CN108746099A - A kind of pipeline blowdown robot - Google Patents
A kind of pipeline blowdown robot Download PDFInfo
- Publication number
- CN108746099A CN108746099A CN201810607717.0A CN201810607717A CN108746099A CN 108746099 A CN108746099 A CN 108746099A CN 201810607717 A CN201810607717 A CN 201810607717A CN 108746099 A CN108746099 A CN 108746099A
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- Prior art keywords
- screw
- vehicle body
- pass
- mounting plate
- robot
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- 238000004140 cleaning Methods 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 239000002689 soil Substances 0.000 claims abstract description 31
- 238000010408 sweeping Methods 0.000 claims description 21
- 210000000245 forearm Anatomy 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 6
- 239000000356 contaminant Substances 0.000 abstract description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 4
- 239000013049 sediment Substances 0.000 abstract description 4
- 238000011109 contamination Methods 0.000 abstract description 2
- 238000001556 precipitation Methods 0.000 abstract description 2
- 238000003756 stirring Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 241000252254 Catostomidae Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 239000010883 coal ash Substances 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 239000005416 organic matter Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline blowdown robots, including two cleaning parts, two soil pick-up components, cleaning machine hand, two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；The front cleaning part of blowdown robot of the present invention can be effective for the dirt of stirring precipitation, to which sediment dirt is sucked out by soil pick-up component, blowdown robot of the present invention can clear up the hard material inside pipeline by the drill bit in front of mechanical arm of removing contamination, prevent cleaning part and soil pick-up component from being damaged by hard material, the present invention realizes moving freely for robot by transmission parts and crawler belt, complete exploring work can be carried out to pipeline inside, inventive pipeline blowdown robot is suitable for long short duct, pass through the rational dirt removed in pipeline of the manipulation of staff, it is effective to prevent energy waste and environmental pollution and the in the past limitation of cleaning way, to improve the contaminant removal effectiveness of staff.
Description
Technical field
The present invention relates to a kind of pipeline blowdown robots, belong to robotic technology field.
Background technology
Dirt is a kind of extremely widespread phenomenon, it is present in nature, daily life and in oil pipeline, heating, confession
The various industrial processes such as water system and steam power plant's coal ash exhaust system, especially due to the external world in various diabatic processes
The variation of condition easily forms dirt in inner wall of the pipe, influences production and is normally carried out with what is lived, makes effectively to transmit caliber and subtracts
Few, efficiency declines, and material consumption, energy consumption increase, and technological process is interrupted, equipment failure, and safety accident occurs.So-called dirt be typically with
Existing for the state of mixture, for example contain a large amount of substance, such as organic matter, H in the media such as oil gas of pipeline2S and
CO2, different kinds of ions, the impurity such as bacterium and silt particle.Because there is the presence of dirt composition, it just has the condition of fouling so pipe
Harm caused by road fouling has the following aspects：
（1）Energy waste；Pipeline needs during transporting using a large amount of heat transmission equipment to be crude oil heating, heating.And dirt
In the presence of, seriously affected heat exchange facilities play Operating ettectiveness, reduce heat exchange efficiency, the related energy for being used in heat conduction is big
Criticize waste.And the increase of fluid resistance also results in the rising of overall operation power cost.
（2）Environmental pollution；Make to arrange outside acid solution after cleaning using traditional chemical, increases the discharge of pollution sources, give environment
Huge pollution is brought, inconceivable consequence is brought to the production and life of people.
（3）Influence facility continuous operation；With the accumulation of dirt, there is serious blocking in heat exchange facilities and feed-line.Stop
Only convey, then scale removal, more exchange device, pipeline, cause transport can not continuous operation, seriously affect the entirety of enterprise
Profit.
（4）Operation expense increases；Operation facility, piping foundation caused by fouling bring huge economic loss, prevent and kill off
The caused power consuming of dirt processing, water resource waste, labour cost etc. all make operation expense increase.
