CN108413177A - A kind of self-adapting pipe dredging robot - Google Patents
A kind of self-adapting pipe dredging robot Download PDFInfo
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- CN108413177A CN108413177A CN201810194463.4A CN201810194463A CN108413177A CN 108413177 A CN108413177 A CN 108413177A CN 201810194463 A CN201810194463 A CN 201810194463A CN 108413177 A CN108413177 A CN 108413177A
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- Prior art keywords
- lower link
- hinged
- shell
- rack
- diameter changing
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of self-adapting pipe dredging robots, including shell, reamer dredging mechanism, camera and multiple running gears, reamer dredging mechanism is arranged on shell, camera is arranged on shell, running gear includes diameter changing mechanism, walking mechanism and pressure-sensitive module, diameter changing mechanism is arranged on shell, and the output end in diameter changing mechanism is arranged in walking mechanism, and pressure-sensitive module matches with lift diameter changing mechanism.The beneficial effects of the invention are as follows：After transferring to robot in pipeline, pipeline internal image can be acquired in real time, consequently facilitating staff understands robot local environment, convenient for adjustment robot in time；Carry out monitoring data by using pressure-sensitive module, convenient for understanding the stressing conditions and working condition of robot, the convenient diameter changing mechanism of adjustment in real time makes robot all-the-time stable in most effective working condition so that robot adapts to different calibers.
Description
Technical field
The present invention relates to robot science and technology field more particularly to a kind of self-adapting pipe dredging robots.
Background technology
Pumping equipment is essential in modern city, or even as guarantee urban stability development, people's lives and properties peace
Complete important defence line is the basis that city dweller depends on for existence.Therefore the problems such as line clogging, impeded drainage, most likely results in
Urban waterlogging jeopardizes resident's safety in turn.Pipeline in use, due to the influence of various factors, will produce various
Line clogging and pipeline fault and damage.If being detected, repair and clearing up to pipeline not in time may cause an accident, make
At unnecessary loss.However, municipal drainage pipeline has following features：3 to 5 meters of buried underground；Caliber is 200 to 2000mm
Between；Gradient is usually more than 0.001；Distance between two inspection shafts changes according to caliber difference within the scope of 40 to 120m；
There are sewage and deposit in pipeline, the environment residing for pipeline is often not easy to directly reach or does not allow people to be directly entered
, detection and cleaning difficulty are very big.
Invention content
Technical problem to be solved by the invention is to provide a kind of self-adapting pipe dredging robots, above-mentioned existing to overcome
Deficiency in technology.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of self-adapting pipe dredging robot, including shell
Body, reamer dredging mechanism, camera and multiple running gears, reamer dredging mechanism are arranged on shell, and camera is arranged in shell
On body, running gear includes diameter changing mechanism, walking mechanism and pressure-sensitive module, and diameter changing mechanism is arranged on shell, and walking mechanism is set
The output end in diameter changing mechanism is set, pressure-sensitive module matches with lift diameter changing mechanism.
Based on the above technical solution, the present invention can also be improved as follows.
Further, diameter changing mechanism includes lift diameter changing mechanism and angle adjusting mechanism, and the setting of lift diameter changing mechanism exists
On shell, the output end in lift diameter changing mechanism is arranged in angle adjusting mechanism, and walking mechanism is arranged in angle adjusting mechanism
Output end.
Further, lift diameter changing mechanism includes screw mandrel support seat one, screw mandrel support seat two, ball screw, feed screw nut
One, feed screw nut two, nut seat one, nut seat two and driving device, screw mandrel support seat one and screw mandrel support seat two are arranged at
On shell, ball screw is arranged between screw mandrel support seat one and screw mandrel support seat two, the output end and ball wire of driving device
One end of bar is connected, and feed screw nut one and feed screw nut two are arranged on ball screw, and nut seat one and nut seat two divide
It is not fixed on feed screw nut one and feed screw nut two, nut seat one and nut seat two are slidably matched with shell, driving device
Feed screw nut one is opposite with the moving direction of feed screw nut two during driving ball screw rotation；It further include lower link
One, lower link two and lower link three, the lower end of lower link one and the lower end of lower link two pass through hinge and one phase of nut seat simultaneously
Hinged, upper end and the angle adjusting mechanism of lower link one are hinged, and upper end and the angle adjusting mechanism of lower link two are hinged, under
The lower end of connecting rod three is hinged by hinge with nut seat two, and the upper end of lower link three is connected with angle adjusting mechanism, under
Connecting rod three is clipped between lower link one and lower link two, and the middle part of lower link three while the middle part with lower link one and lower link
Two middle part is hinged.
