Pipeline dredging robot self-adaptive to pipeline and capable of driving smoothly

Abstract

The utility model relates to the technical field of pipeline robots, in particular to a pipeline dredging robot which is self-adaptive to a pipeline and runs smoothly. The mechanism mainly comprises an electric control box bottom plate, a caterpillar band side plate connecting plate, a shock absorber and a caterpillar band transmission mechanism, and is technically characterized in that the electric control box bottom plate, the caterpillar band side plate connecting plate and the shock absorber jointly form a variable triangular supporting structure, and one end of the caterpillar band side plate connecting plate is hinged to the electric control box bottom plate; the other end of the driving wheel is fixedly connected with a crawler side plate provided with all driving wheels; and two ends of the shock absorber are respectively hinged with the crawler side plate and the electric cabinet bottom plate. Through a unique triangular variable structure, the angle and the attaching force of the crawler belt device are automatically adjusted through gravity and stretching and retracting of the shock absorbers, the technical problems that an existing pipeline robot cannot adapt to different pipe diameters, and running is bumpy and unsmooth are effectively solved, and stable and efficient running of the robot in pipelines of various specifications is achieved.

Description

Technical Field

[0001] The utility model relates to the field of pipeline dredging robots, in particular to the technical field of sewage pipeline dredging, and specifically is a pipeline dredging robot that is adaptive to pipelines and travels smoothly. Background Art

[0002] Pipeline desilting is to dredge the pipeline, clean the silt inside the pipeline, and keep it unobstructed for a long time to prevent urban flooding.

[0003] Pipeline desilting has become a crucial task for drainage departments. Large amounts of debris and cement sand from construction sites can cause sedimentation and siltation in drainage pipes, leading to pipe blockage. Failure to perform proper desilting and dredging can lead to sewage overflow, environmental pollution, and inconvenience for residents.

[0004] There are several common dredging methods currently available:

[0005] First, there's the winch method. A bamboo splinter is passed through the pipe to be cleared. Then, a winch mounted on the inspection wells at either end of the pipe is used to twist the wire rope back and forth, pushing the silt into the downstream inspection well. Winches come in manual, motorized, and electric configurations, and there are many different types of clearing tools, depending on the pipe diameter and user needs. This method is suitable for pipes of all diameters and is particularly well-suited for pipelines with severe siltation and densely adhered silt.

[0006] Disadvantages of winch dredging: It is necessary to manually go down the well to deliver bamboo chips from one wellhead to another. The harsh working environment underground brings great inconvenience to the work and is prone to cause safety accidents.

[0007] Second, the trench cleaning method uses a dredging machine. This method uses a rigid seal between the pipe and the dredging machine. Under the action of air or liquid pressure, it acts as a jet through the pipe, simultaneously removing foreign matter from the pipe. This method requires the pipe wall to be smooth and regular, and there should not be too much sediment. Therefore, it is often used for desilting nuclear power and industrial metal sewage pipes.

[0008] Third, high-pressure water jetting. Currently, this is a widely used method of dredging, using a high-pressure water jetting truck equipped with a large water tank, a motorized hose reel, a high-pressure water pump, and a water jet nozzle. During operation, a car engine drives the high-pressure pump, pressurizing water and sending it into the water jet nozzle. The backward reaction force of the jet propels the water jet nozzle and hose forward in the opposite direction, simultaneously cleaning the pipe wall. When the nozzle reaches the downstream inspection well, a motorized winch retracts the hose, and the water jet nozzle continues to spray water, flushing any remaining sediment into the downstream inspection well, where it is then removed by a sludge suction truck.

[0009] This method can be applied to pipes of various shapes and specifications. Due to cost and flushing effect, it is usually limited to pipes with a diameter of less than 130 cm, and the cost of cleaning water is relatively high.

