Multifunctional dredging and maintaining robot for urban underground drainage pipeline

Abstract

The utility model relates to the technical field of mechanical engineering, and discloses a multifunctional urban underground drainage pipeline desilting and maintaining robot which comprises a self-adaptive crawler-type walking mechanism, an electrical control system, a lifting platform, a visual inspection and high-pressure dilution device and a sludge stirring device. The self-adaptive crawler-type walking mechanism is installed in the lower end of the electrical control system, the lifting platform is installed on the upper surface of the electrical control system, the visual detection and high-pressure dilution device and the sludge stirring device are both installed at the front end of the lifting platform, and the visual detection and high-pressure dilution device is located above the sludge stirring device. The self-adaptive crawler-type pipeline robot is high in self-adaptability, and the robot can flexibly adapt to pipeline environments with different sizes and inclination angles through the self-adaptive crawler-type walking mechanism; the novel dredging efficiency is high, the functions of visual inspection, high-pressure dilution and sludge stirring are integrated, and rapid and effective cleaning of sludge in the pipeline is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical engineering, in particular to a multifunctional urban underground drainage pipe desilting and maintenance robot. Background Art

[0002] After long-term use, drainage pipes will cause silt deposition, which needs to be cleaned in time. If they are not cleaned in time, the sewage pipes will be blocked, causing sewage backflow and even urban flooding disasters, which will greatly affect the living environment of residents and cause immeasurable losses.

[0003] The few existing pipeline desilting robots on the market are mostly suitable for small drainage pipes. Small robots have low desilting efficiency after entering the pipes, or even become completely mired in the mud and unable to move. Larger desilting robots cannot enter the drainage pipes through surface inspection wells. Digging up the inspection wells would waste a lot of manpower and resources, seriously affecting residents' daily lives. Furthermore, since most current desilting robots use fixed wheels or tracked travel mechanisms and desilting agitation devices, they are poorly adaptable to circular pipes and are difficult to adapt to desilting operations in pipes of different diameters. As the total length of drainage pipes in my country continues to grow, the shortage of desilting workers and low desilting efficiency have created an imbalance between supply and demand, coupled with the ever-expanding market. Therefore, developing a pipeline desilting robot that can be used in medium and large pipelines and can enter the pipelines through surface inspection wells is of great significance in terms of protecting the lives of practitioners, improving pipeline desilting efficiency, and avoiding pipeline congestion. Utility Model Content

[0004] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a multifunctional urban underground drainage pipe desilting and maintenance robot, which effectively solves the problems raised in the above background.

[0005] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multifunctional urban underground drainage pipe dredging and maintenance robot, comprising an adaptive crawler walking mechanism, an electrical control system, a lifting platform, a visual detection and high-pressure dilution device, and a sludge stirring device. The adaptive crawler walking mechanism is installed inside the lower end of the electrical control system, the lifting platform is installed on the upper surface of the electrical control system, the visual detection and high-pressure dilution device, and the sludge stirring device are both installed at the front end of the lifting platform, and the visual detection and high-pressure dilution device is located above the sludge stirring device.

[0006] Preferably, the walking mechanism includes a crawler, a mobile platform, a DC drive motor, an axial fixing device, a fixed bearing seat, a swing mechanism, a swing fixed support, a waterproof motor box, a fisheye support rod and a support shaft. The support shaft is installed on the mobile platform through the fixed bearing seat, the swing mechanism is installed on the support shaft through the axial fixing device, the swing fixed support is installed on the swing mechanism, the crawler is installed on the inner side of the swing fixed support, the drive motor is installed on the side wall of the crawler, the waterproof motor box is sleeved on the outside of the drive motor, and the fisheye support rod is installed between the swing fixed supports for manually adjusting the swing angle.

[0007] Preferably, the electrical control system includes an operating platform, a packaging box and a sleeve. The packaging box is installed on the upper end of the operating platform. The electrical control system hardware is packaged inside the packaging box. The sleeve is connected to the lower end of the operating platform, and the mobile platform is connected to the sleeve.