Further, angle adjusting mechanism includes upper connecting rod one, upper connecting rod two, rack set, rack one, rack two, spring pocket
Cylinder one, spring spool two and upper connecting rod three, rack one and rack two are movably arranged on the both ends of rack set, spring spool one respectively
Both ends be hinged respectively with rack one and walking mechanism, the both ends of spring spool two are mutually cut with scissors with rack two and walking mechanism respectively
It connecing, the lower end of the upper end of lower link three, the lower end of upper connecting rod one and upper connecting rod three is hinged by hinge and rack one simultaneously, on
The upper end of connecting rod one and the upper end of upper connecting rod three are hinged with walking mechanism, the upper end of lower link one, the upper end of lower link two
It is hinged simultaneously by hinge and rack two with the lower end of upper connecting rod two, upper end and the walking mechanism of upper connecting rod two are hinged.
Further, pressure-sensitive module includes foil gauge, and foil gauge is equipped on lower link one, lower link two and lower link three.
Further, walking mechanism includes lower casing, upper casing, drive module, slave module and crawler belt, and slave module includes driving
Wheel and driven wheel, drive module include driving motor, belt gear and retarder two, and driving wheel is arranged in upper casing and lower casing
Between, upper casing is buckled on lower casing, is set between lower casing and upper casing there are four circular hole, is equipped with bearing in each circular hole, driving wheel and
Belt gear and two coaxial bearings coordinate, and driven wheel and two coaxial bearings coordinate, and driving motor is arranged on lower casing,
The input terminal of retarder two is connected with the output end of driving motor, and the output end of retarder two passes through belt gear and drive
The rotation center of driving wheel is connected, crawler belt be arranged between driving wheel and driven wheel, and crawler belt simultaneously around driving wheel and from
Driving wheel.
Further, spring spool one includes sleeve, the body of rod and spring, and one end socket joint of the body of rod is in sleeve, spring setting
In sleeve, and the both ends of spring contradict sleeve and the body of rod respectively, and the one end of sleeve far from the body of rod is hinged with rack one, bar
The one end of body far from sleeve is hinged with lower casing.
Further, the structure of spring spool two is identical as the structure of spring spool one.
Further, reamer dredging mechanism includes that stepper motor, turntable, push rod and dredging reamer, stepper motor are fixed on shell
The front end of body, turntable are connected with the output end of stepper motor, and push rod is arranged on turntable, and dredging reamer is arranged in the defeated of push rod
Outlet.
Further, push rod is automatically controlled push rod.
When in use：Staff puts down robot from well head by hawser first, after reaching designated position, robot
By diameter changing mechanism, so that each running gear of robot is unfolded, reach stable support, walking mechanism is allowed the robot in pipeline
The walking of middle stabilization, during forward, by the camera on shell by the picture transmission inside pipeline to the work of ground
Make personnel, while by the pressure-sensitive module with robot, host is big by the automatic caliber for calculating robot present position at this time
Substantially pressure value at small and crawler belt goes out the index under most suitable motion state according to experimental simulation, and control system will pass through reducing
Mechanism adjust automatically makes robot all-the-time stable at most effective working condition (step1), works as machine to adapt to different calibers
People reaches most suitable working condition, and reamer starts dredging work, and (step2) is repeated after the pipe dredging work for completing the part
Step1 advances a distance in new position repetition.
