CA3045865A1 - Complete strong supporting single drive two-way crawling type pipeline cleaning robot - Google Patents
Complete strong supporting single drive two-way crawling type pipeline cleaning robotInfo
- Publication number
- CA3045865A1 CA3045865A1 CA3045865A CA3045865A CA3045865A1 CA 3045865 A1 CA3045865 A1 CA 3045865A1 CA 3045865 A CA3045865 A CA 3045865A CA 3045865 A CA3045865 A CA 3045865A CA 3045865 A1 CA3045865 A1 CA 3045865A1
- Authority
- CA
- Canada
- Prior art keywords
- telescopic
- machine body
- frame
- shaft
- disposed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
- Cleaning In General (AREA)
- Harvester Elements (AREA)
Abstract
A complete strong supporting single drive two-way crawling type pipeline cleaning robot, comprising a front machine body component (1), a drive component (2) and a rear machine body component (3), wherein the drive component (2) is driven by one motive power; through the drive function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body component (1) and the rear machine body component (3) can realize a continuous strong supporting function during an overall radial alternate contracting and supporting process; and meanwhile the axial contraction between the front machine body component (1) and the rear machine body component (3) and the synchronous rotation of dredging cutters (1-2) are also realized. Therefore, full-process strong supporting and two-way crawling of the robot along a non-horizontal pipeline are realized; full-process continuous traction can be maintained; the stability and reliability of the walking process in the pipeline are effectively improved; and the cruising ability of the pipeline robot is enhanced.
Description
COMPLETE STRONG SUPPORTING SINGLE DRIVE TWO-WAY
CRAWLING TYPE PIPELINE CLEANING ROBOT
FIELD OF THE INVENTION
[0001] The present invention relates to the technical field of non-horizontal pipeline cleaning robots, and in particular, to a pipeline cleaning robot for realizing complete strong supporting single drive two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change based on a coordination function of a non-equal dwell cam group.
DESCRIPTION OF RELATED ART
CRAWLING TYPE PIPELINE CLEANING ROBOT
FIELD OF THE INVENTION
[0001] The present invention relates to the technical field of non-horizontal pipeline cleaning robots, and in particular, to a pipeline cleaning robot for realizing complete strong supporting single drive two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change based on a coordination function of a non-equal dwell cam group.
DESCRIPTION OF RELATED ART
[0002] During a pipeline cleaning operation, a crawling type pipeline robot has a larger traction capability and terrain adaptability, and is more suitable for the pipe cleaning operation. However, most of conventional pipeline robots and pipeline cleaners have a one-way walking capability and cannot retreat to be retrieved when meeting a specific obstacle during a pipeline cleaning process, with a result that the robots are stuck in pipelines. For a conventional two-way crawling type pipeline cleaning robot, only one power cannot be used to realize three functions, that is, complete strong supporting for pipeline walls, two-way walking, and pipeline cleaning, and especially, a destabilized phenomenon will easily occur due to insufficient supporting at a time gap of alternate changes of supporting states of a front machine body and a rear machine body, and this is unfavorable to cleaning of a non-horizontal pipeline (typically, a vertical pipeline). Therefore, regarding a problem that the single drive two-way crawling type pipeline cleaning robot cannot realize complete strong supporting, in consideration of an actual situation, based on a coordination function of a non-equal dwell cam group, a complete strong supporting single drive two-way crawling type pipeline cleaning robot suitable for a pipeline having a constant diameter or a diameter that has a very small change is researched and developed, to provide a basis for implementation of non-horizontal pipeline cleaning.
SUMMARY OF THE INVENTION
k Technical Problem
SUMMARY OF THE INVENTION
k Technical Problem
[0003] Objective of the present invention: To overcome the defects in the prior art, the present invention provides a complete strong supporting single drive two-way crawling type pipeline cleaning robot that realizes complete strong supporting and two-way crawling in a non-horizontal pipeline based on a coordination function of a non-equal dwell cam group, to realize continuous traction in pipeline cleaning and improve stability and reliability of a walking process in a pipeline.
Technical Solution
Technical Solution
[0004] Technical solution: To achieve the foregoing objective, the present invention uses the following technical solution.
[0005] A complete strong supporting single drive two-way crawling type pipeline cleaning robot includes a front machine body assembly, a transmission assembly, and a rear machine body assembly.
[0006] The transmission assembly is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly and the rear machine body assembly realize a continuous strong supporting function during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the front machine body and the rear machine body is in a strong supporting state), and meanwhile, axial alternate extension and contraction between the front machine body assembly and the rear machine body assembly and the synchronous rotation of dredging cutters are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
[0007] Preferably, the front machine body assembly includes a front casing, the dredging cutters, a front frame, front elastic telescopic arms at upper and lower sides, and front elastic supporting wheels at left and right sides.
[0008] The front casing is sleeved outside the front frame and is fixedly connected to the front frame; the dredging cutters are disposed at a front side of the front frame, and include a turntable, cutter bars uniformly distributed around the turntable in a circumferential direction, and dredging blades fixedly connected to the cutter bars.
[0009] Each of the front elastic telescopic arms (active) includes elastic rubber mats, =
a sliding rod, a first pressure spring, a spring limit piece, and rollers, and the elastic rubber mats are disposed at a top of the sliding rod; the first pressure spring is sleeved over the sliding rod, and realizes lower limit of the first pressure spring through the spring limit piece at a bottom of the sliding rod; a groove in communication with a bottom is disposed on an outer wall at one side of the sliding rod, the rollers are mounted at a bottom of the groove through a support rod (that is, the roller is mounted in an offset manner) and slide along the groove through the support rod to be fixed to realize adjustment of a spacing between the rollers and the sliding rod, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm passes through the front casing and realizes upper limit of the first pressure spring on the sliding rod through the front casing.
a sliding rod, a first pressure spring, a spring limit piece, and rollers, and the elastic rubber mats are disposed at a top of the sliding rod; the first pressure spring is sleeved over the sliding rod, and realizes lower limit of the first pressure spring through the spring limit piece at a bottom of the sliding rod; a groove in communication with a bottom is disposed on an outer wall at one side of the sliding rod, the rollers are mounted at a bottom of the groove through a support rod (that is, the roller is mounted in an offset manner) and slide along the groove through the support rod to be fixed to realize adjustment of a spacing between the rollers and the sliding rod, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm passes through the front casing and realizes upper limit of the first pressure spring on the sliding rod through the front casing.
[0010] Each of the front elastic supporting wheels (passive) includes a telescopic shaft, a telescopic sleeve sleeved outside the telescopic shaft, and a wheel disposed at a top of the telescopic shaft, a second pressure spring connected to a bottom of the telescopic shaft is disposed in the telescopic sleeve, and telescopic motion of the telescopic shaft and the telescopic sleeve is realized through the second pressure spring to realize elastic adjustment of the length of the front elastic supporting wheel, to adapt to radial sizes of different pipelines; and the front elastic supporting wheels are disposed at left and right sides of the front casing through the telescopic sleeves.
[0011] Preferably, the rear machine body assembly includes a rear casing, a rear frame, rear elastic telescopic arms at upper and lower sides, and rear elastic support wheels at left and right sides; the rear casing is sleeved outside the rear frame, and is fixedly connected to the rear frame; structures of the rear elastic telescopic arms and the rear elastic support wheels (including an assembly structure and a connection relationship between the assembly structure and the rear casing) are respectively the same as the front elastic telescopic arms and the front elastic supporting wheels in the front machine body assembly.
100121 Preferably, the transmission assembly includes a rotation motor, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly; the rotation motor is disposed at a front side of the rear frame, a first spur gear is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame, and the first spur gear is attached to a rear side of the front side plate of the rear frame.
= CA 03045865 2019-05-10 , [0013] The medium drive assembly includes several guide mechanisms, a transmission mechanism, and a crank connecting rod mechanism connecting the front frame and the rear frame; each of the guide mechanisms includes a guide rod disposed on a rear side plate of the front frame and a linear bearing disposed on the front side plate of the rear frame, and telescopic connection of the front frame and the rear frame is realized through sliding cooperation of the guide rod and the linear bearing.
100141 The transmission mechanism includes a group of a sliding shaft and a bearing sleeve that are adaptive to each other, a strip groove is disposed on a side wall of the bearing sleeve, a cylindrical pin is disposed on a side wall of the sliding shaft, and synchronous rotation and telescopic sliding of the sliding shaft and the bearing sleeve are realized through sliding cooperation of the cylindrical pin and the groove; one side of the sliding shaft away from the bearing sleeve penetrates through the rear side plate of the front frame, and two first limit rings are disposed on the sliding shaft, the first limit rings are respectively attached to front and rear sides of the rear side plate of the front frame, and axial sliding of the sliding shaft relative to the rear side plate of the front frame is limited through the two first limit rings; one side of the bearing sleeve away from the sliding shaft penetrates through the front side plate of the rear frame, a second limit ring and a second spur gear are disposed on the bearing sleeve, the second limit ring is attached to a front side of the front side plate of the rear frame, and the second spur gear is attached to a rear side of the front side plate of the rear frame; axial sliding of the bearing sleeve relative to the front side plate of the rear frame is limited through the second limit ring and the second spur gear, and the second spur gear and the first spur gear are engaged to transmit, to realize transmission of a rotation speed from the output shaft of the rotation motor to the bearing sleeve; and a first bevel gear is sleeved over one end of the sliding shaft away from the bearing sleeve, and a second bevel gear is sleeved over one end of the bearing sleeve away from the sliding shaft.
[0015] The front drive assembly includes a front rotation shaft disposed in the front frame, a front non-equal dwell cam group, and a third bevel gear, and the front non-equal dwell cam group and the third bevel gear are sleeved over the front rotation shaft; the third bevel gear and the first bevel gear are engaged for transmission, and drive the front rotation shaft and the front non-equal dwell cam group to rotate synchronously; the front non-equal dwell cam group includes two identical front non-equal dwell cams (that is, a farthest dwell angle and a nearest dwell angle of the cam are non-equal), and the two front non-equal dwell cams are stacked and dislocated by 180'; the rollers at bottoms (mounted in an offset manner) of the front elastic telescopic arms at upper and lower sides of the front machine body assembly are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms through the two front non-equal dwell cams.
[0016] The rear drive assembly includes a rear rotation shaft disposed in the rear frame, a rear non-equal dwell cam group, and a fourth bevel gear, and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear and the second bevel gear are engaged for transmission, and drive the rear rotation shaft and the rear non-equal dwell cam group to rotate synchronously; the rear non-equal dwell cam group includes two identical rear non-equal dwell cam, and synchronous radial telescopic adjustment of two rear elastic telescopic arms is realized through the two rear non-equal dwell cams.
[0017] The cutter drive assembly includes a fifth bevel gear, a belt transmission mechanism, and a cutter rotation shaft, the fifth bevel gear and the third bevel gear are engaged for transmission, and drive the cutter rotation shaft to rotate through the belt transmission mechanism, and the turntable of the dredging cutters is sleeved over one side of the cutter rotation shaft that passes through the front side plate of the front frame, to realize synchronous rotation of the dredging cutters.
[0018] The crank connecting rod mechanism includes connecting rods and cranks disposed on left and right sides of the front frame and the rear frame, and the cranks are sleeved over the rear rotation shaft that extends to the outside of the rear frame to synchronously rotate with the rear rotation shaft; one end of each of the connecting rods is hingedly connected to the left/right side plate of the front frame, the other end is hingedly connected to the crank at the same side, and axial telescopic adjustment between the front machine body assembly and the rear machine body assembly is realized through the crank connecting rod mechanism.
[0019] The operation principle of the present invention is described as follows.
