CN107989168A - A kind of intelligent robot of pipe dredging - Google Patents
A kind of intelligent robot of pipe dredging Download PDFInfo
- Publication number
- CN107989168A CN107989168A CN201711024288.6A CN201711024288A CN107989168A CN 107989168 A CN107989168 A CN 107989168A CN 201711024288 A CN201711024288 A CN 201711024288A CN 107989168 A CN107989168 A CN 107989168A
- Authority
- CN
- China
- Prior art keywords
- robot body
- support arm
- telescopic rod
- bucket
- push away
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent robot of pipe dredging, including robot body, water tank is provided with rear side of the robot body, and the upper end of robot body is provided with support arm, the lower end of the robot body is provided with crawler belt, and be provided with front side of robot body and push away bucket, the support arm lower end is connected with robot body by the first telescopic rod.The type of drive for pushing away bucket is optimized in the present invention, it is more steady that bucket work can be made to push away, automation strength higher, there is provided pressure detector, it is capable of detecting when to push away the thrust of bucket building up inside mud, also the service life of machine is extended, there is provided water tank, pumping box and fountain head, pipeline inside can be cleaned while dredging, increase the function of pipe dredging machine people, there is provided the first telescopic rod, it is capable of the height of adjust automatically headlamp and video camera, and then has widened staff and observed visual field environment inside pipeline.
Description
Technical field
The present invention relates to robotic technology field, is specially a kind of intelligent robot of pipe dredging.
Background technology
Pumping equipment is essential in modern city, or even as urban stability development is ensured, people's lives and properties are pacified
Complete important defence line, is the basis that city dweller depends on for existence, therefore most likely resulted in the problems such as line clogging, impeded drainage
Urban waterlogging and then jeopardize resident's safety, pipeline in use, due to the influence of various factors, can produce various
Line clogging and pipeline fault and damage, if accident may be produced by carrying out cleaning to pipeline not in time, are caused unnecessary
Loss, however, the visual field environment residing for pipeline is often not easy to directly reach or does not allow what people were directly entered, clears up difficulty
It is very big, therefore one of most efficient method is exactly to realize the cleaning in pipeline using pipe robot.
But robot architecture currently on the market is complicated, and function is single, is not provided with pressure detector, it is impossible to detects
Go out the thrust for pushing away bucket building up inside mud, be not easy to staff's operation, be not provided with water tank, pumping box and fountain head, it is impossible to
Pipeline inside is cleaned while dredging, it is impossible to increase the function of pipe dredging machine people, it is flexible to be not provided with first
Bar, it is impossible to the height of adjust automatically headlamp and video camera, and then the visual field environment inside staff's observation pipeline is limited,
It is not provided with ball, it is impossible to reduce the frictional force for pushing away bucket and pipeline, frictional force is excessive to be easy to cause pipe wear.
The content of the invention
The present invention provides a kind of intelligent robot of pipe dredging, can effectively solve to propose do not have in above-mentioned background technology
Pressure detector is set, it is impossible to is detected to push away the thrust of bucket building up inside mud, is not easy to staff's operation, is not provided with water
Case, pumping box and fountain head, it is impossible to cleaned while dredging to pipeline inside, it is impossible to increase pipe dredging machine people's
Function, is not provided with the first telescopic rod, it is impossible to the height of adjust automatically headlamp and video camera, and then limit staff's sight
The visual field environment inside pipeline is examined, is not provided with ball, it is impossible to reduces the frictional force for pushing away bucket and pipeline, frictional force is excessive easily to be made
The problem of into pipe wear.
