A small pipe dredging robot

Abstract

This utility model discloses a small circular pipe dredging robot, relating to the field of circular pipe dredging technology, comprising: a walking frame; a triangular pyramidal reamer head, rotatably mounted on the front end of the walking frame; a drive device, mounted on the walking frame, used to drive the triangular pyramidal reamer head to rotate; and a sludge extraction device, mounted on the walking frame, used to extract the mud-water mixture broken up by the triangular pyramidal reamer head. The triangular pyramidal reamer head of this utility model is designed to effectively cut and break up sludge and sediment during rotation, improving dredging efficiency. The distribution of fragments in different directions on the triangular pyramidal reamer head allows it to better contact and agitate the sludge during rotation, thus completing the dredging task faster, while also further cutting and breaking up the sludge and sediment. Water nozzles in different directions distributed on the triangular pyramidal reamer head cooperate with the rotation of the reamer head.

Description

Technical Field

[0001] This utility model relates to the field of circular pipe dredging technology, and in particular to a small circular pipe dredging robot. Background Technology

[0002] Small round pipe dredging robots are widely used in infrastructure systems such as municipal pipe networks, industrial pipelines, and water conservancy pipelines, undertaking key functions such as sewage discharge, media transportation, and rainwater drainage. However, during long-term operation, due to the characteristics of the fluid medium, the limitations of the pipe material, and the influence of the external environment, small round pipes are prone to problems such as the accumulation of silt, sand, and debris, as well as scale buildup on the inner wall of the pipe.

[0003] Most dredging robots are equipped with flat disc-shaped or single spiral-shaped cutter heads, which have a limited contact area with the silt. This makes it difficult to quickly break down hardened silt with high viscosity and hardness into small particles.

[0004] The cutter head lacks auxiliary crushing design, making it unable to fully agitate the sludge in different locations within the pipe, resulting in sludge residue remaining in some areas.

[0005] The inner wall of small round pipes has a small curvature. Most existing dredging robots adopt a two-wheel or four-wheel symmetrical walking structure, which makes it difficult to form a stable fit with the inner wall of the pipe. They are prone to tipping over and slipping inside the pipe. Utility Model Content

[0006] This invention provides a small round tube dredging robot to solve the problem in the prior art where the contact area between the cutter head and the silt is limited, making it difficult to quickly break down hardened silt with high viscosity and hardness into small particles.

[0007] The technical problem solved by this utility model is achieved by the following technical solution:

[0008] A small round pipe dredging robot includes:

[0009] Walking support;

[0010] A triangular pyramidal reamer head is rotatably mounted on the front end of the traveling bracket;

[0011] A drive unit, which is mounted on a traveling bracket, is used to drive the triangular pyramidal reamer head to rotate;

[0012] A sludge extraction device, mounted on a traveling support, is used to extract a mixture of mud and water broken up by a triangular pyramidal cutter head.

[0013] Optionally, a plurality of chip blocks are fixedly provided on the front side of the triangular pyramidal reamer head, and the plurality of chip blocks are located in different directions of the triangular pyramidal reamer head.

[0014] Optionally, the front side of the triangular pyramidal reamer head is provided with a plurality of water spray nozzles, and the water inlets of the plurality of water spray nozzles are connected to water pipes, the water inlets of the water pipes being located on the rear side of the traveling support.

[0015] Optionally, the sludge extraction device includes:

[0016] A sludge pipe with a sludge inlet at the front end and a slurry pump at the rear end, wherein the sludge inlet is located on the rear side of a triangular pyramidal reamer head;

[0017] The sludge discharge pipe interface is installed at the rear opening of the slurry pump.

[0018] Optionally, a filter screen is installed at the opening of the sludge inlet.

[0019] Optionally, the walking support consists of a frame, a top wheel assembly mounted on the top of the frame, two side wheel assemblies mounted on both sides of the frame, and the two side wheel assemblies are inclined and triangularly opposed to the mounting frame.