The beneficial effects of the invention are as follows：
1) after transferring to robot in pipeline, pipeline internal image can be acquired in real time, consequently facilitating staff
Robot local environment is understood, convenient for adjustment robot in time；
2) carry out monitoring data by using pressure-sensitive module, convenient for understanding the pipe diameter size of robot present position at this time, side
Just diameter changing mechanism is adjusted in real time, so that robot adapts to different calibers, to make robot all-the-time stable in most effective work
Make state；
3) reamer dredging mechanism of the present invention is used, can adjust reamer dredging mechanism according to pipe diameter size in this way
Working range, it is ensured that reliable, the comprehensive dredging of pipeline is handled.
Description of the drawings
Fig. 1 is the structural schematic diagram of self-adapting pipe dredging robot of the present invention；
Fig. 2 is the structural schematic diagram of running gear in Fig. 1；
Fig. 3 is the structural schematic diagram of walking mechanism in Fig. 2；
Fig. 4 is the structural schematic diagram of reamer dredging mechanism in Fig. 1；
Fig. 5 is the structural schematic diagram of Fig. 1 middle casings；
Fig. 6 is the structural schematic diagram of spring spool one in Fig. 2；
Fig. 7 is the part-structure schematic diagram of diameter changing mechanism.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of self-adapting pipe dredging robot, including shell 1,
Reamer dredging mechanism 2, camera 3 and multiple running gears 4, reamer dredging mechanism 2 are arranged in the front end of shell 1, and camera 3 is set
It sets on shell 1, camera 3 is preferably disposed at the front end of shell 1, and the quantity of running gear 4 is preferably three, wherein row
Walking apparatus 4 includes diameter changing mechanism, walking mechanism 430 and pressure-sensitive module 440, and diameter changing mechanism is arranged on shell 1, walking mechanism
430 are arranged the output end in diameter changing mechanism, and pressure-sensitive module 440 matches with lift diameter changing mechanism 410.
Shell 1 includes protecgulum 110, valve 120 and rear cover 130, and protecgulum 110 is cylindrical, and rear cover 130 is cylindrical, shell
Valve 120 is in fan annular, and valve 120 is arranged between protecgulum 110 and rear cover 130, in the present embodiment, due to running gear 4
Quantity is three, and therefore, the quantity of valve 120 is also three, and three valves 120 are arranged in a circular formation, any two valve 120
Between have gap.
Reamer dredging mechanism 2 includes stepper motor, the dredging reamer 240 of push rod 230, three of turntable 220, three and three lids
Plate 210, three push rods 230 are fixed with 220 phase of turntable, and three cover boards 210 are respectively covered with three push rods 230, three dredging hinges
Knife 240 is connected with the output end of three push rods 230 respectively, and the output end of stepper motor is connected with the rotation center of turntable 220
It connects, and stepper motor is fixed on protecgulum 110, three push rods 230 are all made of electric pushrod, you can to carry out the flexible of length.
Diameter changing mechanism includes lift diameter changing mechanism 410 and angle adjusting mechanism 420, and lift diameter changing mechanism 410 is arranged
On shell 1, the output end in lift diameter changing mechanism 410 is arranged in angle adjusting mechanism 420, and walking mechanism 430 is arranged at angle
Spend the output end of regulating mechanism 420.
Lift diameter changing mechanism 410 includes screw mandrel support seat 1, screw mandrel support seat 2 412, ball screw 413, lead screw
Nut 1, feed screw nut 2 415, nut seat 1, nut seat 2 417, driving device, lower link 1, lower link two
419 and lower link 3 4110.
