Sewage pipe cleaning and repairing robot

Abstract

The utility model discloses a sewage pipe cleaning and repairing robot, belongs to the technical field of intelligent mechanical equipment, and provides a cleaning and repairing robot capable of replacing workers to go into a sewage pipe for work, the cleaning and repairing robot comprises an outer cylinder, at least three migration assemblies are arranged outside the outer cylinder, and the migration assemblies are arranged along the periphery of the outer cylinder at equal intervals; and a coaxial inner disc is rotationally connected into the outer barrel, a mechanical arm is arranged in the center of the inner disc, a driver is arranged on the end face of the inner disc, and a camera is further arranged on the end face of the inner disc. The mechanical arm is designed on the inner disc capable of rotating relative to the outer barrel, so that the mechanical arm has high control flexibility in the sewage pipe, complex cleaning work is completed like an arm, meanwhile, the camera component is arranged to obtain an image in the pipeline and the working posture of the mechanical arm, and the cleaning efficiency is improved. A worker can operate outside the sewage pipe, so that not only is manpower liberated to a great extent, but also the safety of the worker is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent mechanical equipment, in particular to a sewage pipe cleaning and repairing robot. BACKGROUND

[0002] The sewage pipe may be blocked due to a large amount of debris accumulated inside for a long time. The existing method is to let workers enter the sewage pipe to clean and dredge. Since the pipe is polluted by sewage for a long time, the environment is very poor, which has many effects on the body and psychology of workers. For example, due to long-term fermentation in the pipe, there will be a very pungent smell, and the content of methane may be relatively high. Workers need to be more careful when using electrical appliances in the pipe. If an explosion occurs, it will cause great harm to workers in the pipe. It is very difficult to enter some narrow sewage pipes, and it is more difficult for workers to work in the pipe. SUMMARY

[0003] The purpose of the present application is to provide a cleaning and repairing robot that can replace workers working in the sewage pipe.

[0004] To achieve the above purpose, the present application provides a sewage pipe cleaning and repairing robot: including an outer cylinder, at least three migration assemblies are arranged outside the outer cylinder, the migration assemblies are equidistantly arranged along the outer circumference of the outer cylinder, and are suitable for driving the outer cylinder to move along the inner wall of the sewage pipe, a coaxial inner disc is rotationally connected in the outer cylinder, a mechanical arm is arranged at the center of the inner disc, and is suitable for completing the cleaning and repairing work in the sewage pipe, a driver is arranged on the end face of the inner disc, and is suitable for driving the inner disc to rotate relative to the outer cylinder, a camera is further arranged on the end face of the inner disc, and is suitable for acquiring image information in the sewage pipe to help workers outside the pipe to see the situation in the pipe.

[0005] As a preferred, the inner disc includes a fitting ring, a ring sliding groove is arranged on the outer side of the fitting ring, the outer cylinder has an outer blocking ring, the inner wall of the outer blocking ring has a coaxial inner embedding ring, and the outer blocking ring is suitable for cooperating with the ring sliding groove to form a rotating pair to limit the degree of freedom of the inner disc and improve the stability of the inner disc when adjusting the angle.

[0006] As a preferred, the inner wall of the fitting ring is fixedly connected with a configuration plate, the driver includes a servo motor and a speed reducer fixedly connected with the configuration plate, the output end of the speed reducer is fixedly connected with a gear, and the inner wall of the inner embedding ring is provided with a straight tooth slot suitable for meshing with the gear, so that the accuracy of angle control can be effectively improved.

[0007] As a preferred embodiment, there are two configuration plates, which are parallel to each other and perpendicular to the axis of the mating ring. The two configuration plates have aligned shaft holes. The gear is located between the two configuration plates, and both ends of the gear have coaxial end shafts, which are suitable for cooperating with the shaft holes to form a rotating pair, thereby ensuring the operational stability of the gear.

[0008] As a preferred embodiment, the inner wall of the engagement ring is provided with a through groove that connects to the ring slide groove. The through groove is located between the two configuration plates. The gear passes through the through groove and meshes with the inner ring. The narrower through groove can effectively reduce the probability of debris entering the ring slide groove and affecting the operation of the gear.