[0020] Optionally, the top wheel assembly includes:

[0021] The top wheel bracket is hinged to the top of the frame;

[0022] The top wheel is rotatably mounted at the end of the top wheel bracket;

[0023] The hydraulic cylinder, with its two ends hinged to the top wheel bracket and the top wheel respectively, is used to adjust the tilt angle of the top wheel bracket.

[0024] Optionally, the side wheel assembly includes:

[0025] Side wheels, four in number, are rotatably mounted on the frame;

[0026] The drive power unit is mounted inside the frame and is used to drive the side wheels to rotate.

[0027] Optionally, the drive power assembly includes:

[0028] A hydraulic motor is used to drive the side wheels to rotate;

[0029] The speed reducer unit is installed between the hydraulic motor and the side wheel.

[0030] Optional, also includes:

[0031] There are three hydraulic pipes, which are respectively connected to the side wheel assembly, the top wheel assembly and the drive device.

[0032] The beneficial effects of this utility model are:

[0033] The triangular pyramidal reamer head design effectively cuts and breaks up silt and sediment during rotation, improving dredging efficiency.

[0034] The triangular pyramidal cutter head has blades distributed in different directions, which allows it to better contact and agitate the silt when rotating, thus completing the dredging task more quickly. It can also further cut and break up the silt and sediment.

[0035] The triangular pyramidal cutter head has water nozzles distributed in different directions. With the rotation of the cutter head, the sediment can be effectively mixed and diluted with water. The mud-water mixture can then be quickly pumped to the ground by the sludge extraction device.

[0036] The robot's top wheel assembly and side wheel assembly are arranged in a triangular opposition within a circular tube, effectively and stably propelling the robot forward. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of this utility model;

[0039] Figure 2 This is a schematic diagram of the sludge extraction device of this utility model;

[0040] Figure 3 This is a schematic diagram of the triangular pyramidal reamer head structure of this utility model;

[0041] Figure 4 This is a schematic diagram of the top wheel assembly structure of this utility model;

[0042] Figure 5 This is a schematic diagram of the side wheel assembly structure of this utility model;

[0043] Figure 6 This is a schematic diagram of the drive power component structure of this utility model.

[0044] In the diagram: 100, traveling support; 110, frame; 120, top wheel assembly; 121, top wheel support; 122, top wheel; 123, hydraulic cylinder; 130, side wheel assembly; 131, side wheel; 132, drive power assembly; 1321, hydraulic motor; 1322, reducer unit;

[0045] 200. Triangular pyramidal reamer head; 210. Cutting chip; 220. Water nozzle; 230. Water pipe;

[0046] 300. Drive unit;

[0047] 400. Sludge extraction device; 410. Sludge pipe; 420. Sludge inlet; 430. Slurry pump; 440. Sludge outlet pipe interface; 450. Filter screen;

[0048] 500. Hydraulic hose. Detailed Implementation

[0049] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this utility model.

[0050] Reference Figure 1-6 The small cylindrical tube dredging robot shown includes:

[0051] Walking support 100;

[0052] The triangular pyramidal reamer head 200 is rotatably mounted at the front end of the traveling bracket 100, and its stable rotation is ensured by a precision bearing system. It also has a cutting edge made of wear-resistant material to improve its service life.

[0053] The drive device 300 is mounted on the walking bracket 100 and is used to drive the triangular pyramidal reamer head 200 to rotate. The speed and torque can be adjusted according to different operation requirements. In this embodiment, the drive device 300 can be implemented using various existing technologies such as drive motor, hydraulic motor or electric motor.

[0054] The sludge extraction device 400 is mounted on the traveling support 100 and is used to extract the mud-water mixture broken up by the triangular pyramidal reamer head 200. It is equipped with a powerful pump and a filtration system to ensure efficient extraction and reduce clogging.

[0055] In this utility model, the sludge extraction device 400 can be implemented by adopting several existing structures; for example, by using the cooperation of a sludge pump and a sludge pipeline, when extracting, the sludge pump is started to generate suction, and the sludge is extracted by the cooperation of the sludge pipeline and then backflowed to the designated position.

