CN105156836A - Pipeline dredging robot - Google Patents
Pipeline dredging robot Download PDFInfo
- Publication number
- CN105156836A CN105156836A CN201510539376.4A CN201510539376A CN105156836A CN 105156836 A CN105156836 A CN 105156836A CN 201510539376 A CN201510539376 A CN 201510539376A CN 105156836 A CN105156836 A CN 105156836A
- Authority
- CN
- China
- Prior art keywords
- gear motor
- main body
- mounting frame
- annular mounting
- pressure water
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 238000010586 diagram Methods 0.000 description 5
- 239000007787 solid Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
Classifications
-
- 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
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- 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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/36—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained jet driven
-
- 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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a pipeline dredging robot which comprises a main body, a first annular installing frame, a second annular installing frame, a blade, a blade gear motor, a drill bit, a drill bit gear motor, six high-pressure water tanks, six driving gear motors and twelve walking wheels. The pipeline dredging robot is driven by high water pressure instead of electric power, so that the pipeline dredging robot can be suitable for complex work environments in pipelines. By means of the high-pressure water tanks, the walking wheel can generate larger pressure under the action of the high-pressure water tanks to tightly attach to the wall surfaces of the pipelines. Thus, the pipeline dredging robot is suitable for pipeline with the inner pipe diameters in a certain range.
Description
Technical field
The present invention relates to a kind of duct cleaning equipment, be specifically related to a kind of pipe-dredging machine people, belong to cleaning machine equipment technical field.
Background technique
Along with improving constantly of people's living standard, urban construction is also increasing, and wherein pipe-line construction is main contents of municipal administration work, and the pipe laying amount in a city is not second to the workload of building.But along with the increase of pipe laying quantity, also expose many problems, such as many pipelines are owing to managing the existence of interior dirt, and be easy to blockage occurs, therefore pipe-dredging work consumes a large amount of manpower and materials, and working efficiency is very low.Therefore be badly in need of a kind of machinery that can replace manually having come pipe-dredging work, increase work efficiency, use manpower and material resources sparingly.
Summary of the invention
For the problems referred to above, the invention provides a kind of pipe-dredging machine people, it adopts is all the mode of power with hydraulic pressure, solves the difficult problem that dredging device is difficult to adapt to pipeline complex work environment, achieves high efficiency, object that high quality completes pipe-dredging work.
The technological scheme that the present invention takes is: a kind of pipe-dredging machine people, comprise main body, the first annular mounting frame and the second annular mounting frame, blade and blade gear motor, drill bit and bit teeth wheel motor, six high pressure water vats and six gear motor, 12 road wheels, it is characterized in that: described main body is cylindrical body frame structure, the first described annular mounting frame and the second annular mounting frame are annular ring structure, and described annular ring diameters is identical with the cylindrical body frame structure diameter of main body; First annular mounting frame is fixedly mounted in the middle part of main body, and the second annular mounting frame is fixedly mounted on body top, and the axis of the first annular mounting frame and the second annular mounting frame overlaps with the axial direction of main body; Described blade gear motor is fixedly mounted on perpendicular to main body axis direction in the diametric(al) of the first annular mounting frame; Described bit teeth wheel motor is fixedly mounted on perpendicular to main body axis direction in the diametric(al) of the second annular mounting frame; Described blade gear motor is identical with bit teeth wheel motor configuration, be provided with scaffold, work water intake and two working gears, described scaffold is arranged on the first annular mounting frame and the second annular mounting frame respectively, work water intake is high-pressure water inlet, the main shaft of described blade is connected with the working gear axial restraint in blade gear motor, and the main shaft of described drill bit is connected with the working gear axial restraint in bit teeth wheel motor; The axial direction of described blade and the axial direction of drill bit and main body overlaps; Six described gear motor are provided with the first body cradle, the second body cradle, two actuation gears, driving water intakes; Three gear motor in six described gear motor are hingedly mounted in main body respectively by the first body cradle, along the distribution of main body even circumferential, and are positioned at the first annular mounting frame bottom; Three gear motor are in addition hingedly mounted in main body respectively by the second body cradle, along the distribution of main body even circumferential, and are positioned at the second annular mounting frame bottom; The cylinder body of six described high pressure water vats is hingedly mounted in main body respectively, and is positioned at directly over each gear motor, and the piston of each high pressure water vat is hinged with the second body cradle in each gear motor respectively; Every two both sides being arranged on each gear motor respectively in 12 described road wheels, and be axially fixedly connected with the actuation gear of in gear motor, the axial direction of road wheel and the axial direction of actuation gear overlap.
