Radial extensible municipal pipeline cleaning robot

Abstract

A walking mechanism of the radial extensible municipal pipeline cleaning robot comprises three sets of walking units which are evenly distributed in the circumferential direction of a robot body, and each set of walking unit is matched with a set of telescopic control unit. The telescopic control unit comprises four pitching rods and a group of control rods, the four pitching rods are respectively hinged with a walking box body of the walking unit and the machine body and form a parallelogram pitching structure, one end of each control rod is hinged with the walking box body, the other end of each control rod is hinged with a nut block, and a lead screw meshed with the nut block is rotatably connected in the machine body; the lead screw is driven by a gear motor to rotate. The rotating unit is composed of a drill bit body and a plurality of cleaning claws evenly distributed in the circumferential direction of the drill bit body. According to the municipal pipeline cleaning device, the radial size can be adjusted according to different pipe diameters of municipal pipelines, cleaning work on the interiors of the pipelines with different diameters is achieved, adaptability is high, cleaning efficiency is high, the working environment of pipeline cleaning workers is improved, the labor intensity of the workers is reduced, and cleaning cost is saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline cleaning equipment, in particular to a radially extendable municipal pipeline cleaning robot. Background Art

[0002] Municipal pipelines are an important part of urban infrastructure and require regular cleaning. Using pipe cleaning robots to clean municipal pipelines can save a lot of manpower and improve efficiency. Pipe cleaning robots mainly include chemical cleaning and mechanical cleaning types. Chemical cleaning robots dissolve or decompose dirt, grease, and organic matter in the pipeline by spraying chemical cleaning agents. The robot automatically releases the appropriate cleaning agent according to the situation in the pipeline and distributes it through the cleaning head. Mechanical cleaning robots are usually equipped with a rotating cleaning unit or a mechanical gripping unit. They can clean the inner wall of the pipeline through high-pressure spraying or mechanical devices. They are suitable for various types of sewage and rainwater pipelines. Utility Model Content

[0003] The utility model aims to provide a mechanical cleaning robot for municipal pipelines of different diameters. The technical solution is as follows:

[0004] A radially extendable municipal pipeline cleaning robot comprising:

[0005] body;

[0006] The walking mechanism has three groups of walking units evenly distributed along the circumference of the machine body. Each group of walking units is matched with a telescopic control unit. The telescopic control unit adopts four pitch rods that are respectively hinged to the walking box and the machine body of the walking unit and form a parallelogram pitch structure, and a group of control rods. One end of the control rod is hinged to the walking box, and the other end is hinged to a nut block. The screw engaged with the nut block is rotatably connected to the machine body, and the screw is driven to rotate by a reduction motor.

[0007] Furthermore, it also includes an obstacle removal and cleaning mechanism, which includes:

[0008] The rotating unit is arranged as a whole on the front side of the machine body in the axial direction and can rotate around the axis; the rotating unit includes a drill body and at least three cleaning claws evenly distributed along the circumference of the drill body. The drill body is coaxially fixed to one end of the rotating shaft, and the other end of the rotating shaft is fixed by a group of reduction motors in the machine body.

[0009] Furthermore, one end of each cleaning claw is hinged to the drill body, the middle part of the cleaning claw is hinged to one end of a support rod, the other end of the support rod is hinged to a rotor disk, the rotor disk is connected to the stator disk and the two can move synchronously along the axial direction, and the rotor disk can rotate around the axis relative to the stator disk; the rotating shaft passes through the rotor disk and the stator disk; the stator disk is driven and connected by two sets of telescopic rods of electric push rods installed in the machine body, and the telescopic direction of the electric push rod is parallel to the axial direction of the rotating shaft.

[0010] Furthermore, the rotor disk is embedded in the stator disk, and a bearing is sandwiched between the rotor disk and the stator disk.

[0011] Furthermore, each cleaning claw is fixed with a row of racks and a row of scrapers. The racks are composed of a plurality of spaced teeth, and the scrapers are continuous blades. The racks and scrapers extend along the length direction of the cleaning claws respectively and there is a gap between them.

