CN108071168B

CN108071168B - Municipal works sewer supporting equipment for scrubbing based on parallel mechanism

Info

Publication number: CN108071168B
Application number: CN201711334772.9A
Authority: CN
Inventors: 王祁
Original assignee: Guangdong Construction Engineering Co Ltd
Current assignee: The Guangdong Construction Engineering Company Limited
Priority date: 2016-06-28
Filing date: 2016-06-28
Publication date: 2020-02-14
Anticipated expiration: 2036-06-28
Also published as: CN108071168A; CN106121021A; CN106121021B

Abstract

The invention relates to a municipal engineering sewer decontamination supporting device based on a parallel mechanism, which comprises a self-stabilizing walking device, wherein a lower supporting round table is welded in the middle of the upper end surface of the self-stabilizing walking device, six supporting cylinders are uniformly welded on the upper end surface of the lower supporting round table along the axis direction, a supporting upright post is welded in the middle of the upper end surface of the lower supporting round table, an upper supporting round table is welded on the upper end surfaces of the supporting upright post and the six supporting cylinders, a connecting sheet is mounted on the upper end surface of the upper supporting round table through a screw, a supporting bent arm is welded in the middle of the upper end surface of the connecting sheet, a lifting locking device is welded at the tail end of the supporting bent arm, four rib blocks are welded between the periphery of the tail end of the supporting. The invention realizes the rigid support function in the sewer cleaning process, eliminates the shaking phenomenon in the cleaning process, has good equipment stability, does not need manual operation, and provides a new way for rigid support in the sewer cleaning process.

Description

Municipal works sewer supporting equipment for scrubbing based on parallel mechanism

The invention relates to a divisional application of Chinese patent application with the application number of 2016104913338 filed on 2016, 06, 28 and the name of the invention is a supporting robot for removing sewage of a concrete road sewer.

Technical Field

The invention relates to the field of municipal engineering, in particular to a supporting device for sewage removal in municipal engineering based on a parallel mechanism.

Background

The existing expressway and urban highways are mainly divided into three types, namely a cement concrete road, an asphalt concrete road and a regenerated asphalt concrete road, wherein each hundred meters of the highways are provided with one sewer, so that water cannot be accumulated on the highways in severe weather such as heavy rainy days and the like, and the highways can be ensured to run smoothly, but the sewers can accumulate sundries and sludge in the sewers along with long-time use, the sewers can be blocked along with the increase of the sundries and sludge, once the sewers are blocked, rainwater and sewage cannot be discharged out and then can overflow the highways, so that the running of traffic vehicles can be seriously influenced, the sewers need to be cleaned, the existing sewer sundries and sludge treatment mode mainly adopts a rigid support device head part and a salvaging device and a dredging device to perform manual operation cleaning, operators firstly manually salvage most of the sundries and sludge through the salvaging device on the rigid support device, then dredging is carried out through dredging equipment on the rigid supporting equipment, and the fished sundries and sludge are transported away for treatment after dredging is finished, but the sewer has the following defects through a mode of assisting manual operation treatment through the rigid supporting equipment: 1. the number of the sewers is remarkable, a large amount of manpower is consumed by adopting a manual auxiliary treatment mode, the labor intensity is high, the sewer cleaning speed is low, and the sewer cleaning efficiency is low; 2. because the rigid supporting devices are operated by manpower randomly and have no fixed supporting points, the fixation performance of the devices after entering the interior of the sewer is poor, and operators can clean the devices randomly, so that a great shaking phenomenon can be generated in the cleaning process, a great amount of sundries and sludge cleaned by the operators can fall back to the sewer again in the salvaging and rising process, the stability of the devices is poor, and the cleaning efficiency is greatly reduced; 3. because these rigid support equipments enter at will in getting into the inside of the sewer, there is no spacing around the apparatus, make salvage have directionality, the operating worker has done a lot of idle work repeatedly, the apparatus is not locked on the inner wall of sewer in the salvage process at the same time, the locking performance of the apparatus is bad, thus has seriously reduced speed and efficiency of clearing up, and these rigid support equipments have not hoisted or lower the regulating function, make the clearing height to the sewer limited, has reduced the clearing range, the applicable scope is small; 4. the existing sewer blocking part is probably a bent pipeline part, but the cleaning angle of the rigid supporting equipment cannot be adjusted, so that the bent pipeline part is difficult to clean, and the cleaning difficulty of operators is increased.

Disclosure of Invention

In order to solve the problems, the invention provides a supporting device for municipal engineering sewer decontamination based on a parallel mechanism, which can solve the problems of manual operation, high labor intensity, low cleaning speed, low cleaning efficiency, poor equipment fixing performance, shaking phenomenon in the equipment cleaning process, poor equipment stability, poor cleaning direction performance, poor equipment locking performance, poor equipment lifting adjustment performance, nonadjustable equipment cleaning angle, high difficulty of pipeline bent part, low working efficiency and the like in the conventional rigid supporting device for the sewer auxiliary manual operation cleaning mode, can realize the rigid supporting function in the sewer cleaning process, is uniformly provided with fixed supporting points, has good equipment fixing performance, eliminates the shaking phenomenon in the cleaning process, has good equipment stability, does not need manual operation, and has the advantages of high cleaning speed, high dredging speed and low dredging speed, The novel rigid support device has the advantages of high cleaning efficiency, good cleaning direction performance, good equipment locking performance, good equipment lifting performance, accurate and adjustable equipment cleaning angle, easy dredging of a pipeline bending part, high working efficiency and the like, and provides a novel way for rigid support during sewer cleaning.

In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose: a municipal works sewer supporting device for decontamination based on parallel mechanism, including the self-stabilization running gear, the self-stabilization running gear has good fixing performance and stability, eliminates the shake phenomenon in the cleaning process, the middle part of the upper end surface of the self-stabilization running gear is welded with a lower support round table, the upper end surface of the lower support round table is evenly welded with six support cylinders along the axis direction, the middle part of the upper end surface of the lower support round table is welded with a support column, the upper end surfaces of the support column and the six support cylinders are welded with an upper support round table, the six support cylinders and the support column play a role of evenly supporting the upper support round table, the upper end surface of the upper support round table is provided with a connecting sheet through screws, the middle part of the upper end surface of the connecting sheet is welded with a support curved arm, the end of the support curved arm is welded with a lifting locking device, and four ribs are welded between the, four muscle pieces play the reinforcing and support the joint strength and the support intensity of curved boom and lift locking device, and lift locking device plays and has good clearance direction performance, equipment locking performance and lift adjustment performance, the terminal surface is installed angle conversion equipment under the lift locking device, and angle conversion equipment has the accurate adjustable advantage of clearance angle for the pipeline bending part is dredged easily.

