CN102733476A - Intelligent dredging vehicle for sewer dredging - Google Patents
Intelligent dredging vehicle for sewer dredging Download PDFInfo
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- CN102733476A CN102733476A CN2012102596246A CN201210259624A CN102733476A CN 102733476 A CN102733476 A CN 102733476A CN 2012102596246 A CN2012102596246 A CN 2012102596246A CN 201210259624 A CN201210259624 A CN 201210259624A CN 102733476 A CN102733476 A CN 102733476A
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- assembly
- dredging
- intelligent
- desilting
- transverse arm
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Abstract
The invention discloses an intelligent dredging vehicle for sewer dredging, which comprises a vehicle chassis (1), support legs (2), a control box (3), a winch assembly (4), a rotating disk assembly (5), a lateral guard (6), a hydraulic assembly (7), a clear water box (8), a mud baffle (9), an intelligent control assembly (10), a dump bucket cylinder (11), a tool box (12), a punching-through assembly (13), a rear guard (14), a sludge box dump bucket (15), an upright column (16), an amplitude-variable cylinder (17), a cross arm assembly (18), a water tank manhole (19), a grab bucket assembly (20) and the like. In the invention, a motion controller is used as a main control unit, an infrared range finder and a rotating platform are used as intelligent positioning units for positioning an inspection well, and an electro-hydraulic proportional valve and a servo cylinder are used as tail-end precise performance units. Thus, the intelligent dredging vehicle for sewer dredging realizes the automatic precise positioning of the inspection well, keeps the automatic functions of inspection well punching-through, cleaning, sewage grabbing, loading and the like, and has a self-unloading function.
Description
Technical field
The present invention relates to operations such as municipal sewage system mediation, desilting.
Background technology
At present; The situation of domestic large, medium and small cities and towns sewer pipe is very complicated, and the main sewer pipe size of large-and-medium size cities is bigger, is difficult for producing serious obstruction; But each branch pipe(tube) size is less; Especially little street and sub-district, the flow velocity of sewage is slower in the sewer pipe, and regular meeting stops up because of household garbages such as building waste, greasy dirt cause fouling; And the old town of big and medium-sized cities and townlet, its sewer pipe size is less, and is mostly concrete duct, even also has the thorough sewer pipe of brick to exist, and very easily produces and stops up, and also can timbered root system implantation result in blockage sometimes.Ordinary circumstance focuses in the lowering heartn type vertical shaft deposit through flushing, strand method such as draw when line clogging, draws through manual work then and takes off or use the special-purpose machinery suction, grasp and clear up.The dredging sewer cleaning work, poor working environment, inefficiency influences the living environment in city.
Grab pick type machines for mud clearage; Can adapt to various deposits; Operating efficiency has obtained large increase, but in the work each grasp and release work in, manually-operated is leaned in the motion of working arm, location; Grabbing the work of going into the well of pick device need increase an operative employee well head observation, commander, influences the further raising of its efficient.
Mediation when the domestic city sewer pipe seriously stops up cleaning is one of persistent ailment of facing of municipal sector always.Present stage China's dredging sewer cleaning machine applications is in the stage at the early-stage, and the major part mediation cleaning work of townlet mainly still relied on artificial mediation cleaning during present stage was domestic; The mediation cleaning work quite bothers, and ordinary circumstance needs residual air in the first discharge line, aspirates decontamination liquid again; A lot of situation need artificial well operations down; Time-consuming taking a lot of work, not only dirty but also tired, more serious problem is also entail dangers to down-hole operation personnel's a life security (casualty accident happens occasionally) of misoperation.
Work region size cases, the different size cases of inspection shaft vertical depth etc. make the environment of inspection shaft desilting work special.This invention is utilized the advantage of carrying out the work step remote control in the face of the complex work ambient conditions of inspection shaft desilting, to remedy the low inferior problem of work ratio that spatial movement inconvenience causes.
