City sewer pipeline dredging vehicle based on negative pressure adsorption structure

Abstract

The application provides a city sewer dredging vehicle based on a negative pressure adsorption structure, which comprises an upper support, a lower base and a rotating disc arranged between the upper support and the lower base; a collection basket is installed on the upper support; a mechanical grabbing module is arranged on the upper support and used for clamping and transferring large block silt to the collection basket; a shovel is installed on one end of the lower base; a storage box is arranged in the lower base and used for collecting silt; an adsorption hose is extended and fixed on the shovel at one end and communicated with the storage box at the other end; a negative pressure generating device is connected with the storage box through a connecting hose at an air inlet end; and a filter layer is arranged at a communicating part between the connecting hose and the storage box. The negative pressure adsorption system can separate silt and small particles through the filter layer, can dehydrate the adsorbed silt, realizes classified collection, can reduce the load of the dredging vehicle in the process of cleaning silt and improves the one-time cleaning endurance of the dredging vehicle.

Description

Technical Field

[0001] This application relates to the field of urban sanitation machinery technology, and in particular to an urban sewer cleaning vehicle based on a negative pressure adsorption structure. Background Technology

[0002] With the acceleration of urbanization, the total length of urban drainage pipe networks in my country has exceeded 950,000 kilometers (data from the Ministry of Housing and Urban-Rural Development in 2023). The decline in drainage efficiency caused by pipe network siltation has become a key bottleneck restricting urban water environment management. Urban sewer pipes are prone to blockage and environmental pollution due to long-term accumulation of sludge, garbage, and other contaminants.

[0003] Traditional dredging methods mainly rely on manual labor or simple mechanical devices, and their main drawbacks include:

[0004] (1) Low work efficiency: Manual dredging requires road closure and water diversion, and the single operation cycle is as long as 72-120 hours (data from the Journal of Municipal Engineering in 2023). It can only deal with surface silt within the visual range and cannot deal with large-scale siltation.

[0005] (2) Equipment adaptability limitations: Existing tracked or wheeled robots have a small turning radius, making it difficult to move flexibly in narrow and curved pipes;

[0006] (3) Lack of intelligentization: Existing equipment lacks environmental perception capabilities, cannot accurately locate siltation areas, and cannot accurately clean silt and blockages in pipes;

[0007] (4) Secondary pollution problem: During the dredging process, sewage may overflow or dust may be generated, which may cause secondary pollution to the environment.

[0008] For example, Chinese patent CN117071675A discloses a tracked omnidirectional mobile dredging robot, but its dredging is limited to the front and lacks sufficient degrees of freedom, resulting in limited dredging effectiveness. Therefore, there is an urgent need for a dredging device with intelligent recognition, a multi-degree-of-freedom robotic arm, and efficient adsorption capabilities. Utility Model Content

[0009] To address the issues of large silt deposits clogging suction devices and the adsorption and filtration of suspended small particles in sewage in complex pipeline environments, this application provides a city sewer pipeline dredging vehicle based on a negative pressure adsorption structure.

[0010] This application provides a city sewer dredging vehicle based on a negative pressure adsorption structure, which adopts the following technical solution:

[0011] A city sewer dredging vehicle based on a negative pressure adsorption structure includes:

[0012] Upper support, lower base, and turntable between the two;

[0013] The collection basket is installed on the upper support.

[0014] A mechanical gripping module is mounted on the upper support and is used to grip and transfer large pieces of sediment into the collection basket;

[0015] A shovel, mounted on one end of the lower base; and

[0016] The lower base is equipped with:

[0017] Storage tanks are used to collect silt;

[0018] An adsorption hose extends from one end and is fixed to the shovel, while the other end is connected to the storage tank.

[0019] The negative pressure generating device has a connecting hose between its air inlet and the storage tank; and

[0020] The filter layer is located at the connection between the connecting hose and the storage tank.

[0021] Furthermore, the storage tank has a drain outlet on the side away from the adsorption hose to expose the filter layer, and the connecting hose is connected to the upper part of the storage tank.

[0022] Furthermore, the mechanical gripping module includes:

[0023] A robotic arm is mounted on the upper support.

[0024] A mechanical gripper is installed at the output end of the robotic arm.

[0025] Furthermore, the collection basket has a telescopic cover that slides on its opening, and the telescopic cover is hinged to a lever at one end near the robotic arm, with the other end of the lever hinged to the robotic arm.

[0026] When the robotic arm flips over to flip the mechanical gripper over the collection basket, the robotic arm pulls the telescopic cover away from the opening on the collection basket via the lever.