To achieve the above object, the present invention provides following technical solution：A kind of intelligent robot of pipe dredging, including machine
Device human body, is provided with water tank on rear side of the robot body, and the upper end of robot body is provided with support arm, the machine
The lower end of device human body is provided with crawler belt, and is provided with front side of robot body and pushes away bucket, the support arm lower end and robot
Body is connected by the first telescopic rod, and one end of support arm is provided with electric cabinet, and illumination is provided with the inside of the support arm
Lamp, and video camera is provided with a side position of headlamp on the inside of support arm, the side of the support arm, which is provided with, draws water
Case, the upper end of the pumping box are provided with fountain head, and the bottom for pushing away bucket is provided with roller, and the madial wall for pushing away bucket is provided with
Waterproof force bearing plate, described push away are connected with the second telescopic rod on rear side of bucket, and the upper end for pushing away bucket is connected with forearm, the waterproof load
Pressure detector is provided with rear side of plate, one end of second telescopic rod is provided with cylinder, and the upper end of the second telescopic rod is set
Bull stick is equipped with, one end of the cylinder is provided with half knuckle-tooth, and the side of half knuckle-tooth is provided with gear, one end of the gear
Servomotor is provided with, the electric cabinet is internally provided with DSQC320 controllers, and is controlled inside electric cabinet close to DSQC320
It is provided with GPS locator at the top position of device processed, the side of the GPS locator is provided with wireless transceiver, and described first
Telescopic rod, headlamp, video camera, pumping box, servomotor, cylinder, pressure detector, wireless transceiver and GPS locator
Input terminal is electrically connected with the output terminal of DSQC320 controllers inside electric cabinet.
As a preferred technical solution of the present invention, the pumping box and water tank are drawn water by pipeline through connection
Case is internally provided with water pump.
As a preferred technical solution of the present invention, one end of the support arm is turned with robot body by rotation seat
Dynamic connection, and the lower end of support arm is fixedly connected with robot body by the first telescopic rod.
As a preferred technical solution of the present invention, the cylinder is fixedly connected with pushing away bucket by the second telescopic rod, and
Cylinder is connected with servomotor by gear and the intermeshing of half knuckle-tooth, and the upper end of second telescopic rod leads to robot body
Cross bar rotation connection.
As a preferred technical solution of the present invention, the outside of the roller is cased with mud-scraping ring, and the number that roller is set
Amount is no less than ten.
Compared with prior art, beneficial effects of the present invention：
1st, the type of drive for pushing away bucket is optimized in the present invention, is driven by servomotor and cylinder, servomotor and cylinder
It is intermeshed by gear and half knuckle-tooth, more steady, automation strength higher when can make to push away bucket work.
2nd, the present invention is provided with pressure detector, is capable of detecting when to push away the thrust of bucket building up inside mud, easy to work people
Member's operation, while also extend the service life of machine.
3rd, the present invention is provided with water tank, pumping box and fountain head, pipeline inside can be cleaned while dredging,
Increase the function of pipe dredging machine people.
4th, the present invention is provided with the first telescopic rod, is capable of the height of adjust automatically headlamp and video camera, and then widens
Staff observes the visual field environment inside pipeline.
5th, the present invention is provided with ball, can reduce the frictional force for pushing away bucket and pipeline, avoids fortune frictional force excessive and easy
The problem of causing pipe wear.
Brief description of the drawings
Attached drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the mounting structure schematic diagram of cylinder of the present invention；
Fig. 3 is the mounting structure schematic diagram of DSQC320 controllers of the present invention；
Figure label：1st, robot body；2nd, the first telescopic rod；3rd, support arm；4th, headlamp；5th, electric cabinet；6th, video camera；7、
Pumping box；8th, fountain head；9th, forearm；10th, bucket is pushed away；12nd, crawler belt；13rd, water tank；14th, servomotor；15th, gear；16th, half knuckle-tooth；
17th, cylinder；18th, bull stick；19th, the second telescopic rod；20th, pressure detector；21st, waterproof force bearing plate；22nd, roller；23rd, wireless receiving and dispatching
Device；24th, DSQC320 controllers；25th, GPS locator.
