A municipal pipeline dredging and inspection robot

Abstract

This application relates to the field of municipal engineering technology and discloses a municipal pipeline dredging and inspection robot, including a mobile vehicle body. A support platform is fixedly installed on the top of the mobile vehicle body, and a detection device is installed on the top of the support platform. A feeding device is installed inside the mobile vehicle body. This municipal pipeline dredging and inspection robot, by placing the detection device on the top of the mobile vehicle body, allows the sludge to be scattered by a rotary cutting device when the mobile vehicle body enters the pipeline for dredging. The sludge is then collected and transported to the inside of a collection box by a pushing mechanism and a feeding device. Simultaneously, the detection device at the top of the robot provides timely inspection of the pipeline's internal condition. A side support mechanism at the front of the mobile vehicle body provides auxiliary rolling support, making the mobile vehicle body more stable during dredging and movement, with good environmental adaptability. This enables a multi-functional dredging and inspection robot that can perform dredging and inspection simultaneously.

Description

Technical Field

[0001] This utility model belongs to the field of municipal engineering technology, and in particular relates to a municipal pipeline dredging and inspection robot. Background Technology

[0002] Municipal pipelines, as a crucial component of urban infrastructure, are prone to blockages or malfunctions due to the accumulation of silt and debris over long-term operation. Traditional manual dredging methods suffer from low efficiency and significant safety hazards. In recent years, with the development of robotics technology, multifunctional pipeline robots have gradually become a research hotspot. However, due to technical bottlenecks such as poor adaptability to complex pipeline environments and incomplete dredging effects, their practical application still faces challenges.

[0003] An existing patent (publication number: CN111364600B) discloses a pipeline sludge cleaning robot, including a tracked machine. A shell is installed on the upper surface of the tracked machine. A sludge storage device is installed on one side of the lower inner surface of the shell, and a sludge transport device is installed on the other side of the lower inner surface of the shell. A limiting device for limiting the sludge storage device is installed on one side of the front of the shell. First positioning devices are symmetrically installed on both sides of the outer exterior of the shell. A second moving plate is installed at the output end of the second electric telescopic rod. A rotating brush is installed through the sliding plate at the output end of the first motor. Multiple second positioning devices are installed at equal intervals on the outer side of the mounting cylinder.

[0004] Existing sludge removal robots often fail to thoroughly remove sludge or cannot perform inspection functions simultaneously. Most pipeline robots focus on a single inspection function and generally suffer from poor environmental adaptability, leading to unstable movement and operational malfunctions. Therefore, a municipal pipeline sludge removal and inspection robot is proposed to address these issues. Utility Model Content

[0005] To address the shortcomings of existing technologies, this application provides a municipal pipeline dredging and inspection robot. This robot boasts advantages such as greater stability during dredging operations, better environmental adaptability, and the ability to perform dredging and inspection simultaneously. It solves the problems mentioned in the aforementioned comparative documents, such as incomplete dredging by existing dredging robots, inability to perform inspection functions, and the fact that most pipeline robots focus on a single inspection function and generally suffer from poor environmental adaptability, leading to unstable movement and operational malfunctions.

[0006] To achieve the above objectives, this application provides the following technical solution: a municipal pipeline dredging and inspection robot, comprising a mobile vehicle body, a support platform fixedly installed on the top of the mobile vehicle body, an inspection device provided on the top of the support platform, a feeding device provided inside the mobile vehicle body, a pushing mechanism provided at one end of the feeding device, a side support mechanism rotatably installed on the outer surface of the support platform, a rotary cutting device fixedly installed on the outer surface of the support platform, a collection box fixedly connected to the outer surface of the mobile vehicle body, the side support mechanisms symmetrically arranged on both sides of the support platform, and a fixing plate and a baffle fixedly installed on the inner wall of the collection box respectively.

[0007] The above solution involves placing the detection device on top of the mobile vehicle. When the mobile vehicle enters the pipeline for dredging, the rotary cutting device disperses the sludge, and the pushing and feeding mechanisms collect and transport the sludge into the collection box. At the same time, the detection device on top monitors the condition inside the pipeline. The side support mechanism in front of the mobile vehicle provides auxiliary rolling support, making the mobile vehicle more stable during dredging and movement, with good environmental adaptability. This results in a multi-functional dredging and detection robot that can perform dredging and detection simultaneously.

[0008] Furthermore, the mobile vehicle body includes a mobile vehicle body, both sides of which are provided with tracked drive wheels, and a control box is provided on the top of the mobile vehicle body.

