CN107606386A - A kind of pipe robot mode of progression suitable for municipal sewage webmaster - Google Patents
A kind of pipe robot mode of progression suitable for municipal sewage webmaster Download PDFInfo
- Publication number
- CN107606386A CN107606386A CN201710739685.5A CN201710739685A CN107606386A CN 107606386 A CN107606386 A CN 107606386A CN 201710739685 A CN201710739685 A CN 201710739685A CN 107606386 A CN107606386 A CN 107606386A
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- wheel hub
- hub
- baffle plate
- power transmission
- transmission shaft
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Abstract
The invention discloses a kind of pipe robot mode of progression suitable for municipal sewage webmaster, especially suitable for urban sewage pipe, the pipe robot mode of progression of the present invention is especially suitable for urban sewage pipe, because doped with the debris for much easily causing robot walking mechanism to wind in urban sewage pipe, wheel hub is controlled in straight line and the rotating speed and rotating manner turned when walking, can be effectively antiwind, a few circles of wheel hub advance and then retrogressing, the twister for making to take up during advance relaxes, prevent that winding is too tight, destroy scraper edge.
Description
Technical field
The present invention relates to pipeline robot technique field, particularly a kind of pipe robot suitable for municipal sewage webmaster
Mode of progression.
Background technology
The implementation of pipe robot instead of artificial go into the well maintenance and work of removing contamination.Artificial go into the well can only be in city main pipeline
Diameter also needs water upper in pipeline to blocking up not less than have toxic gas inside 1M and pipeline.Limitation for condition
It is it is required that relatively more.Pipe robot at work can need not live the water blocking at upstream in artificial impenetrable pipeline, and can be in real time
Feedback channel internal gas and water velocity etc..Domestic pipeline inner case is complex, includes mud, small fragment of brick, branch
With the debris such as oil.Robot will be operated inside pipeline, be needed first to being cleared up in pipeline.Clear up debris one inside pipeline
As be divided into two steps：
(1) focused on high-pressure hydraulic pump, toward washing by water in pipeline, the other end siphons away sewage for one end；
(2) Cai Nengfang robots are removed contamination again into pipeline after the completion of preliminary cleaning.
But robot enters in pipeline the debris that part wheel still can not cleaned out of creeping and enwinded, and makes machine
People is stuck inside pipeline.Robot can only drag whole robot to come out extremely behind pipeline inside by steel wire rope, to transmission mechanism
Cause certain damage.Occur wheel winding when existing pipe robot cruises in pipeline, cause whole robot stuck
Phenomenon inside pipeline.
Application No. 201010240870.8, the patent of entitled pipe robot, its walking mechanism are wheeled knot
Structure, it is not easily cleaned when the winding of twister easily occurring between wheel and flexible axle, and winding.
The content of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of is applied to city
The pipe robot mode of progression of sewage webmaster.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of pipe robot mode of progression suitable for municipal sewage webmaster, walking mechanism use wheeled construction, including
Wheel hub, travelling gear and power transmission shaft, travelling gear are fixedly arranged on one end of power transmission shaft, and wheel hub is fixedly arranged on the other end of power transmission shaft, pass
The driving of outer gear and motor that moving gear is engaged with, drives hub rotation, and during straight line moving, hub rotation speed is kept
Turn/min in 50-65, motor drive hub marches forward after direction rotates five circles and rotates two circles to opposite direction again；Turn and walk
When, hub rotation speed is maintained at 20-35 and turns/min, and motor drive hub marches forward after direction rotates a circle to be turned to opposite direction again
Dynamic half-turn.
Specifically, wheel type traveling mechanism includes wheel hub, travelling gear and power transmission shaft, and rubber tyre is arranged on wheel hub, transmission
Axle one end connects travelling gear, and the other end is fixed on wheel hub, is arranged on the optical axis that power transmission shaft is not connected with wheel hub, travelling gear
Cover plate, cover plate one side are connected with the gear-box of rotate gear, and cover plate seals travelling gear together with gear-box, cover plate another side
Extend a boss on the inside of to wheel hub, a baffle plate is arranged on the boss, gap, gap inner ring are left between baffle plate and boss
If hairbrush circle, wheel hub inner seal is set scraper, gap by baffle plate, hairbrush circle and boss in the gap between baffle plate and cover plate
Interior scraper is horizontally disposed with, and blade is set upward, is set on the outer shroud in gap from baffle plate to the inclined scraper of cover plate, blade is outwardly
Set, during drive gears runner hub rotates, baffle plate, with power transmission shaft unitary rotation, presss from both sides with cover plate between baffle plate and cover plate
Miscellaneous twister is wrapped on scraper, and scraper cuts off the twister taken up.