[0009] As a preferred embodiment, the servo motor and reducer are fixedly connected to the outer side of one of the configuration plates, and one of the end shafts passes through the shaft hole and connects to the output end of the reducer to provide rotational power to the gear.

[0010] As a preferred embodiment, the robotic arm is fixedly connected to the center of the outer side of another configuration plate, so that the entire robot can better maintain its posture when the robotic arm is working.

[0011] As a preferred embodiment, the camera includes a front-facing lens and a rear-facing lens. The front-facing lens is located on the same side of the configuration plate as the robotic arm, and the rear-facing lens is located on the same side of the configuration plate as the servo motor and reducer. Both the front-facing lens and the rear-facing lens are far from the driver, which can effectively balance the weight distribution of the machine and bring the center of gravity closer to the axis of the outer cylinder, making it easier for the robot to control its posture.

[0012] As a preferred embodiment, the outer surface of the outer cylinder has a hinge frame, and the migration assembly includes a first cantilever and a second cantilever. One end of each of the first and second cantilever is rotatably connected to the hinge frame, and the other end of each cantilever is rotatably connected to a drive wheel. A rotation drive is provided inside each of the first and second cantilever to drive the drive wheel to rotate. A leaf spring is also connected between the first and second cantilever to limit the distance between the first and second cantilever and to provide a pre-tightening force to bring them closer together.

[0013] As a preferred embodiment, the leaf spring includes an elastic plate with hooks at both ends. A first groove is formed on the side of the first cantilever, and a first restraining shaft is fixedly connected to the first cantilever within the first groove, suitable for cooperating with one of the hooks to form a rotating pair. A second groove is formed on the side of the second cantilever, and a second restraining shaft is fixedly connected to the second cantilever within the second groove, suitable for cooperating with the other hook to form a rotating pair, ensuring the degree of freedom of movement of both ends of the leaf spring relative to the cantilever.

[0014] Compared with the prior art, the beneficial effects of this application are as follows:

[0015] (1) By designing the robotic arm on the inner plate that can rotate relative to the outer cylinder, the robotic arm has a high degree of control flexibility inside the sewage pipe, thus completing complex cleaning and repair work like a worker's arm. At the same time, a camera component is configured to acquire images inside the pipe and the working posture of the robotic arm, so that workers can operate outside the sewage pipe, which not only greatly liberates manpower, but also ensures the safety of workers.

[0016] (2) By designing a traction component that can be fully pressed against the inner wall of the sewage pipe within a certain range, the robot can not only enter the narrow sewage pipe, but also maintain its posture well under the support of the circumferential traction component. The robot can handle horizontal, inclined or even vertical pipes. Attached Figure Description

[0017] Figure 1 This is a first three-dimensional structural diagram of the sewage pipe cleaning and repair robot.

[0018] Figure 2 This is a schematic diagram of the second three-dimensional structure of the sewage pipe cleaning and repair robot.

[0019] Figure 3 A three-dimensional structural diagram of the cantilever and outer cylinder of the sewage pipe cleaning and repair robot.

[0020] Figure 4 This is a three-dimensional structural diagram of the traction component of the sewage pipe cleaning and repair robot.

[0021] Figure 5 This is a three-dimensional cross-sectional view of the leaf spring and two cantilever arms of the sewage pipe cleaning and repair robot.

[0022] Figure 6 This is a three-dimensional sectional view of the outer cylinder of the sewage pipe cleaning and repair robot.

[0023] Figure 7 A three-dimensional structural diagram of the robotic arm configured on the inner plate of the sewage pipe cleaning and repair robot.

[0024] Figure 8 A three-dimensional structural diagram showing the camera mounted on the inner panel of the sewage pipe cleaning and repair robot.

[0025] Figure 9 This is a three-dimensional sectional view of the inner disc of the sewage pipe cleaning and repair robot.

[0026] Figure 10 This is a three-dimensional structural diagram of the actuator of the sewage pipe cleaning and repair robot.