The self-stabilizing walking device comprises a walking installation platform, four parallel supporting mechanisms are symmetrically installed on the lower end face of the walking installation platform, four universal wheels are respectively installed on the lower end faces of the four parallel supporting mechanisms, the self-stabilizing walking device is moved to a sewage pipeline to be decontaminated through the four universal wheels, and the operation is simple and convenient; the parallel supporting mechanism comprises a fixed platform welded on the lower end face of the walking installation platform, three parallel branched chains are uniformly installed on the lower end face of the fixed platform along the axis direction, the top ends of the three parallel branched chains are all installed on the movable platform, and universal wheels are installed on the lower end face of the movable platform; the parallel branch chain comprises an ear seat welded on the lower end face of a fixed platform, a first hydraulic cylinder is arranged on the ear seat through a pin shaft and can rotate on the ear seat, a connecting cylinder is arranged at the top end of the first hydraulic cylinder through threads, a threaded column is arranged on the connecting cylinder through threads, the tail end of the threaded column is welded on a movable cylinder, the movable cylinder is sleeved on a movable shaft, the movable cylinder can rotate or move on the movable shaft, two ends of the movable shaft are respectively fixed on two fixed lugs, and the two fixed lugs are both welded on the upper end face of the movable platform. The 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high motion precision and the like, and the invention keeps the stable state all the time in the sewer cleaning process by virtue of the advantages of the 3-RPC parallel mechanism, eliminates the shaking condition in the cleaning process, has good equipment stability, the middle part of the lower end face of the walking mounting table is welded with a first positioning shaft, the lower end of the first positioning shaft is mounted on the inner wall of a first positioning cylinder in a sliding fit mode, the first positioning cylinder can do up-and-down telescopic motion in the first positioning shaft, a limiting spring is sleeved on the outer wall of the first positioning shaft, the upper end of the limiting spring abuts against the lower end face of the walking mounting table, the lower end face of the limiting spring abuts against the upper end face of the first positioning cylinder, and the limiting spring limits the maximum motion amount of the first positioning cylinder in the first positioning shaft; two limiting columns are symmetrically welded on two sides of the middle part of the lower end face of the walking mounting platform, and two square limiting holes are respectively formed in the middle lower ends of the two limiting columns; two limiting blocks are symmetrically welded on two side walls of the first positioning cylinder, the two limiting blocks are respectively positioned inside two square limiting holes, the limiting blocks are welded on the first positioning cylinder, the up-and-down movement distance of the limiting blocks is the up-and-down telescopic distance of the first positioning cylinder, the movement distance of the limiting blocks in the square limiting holes is the telescopic range of the first positioning cylinder in the first positioning shaft, the limiting blocks play a role in limiting the movement distance, the lower end of the first positioning cylinder is welded on the installation block, the installation block is of a square structure, four L-shaped fixing support plates are respectively welded on four side surfaces of the installation block, four fixing pieces are respectively welded at the tail ends of the four L-shaped fixing support plates, the up-and-down movement of the first positioning cylinder synchronously drives the four L-shaped fixing support plates on the installation block to move, and then the four L-shaped fixing support plates drive, the movement distance of the limiting block on the square limiting hole of the limiting column is the up-and-down movement distance of the four fixing pieces, so that the phenomenon of excessive movement is prevented; four hydraulic fixing branch chains are respectively arranged between the four L-shaped fixing support plates and the lower end face of the walking installation platform, the four L-shaped fixing support plates are driven to move by the four hydraulic fixing branch chains, and the four L-shaped fixing support plates drive the four fixing pieces to move; the hydraulic fixing branch chain comprises a second hydraulic cylinder welded on the walking installation platform, the top end of the second hydraulic cylinder is installed on a fixing flange through threads, the fixing flange is installed on a corresponding L-shaped fixing support plate through screws, and the fixing flange plays a role in connecting the second hydraulic cylinder with the L-shaped fixing support plate. When the device works, the device is moved to a sewage pipeline to be decontaminated through four universal wheels, after the position is determined, four second hydraulic cylinders on four hydraulic fixing branch chains simultaneously start to work, the second hydraulic cylinders drive four L-shaped fixing support plates to move, the four L-shaped fixing support plates drive an upper mounting block to move, the mounting block drives a first positioning cylinder to extend and retract on a first positioning shaft, all things below the first positioning cylinder are driven to move under the action of a limiting spring, so that four fixing plates are driven to move, the second hydraulic cylinder stops working when the four fixing plates are just attached to the sewage pipeline to be decontaminated, the device has four fixing support points on the sewage pipeline to be decontaminated, the fixing performance is good, the stability performance of the device is further improved, when the position is required to be adjusted, the second hydraulic cylinders drive the four fixing plates to slightly shrink the universal wheels to move along with the position, meanwhile, the rotating pair R formed by the first hydraulic cylinder on the lug seat, the moving pair P formed by the first hydraulic cylinder during movement and the cylindrical pair C formed by the moving cylinder on the moving shaft form the RPC type parallel branch chain, and the fixed platform, the three RPC type parallel branch chains and the moving platform form the 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like.

The lifting locking device comprises an upper lifting round platform welded at the tail end of the supporting bent arm, the middle part of the lower end face of the upper lifting round platform is provided with a lifting motor through a motor base, an output shaft of the lifting motor is provided with a lifting lead screw through a coupler, the bottom end of the lifting lead screw is arranged on a lifting support plate through a bearing, four second positioning shafts are symmetrically welded between the lifting support plate and the upper lifting round platform, and the lifting support plate is uniformly supported in a mode of the four second positioning shafts; the lifting screw is provided with a lifting top block through threads, the lifting top block is symmetrically provided with four first positioning holes, four second positioning shafts are respectively penetrated in the four first positioning holes on the lifting top block, the four first positioning holes play a role of limiting the movement direction of the lifting top block, so that the lifting top block is driven by the lifting screw to perform stable up-and-down lifting adjustment movement, the invention is subjected to primary lifting adjustment, the lower end surface of the lifting top block is symmetrically provided with four third hydraulic cylinders, the top ends of the four third hydraulic cylinders are provided with locking top blocks, the four third hydraulic cylinders drive the locking top block to perform stable up-and-down lifting adjustment movement, the invention can perform secondary lifting adjustment, the function of good lifting adjustment performance of the invention is realized, the invention is suitable for cleaning sewers with different depths, and the application range is large, the locking top block is of a square structure, four side faces of the locking top block are respectively provided with four telescopic walking branched chains, when the locking top block enters the interior of a sewer, the walking length is adjusted according to the width or the diameter of the inner wall of a small water channel until the telescopic walking branched chains are tightly attached to the inner wall of the sewer, and the adjusted four telescopic walking branched chains can stably walk on the inner wall of the sewer when the locking top block is lifted and adjusted, so that the cleaning direction of the locking top block is that the middle part of the sewer is vertically downward, the cleaning direction performance is good, the cleaning efficiency of the locking top block is improved, four fixed locking branched chains are symmetrically welded on the lower end face of the locking top block, a locking support is welded in the middle part of the lower end face of the locking top block, a lower lifting circular table is welded on the lower end face of the; the telescopic walking branched chain comprises a fourth hydraulic cylinder arranged on the corresponding side face of the locking ejector block, a supporting cylinder is sleeved in the middle of the fourth hydraulic cylinder, two L-shaped pillars are symmetrically welded at two ends of the supporting cylinder, the two L-shaped pillars are symmetrically welded on the corresponding side face of the locking ejector block, and the two L-shaped pillars play a good supporting role through the supporting cylinder; the top end of the fourth hydraulic cylinder is provided with a first connecting flange through threads, the first connecting flange is provided with a walking support plate through a screw, the side surface of the walking support plate is provided with a walking wheel, the walking length of the telescopic walking branched chain is adjusted through the fourth hydraulic cylinder, and the telescopic walking branched chain can automatically walk on the inner wall of a sewer in the lifting adjustment process after the walking length is adjusted, so that the cleaning direction of the telescopic walking branched chain is vertically downward in the middle of the sewer, the cleaning direction performance is good, the telescopic walking branched chain is also suitable for sewers with different widths or diameters, the application range is wide, and the cleaning effect is good; the fixed locking branched chain comprises an L-shaped fixing column welded on the lower end face of the locking ejector block, the tail end of the L-shaped fixing column is provided with a fifth hydraulic cylinder, the middle part of the fifth hydraulic cylinder is arranged on a first frame-shaped bracket, and two ends of the first frame-shaped bracket are arranged on two sides of the L-shaped fixing column through screws; the top end of the fifth hydraulic cylinder is provided with a second connecting flange, the second connecting flange is provided with a locking circular plate through a screw, the middle part of the side surface of the locking circular plate is welded with a conical locking block, the conical locking block is in a conical pointed structure, when the locking device is used for locking, locking force is concentrated on the pointed structure of the conical locking block, the locking force is uniform, the locking effect is good, the locking length of the locking device is adjusted through the fifth hydraulic cylinder, so that the locking device is suitable for locking sewers with different widths or diameters, and the application range is wide. When the device works, firstly, the cleaning height of the device is adjusted according to the depth of a sewage sewer to be cleaned, the lifting motor starts to work firstly, the lifting motor drives the lifting screw rod to rotate, the lifting screw rod drives the lifting top block to perform a stable primary lifting adjusting function under the assistance of four second positioning shafts, if the primary lifting adjusting cannot achieve the required cleaning height, the locking top block is driven to perform stable secondary lifting adjusting movement by four third hydraulic cylinders, and when the device reaches the proper cleaning height, the lifting motor and the third hydraulic cylinders stop working, so that the device has a good lifting adjusting performance, is suitable for cleaning different depths of the sewer, and has a large application range; in the lifting adjustment process, the four telescopic walking branched chains start to work simultaneously, proper walking length is determined according to the width or the diameter of the sewer to be cleaned, the walking length of the four telescopic walking branched chains is adjusted through the four fourth hydraulic cylinders, and the four telescopic walking branched chains can automatically walk on the inner wall of the sewer in the lifting adjustment process after the walking length is adjusted, so that the four telescopic walking branched chains are uniformly limited from four directions, the cleaning direction of the four telescopic walking branched chains is vertically downward in the middle of the sewer, the cleaning direction performance is good, the four telescopic walking branched chains are also suitable for the sewers with different widths or diameters, and the application range is large; when the four telescopic walking branched chains walk to a proper cleaning height, the four fixed locking branched chains start to work, the four five hydraulic cylinders drive the four conical locking blocks to be locked on the inner wall of the sewer from four directions, the locking force is uniform, the locking effect is good, the four telescopic walking branched chains are suitable for locking the sewers with different widths or diameters, the application range is wide, and the stability of the four telescopic walking branched chains during cleaning is improved.