[0027] Furthermore, the robotic arm includes:

[0028] The first servo motor is mounted on the upper bracket, and its output end is connected to the first connecting rod.

[0029] The second servo motor is installed on the upper end of the first connecting rod, and its output end is connected to the second connecting rod.

[0030] The third servo motor is installed on the upper end of the second connecting rod, and the mechanical gripper is installed on its output end.

[0031] Furthermore, when the first connecting rod is vertically arranged, its upper end face is higher than the upper end face of the collection basket, and the end of the pull rod is hinged to the first connecting rod.

[0032] Furthermore, the suction hose extends to one end of the shovel in a tapered shape.

[0033] Furthermore, a visual recognition module and an ultrasonic sensor are provided on the side of the upper support near the mechanical gripping module.

[0034] Furthermore, a lighting lamp is provided on the side of the upper support near the mechanical gripping module.

[0035] Furthermore, tracks are provided on both sides of the lower base, and a power unit for driving the tracks on both sides to operate synchronously is provided in the lower base.

[0036] In summary, this application includes at least one of the following beneficial technical effects:

[0037] 1. Through the coordinated operation of the negative pressure adsorption system, sludge will be collected in the storage tank, and small suspended particles in the water will be adsorbed in the filter layer, thereby completing the pipeline cleaning work; moreover, compared with conventional mud pumps, the negative pressure adsorption system of this application can separate sludge and small particles through the filter layer, and at the same time dehydrate the adsorbed sludge, achieving classified collection, which can reduce the load on the sludge cleaning truck during the sludge cleaning process and improve the cleaning range of the sludge cleaning truck in one cleaning cycle;

[0038] 2. By setting up the first servo motor, the second servo motor, the third servo motor, the first connecting rod, and the second connecting rod, the robotic arm can be freely rotated in the forward and backward directions. It can extend forward to allow the mechanical gripper to grasp large pieces of debris in the silt in front, and it can rotate backward to transfer large pieces of debris to the collection basket behind. This provides greater freedom of movement when cleaning silt and also avoids large pieces of debris such as stones, branches, and aluminum cans from clogging the adsorption hose.

[0039] 3. By setting up the lever, the robotic arm can control the opening and closing of the telescopic cover on the collection frame during the grasping and transfer process;

[0040] 4. By setting up ultrasonic sensors and a visual recognition module to scan and analyze the environment inside the pipeline, the control system plans the path to avoid obstacles and determine the best route for the dredging vehicle. At the same time, the control system analyzes and processes the images captured by the visual recognition module. Based on the size of the silt, it can determine whether to use a robotic arm to control the mechanical grippers to grab and transfer it to the collection basket or to use a negative pressure adsorption system for suction and filtration. This can significantly improve the automation performance of the dredging vehicle. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the negative pressure adsorption system according to an embodiment of this application;

[0044] Figure 3 This is a top view of the lower base in an embodiment of this application.

[0045] Figure label:

[0046] 11. Upper support frame; 12. Lower base; 13. Turntable; 14. Tracks;

[0047] 2. Collection basket; 21. Telescopic lid; 22. Pull rod;

[0048] 3. Shovel;

[0049] 41. Storage tank; 411. Drain outlet; 42. Adsorption hose; 43. Negative pressure generating device; 44. Connecting hose; 45. Filter layer;

[0050] 51. First servo motor; 52. Second servo motor; 53. Third servo motor; 54. First connecting rod; 55. Second connecting rod;

[0051] 6. Mechanical grippers;

[0052] 71. Visual recognition module; 72. Ultrasonic sensor; 73. Lighting lamp. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0054] Reference Figure 1 and Figure 2 This application discloses a city sewer dredging vehicle based on a negative pressure adsorption structure, which includes:

[0055] The upper support 11, the lower base 12, and the turntable 13 located between them allow the upper support 11 to rotate on the lower base 12 and also connect the upper support 11 and the lower base 12.

[0056] The collection basket 2 is installed on the upper support 11 and is located on the upper end face of the rear side of the upper support 11.

[0057] The mechanical gripping module, located on the upper support 11, is used to grip and transfer large sludge particles into the collection basket 2. It can rotate within a range of nearly 270° in the vertical plane to ensure effective gripping and transfer.

[0058] The shovel 3 is installed at one end of the lower base 12, specifically at the front end of the lower base 12, so that the sludge truck can shovel up the sludge in the sewer pipe when it is moving.