[0012] Furthermore, the traveling box of each group of traveling units is equipped with four traveling wheels, wherein the traveling box of at least one group of traveling units is equipped with a reduction motor for providing power to the corresponding traveling wheels.

[0013] Furthermore, each group of walking units is also fixed with a shovel plate at the bottom of the front end in the traveling direction of its walking box.

[0014] Furthermore, the overall body is in the shape of a hexagonal column.

[0015] Furthermore, it also includes a lighting mechanism, which includes a plurality of LED light tubes evenly distributed on the periphery of the front end of the body.

[0016] Furthermore, an image acquisition mechanism is installed on the body.

[0017] The utility model can adjust the radial size according to the different diameters of municipal pipelines, so as to realize the cleaning work inside pipelines with different diameters. It has strong adaptability and high cleaning efficiency, improves the working environment of pipeline cleaning workers, reduces the labor intensity of workers, and saves cleaning costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings that constitute part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without making any creative efforts.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0020] Figure 2 The main view diagram;

[0021] Figure 3 for Figure 2 AA section diagram in .

[0022] Reference numerals in the figures:

[0023] Body 1;

[0024] Walking mechanism 2;

[0025] Travel unit 21; travel box 211; travel wheel 212; reduction motor 213; shovel plate 214;

[0026] Telescopic control unit 22; pitch rod 221; control rod 222; nut block 223; lead screw 224;

[0027] Obstacle removal and cleaning agency 3;

[0028] Rotating unit 31; drill body 311; cleaning claw 312; rotating shaft 313; support rod 314; rotor disk 315; stator disk 316; bearing 317; electric push rod 318;

[0029] Rack array 3121; blade 3122;

[0030] LED light tube 4; camera 5; wire take-up box 6; wire take-up reel 61; spring 7. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0032] In the description of the embodiments of the present invention, it should be noted that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operate in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0033] The term "plurality" in the present invention refers to more than two (including two). The terms "first", "second", etc. are only used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0034] Unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0035] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0036] As shown in the figure, the utility model includes

[0037] The machine body 1 is mainly constructed of profiles and provides a corresponding installation foundation for other units and shells. Preferably, in order to facilitate installation and make full use of space, the machine body 1 is in the shape of a six-sided cylinder.

[0038] The walking mechanism 2 includes three groups of walking units 21 evenly distributed along the circumferential side of the machine body. Each group of walking units 21 can be a wheeled walking unit or a crawler walking unit. The wheeled walking unit can use a single walking wheel or multiple walking wheels. Each group of walking units 21 of the present invention uses a four-wheeled walking unit, that is, the walking box 211 is equipped with four walking wheels 212 for contacting the pipe wall to obtain better grip and smoother travel. Among them, the walking box 211 of at least one group of walking units 21 is equipped with a reduction motor 213 that provides power to the corresponding walking wheels 212; making it an active four-wheeled walking unit. The transmission connection structure between the reduction motor and the corresponding walking wheels 22 belongs to the existing technology and will not be repeated here.

[0039] Each group of walking units 21 is matched with a group of telescopic control units 22, and each group of telescopic control units 22 can control the corresponding walking unit 21 to extend or retract along the radial direction of the machine body 1. Specifically, each group of telescopic control units 22 of the utility model adopts four pitch rods 221 that are respectively hinged to the walking box 211 and the machine body 1 and form a parallelogram pitch structure, and a group of control rods 222, one end of the control rod 222 is hinged to the walking box 211, and the other end is hinged to a thread nut block 223, and a screw 224 engaged with the thread nut block 223 is rotatably connected to the machine body 1, and the screw 224 is driven to rotate by a reduction motor, and the pitch angle of the control rod 222 is changed through the screw nut pair, which cooperates with the parallelogram pitch structure to drive the corresponding walking unit 21 to extend or retract along the radial direction of the machine body 1, so that the walking wheel abuts or detaches from the inner wall of the pipe, so as to adjust the radial size according to the different diameters of the municipal pipe, and realize the cleaning work inside the pipe of different diameters.