The angle conversion device comprises an adjusting support plate welded on the lower end face of the lower lifting circular platform, two supporting vertical plates are symmetrically welded on two sides of the lower end face of the adjusting support plate, a driving shaft is mounted between the upper ends of the two supporting vertical plates through a bearing, a driving gear is mounted in the middle of the driving shaft through a key, a conversion motor is mounted at one end, close to the supporting vertical plate on the right side of the adjusting support plate, of the driving shaft through a coupler, the conversion motor is mounted on a motor support plate through a motor base, the motor support plate is welded on the side wall of the supporting vertical plate on the right side of the adjusting support plate, the motor; the lower ends of the two supporting vertical plates are provided with driven shafts through bearings, the driven shafts are provided with driving wheels through keys, the outer walls of the upper ends of the driving wheels are welded with semicircular gear rings, the semicircular gear rings are meshed with the driving gear, two ends of each semicircular gear ring are provided with two blocking pieces, and the two blocking pieces limit the rotation range of the semicircular gear rings to one hundred eighty degrees, so that the adjustment range of the cleaning angle is directly limited to positive and negative ninety degrees, and the vertical type sewage treatment device is suitable for dredging sewer pipelines in the positive and negative ninety degree ranges; the transmission ratio of the driving gear to the semicircular gear ring is 3:1, the driving gear is driven by the conversion motor and drives the semicircular gear ring to rotate, and the rotating speed of the semicircular gear ring is reduced by the low transmission ratio of 3:1, so that the transmission stability is improved; the outer wall of the lower end of the driving wheel is welded with a connecting support plate, two sides of the connecting support plate are symmetrically provided with two arc-shaped limiting grooves, the lower end of the connecting support plate is welded with a conversion round table, the lower end face of the conversion round table is provided with an existing fisher or dredger, and sundries and sludge in a sewer are salvaged and dredged through the existing fisher or dredger; the lower ends of the two supporting vertical plates are symmetrically welded with two angle fixing branched chains, when the semicircular gear rings drive the driving wheels to rotate by a specified angle to adjust the sewer pipeline cleaning device to a proper cleaning angle, the two angle fixing branched chains simultaneously start to lock the connecting supporting plates, so that the sewer pipeline cleaning device is locked at the specified cleaning angle, the function of accurately adjusting the cleaning angle is realized, the bent part of the sewer pipeline is easy to dredge, and the cleaning difficulty is reduced; the angle fixing branched chain comprises an L-shaped conversion support plate welded on the side wall of the corresponding support vertical plate, two No. six hydraulic cylinders are symmetrically installed on the inner wall of the L-shaped conversion support plate, moving blocks are installed at the top ends of the two No. six hydraulic cylinders, two limiting sliding columns are symmetrically welded on the moving blocks, the upper ends of the two limiting sliding columns are respectively installed on the two limiting sliding chutes in a sliding fit mode, the moving block can stably move back and forth under the driving of two number six hydraulic cylinders through the limiting movement of the two limiting sliding columns and the two limiting sliding grooves, the two limiting sliding grooves are both welded on the L-shaped conversion support plate, the inner wall of the moving block is welded with a T-shaped push block, the side wall of the T-shaped push block is welded with an arc-shaped locking block corresponding to the arc-shaped limiting groove, the connecting support plate is locked at a specified angle in a mode that the arc-shaped locking block is embedded in the arc-shaped limiting groove on the connecting support plate; the thickness of the arc-shaped locking block is smaller than the width of the arc-shaped limiting groove, so that the tail end of the arc-shaped locking block can be completely embedded in the arc-shaped limiting groove, the central axes of the arc-shaped locking block, the arc-shaped limiting groove, the driving wheel and the driven shaft are all overlapped, the angle which the driven shaft drives the driving wheel to rotate is the angle which the arc-shaped limiting groove rotates, and the coaxial line principle in the invention ensures that the arc-shaped limiting groove can be locked by the arc-shaped locking block no matter how many angles the arc-shaped locking block rotates in the range. When the sewer pipe cleaning machine is used, when a sewer pipe at a bent part needs to be dredged, the cleaning angle of the sewer pipe cleaning machine is required to be accurately adjusted according to the bent angle of the bent part, firstly, the conversion motor starts to work, the conversion motor drives the driving gear through the driving shaft, the driving gear drives the driving wheel to rotate on the driven shaft through the semicircular gear ring, the driving wheel synchronously drives the connecting support plate to rotate, when the sewer pipe cleaning machine reaches a proper cleaning angle, the conversion motor stops working, at the moment, the two angle fixing branch chains start to work, the sixth hydraulic cylinder starts to work, the sixth hydraulic cylinder drives the moving block to stably move in the limiting movement of the two limiting sliding columns and the two limiting sliding grooves, the moving block drives the arc-shaped locking blocks to move towards the connecting support plate through the T-shaped push block, and when the two arc-shaped locking blocks on the two angle fixing branch chains are tightly embedded in the two arc, at the moment, the connecting support plate is locked by the two arc-shaped locking blocks, so that the cleaning angle is locked at a required cleaning angle, the cleaning angle is accurately adjustable, the bent part of the sewer pipeline is easy to dredge, and the cleaning difficulty is reduced.

When in work, the invention is firstly moved to a sewage pipeline road to be decontaminated through the four universal wheels, after the position is determined, four second hydraulic cylinders on the four hydraulic fixing branch chains start to work simultaneously, the second hydraulic cylinders drive the four L-shaped fixing support plates to move, the four L-shaped fixing support plates drive the upper mounting block to move, the mounting block drives the first positioning cylinder to move in a telescopic mode on the first positioning shaft, all things below the first positioning cylinder are driven to move under the action of the limiting spring, so that the four fixing pieces are driven to move, when the four fixing pieces are just attached to the sewer road to be decontaminated, the second hydraulic cylinder stops working, the invention has four fixed supporting points on the sewage pipeline road to be decontaminated, has good fixed performance, further increases the stability of the invention, when the position of the universal wheel needs to be adjusted, the second hydraulic cylinder drives the four fixing pieces to slightly shrink upwards to enable the universal wheel to move everywhere; then the lifting locking device starts working, firstly the cleaning height of the invention is adjusted according to the depth of the sewage sewer to be cleaned, the lifting motor starts working firstly, the lifting motor drives the lifting screw rod to rotate, the lifting screw rod drives the lifting top block to perform a stable primary lifting adjusting function under the assistance of four second positioning shafts, if the primary lifting adjusting still cannot reach the required cleaning height, the locking top block is driven to perform a stable secondary lifting adjusting movement by four third hydraulic cylinders, when the invention reaches the proper cleaning height, the lifting motor and the third hydraulic cylinders stop working, thereby realizing the function of good lifting adjusting performance of the invention, leading the invention to be suitable for cleaning sewers with different depths, the application range is large, and in the lifting adjusting process of the invention, the four telescopic walking branched chains start working simultaneously, firstly the proper walking length is determined according to the width or diameter of the sewage sewer to be cleaned, the four fourth hydraulic cylinders are used for adjusting the walking length of the four telescopic walking branch chains, so that the invention can automatically walk on the inner wall of the sewer in the lifting adjustment process after the walking length is adjusted, the invention is uniformly limited from four directions, the cleaning direction of the invention is vertical to the middle part of the sewer, the performance of the cleaning direction is good, the invention is also suitable for the sewers with different widths or diameters, the application range is large, when the four telescopic walking branched chains walk to a proper cleaning height, the four fixed locking branched chains start to work, four conical locking blocks are driven by four fifth hydraulic cylinders to be locked on the inner wall of the sewer from four directions, the locking force is uniform, the locking effect is good, the sewer locking device is suitable for locking sewers with different widths or diameters, has a large application range, and improves the stability of the sewer locking device during cleaning; then the angle conversion device starts to work, when the sewer of a bent part needs to be dredged, the cleaning angle of the sewer is accurately adjusted according to the bending angle of the bent part, firstly, the conversion motor starts to work, the conversion motor drives a driving gear through a driving shaft, the driving gear drives a driving wheel to rotate on a driven shaft through a semicircular gear ring, the driving wheel synchronously drives a connecting support plate to rotate, when the sewer reaches a proper cleaning angle, the conversion motor stops working, at the moment, two angle fixing branched chains start to work, a sixth hydraulic cylinder starts to work, the sixth hydraulic cylinder drives a moving block to stably move in limiting movements of two limiting sliding columns and two limiting sliding grooves, the moving block drives an arc locking block to move towards the connecting support plate through a T-shaped push block, and when the two arc locking blocks on the two angle fixing branched chains are tightly embedded in two arc limiting grooves of the connecting support plate, the sixth hydraulic cylinder drives the moving block to stably move in limiting The work is stopped, and the connecting support plate is locked by the two arc-shaped locking blocks, so that the cleaning angle is locked at a required cleaning angle, the cleaning angle is accurately adjustable, the bent part of the sewer pipeline is easy to dredge, and the cleaning difficulty is reduced; finally, the existing fisher or dredger arranged on the lower end face of the conversion circular truncated cone salvages sundries and sludge in the sewer needing to be decontaminated and dredges the quick sewer, manual operation is not needed, the cleaning speed is high, and the cleaning efficiency is high; meanwhile, the rotating pair R formed by the first hydraulic cylinder on the ear seat, the moving pair P formed by the first hydraulic cylinder when the first hydraulic cylinder moves and the cylindrical pair C formed by the moving cylinder on the moving shaft form the RPC type parallel branch chain, and the fixed platform, the three RPC type parallel branch chains and the moving platform form the 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like.

