body, the inner side of the toothed belt is meshed with the driven gears, the power output end of the second driving part is fixedly connected with a driving gear, and the side face of the driving gear abuts against the inner side face of the transmission belt; according to the scheme, all the wheel modules of the pipeline cleaning robot can be synchronously triggered to rotate synchronously, the scraper is prevented from violently impacting the inner wall of the pipeline, and the pipeline and the scraper are prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the field of pipeline cleaning devices, in particular to a shield-type pipeline desilting robot. Background Art

[0002] At present, most shield-type pipe dredging robots are equipped with a scraper at the front end. The scraper is rotated to scrape the inner wall of the pipe to achieve the purpose of cleaning the silt on the inner wall of the pipe. The main body of the pipe cleaning robot needs to be pressed against the inner wall of the pipe through at least three wheel modules, so that the central axis of the pipe cleaning robot is always on the axis of the pipe, thereby ensuring that the rotation center of the scraper is always on the axis of the pipe, avoiding the rotation center of the scraper from deviating from the axis of the pipe, and preventing the scraper from violently colliding with the inner wall of the pipe, causing damage to the pipeline and the scraper.

[0003] When the pipe cleaning robot moves, since each wheel module has a matching gap with the inner wall of the pipe, and the pipe cleaning robot body has a certain length, the three wheel modules of the pipe cleaning robot rotate and operate simultaneously at the same speed to avoid the central axis of the pipe cleaning robot from intersecting with the axis of the pipe, that is, to avoid the pipe cleaning robot from tilting slightly in the pipe. However, each wheel module of most existing pipe cleaning robots is an independent module, and several wheel modules synchronously receive electrical signals to achieve synchronous operation of all wheel modules. However, due to interference such as wire connections, signal interference and signal noise, the accuracy of the synchronous operation of the wheel modules is low, which makes it easy for the scraper to violently collide with the inner wall of the pipe. Utility Model Content

[0004] The purpose of the utility model is to provide a shield-type pipeline dredging robot, which can synchronously trigger each wheel module of the pipeline cleaning robot to rotate synchronously, avoid violent collision between the scraper and the inner wall of the pipeline, and prevent damage to the pipeline and the scraper.

[0005] The technical solution provided by the utility model is as follows: a shield-type pipeline desilting robot, comprising a body, a scraper assembly arranged at the front end of the body, a first driving member fixedly connected to the body to drive the scraper assembly to rotate, the scraper assembly rotates in coordination with the body, a plurality of wheel modules and a driving assembly for driving the plurality of wheel modules to rotate synchronously are fixedly connected to the body, the plurality of wheel modules are arranged around the side of the body, and two adjacent wheel modules are spaced apart from each other; a bevel gear box is provided on the wheel module, and the power output end of the bevel gear box is It is fixedly connected to the wheel module, and the body is provided with a transmission shaft fixedly connected to the power input and output ends of the bevel gear box, and a driven gear sleeved on the transmission shaft, the driven gear is fixedly connected to the transmission shaft, and the transmission shaft rotates with the body; the drive assembly includes a toothed belt provided on the outside of several of the driven gears, and a second driving member fixedly connected to the body, the inner side of the toothed belt is meshed with several of the driven gears, and the power output end of the second driving member is fixedly connected with a driving gear, and the side surface of the driving gear abuts against the inner side surface of the toothed belt.

[0006] In the above-mentioned shield-type pipeline dredging robot, the wheel module includes a wheel seat, a driving wheel and a driven wheel arranged on the wheel seat; the driving wheel and the driven wheel are both rotatably cooperated with the wheel seat, and the power output end of the bevel gear box is fixedly connected to the driving wheel.

[0007] In the above-mentioned shield-type pipeline desilting robot, the wheel module further includes tracks sleeved on the driving wheel and the driven wheel.

[0008] In the above-mentioned shield-type pipeline dredging robot, two connecting rods are provided on each of the opposite sides of the wheel module, and the four connecting rods are arranged parallel to each other. One end of the connecting rod is hinged to the wheel module, and the other end is hinged to the body. First elastic telescopic parts are also provided on the opposite sides of the wheel module, and the first end of the first elastic telescopic part is hinged to the wheel module, and the second end is hinged to the body.

[0009] In the above-mentioned shield-type pipeline dredging robot, the body is provided with a second elastic telescopic part and a slider that can translate toward the front and rear ends of the body. One end of the second elastic telescopic part is fixedly connected to the body, and the other end is fixedly connected to the slider. The slider slides with the body, and the second end of the first elastic telescopic part is hinged to the slider.

[0010] In the above-mentioned shield-type pipeline desilting robot, the body is provided with a guide groove extending toward the front and rear ends of the body, and the slider is provided with a guide portion that slidably cooperates with the inner side surface of the guide groove.