Further, the work water intake of described blade gear motor and bit teeth wheel motor, the driving water intake of gear motor, the rod chamber of high pressure water vat are all connected with external high-pressure water pump by high-pressure water pipe, each joint is provided with control valve, and each control valve is all connected with control system.
Further, described high pressure water vat and gear motor are not limited to six, and described road wheel is not limited to 12, and high pressure water vat is identical with the quantity of gear motor, and the quantity of road wheel is the twice of high pressure water vat and gear motor quantity.
Owing to present invention employs technique scheme, the present invention has the following advantages: (1) the present invention, all by high hydraulic drives, does not need electric drive, thus can adapt to the working environment of pipe interior complexity; (2) by being provided with high pressure water vat, under the effect of high hydraulic cylinder, road wheel can produce larger pressure, is adjacent on pipeline wall, thus makes the present invention can adapt to the pipeline of caliber in certain limit.
Accompanying drawing explanation
Fig. 1 is entirety assembling perspective view of the present invention.
Fig. 2 is the 3 D stereo assembly structure schematic diagram of main body in the present invention, the first annular mounting frame and the second annular mounting frame.
Fig. 3 is the 3-D solid structure schematic diagram of gear motor in the present invention.
Fig. 4 is the 3-D solid structure schematic diagram of gear motor inside in the present invention.
Fig. 5 is the 3-D solid structure schematic diagram of bit teeth wheel motor in the present invention.
Fig. 6 is the 3-D solid structure schematic diagram of bit teeth wheel motor inside in the present invention
Drawing reference numeral: 1-main body; 2-first annular mounting frame; 3-second annular mounting frame; 4-blade gear motor; 5-blade; 6-bit teeth wheel motor; 7-drill bit; 8-high pressure water vat; 9-gear motor; 10-road wheel; 601-scaffold; 602-works water intake; 603-working gear; 901-first body cradle; 902-drives water intake; 903-second body cradle; 904-actuation gear.
Embodiment
Below in conjunction with specific embodiment, the invention will be further described, is used for explaining the present invention in this illustrative examples of inventing and explanation, but not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of pipe-dredging machine people, comprise main body 1, first annular mounting frame 2 and the second annular mounting frame 3, blade 5 and blade gear motor 4, drill bit 7 and bit teeth wheel motor 6, six high pressure water vats 8 and six gear motor, 9,12 road wheels 10, main body 1 is cylindrical body frame structure, first annular mounting frame 2 and the second annular mounting frame 3 are annular ring structure, and annular ring diameters is identical with the cylindrical body frame structure diameter of main body 1.First annular mounting frame 2 is fixedly mounted in the middle part of main body 1, and the second annular mounting frame 3 is fixedly mounted on main body 1 top, and the axis of the first annular mounting frame 2 and the second annular mounting frame 3 overlaps with the axial direction of main body 1.Blade gear motor 4 is fixedly mounted in the diametric(al) of the first annular mounting frame 2 perpendicular to main body 1 axial direction.Bit teeth wheel motor 6 is fixedly mounted in the diametric(al) of the second annular mounting frame 3 perpendicular to main body 1 axial direction.Blade gear motor 4 is identical with bit teeth wheel motor 6 structure, be provided with scaffold 601, work water intake 602 and two working gears 603, scaffold 601 is arranged on the first annular mounting frame 2 and the second annular mounting frame 3 respectively, work water intake 602 is high-pressure water inlet, the main shaft of blade 5 is connected with the working gear axial restraint in blade gear