A self-propelled robot for cleaning the inner wall of a municipal sewer

Abstract

The utility model relates to the technical field of municipal engineering and robot technology intersection, especially a kind of self-propelled dredging robot of municipal sewer pipeline inner wall.The utility model provides a kind of self-propelled dredging robot of municipal sewer pipeline inner wall, including frame, track module and electric telescopic rod etc., two track modules are slidably installed in the left and right sides of frame, track module is all arranged obliquely, two electric telescopic rods are installed in the left and right sides of frame, and the telescopic end of electric telescopic rod is connected with the track module that is close to each other.The utility model provides walking power source by track module, significantly enhances the passing capacity of equipment whole, so that it can adapt to a variety of complex terrain environment in pipeline, simultaneously, under the assistance of supporting wheel and electric push rod, ensure that track is always close to inner wall, improve grip, and then effectively improve the operating stability and operation reliability of equipment.

Description

Technical Field

[0001] This utility model relates to the technical field of the intersection of municipal engineering and robotics, and in particular to a self-propelled sludge-removing robot for the inner wall of municipal sewer pipes. Background Technology

[0002] With the continuous development of urban drainage systems, the maintenance of municipal sewer pipes has received increasing attention. Due to the long-term transport of sewage, rainwater, and various impurities, a large amount of silt, oil, tree roots, and other debris easily accumulates inside the pipes, leading to poor water flow or even complete blockage, which seriously affects the city's drainage function. Self-propelled dredging robots, due to their advantage of being able to go deep into the pipes for unmanned operation, have gradually become an important tool in the field of pipe dredging.

[0003] Currently, the conventional wheeled structure of existing self-propelled dredging robots is difficult to adapt to changes in pipe diameter, especially in small-diameter or severely deformed old pipes. The wheels are prone to slipping and getting stuck, affecting the robot's normal movement. Secondly, the wheeled structure is sensitive to deposits on the inner wall of the pipe (such as wet and slippery oil stains and moss), which can easily lead to insufficient grip and unstable operation, greatly limiting its application range and dredging efficiency.

[0004] Therefore, it is necessary to design a self-propelled sludge removal robot for the inner wall of municipal sewer pipes. Utility Model Content

[0005] In order to overcome the shortcomings of existing dredging robots in terms of poor adaptability and weak grip during their movement inside pipes, this utility model provides a self-propelled dredging robot for the inner wall of municipal sewer pipes.

[0006] A self-propelled sludge-cleaning robot for municipal sewer pipes includes a frame, track modules, electric telescopic rods, connecting frames, support wheels, electric push rods, a turntable, scrapers, a first motor, a controller, an adjustment mechanism, and a suction mechanism. Two track modules are slidably mounted on each side of the frame, and the track modules are arranged at an angle. Two electric telescopic rods are mounted on each side of the frame, and the telescopic ends of the electric telescopic rods are connected to the adjacent track modules. Multiple connecting frames are slidably connected to the middle of each track module, and each connecting frame is rotatably connected to a support wheel, which abuts against the track module. Multiple electric push rods are mounted on the upper part of each track module, and the telescopic ends of the electric push rods are connected to the adjacent connecting frames. A turntable is rotatably connected to the front of the frame, and scrapers are symmetrically slidably connected to the left and right sides of the turntable. A first motor and a controller are installed inside the frame, wherein the output shaft of the first motor is connected to the turntable, and the controller is electrically connected to the track modules, electric telescopic rods, electric push rods, and the first motor. An adjustment mechanism is provided on the turntable, and a suction mechanism is provided inside the frame.

[0007] To further explain, the adjustment mechanism includes a bidirectional screw, a worm gear transmission component, and a second motor. The bidirectional screw is rotatably connected to the center of the turntable, and both bidirectional screws are threadedly connected to the scraper. The worm gear transmission component is connected to the center of the bidirectional screw. The second motor is installed on the upper rear side of the turntable. The worm wheel in the worm gear transmission component is connected to the bidirectional screw, the worm is connected to the output shaft of the second motor, and the controller is electrically connected to the second motor.

