CN108644532B

CN108644532B - Self-adaptive pipeline dredging robot

Info

Publication number: CN108644532B
Application number: CN201810517485.XA
Authority: CN
Inventors: 陈志军; 孙林; 林舒鑫; 李君宇; 李济霖; 陈德鹏; 刘洪志
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-05-25
Filing date: 2018-05-25
Publication date: 2020-01-14
Anticipated expiration: 2038-05-25
Also published as: CN108644532A

Abstract

The invention discloses a self-adaptive pipeline dredging robot, which comprises a circuit component, a driving component, a dredging component and a robot body, wherein the circuit component is arranged on the robot body; the driving assembly comprises a telescopic rod, a driving wheel and two driven wheels, and the driving wheel and the driven wheels are fixed on the machine body through the telescopic rod; the dredging component comprises a spray pipe, a silt pumping pipe, a reamer and a drain pipe which are arranged on the machine body; the water spray pipe is arranged at the head end of the machine body, and the water drainage pipe is arranged at the tail end of the machine body; the silt pumping pipe and the reamer are arranged at the bottom of the machine body; the circuit component comprises a microcontroller, a pressure sensor and a motor driver; pressure sensor sets up on drive assembly, and microcontroller and motor driver set up inside the fuselage, and pressure sensor and motor driver all link to each other with microcontroller. The invention can realize the efficient cleaning of the sludge at the bottom of the pipeline, normalize the environment in the pipeline and reduce the labor intensity of workers.

Description

Self-adaptive pipeline dredging robot

Technical Field

The invention relates to the technical field of robotics, in particular to a self-adaptive pipeline dredging robot.

Background

The urban underground pipeline refers to pipelines and auxiliary facilities for water supply, drainage, gas, heat, electric power, communication, radio and television, industry and the like in the urban range, and is an important infrastructure and a 'lifeline' for ensuring urban operation. With the rapid advancement of urbanization, the number and scale of urban underground pipelines become larger and larger, and the composition conditions become more and more complex. In recent years, accidents such as urban waterlogging, road collapse, pipeline burst and the like caused by underground pipe network problems in various places are in a high-incidence situation. How to better clean the underground pipeline also becomes a big problem in urban underground pipeline management.

With the vigorous development of the robot technology, the robot is widely applied, especially applied to some special environments or environments unsuitable for human work, and more people begin to consider using the robot to replace the human to complete work with danger or great difficulty. In an urban underground pipeline system, the smoothness of the pipeline is very important, and the problems of blockage, unsmooth drainage and the like can cause great troubles to normal work and life of people. However, the environment in the pipeline is complex, the sewage composition is complex, and a lot of sludge accumulation blocking the pipeline can be generated, so that the pipeline is blocked. If the pipeline is not cleaned in time, the use can be influenced, and unnecessary loss is caused. However, the environment in which the pipes are located is often not suitable for human work, and the cleaning difficulty is considerable. Therefore, one of the most effective methods is to clean the interior of the pipeline by using a robot, but the existing pipeline dredging robot has the problems of complex structure, incapability of effectively cleaning silt and the like. The self-adaptive pipeline dredging robot is relatively simple in structure, easy to operate, high in efficiency, and better in cleaning effect and is more thorough to clean compared with the existing robot.

Disclosure of Invention

The invention aims to solve the technical problem of providing a self-adaptive pipeline dredging robot aiming at the defects in the prior art.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides a self-adaptive pipeline dredging robot, which comprises a circuit component, a driving component, a dredging component and a robot body, wherein:

the driving components are provided with a plurality of groups and are arranged around the machine body in a centrosymmetric manner by taking the machine body as a symmetric center; each group of driving components comprises a telescopic rod, a driving wheel and two driven wheels, and the driving wheel and the driven wheels are fixed on the machine body through the telescopic rods;

the dredging component comprises a spray pipe, a silt pumping pipe, a reamer and a drain pipe which are arranged on the machine body; the water spray pipe is arranged at the head end of the machine body, and the water drainage pipe is arranged at the tail end of the machine body; the silt pumping pipe and the reamer are arranged at the bottom of the machine body;

the circuit component comprises a microcontroller, a pressure sensor and a motor driver; pressure sensor sets up on drive assembly, and microcontroller and motor driver set up inside the fuselage, and pressure sensor and motor driver all link to each other with microcontroller.