Embodiment
The preferred embodiment of the present invention is illustrated below in conjunction with attached drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment：As shown in Figs. 1-3, the present invention provides a kind of technical solution, a kind of intelligent robot of pipe dredging, bag
Robot body 1 is included, the rear side of robot body 1 is provided with water tank 13, and the upper end of robot body 1 is provided with support arm 3,
The lower end of robot body 1 is provided with crawler belt 12, and the front side of robot body 1 is provided with and pushes away bucket 10,3 lower end of support arm and machine
Device human body 1 is connected by the first telescopic rod 2, and one end of support arm 3 is provided with electric cabinet 5, and the inner side of support arm 3 is provided with
Headlamp 4, and the inner side of support arm 3 is provided with video camera 6 at a side position of headlamp 4, the side of support arm 3 is provided with
Pumping box 7, the upper end of pumping box 7 are provided with fountain head 8, and the bottom for pushing away bucket 10 is provided with roller 22, and push away the madial wall of bucket 10
Waterproof force bearing plate 21 is provided with, the rear side for pushing away bucket 10 is connected with the second telescopic rod 19, and the upper end for pushing away bucket 10 is connected with forearm 9,
The rear side of waterproof force bearing plate 21 is provided with pressure detector 20, and one end of the second telescopic rod 19 is provided with cylinder 17, and second stretches
The upper end of contracting bar 19 is provided with bull stick 18, and one end of cylinder 17 is provided with half knuckle-tooth 16, and the side of half knuckle-tooth 16 is provided with gear
15, one end of gear 15 is provided with servomotor 14, and electric cabinet 5 is internally provided with DSQC320 controllers 24, and electric cabinet 5
Internal to be provided with GPS locator 25 at the top position of DSQC320 controllers 24, the side of GPS locator 25 is provided with
Wireless transceiver 23, the first telescopic rod 2, headlamp 4, video camera 6, pumping box 7, servomotor 14, cylinder 17, pressure detector
20th, the output terminal electricity of wireless transceiver 23 and the input terminal of GPS locator 25 with 5 inside DSQC320 controllers 24 of electric cabinet
Property connection.
Further, pumping box 7 and water tank 13 be by pipeline through connection, and pumping box 7 is internally provided with water pump, is
Realize the debris automatically controlled inside flushing pipe, one end and the robot body 1 of support arm 3, which pass through rotation seat and rotate, to be connected
Connect, and the lower end of support arm 3 is fixedly connected with robot body 1 by the first telescopic rod 2, control support for the convenience of the users
The height of arm 3, and then the irradiating angle of headlamp and the shooting angle of video camera are controlled, cylinder 17 is stretched with pushing away bucket 10 by second
Contracting bar 19 is fixedly connected, and cylinder 17 is intermeshed by 15 and half knuckle-tooth 16 of gear with servomotor 14 and connected, and second is flexible
The upper end of bar 19 is rotatablely connected with robot body 1 by bull stick 18, and control for the convenience of the users pushes away the flexible and high of bucket 10
Degree, the outside of roller 22 is cased with mud-scraping ring, and the quantity that roller 22 is set is no less than ten, and 10 bottoms of bucket and pipe are pushed away in order to reduce
Abrasion between road.
The operation principle and process for using of the present invention：The lower end of robot body 1 is provided with crawler belt 12, makes robot steady
Move ahead, and the front side of robot body 1 is provided with and pushes away bucket 10, and 3 lower end of support arm passes through the first telescopic rod with robot body 1
2 connections, are capable of the height of adjust automatically headlamp 4 and video camera 6, and then have widened staff and observed the visual field inside pipeline
Environment, the rear side of robot body 1 are provided with water tank 13, and the side of support arm 3 is provided with pumping box 7, and the upper end of pumping box 7 is set
Fountain head 8 is equipped with, pumping box 7, by pipeline through connection, can carry out pipeline inside while dredging clear with water tank 13
Wash, increase the function of pipe dredging machine people, the bottom for pushing away bucket 10 is provided with roller 22, can reduce pushing away bucket 10 and rub with pipeline
Power is wiped, avoids the problem that fortune frictional force is excessive and be easy to cause pipe wear, and the madial wall for pushing away bucket 10 is provided with waterproof load
Plate 21, the rear side for pushing away bucket 10 are connected with the second telescopic rod 19, and the upper end for pushing away bucket 10 is connected with forearm 9, waterproof force bearing plate 21
Rear side is provided with pressure detector 20, is capable of detecting when to push away the thrust of 10 building up inside mud of bucket, is operated easy to staff, together
When also extend the service life of machine, one end of the second telescopic rod 19 is provided with cylinder 17, and the upper end of the second telescopic rod 19
It is provided with bull stick 18, one end of cylinder 17 is provided with half knuckle-tooth 16, and the side of half knuckle-tooth 16 is provided with gear 15, and the one of gear 15
End is provided with servomotor 14, and the type of drive for pushing away bucket 10 is optimized in the design, passes through servomotor 14 and cylinder 17
Driving, servomotor 14 is intermeshed with cylinder 17 by gear 15 and half knuckle-tooth 16, can make to push away it is more steady when struggling against work,
Automation strength higher.