Preferably, the baffle plate dismantles baffle plate with wheel hub inner side edge along being removably connected, convenient on the inside of wheel hub
Cleared up, overhauled and safeguarded.
The present invention opens up groove on the inside of wheel hub, square opening is opened up in groove, power transmission shaft one end is fastened on wheel hub groove
In square opening, and fixed by hexagonal countersunk head screw, power transmission shaft can be both fixedly connected with wheel hub, can also conveniently be split, side
Just wheel hub is changed, can also easily take wheel hub and power transmission shaft, easy cleaning twister when winding apart.
Preferably, hairbrush circle, which is pasted, is arranged at boss edge, and hairbrush circle belongs to easily-consumed products here, can often grind
Consumption, so being frequently necessary to change, so being designed to paste mode, is convenient for changing.
Preferably, the gap between baffle plate and boss is 2-3mm, conveniently pastes hairbrush circle, and gap is too small to be unfavorable for installing
Hairbrush circle, the excessive hairbrush circle that easily causes can't stop gap, have tiny stone sand and entered by gap on the inside of wheel hub.
After the present invention uses such scheme, have the following technical effect that：
The pipe robot mode of progression of the present invention is especially suitable for urban sewage pipe, because being mixed in urban sewage pipe
Miscellaneous to have many debris for easily causing robot walking mechanism to wind, control wheel hub is in straight line and the rotating speed turned when walking
And rotating manner, can be effectively antiwind, a few circles of wheel hub advance and then retrogressing, make the twister relaxation one taken up during advance
A bit, prevent that winding is too tight, destroy scraper edge.Travel configuration is designed as wheeled construction by the present invention, and will easily be wound
Wheel hub, travelling gear and power transmission shaft seal up, by the zone-transfer wound to the gap between baffle plate and cover plate, then
Scraper is set between baffle plate and cover plate, and scraper has just sealed the gap between baffle plate and cover plate, when having twister in wheel hub
When being wound in rotation process into the gap, twister is first wound up on scraper, because of scraper edge upward, is twined in rotation process
It can finally be cut off around thing more around tighter by scraper, the danger for fundamentally preventing twister to wind, in addition, hairbrush circle is pasted
In boss edge, the hairbrush circle that is set between baffle plate and boss gap can make tiny stone sand will not be from wheel hub and gear cap
Enter in sheet separation on the inside of wheel hub, effectively prevent from, to the injury on the inside of power transmission shaft and wheel hub, preventing that pipe robot is stuck comprehensively,
Ensure that pipe robot continuously works in pipeline, improve operating efficiency.
Brief description of the drawings
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Fig. 1 is the structural representation of walking mechanism in the present invention.
Embodiment
To make the purpose of the embodiment of the present invention and technical scheme clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is of the invention
Part of the embodiment, rather than whole embodiments.Based on described embodiments of the invention, those of ordinary skill in the art
The every other embodiment obtained on the premise of without creative work, belongs to the scope of protection of the invention.
A kind of pipe robot mode of progression suitable for municipal sewage webmaster of the present invention, walking mechanism is using wheeled
Structure, including wheel hub, travelling gear and power transmission shaft, travelling gear are fixedly arranged on one end of power transmission shaft, and wheel hub is fixedly arranged on power transmission shaft
The other end, the driving of outer gear and motor that travelling gear is engaged with drive hub rotation, during straight line moving, wheel
Hub rotating speed is maintained at 50-65 and turns/min, and motor drive hub marches forward after direction rotates five circles and rotates two to opposite direction again
Circle；During turning walking, hub rotation speed is maintained at 20-35 and turns/min, and motor drive hub marches forward after the circle of direction rotation one
Again half-turn is rotated to opposite direction.