Further, the driving assemblies of the invention are provided with 3 groups, and the included angle between each group of driving assemblies is 120 degrees.

Furthermore, in each group of driving assemblies, two driven wheels are respectively fixed at the head end and the tail end of the machine body through telescopic rods, the driving wheel is fixed between the two driven wheels through the telescopic rods, and the driving wheel and the driven wheels in each group are on the same straight line.

Furthermore, a reamer motor is further arranged inside the machine body, the reamer is connected with the reamer motor, a driving wheel is directly provided with a power motor at a wheel shaft, and the power motor and the reamer motor are both connected with the microcontroller through a motor driver.

Furthermore, the driven wheel is a self-adaptive universal wheel, and when the pressure sensor detects an obstacle, the direction of the driven wheel is automatically adjusted, so that the machine body performs circumferential rotary motion to avoid the obstacle.

Furthermore, the bottom of the machine body is also provided with a reamer bracket, a front end flange and a rear end flange, the reamer bracket is fixed at the bottom of the machine body through the front end flange, a reamer motor is fixed in the machine body through the rear end flange, and a reamer is arranged on the reamer bracket.

Furthermore, the reamer is hemispherical, and a plurality of spiral blades are arranged on the hemisphere.

Furthermore, the circuit assembly of the invention further comprises a keyboard, and the keyboard is connected with the microcontroller and used for inputting control parameters.

The invention has the following beneficial effects: according to the self-adaptive pipeline dredging robot, pressure data on a driven wheel are collected, a microcontroller carried on the robot performs data analysis to send an instruction, so that a driving device can move in a pipeline in a self-adaptive mode, water is sprayed by a water spraying device, a reamer works, and finally sludge is pumped out by a sludge pumping pipe to achieve a dredging effect. Compared with the existing pipeline dredging machine, the pipeline dredging machine is more convenient, and labor cost is reduced.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is the overall effect diagram of the self-adaptive pipeline dredging robot

FIG. 2 is a schematic view of the self-adaptive pipeline dredging robot

FIG. 3 is a front view of the self-adaptive pipeline dredging robot

FIG. 4 is a schematic view of the reamer of the adaptive pipeline dredging robot of the present invention

FIG. 5 is a schematic view of the driving wheel of the self-adaptive pipeline dredging robot of the present invention

FIG. 6 is a hardware schematic diagram of a control system of the adaptive pipeline dredging robot of the present invention

In the figure: 1 fuselage, 2 spray pipes, 3 take out the silt pipe, 4 reamer, 5 action wheels, 6 follow driving wheels, 7 telescopic links, 8 drain pipes.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the body 1 of the self-adaptive pipeline dredging robot is the center of a full-automatic energy source and control part; the driving wheel 5 and the driven wheel 6 are arranged around the machine body 1 through a telescopic rod 7; the spray pipe 2, the silt pumping pipe 3 and the reamer 4 are arranged at the bottom of the machine body 1; a drain pipe 8 is externally connected to the rear side of the machine body 1. Specifically, the method comprises the following steps:

as shown in fig. 1, 2 and 3, a driving wheel 5 and a driven wheel 6 are arranged around the circumference of the machine body 1 through a telescopic rod 7, wherein

The driven wheel 6 is used for changing the direction, and the driving wheel 5 provides power so as to achieve a self-adaptive moving state in the pipeline; the spray pipe 2, the silt pumping pipe 3 and the reamer 4 are arranged at the bottom of the machine body, water is sprayed to silt in the pipeline through the spray pipe 2, then the silt is processed through the reamer 4, and finally the silt is sucked through the silt pumping pipe 3 and conveyed to a ground silt collecting position through the drain pipe 8.

The 3 groups of driving assemblies are uniformly arranged around the circumference of the machine body at 360 degrees and are in a circumferential 120 degree shape, and one end of each of the 3 groups of driving assemblies is hinged with the machine body; each group of driving devices comprises 2 driven wheels, 1 driving wheel and a motor electrically connected with the control circuit assembly. The driven wheel is used for changing direction, and the driving wheel provides power so as to achieve a self-adaptive moving state in the pipeline. Each adaptive wheel is connected by a link.