[0027] In the diagram: 1. Inner disc; 101. Configuration plate; 102. Fitting ring; 103. Ring groove; 104. Through groove; 105. Shaft hole; 2. Outer cylinder; 201. Embedded ring; 202. Straight tooth groove; 203. Outer retaining ring; 204. Hinge frame; 3. Driver; 301. Servo motor; 302. Reducer; 303. End shaft; 304. Gear; 4. Camera; 401. Front lens; 402. Rear lens; 5. Robotic arm; 6. Migration assembly; 610. First cantilever; 611. First sinker; 612. First restraining shaft; 620. Second cantilever; 621. Second sinker; 622. Second restraining shaft; 630. Leaf spring; 631. Elastic plate; 632. Hook; 640. Drive wheel. Detailed Implementation

[0028] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0029] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this application.

[0030] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0031] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0032] like Figures 1-10The sewage pipe cleaning and repair robot shown includes an outer cylinder 2. The inner wall of the outer cylinder 2 is cylindrical and the outer wall is polygonal. At least three migration components 6 are provided on the outside of the outer cylinder 2. In this embodiment, six are provided. These components can fully contact the inner wall of the sewage pipe to maintain the stability of the outer cylinder 2 inside the sewage pipe. These migration components 6 are arranged at equal intervals along the outer periphery of the outer cylinder 2 to provide uniform support for the outer cylinder 2. Thus, the outer cylinder 2 is approximately coaxial with the sewage pipe. Each migration component 6 has an independent drive, and all migration components 6 can synchronously drive the outer cylinder 2 to move along the inner wall of the sewage pipe.

[0033] The outer surface of the outer cylinder 2 has a hinge frame 204. The specific structure of the migration assembly 6 includes a first cantilever 610 and a second cantilever 620. One end of each of the first cantilever 610 and the second cantilever 620 is rotatably connected to the hinge frame 204. The other ends of the first cantilever 610 and the second cantilever 620 are far apart from each other and are rotatably connected to a drive wheel 640. The drive wheel 640 directly contacts the inner wall of the sewage pipe. A rotary drive is provided inside each of the first cantilever 610 and the second cantilever 620. The rotary drive includes a motor and a reduction gear structure that cooperate with each other to drive the connected drive wheel 640 to rotate. A leaf spring 630 is also connected between the first cantilever 610 and the second cantilever 620. The leaf spring 630 includes an elastic plate 631. Both ends of the elastic plate 631 are... The first cantilever 610 has a first recess 611 on its side facing the second cantilever 620, and a first restraining shaft 612 is fixedly connected to the first cantilever 610 in the first recess 611, which cooperates with one of the hooks 632 to form a rotating pair. The second cantilever 620 has a second recess 621 on its side facing the first cantilever 610, and a second restraining shaft 622 is fixedly connected to the second cantilever 620 in the second recess 621, which cooperates with another hook 632 to form a rotating pair. It should be noted that the axes of the first restraining shaft 612 and the second restraining shaft 622 are parallel to the hinge axis of the cantilever and the hinge frame 204, and the first restraining shaft 612, the second restraining shaft 622, and the hinge axis are all perpendicular to the axis of the outer cylinder 2.

[0034] An inner disc 1 is rotatably connected to the outer cylinder 2. The inner disc 1 has a specific structure including a mating ring 102. The outer side of the mating ring 102 is provided with a coaxial annular groove 103. The outer cylinder 2 has an outer retaining ring 203. The inner wall of the outer retaining ring 203 has a coaxial inner ring 201, which cooperates with the annular groove 103 to form a rotating pair. The end face of the inner disc 1 is provided with a driver 3, which is used to drive the inner disc 1 to rotate relative to the outer cylinder 2. The inner wall of the mating ring 102 is fixedly connected to a configuration plate 101. The driver 3 includes a servo motor 301 and a reducer 302 fixedly connected to the configuration plate 101. The output end of the reducer 302 is fixedly connected to a gear 304. The inner wall of the inner ring 201 is provided with a corresponding straight tooth groove 202, which is used to mesh with the gear 304. After the engagement, the gear 304 will not slip relative to the inner ring 201, which can ensure high angle control accuracy.