[0009] The above solution uses tracked drive wheels to move the mobile vehicle body inside the pipeline. The tracked drive wheels can adapt to the road conditions inside the pipeline, making the mobile vehicle body more adaptable when carrying out dredging operations.

[0010] Furthermore, the detection device includes a support gimbal, an infrared rangefinder is mounted on the top of the support gimbal, and a camera is mounted on the top of the infrared rangefinder.

[0011] The above solution involves fixing the support platform to the main body of the mobile vehicle with bolts. This allows the camera to capture real-time images of the inner wall of the pipeline while the mobile vehicle is performing dredging operations inside the pipeline, and the infrared rangefinder to detect deformation or cracks. The infrared rangefinder and the camera are activated simultaneously to synchronously detect the internal condition of the pipeline.

[0012] Furthermore, the feeding device includes a screw conveyor, one end of which is fixedly equipped with a conveying motor, and the bottom of the screw conveyor is fixedly connected to a guide hopper, the bottom of which extends into the interior of the collection box.

[0013] The above scheme involves starting the conveyor motor to drive the screw conveyor. When the sludge is pushed to its inlet, the screw conveyor components inside the screw conveyor gradually transport the sludge into the collection box, so that the sludge can be cleaned up in a timely manner.

[0014] Furthermore, the pushing mechanism includes a pushing hopper, which is fixedly connected to the bottom of the screw conveyor. A pushing motor is fixedly installed on one side of the pushing hopper, and a pushing blade is fixedly connected to the output end of the pushing motor.

[0015] With the above scheme, when sludge cleaning is carried out, the pusher motor is started to drive the pusher blades to rotate, so as to push the sludge accumulated inside the pusher hopper to the input end of the screw conveyor, so as to transport and clean the sludge and achieve a high-efficiency cleaning effect.

[0016] Furthermore, the rotary cutting device includes a rotary cutting motor, and a rotary cutting roller is fixedly installed at the output end of the rotary cutting motor. The outer surface of the rotary cutting roller is provided with a plurality of rotary cutting teeth.

[0017] With the above scheme, after the main body of the mobile vehicle enters the pipeline, the rotary cutting motor is started to drive the rotary cutting roller to rotate, so as to break up the clumps of sludge after the rotary cutting teeth rotate, so that the sludge can easily enter the push hopper in small amounts.

[0018] Furthermore, the side support mechanism includes a side support frame, and a spring support wheel is fixedly installed at the bottom of the side support frame.

[0019] The above scheme uses two sets of side support frames to support the spring support wheels in front of the mobile vehicle body, so that the spring support wheels can adapt to changes in the inner diameter of the pipe, making it easy for them to adjust the support spacing according to the inner diameter of the pipe.

[0020] Furthermore, a number of spring rollers are fixedly installed at the bottom of the collection box.

[0021] Through the above solution, the spring rollers can provide auxiliary movement for the collection box, preventing the collection box from getting stuck when the mobile vehicle is moving.

[0022] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0023] This municipal pipeline dredging and inspection robot places the inspection device on top of a mobile vehicle. When the vehicle enters the pipeline for dredging, the sludge is dispersed by a rotary cutting device, and then transported to the collection box by a pushing mechanism and a feeding device. At the same time, the inspection device on top monitors the condition of the pipeline. The side support mechanism in front of the mobile vehicle provides auxiliary rolling support, making the mobile vehicle more stable during dredging and movement, with good environmental adaptability. This multi-functional dredging and inspection robot can perform dredging and inspection simultaneously. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the mobile vehicle body of this utility model;

[0026] Figure 3 This is a schematic diagram of the structure of the rotary cutting roller of this utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the collection box of this utility model;

[0028] Figure 5 This is a schematic diagram of the bottom of the collection box of this utility model.