Shell 1 further includes bearing 1 and bearing 2 150, and bearing 1 and bearing 2 150 are arranged at three valves
In 120 regions enclosed, and bearing 1 is arranged close to protecgulum 110, and bearing 2 150 is arranged close to rear cover 130, lead screw support
Seat 1 is arranged on bearing 1, and screw mandrel support seat 2 412 is arranged on bearing 2 150.The left end of ball screw 413 with
Screw mandrel support seat 1 is connected, and the right end of screw mandrel support seat 2 412 is connected with screw mandrel support seat 2 412, driving device packet
Lead screw motor 1 and retarder 1 are included, lead screw motor 1 is fixed on by electric machine support in rear cover 130, lead screw
The output end of motor 1 is connected with the input terminal of retarder 1, the output end and ball screw of retarder 1
413 right end is connected, and such lead screw motor 1 will drive retarder 1 to rotate after starting, and retarder 1 is again
Ball screw 413 is driven to rotate.Ball screw 413 is divided to control two sections, wherein left section is equipped with left hand thread, is set on right section
There are right-handed thread, feed screw nut 1 to be arranged on the part that ball screw 413 is provided with left hand thread, feed screw nut 2 415
It is arranged on the part that ball screw 413 is provided with right-handed thread, lead screw motor 1 is rotated in driving ball screw 413
The moving direction of feed screw nut 1 and feed screw nut 2 415 are on the contrary, i.e. feed screw nut 1 and feed screw nut two in the process
415 can be close to each other and be located remotely from each other.Feed screw nut pair, lead screw spiral shell are constituted between feed screw nut 1 and ball screw 413
Feed screw nut pair is also constituted between mother 2 415 and ball screw 413.
Nut seat 1 and nut seat 2 417 are separately positioned on feed screw nut 1 and feed screw nut 2 415, nut
Seat 1 is stuck between two valves 120, and the bearing on nut seat 1 can be stuck in the sliding slot on valve 120 Nei and slide,
Realize being slidably matched between nut seat 1 and shell 1, nut seat 2 417 is also stuck between two valves 120, and nut
Bearing on seat 2 417 can be stuck in the sliding slot on valve 120 Nei and slide, and realize that the sliding between nut seat 2 417 and shell 1 is matched
It closes.
The lower end of lower link 1 and the lower end of lower link 2 419 are hinged by hinge and nut seat 1 simultaneously,
And lower link 1 and lower link 2 419 are located at the both sides of nut seat 1, the upper end of lower link 1 and lower link
2 419 upper end is hinged by hinge and angle adjusting mechanism 420.The lower end of lower link 3 4110 passes through hinge and nut
Seat 2 417 is hinged, and the upper end of lower link 3 4110 is connected by hinge with angle adjusting mechanism 420, lower link 3 4110
It is clipped between lower link 1 and lower link 2 419, and the middle part of lower link 3 4110, the middle part of lower link 1 and lower company
The middle part of bar 2 419 is hinged by hinge.
Angle adjusting mechanism 420 includes upper connecting rod 1, upper connecting rod 2 422, rack set 423, rack 1, rack two
425, two spring spools, one 426, two spring spools 2 427 and upper connecting rod 3 428, rack 1 and rack 2 425 are in
Y-shaped.
The left end socket joint of rack 1 is in the left end of rack set 423, and one 424 socket joint of rack is covered to rack in 423
One end, which can be covered in rack in 423, moves, under the upper end of lower link 3 4110, the lower end of upper connecting rod 1, upper connecting rod 3 428
The right end of end and rack 1 is hinged by hinge, and the lower end of two spring spools 1 passes through hinge and rack one
424 right end is hinged, and two spring spools 1 are arranged in the both sides of rack 1.The right end of rack 2 425 is held
It is inserted in the right end of rack set 423, and 2 425 socket joint of rack can be covered in 423 in rack to one end in rack set 423 and be moved,
The upper end of lower link 1, the upper end of lower link 2 419, the lower end of upper connecting rod 2 422, rack 2 425 right end pass through hinge
It is hinged.The upper end of upper connecting rod 1 is hinged by hinge and walking mechanism 430, and the upper end of upper connecting rod 3 428 passes through hinge
It is hinged by hinge and walking mechanism 430 with the upper end of walking mechanism 430, upper connecting rod 2 422, two spring spools 1
Upper end be hinged by hinge and walking mechanism 430, after spring spool 1 installs, under equilibrium state, (bullet
The length of the 426) distance with upper connecting rod 1 of both ends hinge centres of spring sleeve 1 is identical, and similarly, spring spool 2 427 is installed
After good, under equilibrium state, the distance of (spring spool 2 427) both ends hinge centres is identical with the length of upper connecting rod 2 422.
