A sewer pipeline inner wall automatic dredging robot

Abstract

The utility model relates to municipal maintenance technical field, concretely discloses a kind of automatic dredging robot of drainage pipeline inner wall, comprising: dredging device;Further comprising: abutting head, abutting head is arranged at the side of dredging device, and one end of abutting head is provided with fixed pipe, piston rod is slidably connected in the inside of fixed pipe, moving rod is arranged in the inside of piston rod, and one end of moving rod is fixedly connected with nut block, the utility model passes through the linkage system of "abutting head-drive assembly-potentiometer", automatically promotes effect and prevents jam when abutting head contacts thick layer hard silt (such as sedimentation 3 months above's silt agglomerate), silt reaction force promotes fixed pipe, piston rod to move, rotating is driven by moving rod and nut block engages screw rod, and then make potentiometer resistance reduce-according to Ohm's law, driving motor circuit current increases simultaneously with resistance reduction, motor power is promoted from 500W to 1500W, torque increases by more than 3 times, can easily break through thick silt resistance, avoid scraper jam.

Description

Technical Field

[0001] This utility model relates to the field of municipal maintenance technology, specifically to an automatic sludge removal robot for the inner wall of drainage pipes. Background Technology

[0002] Municipal drainage pipes are a crucial component of urban infrastructure, playing a vital role in transporting rainwater and sewage. However, over long-term use, the inner walls of these pipes easily accumulate silt, garbage, grease, and other debris, leading to a reduction in the flow cross-section, decreased drainage capacity, and even problems such as pipe blockage, sewage overflow, and road collapse. Statistics show that the siltation rate of urban drainage pipes in my country has consistently remained above 30% for many years, and the proportion of municipal accidents caused by pipe siltation exceeds 20% annually. Therefore, regular dredging is a core means of ensuring smooth pipe flow.

[0003] Existing dredging robots mostly use fixed power or manual adjustment modes for their drive motors, which are not convenient for adaptively adjusting the power according to the real-time changes in the thickness and hardness of the silt in the pipe. When encountering thick layers of hard silt (such as silt clumps that have been deposited for more than 3 months), the fixed power output may cause the scraper to jam and the equipment to stop due to insufficient torque, requiring manual intervention to restart or adjust, which seriously affects the dredging efficiency (a single jamming process takes 5-10 minutes). In empty pipe sections or areas with thin layers of silt, the motor still maintains high power operation, resulting in energy waste. To address this, we propose an automatic dredging robot for the inner wall of drainage pipes. Utility Model Content

[0004] The purpose of this invention is to provide an automatic sludge removal robot for the inner wall of drainage pipes, so as to solve the problem mentioned in the background art of not being able to adaptively adjust the power according to the real-time changes in the thickness and hardness of the sludge in the pipe.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic sludge removal robot for the inner wall of a drainage pipe, comprising: a sludge removal device;

[0006] It also includes: a contact head, which is set on one side of the dredging device. A fixed tube is set at one end of the contact head. A piston rod is slidably connected inside the fixed tube. A moving rod is set inside the piston rod. A nut block is fixedly connected to one end of the moving rod. The contact head changes the moving distance of the nut block according to the resistance it receives.

[0007] The threaded rod is located inside the nut block, and a potentiometer is fixedly connected to one end of the threaded rod. The potentiometer is located inside the dredging device, and the resistance of the potentiometer is adjusted according to the movement distance of the nut block.

[0008] One end of the contact head is fixedly connected to a connecting plate, which is fixedly connected to one end of the fixed tube.

[0009] The piston rod has a first slot inside that matches the moving rod. The moving rod is fixedly connected inside the fixed tube. The moving rod also has a second slot inside that matches the threaded rod.

[0010] One end of the fixed tube has a third slot that matches the piston rod, and a compression spring is fixedly connected inside the fixed tube. The compression spring is fixedly connected to one end of the piston rod.

[0011] One end of the potentiometer is fixedly connected to a placement plate, which is fixedly connected inside the dredging device.

[0012] One end of the threaded rod is rotatably connected to a limiting component, which is fixedly connected inside the dredging device.

[0013] The contact head is chamfered and conical, with one end being semi-circular.

[0014] This utility model has at least the following beneficial effects:

[0015] This invention utilizes a linkage system of "contact head - transmission component - potentiometer" to automatically improve efficiency and prevent jamming. When the contact head contacts a thick layer of hard silt (such as mud and sand clumps that have been deposited for more than 3 months), the reaction force of the silt pushes the fixed tube and piston rod to move. The moving rod drives the nut block to mesh with the threaded rod to rotate, thereby reducing the resistance of the potentiometer. According to Ohm's law, the current in the drive motor circuit increases synchronously with the decrease in resistance, increasing the motor power from 500W to 1500W and the torque by more than 3 times. This can easily overcome the resistance of thick silt and prevent the scraper from jamming.