[0035] In fact, there are two configuration plates 101. The two configuration plates 101 are parallel and symmetrical to each other. Both configuration plates 101 are perpendicular to the axis of the mating ring 102. The two configuration plates 101 have aligned shaft holes 105. The gear 304 is located between the two configuration plates 101, and the two ends of the gear 304 have coaxial end shafts 303, which respectively cooperate with the shaft holes 105 to form a rotating pair, thereby maintaining the operational stability of the gear 304. The inner wall of the mating ring 102 has a through groove 104 for connecting the ring slide groove 103. The through groove 104 is located between the two configuration plates 101, allowing the gear 304 to pass through the through groove 104 and mesh with the inner ring 201. The servo motor 301 and the reducer 302 are fixedly connected to the outer side of one configuration plate 101. One of the end shafts 303 passes through the shaft hole 105 and is connected to the output end of the reducer 302, thereby driving the gear 304 to rotate.

[0036] A robotic arm 5 is centrally located on the inner plate 1. The robotic arm 5 has an independent control unit capable of grasping and lifting. Many solutions exist in the prior art; any solution that can achieve arm-like movements and clean debris from the sewage pipe is acceptable. The robotic arm 5 is not a key design feature of this application and will not be elaborated upon here. The robotic arm 5 is fixedly connected to the center of the outer side of another configuration plate 101, ensuring that the center of the entire repair robot is positioned as close as possible to the axis of the outer cylinder 2. This facilitates the robot's posture control in completing the cleaning and repair work inside the sewage pipe.

[0037] A camera 4 is also installed on the end face of the inner plate 1 to acquire image information inside the sewage pipe, so that staff can see the situation inside the sewage pipe wirelessly from outside the sewage pipe. The camera 4 includes a front lens 401 and a rear lens 402. Both the front lens 401 and the rear lens 402 have lighting components and night vision functions, so they can work in the dark pipe. The front lens 401 is located on the same side of the configuration plate 101 as the robotic arm 5. The front lens 401 is in the forward direction of the robot's movement, while the rear lens 402 is located on the same side of the configuration plate 101 as the servo motor 301 and the reducer 302. The rear lens 402 is in the opposite direction of the robot's movement. Both the front lens 401 and the rear lens 402 are far away from the driver 3. The weight of the front lens 401 and the rear lens 402 is used to balance the weight added to the other end of the configuration plate 101 by the driver 3. This is also to make the center of gravity of the entire repair robot fall as close as possible to the axis of the outer cylinder 2, so that the robot can more easily control its own posture stability.

[0038] Working principle: In use, first bend the robot's migration component 6 towards the same end of the outer cylinder 2. Then, place all the drive wheels 640 located close to each other at the same end of the outer cylinder 2 into the sewage pipe. Next, push the outer cylinder 2 to press the entire robot into the sewage pipe. The drive wheels 640 located far apart at the other end of the outer cylinder 2, under the constraint of the sewage pipe end, overcome the elastic constraint of the leaf spring 630 and retract towards the other end of the outer cylinder 2 until they are also completely inside the sewage pipe. Due to the strong restoring force of the leaf spring 630, all the drive wheels 640 are pressed tightly against the inner wall of the sewage pipe, and then simple... After single-site wireless control debugging confirms that the rotary drive, driver 3, camera 4, and robotic arm 5 within the migration component 6 can be controlled and function normally, the repair robot can then penetrate deep into the sewage pipe. Through wireless or wired signal transmission, workers can observe deeper locations inside the sewage pipe from outside the pipe via camera 4. Once an anomaly is found inside the pipe, the robotic arm 5 can be controlled to clean or repair the inside of the pipe. After the work is completed, the robot can be pushed out of the pipe by the migration component 6, avoiding many problems associated with workers entering narrow sewage pipes to work.