Finally it should be noted that：The foregoing is merely the preferred embodiment of the present invention, it is not intended to limit the invention, to the greatest extent
Pipe is with reference to the foregoing embodiments described in detail the present invention, and for those skilled in the art, it still can be with
Modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on, should be included in the guarantor of the present invention
Within the scope of shield.
Claims (5)
1. a kind of intelligent robot of pipe dredging, including robot body（1）, it is characterised in that：The robot body（1）
Rear side be provided with water tank（13）, and robot body（1）Upper end be provided with support arm（3）, the robot body（1）'s
Lower end is provided with crawler belt（12）, and robot body（1）Front side be provided with and push away bucket（10）, the support arm（3）Lower end and machine
Device human body（1）Pass through the first telescopic rod（2）Connection, and support arm（3）One end be provided with electric cabinet（5）, the support arm
（3）Inner side be provided with headlamp（4）, and support arm（3）Inner side is close to headlamp（4）A side position at be provided with video camera
（6）, the support arm（3）Side be provided with pumping box（7）, the pumping box（7）Upper end be provided with fountain head（8）, institute
State and push away bucket（10）Bottom be provided with roller（22）, and push away bucket（10）Madial wall be provided with waterproof force bearing plate（21）, it is described to push away
Bucket（10）Rear side be connected with the second telescopic rod（19）, and push away bucket（10）Upper end be connected with forearm（9）, the waterproof force bearing plate
（21）Rear side be provided with pressure detector（20）, second telescopic rod（19）One end be provided with cylinder（17）, and second
Telescopic rod（19）Upper end be provided with bull stick（18）, the cylinder（17）One end be provided with half knuckle-tooth（16）, half knuckle-tooth
（16）Side be provided with gear（15）, the gear（15）One end be provided with servomotor（14）, the electric cabinet（5）'s
It is internally provided with DSQC320 controllers（24）, and electric cabinet（5）Internal close DSQC320 controllers（24）Top position at
It is provided with GPS locator（25）, the GPS locator（25）Side be provided with wireless transceiver（23）, described first is flexible
Bar（2）, headlamp（4）, video camera（6）, pumping box（7）, servomotor（14）, cylinder（17）, pressure detector（20）, it is wireless
Transceiver（23）And GPS locator（25）Input terminal and electric cabinet（5）Internal DSQC320 controllers（24）Output terminal electricity
Property connection.
A kind of 2. intelligent robot of pipe dredging according to claim 1, it is characterised in that：The pumping box（7）With
Water tank（13）By pipeline through connection, and pumping box（7）Be internally provided with water pump.
A kind of 3. intelligent robot of pipe dredging according to claim 1, it is characterised in that：The support arm（3）'s
One end and robot body（1）It is rotatablely connected by rotation seat, and support arm（3）Lower end and robot body（1）Pass through
One telescopic rod（2）It is fixedly connected.
A kind of 4. intelligent robot of pipe dredging according to claim 1, it is characterised in that：The cylinder（17）With pushing away
Bucket（10）Pass through the second telescopic rod（19）It is fixedly connected, and cylinder（17）With servomotor（14）Pass through gear（15）With half knuckle-tooth
（16）Intermeshing connection, second telescopic rod（19）Upper end and robot body（1）Pass through bull stick（18）Rotation connection.