Spring spool 1 includes sleeve 4261, the body of rod 4262 and spring 4263, and one end socket joint of the body of rod 4262 is in sleeve
In 4261, spring 4263 is arranged in sleeve 4261, and the both ends of spring 4263 contradict sleeve 4261 and the body of rod 4262 respectively,
The one end of sleeve 4261 far from the body of rod 4262 is hinged with rack 1, the body of rod 4262 one end and walking far from sleeve 4261
Mechanism 430 is hinged.Spring spool 2 427 is identical with the structure of spring spool 1.Pressure-sensitive module 440 includes foil gauge, and
Be equipped with foil gauge on lower link 1, lower link 2 419 and lower link 3 4110, foil gauge be attached to lower link 1, under
On connecting rod 2 419 or lower link 3 4110, what is generated when measuring rod stress measures the stress of bar, final pressure-sensitive by deformation
The data transmission that module 440 senses foil gauge is to host.
Walking mechanism 430 includes lower casing 431, upper casing 432, drive module, slave module, crawler belt 433, upper connecting rod 2 422
Upper end, the upper end of upper connecting rod 3 428, the upper end of upper connecting rod 1, the upper end of spring spool 1 and spring spool 2 427
Upper end be hinged respectively by hinge and lower casing 431.
Slave module includes driving wheel 434, driven wheel 435, and drive module includes driving motor 436, belt gear
437 and retarder 2 438, driving wheel 434 is arranged between upper casing 432 and lower casing 431, and upper casing 432 is buckled on lower casing 431, under
It is set between shell 431 and upper casing 432 there are four circular hole, bearing, driving wheel 434, belt gear 437 is equipped in each circular hole
Coordinate with two coaxial bearings, driven wheel 435 and two coaxial bearings coordinate, and driving motor 436 is arranged on lower casing 431, subtracts
The input terminal of fast device 2 438 is connected with the output end of driving motor 436, and the output end of retarder 2 438 passes through belt transmission
Mechanism 437 is connected with the rotation center of driving wheel 434, after driving motor 436 starts, can be carried out with driving wheel 434
Rotation, crawler belt 433 are arranged between driving wheel 434 and driven wheel 435, and crawler belt 433 is simultaneously around driving wheel 434 and driven
Wheel 435.Walking mechanism 430 further includes strip caulking gum 1, and strip caulking gum 1 is arranged in upper casing 432 and lower casing
Between 431.
In addition, between driving wheel 434 and lower casing 431, upper casing 432 be equipped with sealing structure, sealing structure by dynamic sealing lid one,
The double-deck O-shaped rubber ring one, O-shaped elastic ring one and O-shaped dynamic seal ring one form, and the double-deck O-shaped rubber ring one is mounted on lower casing
At 431 round sliding slot, dynamic sealing lid one is connect with coaxial bearing, and O-shaped elastic ring one and O-shaped elastic ring one are mounted on and move
Inside sealing cover one, O-shaped dynamic seal ring one is in contact with the axis of belt gear 437.It is realized by the double-deck O-shaped rubber ring one
Static seal is realized that dynamic sealing, O-shaped elastic ring one are that O-shaped dynamic seal ring one provides elastic force by O-shaped dynamic seal ring one, is reinforced dynamic
Sealing effect.When crawler belt 433 operates, gap that water cannot be between driven sealing cover one and lower casing 431 by (static seal),
Gap that cannot be between axis and dynamic sealing lid one passes through (dynamic sealing).