[0039] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. A sewage pipe cleaning and repair robot, characterized in that: The device includes an outer cylinder (2), on which at least three migration components (6) are provided. These migration components (6) are arranged equidistantly along the outer periphery of the outer cylinder (2) and are adapted to drive the outer cylinder (2) to move along the inner wall of the sewage pipe. A coaxial inner disk (1) is rotatably connected inside the outer cylinder (2). A robotic arm (5) is provided in the center of the inner disk (1) and is adapted to complete the cleaning and repair work inside the sewage pipe. A driver (3) is provided on the end face of the inner disk (1) and is adapted to drive the inner disk (1) to rotate relative to the outer cylinder (2). A camera (4) is also provided on the end face of the inner disk (1) and is adapted to acquire image information inside the sewage pipe.

2. The sewage pipe cleaning and repair robot as described in claim 1, characterized in that: The inner disc (1) includes a fitting ring (102), and the outer side of the fitting ring (102) is provided with an annular groove (103). The outer cylinder (2) has an outer retaining ring (203), and the inner wall of the outer retaining ring (203) has a coaxial inner ring (201), which is suitable for cooperating with the annular groove (103) to form a rotating pair.

3. The sewage pipe cleaning and repair robot as described in claim 2, characterized in that: The inner wall of the fitting ring (102) is fixedly connected to a configuration plate (101). The driver (3) includes a servo motor (301) and a reducer (302) fixedly connected to the configuration plate (101). The output end of the reducer (302) is fixedly connected to a gear (304). The inner wall of the embedded ring (201) is provided with a straight tooth groove (202) suitable for meshing with the gear (304).

4. The sewage pipe cleaning and repair robot as described in claim 3, characterized in that: There are two configuration plates (101), which are parallel to each other and perpendicular to the axis of the mating ring (102). The two configuration plates (101) have aligned shaft holes (105). The gear (304) is located between the two configuration plates (101). The two ends of the gear (304) have coaxial end shafts (303), which are suitable for cooperating with the shaft holes (105) to form a rotating pair.

5. The sewage pipe cleaning and repair robot as described in claim 4, characterized in that: The inner wall of the engagement ring (102) is provided with a through groove (104) that connects to the ring slide groove (103). The through groove (104) is located between the two configuration plates (101). The gear (304) passes through the through groove (104) and meshes with the inner ring (201).

6. The sewage pipe cleaning and repair robot as described in claim 5, characterized in that: The servo motor (301) and the reducer (302) are fixedly connected to the outer side of the configuration plate (101), and one of the end shafts (303) passes through the shaft hole (105) and is connected to the output end of the reducer (302).

7. The sewage pipe cleaning and repair robot as described in claim 6, characterized in that: The robotic arm (5) is fixedly connected to the center of the outer side of another configuration plate (101).

8. The sewage pipe cleaning and repair robot as described in claim 7, characterized in that: The camera (4) includes a front lens (401) and a rear lens (402). The front lens (401) and the robotic arm (5) are located on the same side of the configuration plate (101). The rear lens (402) and the servo motor (301) and reducer (302) are located on the same side of the configuration plate (101). Both the front lens (401) and the rear lens (402) are far away from the driver (3).

9. The sewage pipe cleaning and repair robot as described in any one of claims 1 to 8, characterized in that: The outer side of the outer cylinder (2) has a hinge frame (204). The migration assembly (6) includes a first cantilever (610) and a second cantilever (620). One end of the first cantilever (610) and the second cantilever (620) is rotatably connected to the hinge frame (204). The other end of the first cantilever (610) and the second cantilever (620) is rotatably connected to a drive wheel (640). A rotation drive is provided in both the first cantilever (610) and the second cantilever (620) to drive the drive wheel (640) to rotate. A leaf spring (630) is also connected between the first cantilever (610) and the second cantilever (620).

10. The sewage pipe cleaning and repair robot as described in claim 9, characterized in that: The leaf spring (630) includes an elastic plate (631) with hooks (632) at both ends. The first cantilever (610) has a first recess (611) on its side and a first restraining shaft (612) fixedly connected to the first cantilever (610) in the first recess (611), which is suitable for cooperating with one of the hooks (632) to form a rotating pair. The second cantilever (620) has a second recess (621) on its side and a second restraining shaft (622) fixedly connected to the second cantilever (620) in the second recess (621), which is suitable for cooperating with the other hook (632) to form a rotating pair.

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