[0011] In the above-mentioned shield-type pipeline dredging robot, the transmission shaft includes a transmission rod fixedly connected to the bevel gear box and a universal coupling arranged between the transmission rod and the bevel gear box, and the universal coupling is fixedly connected to the transmission rod and the bevel gear box respectively.

[0012] In the above-mentioned shield-type pipeline desilting robot, the scraper assembly includes a tool holder fixedly connected to the power output end of the first driving member, and a plurality of scrapers spaced around the tool holder, and the scrapers are fixedly connected to the tool holder.

[0013] In the above-mentioned shield-type pipeline dredging robot, a water tank is fixedly connected to the body, the water tank is provided with a water inlet, a sealing cover is provided at the water inlet, the sealing cover is detachably connected to the water inlet, and a water gun nozzle connected to the water tank is also provided at the front end of the body.

[0014] In the above-mentioned shield-type pipeline desilting robot, the front end of the body is also fixedly connected with a light-emitting component, a camera component and a sonar.

[0015] After adopting the above technical solution, the utility model has the following beneficial effects:

[0016] The body in this solution is provided with at least three wheel modules around the side, each wheel module is used to abut the inner wall of the pipe, the bevel gear box on each wheel module is fixedly connected to the corresponding transmission shaft on the body, the driven gear on each transmission shaft is meshed with a toothed belt of an annular structure, and the driven gears are all located on the inner side of the toothed belt, and a second driving member is fixedly connected to the body, and the driving gear on the second driving member is also located on the inner side of the toothed belt and meshes with the toothed belt. When the second driving member rotates, it drives the driving gear to rotate, and the driving gear drives the driven gear to rotate through the toothed belt, and the transmission shaft also rotates under the rotation of the driven gear. The torque of the transmission shaft is transmitted to the wheel module through the bevel gear box, and finally drives each wheel module to rotate synchronously, thereby realizing synchronous triggering of each wheel module of the pipeline cleaning robot to rotate synchronously, avoiding violent collision between the scraper and the inner wall of the pipe, and preventing damage to the pipe and the scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a front axonometric view of the shield-type pipeline desilting robot according to Example 1 of the present utility model;

[0018] Figure 2 2 is a rear axonometric diagram of the shield-type pipeline desilting robot according to Example 1 of the present utility model;

[0019] Figure 3 This is a schematic diagram of the assembly of the wheel module and the body of Example 1 of the present utility model.

[0020] Reference numerals: 1, scraper assembly; 2, water gun nozzle; 3, camera; 4, sonar; 5, wheel module; 6, transmission shaft; 7, driven gear; 8, toothed belt; 9, cable; 10, second driving member; 11, second elastic and retractable member; 12, water tank; 13, first elastic and retractable member; 14, connecting rod; 15, light-emitting member; 16, first driving member; 17, bevel gear box; 18, driving gear;

[0021] 101. Tool holder; 102. Scraper; 51. Track; 52. Wheel seat; 61. Drive rod; 62. Universal joint; 121. Water inlet. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods, but this does not constitute any limitation to the present invention.

[0023] Example 1:

[0024] like Figure 1-3 As shown, a pipeline inner wall dredging robot includes a body, a scraper assembly 1 provided at the front end of the body, a first driving member 16 that drives the scraper assembly 1 to rotate is fixedly connected to the body, the scraper assembly 1 rotates in coordination with the body, a plurality of wheel modules 5 and a driving assembly for driving the plurality of wheel modules 5 to rotate synchronously are fixedly connected to the body, the plurality of wheel modules 5 are arranged around the side of the body, and two adjacent wheel modules 5 are spaced apart from each other; a bevel gear box 17 is provided on the wheel module 5, and the power output end of the bevel gear box 17 is fixed to the wheel module 5 The machine body is provided with a transmission shaft 6 fixedly connected to the power input and output ends of the bevel gear box 17, and a driven gear 7 sleeved on the transmission shaft 6. The driven gear 7 is fixedly connected to the transmission shaft 6, and the transmission shaft 6 rotates with the machine body; the drive assembly includes a toothed belt 8 provided on the outside of several of the driven gears, and a second driving member 10 fixedly connected to the machine body, the inner side of the toothed belt 8 is engaged with several of the driven gears 7, and the power output end of the second driving member 10 is fixedly connected with a driving gear 18, and the side surface of the driving gear 18 abuts against the inner side surface of the toothed belt 8.