Specifically, as shown in figure 1, a kind of pipe robot walking mechanism suitable for municipal sewage webmaster includes：Wheel hub
2, rubber tyre 1 is arranged with the outer ring of wheel hub 2, forms walking wheel, the inner side of wheel hub 2 sets fluted, is set in the groove
Square opening is equipped with, the inner side edge of wheel hub 2 is removably connected along baffle plate 3, baffle plate 3 is provided with the inner side edge of wheel hub 2 edge,
Convenient dismounting baffle plate, for overhauling on the inside of wheel hub, opening is offered on the baffle plate 3；
Travelling gear 9, travelling gear 9 are fixedly arranged on power transmission shaft 7, and described one end of power transmission shaft 7 is fastened on the side of wheel hub groove
In shape hole, and fixed by screw 6, screw 6 is hexagonal countersunk head screw.
Gear-box is provided with outside travelling gear 9, gear-box includes cover plate 8, the oriented inboard groove of wheel hub 2 is set on cover plate 8
The boss 5 of extension, the boss 5 in axial direction offer the through hole passed through for power transmission shaft 7, and the boss 5 passes through baffle plate 3
Opening, and the diameter of the opening of baffle plate 3 is bigger 2-3mm than the external diameter of boss 5, boss 5 in the gap of baffle plate 3 with being equipped with hairbrush circle
4.The inclined scraper 10 of oriented cover plate 8 is set on baffle plate 3, and the blade of scraper 10 is set outwardly, the detachable connection of scraper 10
In on baffle plate 3, scraper has just sealed the gap between baffle plate and cover plate, when there is twister during hub rotation to this
When winding in gap, twister is first wound up on scraper, because of scraper edge upward, in rotation process twister can more around tighter,
Finally cut off by scraper, the danger for fundamentally preventing twister to wind, in addition, hairbrush circle, which is pasted, is arranged at boss edge,
The hairbrush circle set between baffle plate and boss gap, tiny stone sand can be made not enter from wheel hub and gear cover plate gap
On the inside of wheel hub, effectively prevent to the injury on the inside of power transmission shaft and wheel hub.
Power transmission shaft is reached on wheel hub from gear-box in the present invention, and shaft end coordinates with wheel hub, and end is again wheel hub with passing
Moving axis is connected with hexagon socket head cap screw.Left between baffle plate and toothed wheel box cover plate and gap is installed, the scraper on baffle plate makes big twine
It will not be entered around thing on power transmission shaft.Hairbrush rotates in the lump on boss with wheel, and hairbrush can block some tiny debris,
So as to realize the antiwind of whole crawl device.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, which should be understood that, to be had and the meaning in the context of prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the implication of overly formal be explained.
Claims (6)
- A kind of 1. pipe robot mode of progression suitable for municipal sewage webmaster, it is characterised in that：Walking mechanism is using wheeled Structure, including wheel hub, travelling gear and power transmission shaft, travelling gear are fixedly arranged on one end of power transmission shaft, and wheel hub is fixedly arranged on power transmission shaft The other end, the driving of outer gear and motor that travelling gear is engaged with drive hub rotation, during straight line moving, wheel Hub rotating speed is maintained at 50-65 and turns/min, and motor drive hub marches forward after direction rotates five circles and rotates two to opposite direction again Circle；During turning walking, hub rotation speed is maintained at 20-35 and turns/min, and motor drive hub marches forward after the circle of direction rotation one Again half-turn is rotated to opposite direction.
- 2. the pipe robot mode of progression according to claim 1 suitable for municipal sewage webmaster, it is characterised in that：Wheel Be arranged rubber tyre on hub, power transmission shaft one end connection travelling gear, the other end is fixed on wheel hub, power transmission shaft not with wheel hub, pass Cover plate is arranged on the optical axis of moving gear connection, cover plate one side is connected with the gear-box of rotate gear, and cover plate will together with gear-box Travelling gear seals, and cover plate is another towards a boss is extended on the inside of wheel hub, is arranged a baffle plate on the boss, baffle plate with it is convex Leave gap between platform, gap inner ring sets hairbrush circle, baffle plate, hairbrush circle and boss by wheel hub inner seal, baffle plate and cover plate it Between gap in scraper is set, the scraper in gap is horizontally disposed with, and blade is set upward, set on the outer shroud in gap from baffle plate to The inclined scraper of cover plate, blade are set outwardly, and during drive gears runner hub rotates, baffle plate is with cover plate with power transmission shaft one Body is rotated, and the twister being mingled between baffle plate and cover plate is wrapped on scraper, and scraper cuts off the twister taken up.
- 3. the pipe robot mode of progression according to claim 2 suitable for municipal sewage webmaster, it is characterised in that：Institute Baffle plate is stated removably to be connected with wheel hub inner side edge edge.