[0008] To further explain, the sludge suction mechanism includes a sludge storage tank, a sludge suction pipe, a sludge pump, and a sludge discharge pipe. The sludge storage tank is installed inside the rear side of the frame, and sludge suction pipes are connected to both the left and right sides of the frame. The sludge suction pipes are all connected to the inside of the sludge storage tank. A sludge pump is installed inside the sludge storage tank, and the sludge pump is connected to the sludge suction pipe. A sludge discharge pipe is connected to and extends out of the rear side of the frame. The controller is electrically connected to the sludge pump.

[0009] To further explain, it also includes lighting and camera modules. Lighting is installed on both the upper left and right sides of the front of the turntable, and a camera module is installed on the lower front of the frame. Both the lighting and camera modules are electrically connected to the controller.

[0010] To further explain, it also includes a filter screen and a signal antenna. The suction pipe inlet is equipped with a filter screen, and the upper part of the frame is equipped with a signal antenna, which is electrically connected to the controller.

[0011] To further explain, the track surface is provided with serrated anti-slip patterns.

[0012] Beneficial effects:

[0013] 1. This utility model provides a power source for movement through the track module, which significantly enhances the overall passability of the equipment, enabling it to adapt to various complex terrain environments inside pipelines. At the same time, with the assistance of support wheels and electric push rods, it ensures that the tracks are always in close contact with the inner wall, improving grip and thus effectively improving the operational stability and reliability of the equipment.

[0014] 2. This utility model uses a suction mechanism to collect and store sludge, enabling immediate recycling of waste and reducing secondary pollution. At the same time, it provides illumination through a lighting lamp, improving the visibility of the camera module in dark environments and allowing users to better judge the dredging effect. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Figure 2 This is a three-dimensional structural diagram of the connecting frame, support wheel, and electric push rod of this utility model.

[0017] Figure 3This is a three-dimensional structural diagram of the scraper, first motor, and controller components of this utility model.

[0018] Figure 4 This is a three-dimensional structural diagram of the turntable, bidirectional screw, and second motor components of this utility model.

[0019] Figure 5 This is a three-dimensional structural diagram of the components of this utility model, including the suction pipe, the sewage pump, and the sewage discharge pipe.

[0020] The markings in the attached diagram are as follows: 1: Frame, 2: Track module, 3: Electric telescopic rod, 4: Connecting frame, 5: Support wheel, 6: Electric push rod, 7: Turntable, 8: Scraper, 9: First motor, 10: Controller, 11: Bidirectional screw, 12: Worm gear transmission, 13: Second motor, 14: Lighting lamp, 15: Camera module, 16: Waste storage tank, 17: Suction pipe, 18: Sewage pump, 19: Discharge pipe, 20: Filter screen, 101: Signal antenna. Detailed Implementation

[0021] Example: A self-propelled sludge-clearing robot for the inner walls of municipal sewer pipes, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes a frame 1, track modules 2, electric telescopic rods 3, connecting frames 4, support wheels 5, electric push rods 6, turntables 7, scrapers 8, a first motor 9, a controller 10, an adjustment mechanism, and a suction mechanism. Two track modules 2 are slidably installed on both the left and right sides of the frame 1. The track modules 2 are arranged at an angle, and the surface of the track in the track module 2 is provided with serrated anti-slip texture to enhance friction and reduce slippage in wet and oily environments. Two electric telescopic rods 3 are installed on both the left and right sides of the frame 1. The telescopic ends of the electric telescopic rods 3 are connected to the track modules 2 that are close to each other. Multiple connecting frames 4 are slidably connected to the middle of the track modules 2. Each connecting frame 4 is rotatably connected to a support wheel 5, and the support wheel 5 abuts against the track module 2. Multiple electric push rods 6 are installed on the upper part of the track modules 2. The telescopic ends of the electric push rods 6 are connected to the connecting frames 4 that are close to each other. A turntable 7 is rotatably connected to the front of the frame 1. Scrapers 8 are symmetrically slidably connected to the left and right sides of the turntable 7. A first motor 9 and a controller 10 are installed inside the frame 1. The output shaft of the first motor 9 is connected to the turntable 7. The controller 10 is electrically connected to the track modules 2, the electric telescopic rods 3, the electric push rods 6 and the first motor 9. An adjustment mechanism is provided on the turntable 7. A sewage suction mechanism is provided inside the frame 1.