[0016] This invention directly converts resistance signals through mechanical transmission. The contact head, with its "beveled conical structure and compression spring buffer," can accurately capture resistance changes within a certain range. Through the linear transmission of the piston rod and moving rod, the resistance is converted into the displacement of the nut block. Then, through the linkage between the threaded rod and the potentiometer, a precise mapping between resistance and capacitance is achieved, increasing the response speed by 10 times. From the contact head sensing the resistance change to the motor power adjustment, the entire process takes only 0.3-0.5 seconds (no signal delay in mechanical transmission). Resistance fluctuations can be predicted in advance, avoiding the lag of existing equipment. The scraper wear rate is reduced from 15% in existing equipment to below 3%. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of the front cross-sectional structure of the contact head of this utility model;

[0019] Figure 3 This is a three-dimensional structural diagram of the potentiometer of this utility model;

[0020] Figure 4 This is a schematic diagram of the main cross-sectional structure of the fixed tube of this utility model.

[0021] In the diagram: 1. Dredging device; 2. Contact head; 3. Fixing pipe; 4. Piston rod; 5. Moving rod; 6. Nut block; 7. Threaded rod; 8. Potentiometer; 9. Connecting plate; 10. Compression spring; 11. Placement plate; 12. Limiting component. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example 1

[0024] Please see Figures 1 to 4 This utility model provides a technical solution: an automatic sludge removal robot for the inner wall of a drainage pipe, including a sludge removal device 1;

[0025] It also includes: a contact head 2, which is set on one side of the dredging device 1. A fixed tube 3 is provided at one end of the contact head 2. A piston rod 4 is slidably connected inside the fixed tube 3. A moving rod 5 is provided inside the piston rod 4. A nut block 6 is fixedly connected to one end of the moving rod 5. The contact head 2 moves according to the resistance it receives. The fixed tube 3 and the piston rod 4 push the moving rod 5 and the nut block 6 to move, thereby changing the position of the nut block 6.

[0026] The threaded rod 7 is located inside the nut block 6. One end of the threaded rod 7 is fixedly connected to a potentiometer 8, which is located inside the dredging device 1. The movement of the nut block 6 drives the contacts of the potentiometer 8 to rotate through the threaded rod 7, thereby changing the resistance of the device according to the resistance received by the contact head 2.

[0027] The dredging device 1 has a built-in DC drive motor (power 500-1500W, speed adjustable according to resistance changes), a rotating dredging scraper (wear-resistant alloy material, diameter adapted to pipe inner diameter), and a high-pressure water nozzle (water pressure 0.8-1.2MPa, assisting in softening sludge). It is equipped with a waterproof shell (IP68 protection rating, suitable for humid pipe environments). As the robot's "dredging execution end", the drive motor drives the scraper to rotate and scrape away sludge from the inner wall of the pipe, while the high-pressure water nozzle simultaneously washes away residual sludge. The working current (or speed) of the drive motor is related to the resistance of the potentiometer 8 of the resistance adjustment module - decreasing resistance → increasing current → increasing motor power (to deal with high-resistance sludge), increasing resistance → decreasing current → decreasing motor power (to deal with low-resistance or empty pipe scenarios), thus achieving power self-adaptation.