Summary of the invention
The purpose of invention is: provide a kind of set pair inspection shaft automatically accurately location, dash wear, functions such as flushing, dirt extracting, entrucking, self-unloading are in the dredging sewer intelligence desilting car of one; Realization is to the accurate location and the automatic desilting function of inspection shaft; Effective, handling safety, efficient is high.
Technical solution of the present invention is: dredging sewer intelligence desilting car of the present invention adopts motion controller as main control unit; 32 outside line rangefinders add the intelligent positioning unit of rotation platform as the inspection shaft position; Electro-hydraulic proportional valve adds servo-cylinder as the accurate performance element of end, to the removing realization Automatic Control of inspection shaft dirt.Stop up at sewer and to use when not serious, use the rotary pipeline washer when serious stopping up towards penetrator or pipeline floating syringe pipe, machinable, beat, the crushing kinds dirt, sewer line dredging is cleaned.Said dredging sewer intelligence desilting car comprises: vehicle chassis, heel brace, control cabinet, capstan winch assembly, rotating disk assembly, side protection, hydraulic pressure assembly, filtered water tank, dashboard, Based Intelligent Control assembly, dump ram, tool box, dash and wear assembly, back protection, sludge tank tipping bucket, column, amplitude oil cylinder, transverse arm assembly, water tank manhole, the assembly etc. of grabbing bucket.
Wherein, Intelligent control part is to the control of capstan winch, rotating disk, oil cylinder, valve body; Realize stretching, contract, rotating of transverse arm; Ascending, descending, the folding of grab bucket; Dash placement, the work of putting that installs, realize the automation of dredging sewer overall process, its composition comprises: coordinate setting platform, touch-screen, motion controller, electro hydraulic valve group, second limit switch, first limit switch, stepper motor driver, motor servo driver, laser sensor, solenoid operated directional valve, proportion magnetic valve, displacement transducer, encoder, first displacement transducer, second displacement transducer, infrared switch etc.
Coordinate setting platform of the present invention is installed on the sidewall of column; Be used to gather the position signalling of inspection shaft; The signal output part of coordinate setting platform links to each other with the position signalling input of motion controller, and the control signal output of motion controller is through the action of electro hydraulic valve piece group control rotating disk, transverse arm and grab bucket.
Coordinate setting platform of the present invention is an X-Y-Z three-dimensional coordinate platform; Comprise laser sensor, servomotor, stepper motor, motor servo driver, stepper motor driver, first limit switch and second limit switch; Be placed with catoptrical marker post at the inspection shaft place during work; Laser transmitter projects laser simultaneously, receives the optical signal from the marker post emission; The signal output part of laser sensor links to each other with the optical signal input of motion controller; Through the running of motor servo driver and stepper motor driver control servomotor and stepper motor, serial connection first limit switch between described servomotor and the motion controller is connected in series second limit switch to the motor control signal output of motion controller between stepper motor and the motion controller respectively.
Among the present invention; First displacement transducer and second displacement transducer are installed in respectively on amplitude oil cylinder and the transverse arm; The bit detector that arrives as amplitude oil cylinder and transverse arm; Be used to detect the position signalling of amplitude oil cylinder and transverse arm; The detection signal output of first displacement transducer and second displacement transducer links to each other with the corresponding displacement signal input of motion controller, the corresponding proportional solenoid valve control transverse arm that passes through the electro hydraulic valve module groups of the control signal output of motion controller and the action of amplitude oil cylinder.
Among the present invention; Magne to coil is installed on the gear rotor on column top, and when grab bucket was transferred to the bottom, gear rotor stopped operating; Magne to coil is cutting magnetic induction line no longer, and the induced signal of magne to coil exports the corresponding electric signal input end of motion controller to.Infrared switch is installed on the link of top and transverse arm of grab bucket; When grab bucket rises to the top be; The induced signal of infrared switch exports the corresponding electric signal input end of motion controller to, and the control signal output of motion controller is through the action of the corresponding solenoid operated directional valve control grab bucket of electro hydraulic valve piece group.