[0010] Fourth, the flushing method. Limited by the size of the manhole, the entire device must be assembled within the sewer pipe. During operation, sewage accumulates upstream of the device. Once it reaches a certain height, a flow forms in front of the device, clearing the sediment. Once enough sediment has been flushed away, the device moves a few centimeters downstream. The advantages of this method are significant.

[0011] Disadvantages of flushing and desilting: A relatively large amount of work must be done inside the sewer pipe. A similar method is to use locally installed facilities such as sewer sluices for flushing and desilting.

[0012] The above dredging methods each have their advantages and disadvantages, but are generally inefficient, labor-intensive, and unsafe. To address these issues, a highly efficient, safe, and environmentally friendly dredging method—pipeline dredging robots—has emerged.

[0013] The necessity of urban pipeline dredging robots is mainly reflected in the following aspects:

[0014] First, it improves dredging efficiency. Traditional dredging methods require workers to physically enter the pipeline to perform the work, which is not only inefficient but also poses safety risks. Pipeline dredging robots can efficiently complete dredging tasks in complex environments, greatly improving dredging efficiency.

[0015] Second, it ensures worker safety. Traditional dredging methods pose safety risks such as harmful gases and slips. Pipeline dredging robots can operate in high-risk environments, avoiding the risks of manual operation and ensuring worker safety.

[0016] Third, adaptability to complex environments. Urban pipeline environments are complex and ever-changing, making traditional dredging methods difficult to adapt to. Pipeline dredging robots, with their compact and flexible size and advanced technology, can operate freely in narrow pipes and confined spaces, improving the targetedness and effectiveness of dredging work.

[0017] Fourth, it reduces environmental pollution. Pipeline dredging robots operate without cutting off water supply, reducing the inconvenience caused by water outages. At the same time, without the need for excavation, the impact of construction on the surrounding environment and traffic is reduced, and dust and noise pollution are reduced.

[0018] Fifth, real-time monitoring of pipeline conditions. During the desilting process, the pipeline dredging robot can monitor the internal conditions of the pipeline in real time. The camera and sensor collect images and data to help identify potential hidden dangers and prevent accidents.

[0019] Based on the above, pipe cleaning robots are now increasingly widely used. However, when most current pipe cleaning robots operate in different pipes, due to the different pipe diameters and curvature radii of the pipe walls, the tracks of the pipe cleaning robots cannot smoothly adhere to the pipe walls, resulting in uneven driving, bumps and oscillations, and reduced safety and reliability of the robots. Utility Model Content

[0020] The purpose of the utility model is to provide a pipeline dredging robot that is adaptive to pipelines and travels smoothly, so as to solve the problems in the background art of pipeline dredging robots such as uneven travel, bumps and oscillations, and reduced safety and reliability of the robot.

[0021] To achieve the above objectives, the present invention provides the following technical solutions:

[0022] The travel system of this utility model is composed of two crawler sections, each driven by an independent motor. Each motor drives a crawler wheel, which serves as the driving wheel of the crawler transmission mechanism. The crawler transmission mechanism also has a driven wheel and three follower wheels. All four wheels of the crawler transmission mechanism are mounted on the crawler side plates, and a rigid connecting plate is fixed to the crawler side plates.

[0023] The walking system of the utility model also has a shock absorbing mechanism, which is realized by a shock absorber. The shock absorber has a spring with a variable pitch, and the length of the shock absorber can be adjusted by the spring.

[0024] The electric control system is located above the walking system of the utility model. The electric control system integrates various electrical components in an electric control box. Below the electric control box is a base plate. Since the two crawler parts have the same structure, the base plate is subjected to the same force and remains horizontal.

[0025] The connection relationship between the track side plate connecting plate, the electric control bottom plate and the shock absorber of the utility model is as follows:

[0026] The track side plate connecting plate and one end of the shock absorber are fixedly connected to the track side plate, the other end of the track side plate connecting plate is axially fixed to the electric control base plate through a shaft sleeve, and the electric control base plate and the shock absorber are axially fixed together through another shaft sleeve.