[0028] The contact head 2 is a chamfered cone shape (cone angle 30-45°), made of wear-resistant nitrile rubber (or engineering plastic + metal skeleton), with a smooth surface treatment (to reduce sludge adhesion). One end is bolted to the connecting plate 9, directly contacting the sludge in front of the pipe. The cone-shaped structure "disperses water or sludge in the pipe"—preventing sludge from accumulating at the front of the contact head 2, reducing the overall movement resistance of the robot. When the sludge is thick and the resistance is high, the reaction force on the contact head 2 increases, pushing the subsequent transmission components to move. When the sludge is thin or the pipe is empty, the reaction force decreases, and the transmission components reset under the action of the spring. This also prevents the front of the sludge removal device 1 from directly colliding with protrusions or debris (such as stones) on the inner wall of the pipe, protecting the sludge scraper. The fixing pipe 3 is a cylindrical metal pipe. One end is welded to the connecting plate 9, and a third slot is opened inside to fix the compression spring 10. It is the "sliding carrier" of the piston rod 4. The third slot provides axial sliding space for the piston rod 4, restricting the piston rod 4 to move only along the tube axis and avoiding lateral displacement. A spring mounting slot is reserved inside to fix one end of the compression spring 10, and at the same time protect the spring from sludge and sewage corrosion (to prevent the spring from rusting and causing reset failure). It also serves as the "rigid skeleton" of the entire transmission module, connecting the contact head 2 and the internal components of the sludge removal device 1 to ensure stable force transmission. The piston rod 4 is a cylindrical metal rod (the diameter of which is adapted to the third slot of the fixed tube 3). One end extends into the third slot of the fixed tube 3 and is welded to the compression spring 10. A first slot is opened inside along the axial direction (which is the outer diameter of the moving rod 5). When the contact head 2 is resisted and pushes the fixed tube 3, the compression spring 10 is compressed, and the piston rod 4 slides outward relative to the fixed tube 3 along the third slot. When the resistance decreases, the compression spring 10 releases its elastic potential energy, pulling the piston rod 4 back to its original position, realizing the transformation from "resistance change to linear displacement change". The first slot restricts the moving rod 5 to slide only along the axial direction, preventing the moving rod 5 from tilting during displacement and ensuring the accuracy of the subsequent movement of the nut block 6. The moving rod 5 is a cylindrical metal rod (made of stainless steel, with a diameter that matches the first slot of the piston rod 4). One end is welded to the end of the fixed tube 3 away from the connecting plate 9 (coaxial with the fixed tube 3), and the other end is integrally formed (or welded) with the nut block 6. A second slot is opened axially inside (matching the outer diameter of the threaded rod 7, penetrating through). The moving rod 5 moves axially in sync with the sliding piston rod 4. When the piston rod 4 slides outward, the moving rod 5 drives the nut block 6 to move away from the dredging device 1. When the piston rod 4 returns to its original position, the moving rod 5 drives the nut block 6 to move closer to the dredging device 1. The second slot provides a through space for the threaded rod 7, ensuring that the threaded rod 7 can pass through the moving rod 5 without interference when the moving rod 5 drives the nut block 6 to move. At the same time, it restricts the threaded rod 7 to rotate only along its own axis (to avoid lateral displacement). The nut block 6 is a circular metal block with an internal thread adapted to the threaded rod 7. One end is welded to the moving rod 5 (coaxially set). When it moves axially with the moving rod 5, it drives the threaded rod 7 to rotate around its own axis through the meshing of the internal thread with the threaded rod 7.The meshing clearance between the internal thread and the threaded rod 7 is ≤0.1mm, ensuring that the linear displacement of the moving rod 5 can be accurately converted into the rotation angle of the threaded rod 7, avoiding resistance adjustment errors caused by "idling".

[0029] The threaded rod 7 is a cylindrical metal rod, one end of which is fixed to the rotating shaft of the potentiometer 8 via a coupling. Driven by the nut block 6, it rotates, transmitting the rotational motion to the potentiometer 8, which in turn drives the internal contacts to rotate. When the nut block 6 moves away from the dredging device 1 (resistance increases), the threaded rod 7 rotates clockwise; when the nut block 6 moves closer to the dredging device 1 (resistance decreases), the threaded rod 7 rotates counterclockwise. This ensures that the resistance adjustment direction matches the resistance change. The potentiometer 8 is a rotary carbon film potentiometer (resistance range 1kΩ-10kΩ, rotation angle 0-300°). The linear accuracy is ±1%. It is fixed on the placement plate 11. The rotating shaft is fixed to the threaded rod 7 by a coupling. The output end is connected to the drive motor circuit of the dredging device 1 through a wire. When the threaded rod 7 drives its rotating shaft to rotate, the position of the internal carbon film contact changes, which changes the resistance value of the circuit connected to it. The resistance increases → the rotation angle of the threaded rod 7 increases → the resistance decreases (the drive motor current increases and the power increases), and the resistance decreases → the resistance increases (the drive motor current decreases and the power decreases). The built-in overcurrent protection structure avoids the motor current from being overloaded due to the resistance being too small, thus protecting the drive system of the dredging device 1.

[0030] One end of the contact head 2 is fixedly connected to a connecting plate 9, which is fixedly connected to one end of the fixed tube 3.

[0031] The connecting plate 9 is a circular metal plate. One side is bolted to the contact head 2, and the other side is welded to the fixed pipe 3. As a "force transmission medium", it evenly transmits the reaction force of the silt on the contact head 2 to the fixed pipe 3, avoiding transmission offset caused by uneven force on the contact head 2, and ensuring the linearity of subsequent displacement transmission.

[0032] The piston rod 4 has a first slot inside that matches the moving rod 5. The moving rod 5 is fixedly connected inside the fixed tube 3. The moving rod 5 has a second slot inside that matches the threaded rod 7.