The invention has the beneficial effects that:

1. the fixed platform, the three RPC type parallel branched chains and the movable platform form a 3-RPC parallel mechanism, the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, and the 3-RPC parallel mechanism has the advantages that the stable state is always kept during sewer cleaning, the shaking condition existing in the cleaning process is eliminated, and the stability is improved;

2. the second hydraulic cylinder drives the fixing piece to be just attached to the sewage drainage road to be decontaminated, so that the sewage drainage road to be decontaminated is provided with four fixing support points, the phenomenon of random running of the sewage drainage road is prevented, the fixing performance is good, and the stability of the sewage drainage road is further improved.

3. The lifting motor drives the lifting jacking block to perform primary lifting adjustment through the lifting screw rod and drives the locking jacking block to perform secondary lifting adjustment movement through the four third hydraulic cylinders, so that the function of good lifting adjustment performance of the lifting adjusting mechanism is realized, the lifting adjusting mechanism is suitable for cleaning sewers at different depths, the application range is large, meanwhile, in the lifting adjustment process, the four telescopic walking branched chains can automatically walk on the inner wall of the sewer, and the lifting adjusting mechanism is uniformly limited in four directions, so that the cleaning direction of the lifting adjusting mechanism vertically moves downwards in the middle of the sewer, the cleaning direction performance is good, the application range is large, and the four fifth hydraulic cylinders drive the four conical locking blocks to be locked on the inner wall of the sewer from four directions, the locking force is uniform, the locking effect is good, the application range is large, and the stability of the lifting adjusting mechanism during cleaning is improved;

4. according to the invention, the conversion motor is used for slowly adjusting the cleaning angle in a low-transmission-ratio gear transmission mode, and then the connecting support plate is locked in a mode that two arc-shaped locking blocks on two angle fixing branched chains are tightly embedded in two arc-shaped limiting grooves of the connecting support plate, so that the cleaning angle is locked at a required cleaning angle, the function of accurately adjusting the cleaning angle is realized, the bent part of a sewer pipeline is easy to dredge, and the cleaning difficulty is reduced;

5. the invention solves the problems of manual operation, high labor intensity, low cleaning speed, low cleaning efficiency, poor equipment fixing performance, shaking phenomenon in the equipment cleaning process, poor equipment stability, poor cleaning direction performance, poor equipment locking performance, poor equipment lifting adjustment performance, non-adjustable equipment cleaning angle, high difficulty in dredging the bent part of the pipeline, low working efficiency and the like of the conventional rigid support equipment for the sewer auxiliary manual operation cleaning mode The device has the advantages of accurate and adjustable cleaning angle, easy dredging of the bent part of the pipeline, high working efficiency and the like, and provides a new way for rigid support during sewer cleaning.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a first structure of the self-stabilizing walking device of the present invention;

FIG. 3 is a second structural diagram of the self-stabilized walking device of the present invention;

fig. 4 is an enlarged view of the invention taken from the direction I of fig. 3.

FIG. 5 is a full sectional view of the self-stabilizing walking device of the present invention;

FIG. 6 is a schematic structural view of the lift lock apparatus of the present invention;

FIG. 7 is a full cross-sectional view of the lift latch of the present invention;

FIG. 8 is an enlarged view of the invention taken from line II of FIG. 7;

FIG. 9 is a schematic view of the structure of the angle changing device of the present invention;

FIG. 10 is a schematic structural view of the driven shaft, the driving wheel, the semicircular gear ring and the connecting support plate of the present invention;

fig. 11 is a cross-sectional view between the L-shaped transition plate, the moving block, the limit slide post, and the limit slide groove of the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 11, a municipal works sewer decontamination supporting device based on parallel mechanism comprises a self-stabilizing walking device 1, the self-stabilizing walking device 1 has good fixing performance and stability performance, and eliminates the shaking phenomenon existing in the cleaning process, a lower supporting circular truncated cone 2 is welded in the middle of the upper end surface of the self-stabilizing walking device 1, six supporting cylinders 3 are uniformly welded on the upper end surface of the lower supporting circular truncated cone 2 along the axial direction, a supporting upright column 4 is welded in the middle of the upper end surface of the lower supporting circular truncated cone 2, upper supporting circular truncated cones 5 are welded on the upper end surfaces of the supporting upright columns 4 and the six supporting cylinders 3, the six supporting cylinders 3 and the supporting upright columns 4 play a role of uniformly supporting the upper supporting circular truncated cones 5, a connecting sheet 5a is installed on the upper end surface of the upper supporting circular truncated cone 5 through screws, a supporting bent arm 6 is welded in the middle of the upper end surface of the connecting sheet 5a, and a lifting, and the end that supports the curved boom 6 has four muscle pieces 6a all around and the welding between the lift locking device 7, and four muscle pieces 6a play the reinforcing and support the joint strength and the support strength of curved boom 6 with lift locking device 7, and lift locking device 7 plays and has good clearance orientation performance, equipment locking performance and lift adjustment performance, angle conversion equipment 8 is installed to the terminal surface under the lift locking device 7, and angle conversion equipment 8 has the accurate adjustable advantage of clearance angle for the pipeline crooked position is dredged easily.

