CN107012947A - A kind of towed drainage pipeline dredging robot - Google Patents
A kind of towed drainage pipeline dredging robot Download PDFInfo
- Publication number
- CN107012947A CN107012947A CN201710192218.5A CN201710192218A CN107012947A CN 107012947 A CN107012947 A CN 107012947A CN 201710192218 A CN201710192218 A CN 201710192218A CN 107012947 A CN107012947 A CN 107012947A
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- China
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- plc
- desilting
- host computer
- drainage pipeline
- dredging
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Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Sewage (AREA)
Abstract
The invention discloses a kind of towed drainage pipeline dredging robot, robot freely walking inside pipeline ensure that by simple and reliable mechanical structure, the reference of steel rope trailer causes dredging robot to have enough power during having load dredging operation, modular Control System Design, ensure that dredging robot performs corresponding actions in strict accordance with designated program order, dredging operation situation inside monitoring system timing monitoring pipeline, and data are transmitted by wireless telecommunications system, and then by PLC to movable motor, lifting motor and electric cylinder are controlled completion desilting action, substantially increase the automatization level of dredging operation, improve the working environment of traditional dredging operation, alleviate the labor intensity of workman, it is more efficiently completed the desilting work of drainage pipeline.
Description
Technical field
The invention belongs to pipeline robot technique field, it is related to a kind of drainage pipeline dredging robot, specifically one kind is led
Draw formula drainage pipeline dredging robot.
Background technology
In China, urban discharging pipeline is embedded in underground mostly, due to domestic garbage, plant waste, capital construction building site mud
Slurry etc. is precipitated in drainage pipeline, and alluvial is excessive to cause line clogging, and sewage overflow is small then to influence the daily life of resident
It is living, the normal life rhythm in whole city can be upset when serious, it is therefore necessary to which its timely cleared up and dredged.
At present, the method that urban discharging pipeline desilting is mainly used is：Winch cleaning silt, water under high pressure desilting, wash away desilting,
The desilting of desilting ball and thorough cut machine desilting etc..Wherein winch desilting and water under high pressure desilting is the most commonly used in China, and water under high pressure desilting is needed
With the clean water of drinking water quality, so cost is very high, and this dredging method also has certain limitation for caliber；Winch is clear
The cost for water under high pressure desilting of becoming silted up is low, for caliber without specific limitation, but needs manually to complete to wear cable operation, and
The working environment very severe of underground, brings very big inconvenience to workman's work, endangers the health of workman, or even jeopardize the life of workman
Life.
The content of the invention
It is an object of the invention to provide the towed drainage pipeline silt remover that a kind of labor intensity is low, automatization level is high
Device people.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of towed drainage pipeline dredging robot, including Accrete clearing device and its control system, the Accrete clearing device
Including the desilting dolly driven by movable motor, described desilting dolly one end is installed on the ground by haulage cable connection
Traction electric machine；
There is desilting bucket on the desilting dolly, the desilting bucket is driven by electric cylinder and overturn, driven by lifting motor
Lift and fall；
The control system includes image capture module, PLC, electric cylinder controller, movable motor driver, act
Lifting motor driver, radio receiving transmitting module, host computer, display module, industry I/O modules and auxiliary reclay；
The image information of described image acquisition module, in real time collection drainage pipeline internal operating condition；
The PLC, with host computer two-way communication, the image information that image capture module is gathered and each motor
The electric machine operation state information of driver output is output to host computer, while receiving the control instruction of host computer output, control is each
Motor driver works；
The electric cylinder controller, receives the control signal of PLC outputs, completes the action control to electric cylinder, and in real time
Feed back the work state information of electric cylinder；
The movable motor driver, receives the control signal of PLC outputs, completes the action control to movable motor, and
The work state information of Real-time Feedback movable motor；
The lifting motor driver, receives the control signal of PLC outputs, completes the action control to lifting motor, and
The work state information of Real-time Feedback lifting motor；
The radio receiving transmitting module, is separately positioned in PLC and host computer, realizes PLC and host computer
Between RFDC；
The host computer, with PLC two-way communication, receives the drainage pipeline internal image letter of PLC output
Breath and each electric machine operation state information, while issuing control instruction controls each motor work；
The display module, for showing drainage pipeline interior image information and each electric machine operation state information in real time；
The industrial I/O modules control auxiliary reclay there is provided I/O communication interfaces, connection host computer and auxiliary reclay
Break-make；
The auxiliary reclay, is connected between AC power and traction electric machine, realize to traction electric machine start, stop into
Row control.
