CN103981942A - Method for pipeline sludge cleaning and pipeline sludge cleaning robot - Google Patents
Method for pipeline sludge cleaning and pipeline sludge cleaning robot Download PDFInfo
- Publication number
- CN103981942A CN103981942A CN201410244030.7A CN201410244030A CN103981942A CN 103981942 A CN103981942 A CN 103981942A CN 201410244030 A CN201410244030 A CN 201410244030A CN 103981942 A CN103981942 A CN 103981942A
- Authority
- CN
- China
- Prior art keywords
- desilting bucket
- preposition
- desilting
- bucket
- rearmounted
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a method for pipeline sludge cleaning and a pipeline sludge cleaning robot and belongs to the technical field of water discharging pipeline cleaning. According to the technical scheme, the pipeline sludge cleaning robot comprises a sludge cleaning robot vehicle (20), a steel wire rope traction device, a front sludge cleaning hopper (11), a front sludge cleaning hopper lifting and overturning mechanism, a rear sludge cleaning hopper (1) and a synchronous belt drive device. In the reciprocating sludge cleaning process of the sludge cleaning robot, the sludge cleaning robot vehicle drives the front sludge cleaning hopper, the rear sludge cleaning hopper and the steel wire rope traction device to move to the position with sludge to be cleaned out towards the portion far away from an inspection well opening in an unloaded state. A traction steel wire rope drags the sludge cleaning robot vehicle to move towards the inspection well opening along with the front sludge cleaning hopper and the rear sludge cleaning hopper. In the movement process, the front sludge cleaning hopper and the rear sludge cleaning hopper are used for completing sludge cleaning. The front sludge cleaning hopper and the rear sludge cleaning hopper are matched for sludge cleaning, so that the one-time sludge cleaning amount of the sludge cleaning robot is increased. The method for pipeline sludge cleaning and the pipeline sludge cleaning robot have the advantages that the structure is simple and reliable, operation is stable, and the sludge cleaning efficiency is high.
Description
Technical field
The present invention relates to a kind of pipe dredging method and pipe dredging machine people, be mainly applicable to the drainage pipe desilting work that caliber is more than or equal to 300mm, belong to discharge pipe line Removal Technology field.
Background technology
City drain every day is all discharged a large amount of rubbish, often makes drainage pipe not smooth, easily alluvial, obstruction, and city often suffers flood, loses very serious.The desilting dredging problem of drainage pipe has become the current thorny problem of government department.At present, the desilting dredging work of China's urban discharging pipeline is the general backward state in manual work also, and labour intensity is large, and efficiency is low; In cleaning drainage pipe process, if adopt robot to go to dredging drainpipe road, will greatly reduce the harm of adverse circumstances to workman, the process that improves the pollution discharge capability of urban discharging pipeline and promote sanitation of environment modern civilization city being conducive to.
Summary of the invention
The object of the invention is to provide a kind of pipe dredging method and pipe dredging machine people, simple and reliable for structure, and single desilting amount is large, and desilting efficiency data is high, can adapt to the task of the drainage pipe cleaning mud of different-diameter, solves the problem existing in background technology.