[0008] Preferably, the lifting platform includes a motor packaging box, an active connecting rod, a hydraulic telescopic rod, a driven connecting rod, a pendulum fixing device and a fixed panel. The motor packaging box is installed on the upper end of the operating platform, and the motor packaging box is located on one side of the packaging box. A dual-axis motor is installed inside the motor packaging box. Both output ends of the dual-axis motor extend to the outside of the motor packaging box and are connected to the active connecting rod. The other end of the active connecting rod is rotatably connected to the pendulum fixing device. Both ends of the pendulum fixing device away from the active connecting rod are rotatably connected to the driven connecting rod. The other end of the driven connecting rod is rotatably connected to the side end of the motor packaging box. The hydraulic telescopic rod is rotatably installed on the upper end of the operating platform. The other end of the hydraulic telescopic rod is rotatably connected to the side wall of the pendulum fixing device. The fixed panel is installed at the front end of the pendulum fixing device.

[0009] Preferably, the visual detection and high-pressure dilution device includes a visible light camera, a fixing plate, a connecting hole, a light source and a high-pressure jet water gun. The visible light camera is installed in the lower center of the fixing plate, and the light source and the high-pressure jet water gun are both installed in the upper part of the fixing plate, and the light source is higher than the installation position of the high-pressure jet water gun.

[0010] Preferably, the sludge stirring device includes two dredging discs, a support device, cutting teeth and a hub motor. The two dredging discs are symmetrically arranged on both sides of the support device. Cutting teeth are provided on the outer circumference of the dredging discs, and the hub motor is installed on the inner side of the support device.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. This utility model has strong adaptability. Through the adaptive crawler walking mechanism, the robot can flexibly adapt to pipeline environments of different sizes and inclination angles;

[0013] 2. This new type of silt removal system has high efficiency and integrates visual inspection, high-pressure dilution and silt agitation functions to achieve rapid and effective cleaning of silt inside the pipeline;

[0014] 3. The new model is easy to operate, with a high degree of integration of the electrical control system, making it convenient for remote monitoring and operation;

[0015] 4. This new model is safe and reliable, with a waterproof motor box and a stable mechanical design to ensure the stable operation of the robot in humid and complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0017] In the attached figure:

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 This is a schematic structural diagram of the adaptive crawler-type walking mechanism of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the electrical control system of the utility model;

[0021] Figure 4 This is a structural diagram of the lifting platform of the utility model;

[0022] Figure 5 This is a schematic structural diagram of the visual detection and high-pressure dilution device of the utility model;

[0023] Figure 6 This is a schematic structural diagram of the sludge stirring device of the utility model;

[0024] Figure: 1. Adaptive crawler-type walking mechanism; 1.1. Crawler; 1.2. Mobile platform; 1.3. DC drive motor; 1.4. Axial fixing device; 1.5. Fixed bearing seat; 1.6. Swing mechanism; 1.7. Swing fixed support; 1.8. Waterproof motor box; 1.9. Fisheye support rod; 1.10. Support shaft; 2. Electrical control system; 2.1. Operating platform; 2.2. Packaging box; 2.3. Sleeve; 3. Lifting platform; 3.1 , motor packaging box; 3.2, active connecting rod; 3.3, hydraulic telescopic rod; 3.4, driven connecting rod; 3.5, pendulum fixing device; 3.6, fixing panel; 4, visual inspection and high-pressure dilution device; 4.1, visible light camera; 4.2, fixing plate; 4.3, connecting hole; 4.4, light source; 4.5, high-pressure jet water gun; 5, sludge stirring device; 5.1, dredging disc; 5.2, supporting device; 5.3, cutting teeth; 5.4, hub motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] Embodiment 1, by Figures 1-6 It is given that the utility model includes an adaptive crawler walking mechanism 1, an electrical control system 2, a lifting platform 3, a visual detection and high-pressure dilution device 4 and a sludge stirring device 5. The adaptive crawler walking mechanism 1 is installed inside the lower end of the electrical control system 2, the lifting platform 3 is installed on the upper surface of the electrical control system 2, the visual detection and high-pressure dilution device 4 and the sludge stirring device 5 are both installed at the front end of the lifting platform 3, and the visual detection and high-pressure dilution device 4 is located above the sludge stirring device 5.