[0027] The utility model realizes self-adaptation to pipe walls of different diameters by adjusting the angle between the two tracks, and absorbs vibrations through the damping of the shock-absorbing spring to reduce vibrations. The adjustment principle is as follows:

[0028] like Figure 1As shown, points O and B are the two shaft sleeves of the electric control box base. Point O is axially fixed to the track side plate connection plate, and point B is axially fixed to the shock absorber. Line segment OB represents the electric control box base plate, with a fixed length and a horizontal orientation. Point A is the fixing point between the shock absorber and the track side plate connection plate. Line segment OA represents the track side plate connection plate. Its length is fixed, but as the pipe diameter varies, the angle of line segment OA around point A can be changed to better fit the pipe wall. Line segment AB represents the shock absorber, and its length and direction can be changed.

[0029] like Figure 1 As shown in the figure, when the diameter of the pipeline increases, the center of gravity sinks. Under the action of gravity, in order to better fit the pipe wall, the angle position of the track side plate connecting plate changes, the length of the track side plate connecting plate remains unchanged, and the angle changes from line segment OA to line segment OC; the length of the electric control box bottom plate remains unchanged, and the direction remains horizontal; at this time, the length and angle position of the shock absorber are adaptively changed, and the length of the shock absorber changes from line segment AB to line segment BC, and the angle position also changes, and the triangle OBC is stable.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. The pipe dredging robot can adjust the angle of the crawler side plates in pipes of different diameters, so that the crawler can better fit the pipe wall and make driving safer.

[0032] 2. The shock absorber absorbs the vibration of the pipeline dredging robot during driving, making the pipeline dredging robot run smoother and with less vibration. The reliability of the pipeline dredging robot is improved and its service life is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a diagram illustrating the principle of the present utility model.

[0034] Figure 2 It is a schematic diagram of the main structure of the utility model.

[0035] Figure 3 This is a schematic structural diagram of the crawler transmission mechanism of the present utility model.

[0036] Figure 4 This is a schematic diagram of the shock absorber structure of the present utility model.

[0037] Notes on the accompanying drawings: 1. Track; 2. Track side plate; 3. Track side plate connecting plate; 4. Shock absorber track connecting block; 5. Shock absorber; 501. Shock absorber rod; 502. Shock absorber spring; 503. Shock absorber base; 6. Shock absorber electric control base plate sleeve; 7. Electric control box base plate; 8. Electric control box; 9. Electric control box base plate sleeve; 10. Driving wheel; 11. Driven wheel; 12. First follower wheel; 13. Second follower wheel; 14. Third follower wheel. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0039] In one embodiment, the walking system is driven by crawler tracks, and the main part is two crawler track transmission mechanisms. The two crawler track transmission mechanisms are symmetrical and driven by independent driving wheels respectively, and jointly support the box structure above the crawler tracks.

[0040] In one embodiment, specifically Figure 2 and Figure 3 As shown, the main body of a track drive mechanism is track 1, which is widely used in construction machinery, agricultural machinery, and military equipment. Track 1 has teeth on the inside, typically using a standard tooth profile, for meshing with the drive wheel to transmit power. Track 1 also has teeth on the outside to improve grip during driving. Track 1 is relatively wide, increasing the contact area to reduce ground pressure. The use of track 1 improves the road performance of the utility model, allowing it to pass through various bad roads and slopes. Track 1 is made of rubber and skeleton materials, resulting in low noise, low vibration, and low cost.

[0041] In one embodiment, specifically Figure 3 As shown, the driving wheel 10 is the driving wheel of the crawler transmission mechanism. The driving wheel 10 is an external gear with teeth on the outside. It generally adopts a standard tooth profile. Its tooth profile matches the tooth profile on the inside of the crawler 1 and meshes with the inside of the crawler 1 during driving. A motor is installed inside the driving wheel 10. The gear of the driving wheel 10 is fixedly connected to the output shaft of the motor. The operation of the motor realizes the operation of the driving wheel 10.