[0029] The markings in the diagram are as follows: 1. Mobile vehicle body; 2. Support platform; 3. Detection device; 4. Feeding device; 5. Pushing mechanism; 6. Side support mechanism; 7. Rotary cutting device; 8. Collection box; 9. Fixing plate; 10. Baffle; 101. Mobile vehicle body; 102. Track drive wheel; 103. Control box; 301. Support gimbal; 302. Infrared rangefinder; 303. Camera; 401. Screw conveyor; 402. Conveyor motor; 403. Guide hopper; 501. Pushing hopper; 502. Pushing motor; 503. Pushing blade; 701. Rotary cutting motor; 702. Rotary cutting roller; 703. Rotary cutting teeth; 601. Side support frame; 602. Spring support wheel; 11. Spring roller. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Please see Figure 1 , Figure 2 and Figure 3This embodiment of a municipal pipeline dredging and inspection robot includes a mobile vehicle body 1, a support platform 2 fixedly mounted on the top of the mobile vehicle body 1, an inspection device 3 mounted on the top of the support platform 2, a feeding device 4 inside the mobile vehicle body 1, a pushing mechanism 5 at one end of the feeding device 4, a side support mechanism 6 rotatably mounted on the outer surface of the support platform 2, a rotary cutting device 7 fixedly mounted on the outer surface of the support platform 2, a collection box 8 fixedly connected to the outer surface of the mobile vehicle body 1, the side support mechanisms 6 symmetrically arranged on both sides of the support platform 2, and fixing plates 9 fixedly mounted on the inner walls of the collection box 8. With baffle 10, by placing the detection device 3 on top of the mobile vehicle 1, when the mobile vehicle 1 enters the pipeline for dredging, the sludge is scattered by the rotary cutting device 7, and the sludge is concentrated and transported to the inside of the collection box 8 in conjunction with the pushing mechanism 5 and the feeding device 4. At the same time, the detection device 3 at the top can detect the condition inside the pipeline in a timely manner. The side support mechanism 6 in front of the mobile vehicle 1 plays an auxiliary rolling support role, making the mobile vehicle 1 more stable during the dredging process and with better environmental adaptability, realizing a multi-functional dredging and detection robot that can perform dredging and detection at the same time.

[0032] Please see Figure 2 and Figure 3 The mobile vehicle body 1 includes a mobile vehicle body 101, with tracked drive wheels 102 on both sides of the mobile vehicle body 101. A control box 103 is installed on the top of the mobile vehicle body 101. The side support mechanism 6 includes a side support frame 601, with spring support wheels 602 fixedly installed at the bottom of the side support frame 601. The mobile vehicle body 101 is driven to move inside the pipeline by the tracked drive wheels 102. The tracked wheels can adapt to the road conditions inside the pipeline, making the mobile vehicle body 101 more adaptable when performing dredging operations. The spring support wheels 602 are supported in front of the mobile vehicle body 101 by two sets of side support frames 601, so that the spring support wheels 602 can adapt to changes in the inner diameter of the pipeline, making it easy to adjust the support spacing according to the inner diameter of the pipeline.

[0033] Please see Figure 1 and Figure 2 The detection device 3 includes a support gimbal 301, an infrared rangefinder 302 is mounted on the top of the support gimbal 301, and a camera 303 is mounted on the top of the infrared rangefinder 302. The support gimbal 301 is fixed to the mobile vehicle body 101 by bolts. Thus, when the mobile vehicle body 101 is performing dredging operations inside the pipeline, the camera 303 can take real-time pictures of the inner wall of the pipeline, and the infrared rangefinder 302 can detect deformation or cracks. When the infrared rangefinder 302 and the camera 303 are started at the same time, they can synchronously detect the internal condition of the pipeline.

[0034] Please see Figure 1 and Figure 3The pushing mechanism 5 includes a pushing hopper 501, which is fixedly connected to the bottom of the screw conveyor 401. A pushing motor 502 is fixedly installed on one side of the pushing hopper 501, and a pushing blade 503 is fixedly connected to the output end of the pushing motor 502. The rotary cutting device 7 includes a rotary cutting motor 701, and a rotary cutting roller 702 is fixedly installed at the output end of the rotary cutting motor 701. Several rotary cutting teeth 703 are provided on the outer surface of the rotary cutting roller 702. When performing sludge cleaning operations, the pushing motor pushes the material to move the material. After the 502 is started, the pusher blade 503 is driven to rotate, so as to push the sludge accumulated inside the pusher hopper 501 to the input end of the screw conveyor 401 to facilitate the transport and cleaning of the sludge and achieve efficient cleaning effect. When the main body 101 of the mobile vehicle enters the pipeline, the rotary cutting motor 701 is started to drive the rotary cutting roller 702 to rotate, so as to break up the clumps of sludge after the rotary cutting teeth 703 rotate, so that the sludge can easily enter the pusher hopper 501 in small amounts.