[0040] Preferably, see Figure 1 Each group of walking units 21 is also fixed with a shovel plate 214 at the bottom of the front end of its walking box 211 in the direction of travel, so as to remove the silt on the pipe wall in front of the travel route of the walking unit 21 as much as possible to ensure stable and smooth travel and avoid blockage or slipping.

[0041] It also includes an obstacle removal and cleaning mechanism 3, which includes

[0042] The rotating unit 31 is integrally arranged at the front side of the body 1 in the axial direction and is capable of rotating around the axis;

[0043] The rotating unit 31 includes a drill body 311 and at least three cleaning claws 312 evenly distributed along the circumference of the drill body 311. The drill body 311 is coaxially fixed to one end of the rotating shaft 313, and the other end of the rotating shaft 313 is driven and connected by a set of reduction motors 314 fixed in the body. The driving shaft 313 drives the drill body 311 and the cleaning claws 312 to rotate around the axis, thereby breaking up and cleaning the silt in front of the body.

[0044] Furthermore, one end of each cleaning claw 312 is hinged to the drill bit body 311, the middle part of the cleaning claw 312 is hinged to one end of a support rod 314, and the other end of the support rod 314 is hinged to a rotor disk 315. The rotor disk 315 is embedded in a stator disk 316. A bearing 317 is sandwiched between the rotor disk 315 and the stator disk 316, so that the rotor disk 315 and the stator disk 316 can move synchronously along the axial direction, and the rotor disk 315 can rotate around the axis relative to the stator disk; the rotating shaft 313 slides through the rotor disk 315 and the stator disk 316; the stator disk 316 is driven and connected by two sets of telescopic rods of electric push rods 318 installed in the machine body, and the telescopic direction of the electric push rods 318 is parallel to the axial direction of the rotating shaft 313.

[0045] Preferably, see Figure 1 Each cleaning claw 312 is also fixed with a row of racks 3121 and a row of scrapers 3122. The racks 3121 are composed of a plurality of spaced teeth, and the scrapers 3122 are continuous blades. The racks 3121 and the scrapers 3122 extend along the length direction of the cleaning claw 312 respectively, and there is a gap between the two, and they cooperate with each other to further improve the effect of cleaning sludge.

[0046] Driven by the extension and retraction of the two sets of electric push rods 318, the stator disc 316 moves forward or retracts axially together with the rotor disc 315, and is driven by the hinged support rod 314 to drive the three cleaning claws 312 to be propped up or retracted relative to the drill body 311, thereby adapting to the front cleaning of pipes of different diameters; and, driven by the rotating shaft 313, the cleaning claws 312 rotate along with the drill body 311, and the blockage in front is cleaned by a combination of head drilling, tooth cutting and knife scraping.

[0047] It also includes a lighting mechanism, which includes six LED light tubes 4, which are evenly distributed around the periphery of the front end of the body to provide lighting support for image acquisition, etc., so as to obtain clearer images.

[0048] The present invention can also install an image acquisition mechanism including a camera 5 on the body 1, and the camera 5 is used to acquire the image. The control circuit in the body 1 transmits the image to the on-site staff through wired or wireless means. The control circuit, transmission protocol and cable connection belong to the existing technology and will not be repeated in this article.

[0049] The utility model can adopt a power supply mode of a built-in rechargeable battery in the body as a power source, and can also adopt a power supply mode of connecting to an external power source through a cable.

[0050] This embodiment also provides a simple structure of a cable or traction rope take-up structure. The function of the traction rope is that if the utility model cannot move in the pipeline due to a malfunction or other reasons, it can be pulled out of the pipeline by the traction rope.

[0051] As shown in the figure, a wire taking-up box 6 is provided at the rear of the machine body 1. The wire taking-up box 6 takes in and releases the cables through the wire outlet (not shown) via the wire taking-up reel 61 therein. The wire taking-up box 6 is connected to the machine body via a plurality of springs 7 or connecting rods (not shown).