[0056] Similarly, the sludge extraction device 400 can also use the combination of slurry pump and sludge pipeline described below. When extracting, the slurry pump is started, and the sludge is sucked into the slurry pump through the sludge pipeline. Then, through the centrifugal force of the slurry pump, the mud-water mixture is pushed to the ground through the sludge outlet pipe.

[0057] As can be seen from the above, the sludge extraction device 400 can be implemented using several existing technologies, which will not be elaborated here.

[0058] Among them, the triangular pyramidal reamer head 200 is designed to effectively cut and break up silt and sediment during rotation, thereby improving dredging efficiency.

[0059] The sludge extraction device 400 uses centrifugal force to pump the mud-water mixture onto the ground through the sludge discharge pipe.

[0060] The working principle of this embodiment is as follows:

[0061] In use, the robot is placed in the pipe, and then the walking support 100 is opened and it walks along the pipe. At the same time, the sludge extraction device 400 and the drive device 300 are started, so that the drive device 300 drives the triangular pyramidal reamer head 200 to rotate and cut and crush the sludge and sediment. The sludge extraction device 400 extracts the cut and crushed sludge and sediment.

[0062] In some embodiments of this utility model, reference is made to Figure 2 and Figure 3 As shown, a number of chip blocks 210 are fixedly arranged on the front side of the triangular pyramid reamer head 200. The multiple chip blocks 210 are located in different directions of the triangular pyramid reamer head 200, forming a uniformly distributed cutting surface, thereby improving processing efficiency and surface quality.

[0063] The triangular pyramidal reamer head 200 has fragmented blades 210 distributed in different directions, which allows the triangular pyramidal reamer head 200 to better contact and agitate the silt when rotating, thereby completing the dredging task more quickly, and also further cutting and breaking up the silt and sediment.

[0064] In some embodiments of this utility model, reference is made to Figure 2 and Figure 3 As shown, the front side of the triangular pyramidal reamer head 200 is provided with several water spray nozzles 220 to ensure that water can fully cover the crushing area. The water inlets of the several water spray nozzles 220 are connected to water pipes 230. The water inlets of the water pipes 230 are located on the rear side of the traveling support 100, which can avoid interference or damage to the water pipes during operation. At the same time, it is convenient for centralized supply and management of coolant. Furthermore, the setting of the water pipes 230 does not interfere with the rotation of the triangular pyramidal reamer head 200 and can be connected through a sealed rotary joint.

[0065] Among them, the water nozzles 220 distributed in different directions on the triangular pyramidal cutter head 200, in conjunction with the rotation of the cutter head, can effectively mix and dilute the sediment with water, and quickly pump the mud-water mixture to the ground through the sludge extraction device 400.

[0066] In some embodiments of this utility model, reference is made to Figure 2 As shown, the sludge extraction device 400 includes:

[0067] A sludge pipe 410 with a sludge inlet 420 at the front opening and a slurry pump 430 at the rear opening is used to introduce sludge debris cut by the reamer head into the device. The sludge inlet 420 is located on the rear side of the triangular pyramidal reamer head 200.

[0068] The sludge discharge pipe interface 440 is installed at the rear opening of the slurry pump 430 and is used to connect to an external pipeline to discharge the treated sludge.

[0069] The slurry pump 430 generates a strong suction force through high-speed rotation, which draws in the mixture of sludge and water and transports it to the sludge outlet pipe interface 440, thereby achieving efficient cleaning operations.

[0070] The working principle of this embodiment is as follows:

[0071] Start the slurry pump 430. The slurry pump 430 rotates at high speed to generate a strong suction force, and sucks in the sludge and water mixture through the sludge inlet 420 and sludge pipe 410. Under the action of centrifugal force, the sludge and water mixture is pushed to the ground through the sludge outlet port 440 and the external pipe.

[0072] In some embodiments of this utility model, reference is made to Figure 2 As shown, a filter screen 450 is installed at the opening of the sludge inlet 420 to filter out large stones and other objects, preventing blockage of the sludge pipe 410 or damage to the slurry pump 430.