[0033] One end of the fixed tube 3 is provided with a third slot that is compatible with the piston rod 4. A compression spring 10 is fixedly connected inside the fixed tube 3 and is fixedly connected to one end of the piston rod 4.

[0034] The compression spring 10 is a stainless steel helical spring. One end is welded to the bottom of the inside of the fixed tube 3, and the other end is welded to the end of the piston rod 4 that extends into the fixed tube 3. When the silt resistance decreases, the spring force pulls the piston rod 4 back to the initial position, which drives the contact head 2, moving rod 5 and other components to reset, preparing for the next resistance sensing, and relieving the impact force when the contact head 2 suddenly encounters a large resistance (such as a stone), avoiding damage to the transmission components due to excessive instantaneous force (such as the piston rod 4 bending or the nut block 6 dislodging).

[0035] One end of the potentiometer 8 is fixedly connected to a placement plate 11, which is fixedly connected inside the dredging device 1.

[0036] The placement plate 11 is a circular metal plate, which is fixed inside the dredging device 1 by bolts. The surface has mounting holes for potentiometer 8 (compatible with the base of potentiometer 8) to serve as a "fixed support carrier" for potentiometer 8. This ensures that potentiometer 8 does not shift during robot movement or dredging vibration, guarantees the stability of resistance adjustment, provides a reference for the connection between the resistance adjustment module and the dredging device 1, ensures the coaxiality of the threaded rod 7 and the moving rod 5, and avoids transmission jamming.

[0037] The contact head 2 is a chamfered cone with one end being a semicircle. The chamfered cone and semicircle facilitate the dispersion of water or silt in the pipe, reducing the resistance when the sludge removal device 1 moves in the pipe.

[0038] Example 2

[0039] In this second embodiment, the other structures remain unchanged. The difference from the first embodiment is that one end of the threaded rod 7 is rotatably connected to a limiting member 12, which is fixedly connected inside the dredging device 1.

[0040] The limiting component 12 is a circular metal sleeve, with one end welded to the waterproof bracket inside the dredging device 1, and the other end rotatably connected to the end of the threaded rod 7 away from the potentiometer 8 (the threaded rod 7 can rotate freely within the limiting component 12, but cannot move axially). This restricts the axial movement of the threaded rod 7, preventing it from "moving back and forth" due to the axial force of the nut block 6 during rotation. This ensures that the rotating shaft of the potentiometer 8 is only subjected to torque and not axial force, preventing wear or breakage of the internal contacts of the potentiometer 8. The bearing reduces the frictional resistance of the threaded rod 7 during rotation, making the threaded rod 7 rotate more smoothly, reducing the noise of the nut block 6 meshing with the threaded rod 7, and preventing thread wear caused by friction, thus extending the service life of the components.

[0041] 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 process, method, article, or apparatus.

[0042] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sewer pipe inner wall automatic dredging robot, comprising: Dredging equipment; Its features include: an abutment head, which is disposed on one side of the dredging device, a fixed tube is provided at one end of the abutment head, a piston rod is slidably connected inside the fixed tube, a moving rod is provided inside the piston rod, a nut block is fixedly connected at one end of the moving rod, and the abutment head adjusts the moving distance of the nut block according to the resistance it receives; A threaded rod is disposed inside the nut block, and a potentiometer is fixedly connected to one end of the threaded rod. The potentiometer is disposed inside the dredging device, and the nut block adjusts the resistance of the potentiometer according to its own moving distance.

2. The sewer in-pipe automatic inner wall dredging robot according to claim 1, characterized in that: One end of the contact head is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to one end of the fixed tube.

3. The sewer in-pipe automatic inner wall dredging robot according to claim 1, characterized in that: The piston rod has a first slot inside that matches the moving rod. The moving rod is fixedly connected inside the fixed tube. The moving rod also has a second slot inside that matches the threaded rod.

4. The automatic sludge removal robot for the inner wall of drainage pipes according to claim 1, characterized in that: One end of the fixed tube is provided with a third slot that matches the piston rod, and a compression spring is fixedly connected inside the fixed tube. The compression spring is fixedly connected to one end of the piston rod.

5. The automatic sludge removal robot for the inner wall of drainage pipes according to claim 1, characterized in that: One end of the potentiometer is fixedly connected to a placement plate, which is fixedly connected inside the dredging device.

6. The automatic sludge removal robot for the inner wall of drainage pipes according to claim 1, characterized in that: One end of the threaded rod is rotatably connected to a limiting member, which is fixedly connected inside the dredging device.

7. The automatic sludge removal robot for the inner wall of drainage pipes according to claim 1, characterized in that: The contact head is in the shape of a chamfered cone, with one end being semi-circular.

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