[0025] Its operating principle is that at least three wheel modules 5 are provided around the side of the body, each wheel module 5 is used to abut the inner wall of the pipe, and the bevel gear box 17 on each wheel module 5 is fixedly connected to the corresponding transmission shaft 6 on the body, and the driven gear 7 on each transmission shaft 6 is meshed with a ring-shaped toothed belt 8, and the driven gear 7 is located on the inner side of the toothed belt 8. A second driving member 10 is fixedly connected to the body, and the driving gear 18 on the second driving member 10 is also located on the inner side of the toothed belt 8 and meshes with the toothed belt 8. When the second driving member 10 rotates, it drives the driving gear 18 to rotate, and the driving gear 18 drives the driven gear 7 to rotate through the toothed belt 8, and the transmission shaft 6 also rotates under the rotation of the driven gear 7. The torque of the transmission shaft 6 is transmitted to the wheel module 5 through the bevel gear box 17, and finally drives each wheel module 5 to rotate synchronously, thereby realizing synchronous triggering of each wheel module 5 of the pipeline dredging robot to rotate synchronously, avoiding violent collision between the scraper 102 and the inner wall of the pipe, and preventing damage to the pipe and the scraper 102.

[0026] In actual applications, in addition to using the driving gear 18, the driven gear 7 and the toothed belt 8 in combination for transmission, the driving sprocket can be used to replace the driving gear 18, the driven sprocket can be used to replace the driven gear 7, and the chain can be used to replace the toothed belt 8. The driving sprocket, the driven sprocket and the chain can be used in combination for transmission. The driving pulley can also be used to replace the driving gear 18, the driven pulley can be used to replace the driven gear 7, and the belt can be used to replace the toothed belt 8. The driving pulley, the driven pulley and the belt can be used in combination for transmission, as well as other transmission methods. This embodiment does not impose too many restrictions on this.

[0027] In this embodiment, the first driving member 16 and the second driving member 10 are both hydraulic motors.

[0028] The specific structure of the wheel module 5 is as follows: the wheel module 5 includes a wheel seat 52, a driving wheel and a driven wheel arranged on the wheel seat 52; the driving wheel and the driven wheel are both rotationally coordinated with the wheel seat 52, and the power output end of the bevel gear box 17 is fixedly connected to the driving wheel.

[0029] Preferably, the wheel module 5 further includes a track 51 sleeved on the driving wheel and the driven wheel.

[0030] The arrangement of the crawler belt 51 increases the contact area with the inner wall of the pipeline, thereby increasing the friction between the two and avoiding slipping.

[0031] As a further improvement, two connecting rods 14 are provided on opposite sides of the wheel module 5, and the four connecting rods 14 are arranged parallel to each other. One end of the connecting rod 14 is hinged to the wheel module 5, and the other end is hinged to the body. First elastic telescopic parts 13 are also provided on opposite sides of the wheel module 5, and the first end of the first elastic telescopic part 13 is hinged to the wheel module 5, and the second end is hinged to the body.

[0032] With the cooperation of the connecting rod 14 and the first elastic telescopic member 13, the wheel module can adapt to different pipe inner diameters. In pipes with different inner diameters, it can be elastically adjusted and abut against the inner wall of the pipe. The first elastic telescopic member 13 is specifically a first telescopic rod and a spring sleeved on the first telescopic rod. The two ends of the spring are fixed one by one corresponding to the two ends of the first telescopic rod. When the inner diameter of the pipe is small, the wheel module 5 swings toward the body in a manner parallel to the body. At this time, the spring and the telescopic rod are compressed. When the inner diameter of the pipe is large, the wheel swings toward the inner wall of the pipe in a manner parallel to the body. At this time, the spring recovers its deformation, stretches the telescopic rod, and stretches it, pressing the wheel module 5 against the inner wall of the pipe.

[0033] Preferably, the body is provided with a second elastic telescopic part 11 and a slider that can be translated toward the front and rear ends of the body, one end of the second elastic telescopic part 11 is fixedly connected to the body, and the other end is fixedly connected to the slider, the slider slides with the body, and the second end of the first elastic telescopic part 13 is hinged to the slider.

[0034] When the wheel module 5 is subjected to force, the position of the slider is changed, and the second elastic telescopic member 11 is compressed at the same time, which not only plays a secondary buffering role, but also disperses the force more frontally and rearwardly of the machine body, thereby adjusting the force center of the machine body and making the whole machine more stable.

[0035] The specific structure of the second elastic telescopic member 11 is a telescopic sleeve and a spring sleeved on the telescopic sleeve, one end of the spring is fixedly connected to the piston rod of the telescopic sleeve, and the other end is connected to the cylinder body of the sleeve.

[0036] In this embodiment, the machine body is provided with a guide groove extending toward the front and rear ends of the machine body, and the sliding block is provided with a guide portion that slidably cooperates with the inner side surface of the guide groove.

[0037] For further adaptation and optimization, the transmission shaft 6 includes a transmission rod 61 fixedly connected to the bevel gear box 17 and a universal coupling 62 provided between the transmission rod 61 and the bevel gear box 17. The universal coupling 62 is fixedly connected to the transmission rod 61 and the bevel gear box 17 respectively.