[0042] In one embodiment, specifically Figure 3 As shown, the driven wheel 11 is the driven wheel of the crawler drive mechanism. It does not directly provide power, but it rotates by receiving the drive wheel, thereby supporting the weight of the entire robot. The driven wheel 11 is an external gear with teeth on the outside. It generally uses a standard tooth profile. Its tooth profile matches the tooth profile on the inside of the crawler 1 and meshes with the inside of the crawler 1 during driving.

[0043] In one embodiment, specifically Figure 3 As shown, the first follower wheel 12, the second follower wheel 13 and the third follower wheel 14 are all toothless circular wheels. The follower wheels mainly play the role of support and balance. They are not directly involved in the drive, but by rotating synchronously with the follower wheels, they help to disperse the weight of the box, reduce the vertical pressure on the ground, and enhance the overall stability of the robot.

[0044] In one embodiment, specifically Figure 2 and Figure 3 As shown, the crawler transmission mechanism is mainly composed of a crawler track 1, a driving wheel 10, a driven wheel 11, a first follower wheel 12, a second follower wheel 13, a third follower wheel 14, and a track side plate 2. The crawler track 1 is driven by the driving wheel 10 and the driven wheel 11 transmits the transmission. The first follower wheel 12, the second follower wheel 13, and the third follower wheel 14 follow and support the crawler track 1. The track side plate 2 is a steel plate that provides installation positioning for each transmission wheel of the crawler transmission mechanism.

[0045] In one embodiment, specifically Figure 2 and Figure 3 As shown, the track side plates 2 are fixedly connected to the track side plate connecting plate 3. The hole in the track side plate connecting plate 3 is coaxially fixed to the electric control box base plate sleeve 9 on the electric control box base plate 7, together supporting the electric control box 8. The track side plate connecting plate 3 is a steel bracket. The track side plate connecting plate 3 and the electric control box base plate sleeve 9 are axially fixed but can rotate circumferentially. The shock absorber track connecting block 4 is also fixedly connected to the track side plates 2.

[0046] In one embodiment, specifically Figure 2 As shown, the electric control box base plate 7 is a thick steel plate, on which the electric control box 8 is installed, and all the electric control components are installed inside the electric control box 8. The electric control box base plate sleeve 9 and the shock absorber electric control base plate sleeve 6 are fixedly connected to the electric control box base plate 7.

[0047] In one embodiment, specifically Figure 4 As shown, the core component of the utility model is the shock absorber 5, which works by reducing vibration through damping. The shock absorber 5 is mainly composed of a shock absorbing rod 501, a shock absorbing spring 502, and a shock absorbing base 503.

[0048] In one embodiment, specifically Figure 4 As shown, the shock absorber rod 501 is a cylindrical shaft with a mounting flange at its upper end and a mounting hole at its top end. Through the mounting hole, the shock absorber 5 and the shock absorber electric control base 6 are axially fixed and can only rotate in the circumferential direction. The shock absorber rod 501 is generally made of steel.

[0049] In one embodiment, specifically Figure 4 As shown, the shock-absorbing spring 502 is the core component of the shock absorber 5. The function of the shock-absorbing spring 502 is to convert mechanical energy into elastic potential energy, and to convert the elastic potential energy into mechanical energy after unloading. When the spring is subjected to an external force, it will undergo elastic deformation and store elastic potential energy. When the external force is removed, the spring will return to its original shape, release the stored elastic potential energy, and convert it into mechanical energy. In order to prevent resonance of the shock-absorbing spring 502, the shock-absorbing spring 502 generally adopts a variable pitch spring. The shock-absorbing spring 502 is often made of high-strength steel. This material has strong rigidity and high durability, and can withstand various impacts and vibrations during the driving of the pipeline clearing robot.