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of self-adapting pipe dredging robot, which is characterized in that including shell (1), reamer dredging mechanism (2), camera
(3) it is arranged on the shell (1) with multiple running gears (4), the reamer dredging mechanism (2), camera (3) setting
On the shell (1), the running gear (4) includes diameter changing mechanism, walking mechanism (430) and pressure-sensitive module (440), described
Diameter changing mechanism is arranged on the shell (1), and the output end in the diameter changing mechanism is arranged in the walking mechanism (430), described
Pressure-sensitive module (440) matches with the lift diameter changing mechanism (410).
2. a kind of self-adapting pipe dredging robot according to claim 1, which is characterized in that the diameter changing mechanism includes
Lift diameter changing mechanism (410) and angle adjusting mechanism (420), the lift diameter changing mechanism (410) are arranged in the shell
(1) on, angle adjusting mechanism (420) setting is in the output end of the lift diameter changing mechanism (410), the walking mechanism
(430) output end of the setting in the angle adjusting mechanism (420).
3. a kind of self-adapting pipe dredging robot according to claim 2, which is characterized in that the lift reducing machine
Structure (410) include screw mandrel support seat one (411), screw mandrel support seat two (412), ball screw (413), feed screw nut one (414),
Feed screw nut two (415), nut seat one (416), nut seat two (417) and driving device, the screw mandrel support seat one (411) and
The screw mandrel support seat two (412) is arranged on the shell (1), and the ball screw (413) is arranged in the lead screw branch
It supports between seat one (411) and the screw mandrel support seat two (412), the output end of the driving device and the ball screw
(413) one end is connected, and the feed screw nut one (414) and the feed screw nut two (415) are arranged at the ball wire
On bar (413), the nut seat one (416) and the nut seat two (417) be separately fixed at the feed screw nut one (414) and
On the feed screw nut two (415), the nut seat one (416) and the nut seat two (417) are slided with the shell (1)
Cooperation, driving device feed screw nut one (414) and described during driving the ball screw (413) rotation
The moving direction of feed screw nut two (415) is opposite；Further include lower link one (418), lower link two (419) and lower link three
(4110), the lower end of the lower link one (418) and the lower end of the lower link two (419) pass through hinge and the nut simultaneously
One (416) of seat are hinged, and upper end and the angle adjusting mechanism (420) of the lower link one (418) are hinged, the lower link two
(419) upper end is hinged with angle adjusting mechanism (420), and the lower end of the lower link three (4110) passes through hinge and the spiral shell
Female seat two (417) is hinged, and the upper end of the lower link three (4110) is connected with angle adjusting mechanism (420), the lower company
Bar three (4110) is clipped between the lower link one (418) and the lower link two (419), and the lower link three (4110)
Middle part simultaneously be hinged in the middle part of the middle part of the lower link one (418) and the lower link two (419).
4. a kind of self-adapting pipe dredging robot according to claim 3, which is characterized in that the angle adjusting mechanism
(420) include upper connecting rod one (421), upper connecting rod two (422), rack set (423), rack one (424), rack two (425), spring
Sleeve one (426), spring spool two (427) and upper connecting rod three (428), the rack one (424) and the rack two (425) point
Be not movably arranged on the both ends of the rack set (423), the both ends of the spring spool one (426) respectively with the rack one
(424) be hinged with the walking mechanism (430), the both ends of the spring spool two (427) respectively with the rack two (425)
Be hinged with the walking mechanism (430), the upper end of the lower link three (4110), the upper connecting rod one (421) lower end and
The lower end of the upper connecting rod three (428) is hinged by hinge and the rack one (424) simultaneously, the upper connecting rod one (421)
Upper end and the upper end of the upper connecting rod three (428) be hinged with the walking mechanism (430), the lower link one (418)
Upper end, the lower link two (419) upper end and the upper connecting rod two (422) lower end simultaneously pass through hinge and the rack
Two (425) are hinged, and the upper end of the upper connecting rod two (422) is hinged with the walking mechanism (430).
5. a kind of self-adapting pipe dredging robot according to claim 3, which is characterized in that the pressure-sensitive module
(440) include foil gauge, be all provided on the lower link one (418), the lower link two (419) and the lower link three (4110)
There is foil gauge.