[0073] In some embodiments of this utility model, reference is made to Figure 2 As shown, the walking support 100 consists of a frame 110, a top wheel assembly 120 mounted on the top of the frame 110, two side wheel assemblies 130 mounted on both sides of the frame 110, and the two side wheel assemblies 130 are inclined and triangularly opposed to the mounting frame 110.

[0074] The robot's top wheel assembly 120 and side wheel assembly 130 are arranged in a triangular opposition within the circular tube, effectively and stably propelling the robot forward.

[0075] In some embodiments of this utility model, reference is made to Figure 4 As shown, the top wheel assembly 120 includes:

[0076] The top wheel support 121 is hinged to the top of the frame 110, and can rotate flexibly through the hinge point to adapt to different working needs.

[0077] The top wheel 122 is rotatably mounted at the end of the top wheel bracket 121. Its smooth operation is ensured by bearings or other rotating devices, which can effectively reduce friction and wear.

[0078] The hydraulic cylinder 123 is hinged at both ends to the top wheel bracket 121 and the top wheel 122 respectively. It is used to adjust the tilt angle of the top wheel bracket 121. Power is provided by the hydraulic system to precisely adjust the tilt angle of the top wheel bracket 121, thereby controlling the working position and pressure of the top wheel 122.

[0079] In some embodiments of this utility model, reference is made to Figure 5 As shown, the side wheel assembly 130 includes:

[0080] The robot is driven to move by rotating the four side wheels 131 ...

[0081] The drive power assembly 132 is installed inside the frame 110 and is used to drive the side wheel 131 to rotate. In this embodiment, the drive power assembly 132 can be implemented using various existing technologies such as a drive motor, a hydraulic motor or an electric motor.

[0082] In some embodiments of this utility model, reference is made to Figure 6 As shown, the drive power assembly 132 includes:

[0083] The hydraulic motor 1321 is used to drive the side wheel 131 to rotate. The hydraulic motor 1321 generates mechanical energy through the flow of high-pressure liquid (usually oil), thereby driving the side wheel 131 to rotate efficiently.

[0084] The reducer unit 1322 is installed between the hydraulic motor 1321 and the side wheel 131. The function of the reducer unit 1322 is to reduce the high speed output of the hydraulic motor 1321 and increase the torque to meet the speed and torque requirements of the side wheel 131, so as to ensure that the system operates smoothly and with higher efficiency.

[0085] In some embodiments of this utility model, reference is made to Figure 1 As shown, it also includes:

[0086] There are three hydraulic pipes 500, which are respectively connected to the hydraulic motor 1321, the oil cylinder 123 and the drive device 300 in the side wheel assembly 130.

[0087] The first hydraulic pipe 500 transmits hydraulic power to the side wheel assembly 130, ensuring smooth operation and adjustment of the side wheels. The second hydraulic pipe 500 connects to the hydraulic cylinder 123, providing the necessary hydraulic pressure to enable the cylinder's extension and retraction. The third hydraulic pipe 500 is directly connected to the drive unit 300, providing stable hydraulic support for the entire system's power output. This effectively improves the overall performance and operational efficiency of the equipment.

[0088] The working method of this utility model:

[0089] When this small round pipe dredging robot is performing dredging operations, it first adjusts the extension and retraction of the hydraulic cylinder 123 by controlling the hydraulic pipe 500 connected to the hydraulic cylinder 123 according to the diameter of the small round pipe to be dredged. This drives the top wheel bracket 121 to rotate, so that the top wheel 122 is in close contact with the inner wall of the top of the small round pipe. At the same time, the side wheels 131 on both sides are in contact with the inner walls of the two sides of the small round pipe, forming a stable three-point support.

[0090] Hydraulic power is provided to the hydraulic motor 1321 via the hydraulic pipe 500 connected to the hydraulic motor 1321 of the drive power assembly 132. After the output power of the hydraulic motor 1321 is reduced and increased in torque by the reducer unit 1322, it drives the side wheel 131 to rotate, thus driving the robot to walk slowly inside the small round tube.