[0050] In one embodiment, specifically Figure 4 As shown, there is a hole inside the shock-absorbing base 503, the diameter of which is slightly larger than the shaft diameter of the shock-absorbing rod 501. The shock-absorbing rod 501 can move up and down inside the hole of the shock-absorbing base 503. The shock-absorbing base 503 has a flange surface for supporting the shock-absorbing spring 502.

[0051] In one embodiment, specifically Figure 4 As shown, the shock absorbing spring 502 is fixedly connected to the flange surface of the shock absorbing rod 501 and the shock absorbing base 503. When the shock absorber 5 is subjected to pressure, the shock absorbing spring 502 is compressed and shortened; when the pressure on the shock absorber 5 decreases, the shock absorbing spring 502 recovers and lengthens.

[0052] In one embodiment, specifically Figure 4 As shown, the upper and lower ends of the shock absorber 5 are mounting holes, which are axially fixed to the shock absorber electric control base plate sleeve 6 and the electric control box base plate sleeve 9 respectively, and can rotate circumferentially.

[0053] In one embodiment, specifically Figure 2 As shown, the track side plate connecting plate 3, the electric control box bottom plate 7 and the shock absorber 5 form a triangle. In this triangle, the electric control box bottom plate 7 is always horizontal due to the symmetrical structure of the two track systems of the supporting mechanism, and its length and angular position do not change. The track side plate connecting plate 3 is a rigid part, and its length does not change. Its angular position is affected by the diameter of the pipeline. Specifically, when the diameter of the pipeline changes, under the action of the gravity of the load above the track, the center of gravity is adjusted, and the track tends to better fit the pipe wall, thereby adjusting the angle of the track side plate 2, and then the angular position of the track side plate connecting plate 3 fixed to the track side plate 2 changes accordingly. The upper and lower connections of the shock absorber 5 are both hinged and can rotate circumferentially. Its angular position can be adjusted. In addition, due to the action of the shock-absorbing spring 502, the length of the shock absorber 5 can also be adjusted. In order to maintain the stability of the triangle formed by the track side plate connecting plate 3, the electric control box bottom plate 7 and the shock absorber 5, when the pipe diameter changes, the angular position of the track side plate connecting plate 3 changes, and the shock absorber 5 adaptively changes the length and angular position, thereby maintaining the stable relationship of the triangle.

[0054] The above is merely one specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A pipeline dredging robot that is adaptive to pipelines and travels smoothly, characterized in that include: The electric control box bottom plate (7) is located at the bottom of the electric control box (8), and is provided with a shock absorber electric control bottom plate shaft sleeve (6) and an electric control box bottom plate shaft sleeve (9); A track side plate connecting plate (3), one end of which is hinged to the electric control box bottom plate shaft sleeve (9) and the other end of which is fixedly connected to the track side plate (2); A shock absorber (5), one end of which is hinged to the track side plate (2) through a shock absorber track connecting block (4), and the other end of which is hinged to the shock absorber electric control bottom plate sleeve (6); The track side plate connecting plate (3), the electric control box bottom plate (7) and the shock absorber (5) together form a variable triangular support structure; The crawler transmission mechanism specifically comprises: a driving wheel (10), a driven wheel (11), a first following wheel (12), a second following wheel (13), a third following wheel (14), a crawler (1) and a crawler side plate (2); the driving wheel (10), the driven wheel (11), the first following wheel (12), the second following wheel (13) and the third following wheel (14) are all mounted on the crawler side plate (2).

2. The pipeline-adaptive and smooth-traveling pipeline dredging robot according to claim 1 is characterized in that: The length and angular position of the electric control box bottom plate (7) are fixed; the track side plate connecting plate (3) is a rigid plate, the length of which is fixed and the angle of which is adjustable; the shock absorber (5) is a retractable spring shock absorber, and the length and angular position of the shock absorber (5) can be changed.

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