The self-stabilizing walking device 1 comprises a walking installation platform 11, four parallel supporting mechanisms 12 are symmetrically installed on the lower end face of the walking installation platform 11, four universal wheels 13 are respectively installed on the lower end faces of the four parallel supporting mechanisms 12, the self-stabilizing walking device is moved to a sewage pipeline to be decontaminated through the four universal wheels 13, and the operation is simple and convenient; the parallel supporting mechanism 12 comprises a fixed platform 121 welded on the lower end face of the walking installation table 11, three parallel branched chains 122 are uniformly installed on the lower end face of the fixed platform 121 along the axis direction, the top ends of the three parallel branched chains 122 are all installed on a movable platform 123, and a universal wheel 13 is installed on the lower end face of the movable platform 123; the parallel branched chain 122 comprises an ear seat 1221 welded on the lower end face of the fixed platform 121, a first hydraulic cylinder 1222 is installed on the ear seat 1221 through a pin shaft, the first hydraulic cylinder 1222 can rotate on the ear seat 1221, a connecting cylinder 1223 is installed at the top end of the first hydraulic cylinder 1222 through a thread, a thread column 1224 is installed on the connecting cylinder 1223 through a thread, the tail end of the thread column 1224 is welded on a movable cylinder 1225, the movable cylinder 1225 is sleeved on the movable shaft 1226, the movable cylinder 1225 can rotate or move on the movable shaft 1226, two ends of the movable shaft 1226 are respectively fixed on two fixed lugs 1227, and the two fixed lugs 1227 are both welded on the upper end face of the movable platform 123 The three RPC type parallel branch chains 122 and the movable platform 123 form a 3-RPC parallel mechanism, the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like, the invention always keeps a stable state in the sewer cleaning process by virtue of the advantages of the 3-RPC parallel mechanism, eliminates the shaking condition existing in the cleaning process, has good equipment stability, the middle part of the lower end surface of the walking installation platform 11 is welded with the first positioning shaft 14, the lower end of the first positioning shaft 14 is arranged on the inner wall of the first positioning cylinder 15 in a sliding fit mode, the first positioning cylinder 15 can do up-and-down telescopic movement in the first positioning shaft 14, the outer wall of the first positioning shaft 14 is sleeved with the limiting spring 16, the upper end of the limiting spring 16 abuts against the lower end surface of the walking installation platform 11, the lower end surface of the limiting spring 16 abuts against the upper end surface of the first positioning cylinder 15, the limiting spring 16 limits the maximum movement amount of the first positioning cylinder 15 in the first positioning shaft 14; two limiting columns 11a are symmetrically welded on two sides of the middle part of the lower end face of the walking installation table 11, and two square limiting holes are respectively formed in the middle lower ends of the two limiting columns 11 a; two limiting blocks 15a are symmetrically welded on two side walls of the first positioning cylinder 15, the two limiting blocks 15a are respectively positioned inside two square limiting holes, because the limiting blocks 15a are welded on the first positioning cylinder 15, the up-and-down movement distance of the limiting blocks 15a is the up-and-down telescopic distance of the first positioning cylinder 15, the movement distance of the limiting blocks 15a in the square limiting holes is the telescopic range of the first positioning cylinder 15 in the first positioning shaft 14, the limiting blocks 15a play a role in limiting the movement distance, the lower end of the first positioning cylinder 15 is welded on an installation block 17, the installation block 17 is in a square structure, four L-shaped fixing support plates 18 are respectively welded on four side surfaces of the installation block 17, four fixing pieces 18a are respectively welded at the tail ends of the four L-shaped fixing support plates 18, the up-and-down movement of the first positioning cylinder 15 synchronously drives the four L-shaped fixing support plates 18 on the installation block, the four L-shaped fixing support plates 18 drive the four fixing pieces 18a to move up and down, the moving distance of the limiting block 15a on the square limiting hole of the limiting column 11a is the up-and-down moving distance of the four fixing pieces 18a, and the phenomenon of excessive movement is prevented; four hydraulic fixing branch chains 19 are respectively arranged between the four L-shaped fixing support plates 18 and the lower end face of the walking installation platform 11, the four L-shaped fixing support plates 18 are driven to move by the four hydraulic fixing branch chains 19, and the four L-shaped fixing support plates 18 drive the four fixing pieces 18a to move; the hydraulic fixing branched chain 19 comprises a second hydraulic cylinder 193 welded on the walking installation platform 11, the top end of the second hydraulic cylinder 193 is installed on a fixing flange 192 through threads, the fixing flange 192 is installed on the corresponding L-shaped fixing support plate 18 through screws, and the fixing flange 192 plays a role in connecting the second hydraulic cylinder 193 with the L-shaped fixing support plate 18. When the device works, the device is moved to a sewage pipeline to be decontaminated through the four universal wheels 13, after the position is determined, the four second hydraulic cylinders 193 on the four hydraulic fixing branched chains 19 start to work at the same time, the second hydraulic cylinders 193 drive the four L-shaped fixing support plates 18 to move, the four L-shaped fixing support plates 18 drive the mounting blocks 17 above, the mounting blocks 17 drive the first positioning cylinder 15 to move in a telescopic way on the first positioning shaft 14, all things below the first positioning cylinder 15 are driven to move under the action of the limiting springs 16, so that the four fixing plates 18a are driven to move, the second hydraulic cylinders 193 stop working when the four fixing plates 18a are just attached to the sewage pipeline to be decontaminated, so that the device has four fixing support points on the sewage pipeline to be decontaminated, the fixing performance is good, and the stability of the device is further improved, when the position of the present invention needs to be adjusted, the second hydraulic cylinder 193 drives the four fixing pieces 18a to slightly contract upwards to the universal wheel 13 to move everywhere, meanwhile, the invention forms the RPC type parallel branch 122 by the rotating pair R formed by the first hydraulic cylinder 1222 on the lug seat 1221, the moving pair P formed by the first hydraulic cylinder 1222 when moving, and the cylinder pair C formed by the moving cylinder 1225 on the moving shaft 1226, the fixed platform 121, the three RPC type parallel branch chains 122 and the movable platform 123 form a 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, high bearing capacity, good stability, high movement precision and the like.

The lifting locking device 7 comprises an upper lifting circular truncated cone 71 welded at the tail end of the supporting bent arm 6, the middle part of the lower end face of the upper lifting circular truncated cone 71 is provided with a lifting motor 72 through a motor base, an output shaft of the lifting motor 72 is provided with a lifting lead screw 73 through a coupler, the bottom end of the lifting lead screw 73 is arranged on a lifting support plate 74 through a bearing, four second positioning shafts 74a are symmetrically welded between the lifting support plate 74 and the upper lifting circular truncated cone 71, and the effect of uniformly supporting the lifting support plate 74 is achieved in a mode of the four second positioning shafts 74 a; the lifting screw 73 is provided with a lifting top block 75 through threads, the lifting top block 75 is symmetrically provided with four first positioning holes, four second positioning shafts 74a are respectively penetrated in the four first positioning holes on the lifting top block 75, the four first positioning holes play a role of limiting the movement direction of the lifting top block 75, so that the lifting top block 75 is driven by the lifting screw 73 to perform stable up-and-down lifting adjustment movement, the primary lifting adjustment is performed, the lower end surface of the lifting top block 75 is symmetrically provided with four third hydraulic cylinders 76, the top ends of the four third hydraulic cylinders 76 are provided with locking top blocks 77, the locking top blocks 77 are driven by the four third hydraulic cylinders 76 to perform stable up-and-down lifting adjustment movement, the secondary lifting adjustment can be performed, the function of good lifting adjustment performance of the invention is realized, and the invention is suitable for cleaning different depths of a sewer, the application range is large, the locking top block 77 is of a square structure, four telescopic walking branched chains 78 are respectively arranged on four side surfaces of the locking top block 77, when the invention enters the interior of a sewer, the walking length is firstly adjusted according to the width or the diameter of the inner wall of the small water channel until the telescopic walking branch chains 78 are tightly attached to the inner wall of the sewer, the four adjustable telescopic walking branch chains 78 can stably walk on the inner wall of the sewer when the invention is adjusted to be lifted, the cleaning direction of the sewer pipe is that the middle part of the sewer pipe is vertically downward, the performance of the cleaning direction is good, the cleaning efficiency is improved, four fixed locking branched chains 79 are symmetrically welded on the lower end surface of the locking top block 77, the middle part of the lower end surface of the locking top block 77 is welded with the locking support column 710, the lower end surface of the locking support column 710 is welded with the lower lifting circular truncated cone 711, and the locking support column 710 plays a role in supporting the lower lifting circular truncated cone 711; the telescopic walking branched chain 78 comprises a fourth hydraulic cylinder 781 arranged on the corresponding side surface of the locking ejector block 77, a support cylinder 782 is sleeved in the middle of the fourth hydraulic cylinder 781, two L-shaped supporting columns 783 are symmetrically welded at two ends of the support cylinder 782, the two L-shaped supporting columns 783 are symmetrically welded on the corresponding side surface of the locking ejector block 77, and the two L-shaped supporting columns 783 play a good supporting role by playing a role in supporting the support cylinder 782; the top end of the fourth hydraulic cylinder 781 is provided with a first connecting flange 784 through threads, the first connecting flange 784 is provided with a walking support plate 785 through screws, the side surface of the walking support plate 785 is provided with a walking wheel 786, the walking length of the telescopic walking branched chain 78 is adjusted through the fourth hydraulic cylinder 781, and after the walking length is adjusted, the multifunctional sewer cleaning machine can automatically walk on the inner wall of a sewer in the lifting adjusting process, so that the cleaning direction of the multifunctional sewer cleaning machine is vertically downward in the middle of the sewer, the cleaning direction performance is good, the multifunctional sewer cleaning machine is also suitable for sewers with different widths or diameters, the application range is large, and the cleaning effect is good; the fixed locking branched chain 79 comprises an L-shaped fixing column 791 welded on the lower end face of the locking top block 77, a fifth hydraulic cylinder 792 is installed at the tail end of the L-shaped fixing column 791, the middle part of the fifth hydraulic cylinder 792 is installed on a first frame-shaped support 793, and two ends of the first frame-shaped support 793 are installed on two sides of the L-shaped fixing column 791 through screws; the top end of the fifth hydraulic cylinder 792 is provided with a second connecting flange 794, the second connecting flange 794 is provided with a locking circular plate 795 through a screw, the middle part of the side surface of the locking circular plate 795 is welded with a tapered locking block 796, the tapered locking block 796 is of a tapered pointed structure, when the sewer pipe is locked, locking force is concentrated on the pointed structure of the tapered locking block 796, the locking force is uniform, the locking effect is good, the sewer pipe is locked by adjusting the locking length of the sewer pipe through the fifth hydraulic cylinder 792, so that the sewer pipe is suitable for sewer locking of different widths or diameters, and the application range is wide. When the multifunctional sewage cleaning machine works, firstly, the cleaning height of the multifunctional sewage cleaning machine is adjusted according to the depth of a sewage to be cleaned, the lifting motor 72 starts to work firstly, the lifting motor 72 drives the lifting screw rod 73 to rotate, the lifting screw rod 73 drives the lifting top block 75 to perform a stable primary lifting adjusting function under the assistance of four second positioning shafts 74a, if the primary lifting adjusting function still cannot reach the required cleaning height, the four third hydraulic cylinders 76 drive the locking top block 77 to perform stable secondary lifting adjusting movement, and when the multifunctional sewage cleaning machine reaches the proper cleaning height, the lifting motor 72 and the third hydraulic cylinders 76 stop working, so that the function of good lifting adjusting performance of the multifunctional sewage cleaning machine is realized, the multifunctional sewage cleaning machine is suitable for cleaning sewers at different depths, and the application range is large; in the lifting adjusting process, the four telescopic walking branched chains 78 start to work simultaneously, proper walking length is determined according to the width or the diameter of the sewer to be cleaned, the walking length of the four telescopic walking branched chains 78 is adjusted through the four hydraulic cylinders 781, and after the walking length is adjusted, the sewer lifting adjusting device can automatically walk on the inner wall of the sewer in the lifting adjusting process, and is uniformly limited from four directions, so that the cleaning direction of the sewer lifting adjusting device is vertically downward in the middle of the sewer, the cleaning direction performance is good, the sewer lifting adjusting device is also suitable for the sewers with different widths or diameters, and the application range is large; when the four telescopic walking branched chains 78 walk to a proper cleaning height, the four fixed locking branched chains 79 start to work, the four conical locking blocks 796 are driven to be locked on the inner wall of the sewer from four directions through the four five hydraulic cylinders 792, the locking force is uniform, the locking effect is good, the sewer locking device is suitable for locking sewers with different widths or diameters, the application range is wide, and the stability during cleaning is improved.