[0052] The cables or traction ropes can be fully or mostly released from the take-up box before construction begins, and then the robot is started to move in the pipeline, so as to minimize the interference of paying out the cables while moving on the robot's movement; multiple springs are used to connect the take-up box and the machine body, mainly because the cables or traction ropes cannot be ensured to be collinear with the machine body axis when they are stretched by force during the movement or retreat of the robot. If the take-up box and the machine body are purely rigidly connected and the traction force is large, it may cause the machine body axis to deviate from the pipeline axis, which may cause the robot to get stuck in the pipeline. The elastic torsion of the spring can offset the influence of this eccentric force to a certain extent.

[0053] After the construction is completed, the wire-winding process can be carried out by rotating the shaft of the wire-winding drum 61. The part of the shaft exposed outside the wire-winding box 6 can be controlled to rotate by a torsion component. For example, an inner hexagonal hole is set at the end of the shaft. When winding the wire, it is connected through an L-shaped torsion bar with an outer hexagon. By turning the L-shaped torsion bar, the shaft can drive the wire-winding drum to rotate to recycle the cable or traction rope.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. Radially extendable municipal pipeline cleaning robot, characterized in that: include: Body (1); The walking mechanism (2) comprises three groups of walking units (21) uniformly distributed along the circumference of the machine body, each group of walking units being matched with a group of telescopic control units (22), the telescopic control unit comprising four pitching rods (221) respectively hinged to the walking box of the walking unit and the machine body and forming a parallelogram pitching structure, and a group of control rods (222), one end of the control rod being hinged to the walking box and the other end being hinged to a thread nut block (223), a lead screw (224) meshed with the thread nut block being rotatably connected to the machine body, and the lead screw being driven to rotate by a reduction motor.

2. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: Also included is an obstacle removal and cleaning mechanism (3), which includes: The rotating unit (31) is entirely arranged at the front side of the machine body in the axial direction and can rotate around the axis; the rotating unit includes a drill body (311) and at least three cleaning claws (312) uniformly distributed along the circumference of the drill body (311); the drill body (311) is coaxially fixed to one end of a rotating shaft (313); the other end of the rotating shaft is connected to a group of reduction motors fixed in the machine body.

3. The radially extendable municipal pipeline cleaning robot according to claim 2, characterized in that: One end of each cleaning claw is hinged to the drill body, the middle of the cleaning claw is hinged to one end of a support rod (314), the other end of the support rod is hinged to a rotor disk (315), the rotor disk is connected to the stator disk and the two can move synchronously along the axis direction, and the rotor disk can rotate around the axis relative to the stator disk; the rotating shaft passes through the rotor disk and the stator disk; the stator disk is driven and connected by two sets of telescopic rods of electric push rods installed in the machine body, and the telescopic direction of the electric push rod is parallel to the axial direction of the rotating shaft.

4. The radially extendable municipal pipeline cleaning robot according to claim 3, characterized in that: The rotor disc is embedded in the stator disc, and a bearing is sandwiched between the rotor disc and the stator disc.

5. The radially extendable municipal pipeline cleaning robot according to claim 2, characterized in that: Each cleaning claw is also fixed with a row of racks and a row of scrapers. The racks are composed of a plurality of spaced teeth, and the scrapers are continuous blades. The racks and scrapers extend along the length of the cleaning claws and there is a gap between them.

6. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: The travel box of each group of travel units is equipped with four travel wheels, and the travel box of at least one group of travel units is equipped with a reduction motor that provides power to the corresponding travel wheels.

7. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: Each group of walking units is further provided with a shovel plate at the front end bottom of the walking box in the direction of travel.

8. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: The overall body is in the shape of a six-sided cylinder.

9. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: It also includes a lighting mechanism, which includes a plurality of LED light tubes evenly distributed on the periphery of the front end of the machine body.

10. The radially extendable municipal pipeline cleaning robot according to claim 1, characterized in that: An image acquisition mechanism is also installed on the machine body.

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