[0022] like Figure 4As shown, the adjustment mechanism includes a bidirectional screw 11, a worm gear transmission component 12, and a second motor 13. The bidirectional screw 11 is rotatably connected to the center of the turntable 7. Both bidirectional screws 11 are threadedly connected to the scraper 8. The worm gear transmission component 12 is connected to the center of the bidirectional screw 11. The second motor 13 is installed on the upper rear side of the turntable 7 by bolts. The worm wheel in the worm gear transmission component 12 is connected to the bidirectional screw 11, the worm is connected to the output shaft of the second motor 13, and the controller 10 is electrically connected to the second motor 13.

[0023] like Figure 3 and Figure 5 As shown, the sludge suction mechanism includes a sludge storage tank 16, a sludge suction pipe 17, a sludge pump 18, and a sludge discharge pipe 19. The sludge storage tank 16 is installed inside the rear side of the frame 1. The sludge suction pipes 17 are connected to both the left and right sides of the frame 1. The sludge suction pipes 17 are all connected to the inside of the sludge storage tank 16. The sludge pump 18 is installed inside the sludge storage tank 16, and the sludge pump 18 is connected to the sludge suction pipe 17. The sludge storage tank 16 is connected to and communicates with the rear side of the sludge storage tank 16. The sludge discharge pipe 19 extends out of the rear side of the frame 1. The controller 10 is electrically connected to the sludge pump 18.

[0024] like Figure 1 and Figure 3 As shown, it also includes a lighting lamp 14 and a camera module 15. Lighting lamps 14 are installed on both the upper left and right sides of the front of the turntable 7, and a camera module 15 is installed on the lower front of the frame 1. Both the lighting lamps 14 and the camera module 15 are electrically connected to the controller 10.

[0025] like Figure 1 and Figure 5 As shown, it also includes a filter screen 20 and a signal antenna 101. The filter screen 20 is installed on the inlet of the suction pipe 17, and the signal antenna 101 is installed on the upper part of the frame 1. The signal antenna 101 is electrically connected to the controller 10.

[0026] In practical use, once the robot enters the target pipe, the operator controls the electric telescopic rod 3 via the controller 10, which drives the track modules 2 to automatically adjust according to the current pipe diameter. This ensures that the spacing between the track modules 2 adapts to pipes of different sizes and that they fit tightly against the inner wall of the pipe. The track modules 2 have serrated anti-slip patterns on their surface, significantly enhancing the friction with the inner wall of the pipe and effectively preventing slippage in complex conditions such as wet, oily, or moss-covered surfaces. Simultaneously, the operator uses the electric push rod 6 to move the connecting frame 4 up and down, further adjusting the position of the support wheels 5. This ensures that the track modules 2 remain firmly against the inner wall of the pipe, maintaining good grip and operational stability. This gives the dredging robot excellent adaptability, allowing it to operate stably in pipes of different diameters, slopes, and materials, overcoming the limitations of traditional wheeled structures in complex environments.

[0027] Subsequently, the operator starts the second motor 13 via the controller 10. The output shaft of the second motor 13 drives the worm gear transmission component 14 to rotate, which in turn drives the bidirectional screw 11 to rotate. The bidirectional screw 11 is threadedly connected to the scraper 8, allowing it to slide along the guide rail and dynamically adjust its opening and closing width to adapt to different thicknesses of dirt layers on the inner wall of the pipe, thereby improving cleaning efficiency. On this basis, the track module 2 begins to drive the robot forward along the pipe direction. At the same time, the first motor 9 drives the turntable 7 to rotate, driving the scraper 8 to continuously scrape the inner wall of the pipe, removing attached mud, oil, and other deposits. The scraped sludge gathers near the suction port with the water flow, is sucked in by the sludge pump 15, and is transported through the suction pipe 16 to the waste storage tank 12 for temporary storage to avoid secondary pollution. To prevent large debris from entering the suction system, a filter screen 17 is installed at the inlet of the suction pipe 16, effectively improving the operational stability and reliability of the system.