motor 4, and the main shaft of drill bit 7 is connected with working gear 603 axial restraint in bit teeth wheel motor 6.The axial direction of blade 5 and drill bit 7 and the axial direction of main body 1 overlap.Six gear motor 9 are provided with the first body cradle 901, second body cradle 902, two actuation gears 904, drive water intake 902.Three gear motor 9 in six gear motor 9 are hingedly mounted in main body 1 respectively by the first body cradle 901, along the distribution of main body 1 even circumferential, and are positioned at the first annular mounting frame 2 bottom.Three gear motor 9 are in addition hingedly mounted in main body 1 respectively by the second body cradle 902, along the distribution of main body 1 even circumferential, and are positioned at the second annular mounting frame 3 bottom.The cylinder body of six high pressure water vats 8 is hingedly mounted in main body 1 respectively, and is positioned at directly over each gear motor 9, and the piston of each high pressure water vat 8 is hinged with the second body cradle 902 in each gear motor 9 respectively; Every two both sides being arranged on each gear motor 9 respectively in 12 described road wheels 10, and be connected with the actuation gear 904 of in gear motor 9 axial restraint, the axial direction of road wheel 10 and the axial direction of actuation gear 904 overlap.
In order to better realize controlling functions of the present invention, the work water intake 602 of blade gear motor 4 and bit teeth wheel motor 6, the driving water intake 902 of gear motor 9, the rod chamber of high pressure water vat 8 are all connected with external high-pressure water pump by high-pressure water pipe, each joint is provided with control valve, and each control valve is all connected with control system.
In order to meet the requirement of different operating environment and duct size, high pressure water vat 8 and gear motor 9 are not limited to six, described road wheel 10 is not limited to 12, high pressure water vat 8 is identical with the quantity of gear motor 9, and the quantity of road wheel 10 is the twice of high pressure water vat 8 and gear motor 9 quantity.
Working principle of the present invention is: in use, first according to the size of carrying out dredging pipeline, adjust overall size of the present invention by controlling high pressure water vat 8, simultaneously under the effect of high pressure water, road wheel 10 is close to pipe interior in the present invention; Under the driving of gear motor 9, road wheel 10 can realize free walking; Control to open bit teeth wheel motor 6, drill bit 7 can realize High Rotation Speed simultaneously; When the dirt having volume larger, blade 5 is under the driving of blade gear motor 4, and dirt can be pulverized by High Rotation Speed, and discharges from the present invention inside.The object that the present invention can realize circulation high efficiency, high quality completes pipe-dredging work.
Claims (3)
1. a pipe-dredging machine people, comprise main body (1), first annular mounting frame (2) and the second annular mounting frame (3), blade (5) and blade gear motor (4), drill bit (7) and bit teeth wheel motor (6), six high pressure water vats (8) and six gear motor (9), 12 road wheels (10), it is characterized in that: described main body (1) is cylindrical body frame structure, described the first annular mounting frame (2) and the second annular mounting frame (3) are annular ring structure, described annular ring diameters is identical with the cylindrical body frame structure diameter of main body (1), first annular mounting frame (2) is fixedly mounted on main body (1) middle part, and the second annular mounting frame (3) is fixedly mounted on main body (1) top, and the axis of the first annular mounting frame (2) and the second annular mounting frame (3) overlaps with the axial direction of main body (1), described blade gear motor (4) is fixedly mounted in the diametric(al) of the first annular