Mainly there are following methods in pipeline cleaning depolluting processes both at home and abroad at present：（1）Chemical dirt method；According to pipe
The chemical composition of dirt is come to select suitable chemical reagent to dissolve to its scale removal in road.This method is relatively easy, but cleans
Raffinate can cause environmental pollution.（2）Mechanical descaling's method；By being goed deep into pipeline by machine tool, but this is only applicable in
In the shorter pipeline of duct length, and for long pipe road cleaned using unpowered rope hauling mode of pulling,
It can not be cleaned according to pipeline inner case.
Invention content
The purpose of the present invention is to provide a kind of pipeline blowdown robot, inventive pipeline blowdown robot is suitable for length
Pipeline, by the rational dirt removed in pipeline of the manipulation of staff, effectively prevent energy waste and environmental pollution and
The limitation of past cleaning way, to improve the contaminant removal effectiveness of staff.
Technical scheme is as follows：A kind of pipeline blowdown robot, including two cleaning parts, two soil pick-up portions
Part, cleaning machine hand, two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；
The vehicle body includes bottom plate, cover board and erecting bed, and the cover board is fixed on above bottom plate, and the erecting bed is fixed on described
Cover forward end, described two cleaning parts are connect with the both ends of the erecting bed of vehicle body respectively, and described two soil pick-up components are located at vehicle
The lower section of the erecting bed of body, and the top of described two soil pick-up components is separately mounted on the erecting bed of body structure, described two
A soil pick-up component is respectively positioned on the inside of two cleaning parts, and the cleaning machine hand is mounted on the erecting bed of vehicle body, and described
Cleaning machine hand is located above two soil pick-up components, and described two transmission parts are separately mounted on the bottom plate of the vehicle body, and
Below the cover board, described two crawler haulage components are separately mounted to the both sides of the bottom plate of vehicle body, described two crawler belts
Transmission parts are located at the outside of two transmission parts, and described two crawler haulage components connect with homonymy transmission parts respectively
It connects, described two shooting parts are separately mounted to both ends at the top of the cover board of vehicle body, and two shooting parts are located at the cleaning part
Part rear.
The structure of described two cleaning parts is identical, and each cleaning part includes sweeping disk, motor I, sweeping plate rail, fixing axle；
One end of the fixing axle is fixedly connected with one end of the erecting bed of vehicle body, and the plate rail of sweeping includes holder, connecting rod, institute
The one end for stating connecting rod is connect by screw VIII with the other end of fixing axle, and the other end and holder one end of the connecting rod connect
It connects, motor I is installed at the top of the holder；
The disk of sweeping includes a piece of above sweeping blade and shaft, and one end of a piece of above sweeping blade is separately fixed at shaft
On, the shaft is mounted on the front end for the holder for sweeping plate rail, the output shaft of the motor pass through cantilever tip and by key with
Sweep the shaft connection of disk.
The structure of described two soil pick-up components is identical, and each soil pick-up component includes sucker, nut；The top of the sucker
Portion is fixed on by nut on the erecting bed of vehicle body.
The sucker is vacuum cup.
The cleaning machine hand include drill bit, pin I, forearm, sleeve, support element, large arm, connector, tower seat, pedestal,
Screw VII, screw VI, screw V, screw IV, III, two, screw, II, four, screw screw I；
The pedestal is fixed on by four screws I on the cover board of vehicle body, and the tower seat is fixed on pedestal by two screws II
On, the support element is fixed on by screw III on tower seat, and the large arm is fixed on by screw IV on tower seat, the connector
One end connect with the top of support element by screw V, the other end of the connector at the top of screw VI and large arm by connecting
Connect, the sleeve is fixed on by screw VII on connector, and one end of the forearm is inserted into the sleeve, the forearm it is another
Drill bit is installed in one end, and the drill bit is mounted on by pin I on forearm.