Firstly, a pipeline robot mounted with a sensor, a camera, and dredging cutters is placed in a non-horizontal pipeline manually, a motor is controlled to perform positive rotation, through a function transmission of a connecting rod mechanism, gears, and a non-equal dwell cam mechanism, a front body and a rear body realize continuous strong support during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the two machine bodies is in a strong supporting state), at the same time, the front and rear bodies can also be extended and contracted alternately along an axial direction, and the dredging cutters are rotated while being transmitted by a mechanism, and through coordination and cooperation of each moving part, a robot can implement a cleaning operation when crawling along a pipeline. When a pipeline robot meets a serious obstacle in the pipeline and cannot move forward, the motor is controlled to reverse to make the robot move backward to exit, to use another countermeasure.
[0020] Preferably, the cutter bars and the dredging blades of the dredging cutters are all detachable, to be maintained and replaced easily to save cost.
[0021] Preferably, a first long groove is formed in the support rod, a first threaded hole is formed in the same groove, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod is extended and contracted along the groove, and the connection is simple and convenient.
[0022] Preferably, a second long groove is formed in a side wall of the telescopic sleeve, a second cylindrical pin is disposed on the side wall of the telescopic shaft, and telescopic motion of the telescopic shaft along the telescopic sleeve is limited through cooperation of the second cylindrical pin and the second long groove, to prevent the telescopic shaft from dropping off.
[0023] Preferably, a farthest dwell angle of the front non-equal dwell cams (identical with the rear non-equal dwell cams) is not less than 1800, to ensure full-process strong supporting. Since the cams rotate for one circle, that is, 360 , only when the farthest dwell angle of the non-equal dwell cam is not less than 180 , a sum of a nearest dwell angle, a lift angle, and a return angle is not less than 180 , and in this way, continuous strong supporting can be maintained in a full motion process. In other words, as shown in FIG. 14, at any moment, at least one curve of a front machine body supporting state curve Si and a rear machine body supporting state curve S2 is at a point P1 on a vertical coordinate, and the point PI represents strong supporting.
Advantageous Effect [0024] Beneficial effects: compared with the prior art, the complete strong supporting single drive two-way crawling type pipeline cleaning robot provided by the present invention has the following advantages: 1. a power source and a set of mechanisms can realize complete strong supporting and two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change, and when the pipeline robot meets a specific obstacle and cannot walk forward, the robot can move backward to exit the pipeline, to enhance motor ability of the pipeline robot for dealing with a complicated pipeline environment; and 2. a robot body becomes more compact and portable, the cruising ability of the pipeline robot is greatly enhanced, and at the same time, full-process continuous traction can be maintained, and therefore, a vertical pipeline having a constant diameter or a diameter that has a very small change, that needs to maintain a continuous supporting force, can realize full-process strong supporting, and has actual engineering significance on comprehensive pipeline cleaning.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] FIG. 1 is a schematic whole structural diagram of an embodiment of the present invention;
[0026] FIG. 2 is a front view of the embodiment of the present invention;
[0027] FIG. 3 is a schematic diagram of an internal structure of the embodiment of the present invention;
[0028] FIG. 4 is a schematic structural diagram of dredging cutters according to the embodiment of the present invention;
[0029] FIG. 5 is a schematic structural diagram of an elastic telescopic arm according to the embodiment of the present invention;
[0030] FIG. 6 is a schematic structural diagram of an elastic supporting wheel according to the embodiment of the present invention;
[0031] FIG. 7 is a schematic structural diagram of a transmission assembly according to the embodiment of the present invention;
[0032] FIG. 8 is a top view of the transmission assembly according to the embodiment of the present invention;
[00331 FIG. 9 and FIG. 10 are simple diagrams of transmission of a front non-equal dwell cam group and a rear non-equal dwell cam group according to the embodiment of the present invention;
[0034] FIG. 11 is a simple diagram of motion of a crank connecting rod mechanism according to the embodiment of the present invention;
[0035] FIG. 12 is a schematic structural diagram of the transmission mechanism according to the embodiment of the present invention;
[0036] FIG. 13 is a position diagram of a rotation angle of a rear non-equal dwell cam according to the embodiment of the present invention;
[00371 FIG. 14 is a change diagram of the supporting state of the front and rear machine bodies along a rotation angle of a cam according to the embodiment of the present invention; and [0038] FIG. 15a to FIG. 15e are flowcharts of motion of a robot along a pipeline according to the embodiment of the present invention.
List of reference numerals 1 Front machine body assembly 1-1 Front casing 1-2 Dredging cutters 1-3 Front frame 1-4 Front elastic telescopic arm 1-5 Front elastic supporting wheel 1-2-1 Dredging blade 1-2-2 Cutter bars 1-2-3 Turntable 1-4-1 Elastic rubber mat 1-4-2 Sliding rod 1-4-3 First pressure spring 1-4-4 Spring limit piece .
1-4-5 Roller 1-4-6 Groove 1-4-7 Support rod 1-5-1 Wheel 1-5-2 Telescopic shaft 1-5-3 Telescopic sleeve 2 Transmission assembly 2-1 Cutter rotation shaft 2-2 Belt transmission mechanism 2-3 Front non-equal dwell cam group 2-4 Guide rod 2-5 Linear bearing 2-6 Rotation motor 2-7 First spur gear 2-8 Rear rotation shaft 2-9 Rear non-equal dwell cam group 2-10 Fourth bevel gear 2-11 Crank 2-12 Transmission mechanism 2-13 Connecting rod 2-14 Third bevel gear 2-15 Front rotation shaft 2-16 Fifth bevel gear 2-12-1 First bevel gear 2-12-2 First limit rings 2-12-3 Sliding shaft 2-12-4 Cylindrical pin 2-12-5 Bearing sleeve 2-12-6 Groove 2-12-7 Second limit ring 2-12-8 Second spur gear 2-12-9 Second bevel gear 3 Rear machine body assembly 3-1 Rear casing 3-2 Rear frame 3-3 Rear elastic telescopic arm 3-4 Rear elastic support wheel DETAILED DESCRIPTION OF THE INVENTION
100391 The present invention will be described with reference to the accompanying drawings.
[0040] As shown in FIG. 1 and FIG. 2, a complete strong supporting single drive two-way crawling type pipeline cleaning robot includes a front machine body assembly 1, a transmission assembly 2, and a rear machine body assembly 3.
[0041] The transmission assembly 2 is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly 1 and the rear machine body assembly 3 realize a continuous strong supporting function during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the front machine body and the rear machine body is in a strong supporting state), and meanwhile, axial alternate extension and contraction between the front machine body assembly 1 and the rear machine body assembly 3 and synchronous rotation of dredging cutters 1-2 are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
[0042] As shown in FIG. 3, the front machine body assembly 1 includes a front casing 1-1, the dredging cutters 1-2, a front frame 1-3, front elastic telescopic arms 1-4 at upper and lower sides, and front elastic supporting wheel 1-5 at left and right sides.
[0043] The front casing 1-1 is sleeved outside the front frame 1-3 and is fixedly connected to the front frame 1-3; as shown in FIG. 4, the dredging cutters 1-2 are disposed at a front side of the front frame 1-3, and include a turntable 1-2-3, cutter bars 1-2-2 uniformly distributed around the turntable 1-2-3 in a circumferential direction, and dredging blades 1-2-1 fixedly connected to the cutter bars 1-2-2.
[0044] As shown in FIG. 5, each of the front elastic telescopic arms 1-4 includes elastic rubber mats 1-4-1, a sliding rod 1-4-2, a first pressure spring 1-4-3, a spring limit piece 1-4-4, and rollers 1-4-5, and the elastic rubber mats 1-4-1 are disposed at a top of the sliding rod 1-4-2; the first pressure spring 1-4-3 is sleeved over the sliding rod 1-4-2, and realizes lower limit of the first pressure spring 1-4-3 through the spring limit piece 1-4-4 at a bottom of the sliding rod 1-4-2; a groove 1-4-6 in communication with a bottom is disposed on an outer wall at one side of the sliding rod 1-4-2, the rollers 1-4-5 are mounted at a bottom of the groove 1-4-6 through a support rod 1-4-7, and slide along the groove 1-4-6 through the support rod 1-4-7 to be fixed to realize adjustment of a spacing between the rollers 1-4-5 and the sliding rod 1-4-2, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm 1-4 passes through the front casing 1-1 and realizes upper limit of the first pressure spring 1-4-3 on the sliding rod 1-4-2 through the front casing 1-1.
[0045] As shown in FIG. 6, each of the front elastic supporting wheels 1-5 includes a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the telescopic shaft 1-5-2, and a wheel 1-5-1 disposed at a top of the telescopic shaft 1-5-2, a second pressure spring connected to a bottom of the telescopic shaft 1-5-2 is disposed in the telescopic sleeve 1-5-3, telescopic motion of the telescopic shaft 1-5-2 and the telescopic sleeve 1-5-3 is realized through the second pressure spring to adapt to radial sizes of different pipelines; and the front elastic supporting wheels 1-5 are disposed at left and right sides of the front casing 1-1 through the telescopic sleeves 1-5-3.
[0046] In this embodiment, the rear machine body assembly 3 includes a rear casing 3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 at upper and lower sides, and rear elastic support wheels 3-4 at left and right sides; the rear casing 3-1 is sleeved outside the rear frame 3-2, and is fixedly connected to the rear frame 3-2;
the structures of the rear elastic telescopic arms 3-3 and the rear elastic support wheels 3-4 (including an assembly structure and a connection relationship between the assembly structure and the rear casing 3-1) are respectively the same as the front elastic telescopic arms 1-4 and the front elastic supporting wheels 1-5 in the front machine body assembly 1 (the front machine body assembly and the rear machine body assembly are identical general assemblies).
[0047] As shown in FIG. 7 and FIG. 8, the transmission assembly 2 includes a rotation motor 2-6, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly.
[0048] The rotation motor 2-6 is disposed at a front side of the rear frame 3-2, a first spur gear 2-7 is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame 3-2, and the first spur gear 2-7 is attached to a rear side of the front side plate of the rear frame 3-2.
[0049] The medium drive assembly includes several guide mechanisms, a transmission mechanism 2-12, and a crank connecting rod mechanism connecting the front frame 1-3 and the rear frame 3-2; each of the guide mechanisms includes a guide rod 2-4 disposed on a rear side plate of the front frame 1-3 and a linear bearing 2-5 disposed on the front side plate of the rear frame 3-2, and telescopic connection of the front frame 1-3 and the rear frame 3-2 is realized through sliding cooperation of the guide rod 2-4 and the linear bearing 2-5.
[0050] As shown in FIG. 12, the transmission mechanisms 2-12 includes a group consisting of a sliding shaft 2-12-3 and a bearing sleeve 2-12-5 that are adaptive to each other, a strip groove 2-12-6 is disposed on a side wall of the bearing sleeve 2-12-5, a cylindrical pin 2-12-4 is disposed on a side wall of the sliding shaft 2-12-3, and synchronous rotation and telescopic sliding of the sliding shaft 2-12-3 and the bearing sleeve 2-12-5 are realized through sliding cooperation of the cylindrical pin 2-12-4 and the groove 2-12-6; one side of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5 penetrates through the rear side plate of the front frame 1-3, and two first limit rings 2-12-2 are disposed on the sliding shaft 2-12-3, the first limit rings 2-12-2 are respectively attached to front and rear sides of the rear side plate of
100121 Preferably, the transmission assembly includes a rotation motor, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly; the rotation motor is disposed at a front side of the rear frame, a first spur gear is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame, and the first spur gear is attached to a rear side of the front side plate of the rear frame.