mounting frame (2) perpendicular to main body (1) axial direction, described bit teeth wheel motor (6) is fixedly mounted in the diametric(al) of the second annular mounting frame (3) perpendicular to main body (1) axial direction, described blade gear motor (4) is identical with bit teeth wheel motor (6) structure, be provided with scaffold (601), work water intake (602) and two working gears (603), described scaffold (601) is arranged on the first annular mounting frame (2) and the second annular mounting frame (3) respectively, work water intake (602) is high-pressure water inlet, the main shaft of described blade (5) is connected with the working gear axial restraint in blade gear motor (4), the main shaft of described drill bit (7) is connected with working gear (603) axial restraint in bit teeth wheel motor (6), the axial direction of described blade (5) and the axial direction of drill bit (7) and main body (1) overlaps, six described gear motor (9) are provided with the first body cradle (901), the second body cradle (902), two actuation gears (904), drive water intake (902), three gear motor (9) in six described gear motor (9) are hingedly mounted in main body (1) respectively by the first body cradle (901), along the distribution of main body (1) even circumferential, and are positioned at the first annular mounting frame (2) bottom, three gear motor (9) are in addition hingedly mounted in main body (1) respectively by the second body cradle (902), along the distribution of main body (1) even circumferential, and are positioned at the second annular mounting frame (3) bottom, the cylinder body of six described high pressure water vats (8) is hingedly mounted in main body (1) respectively, and being positioned at directly over each gear motor (9), the piston of each high pressure water vat (8) is hinged with the second body cradle (902) in each gear motor (9) respectively, every two both sides being arranged on each gear motor (9) respectively in 12 described road wheels (10), and be connected with actuation gear (904) axial restraint in gear motor (9), the axial direction of road wheel (10) and the axial direction of actuation gear (904) overlap.
2. a kind of pipe-dredging machine people as claimed in claim 1, it is characterized in that: the work water intake (602) of described blade gear motor (4) and bit teeth wheel motor (6), the driving water intake (902) of gear motor (9), the rod chamber of high pressure water vat (8) are all connected with external high-pressure water pump by high-pressure water pipe, each joint is provided with control valve, and each control valve is all connected with control system.
3. a kind of pipe-dredging machine people as claimed in claim 1, it is characterized in that: described high pressure water vat (8) and gear motor (9) are not limited to six, described road wheel (10) is not limited to 12, high pressure water vat (8) is identical with the quantity of gear motor (9), and the quantity of road wheel (10) is the twice of high pressure water vat (8) and gear motor (9) quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510539376.4A CN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510539376.4A CN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105156836A true CN105156836A (en) | 2015-12-16 |
| CN105156836B CN105156836B (en) | 2017-05-03 |
Family
ID=54797803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510539376.4A Active CN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105156836B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105546277A (en) * | 2016-02-02 | 2016-05-04 | 浙江海洋学院 | High-temperature pipeline dredging robot |
| CN105604146A (en) * | 2016-03-11 | 2016-05-25 | 厦门精图信息技术有限公司 | Pipeline obstacle removing device |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106641576A (en) * | 2016-12-01 | 2017-05-10 | 赵华刚 | Barrier-free oilfield pipeline detection trolley and using method |
| CN106838542A (en) * | 2017-03-08 | 2017-06-13 | 中南大学 | A kind of pipe detection maintaining robot |