The structure of described two transmission parts is identical, and each transmission parts include reduction box, it is motor II, small pulley, same
Walk the screw-nut pair, transmission shaft of band, big belt wheel, pinion gear, gear wheel, axle, mounting plate I, mounting plate II, one or more；
The mounting plate I, mounting plate II are fixed on by one or more screw-nut pair on the bottom plate of vehicle body respectively, described to subtract
Fast case is fixed on by four screw-nut pairs on mounting plate II, and the output shaft of the motor II is connect with reduction box, described to subtract
Small pulley is installed, one end of the axle is mounted on mounting plate I by bearing, is installed on the axle on the output shaft of fast case
Gear wheel, the transmission shaft passes through mounting plate I, and big belt wheel is installed in one end of transmission shaft, and the other end of transmission shaft installs small tooth
Wheel, the big belt wheel are connect with small pulley by synchronous belt, by transmission parts, the power of motor II are transmitted on axle,
Realize the rotation of axle.
The structure of described two crawler haulage components is identical, and each crawler haulage component includes preceding Athey wheel, vehicle body company
Fishplate bar, axis, bearing, pin II, rear Athey wheel, crawler belt；
The bottom of the car body connecting plate is fixed on the bottom plate of vehicle body, and the other end of the axle of transmission parts is connected across vehicle body
One end of Athey wheel after plate and installation, the axis is mounted on by bearing on car body connecting plate, and the other end of the axis passes through axis
Athey wheel before being installed with pin II is held, the crawler belt is sleeved on preceding Athey wheel and rear Athey wheel, and rear Athey wheel becomes driving wheel,
Athey wheel drives crawler belt rotation after driving wheel, realizes the movement of robot.
The structure of described two shooting parts is identical, and each shooting part includes III, four supporting rod of mounting plate, camera shooting
Head, mounting plate IV, two headlamp, screw Ⅸ；
The mounting plate III is fixed on the cover board of vehicle body, and the both sides of the mounting plate III are respectively equipped with two supporting rods, described
One end of four supporting rods is mounted on by screw Ⅸ on mounting plate III respectively, and the other end of four supporting rods passes through respectively
Screw Ⅸ is connect with the both sides of mounting plate IV, and the top of the mounting plate IV is set there are two headlamp, and the camera is mounted on
On mounting plate IV, and camera is located at the lower section of two headlamps, by shooting part it is clear that miscellaneous in ground understanding pipeline
Principle condition, and make corresponding rational treatment measures.
On the bottom plate of the vehicle body by supporting rack install suction pump, the suction pump by pipeline respectively with two soil pick-ups
The sucker of component is connected to.
The present invention operation principle be：
Inventive pipeline blowdown robot is put into the pipeline for needing blowdown, the plate rail of sweeping in robot plays fixed and branch
The effect of support, motor I provide power to sweep disk, and disk stirred up dirt is swept in drive, realize the cleaning effect of sediment, sweep plate rail and fix
On the erecting bed of vehicle body, moved with cleaning part by vehicle body；Sucker is fixed below the erecting bed of vehicle body, and sucker is used for
Dirt is drawn, is moved with soil pick-up component again by vehicle body；It is transported by the joint in each joint of the mechanical arm of cleaning machine hand
It is dynamic, realize that the change of manipulator bit location, the drill bit of cleaning machine on hand are used to clear up the hard object inside pipeline, to dredge
It threads a pipe；The reduction box of transmission parts provides power by motor II and realizes the transmission of reduction box, and reduction box drives small band rotation
Dynamic, small pulley drives big belt wheel to rotate by synchronous belt, since big belt wheel and pinion gear are coaxially connected, and pinion gear and gear wheel
Engagement, gear wheel are mounted on axle, by the above transmission parts, the power of motor are transmitted on axle, realize axle
Rotation；Athey wheel is driving wheel afterwards, and Athey wheel drives crawler belt rotation after driving wheel, realizes the movement of robot；Camera shooting
The sundries situation in pipeline can be well understood in component with let us, and makes corresponding rational treatment measures.