Beneficial effects of the present invention：The towed drainage pipeline dredging robot that the present invention is provided, simple and reliable machinery
Structure ensure that robot freely walking inside pipeline, and the reference of steel rope trailer causes dredging robot having load
There is enough power, modular Control System Design, it is ensured that dredging robot is in strict accordance with specified during dredging operation
Program order performs dredging operation situation inside corresponding actions, monitoring system timing monitoring pipeline, and passes through wireless telecommunications system
Data are transmitted, and then completion desilting is controlled to movable motor, lifting motor and electric cylinder by PLC and are acted, are carried significantly
The high automatization level of dredging operation, improves the working environment of traditional dredging operation, alleviates the labor intensity of workman, more
Efficiently complete the desilting work of drainage pipeline.
Brief description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is robot architecture's schematic diagram of the present invention.
Fig. 2 is control system schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " perforate ", " on ", " under ", " thickness ", " top ", " in ",
Indicating position or the position relationship such as " length ", " interior ", " surrounding ", are for only for ease of the description present invention and simplify description, without
It is that instruction or the signified component of hint or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.
As shown in figure 1, the invention provides a kind of towed drainage pipeline dredging robot, including Accrete clearing device and its
Control system, Accrete clearing device includes desilting dolly 1, and desilting dolly 1 is driven by movable motor, along pipe walking.Desilting dolly 1
One end connects the traction electric machine 2 installed on the ground by haulage cable
There is desilting bucket 3 on desilting dolly 1, desilting bucket 3 is driven by electric cylinder and overturn, and desilting bucket 3 is driven by lifting motor
It is dynamic to lift and fall.
Before dredging operation starts, desilting dolly 1 drives desilting bucket 3 and haulage cable together under movable motor driving
The position of plan desilting is moved to the direction away from inspection shaft well head；Driven by electric cylinder lifting motor, adjustment desilting bucket 3
Angle and height, make the opening of desilting bucket 3 be located at and the tangent position of inner-walls of duct, so as to desilting；Pulled and led by traction electric machine
Draw steel wire rope, pull desilting dolly 1 and moved together with desilting bucket 3 to close to the direction of inspection shaft well head, receive mud in motion process
Enter in desilting bucket 3, complete dredging operation；After desilting terminates, driven by lifting motor and electric cylinder, desilting bucket 3 is lifted simultaneously
Upset, it is to avoid the mud in desilting bucket 3 leaks.
Driven as shown in Fig. 2 control system includes image capture module, PLC, electric cylinder controller, movable motor
Dynamic device, lifting motor driver, radio receiving transmitting module, host computer, display module, industry I/O modules and auxiliary reclay.
Image capture module, on desilting dolly, using the infrared water-proof CCD camera for wearing rain brush, collection in real time is arranged
The image information of waterpipe internal operating condition.
PLC, with host computer two-way communication, the image information that image capture module is gathered and the driving of each motor
The electric machine operation state information of device output is output to host computer, while receiving the control instruction of host computer output, controls each motor
Driver works.
Electric cylinder controller, receives the control signal of PLC outputs, completes the action control to electric cylinder, controls desilting bucket
Upset, adjust the angle of desilting bucket, and the work state information of Real-time Feedback electric cylinder.
Movable motor driver, receives the control signal of PLC outputs, completes the action control to movable motor, and control is clear
The traveling of silt dolly and direction, and the work state information of Real-time Feedback movable motor.
Lifting motor driver, receives the control signal of PLC outputs, completes the action control to lifting motor, and control is clear
Silt bucket is lifted and fallen, regulation desilting bucket height, and the work state information of Real-time Feedback lifting motor.
Radio receiving transmitting module, is separately positioned in PLC and host computer, realizes between PLC and host computer
RFDC.
Host computer, and PLC two-way communication, receive the drainage pipeline interior image information of PLC output with
And each electric machine operation state information, while issuing control instruction controls each motor work.
Display module, using touch display screen, for showing drainage pipeline interior image information and each motor work in real time
Make status information, operating personnel are operated in real time according to display picture.
Industrial I/O modules control the logical of auxiliary reclay there is provided I/O communication interfaces, connection host computer and auxiliary reclay
It is disconnected.
Auxiliary reclay, is connected between AC power and traction electric machine, realizes and traction electric machine is started, stops controlling
System.
Specific work process is：After dredging robot to be hung to the inspection shaft well head for delivering to drainage pipeline with lift, start
Movable motor driver driving movable motor is rotated forward, and when desilting moving of car is to after planning desilting position, movable motor stops turning
It is dynamic；Now, start electric cylinder controller control electric cylinder expansion link to extend to extreme position, desilting bucket overturn to opening direction with
Pipeline is parallel, electric cylinder stop motion；Then, start lifting motor driver driving lifting motor to rotate forward, desilting bucket put down,
When desilting bucket and tangent inner-walls of duct, lifting motor stops operating；Next start traction electric machine to rotate forward, shrink traction steel wire
Rope, pulls desilting dolly and is moved together with desilting bucket to close to inspection shaft well head direction, in motion process, by the silt in front of desilting bucket
In mud income bucket；After mud collection terminates, traction electric machine stalling starts the driving lifting motor reversion of lifting motor driver, by
Desilting bucket lifts certain altitude, lifting motor stalling；Electric cylinder controller control electric cylinder expansion link foreshortens to most short position, clearly
The bucket that becomes silted up is overturn to opening up, it is to avoid mud leaks in bucket；Start traction electric machine and rotate forward continuation drive haulage cable motion, drag
Drag desilting dolly and move to inspection shaft pithead position together with desilting bucket.