| CN107355638A (en) * | 2017-08-25 | 2017-11-17 | 无锡康柏斯机械科技有限公司 | A kind of multi-drive type pipe robot carrier structure |
| CN109386688A (en) * | 2017-08-02 | 2019-02-26 | 金飞 | A kind of sundries dredging humanoid robot |
| CN110080380A (en) * | 2019-05-25 | 2019-08-02 | 广东聚晟建设工程有限公司 | Silting desilting equipment and technique in managing |
| CN110315561A (en) * | 2019-07-28 | 2019-10-11 | 南京驭逡通信科技有限公司 | A kind of manipulator fixture and control system for line clogging robot |
| CN112901894A (en) * | 2021-01-25 | 2021-06-04 | 南京市潮尚科技有限公司 | Portable municipal drainage pipeline rubbish clearance robot |
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| US4271556A (en) * | 1979-06-08 | 1981-06-09 | Farrell Jr Eugene C | Pipe cleaning apparatus |
| KR20030014502A (en) * | 2001-08-11 | 2003-02-19 | 최혁렬 | Robot for internal inspection of pipe |
| AU2008202124B1 (en) * | 2008-05-13 | 2008-11-27 | Richard Lesley MacKenzie | An Internal Pipe Maintenance Unit |
| CN203549276U (en) * | 2013-08-22 | 2014-04-16 | 贵州大学 | Pipeline dredging robot |
| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| CN204372447U (en) * | 2014-12-31 | 2015-06-03 | 济宁市齐力机电设备有限公司 | A kind of cleanser conduit robot |
-
2015
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4271556A (en) * | 1979-06-08 | 1981-06-09 | Farrell Jr Eugene C | Pipe cleaning apparatus |
| KR20030014502A (en) * | 2001-08-11 | 2003-02-19 | 최혁렬 | Robot for internal inspection of pipe |
| AU2008202124B1 (en) * | 2008-05-13 | 2008-11-27 | Richard Lesley MacKenzie | An Internal Pipe Maintenance Unit |
| CN203549276U (en) * | 2013-08-22 | 2014-04-16 | 贵州大学 | Pipeline dredging robot |
| CN203571334U (en) * | 2013-11-11 | 2014-04-30 | 江苏师范大学 | Pipeline inspection robot propelling mechanism with obstacle removing function |
| CN204372447U (en) * | 2014-12-31 | 2015-06-03 | 济宁市齐力机电设备有限公司 | A kind of cleanser conduit robot |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105546277A (en) * | 2016-02-02 | 2016-05-04 | 浙江海洋学院 | High-temperature pipeline dredging robot |
| CN105604146A (en) * | 2016-03-11 | 2016-05-25 | 厦门精图信息技术有限公司 | Pipeline obstacle removing device |
| CN105604146B (en) * | 2016-03-11 | 2017-07-07 | 厦门精图信息技术有限公司 | A kind of pipeline barrier clearing device |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106641576A (en) * | 2016-12-01 | 2017-05-10 | 赵华刚 | Barrier-free oilfield pipeline detection trolley and using method |
| CN106838542A (en) * | 2017-03-08 | 2017-06-13 | 中南大学 | A kind of pipe detection maintaining robot |
| CN109386688B (en) * | 2017-08-02 | 2021-02-02 | 涂鹏 | Debris mediation type robot |
| CN109386688A (en) * | 2017-08-02 | 2019-02-26 | 金飞 | A kind of sundries dredging humanoid robot |
| CN107355638A (en) * | 2017-08-25 | 2017-11-17 | 无锡康柏斯机械科技有限公司 | A kind of multi-drive type pipe robot carrier structure |
| CN110080380A (en) * | 2019-05-25 | 2019-08-02 | 广东聚晟建设工程有限公司 | Silting desilting equipment and technique in managing |
| CN110080380B (en) * | 2019-05-25 | 2021-05-25 | 广东聚晟建设工程有限公司 | Equipment and process for dredging pipe blockage |
| CN110315561A (en) * | 2019-07-28 | 2019-10-11 | 南京驭逡通信科技有限公司 | A kind of manipulator fixture and control system for line clogging robot |
| CN112901894A (en) * | 2021-01-25 | 2021-06-04 | 南京市潮尚科技有限公司 | Portable municipal drainage pipeline rubbish clearance robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105156836B (en) | 2017-05-03 |
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Inventor after: Wen Rensheng Inventor before: Xu Hongen Inventor before: Xu Jinpeng Inventor before: Xing Pengda |
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Effective date of registration: 20170331 Address after: 315000 Zhejiang Province, Ningbo high tech Zone Juxian Road No. 587 No. 15 No. 2 4-1-1 Applicant after: Ningbo double Witkey Investment Co. Ltd. Address before: 054999 Xingtai City, Hebei province Linxi County Lu Xiang Yao Village No. 101 Applicant before: Xu Jinpeng |
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