[0035] This embodiment of a municipal pipeline dredging and inspection robot uses tracked drive wheels 102 to drive the mobile vehicle body 101 to move inside the pipeline. The tracked drive wheels can adapt to the internal pipeline conditions. In conjunction with the side support frame 601, spring support wheels 602 are supported in front of the mobile vehicle body 101, allowing the spring support wheels 602 to adapt to changes in the pipeline's inner diameter. This facilitates self-adjustment of the support spacing according to the pipeline's inner diameter, thus improving the adaptability of the mobile vehicle body 101 during dredging operations. It can also work with a camera 303 to capture real-time images of the pipeline's inner wall, and an infrared rangefinder 302 to detect deformation or cracks. When both the infrared rangefinder 302 and the camera 303 are activated simultaneously, they synchronously inspect the internal conditions of the pipeline. After the mobile vehicle body 101 enters the pipeline, the rotary cutting motor 701 drives the rotary cutting roller 702 to rotate, which, together with the rotary cutting teeth 703, breaks up the clumps of sludge, allowing the sludge to easily and gradually enter the push hopper 501. The push motor 502 drives the push blade 503 to rotate, gradually pushing the sludge accumulated inside the push hopper 501 to the inlet end of the screw conveyor 401. The conveying motor 402 drives the screw conveyor 401 to operate, so that when the sludge is pushed to its inlet end, the screw conveying component inside the screw conveyor 401 gradually transports the sludge into the collection box 8, so that the sludge can be cleaned in a timely manner and achieve a high-efficiency cleaning effect.

[0036] The working principle of the above embodiments is as follows:

[0037] During operation, the drive track drive wheel 102 propels the mobile vehicle body 101 to move inside the pipeline. The front side support frame 601 and the bottom spring support wheel 602 adapt to the internal pipeline conditions, assisting in movement. The collection box 8 at the rear, along with the spring roller 11, moves along with it. Simultaneously, the camera 303 and infrared rangefinder 302 start up and synchronously monitor the pipeline's internal conditions in real time. The rotary cutting motor 701 drives the rotary cutting roller 702 to rotate, causing the rotary cutting teeth 703 to break up the sludge. At the same time, the pusher motor 502 starts, driving the pusher blade 503 to rotate, digging up the sludge and pushing it to the entrance of the screw conveyor 401. The conveyor motor 402 then drives the internal conveying components to transport the sludge into the inclined guide hopper 403 and then into the collection box 8. This process is repeated to clean and inspect the sludge inside the pipeline.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application.

Claims

1. A municipal pipe dewatering detection robot comprising a mobile vehicle body (1), characterized in that: A support platform (2) is fixedly installed on the top of the mobile vehicle body (1). A detection device (3) is provided on the top of the support platform (2). A feeding device (4) is provided inside the mobile vehicle body (1). A pushing mechanism (5) is provided at one end of the feeding device (4). A side support mechanism (6) is rotatably installed on the outer surface of the support platform (2). A rotary cutting device (7) is fixedly installed on the outer surface of the support platform (2). A collection box (8) is fixedly connected to the outer surface of the mobile vehicle body (1). The side support mechanism (6) is symmetrically arranged on both sides of the support platform (2). A fixing plate (9) and a baffle (10) are fixedly installed on the inner wall of the collection box (8).

2. A municipal pipe inspection robot according to claim 1, characterized in that: The mobile vehicle body (1) includes a mobile vehicle body (101), and tracked drive wheels (102) are provided on both sides of the mobile vehicle body (101). A control box (103) is provided on the top of the mobile vehicle body (101).

3. A municipal pipe inspection robot as claimed in claim 1, wherein: The detection device (3) includes a support gimbal (301), an infrared rangefinder (302) is provided on the top of the support gimbal (301), and a camera (303) is provided on the top of the infrared rangefinder (302).

4. The municipal pipeline dewatering inspection robot of claim 1, wherein: The feeding device (4) includes a screw conveyor (401), a conveying motor (402) is fixedly installed at one end of the screw conveyor (401), and a guide hopper (403) is fixedly connected to the bottom of the screw conveyor (401), the bottom of the guide hopper (403) extending into the interior of the collection box (8).

5. A municipal pipe inspection robot according to claim 4, wherein: The pushing mechanism (5) includes a pushing bucket (501), which is fixedly connected to the bottom of the screw conveyor (401). A pushing motor (502) is fixedly installed on one side of the pushing bucket (501), and a pushing blade (503) is fixedly connected to the output end of the pushing motor (502).

6. A municipal pipe inspection robot as claimed in claim 1, wherein: The rotary cutting device (7) includes a rotary cutting motor (701), and a rotary cutting roller (702) is fixedly installed at the output end of the rotary cutting motor (701). The outer surface of the rotary cutting roller (702) is provided with a plurality of rotary cutting teeth (703).

7. The municipal pipeline dewatering inspection robot of claim 1, wherein: The side support mechanism (6) includes a side support frame (601), and a spring support wheel (602) is fixedly installed at the bottom of the side support frame (601).

8. The municipal pipeline dewatering inspection robot of claim 1, wherein: The bottom of the collection box (8) is fixedly equipped with spring rollers (11), and the number of spring rollers (11) is set to several.

Images