Encoder among the present invention is installed on the axis of rotation of rotating disk below; The rotation that encoder is used to the to gather rotating disk signal that puts in place; The induced signal of encoder exports the corresponding electric signal input end of motion controller to, and the control signal output of motion controller is through the action of the corresponding proportional solenoid valve control rotating disk of electro hydraulic valve piece group.
The present invention has the following advantages:
1, dredging sewer intelligence desilting car of the present invention changes inspection shaft desilting operation manual operations into the Automatic Control operation., it is high greatly to have improved operation quality and production efficiency, has practiced thrift great amount of manpower and material resources and time, has reduced the labour intensity in the inspection shaft desilting.
2, dredging sewer of the present invention intelligence desilting car used towards penetrator except that generally towards penetrator, syringe pipe, used the rotary pipeline washer, the dirt of can cut, crushing kinds is obstinate, this technology is used at home first.
3, dredging sewer of the present invention intelligence desilting bassinet structure is simple, operation quality is high, production efficiency is high, economical and practical, be efficient, the safety means of inspection shaft desilting, be suitable for large tracts of land and promote the use of.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a workflow diagram of the present invention.
Fig. 3 is electrical control system structure figure of the present invention.
Fig. 4 locatees the desilting planning chart after the completion for the present invention.
Among the figure: 1, vehicle chassis, 2, heel brace, 3, control cabinet, 4, the capstan winch assembly, 5, the rotating disk assembly, 6, the side protection; 7, hydraulic pressure assembly, 8, filtered water tank, 9, dashboard, 10, the Based Intelligent Control assembly, 11, dump ram; 12, tool box, 13, dash and to wear assembly, 14, the back protection, 15, the sludge tank tipping bucket, 16, column; 17, amplitude oil cylinder, 18, the transverse arm assembly, 19, the water tank manhole, 20, the grab bucket assembly, 21, the coordinate setting platform; 22, touch-screen, 23, motion controller, 24, the electro hydraulic valve group, 25, second limit switch, 26, first limit switch; 27, stepper motor driver, 28, motor servo driver, 29, laser sensor, 30, solenoid operated directional valve, 31, proportion magnetic valve; 32, displacement transducer, 33, encoder, 34, first displacement transducer, 35, second displacement transducer, 36, infrared switch.
The specific embodiment
Shown in Fig. 1-4; Dredging sewer intelligence desilting car complete machine of the present invention is through the screw ways of connecting; At first be installed in two displacement transducers respectively on transverse arm and the amplitude oil cylinder; At terminal magne to coil and the gear rotor installed of transverse arm, on the axis of rotation below the rotating disk, encoder is installed, the three-dimensional coordinate locating platform is installed on the column right flank.Motor driver, motion controller, touch-screen etc. are installed in electrical control cabinet.Electrical control cabinet and electro hydraulic valve piece group are installed in the rotating disk right side respectively.
Motion controller connects X-Y-Z three-dimensional coordinate platform respectively, and electro hydraulic valve piece group, encoder, displacement transducer, magne to coil and infrared switch connect the man-machine interaction picture that touch-screen composition system controls through the series connection communication cable again.
Motion controller is being controlled the automatic operation of whole system, and the initial data that motion controller is gathered the inspection shaft coordinate position through X-Y-Z three-dimensional coordinate locating platform is confirmed angle that transverse arm need rotate and the distance of stretching out through algorithm.Motion controller is realized hydraulic cylinder, gerotor motor and axial control of blocking motor through the signal of encoder and displacement transducer feedback, are realized desilting car automatic desilting through control electro hydraulic valve piece group.
X-Y-Z three-dimensional coordinate locating platform, scanning inspection shaft place confirms angle that transverse arm need rotate and the distance of stretching out by putting marker post basis 2 data that scanned up and down through algorithm.
Orchard trench digging fertilizer applicator is the orchard trench digging fertilizer machinery that integrates functions such as trench digging, fertilising, soil backfill leveling, compacting, the disposable completion of all working such as the trench digging in the fertilising production management of realization orchard, fertilising, soil backfill leveling, compacting; According to the requirement of Different Fertilization amount, the fertile amount of giving of fertilizer-feeding device can accurately be adjusted (giving fertile amount scale) simultaneously; , simplify the internal structure of an organization to the contactless control that fertilizer-feeding device rotates or stops through the realization of remote control electromagnetic clutch, improve operation quality, production efficiency, reduce labour intensity.
Dredging sewer intelligence desilting turner of the present invention at first promotes to grab bucket when doing and reports to the police to infrared switch, and amplitude oil cylinder is stretched out transverse arm and picked up the grab bucket of closing; Rotary turnplate; Make transverse arm rotate to the angle at inspection shaft center, amplitude oil cylinder is contracted to the transverse arm level, and grab bucket is to transferring 1.1 meters.Judge whether the distance that transverse arm stretches out surpasses 1.1 meters, if do not surpass, transverse arm reaches the inspection shaft top.Stretch out 1.1 meters if surpass transverse arm, transverse arm stretches out 1.1 meters, and grab bucket is to transferring 1.1 meters, and transverse arm reaches the inspection shaft top.。Put down grab bucket to the shaft bottom, upwards promote grab bucket 0.5S, open grab bucket, put down grab bucket to the shaft bottom; The grab bucket of closing, promoting grabs bucket reports to the police to infrared switch, judges that whether the transverse arm contraction is above 1.1 meters; If do not surpass 1.1 meters, transverse arm does not reclaim fully, and promoting grabs bucket to infrared switch reports to the police.If surpass 1.1 meters, transverse arm shrinks 1.1 meters, and promoting grabs bucket reports to the police to infrared switch, and transverse arm reclaims fully, and promoting grabs bucket to infrared switch reports to the police.Amplitude oil cylinder is stretched out transverse arm and is picked up, the initial position of top, rotation transverse arm to compartment, and amplitude oil cylinder is shunk, and transverse arm is set level, and opens grab bucket, emits mud, accomplishes one time the desilting process.Touch-screen is carried out in circulation, sets and grasps number of times.
The workflow of intelligent desilting car is summarized as follows, shown in accompanying drawing 2
At first complete machine initialization;
Select mode of operation through touch-screen;
Manual work pattern: through the corresponding executing agency of button control corresponding on the touch-screen;
Automatic operation mode: the inspection shaft coordinate data of at first gathering through X-Y-Z three-dimensional coordinate locating platform, set the desilting number of times, carry out the desilting work planning.After executing desilting circulation, can append the desilting number of times as required.
The whole lifting mechanical part of this car has: rotating disk is responsible for the adjusting of 0-200 on the boom hoisting horizontal plane, and capstan winch is responsible for being connected the folding and unfolding of the wire rope that high-pressure oil pipe is connected with grab bucket with the grab bucket oil cylinder.Column is born arm weight, and transverse arm has three joints, and two telescopic oil cylinders are housed, and to be responsible for transverse arm flexible; Respectively there is a roller at the transverse arm two ends; Be responsible for grab bucket high-pressure oil pipe and wire rope and roll, also have an amplitude oil cylinder to link to each other, be responsible for changing curved boom angle with column; The grab bucket device has grab bucket and grab bucket oil cylinder, and the grab bucket oil cylinder is responsible for the folding of grabbing bucket.
This car sludge tank is carried the dirt that inspection shaft is removed, and double acting self-unloading oil cylinder is arranged under the sludge tank.
Claims (2)
1. dredging sewer intelligence desilting car, it is characterized in that: described dredging sewer intelligence desilting car comprises: vehicle chassis (1), heel brace (2), control cabinet (3), capstan winch assembly (4), rotating disk assembly (5), side protection (6), hydraulic pressure assembly (7), filtered water tank (8), dashboard (9), Based Intelligent Control assembly (10), dump ram (11), tool box (12), dash and wear assembly (13), back protection (14), sludge tank tipping bucket (15), column (16), amplitude oil cylinder (17), transverse arm assembly (18), water tank manhole (19), grab bucket assembly working portions such as (20); The present invention realizes accurately location and the mediation desilting automatically automatically to inspection shaft, have inspection shaft dash wear, functions such as cleaning, dirt extracting, entrucking, self-unloading.
2. dredging sewer intelligence desilting car according to claim 1, it is characterized in that: Based Intelligent Control assembly (10) is made up of coordinate setting platform (21), touch-screen (22), motion controller (23), electro hydraulic valve group (24), second limit switch (25), first limit switch (26), stepper motor driver (27), motor servo driver (28), laser sensor (29), solenoid operated directional valve (30), proportion magnetic valve (31), displacement transducer (32), encoder (33), first displacement transducer (34), second displacement transducer (35), infrared switch (36) etc.; Realize automatically performing of automatic location of the present invention and each function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102596246A CN102733476A (en) | 2012-07-26 | 2012-07-26 | Intelligent dredging vehicle for sewer dredging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102596246A CN102733476A (en) | 2012-07-26 | 2012-07-26 | Intelligent dredging vehicle for sewer dredging |
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| Publication Number | Publication Date |
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| CN102733476A true CN102733476A (en) | 2012-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012102596246A Pending CN102733476A (en) | 2012-07-26 | 2012-07-26 | Intelligent dredging vehicle for sewer dredging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622528A (en) * | 2018-11-19 | 2019-04-16 | 昆明理工大学 | A kind of cleaning plant and method of plastic inspection well |
| CN110984356A (en) * | 2019-12-05 | 2020-04-10 | 南京汉尔斯生物科技有限公司 | Intelligent sewer dredging system based on Internet of things technology |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN87201378U (en) * | 1987-02-28 | 1988-02-17 | 济南市农机研究所 | Hydraulic excavator for sewer |
| KR100421443B1 (en) * | 2003-04-14 | 2004-03-18 | 이텍산업 주식회사 | Sewage recycling system of dredging car |
| CN101225675A (en) * | 2008-01-11 | 2008-07-23 | 陈三思 | Full-hydraulic microcomputer-controlled pipe dredging vehicle |
| KR20100031442A (en) * | 2008-09-12 | 2010-03-22 | 한국기계연구원 | Dredging system for rural animals waste driven by hydraulic system |
| CN201809853U (en) * | 2010-09-30 | 2011-04-27 | 福建侨龙专用汽车有限公司 | Drainage automobile for vertical deep-well operation |
| CN102587489A (en) * | 2012-03-27 | 2012-07-18 | 湖南奇思环保有限公司 | Shaft dredging grab bucket truck |
-
2012
- 2012-07-26 CN CN2012102596246A patent/CN102733476A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87201378U (en) * | 1987-02-28 | 1988-02-17 | 济南市农机研究所 | Hydraulic excavator for sewer |
| KR100421443B1 (en) * | 2003-04-14 | 2004-03-18 | 이텍산업 주식회사 | Sewage recycling system of dredging car |
| CN101225675A (en) * | 2008-01-11 | 2008-07-23 | 陈三思 | Full-hydraulic microcomputer-controlled pipe dredging vehicle |
| KR20100031442A (en) * | 2008-09-12 | 2010-03-22 | 한국기계연구원 | Dredging system for rural animals waste driven by hydraulic system |
| CN201809853U (en) * | 2010-09-30 | 2011-04-27 | 福建侨龙专用汽车有限公司 | Drainage automobile for vertical deep-well operation |
| CN102587489A (en) * | 2012-03-27 | 2012-07-18 | 湖南奇思环保有限公司 | Shaft dredging grab bucket truck |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622528A (en) * | 2018-11-19 | 2019-04-16 | 昆明理工大学 | A kind of cleaning plant and method of plastic inspection well |
| CN110984356A (en) * | 2019-12-05 | 2020-04-10 | 南京汉尔斯生物科技有限公司 | Intelligent sewer dredging system based on Internet of things technology |
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Application publication date: 20121017 |