[0038] The specific structure of the scraper assembly 1 is that the scraper assembly 1 includes a tool holder 101 fixedly connected to the power output end of the first driving member 16, and a plurality of scrapers 102 arranged at intervals around the tool holder 101, and the scrapers 102 are fixedly connected to the tool holder 101.

[0039] A further improvement of this embodiment is that a water tank 12 is fixedly connected to the body, the water tank 12 is provided with a water inlet 121, a cover is provided at the water inlet 121, the cover is detachably connected to the water inlet 121, and a water gun nozzle 2 connected to the water tank 12 is also provided at the front end of the body.

[0040] In addition, the front end of the body is fixedly connected to a light emitting element 15, a camera element 3 and a sonar 4, and the rear end of the body is fixedly connected to a cable 9, which leads to the ground.

[0041] The above embodiments are preferred implementation methods of the present invention, but the implementation methods of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A shield-type pipeline desilting robot, comprising a body and a scraper assembly provided at the front end of the body, wherein a first driving member for driving the scraper assembly to rotate is fixedly connected to the body, and the scraper assembly rotates in conjunction with the body, characterized in that: The machine body is fixedly connected to a plurality of wheel modules and a drive assembly for driving the plurality of wheel modules to rotate synchronously, the plurality of wheel modules are arranged around the side of the machine body, and two adjacent wheel modules are spaced apart from each other; the wheel module is provided with a bevel gear box, the power output end of the bevel gear box is fixedly connected to the wheel module, the machine body is provided with a transmission shaft fixedly connected to the power input and output end of the bevel gear box, and a driven gear sleeved on the transmission shaft, the driven gear is fixedly connected to the transmission shaft, and the transmission shaft rotates in coordination with the machine body; the drive assembly includes a toothed belt provided on the outside of the plurality of driven gears, a second drive member fixedly connected to the machine body, the inner side of the toothed belt is meshed with the plurality of driven gears, the power output end of the second drive member is fixedly connected to a driving gear, and the side surface of the driving gear abuts against the inner side surface of the toothed belt.

2. The shield-type pipeline desilting robot according to claim 1, characterized in that: The wheel module includes a wheel seat, a driving wheel and a driven wheel arranged on the wheel seat; the driving wheel and the driven wheel are both rotationally matched with the wheel seat, and the power output end of the bevel gear box is fixedly connected to the driving wheel.

3. The shield-type pipeline desilting robot according to claim 2, characterized in that: The wheel module further includes a crawler track mounted on the driving wheel and the driven wheel.

4. The shield-type pipeline desilting robot according to claim 1, characterized in that: Two connecting rods are provided on each of the opposite sides of the wheel module, and the four connecting rods are arranged parallel to each other. One end of the connecting rod is hinged to the wheel module, and the other end is hinged to the body. First elastic telescopic parts are also provided on the opposite sides of the wheel module, and the first end of the first elastic telescopic part is hinged to the wheel module, and the second end is hinged to the body.

5. The shield-type pipeline desilting robot according to claim 4, characterized in that: The body is provided with a second elastic telescopic part and a slider that can be translated toward the front and rear ends of the body. One end of the second elastic telescopic part is fixedly connected to the body, and the other end is fixedly connected to the slider. The slider slides with the body, and the second end of the first elastic telescopic part is hinged to the slider.

6. The shield-type pipeline desilting robot according to claim 5, characterized in that: The machine body is provided with a guide groove extending toward the front and rear ends of the machine body, and the sliding block is provided with a guide portion that is slidably matched with the inner side surface of the guide groove.

7. The shield-type pipeline desilting robot according to claim 4, characterized in that: The transmission shaft includes a transmission rod fixedly connected to the bevel gear box, and a universal coupling provided between the transmission rod and the bevel gear box. The universal coupling is fixedly connected to the transmission rod and the bevel gear box respectively.

8. The shield-type pipeline desilting robot according to any one of claims 1 to 7, characterized in that: The scraper assembly includes a blade holder fixedly connected to the power output end of the first driving member, and a plurality of scrapers spaced around the blade holder, wherein the scrapers are fixedly connected to the blade holder.

9. The shield-type pipeline desilting robot according to any one of claims 1 to 7, characterized in that: A water tank is fixedly connected to the body, the water tank is provided with a water inlet, a sealing cover is provided at the water inlet, the sealing cover is detachably connected to the water inlet, and a water gun nozzle connected to the water tank is also provided at the front end of the body.

10. The shield-type pipeline desilting robot according to any one of claims 1 to 7, characterized in that: The front end of the machine body is also fixedly connected with a light-emitting component, a camera component and a sonar.

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