= CA 03045865 2019-05-10 , [0013] The medium drive assembly includes several guide mechanisms, a transmission mechanism, and a crank connecting rod mechanism connecting the front frame and the rear frame; each of the guide mechanisms includes a guide rod disposed on a rear side plate of the front frame and a linear bearing disposed on the front side plate of the rear frame, and telescopic connection of the front frame and the rear frame is realized through sliding cooperation of the guide rod and the linear bearing.
100141 The transmission mechanism includes a group of a sliding shaft and a bearing sleeve that are adaptive to each other, a strip groove is disposed on a side wall of the bearing sleeve, a cylindrical pin is disposed on a side wall of the sliding shaft, and synchronous rotation and telescopic sliding of the sliding shaft and the bearing sleeve are realized through sliding cooperation of the cylindrical pin and the groove; one side of the sliding shaft away from the bearing sleeve penetrates through the rear side plate of the front frame, and two first limit rings are disposed on the sliding shaft, the first limit rings are respectively attached to front and rear sides of the rear side plate of the front frame, and axial sliding of the sliding shaft relative to the rear side plate of the front frame is limited through the two first limit rings; one side of the bearing sleeve away from the sliding shaft penetrates through the front side plate of the rear frame, a second limit ring and a second spur gear are disposed on the bearing sleeve, the second limit ring is attached to a front side of the front side plate of the rear frame, and the second spur gear is attached to a rear side of the front side plate of the rear frame; axial sliding of the bearing sleeve relative to the front side plate of the rear frame is limited through the second limit ring and the second spur gear, and the second spur gear and the first spur gear are engaged to transmit, to realize transmission of a rotation speed from the output shaft of the rotation motor to the bearing sleeve; and a first bevel gear is sleeved over one end of the sliding shaft away from the bearing sleeve, and a second bevel gear is sleeved over one end of the bearing sleeve away from the sliding shaft.
[0015] The front drive assembly includes a front rotation shaft disposed in the front frame, a front non-equal dwell cam group, and a third bevel gear, and the front non-equal dwell cam group and the third bevel gear are sleeved over the front rotation shaft; the third bevel gear and the first bevel gear are engaged for transmission, and drive the front rotation shaft and the front non-equal dwell cam group to rotate synchronously; the front non-equal dwell cam group includes two identical front non-equal dwell cams (that is, a farthest dwell angle and a nearest dwell angle of the cam are non-equal), and the two front non-equal dwell cams are stacked and dislocated by 180'; the rollers at bottoms (mounted in an offset manner) of the front elastic telescopic arms at upper and lower sides of the front machine body assembly are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms through the two front non-equal dwell cams.
[0016] The rear drive assembly includes a rear rotation shaft disposed in the rear frame, a rear non-equal dwell cam group, and a fourth bevel gear, and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear and the second bevel gear are engaged for transmission, and drive the rear rotation shaft and the rear non-equal dwell cam group to rotate synchronously; the rear non-equal dwell cam group includes two identical rear non-equal dwell cam, and synchronous radial telescopic adjustment of two rear elastic telescopic arms is realized through the two rear non-equal dwell cams.
[0017] The cutter drive assembly includes a fifth bevel gear, a belt transmission mechanism, and a cutter rotation shaft, the fifth bevel gear and the third bevel gear are engaged for transmission, and drive the cutter rotation shaft to rotate through the belt transmission mechanism, and the turntable of the dredging cutters is sleeved over one side of the cutter rotation shaft that passes through the front side plate of the front frame, to realize synchronous rotation of the dredging cutters.
[0018] The crank connecting rod mechanism includes connecting rods and cranks disposed on left and right sides of the front frame and the rear frame, and the cranks are sleeved over the rear rotation shaft that extends to the outside of the rear frame to synchronously rotate with the rear rotation shaft; one end of each of the connecting rods is hingedly connected to the left/right side plate of the front frame, the other end is hingedly connected to the crank at the same side, and axial telescopic adjustment between the front machine body assembly and the rear machine body assembly is realized through the crank connecting rod mechanism.
[0019] The operation principle of the present invention is described as follows.
Firstly, a pipeline robot mounted with a sensor, a camera, and dredging cutters is placed in a non-horizontal pipeline manually, a motor is controlled to perform positive rotation, through a function transmission of a connecting rod mechanism, gears, and a non-equal dwell cam mechanism, a front body and a rear body realize continuous strong support during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the two machine bodies is in a strong supporting state), at the same time, the front and rear bodies can also be extended and contracted alternately along an axial direction, and the dredging cutters are rotated while being transmitted by a mechanism, and through coordination and cooperation of each moving part, a robot can implement a cleaning operation when crawling along a pipeline. When a pipeline robot meets a serious obstacle in the pipeline and cannot move forward, the motor is controlled to reverse to make the robot move backward to exit, to use another countermeasure.
[0020] Preferably, the cutter bars and the dredging blades of the dredging cutters are all detachable, to be maintained and replaced easily to save cost.
[0021] Preferably, a first long groove is formed in the support rod, a first threaded hole is formed in the same groove, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod is extended and contracted along the groove, and the connection is simple and convenient.
[0022] Preferably, a second long groove is formed in a side wall of the telescopic sleeve, a second cylindrical pin is disposed on the side wall of the telescopic shaft, and telescopic motion of the telescopic shaft along the telescopic sleeve is limited through cooperation of the second cylindrical pin and the second long groove, to prevent the telescopic shaft from dropping off.
[0023] Preferably, a farthest dwell angle of the front non-equal dwell cams (identical with the rear non-equal dwell cams) is not less than 1800, to ensure full-process strong supporting. Since the cams rotate for one circle, that is, 360 , only when the farthest dwell angle of the non-equal dwell cam is not less than 180 , a sum of a nearest dwell angle, a lift angle, and a return angle is not less than 180 , and in this way, continuous strong supporting can be maintained in a full motion process. In other words, as shown in FIG. 14, at any moment, at least one curve of a front machine body supporting state curve Si and a rear machine body supporting state curve S2 is at a point P1 on a vertical coordinate, and the point PI represents strong supporting.
Advantageous Effect [0024] Beneficial effects: compared with the prior art, the complete strong supporting single drive two-way crawling type pipeline cleaning robot provided by the present invention has the following advantages: 1. a power source and a set of mechanisms can realize complete strong supporting and two-way crawling in a vertical pipeline having a constant diameter or a diameter that has a very small change, and when the pipeline robot meets a specific obstacle and cannot walk forward, the robot can move backward to exit the pipeline, to enhance motor ability of the pipeline robot for dealing with a complicated pipeline environment; and 2. a robot body becomes more compact and portable, the cruising ability of the pipeline robot is greatly enhanced, and at the same time, full-process continuous traction can be maintained, and therefore, a vertical pipeline having a constant diameter or a diameter that has a very small change, that needs to maintain a continuous supporting force, can realize full-process strong supporting, and has actual engineering significance on comprehensive pipeline cleaning.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] FIG. 1 is a schematic whole structural diagram of an embodiment of the present invention;
[0026] FIG. 2 is a front view of the embodiment of the present invention;
[0027] FIG. 3 is a schematic diagram of an internal structure of the embodiment of the present invention;
[0028] FIG. 4 is a schematic structural diagram of dredging cutters according to the embodiment of the present invention;
[0029] FIG. 5 is a schematic structural diagram of an elastic telescopic arm according to the embodiment of the present invention;
[0030] FIG. 6 is a schematic structural diagram of an elastic supporting wheel according to the embodiment of the present invention;
[0031] FIG. 7 is a schematic structural diagram of a transmission assembly according to the embodiment of the present invention;
[0032] FIG. 8 is a top view of the transmission assembly according to the embodiment of the present invention;
[00331 FIG. 9 and FIG. 10 are simple diagrams of transmission of a front non-equal dwell cam group and a rear non-equal dwell cam group according to the embodiment of the present invention;
[0034] FIG. 11 is a simple diagram of motion of a crank connecting rod mechanism according to the embodiment of the present invention;
[0035] FIG. 12 is a schematic structural diagram of the transmission mechanism according to the embodiment of the present invention;
[0036] FIG. 13 is a position diagram of a rotation angle of a rear non-equal dwell cam according to the embodiment of the present invention;
[00371 FIG. 14 is a change diagram of the supporting state of the front and rear machine bodies along a rotation angle of a cam according to the embodiment of the present invention; and [0038] FIG. 15a to FIG. 15e are flowcharts of motion of a robot along a pipeline according to the embodiment of the present invention.
List of reference numerals 1 Front machine body assembly 1-1 Front casing 1-2 Dredging cutters 1-3 Front frame 1-4 Front elastic telescopic arm 1-5 Front elastic supporting wheel 1-2-1 Dredging blade 1-2-2 Cutter bars 1-2-3 Turntable 1-4-1 Elastic rubber mat 1-4-2 Sliding rod 1-4-3 First pressure spring 1-4-4 Spring limit piece .
1-4-5 Roller 1-4-6 Groove 1-4-7 Support rod 1-5-1 Wheel 1-5-2 Telescopic shaft 1-5-3 Telescopic sleeve 2 Transmission assembly 2-1 Cutter rotation shaft 2-2 Belt transmission mechanism 2-3 Front non-equal dwell cam group 2-4 Guide rod 2-5 Linear bearing 2-6 Rotation motor 2-7 First spur gear 2-8 Rear rotation shaft 2-9 Rear non-equal dwell cam group 2-10 Fourth bevel gear 2-11 Crank 2-12 Transmission mechanism 2-13 Connecting rod 2-14 Third bevel gear 2-15 Front rotation shaft 2-16 Fifth bevel gear 2-12-1 First bevel gear 2-12-2 First limit rings 2-12-3 Sliding shaft 2-12-4 Cylindrical pin 2-12-5 Bearing sleeve 2-12-6 Groove 2-12-7 Second limit ring 2-12-8 Second spur gear 2-12-9 Second bevel gear 3 Rear machine body assembly 3-1 Rear casing 3-2 Rear frame 3-3 Rear elastic telescopic arm 3-4 Rear elastic support wheel DETAILED DESCRIPTION OF THE INVENTION
100391 The present invention will be described with reference to the accompanying drawings.
[0040] As shown in FIG. 1 and FIG. 2, a complete strong supporting single drive two-way crawling type pipeline cleaning robot includes a front machine body assembly 1, a transmission assembly 2, and a rear machine body assembly 3.
[0041] The transmission assembly 2 is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly 1 and the rear machine body assembly 3 realize a continuous strong supporting function during an overall radial alternate contracting and supporting process (that is, at any moment, at least one of the front machine body and the rear machine body is in a strong supporting state), and meanwhile, axial alternate extension and contraction between the front machine body assembly 1 and the rear machine body assembly 3 and synchronous rotation of dredging cutters 1-2 are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
[0042] As shown in FIG. 3, the front machine body assembly 1 includes a front casing 1-1, the dredging cutters 1-2, a front frame 1-3, front elastic telescopic arms 1-4 at upper and lower sides, and front elastic supporting wheel 1-5 at left and right sides.
[0043] The front casing 1-1 is sleeved outside the front frame 1-3 and is fixedly connected to the front frame 1-3; as shown in FIG. 4, the dredging cutters 1-2 are disposed at a front side of the front frame 1-3, and include a turntable 1-2-3, cutter bars 1-2-2 uniformly distributed around the turntable 1-2-3 in a circumferential direction, and dredging blades 1-2-1 fixedly connected to the cutter bars 1-2-2.