The angle conversion device 8 comprises an adjusting support plate 81 welded on the lower end face of a lower lifting circular truncated cone 711, two supporting vertical plates 82 are symmetrically welded on two sides of the lower end face of the adjusting support plate 81, a driving shaft 83 is mounted between the upper ends of the two supporting vertical plates 82 through a bearing, a driving gear 84 is mounted in the middle of the driving shaft 83 through a key, a conversion motor 85 is mounted at one end, close to the supporting vertical plate 82 on the right side of the adjusting support plate 81, of the driving shaft 83 through a coupler, the conversion motor 85 is mounted on a motor support plate 86 through a motor base, the motor support plate 86 is welded on the side wall of the supporting vertical plate 82 on the right side of the adjusting support plate 81, the motor support plate 86; a driven shaft 87 is arranged between the lower ends of the two supporting vertical plates 82 through a bearing, a driving wheel 88 is arranged on the driven shaft 87 through a key, a semicircular gear ring 89 is welded on the outer wall of the upper end of the driving wheel 88, the semicircular gear ring 89 is meshed with the driving gear 84, two blocking blocks 89a are arranged at the two ends of the semicircular gear ring 89, and the rotation range of the semicircular gear ring 89 is limited to one hundred eighty degrees by the two blocking blocks 89a, so that the regulation range of the cleaning angle is directly limited to positive and negative ninety degrees, and the sewer pipe dredging device is suitable for sewer pipe dredging in the positive and negative ninety degree ranges; the transmission ratio of the driving gear 84 to the semicircular gear ring 89 is 3:1, the driving gear 84 is driven by the conversion motor 85, the semicircular gear ring 89 is driven by the driving gear 84 to rotate, and the rotating speed of the semicircular gear ring 89 is reduced by the low transmission ratio of 3:1, so that the transmission stability is improved; a connecting support plate 810 is welded on the outer wall of the lower end of the driving wheel 88, two arc-shaped limiting grooves 810a are symmetrically arranged on two sides of the connecting support plate 810, a conversion round table 811 is welded on the lower end of the connecting support plate 810, an existing fisher or dredger is installed on the lower end face of the conversion round table 811, and sundries and sludge in a sewer are salvaged and dredged through the existing fisher or dredger; the lower ends of the two supporting vertical plates 82 are symmetrically welded with two angle fixing branched chains 80, when the semicircular gear ring 89 drives the driving wheel 88 to rotate by a specified angle to adjust the invention to a proper cleaning angle, the two angle fixing branched chains 80 simultaneously start to lock the connecting supporting plate 810, so that the invention is locked at the specified cleaning angle, the cleaning angle of the invention is accurately adjustable, the bent part of a sewer pipeline is easy to dredge, and the cleaning difficulty is reduced; the angle fixing branched chain 80 comprises an L-shaped conversion support plate 801 welded on the side wall of the corresponding supporting vertical plate 82, two six hydraulic cylinders 802 are symmetrically installed on the inner wall of the L-shaped conversion support plate 801, moving blocks 803 are installed at the top ends of the two six hydraulic cylinders 802, two limiting sliding columns 804 are symmetrically welded on the moving blocks 803, the upper ends of the two limiting sliding columns 804 are respectively installed on two limiting sliding grooves 805 in a sliding fit mode, the moving blocks 803 can stably move back and forth under the driving of the two six hydraulic cylinders 802 through the limiting movement of the two limiting sliding columns 804 and the two limiting sliding grooves 805, the two limiting sliding grooves 805 are welded on the L-shaped conversion support plate 801, a T-shaped push block 806 is welded on the inner wall of the moving block 803, an arc-shaped locking block 807 corresponding to the arc-shaped limiting groove 810a is welded on the side wall of the T-shaped push block 806, and the connecting support plate 810 is locked on a designated support plate 810 in a mode that An angle; the thickness of the arc-shaped locking block 807 is smaller than the width of the arc-shaped limiting groove 810a, so that the tail end of the arc-shaped locking block 84 can be completely embedded in the arc-shaped limiting groove 810a, the central axes of the arc-shaped locking block 807, the arc-shaped limiting groove 810a, the driving wheel 88 and the driven shaft 87 are all overlapped, the angle which the driven shaft 87 drives the driving wheel 88 to rotate is the angle which the arc-shaped limiting groove 810a rotates, and the arc-shaped limiting groove 810a can be locked by the arc-shaped locking block 807 no matter how many angles the arc-shaped locking block 810a rotates in the range by the coaxial line principle in the invention. When the sewer pipe is used, when the sewer pipe needs to be dredged, the cleaning angle of the sewer pipe is accurately adjusted according to the bending angle of the bending part, firstly, the conversion motor 85 starts to work firstly, the conversion motor 85 drives the driving gear 84 through the driving shaft 83, the driving gear 84 drives the driving wheel 88 to rotate on the driven shaft 87 through the semicircular gear ring 89, the driving wheel 88 synchronously drives the connecting support plate 810 to rotate, when the sewer pipe reaches a proper cleaning angle, the conversion motor 85 stops working, at the moment, the two angle fixing branched chains 80 start to work, the sixth hydraulic cylinder 802 starts to work, the sixth hydraulic cylinder 802 drives the moving block 803 to stably move in the limiting movement of the two limiting sliding columns 804 and the two limiting sliding grooves 805, and the moving block 803 drives the arc-shaped locking block 807 to move towards the connecting support plate 810 through the T-shaped push block, when the two arc-shaped locking blocks 807 on the two angle fixing branched chains 80 are tightly embedded in the two arc-shaped limiting grooves 810a of the connecting support plate 810, the No. six hydraulic cylinder 802 stops working, and the connecting support plate 810 is locked by the two arc-shaped locking blocks 807 at the moment, so that the cleaning angle is locked at a required cleaning angle, the cleaning angle is accurately adjustable, the bent part of the sewer pipeline is easy to dredge, and the cleaning difficulty is reduced.