The connecting rod is composed of a telescopic rod, the self-adaptive wheel is directly connected with the motor, and a protective shell wraps the self-adaptive wheel. And, arrange pressure sensor on every group drive arrangement, when drive arrangement touched hard thing (rubbish in the pipeline), driven wheel drive action wheel changed horizontal state from vertical. Meanwhile, the robot is driven by the motor to rotate in the circumferential direction, and the state of the robot is automatically adjusted, so that the dredging device is just positioned at the sludge in the pipeline.

As shown in fig. 4, which is a partial view of the reamer 4, the reamer is driven by a motor in the machine body 1, and the motor power supply is connected with an external special motor through a drain pipe 8 to generate and supply power. The unique structure of the reamer 4 can effectively thin accumulated silt and is convenient for the operation of the silt pumping pipe 3. As shown in figure 5, the driving wheel 5 is directly provided with a motor at the wheel shaft, the rotation of the driving wheel is carried out through a control circuit in the machine body, and when the size of an underground pipeline is changed, the size of the dredging robot is automatically adjusted through the telescopic rod.

As shown in fig. 6, the control system is composed of a microcontroller, a pressure sensor, a keyboard, and a motor driver. The microcontroller is mainly used for detecting the pressure on the driven wheel, analyzing the current environmental information and outputting a corresponding instruction to the motor driver; the pressure sensor can detect the pressure on the driven wheel and transmit the pressure value to the microcontroller; the keyboard can realize the setting of the parameters of the invention; the electric drive is used for driving the motor to realize the control of the reamer.

It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a self-adaptation formula pipeline desilting robot which characterized in that, includes circuit assembly, drive assembly, desilting subassembly and fuselage (1), wherein:

the driving components are provided with a plurality of groups and are arranged around the machine body (1) in a central symmetry mode by taking the machine body (1) as a symmetry center; each group of driving components comprises a telescopic rod (7), a driving wheel (5) and two driven wheels (6), and the driving wheel (5) and the driven wheels (6) are fixed on the machine body (1) through the telescopic rods (7);

the dredging component comprises a water spraying pipe (2), a silt pumping pipe (3), a reamer (4) and a drain pipe (8) which are arranged on the machine body (1); the water spray pipe (2) is arranged at the head end of the machine body (1), and the drain pipe (8) is arranged at the tail end of the machine body (1); the silt pumping pipe (3) and the reamer (4) are arranged at the bottom of the machine body (1);

the circuit component comprises a microcontroller, a pressure sensor and a motor driver; pressure sensor sets up on drive assembly, and microcontroller and motor driver set up inside fuselage (1), and pressure sensor and motor driver all link to each other with microcontroller.

2. The adaptive pipe dredging robot of claim 1, wherein the driving assemblies are provided with 3 groups, and the included angle between each group of driving assemblies is 120 °.

3. The adaptive pipeline dredging robot as claimed in claim 1, wherein in each set of driving components, two driven wheels (6) are respectively fixed at the head end and the tail end of the machine body (1) through telescopic rods (7), the driving wheel (5) is fixed between the two driven wheels (6) through the telescopic rods (7), and the driving wheel (5) and the driven wheel (6) in each set are in a straight line.

4. The self-adaptive pipeline dredging robot according to claim 1, wherein a reamer motor is further arranged inside the machine body (1), the reamer (4) is connected with the reamer motor, a power motor is directly arranged on the wheel shaft of the driving wheel (5), and the power motor and the reamer motor are both connected with the microcontroller through a motor driver.

5. The adaptive pipeline dredging robot as claimed in claim 1, wherein the driven wheel (6) is an adaptive universal wheel, and when the pressure sensor detects an obstacle, the direction of the driven wheel (6) is automatically adjusted, so that the body (1) performs circumferential rotation to avoid the obstacle.

6. The self-adaptive pipeline dredging robot according to claim 4, wherein a reamer bracket, a front end flange and a rear end flange are further arranged at the bottom of the machine body (1), the reamer bracket is fixed at the bottom of the machine body (1) through the front end flange, a reamer motor is fixed inside the machine body (1) through the rear end flange, and the reamer (4) is installed on the reamer bracket.

7. The adaptive pipe dredging robot according to claim 1, wherein the reamer (4) is a hemisphere, and a plurality of spiral blades are arranged on the hemisphere.

8. The adaptive pipe dredging robot of claim 1, wherein the circuit assembly further comprises a keyboard connected to the microcontroller for inputting control parameters.