[0044] As shown in FIG. 5, each of the front elastic telescopic arms 1-4 includes elastic rubber mats 1-4-1, a sliding rod 1-4-2, a first pressure spring 1-4-3, a spring limit piece 1-4-4, and rollers 1-4-5, and the elastic rubber mats 1-4-1 are disposed at a top of the sliding rod 1-4-2; the first pressure spring 1-4-3 is sleeved over the sliding rod 1-4-2, and realizes lower limit of the first pressure spring 1-4-3 through the spring limit piece 1-4-4 at a bottom of the sliding rod 1-4-2; a groove 1-4-6 in communication with a bottom is disposed on an outer wall at one side of the sliding rod 1-4-2, the rollers 1-4-5 are mounted at a bottom of the groove 1-4-6 through a support rod 1-4-7, and slide along the groove 1-4-6 through the support rod 1-4-7 to be fixed to realize adjustment of a spacing between the rollers 1-4-5 and the sliding rod 1-4-2, to adapt to radial sizes of different pipelines; a bottom of the front elastic telescopic arm 1-4 passes through the front casing 1-1 and realizes upper limit of the first pressure spring 1-4-3 on the sliding rod 1-4-2 through the front casing 1-1.
[0045] As shown in FIG. 6, each of the front elastic supporting wheels 1-5 includes a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the telescopic shaft 1-5-2, and a wheel 1-5-1 disposed at a top of the telescopic shaft 1-5-2, a second pressure spring connected to a bottom of the telescopic shaft 1-5-2 is disposed in the telescopic sleeve 1-5-3, telescopic motion of the telescopic shaft 1-5-2 and the telescopic sleeve 1-5-3 is realized through the second pressure spring to adapt to radial sizes of different pipelines; and the front elastic supporting wheels 1-5 are disposed at left and right sides of the front casing 1-1 through the telescopic sleeves 1-5-3.
[0046] In this embodiment, the rear machine body assembly 3 includes a rear casing 3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 at upper and lower sides, and rear elastic support wheels 3-4 at left and right sides; the rear casing 3-1 is sleeved outside the rear frame 3-2, and is fixedly connected to the rear frame 3-2;
the structures of the rear elastic telescopic arms 3-3 and the rear elastic support wheels 3-4 (including an assembly structure and a connection relationship between the assembly structure and the rear casing 3-1) are respectively the same as the front elastic telescopic arms 1-4 and the front elastic supporting wheels 1-5 in the front machine body assembly 1 (the front machine body assembly and the rear machine body assembly are identical general assemblies).
[0047] As shown in FIG. 7 and FIG. 8, the transmission assembly 2 includes a rotation motor 2-6, a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly.
[0048] The rotation motor 2-6 is disposed at a front side of the rear frame 3-2, a first spur gear 2-7 is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame 3-2, and the first spur gear 2-7 is attached to a rear side of the front side plate of the rear frame 3-2.
[0049] The medium drive assembly includes several guide mechanisms, a transmission mechanism 2-12, and a crank connecting rod mechanism connecting the front frame 1-3 and the rear frame 3-2; each of the guide mechanisms includes a guide rod 2-4 disposed on a rear side plate of the front frame 1-3 and a linear bearing 2-5 disposed on the front side plate of the rear frame 3-2, and telescopic connection of the front frame 1-3 and the rear frame 3-2 is realized through sliding cooperation of the guide rod 2-4 and the linear bearing 2-5.
[0050] As shown in FIG. 12, the transmission mechanisms 2-12 includes a group consisting of a sliding shaft 2-12-3 and a bearing sleeve 2-12-5 that are adaptive to each other, a strip groove 2-12-6 is disposed on a side wall of the bearing sleeve 2-12-5, a cylindrical pin 2-12-4 is disposed on a side wall of the sliding shaft 2-12-3, and synchronous rotation and telescopic sliding of the sliding shaft 2-12-3 and the bearing sleeve 2-12-5 are realized through sliding cooperation of the cylindrical pin 2-12-4 and the groove 2-12-6; one side of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5 penetrates through the rear side plate of the front frame 1-3, and two first limit rings 2-12-2 are disposed on the sliding shaft 2-12-3, the first limit rings 2-12-2 are respectively attached to front and rear sides of the rear side plate of
12 the front frame 1-3, and axial sliding of the sliding shaft 2-12-3 relative to the rear side plate of the front frame 1-3 is limited through the two first limit rings 2-12-2; one side of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3 penetrates through the front side plate of the rear frame 3-2, a second limit ring 2-12-7 and a second spur gear 2-12-8 are disposed on the bearing sleeve 2-12-5, the second limit ring 2-12-7 is attached to a front side of the front side plate of the rear frame 3-2, and the second spur gear 2-12-8 is attached to a rear side of the front side plate of the rear frame 3-2; axial sliding of the bearing sleeve 2-12-5 relative to the front side plate of the rear frame 3-2 is limited through the second limit ring 2-12-7 and the second spur gear 2-12-8, and the second spur gear 2-12-8 and the first spur gear 2-7 are engaged for transmission, to realize transmission of a rotation speed from the output shaft of the rotation motor 2-6 to the bearing sleeve 2-12-5; and a first bevel gear 2-12-1 is sleeved over one end of the sliding shaft 2-12-3 away from the bearing sleeve 2-12-5, and a second bevel gear 2-12-9 is sleeved over one end of the bearing sleeve 2-away from the sliding shaft 2-12-3.
100511 The front drive assembly includes a front rotation shaft 2-15 disposed in the front frame 1-3, a front non-equal dwell cam group 2-3, and a third bevel gear 2-14, and the front non-equal dwell cam group 2-3 and the third bevel gear 2-14 are sleeved over the front rotation shaft 2-15; the third bevel gear 2-14 and the first bevel gear 2-12-1 are engaged for transmission, and drive the front rotation shaft 2-15 and the front non-equal dwell cam group 2-3 to rotate synchronously; as shown in FIG.
9, the front non-equal dwell cam group 2-3 includes two identical front non-equal dwell cams 2-3a and 2-3b, and the two front non-equal dwell cams are stacked and dislocated by 180'; the rollers 1-4-5 at bottoms of the front elastic telescopic arms 1-4a and I-4b at upper and lower sides of the front machine body assembly 1 are respectively mounted on the two front non-equal dwell cams 2-3a and 203b abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms 1-4 through the two front non-equal dwell cams.
[0052] The rear drive assembly includes a rear rotation shaft 2-8 disposed in the rear frame 3-2, a rear non-equal dwell cam group 2-9, and a fourth bevel gear 2-10, and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly (the front drive assembly and the rear drive assembly are identical general assemblies); the fourth bevel gear 2-10 and the second bevel gear
100511 The front drive assembly includes a front rotation shaft 2-15 disposed in the front frame 1-3, a front non-equal dwell cam group 2-3, and a third bevel gear 2-14, and the front non-equal dwell cam group 2-3 and the third bevel gear 2-14 are sleeved over the front rotation shaft 2-15; the third bevel gear 2-14 and the first bevel gear 2-12-1 are engaged for transmission, and drive the front rotation shaft 2-15 and the front non-equal dwell cam group 2-3 to rotate synchronously; as shown in FIG.
9, the front non-equal dwell cam group 2-3 includes two identical front non-equal dwell cams 2-3a and 2-3b, and the two front non-equal dwell cams are stacked and dislocated by 180'; the rollers 1-4-5 at bottoms of the front elastic telescopic arms 1-4a and I-4b at upper and lower sides of the front machine body assembly 1 are respectively mounted on the two front non-equal dwell cams 2-3a and 203b abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms 1-4 through the two front non-equal dwell cams.
[0052] The rear drive assembly includes a rear rotation shaft 2-8 disposed in the rear frame 3-2, a rear non-equal dwell cam group 2-9, and a fourth bevel gear 2-10, and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly (the front drive assembly and the rear drive assembly are identical general assemblies); the fourth bevel gear 2-10 and the second bevel gear
13 2-12-9 are engaged for transmission, and drive the rear rotation shaft 2-8 and the rear non-equal dwell cam group 2-9 to rotate synchronously; as shown in FIG. 10, the rear non-equal dwell cam group 2-9 includes two identical rear non-equal dwell cams 2-9a and 2-9b, and synchronous radial telescopic adjustment of two rear elastic telescopic arms 3-3a and 3-3b is realized through the two rear non-equal dwell cams; and when the transmission mechanism 2-12 is rotating, the bevel gear set is engaged for transmission, to drive the front drive assembly and the rear drive assembly to rotate at a constant speed in opposite directions, so that the front non-equal dwell cam group 2-3 and the rear non-equal dwell cam group 2-9 are also rotating at a constant speed in opposite directions.
[0053] The cutter drive assembly includes a fifth bevel gear 2-16, a belt transmission mechanism 2-2, and a cutter rotation shaft 2-1, the fifth bevel gear 2-16 and the third bevel gear 2-14 are engaged for transmission, and drive the cutter rotation shaft 2-1 to rotate through the belt transmission mechanism 2-2, and the turntable 1-2-3 of the dredging cutters 1-2 is sleeved over one side of the cutter rotation shaft 2-1 that passes through the front side plate of the front frame 1-3, to realize synchronous rotation of the dredging cutters 1-2.
[0054] As shown in FIG. 11, the crank connecting rod mechanism includes connecting rods 2-13 and cranks 2-11 disposed on left and right sides of the front frame 1-3 and the rear frame 3-2, and the cranks 2-11 are sleeved over the rear rotation shaft 2-8 that extends to the outside of the rear frame 3-2 to synchronously rotate with the rear rotation shaft 2-8; one end of each of the connecting rods 2-13 is hingedly connected to a left/right side plate of the front frame 1-3, the other end is hingedly connected to the crank 2-11 at the same side, and axial telescopic adjustment between the front machine body assembly 1 and the rear machine body assembly 3 is realized through the crank connecting rod mechanism.
[0055] In this embodiment, the cutter bars 1-2-2 and the dredging blades 1-2-1 of the dredging cutters 1-2 are all detachable; a first long groove is formed in the support rod 1-4-7, a first threaded hole is formed in the groove 1-4-6, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod 1-4-7 is extended and contracted along the groove 1-4-6.
[0056] In this embodiment, a second long groove is formed in a side wall of the
[0053] The cutter drive assembly includes a fifth bevel gear 2-16, a belt transmission mechanism 2-2, and a cutter rotation shaft 2-1, the fifth bevel gear 2-16 and the third bevel gear 2-14 are engaged for transmission, and drive the cutter rotation shaft 2-1 to rotate through the belt transmission mechanism 2-2, and the turntable 1-2-3 of the dredging cutters 1-2 is sleeved over one side of the cutter rotation shaft 2-1 that passes through the front side plate of the front frame 1-3, to realize synchronous rotation of the dredging cutters 1-2.
[0054] As shown in FIG. 11, the crank connecting rod mechanism includes connecting rods 2-13 and cranks 2-11 disposed on left and right sides of the front frame 1-3 and the rear frame 3-2, and the cranks 2-11 are sleeved over the rear rotation shaft 2-8 that extends to the outside of the rear frame 3-2 to synchronously rotate with the rear rotation shaft 2-8; one end of each of the connecting rods 2-13 is hingedly connected to a left/right side plate of the front frame 1-3, the other end is hingedly connected to the crank 2-11 at the same side, and axial telescopic adjustment between the front machine body assembly 1 and the rear machine body assembly 3 is realized through the crank connecting rod mechanism.
[0055] In this embodiment, the cutter bars 1-2-2 and the dredging blades 1-2-1 of the dredging cutters 1-2 are all detachable; a first long groove is formed in the support rod 1-4-7, a first threaded hole is formed in the groove 1-4-6, and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod 1-4-7 is extended and contracted along the groove 1-4-6.
[0056] In this embodiment, a second long groove is formed in a side wall of the
14 telescopic sleeve 1-5-3, a second cylindrical pin is disposed on the side wall of the telescopic shaft 1-5-2, and telescopic motion of the telescopic shaft 1-5-2 along the telescopic sleeve 1-5-3 is limited through cooperation of the second cylindrical pin and the second long groove.