[0091] Hydraulic power is provided to the drive unit 300 through the hydraulic pipe 500 connected to the drive unit 300. The drive unit 300 drives the triangular pyramidal reamer head 200 to rotate. The crushing blocks 210 on the front side of the triangular pyramidal reamer head 200 crush the silt in front at multiple angles. During this process, high-pressure water is delivered to the water spray nozzle 220 through the water pipe 230. The high-pressure water washes and softens the silt. The crushed silt mixes with the water to form a mud-water mixture.

[0092] At the same time, the slurry pump 430 of the sludge extraction device 400 operates, generating negative pressure to draw in the mud-water mixture through the sludge inlet 420 of the sludge pipe 410. After large debris is filtered by the filter screen 450, the mud-water mixture is discharged to the designated collection device through the sludge outlet port 440 and the external conveying pipeline under the action of the slurry pump 430, thus completing the sludge removal operation of the small round pipe.

[0093] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A small circular tube dredging robot, characterized in that, include: Walking support (100); A triangular pyramidal reamer head (200) is rotatably mounted on the front end of the traveling bracket (100); A drive unit (300) is mounted on a traveling bracket (100) and is used to drive the triangular pyramidal reamer head (200) to rotate; A sludge extraction device (400) is mounted on a walking support (100) and is used to extract mud-water mixture broken up by a triangular pyramidal reamer head (200).

2. The small circular tube dredging robot according to claim 1, characterized in that: A plurality of chip blocks (210) are fixedly disposed on the front side of the triangular pyramidal reamer head (200), and the plurality of chip blocks (210) are located in different directions of the triangular pyramidal reamer head (200).

3. The small circular tube dredging robot according to claim 1, characterized in that: The front side of the triangular pyramidal reamer head (200) is provided with a number of water nozzles (220), and the water inlets of the number of water nozzles (220) are connected to water pipes (230). The water inlets of the water pipes (230) are located on the rear side of the walking support (100).

4. The small circular tube dredging robot according to claim 1, characterized in that: The sludge extraction device (400) includes: A sludge pipe (410) with a sludge inlet (420) at the front end and a slurry pump (430) at the rear end is provided. The sludge inlet (420) is located on the rear side of the triangular pyramidal reamer head (200). The sludge discharge pipe interface (440) is installed at the rear opening of the slurry pump (430).

5. The small circular tube dredging robot according to claim 4, characterized in that: A filter screen (450) is installed at the opening of the sludge inlet (420).

6. The small circular tube dredging robot according to claim 1, characterized in that: The walking support (100) consists of a frame (110), a top wheel assembly (120) mounted on the top of the frame (110), two side wheel assemblies (130) mounted on both sides of the frame (110), and the two side wheel assemblies (130) are inclined and triangularly opposed to the mounting frame (110).

7. The small circular tube dredging robot according to claim 6, characterized in that: The top wheel assembly (120) includes: The top wheel support (121) is hinged to the top of the frame (110); The top wheel (122) is rotatably mounted at the end of the top wheel bracket (121); The hydraulic cylinder (123) is hinged at both ends to the top wheel bracket (121) and the top wheel (122) respectively, and is used to adjust the tilt angle of the top wheel bracket (121).

8. A small circular tube dredging robot according to claim 6, characterized in that: The side wheel assembly (130) includes: Side wheels (131), of which four are provided and are rotatably mounted on the frame (110); A drive power assembly (132) is mounted within the frame (110) and is used to drive the side wheel (131) to rotate.

9. A small circular tube dredging robot according to claim 8, characterized in that: The drive power assembly (132) includes: A hydraulic motor (1321) is used to drive the side wheel (131) to rotate; The speed reducer unit (1322) is installed between the hydraulic motor (1321) and the side wheel (131).

10. A small circular tube dredging robot according to claim 6, characterized in that: Also includes: The hydraulic pipes (500) are provided in three parts, and the three hydraulic pipes (500) are respectively connected to the side wheel assembly (130), the top wheel assembly (120) and the drive device (300).

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