When the device works, the device is moved to a sewage pipeline to be decontaminated through the four universal wheels 13, after the position is determined, the four second hydraulic cylinders 193 on the four hydraulic fixing branched chains 19 start to work at the same time, the second hydraulic cylinders 193 drive the four L-shaped fixing support plates 18 to move, the four L-shaped fixing support plates 18 drive the mounting blocks 17 above, the mounting blocks 17 drive the first positioning cylinder 15 to move in a telescopic way on the first positioning shaft 14, all things below the first positioning cylinder 15 are driven to move under the action of the limiting springs 16, so that the four fixing plates 18a are driven to move, the second hydraulic cylinders 193 stop working when the four fixing plates 18a are just attached to the sewage pipeline to be decontaminated, so that the device has four fixing support points on the sewage pipeline to be decontaminated, the fixing performance is good, and the stability of the device is further improved, when the position of the universal wheel needs to be adjusted, the second hydraulic cylinder 193 drives the four fixing pieces 18a to slightly contract upwards to the universal wheel 13, and then the universal wheel can move anywhere; then the lifting locking device 7 starts working, firstly the cleaning height of the invention is adjusted according to the depth of the sewage sewer to be cleaned, the lifting motor 72 starts working first, the lifting motor 72 drives the lifting screw 73 to rotate, the lifting screw 73 drives the lifting top block 75 to perform a stable primary lifting adjusting function under the assistance of four second positioning shafts 74a, if the primary lifting adjusting still cannot reach the required cleaning height, at the moment, the four third hydraulic cylinders 76 drive the locking top block 77 to perform a stable secondary lifting adjusting movement, when the invention reaches the proper cleaning height, the lifting motor 72 and the third hydraulic cylinders 76 stop working, thereby realizing the function of the invention with good lifting adjusting performance, so that the invention is suitable for cleaning sewers with different depths, the application range is large, and in the lifting adjusting process of the invention, the four telescopic walking branch chains 78 start working simultaneously, firstly, the proper walking length is determined according to the width or the diameter of the sewer to be cleaned, the walking length of the four telescopic walking branch chains 78 is adjusted through the four fourth hydraulic cylinders 781, the invention can automatically walk on the inner wall of the sewer in the process of lifting adjustment after the walking length is adjusted, the invention is uniformly limited from four directions, the cleaning direction of the invention is vertically downward in the middle of the sewer, the performance of the cleaning direction is good, the invention is also suitable for the sewers with different widths or diameters, the application range is wide, when the invention walks to the proper cleaning height through the four telescopic walking branch chains 78, the four fixed locking branch chains 79 start to work, the four five hydraulic cylinders 792 drive the four conical locking blocks 796 to be locked on the inner wall of the sewer from four directions, the locking force is uniform, the locking effect is good, and the invention is suitable for locking the sewers with different widths or diameters, the application range is large, and the stability of the cleaning agent is improved; then the angle conversion device 8 starts to work, when the sewer of the bent part needs to be dredged, the cleaning angle of the sewer is accurately adjusted according to the bent angle of the bent part, firstly the conversion motor 85 starts to work, the conversion motor 85 starts to work first, the conversion motor 85 drives the driving gear 84 through the driving shaft 83, the driving gear 84 drives the driving wheel 88 to rotate on the driven shaft 87 through the semicircular gear ring 89, the driving wheel 88 drives the connecting support plate 810 to rotate synchronously, when the sewer reaches a proper cleaning angle, the conversion motor 85 stops working, at the moment, the two angle fixing branched chains 80 start to work, the No. six hydraulic cylinder 802 starts to work, the No. six hydraulic cylinder 802 drives the moving block 803 to stably move in the limiting movement of the two limiting sliding columns 804 and the two limiting sliding chutes 805, and the moving block 803 drives the arc-shaped locking block 807 to move towards the connecting support plate 810 through the T-shaped push, when the two arc-shaped locking blocks 807 on the two angle fixing branched chains 80 are tightly embedded in the two arc-shaped limiting grooves 810a of the connecting support plate 810, the No. six hydraulic cylinder 802 stops working, and the connecting support plate 810 is locked by the two arc-shaped locking blocks 807 at the moment, so that the cleaning angle is locked at a required cleaning angle, the function of accurately adjusting the cleaning angle is realized, the bent part of a sewer pipeline is easy to dredge, and the cleaning difficulty is reduced; finally, the existing fisher or dredger arranged on the lower end face of the conversion circular table 811 salvages sundries and sludge in the sewer to be decontaminated and dredges the quick sewer without manual operation, so that the cleaning speed is high and the cleaning efficiency is high; meanwhile, the invention forms the RPC type parallel branch chain 122 by the revolute pair R formed by the first hydraulic cylinder 1222 on the ear seat 1221, the revolute pair P formed by the first hydraulic cylinder 1222 when moving, and the cylindrical pair C formed by the revolute cylinder 1225 on the revolute shaft 1226, and the fixed platform 121, the three RPC type parallel branch chains 122 and the movable platform 123, and the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision, etc. the invention keeps a stable state all the time in the sewer cleaning process by virtue of the 3-RPC parallel mechanism, eliminates the shaking condition in the cleaning process, further increases the stability, realizes the rigid support function of the sewer in the cleaning process, and solves the problem that the existing sewer cleaning equipment needs manual operation in the manual cleaning mode, The cleaning device has the advantages of high labor intensity, low cleaning speed, low cleaning efficiency, poor equipment fixing performance, shaking phenomenon in the equipment cleaning process, poor equipment stability performance, poor cleaning direction performance, poor equipment locking performance, poor equipment lifting adjusting performance, nonadjustable equipment cleaning angle, high difficulty in dredging the bent part of the pipeline, low working efficiency and the like, and achieves the aim.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a support equipment for municipal works sewer scrubbing based on parallel mechanism which characterized in that: the self-stabilizing walking device comprises a self-stabilizing walking device (1), wherein a lower supporting circular truncated cone (2) is welded in the middle of the upper end surface of the self-stabilizing walking device (1), six supporting cylinders (3) are uniformly welded on the upper end surface of the lower supporting circular truncated cone (2) along the axis direction, a supporting upright post (4) is welded in the middle of the upper end surface of the lower supporting circular truncated cone (2), an upper supporting circular truncated cone (5) is welded on the upper end surfaces of the supporting upright post (4) and the six supporting cylinders (3), a connecting piece (5a) is installed on the upper end surface of the upper supporting circular truncated cone (5) through a screw, a supporting bent arm (6) is welded in the middle of the upper end surface of the connecting piece (5a), a lifting locking device (7) is welded at the tail end of the supporting bent arm (6; an angle conversion device (8) is arranged on the lower end face of the lifting locking device (7);

the self-stabilizing walking device (1) comprises a walking installation platform (11), four parallel supporting mechanisms (12) are symmetrically installed on the lower end face of the walking installation platform (11), and four universal wheels (13) are respectively installed on the lower end faces of the four parallel supporting mechanisms (12); the middle of the lower end face of the walking mounting table (11) is welded with a first positioning shaft (14), the lower end of the first positioning shaft (14) is mounted on the inner wall of a first positioning cylinder (15) in a sliding fit mode, a limiting spring (16) is sleeved on the outer wall of the first positioning shaft (14), the upper end of the limiting spring (16) abuts against the lower end face of the walking mounting table (11), and the lower end face of the limiting spring (16) abuts against the upper end face of the first positioning cylinder (15); two limiting columns (11a) are symmetrically welded on two sides of the middle part of the lower end face of the walking installation platform (11), and two square limiting holes are respectively formed in the middle lower ends of the two limiting columns (11 a); two limiting blocks (15a) are symmetrically welded on two side walls of the first positioning cylinder (15), the two limiting blocks (15a) are respectively positioned inside two square limiting holes, the lower end of the first positioning cylinder (15) is welded on an installation block (17), the installation block (17) is of a square structure, four L-shaped fixing support plates (18) are respectively welded on four side surfaces of the installation block (17), and four fixing pieces (18a) are respectively welded at the tail ends of the four L-shaped fixing support plates (18); four hydraulic fixed branch chains (19) are respectively arranged between the four L-shaped fixed support plates (18) and the lower end surface of the walking installation platform (11);