[0027] Specifically, the walking mechanism 1 includes a crawler 1.1, a mobile platform 1.2, a DC drive motor 1.3, an axial fixing device 1.4, a fixed bearing seat 1.5, a swing mechanism 1.6, a swing fixed support 1.7, a waterproof motor box 1.8, a fisheye support rod 1.9 and a support shaft 1.10. The support shaft 1.10 is mounted on the mobile platform 1.2 through the fixed bearing seat 1.5, the swing mechanism 1.6 is mounted on the support shaft 1.10 through the axial fixing device 1.4, the swing fixed support 1.7 is mounted on the swing mechanism 1.6, the crawler 1.1 is mounted on the inner side of the swing fixed support 1.7, the drive motor 1.3 is mounted on the side wall of the crawler 1.1, the waterproof motor box 1.8 is sleeved on the outside of the drive motor 1.3, and the fisheye support rod 1.9 is installed between the swing fixed support 1.7 for manually adjusting the swing angle;

[0028] When the robot enters the pipeline, the adaptive crawler walking mechanism 1 adjusts the swing mechanism 1.6 and the axial fixing device 1.4 so that the crawler 1.1 can fit tightly against the inner wall of the pipeline, ensuring the stable movement of the robot in the pipeline. The DC drive motor 1.3 drives the crawler 1.1 to rotate, generating forward power, and the waterproof motor box 1.8 protects the drive motor 1.3 from the influence of the humid environment.

[0029] Specifically, the electrical control system 2 includes an operating platform 2.1, a packaging box 2.2, and a sleeve 2.3. The packaging box 2.2 is installed on the upper end of the operating platform 2.1, and the electrical control system hardware is encapsulated inside the packaging box 2.2. The sleeve 2.3 is connected to the lower end of the operating platform 2.1, and the mobile platform 1.2 is connected to the sleeve 2.3.

[0030] The electrical control system 2 is responsible for the power supply, signal transmission and program control of the entire robot. The operating platform 2.1 provides the installation platform for the entire device. The packaging box 2.2 encapsulates the electrical control system hardware, including the controller, power module, communication module, etc., to facilitate human-computer interaction and facilitate the operator to remotely monitor and operate the robot.

[0031] Specifically, the lifting platform 3 includes a motor packaging box 3.1, an active connecting rod 3.2, a hydraulic telescopic rod 3.3, a driven connecting rod 3.4, a pendulum fixing device 3.5 and a fixed panel 3.6. The motor packaging box 3.1 is installed at the upper end of the operating platform 2.1, and the motor packaging box 3.1 is located on one side of the packaging box 2.2. A dual-axis motor is installed inside the motor packaging box 3.1. Both output ends of the dual-axis motor extend to the outside of the motor packaging box 3.1 and are connected to the active connecting rod 3.2. The other end of the active connecting rod 3.2 is rotatably connected to the pendulum fixing device 3.5. Both ends of the pendulum fixing device 3.5 away from the active connecting rod 3.2 are rotatably connected to the driven connecting rod 3.4. The other end of the driven connecting rod 3.4 is rotatably connected to the side end of the motor packaging box 3.1. The hydraulic telescopic rod 3.3 is rotatably installed at the upper end of the operating platform 2.1. The other end of the hydraulic telescopic rod 3.3 is rotatably connected to the side wall of the pendulum fixing device 3.5. The fixed panel 3.6 is installed at the front end of the pendulum fixing device 3.5.