- 4. the pipe robot mode of progression according to claim 2 suitable for municipal sewage webmaster, it is characterised in that：Wheel Open up on the inside of hub fluted, square opening is offered in groove, power transmission shaft one end is fastened in the square opening of wheel hub groove, and is passed through Hexagonal countersunk head screw is fixed.
- 5. the pipe robot mode of progression according to claim 2 suitable for municipal sewage webmaster, it is characterised in that：Hair Brush circle, which is pasted, is arranged at boss edge.
- 6. the pipe robot mode of progression according to claim 2 suitable for municipal sewage webmaster, it is characterised in that：Gear Gap between plate and boss is 2-3mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710739685.5A CN107606386A (en) | 2017-08-25 | 2017-08-25 | A kind of pipe robot mode of progression suitable for municipal sewage webmaster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710739685.5A CN107606386A (en) | 2017-08-25 | 2017-08-25 | A kind of pipe robot mode of progression suitable for municipal sewage webmaster |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107606386A true CN107606386A (en) | 2018-01-19 |
Family
ID=61064324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710739685.5A Pending CN107606386A (en) | 2017-08-25 | 2017-08-25 | A kind of pipe robot mode of progression suitable for municipal sewage webmaster |
Country Status (1)
| Country | Link |
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| CN (1) | CN107606386A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588816A (en) * | 2019-09-23 | 2019-12-20 | 深圳瑞科时尚电子有限公司 | Wheel, driving wheel assembly, winding blocking piece and self-moving robot of self-moving robot |
Citations (9)
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|---|---|---|---|---|
| CN2265948Y (en) * | 1996-02-09 | 1997-10-29 | 赵春林 | Underwater propeller impurity divider |
| US6553602B1 (en) * | 1997-09-13 | 2003-04-29 | Slovensky Plynarensky Priemysel, S.P. | Device for pipeline interior cleaning |
| US20140013872A1 (en) * | 2012-07-16 | 2014-01-16 | E.V. Offshore Limited | Pipeline Inspection Apparatus |
| CN103621246A (en) * | 2013-12-05 | 2014-03-12 | 奇瑞重工股份有限公司 | Grain combine harvester with grass winding prevention function |
| CN204796202U (en) * | 2015-06-26 | 2015-11-25 | 刘大刚 | Effectively prevent winding lawn mower of weeds |
| CN205006800U (en) * | 2015-09-23 | 2016-02-03 | 武玉妹 | Antiwind device of brush in robot of sweeping floor |
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2017
- 2017-08-25 CN CN201710739685.5A patent/CN107606386A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2265948Y (en) * | 1996-02-09 | 1997-10-29 | 赵春林 | Underwater propeller impurity divider |
| US6553602B1 (en) * | 1997-09-13 | 2003-04-29 | Slovensky Plynarensky Priemysel, S.P. | Device for pipeline interior cleaning |
| US20140013872A1 (en) * | 2012-07-16 | 2014-01-16 | E.V. Offshore Limited | Pipeline Inspection Apparatus |
| CN103621246A (en) * | 2013-12-05 | 2014-03-12 | 奇瑞重工股份有限公司 | Grain combine harvester with grass winding prevention function |
| CN205322246U (en) * | 2014-12-12 | 2016-06-22 | 碧洁家庭护理有限公司 | A brush roll for surface cleaning equipment |
| CN204796202U (en) * | 2015-06-26 | 2015-11-25 | 刘大刚 | Effectively prevent winding lawn mower of weeds |
| CN205006800U (en) * | 2015-09-23 | 2016-02-03 | 武玉妹 | Antiwind device of brush in robot of sweeping floor |
| CN106108801A (en) * | 2016-01-26 | 2016-11-16 | 湖北泽森智能科技有限公司 | Middle sweeping device cut a mao driving means |
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Non-Patent Citations (1)
| Title |
|---|
| 王洛: "新一代家庭保姆：智能机器人吸尘器", 《家庭电气化》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588816A (en) * | 2019-09-23 | 2019-12-20 | 深圳瑞科时尚电子有限公司 | Wheel, driving wheel assembly, winding blocking piece and self-moving robot of self-moving robot |
| CN110588816B (en) * | 2019-09-23 | 2024-04-30 | 深圳瑞科时尚电子有限公司 | Self-moving robot wheel, driving wheel assembly, winding object blocking piece and self-moving robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180119 |