the lifting locking device (7) comprises an upper lifting circular table (71) welded at the tail end of the supporting bent arm (6), the middle of the lower end face of the upper lifting circular table (71) is provided with a lifting motor (72) through a motor base, an output shaft of the lifting motor (72) is provided with a lifting lead screw (73) through a coupler, the bottom end of the lifting lead screw (73) is arranged on a lifting support plate (74) through a bearing, and four second positioning shafts (74a) are symmetrically welded between the lifting support plate (74) and the upper lifting circular table (71); the lifting screw rod (73) is provided with a lifting top block (75) through threads, four first positioning holes are symmetrically formed in the lifting top block (75), four second positioning shafts (74a) penetrate through the four first positioning holes in the lifting top block (75), four third hydraulic cylinders (76) are symmetrically arranged on the lower end face of the lifting top block (75), a locking top block (77) is arranged at the top end of each third hydraulic cylinder (76), the locking top block (77) is of a square structure, four telescopic walking branched chains (78) are arranged on four side faces of the locking top block (77) respectively, four fixed locking branched chains (79) are symmetrically welded on the lower end face of the locking top block (77), a locking support column (710) is welded in the middle of the lower end face of the locking top block (77), and a lower lifting circular truncated cone (711) is welded on the lower end face of the locking support column (710); the telescopic walking branched chain (78) comprises a fourth hydraulic cylinder (781) arranged on the corresponding side surface of the locking ejector block (77), a support cylinder (782) is sleeved in the middle of the fourth hydraulic cylinder (781), two L-shaped supporting columns (783) are symmetrically welded at two ends of the support cylinder (782), and the two L-shaped supporting columns (783) are symmetrically welded on the corresponding side surface of the locking ejector block (77); a first connecting flange (784) is installed at the top end of the fourth hydraulic cylinder (781) through threads, a walking support plate (785) is installed on the first connecting flange (784) through screws, and walking wheels (786) are installed on the side surface of the walking support plate (785);

the angle conversion device (8) comprises an adjusting support plate (81) welded on the lower end face of a lower lifting circular truncated cone (711), two supporting vertical plates (82) are symmetrically welded on two sides of the lower end face of the adjusting support plate (81), a driving shaft (83) is installed between the upper ends of the two supporting vertical plates (82) through a bearing, a driving gear (84) is installed in the middle of the driving shaft (83) through a key, a conversion motor (85) is installed at one end, close to the supporting vertical plate (82) on the right side of the adjusting support plate (81), of the driving shaft (83) through a coupler, the conversion motor (85) is installed on a motor support plate (86) through a motor base, and the motor support plate (86) is welded on the side wall of the; a driven shaft (87) is arranged between the lower ends of the two supporting vertical plates (82) through a bearing, a driving wheel (88) is arranged on the driven shaft (87) through a key, a semicircular gear ring (89) is welded on the outer wall of the upper end of the driving wheel (88), the semicircular gear ring (89) is meshed with the driving gear (84), and two blocking blocks (89a) are arranged at the two ends of the semicircular gear ring (89); a connecting support plate (810) is welded on the outer wall of the lower end of the driving wheel (88), two arc-shaped limiting grooves (810a) are symmetrically arranged on two sides of the connecting support plate (810), and a conversion circular table (811) is welded at the lower end of the connecting support plate (810); the lower ends of the two supporting vertical plates (82) are symmetrically welded with two angle fixing branched chains (80); the angle fixing branched chain (80) comprises an L-shaped conversion support plate (801) welded on the side wall of the corresponding supporting vertical plate (82), two six hydraulic cylinders (802) are symmetrically installed on the inner wall of the L-shaped conversion support plate (801), a moving block (803) is installed at the top ends of the two six hydraulic cylinders (802), two limiting sliding columns (804) are symmetrically welded on the moving block (803), the upper ends of the two limiting sliding columns (804) are respectively installed on two limiting sliding chutes (805) in a sliding fit mode, the two limiting sliding chutes (805) are both welded on the L-shaped conversion support plate (801), a T-shaped push block (806) is welded on the inner wall of the moving block (803), and an arc-shaped locking block (807) corresponding to an arc-shaped limiting groove (810a) is welded on the side wall of the T-shaped push block (;

the parallel supporting mechanism (12) comprises a fixed platform (121) welded on the lower end face of the walking installation platform (11), three parallel branched chains (122) are uniformly installed on the lower end face of the fixed platform (121) along the axis direction, the top ends of the three parallel branched chains (122) are all installed on a movable platform (123), and universal wheels (13) are installed on the lower end face of the movable platform (123); the parallel branched chain (122) comprises a first lug seat (1221) welded on the lower end face of the fixed platform (121), a first hydraulic cylinder (1222) is mounted on the first lug seat (1221) through a pin shaft, a connecting cylinder (1223) is mounted at the top end of the first hydraulic cylinder (1222) through threads, a threaded column (1224) is mounted on the connecting cylinder (1223) through threads, the tail end of the threaded column (1224) is welded on the movable cylinder (1225), the movable cylinder (1225) is sleeved on the movable shaft (1226), two ends of the movable shaft (1226) are respectively fixed on two fixed lugs (1227), and the two fixed lugs (1227) are welded on the upper end face of the movable platform (123);

the fixed locking branched chain (79) comprises an L-shaped fixing column (791) welded on the lower end face of the locking top block (77), a fifth hydraulic cylinder (792) is installed at the tail end of the L-shaped fixing column (791), the middle part of the fifth hydraulic cylinder (792) is installed on a first frame-shaped support (793), and two ends of the first frame-shaped support (793) are installed on two sides of the L-shaped fixing column (791) through screws; the top end of the fifth hydraulic cylinder (792) is provided with a second connecting flange (794), the second connecting flange (794) is provided with a locking circular plate (795) through a screw, and the middle part of the side surface of the locking circular plate (795) is welded with a conical locking block (796);

the hydraulic fixing branched chain (19) comprises a second hydraulic cylinder (193) welded on the walking installation platform (11), the top end of the second hydraulic cylinder (193) is installed on the fixing flange (192) through threads, and the fixing flange (192) is installed on the corresponding L-shaped fixing support plate (18) through screws;

the thickness of the arc-shaped locking block (807) is smaller than the width of the arc-shaped limiting groove (810a), and the central axes of the arc-shaped locking block (807), the arc-shaped limiting groove (810a), the driving wheel (88) and the driven shaft (87) are all overlapped;

the four telescopic walking branched chains can flexibly adjust and adapt to the inner wall distances of the sewer in four directions, and the four fixed locking branched chains can be synchronously matched and adjusted along with the adjustment of the walking distances of the four telescopic walking branched chains to complete stable lifting and locking functions of the sewer with different widths or diameters;

the central axes of the arc-shaped locking block, the arc-shaped limiting groove, the driving wheel and the driven shaft are mutually overlapped, so that the arc-shaped limiting groove can be locked by the arc-shaped locking block no matter how many angles the arc-shaped locking block rotates within the range of 180 degrees, the angle conversion device cannot shake or shake under the action of external force, and the functions of precise angle adjustment and precise and stable locking can be realized;

the invention is moved to a sewage pipeline road to be decontaminated by four universal wheels, when the position is determined, four second hydraulic cylinders on four hydraulic fixing branch chains start to work simultaneously, the second hydraulic cylinders drive four L-shaped fixing support plates to move, the four L-shaped fixing support plates drive an upper mounting block to move, the mounting block drives a first positioning cylinder to move telescopically on a first positioning shaft, all things below the first positioning cylinder are driven to move under the action of a limiting spring, so that four fixing plates are driven to move, when the four fixing plates are just attached to the sewage pipeline road to be decontaminated, the second hydraulic cylinders stop working, so that the invention has four fixing support points on the sewage pipeline road to be decontaminated, the fixing performance is good, the stability of the invention is further improved, when the position of the invention needs to be adjusted, the second hydraulic cylinders drive the four universal wheels to shrink upwards slightly to move along with the position, meanwhile, the rotating pair R formed by the first hydraulic cylinder on the lug seat, the moving pair P formed by the first hydraulic cylinder during movement and the cylindrical pair C formed by the moving cylinder on the moving shaft form the RPC type parallel branch chain, and the fixed platform, the three RPC type parallel branch chains and the moving platform form the 3-RPC parallel mechanism, and the 3-RPC parallel mechanism has the advantages of good dynamic response, high rigidity, large bearing capacity, good stability, high movement precision and the like.

2. The support device for municipal engineering sewer decontamination based on parallel mechanism of claim 1, wherein: the transmission ratio of the driving gear (84) to the semicircular gear ring (89) is 3: 1.