[0057] In this embodiment, farthest dwell angles of the non-equal dwell cams 2-3a, 2-3b, 2-9a, and 2-9b are 180 and nearest dwell angles are 144 , and a push angle and a return angle are both 18 . Since the farthest dwell angle of the non-equal dwell cam is 1800, during a full motion process, at least one of a front machine body and a rear machine body is in a strong supporting state. Therefore, when moving in a vertical pipeline, the front machine body and the rear machine body may not be destabilized due to insufficient support in a process of supporting a pipeline wall alternately.
Furthermore, under a precondition that a size of a basic circle is constant and an allowed narrow force angle is not exceeded, since the farthest dwell angle of a non-equal dwell cam is required to be not less than 180 in the present invention, when the nearest dwell angle is constant, a radial variation range of the non-equal dwell cam relative to an equal dwell cam becomes small, and therefore, the present invention is only suitable to move in a pipeline having a diameter that has a small change or a constant diameter. Specifically, the present invention only requires that a value of a farthest dwell angle of a non-equal dwell cam is not less than 180 , and implementation of the present invention is not limited to the specific angle.
[0058] A specific implementation of the present invention is specifically described as follows.
[0059] A crawling process of a pipeline robot is shown in FIG. 13 and FIG. 14, and 15a-15e. According to a change of a position of a rotation angle of a rear non-equal dwell cam in FIG. 13, Si and S2 in FIG. 14 respectively represent radial supporting states of the front machine body and the rear machine body. To describe conveniently, a robot is divided into three parts, that is, a front machine body B1 (radial extension and contraction), a medium machine body B2 (axial extension and contraction), and a rear machine body B3 (radial extension and contraction). Meanwhile, extension and contraction states of each part are classified as three types according to an extension degree, that is, a full extension state, a medium state, and a full contraction state. A
pipeline wall is not supported in a full radial extension state, is supported weakly in a medium radial state, and is supported strongly in a full radial extension state. A
walking process of a pipeline robot is specifically described as follows.
[0060] Step 1: A crank 2-11 rotates by 0 in a clockwise direction. As shown in FIG.
15a, at this time, a hinged hole on the crank 2-11 is at position I. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state.
[0061] Step 2: the crank 2-11 rotates by 90 in a clockwise direction. As shown in FIG. 15b, at this time, the hinged hole on the crank 2-11 is at position 2. It can be known from FIG. 14 that, the front machine body B1 is in the full radial contraction state, the medium machine body B2 is in a medium axial state, and the rear machine body B3 is in the full radial extension state.
[0062] Step 3: the crank 2-11 rotates by 180 in a clockwise direction. As shown in FIG. 15c, at this time, the hinged hole on the crank 2-11 is at position 3. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial extension state, and the rear machine body B3 is a full radial extension state.
[0063] Step 4: the crank 2-11 rotates by 270 in a clockwise direction. As shown in FIG. 15d, at this time, the hinged hole on the crank 2-11 is at position 4. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in the medium axial state, and the rear machine body B3 is a full radial contraction state.
[0064] Step 5: the crank 2-11 rotates by 360 in a clockwise direction. As shown in FIG. 15e, at this time, the hinged hole on the crank 2-11 returns to position 1. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state.
[0065] Through markings (A-F) in FIG. 15a to FIG. 15e, it can be clearly seen that, the pipeline robot crawls to the left along the pipeline and realizes continuous strong supporting crawling in a full process.
[0066] The present invention, through a combination of a connecting rod mechanism, gear transmission, and a non-equal dwell cam mechanism, that is, a power source and a set of mechanisms, realizes radial contraction and extension of a front machine body and a rear machine body of a robot, and extension and shortening of a spacing between the front machine body and the rear machine body, to realize full process strong supporting and two-way crawling in a vertical pipeline, and at the same time, realize pipeline cleaning during a walking process, and enhance stability and reliability of a pipeline cleaning operation.
[0067] Based on coordination of the non-equal dwell cam group, the present invention realizes continuous traction and full-process strong supporting in a process of alternate changes of supporting states of the front machine body and the rear machine body. Therefore, the present invention is not only suitable to cleaning of a non-horizontal pipeline (for example, a vertical pipe) having a diameter that has a very small change, but also suitable to a horizontal pipeline having a diameter that has a very small change, and has actual engineering significance on comprehensive pipeline cleaning.
100681 Only preferred embodiments of the present invention are described as above.
It should be indicated that, a person of ordinary skill in the art can make several improvements and modifications without departing from the principle of the present application, and the improvements and modifications fall in the protection scope of the present invention.
[0057] In this embodiment, farthest dwell angles of the non-equal dwell cams 2-3a, 2-3b, 2-9a, and 2-9b are 180 and nearest dwell angles are 144 , and a push angle and a return angle are both 18 . Since the farthest dwell angle of the non-equal dwell cam is 1800, during a full motion process, at least one of a front machine body and a rear machine body is in a strong supporting state. Therefore, when moving in a vertical pipeline, the front machine body and the rear machine body may not be destabilized due to insufficient support in a process of supporting a pipeline wall alternately.
Furthermore, under a precondition that a size of a basic circle is constant and an allowed narrow force angle is not exceeded, since the farthest dwell angle of a non-equal dwell cam is required to be not less than 180 in the present invention, when the nearest dwell angle is constant, a radial variation range of the non-equal dwell cam relative to an equal dwell cam becomes small, and therefore, the present invention is only suitable to move in a pipeline having a diameter that has a small change or a constant diameter. Specifically, the present invention only requires that a value of a farthest dwell angle of a non-equal dwell cam is not less than 180 , and implementation of the present invention is not limited to the specific angle.
[0058] A specific implementation of the present invention is specifically described as follows.
[0059] A crawling process of a pipeline robot is shown in FIG. 13 and FIG. 14, and 15a-15e. According to a change of a position of a rotation angle of a rear non-equal dwell cam in FIG. 13, Si and S2 in FIG. 14 respectively represent radial supporting states of the front machine body and the rear machine body. To describe conveniently, a robot is divided into three parts, that is, a front machine body B1 (radial extension and contraction), a medium machine body B2 (axial extension and contraction), and a rear machine body B3 (radial extension and contraction). Meanwhile, extension and contraction states of each part are classified as three types according to an extension degree, that is, a full extension state, a medium state, and a full contraction state. A
pipeline wall is not supported in a full radial extension state, is supported weakly in a medium radial state, and is supported strongly in a full radial extension state. A
walking process of a pipeline robot is specifically described as follows.
[0060] Step 1: A crank 2-11 rotates by 0 in a clockwise direction. As shown in FIG.
15a, at this time, a hinged hole on the crank 2-11 is at position I. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state.
[0061] Step 2: the crank 2-11 rotates by 90 in a clockwise direction. As shown in FIG. 15b, at this time, the hinged hole on the crank 2-11 is at position 2. It can be known from FIG. 14 that, the front machine body B1 is in the full radial contraction state, the medium machine body B2 is in a medium axial state, and the rear machine body B3 is in the full radial extension state.
[0062] Step 3: the crank 2-11 rotates by 180 in a clockwise direction. As shown in FIG. 15c, at this time, the hinged hole on the crank 2-11 is at position 3. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial extension state, and the rear machine body B3 is a full radial extension state.
[0063] Step 4: the crank 2-11 rotates by 270 in a clockwise direction. As shown in FIG. 15d, at this time, the hinged hole on the crank 2-11 is at position 4. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in the medium axial state, and the rear machine body B3 is a full radial contraction state.
[0064] Step 5: the crank 2-11 rotates by 360 in a clockwise direction. As shown in FIG. 15e, at this time, the hinged hole on the crank 2-11 returns to position 1. It can be known from FIG. 14 that, the front machine body B1 is in the full radial extension state, the medium machine body B2 is in a full axial contraction state, and the rear machine body B3 is a full radial extension state.
[0065] Through markings (A-F) in FIG. 15a to FIG. 15e, it can be clearly seen that, the pipeline robot crawls to the left along the pipeline and realizes continuous strong supporting crawling in a full process.
[0066] The present invention, through a combination of a connecting rod mechanism, gear transmission, and a non-equal dwell cam mechanism, that is, a power source and a set of mechanisms, realizes radial contraction and extension of a front machine body and a rear machine body of a robot, and extension and shortening of a spacing between the front machine body and the rear machine body, to realize full process strong supporting and two-way crawling in a vertical pipeline, and at the same time, realize pipeline cleaning during a walking process, and enhance stability and reliability of a pipeline cleaning operation.
[0067] Based on coordination of the non-equal dwell cam group, the present invention realizes continuous traction and full-process strong supporting in a process of alternate changes of supporting states of the front machine body and the rear machine body. Therefore, the present invention is not only suitable to cleaning of a non-horizontal pipeline (for example, a vertical pipe) having a diameter that has a very small change, but also suitable to a horizontal pipeline having a diameter that has a very small change, and has actual engineering significance on comprehensive pipeline cleaning.
100681 Only preferred embodiments of the present invention are described as above.
It should be indicated that, a person of ordinary skill in the art can make several improvements and modifications without departing from the principle of the present application, and the improvements and modifications fall in the protection scope of the present invention.
Claims (8)
1. A complete strong supporting single drive two-way crawling type pipeline cleaning robot, comprising a front machine body assembly (1), a transmission assembly (2), and a rear machine body assembly (3);
wherein the transmission assembly (2) is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly (1) and the rear machine body assembly (3) realize a continuous strong supporting function during an overall radial alternate contracting and supporting process, and meanwhile, axial extension and contraction between the front machine body assembly (1) and the rear machine body assembly (3) and synchronous rotation of dredging cutters (1-2) are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
wherein the transmission assembly (2) is driven by one power; through a transmission function of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam mechanism, the front machine body assembly (1) and the rear machine body assembly (3) realize a continuous strong supporting function during an overall radial alternate contracting and supporting process, and meanwhile, axial extension and contraction between the front machine body assembly (1) and the rear machine body assembly (3) and synchronous rotation of dredging cutters (1-2) are also realized, to realize full-process strong supporting, two-way crawling, and a pipeline cleaning operation of a robot along a non-horizontal pipeline.
2. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 1, wherein the front machine body assembly (1) comprises a front casing (1-1), the dredging cutters (1-2), a front frame (1-3), front elastic telescopic arms (1-4) at upper and lower sides, and front elastic supporting wheel (1-5) at left and right sides;
the front casing (1-1 ) is sleeved outside the front frame (1-3) and is fixedly connected to the front frame (1-3); the dredging cutters (1-2) are disposed at a front side of the front frame (1-3), and comprise a turntable (1-2-3), cutter bars (1-2-2) uniformly distributed around the turntable (1-2-3) in a circumferential direction, and dredging blades (1-2-1) fixedly connected to the cutter bars (1-2-2);
each of the front elastic telescopic arms (1-4) comprises elastic rubber mats (1-4-1), a sliding rod (1-4-2), a first pressure spring (1-4-3), a spring limit piece (1-4-4), and rollers (1-4-5), and the elastic rubber mats (1-4-1) are disposed at a top of the sliding rod (1-4-2); the first pressure spring (1-4-3) is sleeved over the sliding rod (1-4-2), and realizes lower limit of the first pressure spring (1-4-3) through the spring limit piece (1-4-4) at a bottom of the sliding rod (1-4-2); a groove (1-4-6) in communication with a bottom is disposed on an outer wall at one side of the sliding rod (1-4-2), the rollers (1-4-5) are mounted at a bottom of the groove (1-4-6) through a support rod (1-4-7), and slide along the groove (1-4-6) through the support rod (1-4-7) to be fixed to realize adjustment of a spacing between the rollers (1-4-5) and the sliding rod (1-4-2); a bottom of the front elastic telescopic arm (1-4) passes through the front casing (1-1) and realizes upper limit of the first pressure spring (1-4-3) on the sliding rod (1-4-2) through the front casing (1-1);
each of the front elastic supporting wheels (1-5) comprises a telescopic shaft (1-5-2), a telescopic sleeve (1-5-3) sleeved outside the telescopic shaft (1-5-2), and a wheel (1-5-1) disposed at a top of the telescopic shaft (1-5-2), a second pressure spring connected to a bottom of the telescopic shaft (1-5-2) is disposed in the telescopic sleeve (1-5-3), and telescopic motion of the telescopic shaft (1-5-2) and the telescopic sleeve (1-5-3) is realized through the second pressure spring; and the front elastic supporting wheels (1-5) are disposed at left and right sides of the front casing (1-1) through the telescopic sleeves (1-5-3).
the front casing (1-1 ) is sleeved outside the front frame (1-3) and is fixedly connected to the front frame (1-3); the dredging cutters (1-2) are disposed at a front side of the front frame (1-3), and comprise a turntable (1-2-3), cutter bars (1-2-2) uniformly distributed around the turntable (1-2-3) in a circumferential direction, and dredging blades (1-2-1) fixedly connected to the cutter bars (1-2-2);
each of the front elastic telescopic arms (1-4) comprises elastic rubber mats (1-4-1), a sliding rod (1-4-2), a first pressure spring (1-4-3), a spring limit piece (1-4-4), and rollers (1-4-5), and the elastic rubber mats (1-4-1) are disposed at a top of the sliding rod (1-4-2); the first pressure spring (1-4-3) is sleeved over the sliding rod (1-4-2), and realizes lower limit of the first pressure spring (1-4-3) through the spring limit piece (1-4-4) at a bottom of the sliding rod (1-4-2); a groove (1-4-6) in communication with a bottom is disposed on an outer wall at one side of the sliding rod (1-4-2), the rollers (1-4-5) are mounted at a bottom of the groove (1-4-6) through a support rod (1-4-7), and slide along the groove (1-4-6) through the support rod (1-4-7) to be fixed to realize adjustment of a spacing between the rollers (1-4-5) and the sliding rod (1-4-2); a bottom of the front elastic telescopic arm (1-4) passes through the front casing (1-1) and realizes upper limit of the first pressure spring (1-4-3) on the sliding rod (1-4-2) through the front casing (1-1);
each of the front elastic supporting wheels (1-5) comprises a telescopic shaft (1-5-2), a telescopic sleeve (1-5-3) sleeved outside the telescopic shaft (1-5-2), and a wheel (1-5-1) disposed at a top of the telescopic shaft (1-5-2), a second pressure spring connected to a bottom of the telescopic shaft (1-5-2) is disposed in the telescopic sleeve (1-5-3), and telescopic motion of the telescopic shaft (1-5-2) and the telescopic sleeve (1-5-3) is realized through the second pressure spring; and the front elastic supporting wheels (1-5) are disposed at left and right sides of the front casing (1-1) through the telescopic sleeves (1-5-3).
3. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 2, wherein the rear machine body assembly (3) comprises a rear casing (3-1), a rear frame (3-2), rear elastic telescopic arms (3-3) at upper and lower sides, and rear elastic support wheels (3-4) at left and right sides; the rear casing (3-1) is sleeved outside the rear frame (3-2), and is fixedly connected to the rear frame (3-2); structures of the rear elastic telescopic arms (3-3) and the rear elastic support wheels (3-4) are respectively the same as the front elastic telescopic arms (1-4) and the front elastic supporting wheels (1-5) in the front machine body assembly (1).
4. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 3, wherein the transmission assembly (2) comprises a rotation motor (2-6), a cutter drive assembly, a front drive assembly, a rear drive assembly, and a medium drive assembly; the rotation motor (2-6) is disposed at a front side of the rear frame (3-2), a first spur gear (2-7) is sleeved over an output shaft of the rotation motor that passes through a front side plate of the rear frame (3-2), and the first spur gear (2-7) is attached to a rear side of the front side plate of the rear frame (3-2);
the medium drive assembly comprises several guide mechanisms, a transmission mechanism (2-12), and a crank connecting rod mechanism connecting the front frame (1-3) and the rear frame (3-2); each of the guide mechanisms comprises a guide rod (2-4) disposed on a rear side plate of the front frame (1-3) and a linear bearing (2-5) disposed on the front side plate of the rear frame (3-2), and telescopic connection of the front frame (1-3) and the rear frame (3-2) is realized through sliding cooperation of the guide rod (2-4) and the linear bearing (2-5);
the transmission mechanism (2-12) comprises a group consisting of a sliding shaft (2-12-3) and a bearing sleeve (2-12-5) that are adaptive to each other, a strip groove (2-12-6) is disposed on a side wall of the bearing sleeve (2-12-5), a cylindrical pin (2-12-4) is disposed on a side wall of the sliding shaft (2-12-3), and synchronous rotation and telescopic sliding of the sliding shaft (2-12-3) and the bearing sleeve (2-12-5) are realized through sliding cooperation of the cylindrical pin (2-12-4) and the groove (2-12-6); one side of the sliding shaft (2-12-3) away from the bearing sleeve (2-12-5) penetrates through the rear side plate of the front frame (1-3), and two first limit rings (2-12-2) are disposed on the sliding shaft (2-12-3), the first limit rings (2-12-2) are respectively attached to front and rear sides of the rear side plate of the front frame (1-3), and axial sliding of the sliding shaft (2-12-3) relative to the rear side plate of the front frame (1-30) is limited through the two first limit rings (2-12-2); one side of the bearing sleeve (2-12-5) away from the sliding shaft (2-12-3) penetrates through the front side plate of the rear frame (3-2), a second limit ring (2-12-7) and a second spur gear (2-12-8) are disposed on the bearing sleeve (2-12-5), the second limit ring (2-12-7) is attached to a front side of the front side plate of the rear frame (3-2), and the second spur gear (2-12-8) is attached to a rear side of the front side plate of the rear frame (3-2); axial sliding of the bearing sleeve (2-12-5) relative to the front side plate of the rear frame (3-2) is limited through the second limit ring (2-12-7) and the second spur gear (2-12-8), and the second spur gear (2-12-8) and the first spur gear (2-7) are engaged for transmission; and a first bevel gear (2-12-1) is sleeved over one end of the sliding shaft (2-12-3 )away from the bearing sleeve (2-12-5), and a second bevel gear (2-12-9) is sleeved over one end of the bearing sleeve (2-12-5) away from the sliding shaft (2-12-3);
the front drive assembly comprises a front rotation shaft (2-15) disposed in the front frame (1-3), a front non-equal dwell cam group (2-3), and a third bevel gear (2-14), and the front non-equal dwell cam group (2-3) and the third bevel gear (2-14) are sleeved over the front rotation shaft (2-15); the third bevel gear (2-14) and the first bevel gear (2-12-1) are engaged for transmission, and drive the front rotation shaft (2-15) and the front non-equal dwell cant group (2-3) to rotate synchronously;
the front non-equal dwell cam group (2-3) comprises two identical front non-equal dwell cams, and the two front non-equal dwell cams are stacked and dislocated by 1800; the rollers (1-4-5) at bottoms of the front elastic telescopic arms 1-4 at upper and lower sides of the front machine body assembly (1) are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms (1-4) through the two front non-equal dwell earns;
the rear drive assembly comprises a rear rotation shaft (2-8) disposed in the rear frame (3-2), a rear non-equal dwell cam group (2-9), and a fourth bevel gear (2-10) , and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear (2-10) and the second bevel gear (2-12-9) are engaged for transmission, and drive the rear rotation shaft (2-8) and the rear non-equal dwell cam group (2-9) to rotate synchronously; the rear non-equal dwell cam group (2-9) comprises two identical rear non-equal dwell cams, and synchronous radial telescopic adjustment of two rear elastic telescopic arms 3-3 is realized through the two rear non-equal dwell cams;
the cutter drive assembly comprises a fifth bevel gear (2-16), a belt transmission mechanism (2-2), and a cutter rotation shaft (2-1), the fifth bevel gear (2-16) and the third bevel gear (2-14) are engaged for transmission, and drive the cutter rotation shaft (2-1) to rotate through the belt transmission mechanism (2-2), and the turntable (1-2-3) of the dredging cutters (1-2) is sleeved over one side of the cutter rotation shaft (2-1) that passes through the front side plate of the front frame (1-3);
the crank connecting rod mechanism comprises connecting rods (2-13) and cranks (2-11) disposed on left and right sides of the front frame (1-3) and the rear frame (3-2), and the cranks (2-11) are sleeved over the rear rotation shaft (2-8) that extends to the outside of the rear frame (3-2) to synchronously rotate with the rear rotation shaft (2-8); one end of each of the connecting rods (2-13) is hingedly connected to a left/right side plate of the front frame (1-3), the other end is hingedly connected to the crank (2-11) at the same side, and axial telescopic adjustment between the front machine body assembly (1) and the rear machine body assembly (3) is realized through the crank connecting rod mechanism.
the medium drive assembly comprises several guide mechanisms, a transmission mechanism (2-12), and a crank connecting rod mechanism connecting the front frame (1-3) and the rear frame (3-2); each of the guide mechanisms comprises a guide rod (2-4) disposed on a rear side plate of the front frame (1-3) and a linear bearing (2-5) disposed on the front side plate of the rear frame (3-2), and telescopic connection of the front frame (1-3) and the rear frame (3-2) is realized through sliding cooperation of the guide rod (2-4) and the linear bearing (2-5);
the transmission mechanism (2-12) comprises a group consisting of a sliding shaft (2-12-3) and a bearing sleeve (2-12-5) that are adaptive to each other, a strip groove (2-12-6) is disposed on a side wall of the bearing sleeve (2-12-5), a cylindrical pin (2-12-4) is disposed on a side wall of the sliding shaft (2-12-3), and synchronous rotation and telescopic sliding of the sliding shaft (2-12-3) and the bearing sleeve (2-12-5) are realized through sliding cooperation of the cylindrical pin (2-12-4) and the groove (2-12-6); one side of the sliding shaft (2-12-3) away from the bearing sleeve (2-12-5) penetrates through the rear side plate of the front frame (1-3), and two first limit rings (2-12-2) are disposed on the sliding shaft (2-12-3), the first limit rings (2-12-2) are respectively attached to front and rear sides of the rear side plate of the front frame (1-3), and axial sliding of the sliding shaft (2-12-3) relative to the rear side plate of the front frame (1-30) is limited through the two first limit rings (2-12-2); one side of the bearing sleeve (2-12-5) away from the sliding shaft (2-12-3) penetrates through the front side plate of the rear frame (3-2), a second limit ring (2-12-7) and a second spur gear (2-12-8) are disposed on the bearing sleeve (2-12-5), the second limit ring (2-12-7) is attached to a front side of the front side plate of the rear frame (3-2), and the second spur gear (2-12-8) is attached to a rear side of the front side plate of the rear frame (3-2); axial sliding of the bearing sleeve (2-12-5) relative to the front side plate of the rear frame (3-2) is limited through the second limit ring (2-12-7) and the second spur gear (2-12-8), and the second spur gear (2-12-8) and the first spur gear (2-7) are engaged for transmission; and a first bevel gear (2-12-1) is sleeved over one end of the sliding shaft (2-12-3 )away from the bearing sleeve (2-12-5), and a second bevel gear (2-12-9) is sleeved over one end of the bearing sleeve (2-12-5) away from the sliding shaft (2-12-3);
the front drive assembly comprises a front rotation shaft (2-15) disposed in the front frame (1-3), a front non-equal dwell cam group (2-3), and a third bevel gear (2-14), and the front non-equal dwell cam group (2-3) and the third bevel gear (2-14) are sleeved over the front rotation shaft (2-15); the third bevel gear (2-14) and the first bevel gear (2-12-1) are engaged for transmission, and drive the front rotation shaft (2-15) and the front non-equal dwell cant group (2-3) to rotate synchronously;
the front non-equal dwell cam group (2-3) comprises two identical front non-equal dwell cams, and the two front non-equal dwell cams are stacked and dislocated by 1800; the rollers (1-4-5) at bottoms of the front elastic telescopic arms 1-4 at upper and lower sides of the front machine body assembly (1) are respectively mounted on the two front non-equal dwell cams abutting against each other, to realize synchronous radial telescopic adjustment of the two front elastic telescopic arms (1-4) through the two front non-equal dwell earns;
the rear drive assembly comprises a rear rotation shaft (2-8) disposed in the rear frame (3-2), a rear non-equal dwell cam group (2-9), and a fourth bevel gear (2-10) , and a connection structure of the rear drive assembly is the same as a connection structure of the front drive assembly; the fourth bevel gear (2-10) and the second bevel gear (2-12-9) are engaged for transmission, and drive the rear rotation shaft (2-8) and the rear non-equal dwell cam group (2-9) to rotate synchronously; the rear non-equal dwell cam group (2-9) comprises two identical rear non-equal dwell cams, and synchronous radial telescopic adjustment of two rear elastic telescopic arms 3-3 is realized through the two rear non-equal dwell cams;
the cutter drive assembly comprises a fifth bevel gear (2-16), a belt transmission mechanism (2-2), and a cutter rotation shaft (2-1), the fifth bevel gear (2-16) and the third bevel gear (2-14) are engaged for transmission, and drive the cutter rotation shaft (2-1) to rotate through the belt transmission mechanism (2-2), and the turntable (1-2-3) of the dredging cutters (1-2) is sleeved over one side of the cutter rotation shaft (2-1) that passes through the front side plate of the front frame (1-3);
the crank connecting rod mechanism comprises connecting rods (2-13) and cranks (2-11) disposed on left and right sides of the front frame (1-3) and the rear frame (3-2), and the cranks (2-11) are sleeved over the rear rotation shaft (2-8) that extends to the outside of the rear frame (3-2) to synchronously rotate with the rear rotation shaft (2-8); one end of each of the connecting rods (2-13) is hingedly connected to a left/right side plate of the front frame (1-3), the other end is hingedly connected to the crank (2-11) at the same side, and axial telescopic adjustment between the front machine body assembly (1) and the rear machine body assembly (3) is realized through the crank connecting rod mechanism.
5. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 4, wherein the cutter bars (1-2-2) and the dredging blades (1-2-1) of the dredging cutters (1-2) are all detachable.
6. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 4, wherein a first long groove is formed in the support rod (1-4-7), a first threaded hole is formed in the groove (1-4-6), and a fastening bolt passes through the first long groove to be fastened with the first threaded hole, so that the support rod (1-4-7) is extended and contracted along the groove (1-4-6).
7. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 4, wherein a second long groove is formed in a side wall of the telescopic sleeve (1-5-3), a second cylindrical pin is disposed on the side wall of the telescopic shaft (1-5-2), and telescopic motion of the telescopic shaft (1-5-2) along the telescopic sleeve (1-5-3) is limited through cooperation of the second cylindrical pin and the second long groove.
8. The complete strong supporting single drive two-way crawling type pipeline cleaning robot according to claim 4, wherein a farthest dwell angle of the front non-equal dwell cams is not less than 180°.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710328193.7 | 2017-05-11 | ||
CN201710328193.7A CN106925575B (en) | 2017-05-11 | 2017-05-11 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
PCT/CN2018/085976 WO2018205920A1 (en) | 2017-05-11 | 2018-05-08 | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CA3045865A1 true CA3045865A1 (en) | 2018-11-15 |
CA3045865C CA3045865C (en) | 2021-08-24 |
Family
ID=59430123
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA3045865A Active CA3045865C (en) | 2017-05-11 | 2018-05-08 | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
Country Status (5)
Country | Link |
---|---|
CN (1) | CN106925575B (en) |
AU (1) | AU2018264305B2 (en) |
CA (1) | CA3045865C (en) |
GB (1) | GB2569931B (en) |
WO (1) | WO2018205920A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113976557A (en) * | 2021-09-18 | 2022-01-28 | 安徽机电职业技术学院 | Robot for dredging oil pipeline with directional dredging structure |
Families Citing this family (92)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106925575B (en) * | 2017-05-11 | 2019-02-19 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
CN107366796B (en) * | 2017-09-20 | 2019-04-30 | 中国矿业大学(北京) | Robot and control method for coal mine main drainage pipeline scale removal |
CN108278440B (en) * | 2017-12-18 | 2020-07-24 | 中国矿业大学 | Pipeline robot maximum curvature steering mechanism and steering method |
CN108126961B (en) * | 2017-12-19 | 2020-07-07 | 长春理工大学 | Self-energy-taking pipeline inner wall cleaning robot |
CN108262318B (en) * | 2018-01-15 | 2020-01-17 | 哈尔滨学院 | Pipeline cleaning robot |
CN108019586B (en) * | 2018-01-19 | 2024-03-01 | 国家管网集团浙江省天然气管网有限公司 | Stable pipeline robot running gear |
CN108296874B (en) * | 2018-02-05 | 2019-07-30 | 北一(山东)工业科技股份有限公司 | A kind of numerical control machining center dovetail groove automatically cleaning lubricating system |
CN108326632B (en) * | 2018-02-05 | 2019-09-13 | 明光市龙腾科技工贸有限公司 | A kind of machining apparatus dovetail guide lubricating maintenance device |
CN108758166B (en) * | 2018-07-17 | 2019-11-29 | 武汉理工大学 | Single driving creeping motion type pipe robot |
CN109701973B (en) * | 2018-12-07 | 2020-07-14 | 中国航天空气动力技术研究院 | Telescopic self-crawling sweeper in wind tunnel pipeline |
CN109332311B (en) * | 2018-12-10 | 2024-05-17 | 南京工程学院 | Cleaner for conveying pipe of concrete mixer |
CN109357104B (en) * | 2018-12-11 | 2024-02-27 | 吕梁学院 | Pipeline detection robot |
CN111350903B (en) * | 2018-12-21 | 2024-08-09 | 核动力运行研究所 | Multi-crawler foot synchronous stretching structure for pipeline crawling |
CN109519650A (en) * | 2018-12-25 | 2019-03-26 | 南昌大学 | A kind of diameter changing mechanism of pipe robot |
CN109807120A (en) * | 2019-03-08 | 2019-05-28 | 长沙理工大学 | A kind of self-adapting pipe method for cleaning |
CN109737269A (en) * | 2019-03-11 | 2019-05-10 | 长安大学 | A kind of Microminiature pipeline sniffing robot |
CN109899622A (en) * | 2019-03-18 | 2019-06-18 | 厦门理工学院 | Crawl device and its method of creeping in a kind of biomimetic peristaltic type pipeline |
CN109780373A (en) * | 2019-03-21 | 2019-05-21 | 广州市天驰测绘技术有限公司 | A kind of underground piping detection device |
CN109930682B (en) * | 2019-04-19 | 2024-05-24 | 江苏工程职业技术学院 | Pipeline dredging robot |
CN110076149B (en) * | 2019-06-09 | 2023-12-15 | 云南明湖环境科技有限公司 | Sewage pipeline running dredging robot |
CN110215089A (en) * | 2019-06-11 | 2019-09-10 | 朱龙云 | A kind of remote control children creep training aids |
CN110171007A (en) * | 2019-06-28 | 2019-08-27 | 中铁工程装备集团有限公司 | Robot and method for inspecting are administered in long seepage tunnel, water quality condition inspection |
CN110360874B (en) * | 2019-08-15 | 2023-06-02 | 南京林业大学 | Bore cleaning robot |
CN110469781B (en) * | 2019-09-13 | 2024-06-07 | 黄婧媛 | Pipeline deformation positioning device and use method |
CN110681656A (en) * | 2019-09-26 | 2020-01-14 | 文安县天华密度板有限公司 | Automatic cleaning device and method for pipeline wall hanging |
CN110670709B (en) * | 2019-09-27 | 2024-07-26 | 中国地质大学(武汉) | Pipeline dredging vehicle based on crank rocker mechanism |
CN110566753B (en) * | 2019-10-05 | 2024-04-02 | 河北工业大学 | Self-adaptive autonomous steering wheel type pipeline robot |
CN111219563A (en) * | 2020-02-21 | 2020-06-02 | 河海大学 | Self-adaptive pipeline dredging robot |
CN111822458B (en) * | 2020-05-29 | 2022-04-15 | 武汉船用机械有限责任公司 | Cleaning device for strip-shaped cavity |
CN112077088B (en) * | 2020-07-08 | 2021-11-05 | 安徽赛安安全技术有限公司 | Pipe diameter surface cleaning device for different pipelines |
CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
CN112108468B (en) * | 2020-08-11 | 2022-01-25 | 广东技术师范大学天河学院 | Automatic reducing type pipeline cleaning robot |
CN112024544B (en) * | 2020-08-18 | 2022-11-18 | 内蒙古民族大学 | Fluid drive formula oil pipeline clearance robot |
CN112217134B (en) * | 2020-09-11 | 2023-07-11 | 国网浙江绍兴市上虞区供电有限公司 | Cleaning head adjusting and positioning structure of transmission line cleaning device |
CN112032470A (en) * | 2020-09-14 | 2020-12-04 | 胡玉婷 | Pipeline disinfection robot |
CN112519908B (en) * | 2020-10-10 | 2023-07-25 | 太原科技大学 | Automatic change cask type oil tank self-cleaning robot |
CN112474643B (en) * | 2020-11-13 | 2023-12-12 | 长缆电工科技股份有限公司 | Cleaning and detecting equipment for inner wall of insulating hollow sleeve and sleeve cleaning method |
CN112303379A (en) * | 2020-11-25 | 2021-02-02 | 长春工业大学 | Cleaning robot for petroleum pipeline |
CN112620263B (en) * | 2020-11-30 | 2023-11-17 | 佛山市浩普环保技术有限公司 | Oil-liquid separation equipment for cleaning pipe wall of petroleum transportation in offshore exploitation |
CN114570723A (en) * | 2020-12-01 | 2022-06-03 | 中国石油天然气股份有限公司 | Automatic descaling and derusting device for inner wall of heat-insulating oil pipe |
CN112871904B (en) * | 2021-01-12 | 2022-09-13 | 广西大学 | Pipeline dredging robot |
CN112829724B (en) * | 2021-01-19 | 2023-01-10 | 广东博智林机器人有限公司 | Support device and construction equipment |
CN113075288B (en) * | 2021-03-23 | 2024-03-05 | 陕西泰诺特检测技术有限公司 | Intelligent eddy current internal detection device and method thereof |
CN113048323B (en) * | 2021-04-07 | 2022-10-14 | 上海应用技术大学 | Wheel-leg type robot capable of crawling on inner wall of reducing pipeline |
CN113464762B (en) * | 2021-07-02 | 2023-09-05 | 珠海市博润环保工程有限公司 | Exhaust emission pipeline |
CN113669550B (en) * | 2021-07-24 | 2023-03-24 | 浙江景迈环境科技有限公司 | Drainage pipeline detection device and detection method |
CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
CN113695324A (en) * | 2021-08-13 | 2021-11-26 | 国网山东省电力公司微山县供电公司 | Power pipeline obstacle clearing inspection device and method |
CN113863480B (en) * | 2021-09-10 | 2023-03-14 | 合肥十五里河首创水务有限责任公司 | Sludge pipeline dredging device |
CN113732922B (en) * | 2021-09-22 | 2024-06-14 | 陈春 | Surface cleaner applied to high-altitude metal pipeline |
CN113802638B (en) * | 2021-10-18 | 2023-03-07 | 广州工商学院 | A bottom of pool silt suction subassembly for food sewage treatment |
CN113915451B (en) * | 2021-11-01 | 2023-03-21 | 太仓阿尔法数字科技有限公司 | Pipeline inspection robot |
CN114134988B (en) * | 2021-11-03 | 2023-10-27 | 上海建工二建集团有限公司 | Pipeline dredging device and method |
CN113894117B (en) * | 2021-11-24 | 2023-03-21 | 中北大学 | Mechanical structure of pipeline dredging robot |
CN114273351B (en) * | 2021-12-13 | 2024-02-20 | 湖南诚路管业科技有限公司 | Efficient pipeline cleaning device for hydraulic engineering |
CN114210669B (en) * | 2021-12-15 | 2023-08-29 | 西安科技大学 | Cable calandria mediation robot |
CN114248279B (en) * | 2021-12-31 | 2023-03-28 | 中工创智信息科技(江苏)有限公司 | AI robot for data acquisition |
CN114016601A (en) * | 2022-01-06 | 2022-02-08 | 河北粤海水务集团有限公司 | Robot convenient for pipeline operation and application thereof in underground drainage pipeline operation |