Compared with prior art, the beneficial effects of the invention are as follows：
（1）The front cleaning part of blowdown robot of the present invention can be effective for the dirt of stirring precipitation, to pass through soil pick-up
Sediment dirt is sucked out component.
（2）Blowdown robot of the present invention can clear up the hard object inside pipeline by the drill bit in front of mechanical arm of removing contamination
Matter prevents clearing apparatus and sewage suction device from being damaged by hard material.
（3）Blowdown robot of the present invention camera can observe pipeline inner case and propose at any time for staff
Corresponding rational solution, effectively improves contaminant removal effectiveness.
（4）The present invention realizes moving freely for robot by transmission parts and crawler belt, can have been carried out to pipeline inside
Full exploring work.
（5）The vehicle body of the present invention is smaller, can adapt to most pipeline cleaning, effectively prevents energy waste and environment
Pollution and the in the past limitation of cleaning way, to improve the contaminant removal effectiveness of staff.
Description of the drawings
Fig. 1 is the overall structure diagram inside the present invention；
Fig. 2 is the overall structure diagram outside the present invention；
Fig. 3 is the structural schematic diagram of the cleaning part of the present invention；
Fig. 4 is the structural schematic diagram of the soil pick-up component of the present invention；
Fig. 5 is the structural schematic diagram of the shooting part of the present invention；
Fig. 6 is the structural schematic diagram of the cleaning machine hand of the present invention；
Fig. 7 is the structural schematic diagram of the vehicle body of the present invention；
Fig. 8 is the structural schematic diagram of the transmission parts of the present invention；
Fig. 9 is the structural schematic diagram of the crawler haulage component of the present invention；
Each label in figure：1-, which sweeps disk, 2- motors I, 3- and sweeps plate rail, 4- suckers, 5- nuts, 6- mounting plates III, 7- supporting rods, 8-, to be taken the photograph
As head, 9- mounting plates IV, 10- headlamps, 11- screws Ⅸ, 12- drill bits, 13- pins I, 14- forearms, 15- sleeves, 16- supports
Part, 17- large arm, 18- connectors, 19- towers seat, 20- pedestals, 21- suction pumps, 22- screws VI, 23- screws V, 24- screws IV,
25- screws III, 26- screws II, 27- screws I, 28- bottom plates, 29- cover boards, 30- erecting beds, 31- fixing axles, 32- screws VIII,
33- reduction boxes, 34- motors II, 35- small pulleys, 36- synchronous belts, 37- big belt wheels, 38- pinion gears, 39- gear wheels, 40- vehicles
Athey wheel, 45- car body connecting plates, 46- axis, 47- axis before axis, 41- mounting plates I, 42- mounting plates II, 43- screw-nuts pair, 44-
It holds, Athey wheel, 50- crawler belts, 51- holders, 52- connecting rods, 53- sweeping blade, 54- shafts after 48- pin IIs, 49-.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the invention will be further described.
Embodiment 1：As shown in Fig. 1 ~ 9, a kind of automatic pollution discharge robot, including two cleaning parts, two soil pick-up components,
Cleaning machine hand, two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；
The vehicle body includes bottom plate 28, cover board 29 and erecting bed 30, and the cover board 29 is fixed on 28 top of bottom plate, the erecting bed
30 are fixed on 29 front end of the cover board, and described two cleaning parts are connect with the both ends of the erecting bed of vehicle body 30 respectively, and described two
A soil pick-up component is located at the lower section of the erecting bed 30 of vehicle body, and the top of described two soil pick-up components is separately mounted to body structure
Erecting bed 30 on, described two soil pick-up components are respectively positioned on the inside of two cleaning parts, and the cleaning machine hand is mounted on vehicle
On the erecting bed 30 of body, and the cleaning machine hand is located above two soil pick-up components, and described two transmission parts are installed respectively
On the bottom plate 28 of the vehicle body, and positioned at 29 lower section of the cover board, described two crawler haulage components are separately mounted to vehicle body
Bottom plate 28 both sides, described two crawler haulage components are located at the outside of two transmission parts, and described two crawler belts pass
Dynamic component is connect with homonymy transmission parts respectively, and described two shooting parts are separately mounted to the 29 top both ends of cover board of vehicle body,
And two shooting parts are located at the cleaning part rear.