[0059] The lower base 12 has a pre-set cavity in the middle, and a negative pressure adsorption system is installed in the cavity, as shown in the figure. Figure 2 Specifically, it includes:

[0060] Storage box 41 is used to collect silt;

[0061] The suction hose 42 extends and is fixed to the shovel 3 at one end and is connected to the storage box 41 at the other end. The end of the suction hose 42 extending to the shovel 3 is tapered to improve the suction effect of sludge.

[0062] The negative pressure generating device 43 has a connecting hose 44 connecting its air inlet to the storage tank 41; and

[0063] The filter layer 45 is located at the connection between the connecting hose 44 and the storage tank 41.

[0064] The storage tank 41 has a drain port 411 on the side away from the adsorption hose 42 for exposing the filter layer 45, and the connecting hose 44 is connected to the upper part of the storage tank 41.

[0065] Therefore, when the sludge removal vehicle of this application travels through urban sewer pipes, the shovel 3 located at the front of the lower base 12 can scoop up the sludge at the bottom of the sewer pipe. The negative pressure generating device 43 actively draws air, and the gas in the storage tank 41 is extracted by the negative pressure generating device 43 through the rectification effect of the connecting hose 44, creating a vacuum environment in the storage tank 41. Utilizing the pressure difference between the external environment and the storage tank 41, the sludge scooped up by the shovel 3 will be sucked into the storage tank 41 through the adsorption hose 42, and the water sucked in along with the sludge will be discharged through the filter layer 45. Through the coordinated work of the negative pressure adsorption system, the sludge will be collected in the storage tank 41, and the suspended small particles in the water will be adsorbed in the filter layer 45, thereby completing the pipe cleaning work. Moreover, compared with conventional mud pumps, the negative pressure adsorption system of this application can separate the sludge and small particles through the filter layer 45, and at the same time dehydrate the adsorbed sludge, achieving classified collection, which can reduce the load on the sludge removal vehicle during the sludge removal process and increase the sludge removal vehicle's cleaning range per operation.

[0066] Specifically, refer to Figure 1 The mechanical gripping module includes:

[0067] The robotic arm is mounted on the upper support 11;

[0068] Mechanical gripper 6 is installed at the output end of the robotic arm. It is a conventional technical means and can be a pneumatic gripper or an electric gripper, which will not be described in detail here.

[0069] Furthermore, a telescopic cover 21 is slidably provided on the opening of the collection basket 2, and a pull rod 22 with the other end hinged to the robotic arm is located at one end of the telescopic cover 21 near the robotic arm.

[0070] When the robotic arm flips to flip the mechanical gripper 6 above the collection basket 2, the robotic arm pulls the telescopic cover 21 away from the opening on the collection basket 2 via the lever 22.

[0071] The robotic arm includes:

[0072] The first servo motor 51 is mounted on the upper bracket 11, and its output end is connected to the first connecting rod 54.

[0073] The second servo motor 52 is mounted on the upper end of the first connecting rod 54, and its output end is connected to the second connecting rod 55.

[0074] The third servo motor 53 is installed on the upper end of the second connecting rod 55, and its output end is equipped with a mechanical gripper 6.

[0075] When the first connecting rod 54 is set vertically, its upper end face is higher than the upper end face of the collection basket 2, and the end of the pull rod 22 is hinged to the first connecting rod 54.

[0076] Thus, by setting up the first servo motor 51, the second servo motor 52, and the third servo motor 53, as well as the first connecting rod 54 and the second connecting rod 55, the robotic arm can freely rotate in the forward and backward directions. It can extend forward to allow the mechanical gripper 6 to clamp large debris in the silt in front, and it can also rotate backward to transfer large debris to the collection basket 2 behind. This provides greater freedom of movement when cleaning silt and also avoids large debris such as stones, branches, and aluminum cans from clogging the adsorption hose 42.

[0077] Furthermore, during the process of transferring large objects from the mechanical gripper 6 to the collection basket 2 via the robotic arm, the first servo motor 51 controls the first connecting rod 54 to rotate away from the collection basket 2. This allows the second connecting rod 55 to drive the mechanical gripper 6 to flip backward. At this time, the first connecting rod 54, through the hinged pull rod 22, can pull the telescopic cover 21 on the collection basket 2, thus releasing the cover from the basket and facilitating the mechanical gripper 6 to drop the large objects into it. When the mechanical gripper 6 needs to return to its original position, the first servo motor 51 controls the first connecting rod 54 to flip closer to the collection basket 2, allowing the second connecting rod 55 to drive the mechanical gripper 6 to flip forward and grab the large objects in front. In this way, the robotic arm can achieve a linkage control effect on the telescopic cover 21 on the collection basket during the grabbing and transfer process.