CN118437717A (en) * | 2022-01-19 | 2024-08-06 | 杨清哲 | Device for cleaning sediment in water pipeline and use method |
CN114345854B (en) * | 2022-01-21 | 2024-02-20 | 洛阳理工学院 | Diameter-adjustable front disc assembly for cleaning pipeline and pipeline cleaning machine |
CN114508167B (en) * | 2022-01-23 | 2023-11-14 | 淳安华力建设工程有限公司 | Municipal drainage engineering pipeline intelligence mediation system |
CN114484143A (en) * | 2022-01-27 | 2022-05-13 | 中国铁建重工集团股份有限公司 | Pipeline robot walking and obstacle crossing auxiliary device and pipeline robot |
CN114776930A (en) * | 2022-03-09 | 2022-07-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Robot for detecting blockage condition of drainage pipeline and detection method |
CN114653697B (en) * | 2022-03-10 | 2023-08-29 | 内蒙古森鼎环保节能股份有限公司 | Industrial dust removal and collection device capable of automatically guiding flow |
CN114888008B (en) * | 2022-03-28 | 2023-06-27 | 乌海黑猫炭黑有限责任公司 | Carbon black conveying pipeline dredging robot and working method thereof |
CN114673860B (en) * | 2022-04-20 | 2023-05-02 | 长江生态环保集团有限公司 | Automatic formwork supporting device for pipeline repair and repair method thereof |
CN115069689A (en) * | 2022-05-31 | 2022-09-20 | 刘德华 | Synchronous cleaning equipment of inside and outside diameter face of pipeline for machining |
CN114754228B (en) * | 2022-06-13 | 2022-08-23 | 西南石油大学 | Creeping differential multi-mode pipeline robot |
CN115301648B (en) * | 2022-06-16 | 2023-09-05 | 广州市畅通管道工程有限公司 | Use stable pipeline plug cutting robot |
CN115193832B (en) * | 2022-06-25 | 2023-08-08 | 中核利华消防工程有限公司 | Pipeline cleaning device |
CN115283380A (en) * | 2022-08-05 | 2022-11-04 | 江苏鼎甲科技有限公司 | Automatic desilting robot with clean function |
CN115193844A (en) * | 2022-08-08 | 2022-10-18 | 三峡智慧水务科技有限公司 | Dredging robot for vertical drainage pipeline |
CN115382862B (en) * | 2022-08-26 | 2023-09-22 | 陕西建工第六建设集团有限公司 | Pipeline cleaning device that municipal works were used |
CN115573416B (en) * | 2022-09-19 | 2023-10-20 | 江苏四通路桥工程有限公司 | Automatic cleaning equipment for highway drainage side ditch |
CN115608671B (en) * | 2022-10-18 | 2024-07-19 | 江苏多金电梯配件有限公司 | Surface treatment device for elevator guide rail workpiece |
CN115647045B (en) * | 2022-10-25 | 2023-06-27 | 广州Jfe钢板有限公司 | Method for producing pickling plate by using acid continuous rolling unit |
CN115415259B (en) * | 2022-11-07 | 2023-03-24 | 利华益利津炼化有限公司 | Cleaning device for oil refining equipment |
CN115648031A (en) * | 2022-11-08 | 2023-01-31 | 川易机电设备启东有限公司 | Pipeline rust removing device capable of automatically adjusting rust removing radius according to pipe diameter |
CN115739721B (en) * | 2022-11-10 | 2024-01-12 | 上海韦地科技集团有限公司 | Exhaust tower cleaning robot that crawls |
CN115727219B (en) * | 2022-12-19 | 2023-05-12 | 杭州四叶智能设备有限公司 | UV light curing lamp bracket |
CN115971179A (en) * | 2022-12-22 | 2023-04-18 | 孟海燕 | Pipeline cleaning robot suitable for complex environment |
CN116146904B (en) * | 2023-02-08 | 2024-01-19 | 中国矿业大学 | CO (carbon monoxide) 2 Conveying safety emptying device |
CN116087229B (en) * | 2023-03-28 | 2023-07-14 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Simple detection device and detection method for concave deformation of buried pipeline |
CN116106336B (en) * | 2023-04-13 | 2023-06-09 | 河北亿海管道集团有限公司 | Pipe fitting radiographic inspection equipment |
CN116379256B (en) * | 2023-05-24 | 2023-08-04 | 道雨耐节能科技宿迁有限公司 | Robot is patrolled and examined to pipeline inner wall |
CN117067234B (en) * | 2023-10-11 | 2023-12-22 | 常熟理工学院 | Full-coverage scanning imaging robot for smooth curvature inner wall |
CN117086037B (en) * | 2023-10-17 | 2024-01-05 | 大安吉电绿氢能源有限公司 | Pipeline cleaning device |
CN117086768B (en) * | 2023-10-17 | 2024-01-23 | 中铁三局集团有限公司 | Automatic polishing device for butt welding seam of ultra-long large-diameter pipeline |
CN117862146A (en) * | 2024-03-12 | 2024-04-12 | 山科华智(山东)机器人智能科技有限责任公司 | Crawler-type blast furnace gas pipeline ash removal robot |
CN117960721A (en) * | 2024-04-01 | 2024-05-03 | 滨州泽郦精密金属科技有限公司 | Stainless steel pipe inner wall belt cleaning device |
CN117960722B (en) * | 2024-04-02 | 2024-05-28 | 太原国泰新材料有限公司 | Pipeline rust remover in high pigment carbon black apparatus for producing |
CN118305149B (en) * | 2024-06-11 | 2024-08-27 | 哈尔滨小珠智能科技有限公司 | In-tank self-propelled steam cleaning and recycling robot |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3890905A (en) * | 1974-02-01 | 1975-06-24 | Crc Crose Int Inc | Apparatus for driving a device within a pipe |
US4177734A (en) * | 1977-10-03 | 1979-12-11 | Midcon Pipeline Equipment Co. | Drive unit for internal pipe line equipment |
US5203646A (en) * | 1992-02-06 | 1993-04-20 | Cornell Research Foundation, Inc. | Cable crawling underwater inspection and cleaning robot |
CN102261540B (en) * | 2011-04-21 | 2012-08-22 | 哈尔滨工程大学 | Self-expanding cankerworm robot |
CN102661470B (en) * | 2012-05-17 | 2014-07-02 | 北京邮电大学 | Novel crawling pipeline robot |
CN203594916U (en) * | 2013-12-11 | 2014-05-14 | 电子科技大学 | All-wheel-drive peristaltic pipeline robot |
CN204934150U (en) * | 2015-07-20 | 2016-01-06 | 天津城建大学 | A kind of Novel underground drain road sewage disposal apparatus |
CN106364588B (en) * | 2016-10-26 | 2018-08-17 | 哈尔滨工程大学 | A kind of creeping motion type pipe walking robot |
CN106925575B (en) * | 2017-05-11 | 2019-02-19 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
CN106903120B (en) * | 2017-05-11 | 2018-09-14 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
-
2017
- 2017-05-11 CN CN201710328193.7A patent/CN106925575B/en not_active Expired - Fee Related
-
2018
- 2018-05-08 WO PCT/CN2018/085976 patent/WO2018205920A1/en active Application Filing
- 2018-05-08 CA CA3045865A patent/CA3045865C/en active Active
- 2018-05-08 GB GB1906128.2A patent/GB2569931B/en not_active Expired - Fee Related
- 2018-05-08 AU AU2018264305A patent/AU2018264305B2/en not_active Ceased
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113976557A (en) * | 2021-09-18 | 2022-01-28 | 安徽机电职业技术学院 | Robot for dredging oil pipeline with directional dredging structure |
Also Published As
Publication number | Publication date |
---|---|
CN106925575A (en) | 2017-07-07 |
AU2018264305A1 (en) | 2019-05-23 |
CA3045865C (en) | 2021-08-24 |
GB201906128D0 (en) | 2019-06-12 |
CN106925575B (en) | 2019-02-19 |
GB2569931A (en) | 2019-07-03 |
GB2569931B (en) | 2020-04-15 |
WO2018205920A1 (en) | 2018-11-15 |
AU2018264305B2 (en) | 2020-01-30 |
AU2018264305A8 (en) | 2019-06-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AU2018264305B2 (en) | Complete strong supporting single drive two-way crawling type pipeline cleaning robot | |
US10981203B2 (en) | Single-drive bidirectional-crawling pipe-cleaning robot | |
EP4349548A3 (en) | Gear packaging for robotic joints | |
CN100455474C (en) | Mechanical creeping walking mechanism | |
US10427733B2 (en) | Crawler device and traveling apparatus | |
CN211134864U (en) | Multi-supporting wheel type peristaltic pipeline cleaning robot | |
CN208165135U (en) | A kind of wheel leg type parallel connection mobile robot | |
CN101323110A (en) | Large angle rotary type joint mechanism of mechanical arm | |
CN110566753A (en) | Self-adaptive self-steering wheel type pipeline robot | |
CN103600631B (en) | A kind of amphibious wheel mechanism based on eccentric paddle mechanism | |
SK9321Y1 (en) | Robot leg | |
KR101204147B1 (en) | Caster wheel mechanism having dual offset structure and omnidirectional mobile robot using the same | |
CN107443350A (en) | Transmission mechanism of automatic mechanical arm | |
Nagase et al. | Development of worm-rack driven cylindrical crawler unit | |
CN104015831B (en) | A kind of active passive compound type negative-pressure adsorption continuous walking climbing robot | |
CN104590408B (en) | Walking mechanism of wheel-tracked leg | |
KR101972418B1 (en) | The saw device | |
CN208398721U (en) | A kind of calibre-changeable cleaning bore of cannon robot | |
CN204296906U (en) | A kind of Three Degree Of Freedom wheel carries out Multi-purpose mechanical leg | |
CN110374394A (en) | The lifting device and its control method of seawater column | |
KR101931282B1 (en) | The saw device | |
Nagase et al. | Cylindrical crawler unit based on worm rack mechanism for rescue robot | |
CA2915987C (en) | Hand and foot motor driven vehicle, in particular a bicycle | |
CN109664289A (en) | It is a kind of to grab dress operational method using combination drive closing chain structure waste material | |
CN112677723A (en) | Robot capable of moving in various environments |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request |
Effective date: 20190510 |
|
EEER | Examination request |
Effective date: 20190510 |