A kind of 5. intelligent robot of pipe dredging according to claim 1, it is characterised in that：The roller（22）It is outer
Portion is cased with mud-scraping ring, and roller（22）The quantity of setting is no less than ten.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711024288.6A CN107989168A (en) | 2017-10-27 | 2017-10-27 | A kind of intelligent robot of pipe dredging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711024288.6A CN107989168A (en) | 2017-10-27 | 2017-10-27 | A kind of intelligent robot of pipe dredging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107989168A true CN107989168A (en) | 2018-05-04 |
Family
ID=62030081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711024288.6A Pending CN107989168A (en) | 2017-10-27 | 2017-10-27 | A kind of intelligent robot of pipe dredging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107989168A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281216A (en) * | 2019-08-01 | 2019-09-27 | 西藏新好科技有限公司 | A kind of animal husbandry dropping pit cleaning robot |
| CN111533343A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Telescopic arm type water purifying and dredging device |
| CN111851723A (en) * | 2020-07-22 | 2020-10-30 | 郭紫怡 | Be used for road sewer pull throughs |
| CN112113062A (en) * | 2018-06-14 | 2020-12-22 | 芜湖易泽中小企业公共服务股份有限公司 | Operation method of dredging robot suitable for various pipelines |
| CN112209585A (en) * | 2020-10-27 | 2021-01-12 | 河北农业大学 | But dirty treatment vehicle of remote control formula excrement |
| CN112227517A (en) * | 2020-10-12 | 2021-01-15 | 苏州品超智能设备有限公司 | Sewer cleaning robot and use method |
| CN112871904A (en) * | 2021-01-12 | 2021-06-01 | 广西大学 | Pipeline dredging robot |
| CN114016599A (en) * | 2021-11-06 | 2022-02-08 | 冉裕星 | Municipal administration drainage pipe network chemistry desilting system |
-
2017
- 2017-10-27 CN CN201711024288.6A patent/CN107989168A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113062A (en) * | 2018-06-14 | 2020-12-22 | 芜湖易泽中小企业公共服务股份有限公司 | Operation method of dredging robot suitable for various pipelines |
| CN110281216A (en) * | 2019-08-01 | 2019-09-27 | 西藏新好科技有限公司 | A kind of animal husbandry dropping pit cleaning robot |
| CN110281216B (en) * | 2019-08-01 | 2023-12-29 | 北京新希望六和生物科技产业集团有限公司 | Animal husbandry manure pit cleaning robot |
| CN111533343A (en) * | 2020-05-12 | 2020-08-14 | 上海市政工程设计研究总院（集团）有限公司 | Telescopic arm type water purifying and dredging device |
| CN111851723A (en) * | 2020-07-22 | 2020-10-30 | 郭紫怡 | Be used for road sewer pull throughs |
| CN111851723B (en) * | 2020-07-22 | 2021-07-23 | 湖州建烨自动化科技有限公司 | Be used for road sewer pull throughs |
| CN112227517A (en) * | 2020-10-12 | 2021-01-15 | 苏州品超智能设备有限公司 | Sewer cleaning robot and use method |
| CN112227517B (en) * | 2020-10-12 | 2022-05-27 | 苏州品超智能设备有限公司 | Sewer cleaning robot and use method |
| CN112209585A (en) * | 2020-10-27 | 2021-01-12 | 河北农业大学 | But dirty treatment vehicle of remote control formula excrement |
| CN112871904A (en) * | 2021-01-12 | 2021-06-01 | 广西大学 | Pipeline dredging robot |
| CN114016599A (en) * | 2021-11-06 | 2022-02-08 | 冉裕星 | Municipal administration drainage pipe network chemistry desilting system |
| CN114016599B (en) * | 2021-11-06 | 2023-08-29 | 冉裕星 | Municipal drainage pipe network chemical dredging system |
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Legal Events
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Application publication date: 20180504 |