Technical scheme of the present invention is:
A kind of pipe dredging machine people, comprises dredging robot car body, steel rope trailer, rearmounted desilting bucket, preposition desilting bucket, preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Between rearmounted desilting bucket and dredging robot rear vehicle, be connected by arc tooth synchronous belt and aluminium extruded sections, between preposition desilting bucket and dredging robot Vehicular body front, be connected by connecting rod;
Described dredging robot car body, bottom is provided with wheel, using the battery certainly taken as power source, adopts the motion mode of power wheel, drive preposition desilting bucket, rearmounted desilting bucket together with steel rope trailer to the direction motion away from inspection shaft well head; The front and back of dredging robot car body are respectively equipped with front camera and rear camera, and front camera and rear camera are that the infrared water-proof CCD camera of wearing rain brush is housed, the dredging operation situation of monitoring pipe interior;
Described steel rope trailer, one end of haulage cable is connected with dredging robot car body, and the other end is connected with the haulage cable motor being installed in engineering truck by the transition of traction steel wire rope support; Move to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket, complete dredging operation;
Described preposition desilting bucket, global shape is the cylindrical shell of laterally placing, and one end sealing is the bucket end, and the other end is opening, and the first half of opening is semicircle breach, and the bottom of opening is circular-arc groove, and preposition desilting bucket is near inner-walls of duct; Preposition desilting bucket wheel is equipped with in preposition desilting bucket bottom, and while being convenient to dredging operation, preposition desilting bucket is walked at pipe interior;
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, drives power transmission shaft motion by the motor B on dredging robot car body, and then drivening rod upset (turning over certain angle), and power transmission shaft is arranged on dredging robot car body by bearing base; Electric cylinder two ends respectively with preposition desilting bucket, rod hinge connection, by elongation and the shortening of electric cylinder expansion link, preposition desilting bucket is further overturn; The effect of this mechanism is before dredging operation starts, and preposition desilting bucket is adjusted, and makes preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting by the lifting of preposition desilting bucket upset, avoids mud in preposition desilting bucket to leak after desilting finishes;
Described rearmounted desilting bucket, global shape is semicylinder structure, and semi-circular portions is the bucket end, and cylinder one end is opening, and rearmounted desilting bucket and the hinged installation of aluminium extruded sections, for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley, is connected with the driving pulley on dredging robot car body by arc tooth synchronous belt;
Described synchronous belt transmission device, drives reducer A, driving pulley to rotate by the motor A on dredging robot car body, drives driven pulley to be synchronized with the movement, and then drive rearmounted desilting bucket need to do angular turn according to desilting by arc tooth synchronous belt.
A kind of pipe dredging method, concrete steps are as follows:
1. undertaken by above-mentioned pipe dredging machine people, before work starts, first near mud inspection shaft well head is cleaned out, by engineering truck, pipe special dredging robot is hung and delivered in urban discharging pipeline by inspection shaft; Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure that preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. take off flat mud: work starts, drive the vehicle wheel rotation of dredging robot vehicle bottom, to the direction motion away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer be together motion under the drive of dredging robot car body, the plan of moving to is carried out behind the position of dredging operation, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket rotation by arc tooth synchronous belt, in clear the thicker mud depositing in pipeline extremely rearmounted desilting bucket; Haulage cable action, pulling dredging robot car body moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops after exceeding a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, take off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position that has mud away from the direction of inspection shaft well head, rearmounted desilting bucket repeats the above-mentioned flat mud action of taking off, until dredging robot car body can freely be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, dredging robot body movement, above mud, under the acting in conjunction of motor B and electric cylinder, puts down preposition desilting bucket, when the quarrel of preposition desilting bucket and inner-walls of duct are when tangent, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket to rotate the position vertical with pipeline rout direction to quarrel, and motor A stops action, prepares dredging operation; Then, haulage cable action, pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket; When preposition desilting bucket is filled after mud, preposition desilting bucket is lifted in the connecting rod being connected with preposition desilting bucket counter motion under the drive of motor B, the electric cylinder action being connected with preposition desilting bucket is subsequently by preposition desilting bucket upset, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; Also fill after mud when rearmounted desilting bucket, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent that in rearmounted desilting bucket, mud is back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance of inspection shaft well head top, mud in rearmounted desilting bucket is by under rearmounted desilting bucket self rotary unloading, and so far desilting has been moved.
Key point of the present invention is to come and go in the stroke of dredging operation at dredging robot, dredging robot car body drive preposition desilting bucket, rearmounted desilting bucket and traction steel wire rope device under Light Condition to move to the position for the treatment of desilting away from the direction of inspection shaft well head, haulage cable pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, completes dredging operation by preposition desilting bucket, rearmounted desilting bucket.Preposition desilting bucket, rearmounted desilting bucket coordinate dredging operation, have improved the single desilting amount of dredging robot, and quoting of steel rope trailer improved the traction power that has year desilting.Simple and reliable for structure, stable, desilting efficiency data advantages of higher that the present invention has.