The towed drainage pipeline dredging robot that the present invention is provided, simple and reliable mechanical structure ensure that robot exists
Freely walking inside pipeline, the reference of steel rope trailer causes dredging robot to have during having load dredging operation
Enough power, modular Control System Design, it is ensured that dredging robot performs corresponding dynamic in strict accordance with designated program order
Make, dredging operation situation inside monitoring system timing monitoring pipeline, and data are transmitted by wireless telecommunications system, and then pass through
PLC is controlled completion desilting action to movable motor, lifting motor and electric cylinder, substantially increases the automatic of dredging operation
Change level, improves the working environment of traditional dredging operation, alleviates the labor intensity of workman, is more efficiently completed drainage pipeline
Desilting work.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example are described
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can be closed in any one or more embodiments or example
Suitable mode is combined.
Above content is only to structure example of the present invention and explanation, affiliated those skilled in the art couple
Described specific embodiment is made various modifications or supplement or substituted using similar mode, without departing from invention
Structure surmounts scope defined in the claims, all should belong to protection scope of the present invention.
Claims (1)
1. a kind of towed drainage pipeline dredging robot, including Accrete clearing device and its control system, it is characterised in that：It is described
Accrete clearing device includes the desilting dolly driven by movable motor, and described desilting dolly one end is connected by haulage cable and installed
Traction electric machine on the ground；
There is desilting bucket on the desilting dolly, the desilting bucket is driven by electric cylinder and overturn, and is driven and is lifted by lifting motor
With fall；
The control system includes image capture module, PLC, electric cylinder controller, movable motor driver, lifting electricity
Machine driver, radio receiving transmitting module, host computer, display module, industry I/O modules and auxiliary reclay；
The image information of described image acquisition module, in real time collection drainage pipeline internal operating condition；
The PLC, with host computer two-way communication, the image information that image capture module is gathered and the driving of each motor
The electric machine operation state information of device output is output to host computer, while receiving the control instruction of host computer output, controls each motor
Driver works；
The electric cylinder controller, receives the control signal of PLC outputs, completes the action control to electric cylinder, and Real-time Feedback
The work state information of electric cylinder；
The movable motor driver, receives the control signal of PLC outputs, completes the action control to movable motor, and in real time
Feed back the work state information of movable motor；
The lifting motor driver, receives the control signal of PLC outputs, completes the action control to lifting motor, and in real time
Feed back the work state information of lifting motor；
The radio receiving transmitting module, is separately positioned in PLC and host computer, realizes between PLC and host computer
RFDC；
The host computer, and PLC two-way communication, receive the drainage pipeline interior image information of PLC output with
And each electric machine operation state information, while issuing control instruction controls each motor work；
The display module, for showing drainage pipeline interior image information and each electric machine operation state information in real time；
The industrial I/O modules control the logical of auxiliary reclay there is provided I/O communication interfaces, connection host computer and auxiliary reclay
It is disconnected；
The auxiliary reclay, is connected between AC power and traction electric machine, realizes and traction electric machine is started, stops controlling
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192218.5A CN107012947A (en) | 2017-03-28 | 2017-03-28 | A kind of towed drainage pipeline dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192218.5A CN107012947A (en) | 2017-03-28 | 2017-03-28 | A kind of towed drainage pipeline dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107012947A true CN107012947A (en) | 2017-08-04 |
Family
ID=59445967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710192218.5A Pending CN107012947A (en) | 2017-03-28 | 2017-03-28 | A kind of towed drainage pipeline dredging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107012947A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202865988U (en) * | 2012-11-07 | 2013-04-10 | 唐山学院 | Dredging trolley used in iron and steel enterprise |
| CN203583651U (en) * | 2013-12-06 | 2014-05-07 | 河北联合大学 | Dredging device of drainage pipeline dredging robot |
| CN105369888A (en) * | 2014-08-08 | 2016-03-02 | 湘潭腾升机械研究制造有限公司 | Sewer dredging device |
-
2017
- 2017-03-28 CN CN201710192218.5A patent/CN107012947A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202865988U (en) * | 2012-11-07 | 2013-04-10 | 唐山学院 | Dredging trolley used in iron and steel enterprise |
| CN203583651U (en) * | 2013-12-06 | 2014-05-07 | 河北联合大学 | Dredging device of drainage pipeline dredging robot |
| CN105369888A (en) * | 2014-08-08 | 2016-03-02 | 湘潭腾升机械研究制造有限公司 | Sewer dredging device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
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| PB01 | Publication | ||
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Application publication date: 20170804 |