[0028] Throughout the dredging operation, the camera module 18 collects real-time images of the pipeline's interior and transmits these images to a remote control terminal via the signal antenna 19. This allows operators to remotely observe the pipeline's internal condition, assess the dredging effectiveness, and adjust the robot's speed or the pressure applied by the scraper 8 as needed. Furthermore, in low-light or completely dark pipeline environments, the lighting lamp 13 provides ample light to ensure the camera module 18 can acquire clear images, thereby enhancing the visualization and intelligence of the entire dredging process.

Claims

1. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes, characterized in that, The system includes a frame (1), track modules (2), electric telescopic rods (3), connecting frames (4), support wheels (5), electric push rods (6), turntables (7), scrapers (8), a first motor (9), a controller (10), an adjustment mechanism, and a suction mechanism. Two track modules (2) are slidably installed on both the left and right sides of the frame (1). Two electric telescopic rods (3) are installed on both the left and right sides of the frame (1). The telescopic ends of the electric telescopic rods (3) are connected to the track modules (2) that are close to each other. Multiple connecting frames (4) are slidably connected to the middle of each track module (2). Each connecting frame (4) is rotatably connected to a support wheel (5). The support wheels (5) are connected to the track. The module (2) is abutted, and multiple electric push rods (6) are installed on the upper part of the track module (2). The telescopic ends of the electric push rods (6) are connected to the connecting frames (4) that are close to each other. The front side of the frame (1) is rotatably connected to the turntable (7). The left and right sides of the turntable (7) are symmetrically connected to the scraper (8). The frame (1) is equipped with a first motor (9) and a controller (10). The output shaft of the first motor (9) is connected to the turntable (7). The controller (10) is electrically connected to the track module (2), the electric telescopic rod (3), the electric push rod (6) and the first motor (9). The turntable (7) is equipped with an adjustment mechanism. The frame (1) is equipped with a sewage suction mechanism.

2. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes according to claim 1, characterized in that, The adjustment mechanism includes a bidirectional screw (11), a worm gear transmission component (12), and a second motor (13). The bidirectional screw (11) is rotatably connected to the middle of the turntable (7). The bidirectional screw (11) is threadedly connected to the scraper (8). The worm gear transmission component (12) is connected to the middle of the bidirectional screw (11). The second motor (13) is installed on the upper rear side of the turntable (7). The worm wheel in the worm gear transmission component (12) is connected to the bidirectional screw (11), the worm is connected to the output shaft of the second motor (13), and the controller (10) is electrically connected to the second motor (13).

3. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes according to claim 2, characterized in that, The sludge suction mechanism includes a sludge storage tank (16), a sludge suction pipe (17), a sludge pump (18), and a sludge discharge pipe (19). The sludge storage tank (16) is installed inside the rear side of the frame (1). The sludge suction pipe (17) is connected to both the left and right sides of the frame (1). The sludge suction pipe (17) is connected to the inside of the sludge storage tank (16). The sludge pump (18) is installed inside the sludge storage tank (16), and the sludge pump (18) is connected to the sludge suction pipe (17). The sludge storage tank (16) is connected to and communicates with the sludge discharge pipe (19) at the rear side. The sludge discharge pipe (19) extends out of the rear side of the frame (1). The controller (10) is electrically connected to the sludge pump (18).

4. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes according to claim 3, characterized in that, It also includes a lighting lamp (14) and a camera module (15). Lighting lamps (14) are installed on the upper left and right sides of the front of the turntable (7), and a camera module (15) is installed on the lower front of the frame (1). The lighting lamps (14) and the camera module (15) are electrically connected to the controller (10).

5. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes according to claim 4, characterized in that, It also includes a filter screen (20) and a signal antenna (101). The filter screen (20) is installed on the inlet of the suction pipe (17), and the signal antenna (101) is installed on the upper part of the frame (1). The signal antenna (101) is electrically connected to the controller (10).

6. A self-propelled sludge-clearing robot for the inner wall of municipal sewer pipes according to claim 5, characterized in that, The track surface has a serrated anti-slip pattern.

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