The invention has the beneficial effects as follows: when (1) dredging robot car body of the present invention drives preposition desilting bucket, rearmounted desilting bucket no load movement, certainly to take battery as power source, avoided wearing cable operation, made desilting process safety higher; (2) steel rope trailer of the present invention has the dredging operation of carrying that tractive force is provided for pulling dredging robot car body together with preposition desilting bucket, rearmounted desilting bucket, has ensured the enough power that dredging operation is required; (3) the present invention adopts electric cylinder, preposition desilting bucket and steel rope trailer to form simple and reliable desilting lifting-overturning device, has effectively avoided desilting to finish leaking of the interior mud of rear desilting bucket; (4) the special circular arc quarrel of the preposition desilting bucket of the present invention, contributes to the mud of pipe interior to clean out, the mobile dredging operation of preposition desilting bucket at pipe interior easy for installation of bucket wheel; (5) dredging robot car body of the present invention adopts synchronous belt transmission device and rearmounted desilting bucket to form rearmounted Accrete clearing device, drives rearmounted desilting bucket to rotate by synchronous belt device, need to complete and take off gentle collection mud according to operation, and mechanism is simple, safe and reliable; (6) in desilting process of the present invention, coordinated and jointly completed dredging operation by preposition desilting bucket, rearmounted desilting bucket, single desilting amount is large, has improved dredging operation efficiency.
Brief description of the drawings
Fig. 1 is that the embodiment of the present invention is used view;
Fig. 2 is embodiment of the present invention front view;
Fig. 3 is top view of the present invention;
In figure: 1, rearmounted desilting bucket; 2, driven pulley; 3, arc tooth synchronous belt; 4, aluminium extruded sections; 5, driving pulley; 6, reducer A; 7, motor A; 8, motor B; 9, reducer B; 10, power transmission shaft; 11, preposition desilting bucket; 12, haulage cable; 13, electric cylinder; 14, connecting rod; 15, bearing base; 16, wheel; 17, preposition desilting bucket wheel; 18, traction steel wire rope support; 19, rear camera; 20, dredging robot car body; 21, front camera; 22, haulage cable motor; 23, engineering truck; 24, urban discharging pipeline; 25, semicircle breach; 26, circular-arc groove; 27, semi-circular portions; 28, cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, by example, the invention will be further described.
In an embodiment, a kind of pipe dredging machine people, comprises dredging robot car body 20, steel rope trailer, rearmounted desilting bucket 1, preposition desilting bucket 11, preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Between rearmounted desilting bucket and dredging robot rear vehicle, be connected by arc tooth synchronous belt 3 and aluminium extruded sections 4, between preposition desilting bucket and dredging robot Vehicular body front, be connected by connecting rod 14.
Described dredging robot car body, bottom is provided with wheel 16, using the battery certainly taken as power source, adopt the motion mode of power wheel 16, drive preposition desilting bucket, rearmounted desilting bucket together with steel rope trailer to the direction motion away from inspection shaft well head; The front and back of dredging robot car body are respectively equipped with front camera 21 and rear camera 19, and front camera and rear camera are that the infrared water-proof CCD camera of wearing rain brush is housed, the dredging operation situation of monitoring pipe interior.
Described steel rope trailer, one end of haulage cable 12 is connected with dredging robot car body, and the other end is connected with the haulage cable motor 22 that is installed on 23 li of engineering trucks by the transition of traction steel wire rope support 18; Move to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket, complete dredging operation.
Described preposition desilting bucket, global shape is the cylindrical shell of laterally placing, and one end sealing is the bucket end, and the other end is opening, and the first half of opening is semicircle breach 25, and the bottom of opening is circular-arc groove 26, and preposition desilting bucket is near inner-walls of duct; Preposition desilting bucket wheel 17 is equipped with in preposition desilting bucket bottom, and while being convenient to dredging operation, preposition desilting bucket is walked at pipe interior.
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, drive power transmission shaft 10 to move by the motor B8 on dredging robot car body, and then drivening rod 14 overturns (turning over certain angle), power transmission shaft is arranged on dredging robot car body by bearing base 15; Electric cylinder 13 two ends are hinged with preposition desilting bucket 11, connecting rod 14 respectively, by elongation and the shortening of electric cylinder expansion link, preposition desilting bucket further overturn; The effect of this mechanism is before dredging operation starts, and preposition desilting bucket is adjusted, and makes preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting by the lifting of preposition desilting bucket upset, avoids mud in preposition desilting bucket to leak after desilting finishes.