The structure of described two cleaning parts is identical, and each cleaning part includes sweeping disk 1, motor I 2, sweeping plate rail 3, is fixed
Axis 31；
One end of the fixing axle 31 is fixedly connected with one end of the erecting bed 30 of vehicle body, and the plate rail 3 of sweeping includes holder 51, connects
One end of extension bar 52, the connecting rod 52 is connect by screw VIII 32 with the other end of fixing axle 31, the connecting rod 52 it is another
One end is connect with 51 one end of holder, and motor I 2 is installed at the top of the holder 51；
The disk 1 of sweeping includes 4 sweeping blade 53 and shaft 54, and one end of 4 sweeping blade 53 is separately fixed in shaft 54, described
Shaft 54 is mounted on and sweeps on the front end of holder 51 of plate rail 3, and the output shaft of the motor I 2 passes through 51 top of holder and passes through key
It is connect with the shaft 54 for sweeping disk 1.
The structure of described two soil pick-up components is identical, and each soil pick-up component includes sucker 4, nut 5；The sucker 4
Top be fixed on the erecting bed 30 of vehicle body by nut 5.
The sucker 4 is vacuum cup.
The cleaning machine hand includes drill bit 12, pin I 13, forearm 14, sleeve 15, support element 16, large arm 17, connector
18, tower seat 19, pedestal 20, screw VII, screw VI 22, screw V 23, screw IV 24, III 25, two, screw, II 26, four, screw
Screw I 27；
The pedestal 20 is fixed on by four screws I 27 on the cover board 29 of vehicle body, and the tower seat 19 passes through two screws II 26
It is fixed on pedestal 20, the support element 16 is fixed on by screw III 25 on tower seat 19, and the large arm 17 passes through screw IV 24
It is fixed on tower seat 19, one end of the connector 18 is connect by screw V 23 with the top of support element 16, the connector
18 other end is connect by screw VI 22 with the top of large arm 17, and the sleeve 15 is fixed on connector 18 by screw VII
On, one end of the forearm 14 is inserted into the sleeve 15, and the other end of the forearm 14 installs drill bit 12, and the drill bit 12 is logical
Pin I 13 is crossed on forearm 14.
The structure of described two transmission parts is identical, and each transmission parts 4 include reduction box 33, motor II 34, small band
II 42,10 wheel 35, synchronous belt 36, big belt wheel 37, pinion gear 38, gear wheel 39, axle 40, mounting plate I 41, mounting plate screws
Pair of nut 43, transmission shaft；
The mounting plate I 41 is fixed on by two screw-nut pairs 43 on the bottom plate 28 of vehicle body, and the mounting plate II 42 passes through
Four screw-nut pairs 43 are fixed on the bottom plate 28 of vehicle body, and the reduction box 33 is fixed on peace by four screw-nut pairs 43
In loading board II 42, the output shaft of the motor II 34 is connect with reduction box 33, and small band is installed on the output shaft of the reduction box 33
One end of wheel 35, the axle 40 is mounted on by bearing on mounting plate I 41, and gear wheel 39 is installed on the axle 40, described
Transmission shaft passes through mounting plate I 41, and big belt wheel 37 is installed in one end of transmission shaft, and the other end of transmission shaft installs pinion gear 38, institute
Big belt wheel 37 is stated to connect with small pulley 35 by synchronous belt 36.
The structure of described two crawler haulage components is identical, and each crawler haulage component includes preceding Athey wheel 44, vehicle body
Connecting plate 45, axis 46, bearing 47, pin II 48, rear Athey wheel 49, crawler belt 50；
The bottom of the car body connecting plate 45 is fixed on the bottom plate 28 of vehicle body, and the other end of the axle 40 of transmission parts passes through vehicle
One end of Athey wheel 49 after body connecting plate 45 and installation, the axis 46 is mounted on by bearing on car body connecting plate 45, the axis
Athey wheel 44 before 46 other end is installed by bearing 47 and pin II 48, Athey wheel 44 and rear shoe before the crawler belt 50 is sleeved on
On belt wheel 49.
The structure of described two shooting parts is identical, and each shooting part includes III 6, four supporting rods 7 of mounting plate, takes the photograph
As head 8, mounting plate IV 9, two headlamps 10, screws Ⅸ 11；
The mounting plate III 52 is fixed on the cover board 29 of vehicle body, and the both sides of the mounting plate III 52 are respectively equipped with two supporting rods
51, one end of four supporting rods 51 is mounted on by screw Ⅸ 11 on mounting plate III 52 respectively, four supporting rods 51
The other end connect respectively with the both sides of mounting plate IV 9 by screw Ⅸ 11, the top of the mounting plate IV 9 sets that there are two illuminations
Lamp 10, the camera 8 is mounted on mounting plate IV 9, and camera 8 is located at the lower section of two headlamps 10.
Suction pump 21 is installed by supporting rack on the bottom plate 28 of the vehicle body, the suction pump 21 is by pipeline respectively with two
The sucker 4 of a soil pick-up component is connected to.
The course of work of the present embodiment is：
Inventive pipeline blowdown robot is put into the pipeline for needing blowdown, plate rail 3 is swept in robot and plays fixed and branch
The effect of support, motor I 2 are to sweep disk 1 to provide power, and 1 stirred up dirt of disk is swept in drive, is realized the cleaning effect of sediment, is swept plate rail 3
It is fixed on the erecting bed 30 of vehicle body, is moved with cleaning part by vehicle body；Sucker 4 is fixed under the erecting bed 30 of vehicle body
Side, sucker 4 are used for drawing dirt, are moved with soil pick-up component again by vehicle body；Mechanical arm by cleaning machine hand is each
The change of manipulator bit location is realized in the Union Movement in joint, and the drill bit of cleaning machine on hand is for clearing up inside pipeline
Hard object, to dredging pipeline；The reduction box 33 of transmission parts provides power by motor II 34 and realizes the transmission of reduction box, subtracts
Fast case 33 drives small pulley 35 to rotate, and small pulley 35 drives big belt wheel 37 to rotate by synchronous belt 36, due to big belt wheel 37 and small
Gear 38 is coaxially connected, and pinion gear 38 and gear wheel 39 engage, and gear wheel 39 is mounted on axle 40, passes through the above driving section
The power of motor is transmitted on axle by part, realizes the rotation of axle；Athey wheel 49 is driving wheel afterwards, after driving wheel
Athey wheel 49 drives crawler belt 50 to rotate, and realizes the movement of robot；Shooting part can be well understood with let us in pipeline
Sundries situation, and make corresponding rational treatment measures；Vehicle body plays the role of fixed all devices, and by vehicle body with institute
There is mechanism to move together, completes blowdown operation.
Specific embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Example is applied, it within the knowledge of a person skilled in the art, can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (9)
1. a kind of pipeline blowdown robot, which is characterized in that including two cleaning parts, two soil pick-up components, cleaning machine hand,
Two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；
The vehicle body includes bottom plate（28）, cover board（29）And erecting bed（30）, the cover board（29）It is fixed on bottom plate（28）Top,
The erecting bed（30）It is fixed on the cover board（29）Front end, described two cleaning parts respectively with the erecting bed of vehicle body（30）'s
Both ends connect, and described two soil pick-up components are located at the erecting bed of vehicle body（30）Lower section, and the top of described two soil pick-up components
It is separately mounted to the erecting bed of body structure（30）On, described two soil pick-up components are respectively positioned on the inside of two cleaning parts, institute
State the erecting bed that cleaning machine hand is mounted on vehicle body（30）On, and the cleaning machine hand is located above two soil pick-up components, institute
State the bottom plate that two transmission parts are separately mounted to the vehicle body（28）On, and it is located at the cover board（29）Lower section, it is described two
Crawler haulage component is separately mounted to the bottom plate of vehicle body（28）Both sides, described two crawler haulage components are located at two biographies
The outside of dynamic component, described two crawler haulage components are connect with homonymy transmission parts respectively, described two shooting part difference
Mounted on the cover board of vehicle body（29）Top both ends, and two shooting parts are located at the cleaning part rear.
2. pipeline blowdown according to claim 1 robot, it is characterised in that：The structure phase of described two cleaning parts
Together, each cleaning part includes sweeping disk（1）, motor I（2）, sweep plate rail（3）, fixing axle（31）；
The fixing axle（31）One end and vehicle body erecting bed（30）One end be fixedly connected, it is described to sweep plate rail（3）Including branch
Frame（51）, connecting rod（52）, the connecting rod（52）One end pass through screw VIII（32）With fixing axle（31）The other end connection,
The connecting rod（52）The other end and holder（51）One end connects, the holder（51）Top install motor I（2）；
It is described to sweep disk（1）Including a piece of above sweeping blade（53）And shaft（54）, a piece of above sweeping blade（53）One end
It is separately fixed at shaft（54）On, the shaft（54）Mounted on sweeping plate rail（3）Holder（51）Front end on, the motor I
（2）Output shaft pass through holder（51）Top and by key and sweeping disk（1）Shaft（54）Connection.
3. pipeline blowdown according to claim 1 robot, it is characterised in that：The structure phase of described two soil pick-up components
Together, each soil pick-up component includes sucker（4）, nut（5）；The sucker（4）Top pass through nut（5）It is fixed on vehicle body
Erecting bed（30）On.
4. pipeline blowdown according to claim 3 robot, it is characterised in that：The sucker（4）For vacuum cup.
5. pipeline blowdown according to claim 1 robot, it is characterised in that：The cleaning machine hand includes drill bit
（12）, pin I（13）, forearm（14）, sleeve（15）, support element（16）, large arm（17）, connector（18）, tower seat（19）, pedestal
（20）, screw VII, screw VI（22）, screw V（23）, screw IV（24）, screw III（25）, two screws II（26）, four spiral shells
Nail I（27）；
The pedestal（20）Pass through four screws I（27）It is fixed on the cover board of vehicle body（29）On, the tower seat（19）Pass through two
Screw II（26）It is fixed on pedestal（20）On, the support element（16）Pass through screw III（25）It is fixed on tower seat（19）On, it is described
Large arm（17）Pass through screw IV（24）It is fixed on tower seat（19）On, the connector（18）One end pass through screw V（23）With branch
Support member（16）Top connection, the connector（18）The other end pass through screw VI（22）With large arm（17）Top connection,
The sleeve（15）It is fixed on connector by screw VII（18）On, the forearm（14）One end be inserted into the sleeve（15）
It is interior, the forearm（14）The other end install drill bit（12）, the drill bit（12）Pass through pin I（13）Mounted on forearm（14）
On.
6. pipeline blowdown according to claim 1 robot, it is characterised in that：The structure phase of described two transmission parts
Together, and each transmission parts（4）Including reduction box（33）, motor II（34）, small pulley（35）, synchronous belt（36）, big belt wheel
（37）, pinion gear（38）, gear wheel（39）, axle（40）, mounting plate I（41）, mounting plate II（42）, one or more screw spiral shell
It is female secondary（43）, transmission shaft；
The mounting plate I（41）, mounting plate II（42）Pass through one or more screw-nut pair respectively（43）It is fixed on vehicle body
Bottom plate（28）On, the reduction box（33）Pass through four screw-nut pairs（43）It is fixed on mounting plate II（42）On, the motor
Ⅱ（34）Output shaft and reduction box（33）Connection, the reduction box（33）Output shaft on small pulley is installed（35）, the vehicle
Axis（40）One end by bearing be mounted on mounting plate I（41）On, the axle（40）Upper installation gear wheel（39）, the transmission
Axis passes through mounting plate I（41）, and big belt wheel is installed in one end of transmission shaft（37）, the other end installation pinion gear of transmission shaft（38）,
The big belt wheel（37）Pass through synchronous belt（36）With small pulley（35）Connection.
7. pipeline blowdown according to claim 1 robot, it is characterised in that：The structure of described two crawler haulage components
It is identical, and each crawler haulage component includes preceding Athey wheel（44）, car body connecting plate（45）, axis（46）, bearing（47）, pin II
（48）, rear Athey wheel（49）, crawler belt（50）；
The car body connecting plate（45）Bottom be fixed on the bottom plate of vehicle body（28）On, the axle of transmission parts（40）The other end
Across car body connecting plate（45）And Athey wheel after installing（49）, the axis（46）One end by bearing be mounted on car body connecting plate
（45）On, the axis（46）The other end pass through bearing（47）And pin II（48）Athey wheel before installation（44）, the crawler belt
（50）It is sleeved on preceding Athey wheel（44）With rear Athey wheel（49）On.
8. pipeline blowdown according to claim 1 robot, it is characterised in that：The structure phase of described two shooting parts
Together, and each shooting part includes mounting plate III（6）, four pieces supporting rods（7）, camera（8）, mounting plate IV（9）, two illuminations
Lamp（10）, screw Ⅸ（11）；
The mounting plate III（52）It is fixed on the cover board of vehicle body（29）On, the mounting plate III（52）Both sides be respectively equipped with two
Supporting rod（51）, four supporting rods（51）One end pass through screw Ⅸ respectively（11）Mounted on mounting plate III（52）On, institute
State four supporting rods（51）The other end pass through screw Ⅸ respectively（11）With mounting plate IV（9）Both sides connection, the mounting plate
Ⅳ（9）Top set there are two headlamp（10）, the camera（8）Mounted on mounting plate IV（9）On, and camera（8）Position
In two headlamps（10）Lower section.
9. pipeline blowdown according to claim 1 robot, it is characterised in that：The bottom plate of the vehicle body（28）On pass through branch
Support installs suction pump（21）, the suction pump（21）Pass through the pipeline sucker with two soil pick-up components respectively（4）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810607717.0A CN108746099A (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810607717.0A CN108746099A (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108746099A true CN108746099A (en) | 2018-11-06 |
Family
ID=64022501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810607717.0A Pending CN108746099A (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
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| Country | Link |
|---|---|
| CN (1) | CN108746099A (en) |
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| CN109759399A (en) * | 2019-03-09 | 2019-05-17 | 赵东鸣 | A kind of pipeline cleaning robot |
| CN110053886A (en) * | 2019-05-09 | 2019-07-26 | 贵州理工学院 | A kind of coal bunker cleaning intelligent robot |
| CN111720665A (en) * | 2020-06-24 | 2020-09-29 | 王栋 | Pipeline trash-cleaning robot |
| CN112744341A (en) * | 2020-12-25 | 2021-05-04 | 德州职业技术学院（德州市技师学院） | Launching operation robot |
| CN113695329A (en) * | 2021-08-06 | 2021-11-26 | 浙大城市学院 | Crawler-type pipeline dredging robot |
| CN114526400A (en) * | 2022-02-17 | 2022-05-24 | 国家石油天然气管网集团有限公司 | Pipeline cleaner unfreezing device |
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