6. a kind of self-adapting pipe dredging robot according to claim 3, which is characterized in that the walking mechanism
(430) include lower casing (431), upper casing (432), drive module, slave module and crawler belt (433), slave module include driving wheel
(434) and driven wheel (435), drive module include driving motor (436), belt gear (437) and retarder two
(438), the driving wheel (434) is arranged between upper casing (432) and lower casing (431), and the upper casing (432) is buckled in lower casing
(431) it on, is set between the lower casing (431) and upper casing (432) there are four circular hole, bearing, the drive is equipped in each circular hole
Driving wheel (434) and belt gear (437) coordinate with two coaxial bearings, the driven wheel (435) and two coaxial bearings
Cooperation, the driving motor (436) are arranged on lower casing (431), the input terminal and driving motor of the retarder two (438)
(436) output end is connected, and the output end of the retarder two (438) passes through belt gear (437) and driving wheel
(434) rotation center is connected, and the crawler belt (433) is arranged between driving wheel (434) and driven wheel (435), and crawler belt
(433) while around driving wheel (434) and driven wheel (435).
7. a kind of self-adapting pipe dredging robot according to claim 6, which is characterized in that the spring spool one
(426) include sleeve (4261), the body of rod (4262) and spring (4263), one end socket joint of the body of rod (4262) is in sleeve
(4261) in, spring (4263) setting is in sleeve (4261), and the both ends of spring (4263) contradict sleeve respectively
(4261) and the body of rod (4262), the one end of the sleeve (4261) far from the body of rod (4262) is hinged with rack one (424), described
The one end of the body of rod (4262) far from sleeve (4261) is hinged with lower casing (431).
8. a kind of self-adapting pipe dredging robot according to claim 7, which is characterized in that the spring spool two
(427) structure is identical as the structure of the spring spool one (426).
9. according to a kind of self-adapting pipe dredging robot of claim 1-8 any one of them, which is characterized in that the reamer
Dredging mechanism (2) includes that stepper motor, turntable (220), push rod (230) and dredging reamer (240), the stepper motor are fixed on
The front end of the shell (1), the turntable (220) are connected with the output end of the stepper motor, push rod (230) setting
On the turntable (220), output end of dredging reamer (240) setting in the push rod (230).
10. a kind of self-adapting pipe dredging robot according to claim 9, which is characterized in that the push rod (230) is
Automatically controlled push rod.
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| CN109357106A (en) * | 2018-10-30 | 2019-02-19 | 江苏科岭能源科技有限公司 | A kind of pipeline permanent magnetism magnetic suspension absorption crusing robot |
| CN109465260A (en) * | 2018-12-12 | 2019-03-15 | 河海大学常州校区 | A kind of pipeline cleaning robot |
| CN109465257A (en) * | 2018-11-28 | 2019-03-15 | 吴寒蕊 | A kind of pipe dredging machine people |
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
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| CN109465260A (en) * | 2018-12-12 | 2019-03-15 | 河海大学常州校区 | A kind of pipeline cleaning robot |
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
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| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | Pipeline inspection robot |
| CN111997177A (en) * | 2020-08-10 | 2020-11-27 | 河海大学常州校区 | Peristaltic urban pipeline dredging robot |
| CN111997177B (en) * | 2020-08-10 | 2021-12-10 | 河海大学常州校区 | Peristaltic urban pipeline dredging robot |
| CN111963821A (en) * | 2020-09-22 | 2020-11-20 | 广东工业大学华立学院 | Abdominal wall type pipeline robot |
| CN112411733A (en) * | 2020-10-20 | 2021-02-26 | 杭州富阳伟文环保科技有限公司 | Pipeline silt draw-out device |
| CN112474640A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN112474640B (en) * | 2020-11-13 | 2023-10-20 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN112728291A (en) * | 2021-01-25 | 2021-04-30 | 中国石油大学胜利学院 | Pipeline inner wall flaw detection crawling robot and using method thereof |
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