Described rearmounted desilting bucket 1, global shape is semicylinder structure, and semi-circular portions 27 is the bucket end, and cylinder 28 one end are opening, and rearmounted desilting bucket and the hinged installation of aluminium extruded sections 4, for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley 2, is connected with the driving pulley 5 on dredging robot car body by arc tooth synchronous belt 3.
Described synchronous belt transmission device, drives reducer A6, driving pulley 5 to rotate by the motor A7 on dredging robot car body, drives driven pulley 2 to be synchronized with the movement, and then drive rearmounted desilting bucket need to do angular turn according to desilting by arc tooth synchronous belt 3.
A kind of pipe dredging method, concrete steps are as follows:
1. undertaken by above-mentioned pipe dredging machine people, before work starts, first near mud inspection shaft well head is cleaned out, by engineering truck 23, pipe special dredging robot is hung and delivered in urban discharging pipeline 24 by inspection shaft; Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure that preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. take off flat mud: work starts, drive the wheel 16 of dredging robot vehicle bottom to rotate, to the direction motion away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer be together motion under the drive of dredging robot car body, the plan of moving to is carried out behind the position of dredging operation, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket 1 to rotate by arc tooth synchronous belt 3, in clear the thicker mud depositing in pipeline extremely rearmounted desilting bucket; Haulage cable 12 moves, pulling dredging robot car body moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops after exceeding a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, take off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position that has mud away from the direction of inspection shaft well head, rearmounted desilting bucket repeats the above-mentioned flat mud action of taking off, until dredging robot car body can freely be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, dredging robot body movement, above mud, under the acting in conjunction of motor B and electric cylinder 13, puts down preposition desilting bucket 11, when the quarrel of preposition desilting bucket and inner-walls of duct are when tangent, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket 1 to rotate the position vertical with pipeline rout direction to quarrel, and motor A stops action, prepares dredging operation; Then, haulage cable 12 moves, and pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket; When preposition desilting bucket is filled after mud, preposition desilting bucket is lifted in the connecting rod 14 being connected with preposition desilting bucket counter motion under the drive of motor B, the electric cylinder 13 being connected with preposition desilting bucket subsequently moves preposition desilting bucket upset, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; Also fill after mud when rearmounted desilting bucket, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent that in rearmounted desilting bucket, mud is back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance of inspection shaft well head top, mud in rearmounted desilting bucket is by under rearmounted desilting bucket self rotary unloading, and so far desilting has been moved.
Claims (2)
1. a pipe dredging machine people, is characterized in that: comprise dredging robot car body (20), steel rope trailer, rearmounted desilting bucket (1), preposition desilting bucket (11), preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Between rearmounted desilting bucket and dredging robot rear vehicle, be connected by arc tooth synchronous belt (3) and aluminium extruded sections (4), between preposition desilting bucket and dredging robot Vehicular body front, be connected by connecting rod (14);
Described dredging robot car body, bottom is provided with wheel (16), using the battery certainly taken as power source, adopt the motion mode of power wheel (16), drive preposition desilting bucket, rearmounted desilting bucket together with steel rope trailer to the direction motion away from inspection shaft well head; The front and back of dredging robot car body are respectively equipped with front camera (21) and rear camera (19), and front camera and rear camera are that the infrared water-proof CCD camera of wearing rain brush is housed, the dredging operation situation of monitoring pipe interior;