[0032] The lifting platform 3 uses a dual-axis motor in a motor packaging box 3.1 to drive the coordinated movement of the active connecting rod 3.2 and the driven connecting rod 3.4, achieving the up and down movement of the visual inspection and high-pressure dilution device 4 and the sludge stirring device 5. The active connecting rod 3.2 and the driven connecting rod 3.4 form a stable parallelogram mechanism, ensuring that the visual inspection and high-pressure dilution device 4 can be precisely adjusted in height within a range of 0-30 cm. The hydraulic telescopic rod 3.3 is used to assist in adjusting the inclination angle of the device to meet the requirements of pipeline dredging at different depths.

[0033] Specifically, the visual inspection and high-pressure dilution device 4 includes a visible light camera 4.1, a fixing plate 4.2, a connecting hole 4.3, a light source 4.4, and a high-pressure water jet 4.5. The visible light camera 4.1 is mounted in the lower center of the fixing plate 4.2, and the light source 4.4 and the high-pressure water jet 4.5 are both mounted on the upper part of the fixing plate 4.2, with the light source 4.4 being higher than the installation position of the high-pressure water jet 4.5.

[0034] Visible light camera 4.1 captures images of the interior of the pipeline in real time and transmits them to electrical control system 2 for processing and analysis. Light source 4.4 provides illumination to ensure that the camera can clearly capture the interior of the pipeline. High-pressure jet water gun 4.5 uses high-pressure water flow to initially dilute the silt in the pipeline, facilitating subsequent stirring and cleaning.

[0035] Specifically, the sludge stirring device 5 includes two dredging discs 5.1, a support device 5.2, cutting teeth 5.3 and a hub motor 5.4. The two dredging discs 5.1 are symmetrically arranged on both sides of the support device 5.2. The cutting teeth 5.3 are provided on the outer circumference of the dredging discs 5.1. The hub motor 5.4 is installed on the inner side of the support device 5.2.

[0036] The hub motor 5.4 drives the silt removal disc 5.1 to rotate. The cutting teeth 5.3 on the outside of the silt removal disc 5.1 cut and stir the silt attached to the inner wall of the pipe, which can effectively chop up larger particles in the pipe and stir the silt. During the stirring process, the silt is gradually broken up and loosened, which is convenient for subsequent high-pressure water flushing and collection.

[0037] Working principle: The operator starts the robot through the electrical control system 2. The adaptive crawler walking mechanism 1 adjusts the crawler 1.1 to allow the robot to enter the pipeline stably. The lifting platform 3 adjusts the height and inclination angle of the visual inspection and high-pressure dilution device 4 and the sludge stirring device 5 according to the pipeline depth. The visual inspection and high-pressure dilution device 4 starts working. The visible light camera 4.1 captures the image of the interior of the pipeline. The light source 4.4 provides lighting. The high-pressure jet water gun 4.5 performs preliminary dilution of the sludge. The sludge stirring device 5 is started. The silt cleaning disc 5.1 and cutting teeth 5.3 cut and stir the sludge. The stirred sludge is washed to the bottom of the pipeline by the high-pressure water flow for subsequent collection and processing.

[0038] In summary, the multifunctional urban underground drainage pipe desilting and maintenance robot of the present invention realizes efficient and safe desilting and maintenance of the interior of the drainage pipe through an integrated design.

Claims

1. A multifunctional urban underground drainage pipe desilting and maintenance robot, comprising an adaptive crawler-type walking mechanism (1), an electrical control system (2), a lifting platform (3), a visual detection and high-pressure dilution device (4) and a sludge stirring device (5), characterized in that: The adaptive crawler-type walking mechanism (1) is installed inside the lower end of the electrical control system (2), the lifting platform (3) is installed on the upper surface of the electrical control system (2), the visual detection and high-pressure dilution device (4) and the sludge stirring device (5) are both installed at the front end of the lifting platform (3), and the visual detection and high-pressure dilution device (4) is located above the sludge stirring device (5).

2. The multifunctional urban underground drainage pipe desilting and maintenance robot according to claim 1, characterized in that: The walking mechanism (1) includes a crawler (1.1), a mobile platform (1.2), a DC drive motor (1.3), an axial fixing device (1.4), a fixed bearing seat (1.5), a swing mechanism (1.6), a swing fixed support (1.7), a waterproof motor box (1.8), a fisheye support rod (1.9) and a support shaft (1.10). The support shaft (1.10) is installed on the mobile platform (1.2) through the fixed bearing seat (1.5). The swing mechanism (1.6) ) is installed on the support shaft (1.10) through the axial fixing device (1.4), the swing fixed support (1.7) is installed on the swing mechanism (1.6), the track (1.1) is installed on the inner side of the swing fixed support (1.7), the drive motor (1.3) is installed on the side wall of the track (1.1), the waterproof motor box (1.8) is sleeved on the outside of the drive motor (1.3), and the fisheye support rod (1.9) is installed between the swing fixed supports (1.7) for manually adjusting the swing angle.

3. The multifunctional urban underground drainage pipe desilting and maintenance robot according to claim 1, characterized in that: The electrical control system (2) comprises an operating platform (2.1), a packaging box (2.2) and a sleeve (2.3); the packaging box (2.2) is installed on the upper end of the operating platform (2.1); the electrical control system hardware is encapsulated inside the packaging box (2.2); the sleeve (2.3) is connected to the lower end of the operating platform (2.1); and the mobile platform (1.2) is connected to the sleeve (2.3).

4. The multifunctional urban underground drainage pipe desilting and maintenance robot according to claim 1, characterized in that: The lifting platform (3) includes a motor packaging box (3.1), an active connecting rod (3.2), a hydraulic telescopic rod (3.3), a driven connecting rod (3.4), a suspension fixing device (3.5) and a fixed panel (3.6). The motor packaging box (3.1) is installed on the upper end of the operating platform (2.1), and the motor packaging box (3.1) is located on one side of the packaging box (2.2). A dual-axis motor is installed inside the motor packaging box (3.1). Both output ends of the dual-axis motor extend to the outside of the motor packaging box (3.1) and are connected to the active connecting rod (3.2). The active connecting rod (3.4) is connected to the active connecting rod (3.5). The other end of the rod (3.2) is rotatably connected to a pendulum fixture (3.5), and both ends of the pendulum fixture (3.5) away from the active connecting rod (3.2) are rotatably connected to a driven connecting rod (3.4). The other end of the driven connecting rod (3.4) is rotatably connected to a side end of the motor packaging box (3.1). The hydraulic telescopic rod (3.3) is rotatably mounted on the upper end of the operating platform (2.1). The other end of the hydraulic telescopic rod (3.3) is rotatably connected to a side wall of the pendulum fixture (3.5), and a fixed panel (3.6) is mounted on the front end of the pendulum fixture (3.5).

5. The multifunctional urban underground drainage pipe desilting and maintenance robot according to claim 1, characterized in that: The visual inspection and high-pressure dilution device (4) comprises a visible light camera (4.1), a fixing plate (4.2), a connecting hole (4.3), a light source (4.4) and a high-pressure jet water gun (4.5), wherein the visible light camera (4.1) is mounted at the lower center of the fixing plate (4.2), and the light source (4.4) and the high-pressure jet water gun (4.5) are both mounted at the upper part of the fixing plate (4.2), with the light source (4.4) being higher than the mounting position of the high-pressure jet water gun (4.5).

6. The multifunctional urban underground drainage pipe desilting and maintenance robot according to claim 1, characterized in that: The sludge stirring device (5) comprises two dredging discs (5.1), a support device (5.2), cutting teeth (5.3) and a hub motor (5.4). The two dredging discs (5.1) are symmetrically arranged on both sides of the support device (5.2). The cutting teeth (5.3) are provided on the outer circumference of the dredging discs (5.1). The hub motor (5.4) is installed on the inner side of the support device (5.2).

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