[0078] Additionally, refer to Figure 1 and Figure 3 The upper support 11 has a lighting lamp 73, a vision recognition module 71, and an ultrasonic sensor 72 installed on the side near the mechanical gripping module. The lower base 12 has tracks 14 on both sides, and the lower base 12 has a power unit for driving the tracks 14 on both sides to rotate synchronously. The specific technology is also conventional and will not be described in detail here.

[0079] In this way, while the sludge removal vehicle is traveling in the sewer pipe, the lighting 73 provides sufficient illumination for the visual recognition module 71, ensuring the reliability of the visual recognition module 71 in the dim pipe environment; the ultrasonic sensor 72 and the visual recognition module 71 scan and analyze the environment inside the pipe, and the control system performs path planning to avoid obstacles and determine the best route for the sludge removal vehicle. At the same time, the control system analyzes and processes the images captured by the visual recognition module 71. When the size of the identified sludge exceeds the processing range of the negative pressure adsorption system, the control system sends a signal to the robotic arm, controlling the servo motors to work together and drive the mechanical gripper 6 to grab it and put it into the collection basket 2.

[0080] When the size of the silt identified by the control system is within the processing range of the negative pressure adsorption system, the shovel 3 scoops up the silt, the negative pressure generating device 43 is activated, and the silt is sucked into the sludge storage tank and stored by generating negative pressure at the interface of the adsorption hose 42, while small suspended particles in the water are adsorbed and collected by the filter layer 45.

[0081] Obstacles are monitored in real time by ultrasonic sensor 72 and visual recognition module 71. The control system adjusts the movement path or suspends the operation and sends an alarm to the back-end user terminal. Once the dredging vehicle reaches the vertical well, the collected pollutants can be placed there, and then these pollutants can be manually retrieved. This can further improve the automation performance of the dredging vehicle.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A city sewer dredging vehicle based on a negative pressure adsorption structure, characterized in that, include: Upper support, lower base, and turntable between the two; A collection basket is installed on the upper support. A mechanical gripping module is mounted on the upper support and is used to grip and transfer large pieces of sediment into the collection basket; A shovel, mounted on one end of the lower base; and The lower base is equipped with: Storage tanks are used to collect silt; An adsorption hose extends from one end and is fixed to the shovel, while the other end is connected to the storage tank. The negative pressure generating device has a connecting hose between its air inlet and the storage tank. as well as The filter layer is located at the connection between the connecting hose and the storage tank.

2. The urban sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, The storage tank has a drain outlet on the side away from the adsorption hose to expose the filter layer, and the connecting hose is connected to the upper part of the storage tank.

3. The urban sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, The mechanical gripping module includes: A robotic arm is mounted on the upper support. A mechanical gripper is installed at the output end of the robotic arm.

4. The urban sewer dredging vehicle based on a negative pressure adsorption structure according to claim 3, characterized in that, The collection basket has a telescopic cover that slides on its opening, and the telescopic cover is hinged to a lever at one end near the robotic arm, with the other end of the lever hinged to the robotic arm. When the robotic arm flips over to flip the mechanical gripper over the collection basket, the robotic arm pulls the telescopic cover away from the opening on the collection basket via the lever.

5. A city sewer dredging vehicle based on a negative pressure adsorption structure according to claim 4, characterized in that, The robotic arm includes: The first servo motor is mounted on the upper bracket, and its output end is connected to the first connecting rod. The second servo motor is installed on the upper end of the first connecting rod, and its output end is connected to the second connecting rod. The third servo motor is installed on the upper end of the second connecting rod, and the mechanical gripper is installed on its output end.

6. A city sewer dredging vehicle based on a negative pressure adsorption structure according to claim 5, characterized in that, When the first connecting rod is set vertically, its upper end face is higher than the upper end face of the collection basket, and the end of the pull rod is hinged to the first connecting rod.

7. The urban sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, The adsorption hose extends to one end of the shovel and tapers inward.

8. The urban sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, A visual recognition module and an ultrasonic sensor are provided on the side of the upper support closest to the mechanical gripping module.

9. A city sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, A light is provided on the side of the upper support near the mechanical gripping module.

10. A city sewer dredging vehicle based on a negative pressure adsorption structure according to claim 1, characterized in that, Tracks are provided on both sides of the lower base, and a power unit for driving the tracks on both sides to operate synchronously is provided in the lower base.

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