Described steel rope trailer, one end of haulage cable (12) is connected with dredging robot car body, and the other end is connected by the transition of traction steel wire rope support (18) the haulage cable motor (22) inner with being installed on engineering truck (23); Move to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket, complete dredging operation;
Described preposition desilting bucket, global shape is the cylindrical shell of laterally placing, and one end sealing is the bucket end, and the other end is opening, and the first half of opening is semicircle breach (25), and the bottom of opening is circular-arc groove (26), and preposition desilting bucket is near inner-walls of duct; Preposition desilting bucket wheel (17) is equipped with in preposition desilting bucket bottom, and while being convenient to dredging operation, preposition desilting bucket is walked at pipe interior;
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, by the motor B(8 on dredging robot car body) drive power transmission shaft (10) to move, and then drivening rod (14) upset (turning over certain angle), power transmission shaft is arranged on dredging robot car body by bearing base (15); Electric cylinder (13) two ends are hinged with preposition desilting bucket (11), connecting rod (14) respectively, by elongation and the shortening of electric cylinder expansion link, preposition desilting bucket further overturn; The effect of this mechanism is before dredging operation starts, and preposition desilting bucket is adjusted, and makes preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting by the lifting of preposition desilting bucket upset, avoids mud in preposition desilting bucket to leak after desilting finishes;
Described rearmounted desilting bucket (1), global shape is semicylinder structure, and semi-circular portions (27) is the bucket end, and cylinder (28) one end is opening, and rearmounted desilting bucket and the hinged installation of aluminium extruded sections (4), for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley (2), is connected with the driving pulley (5) on dredging robot car body by arc tooth synchronous belt (3);
Described synchronous belt transmission device, by the motor A(7 on dredging robot car body) drive reducer A(6), driving pulley (5) rotates, drive driven pulley (2) to be synchronized with the movement by arc tooth synchronous belt (3), and then drive rearmounted desilting bucket need to do angular turn according to desilting.
2. a pipe dredging method, concrete steps are as follows:
1. the pipe dredging machine people who limits by claim 1 carries out, and before work starts, first near mud inspection shaft well head is cleaned out, and by engineering truck (23), pipe special dredging robot is hung and is delivered in urban discharging pipeline (24) by inspection shaft; Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure that preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. take off flat mud: work starts, drive the wheel (16) of dredging robot vehicle bottom to rotate, to the direction motion away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer be together motion under the drive of dredging robot car body, the plan of moving to is carried out behind the position of dredging operation, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket (1) rotation by arc tooth synchronous belt (3), in clear the thicker mud depositing in pipeline extremely rearmounted desilting bucket; Haulage cable (12) action, pulling dredging robot car body moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops after exceeding a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, take off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position that has mud away from the direction of inspection shaft well head, rearmounted desilting bucket repeats the above-mentioned flat mud action of taking off, until dredging robot car body can freely be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, dredging robot body movement is above mud, under the acting in conjunction of motor B and electric cylinder (13), preposition desilting bucket (11) is put down, when the quarrel of preposition desilting bucket and inner-walls of duct are when tangent, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket (1) to rotate the position vertical with pipeline rout direction to quarrel, and motor A stops action, prepares dredging operation; Then, haulage cable (12) action, pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, mud is taken in preposition desilting bucket and rearmounted desilting bucket; When preposition desilting bucket is filled after mud, preposition desilting bucket is lifted in the connecting rod (14) being connected with preposition desilting bucket counter motion under the drive of motor B, electric cylinder (13) action being connected with preposition desilting bucket is subsequently by preposition desilting bucket upset, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; Also fill after mud when rearmounted desilting bucket, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent that in rearmounted desilting bucket, mud is back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves to the direction near inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance of inspection shaft well head top, mud in rearmounted desilting bucket is by under rearmounted desilting bucket self rotary unloading, and so far desilting has been moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244030.7A CN103981942B (en) | 2014-06-04 | 2014-06-04 | A kind of pipe dredging method and pipe dredging machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244030.7A CN103981942B (en) | 2014-06-04 | 2014-06-04 | A kind of pipe dredging method and pipe dredging machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103981942A true CN103981942A (en) | 2014-08-13 |
| CN103981942B CN103981942B (en) | 2015-08-19 |
Family
ID=51274092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410244030.7A Expired - Fee Related CN103981942B (en) | 2014-06-04 | 2014-06-04 | A kind of pipe dredging method and pipe dredging machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103981942B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436160A (en) * | 2016-01-16 | 2016-03-30 | 漳州市锦成电力设备有限公司 | Robot system capable of cleaning urban duct rubbish |
| CN106368307A (en) * | 2016-10-09 | 2017-02-01 | 广州市丹爵通讯科技有限公司 | Sludge dredging treatment system for urban sewage pipeline |
| CN106949338A (en) * | 2017-04-25 | 2017-07-14 | 金陵科技学院 | A kind of dredger for underground piping |
| CN107090904A (en) * | 2017-06-29 | 2017-08-25 | 曹进元 | Remote mud digs shipping unit |
| CN107761938A (en) * | 2017-11-02 | 2018-03-06 | 湖北文理学院 | Sideway launching road dredging system and dredging method |
| CN109707031A (en) * | 2019-02-25 | 2019-05-03 | 洛阳耐锐机械设备有限公司 | A kind of pipeline Accrete clearing device |
| CN110076149A (en) * | 2019-06-09 | 2019-08-02 | 云南明湖环境科技有限公司 | Sewage conduct walks dredging robot |
| CN110131522A (en) * | 2019-06-05 | 2019-08-16 | 云南明湖环境科技有限公司 | Sewage conduct walks robot and sewage conduit desilting system |
| CN110331776A (en) * | 2019-08-19 | 2019-10-15 | 陕西中建建乐智能机器人有限公司 | A kind of pipe dredging machine people |
| CN112518932A (en) * | 2020-11-27 | 2021-03-19 | 上犹县广兴木业有限公司 | Furniture timber is anticorrosive with desilting device |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
| CN114277917A (en) * | 2021-12-17 | 2022-04-05 | 深圳潜水侠创新动力科技有限公司 | Intelligent dredging robot system based on step-by-step pipe network |
| CN114482251A (en) * | 2022-01-27 | 2022-05-13 | 中国铁建重工集团股份有限公司 | Pipeline dredging robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020084767A (en) * | 2001-05-03 | 2002-11-11 | 최재현 | Dredging apparatus for sewerage-box or culvert |
| JP4017417B2 (en) * | 2002-02-27 | 2007-12-05 | 株式会社小松製作所 | In-pipe cleaning device |
| KR101283731B1 (en) * | 2011-06-22 | 2013-07-08 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| CN103696490A (en) * | 2013-12-23 | 2014-04-02 | 长沙麓溪机电设备工程有限公司 | Ultra-large silt digging machine and ultra-large silt digging tank used by ultra-large silt digging machine |
| CN203613639U (en) * | 2013-12-17 | 2014-05-28 | 河北联合大学 | Automatic dredging lifting device for dredging robot |
-
2014
- 2014-06-04 CN CN201410244030.7A patent/CN103981942B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020084767A (en) * | 2001-05-03 | 2002-11-11 | 최재현 | Dredging apparatus for sewerage-box or culvert |
| JP4017417B2 (en) * | 2002-02-27 | 2007-12-05 | 株式会社小松製作所 | In-pipe cleaning device |
| KR101283731B1 (en) * | 2011-06-22 | 2013-07-08 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| CN203613639U (en) * | 2013-12-17 | 2014-05-28 | 河北联合大学 | Automatic dredging lifting device for dredging robot |
| CN103696490A (en) * | 2013-12-23 | 2014-04-02 | 长沙麓溪机电设备工程有限公司 | Ultra-large silt digging machine and ultra-large silt digging tank used by ultra-large silt digging machine |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436160A (en) * | 2016-01-16 | 2016-03-30 | 漳州市锦成电力设备有限公司 | Robot system capable of cleaning urban duct rubbish |
| CN105436160B (en) * | 2016-01-16 | 2017-12-29 | 漳州市锦成电力设备有限公司 | A kind of robot system for clearing up urban duct rubbish |
| CN106368307A (en) * | 2016-10-09 | 2017-02-01 | 广州市丹爵通讯科技有限公司 | Sludge dredging treatment system for urban sewage pipeline |
| CN106949338B (en) * | 2017-04-25 | 2019-10-08 | 金陵科技学院 | A kind of dredger for underground piping |
| CN106949338A (en) * | 2017-04-25 | 2017-07-14 | 金陵科技学院 | A kind of dredger for underground piping |
| CN107090904A (en) * | 2017-06-29 | 2017-08-25 | 曹进元 | Remote mud digs shipping unit |
| CN107761938A (en) * | 2017-11-02 | 2018-03-06 | 湖北文理学院 | Sideway launching road dredging system and dredging method |
| CN107761938B (en) * | 2017-11-02 | 2023-12-05 | 湖北文理学院 | Transverse sewer dredging system and dredging method |
| CN109707031A (en) * | 2019-02-25 | 2019-05-03 | 洛阳耐锐机械设备有限公司 | A kind of pipeline Accrete clearing device |
| CN110131522A (en) * | 2019-06-05 | 2019-08-16 | 云南明湖环境科技有限公司 | Sewage conduct walks robot and sewage conduit desilting system |
| CN110131522B (en) * | 2019-06-05 | 2023-12-15 | 云南明湖环境科技有限公司 | Sewage pipeline walking robot and sewage pipeline dredging system |
| CN110076149A (en) * | 2019-06-09 | 2019-08-02 | 云南明湖环境科技有限公司 | Sewage conduct walks 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 |
| CN110331776A (en) * | 2019-08-19 | 2019-10-15 | 陕西中建建乐智能机器人有限公司 | A kind of pipe dredging machine people |
| CN112518932B (en) * | 2020-11-27 | 2022-02-11 | 江西团团圆家具有限公司 | Furniture timber is anticorrosive with desilting device |
| CN112518932A (en) * | 2020-11-27 | 2021-03-19 | 上犹县广兴木业有限公司 | Furniture timber is anticorrosive with desilting device |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
| CN114277917A (en) * | 2021-12-17 | 2022-04-05 | 深圳潜水侠创新动力科技有限公司 | Intelligent dredging robot system based on step-by-step pipe network |
| CN114482251A (en) * | 2022-01-27 | 2022-05-13 | 中国铁建重工集团股份有限公司 | Pipeline dredging robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103981942B (en) | 2015-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103981942B (en) | A kind of pipe dredging method and pipe dredging machine people | |
| CN106623296B (en) | Novel scalable pipeline cleaning robot | |
| CN104815827B (en) | A kind of drainage pipeline networks dredging robot and its dredging method | |
| CN103670512B (en) | Continuous automatic dredging system under the super large sump water body of down-hole | |
| CN104404994A (en) | Grabbing-arm type trash remover | |
| CN205894136U (en) | Water conservancy construction sediment removal device | |
| CN104060682B (en) | Associating dredging vehicle | |
| CN203856066U (en) | Pipeline desilting robot | |
| CN203613639U (en) | Automatic dredging lifting device for dredging robot | |
| CN110076149B (en) | Sewage pipeline running dredging robot | |
| CN206562662U (en) | Digging type block clearing silt dredging device | |
| CN205205905U (en) | Underwater silt remover ware people | |
| CN205077435U (en) | Pavement sweeping device | |
| CN114622643A (en) | Pipeline dried sludge cleaning and dredging robot | |
| CN203475596U (en) | Multifunctional multipurpose underground pipe dredging tool truck | |
| CN105016604A (en) | Drainpipe net sludge integrated treatment method | |
| Fucai et al. | The design and study of the drainage pipelines dredging robot | |
| CN105220639A (en) | A kind of road-surface cleaning apparatus | |
| CN216689726U (en) | Pipeline dried sludge cleaning and dredging robot | |
| CN220644014U (en) | Road garbage cleaning device | |
| CN213952472U (en) | Underground foreign matter fishing device for municipal works | |
| CN214823175U (en) | Engineering truck wheel cleaning device with intelligent sediment removal function | |
| CN203669087U (en) | Sludge flattening device for urban drainage pipe dredging robot | |
| CN205387090U (en) | Car is had bad luck to well drilling abandonment detritus | |
| CN216948494U (en) | Coal mine dredging equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170410 Address after: 063020 Tangshan City province high tech Zone Innovation Center, block B, public space,, layer 5, No. F38 Patentee after: TANGSHAN SHENGQUN TECHNOLOGY CO.LTD Address before: 063009 Hebei Province, Tangshan City West Road No. 46 Xinhua College of mechanical engineering, Hebei United University Patentee before: Li Chengqun |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20210604 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |