CN108895244A - A kind of variable diameter seabed tunnel robot for cleaning - Google Patents
A kind of variable diameter seabed tunnel robot for cleaning Download PDFInfo
- Publication number
- CN108895244A CN108895244A CN201810510939.0A CN201810510939A CN108895244A CN 108895244 A CN108895244 A CN 108895244A CN 201810510939 A CN201810510939 A CN 201810510939A CN 108895244 A CN108895244 A CN 108895244A
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- China
- Prior art keywords
- pipe walls
- cutter head
- walls support
- wheel
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
-
- 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
Abstract
The present invention provides a kind of variable diameter seabed tunnel robot for cleaning, it is therefore an objective to be the seabed tunnel for cleaning Large Diameter Pipeline, long range, working condition complexity with water.Its structure includes：Cutter head assembly, preceding cylinder block set, wriggling component, rear cylinder block set etc., by hydraulic system, link mechanism, gear mechanism, motor driven complete robot on one's own time section wheel driving transport, at work between section cutter head radial expansion and body peristaltic action, and then realize and different tube diameters seabed tunnel cleaned with water, two-way wriggly walking, land carry function.Variable diameter seabed tunnel robot for cleaning of the invention have the characteristics that stability is reliable, obstacle climbing ability is strong, it is adaptive to tapered pipeline it is good, the speed of travel is fast, work efficiency is high, it is high-power, high-intensitive clean cutter with water, seabed tunnel is cleaned with water with engineering significance.
Description
Technical field
The present invention relates to a kind of variable diameter seabed tunnel robot for cleaning, belong to variable diameter seabed tunnel robot for cleaning technology neck
Domain.
Background technique
In recent years, the automation and intelligent operation demand cleaned with water both at home and abroad to seabed tunnel constantly increase.Currently, domestic
Seabed tunnel cleaning with water main or completed by artificial, clean working environment and its complicated severe, nothing during cleaning with water with water
Method predicts the case where tunnel, so that the degree of danger cleaned with water greatly improves.Now Domestic has had some pipes in the market
Robot is cleared up in road, but the caliber that existing these pipeline cleanings machine people is cleared up is smaller, the caliber range cleared up has
Limit, cleaning tool strength is insufficient, the speed of travel is slower, and seabed tunnel caliber is very big, distance is very long, working condition is multiple
It is miscellaneous, therefore these existing cleaning robots are unable to satisfy the seabed tunnel to Large Diameter Pipeline, long range, working condition complexity in the market
Clean work with water in road.The case where for Large Diameter Pipeline, long range, working condition complexity seabed tunnel is cleaned with water, develops a kind of big pipe of adaptation
Diameter, variable diameter, high-power, the high-intensitive variable diameter seabed tunnel robot for cleaning for cleaning cutter with water.
Summary of the invention
The purpose of the present invention is to solve Large Diameter Pipeline, long range, working condition complexity seabed tunnel is cleaned with water, one kind is developed
Large Diameter Pipeline, variable diameter, high-power, the high-intensitive variable diameter seabed tunnel robot for cleaning for cleaning cutter with water are adapted to, is one kind in inoperative
Handling process in period is walked by carrying the wheel singly driven, by hydraulic system in working time section in seabed tunnel
Realize the variable diameter robot for cleaning of tunnel inner wall support and two-way wriggly walking.
The object of the present invention is achieved like this：Including cutter head assembly, preceding cylinder block set, wriggling component and rear body group
Part, the cutter head assembly include cutterhead pedestal, be symmetrically hinged on three cutter head support bars on cutterhead pedestal, respectively with cutterhead branch
Strut hinged cutterhead, the blade that is uniformly arranged on cutterhead, between each cutter head support bar and cutterhead, each cutter head support
Cutterhead hydraulic cylinder is respectively arranged between bar and cutterhead pedestal, the preceding cylinder block set and rear cylinder block set include casing, set
It sets pipe walls support pedestal one and pipe walls support pedestal two in casing, the wheel cabinet being arranged in casing, be arranged in wheel
The intracorporal wheel lifting hydraulic cylinder of case, the axletree clamper being arranged on wheel lifting hydraulic cylinder, setting are clamped in axletree
Axletree in device, is arranged between pipe walls support pedestal one and pipe walls support pedestal two wheel that axletree both ends are arranged in
Pipe walls support guiding optical axis, the pipe walls support guiding linear bearing and pipe walls support that is arranged on pipe walls support guiding optical axis
It is oriented to the connected pipe walls support guide pad of linear bearing, the pipe being arranged between pipe walls support guide pad and pipe walls support pedestal one
Wall supporting cylinder, is arranged in each pipe walls support bar two the pipe walls support bar two being symmetrically hinged on pipe walls support guide pad
The pipe walls support foot of end, three pipe walls supports being respectively hinged between three pipe walls support bars two and pipe walls support pedestal one
Bar one；Rear body wheel drive motors, rear wheel driving motor are additionally provided on the axletree clamper of cylinder block set after described
Output end on be provided with rear body vehicle wheel drive gear one, rear body wheel is also equipped on the axletree of rear cylinder block set and is driven
Moving gear two, rear body vehicle wheel drive gear one are engaged with rear body vehicle wheel drive gear two；The casing of the preceding cylinder block set
Interior front end is additionally provided with driving cutter head motor cabinet, drives and is symmetrically installed on cutter head motor cabinet there are three cutter head motor is driven, often
One planetary gear is installed, the middle position of the driving cutter head motor cabinet is provided with cutter head on the output shaft of a driving cutter head motor
Axis is provided with centre wheel on cutter head axis, and three planetary gears engages with centre wheel simultaneously, the end of the cutter head axis and cutterhead pedestal
It is connected；The wriggling component includes the preceding engine body end cover connecting with the shell of preceding cylinder block set, the shell company with rear cylinder block set
The rear engine body end cover connect, the wriggling hydraulic cylinder being arranged between preceding engine body end cover and rear engine body end cover.
The invention also includes structure features some in this way：
1. pipe walls support guiding optical axis and pipe walls support guiding linear bearing respectively there are three and be symmetrical arranged.
2. being also symmetrically arranged with three groups of wriggling guiding optical axises between the preceding engine body end cover and rear engine body end cover and wriggling being led
To linear bearing.
Compared with prior art, the beneficial effects of the invention are as follows：Variable diameter seabed tunnel robot for cleaning of the invention is a kind of
The handling process in section is walked by carrying wheel of singly driving on one's own time, by liquid in working time section in seabed tunnel
Pressure system realizes the variable diameter robot for cleaning of tunnel inner wall support and two-way wriggly walking.The variable diameter seabed tunnel developed is clear
Brush robotic have stability is reliable, obstacle climbing ability is strong, it is to tapered pipeline adaptive it is good, the speed of travel is fast, work efficiency is high
Feature.
The present invention provides that a kind of to clean Large Diameter Pipeline, long range, the variable diameter seabed tunnel of working condition complexity seabed tunnel with water clear
Brush robotic, the handling process in section is walked by carrying wheel of singly driving, is worked in seabed tunnel on one's own time
The variable diameter robot for cleaning of tunnel inner wall support and two-way wriggly walking is realized in period by hydraulic system.Relative to existing
Technology, the spy reliable with stability, obstacle climbing ability is strong, adaptively good to tapered pipeline, the speed of travel is fast, work efficiency is high
Point.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the cutter head assembly structural schematic diagram of the embodiment of the present invention；
Fig. 3 is the cutter head assembly main view of the embodiment of the present invention；
Fig. 4 is the cutter head assembly cross-sectional view A-A of the embodiment of the present invention；
Fig. 5 is the preceding cylinder block set of the embodiment of the present invention from the schematic diagram of internal structure in terms of LOOK LEFT；
Fig. 6 is the preceding cylinder block set of the embodiment of the present invention from the schematic diagram of internal structure in terms of LOOK RIGHT；
Fig. 7 is the preceding cylinder block set main view of the embodiment of the present invention；
Fig. 8 is the rear cylinder block set schematic diagram of internal structure of the embodiment of the present invention；
Fig. 9 a and Fig. 9 b are rear cylinder block set main view and left view of the invention respectively；
Figure 10 is the partial enlarged view of the rear cylinder block set main view of the embodiment of the present invention；
Figure 11 is the wriggling component structure diagram of the embodiment of the present invention；
Figure 12 is the schematic diagram that robot of the embodiment of the present invention only has cutter head to enter seabed tunnel；
Figure 13 is that body wheel will enter the schematic diagram of seabed tunnel before robot of the embodiment of the present invention；
Figure 14 is that body wheel will enter the schematic diagram of seabed tunnel after robot of the embodiment of the present invention；
Figure 15 is that the preceding body support component of robot of the embodiment of the present invention supports tube wall to affect rear body row by wriggling component
Walk schematic diagram；
Figure 16 be after robot of the embodiment of the present invention body support component support tube wall by body row before wriggling components drive
Walk schematic diagram.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
As shown in Figure 1, the present invention is a kind of variable diameter seabed tunnel robot for cleaning, it is characterised in that：It is cutter head assembly 1, preceding
Cylinder block set 2, wriggling component 3, rear cylinder block set 4；
Wherein, the cutter head assembly 1 is coupled and transmitting power by the axis in preceding cylinder block set 2 with the realization of preceding cylinder block set 2
And cleanup action is completed, preceding cylinder block set 2 realizes the movement for coupling and completing wriggly walking with rear body 4 by wriggling component 3；
As shown in Figure 2,3, 4, cutter head assembly 1 include blade 1-1, cutterhead 1-2, cutter head support bar 1-3, cutterhead pedestal 1-4,
One 1-5.1 of cutterhead hydraulic push rod, one 1-5.2 of cutterhead hydraulic cylinder, two 1-6.1 of cutterhead hydraulic push rod, two 1-6.2 of cutterhead hydraulic cylinder；
Wherein, the blade 1-1 is circumferentially uniformly mounted on cutterhead 1-2 along cutterhead 1-2, and cutterhead 1-2 is by cutter head support bar 1-3
On cutterhead pedestal 1-4, one 1-6.1 of cutterhead hydraulic push rod and one 1-6.2 of cutterhead hydraulic cylinder support cutter head support bar 1-3 make knife
Disk support rod 1-3 makees the circular motion relative to cutterhead pedestal 1-4, two 1- of two 1-5.1 of cutterhead hydraulic push rod and cutterhead hydraulic cylinder
5.2 support cutterhead 1-2 make cutterhead 1-2 make the circular motion relative to cutter head support bar 1-3, and above-mentioned two circular motion makes cutterhead
Realize variable diameter；
As shown in Fig. 5,6,7, preceding cylinder block set 2 includes cutter head axis 2-1, planetary gear 2-2.1, centre wheel 2-2.2, driving knife
It is head motor 2-3, driving cutter head motor cabinet 2-4, preceding one 2-5 of body pipe walls support pedestal, preceding one 2-6 of body pipe walls support bar, preceding
Two 2-7 of body pipe walls support bar, preceding body pipe walls support foot 2-8, preceding body casing 2-9, preceding body pipe walls support guide pad 2-
10, preceding two 2-11 of body pipe walls support pedestal, preceding body pipe walls support guiding optical axis 2-12, preceding body pipe walls support are oriented to straight line
Bearing 2-13, preceding body pipe walls support hydraulic cylinder 2-14, preceding body pipe walls support hydraulic push rod 2-15, preceding body wheel cabinet 2-
16, preceding body wheel raise-lower hydraulic push rod 2-17, preceding body wheel lifting hydraulic cylinder 2-18, preceding body axletree clamper 2-
19, preceding body axletree 2-20, preceding body wheel 2-21；
Wherein, the cutter head axis 2-1 is installed on driving cutter head motor cabinet 2-4, driving cutter head motor cabinet 2-4 is fixed on preceding machine
It is equipped on body casing 2-9, driving cutter head motor cabinet 2-4 on driving cutter head motor 2-3, driving cutter head motor 2-3 and planetary gear is housed
2-2.1, centre wheel 2-2.2 are intermeshed loaded on cutter head axis 2-1, centre wheel 2-2.2 and planetary gear 2-2.1, drive cutter head motor
2-3 drive planetary gear 2-2.1, planetary gear 2-2.1 driving centre wheel 2-2.2, centre wheel 2-2.2 driving cutter head axis 2-1 rotation from
And realize the rotation cleanup action of cutter head during the work time；
Wherein, the preceding body pipe walls support hydraulic cylinder 2-14 and preceding one 2-6 of body pipe walls support bar is mounted in preceding body pipe
On one 2-5 of wall support base, preceding body pipe walls support hydraulic push rod 2-15 and preceding two 2-7 of body pipe walls support bar be mounted in preceding body
Pipe walls support guide pad 2-10, preceding body pipe walls support hydraulic cylinder 2-14 and preceding body pipe walls support hydraulic push rod 2-15 cooperation are pacified
Dress, preceding one 2-5 of body pipe walls support pedestal and preceding two 2-11 of body pipe walls support pedestal are oriented to optical axis by preceding body pipe walls support
Body casing 2-9, preceding body pipe walls support guide pad 2-10 are oriented to equipped with preceding body pipe walls support before 2-12 couples and is fixed on
Linear bearing 2-13 simultaneously matches preceding body pipe walls support guiding linear bearing 2-13 and preceding body pipe walls support guiding optical axis 2-12
Installation is closed, two 2-7 of body pipe walls support bar before preceding body pipe walls support foot 2-8 is mounted on, since preceding body pipe walls support is hydraulic
Body pipe walls support guide pad 2-10 is in preceding body before the stretching of cylinder 2-14 and preceding body pipe walls support hydraulic push rod 2-15 drive
Pipe walls support, which is oriented on optical axis 2-12, realizes linear motion, so that preceding two 2-7 of body pipe walls support bar and preceding body tube wall
The preceding body pipe walls support foot 2-8 of one 2-6 of support rod support realizes the variation of radial position, to realize in different tube diameters tunnel
The support of inner wall；
Wherein, before the preceding body wheel cabinet 2-16 is fixed on inside body casing 2-9, preceding body wheel cabinet 2-16
Equipped with preceding body wheel raise-lower hydraulic push rod 2-17 and preceding body wheel lifting hydraulic cylinder 2-18, preceding body wheel lifting hydraulic cylinder
Body axletree clamper 2-19 before the end 2-18 is equipped with, body axletree 2- before preceding body axletree clamper 2-19 is clamped
20, preceding body wheel 2-21 and the both ends body axletree 2-20 before being mounted on, preceding body wheel 2-21 are gone up and down by preceding body wheel
The lifting of the flexible realization vehicle wheel component of hydraulic push rod 2-17 and preceding body wheel lifting hydraulic cylinder 2-18；
As shown in Fig. 8,9a, 9b, 10, rear cylinder block set 4 include rear body casing 4-1, rear body wheel cabinet 4-2, after
Two 4-3 of body pipe walls support pedestal, rear body pipe walls support guide pad 4-4, rear body pipe walls support pedestal 14-5, rear body vehicle
Take turns raise-lower hydraulic push rod 4-6.1, rear body wheel lifting hydraulic cylinder 4-6.2, rear body pipe walls support foot 4-7, rear body tube wall
Support rod 14-8, rear body pipe walls support bar 24-9, rear body pipe walls support guiding optical axis 4-10, rear body pipe walls support guiding
Linear bearing 4-11, rear body pipe walls support hydraulic cylinder 4-12, rear body pipe walls support hydraulic push rod 4-13, rear body axletree
Clamper 4-14, rear body wheel drive motors 4-15, rear two 4-16 of body vehicle wheel drive gear, rear body vehicle wheel drive gear
One 4-17, rear body axletree 4-18, rear body wheel 4-19；
Wherein, the rear body pipe walls support hydraulic cylinder 4-12 and rear two 4-9 of body pipe walls support bar is mounted in rear body pipe
On one 4-5 of wall support base, rear body pipe walls support hydraulic push rod 4-13 and rear one 4-8 of body pipe walls support bar be mounted in rear body
Pipe walls support guide pad 4-4, rear body pipe walls support hydraulic cylinder 4-12 and rear body pipe walls support hydraulic push rod 4-13 cooperation are pacified
Dress, rear one 4-5 of body pipe walls support pedestal and rear two 4-3 of body pipe walls support pedestal are oriented to optical axis 4- by rear body pipe walls support
10 couple and are fixed on rear body casing 4-1, and rear body pipe walls support guide pad 4-4 is oriented to straight line equipped with rear body pipe walls support
Bearing 4-11 simultaneously pacifies rear body pipe walls support guiding linear bearing 4-11 and the guiding optical axis 4-10 cooperation of rear body pipe walls support
Dress, rear body pipe walls support foot 4-7 is mounted on rear one 4-8 of body pipe walls support bar, due to rear body pipe walls support hydraulic cylinder 4-
Body pipe walls support guide pad 4-4 is in rear body tube wall branch after the stretching of 12 and rear body pipe walls support hydraulic push rod 4-13 drives
Linear motion is realized on support guiding optical axis 4-10, so that rear one 4-8 of body pipe walls support bar and rear body pipe walls support bar
The rear body pipe walls support foot 4-7 of two 4-9 support realizes the variation of radial position, to realize in different tube diameters tunnel inner wall
Support；
Wherein, the rear body wheel cabinet 4-2 is fixed on rear body casing 4-1, dress inside rear body wheel cabinet 4-2
There are rear body wheel raise-lower hydraulic push rod 4-6.1 and rear body wheel lifting hydraulic cylinder 4-6.2, rear body wheel lifting hydraulic cylinder
The end 4-6.2 is equipped with rear body axletree clamper 4-14, and the rear body axletree upper end clamper 4-14 is equipped with rear body vehicle
Wheel drive motor 4-15, one 4-17 of body vehicle wheel drive gear after rear body wheel drive motors 4-15 driving, rear body wheel
Body axletree 4-18 is rear machine after driving two 4-16 of gear and rear one 4-17 of body vehicle wheel drive gear is intermeshed and installs
The power of body wheel drive motors 4-15 is transmitted to rear body wheel 4-19 and rear body wheel 4-19 is made to become entire machine
Transport driving wheel, rear body axletree clamper 4-14 clamping after body axletree 4-18 make after body axletree 4-18 and
The rear body wheel 4-19 at the rear both ends body axletree 4-18 is mounted on by rear body wheel raise-lower hydraulic push rod 4-6.1 and rear machine
The lifting of the flexible realization vehicle wheel component of body wheel lifting hydraulic cylinder 4-6.2；
As shown in figure 11, wriggling component 3 includes preceding engine body end cover 3-1, guiding of wriggling optical axis 3-2, guiding of wriggling linear axis
Hold 3-3, rear engine body end cover 3-4, wriggling hydraulic cylinder 3-5, wriggling hydraulic push rod 3-6；
Wherein, the preceding engine body end cover 3-1 is fixedly mounted on preceding body casing 2-9, rear engine body end cover 3-4 is fixedly mounted on
Body casing 4-1 afterwards, guiding optical axis 3-2 and guiding linear bearing 3-3 of wriggling of wriggling are coupled, guiding of wriggling optical axis 3-2 mono-
Engine body end cover 3-1 before end is fixedly mounted on, guiding of wriggling linear bearing 3-3 is fixedly mounted on rear engine body end cover 3-4, in preceding body
Wriggling hydraulic cylinder 3-5 and wriggling hydraulic push rod 3-6 are installed, so that hydraulic by wriggling between end cap 3-1 and rear engine body end cover 3-4
Cylinder 3-5 and wriggling hydraulic push rod 3-6, which is stretched, affects the front and rear part of entire machine to realize wriggly walking.
As shown in Figure 11,12,13,14,15,16, when robot of the present invention is not entering seabed tunnel and removing on land
Robot is driven to walk with wheel during fortune, and cutter head and pipe walls support component when robot does not clean tunnel inner wall with water
In contraction state；When robot cutter head enters tunnel cutter head radial development and rotate start to clean with water；Currently body wheel is
When will enter tunnel, preceding body support component radial development supports tunnel inner wall, and then preceding body wheel is along matrix radial contraction；
When rear body wheel will enter tunnel, rear body support component radial development supports tunnel inner wall, then rear body wheel
Along matrix radial contraction.At this point, robot can be walked completely by wriggling Component driver, the peristaltic action each walked forward
For：Preceding body support component supports tunnel inner wall, and rear body support component is in radial contraction state, and wriggling component affects rear machine
Body is moved to extreme position；Then preceding body support component is in radial contraction state, and rear body support component supports in tunnel
Wall, body is mobile before wriggling components drive.Certain robot can also wriggly walking backward.
The present invention realizes robot to different tube diameters sea by hydraulic system, link mechanism, gear mechanism, motor driven
The function that bottom tunnel cleans with water, two-way wriggly walking, land are carried, have stability is reliable, obstacle climbing ability is strong, to tapered pipeline from
It adapts to, the characteristics of speed of travel is fast, work efficiency is high.
To sum up, the present invention designs a kind of variable diameter seabed tunnel robot for cleaning, it is therefore an objective to for clean with water Large Diameter Pipeline, long range,
The seabed tunnel of working condition complexity.Its structure includes：Cutter head assembly, preceding cylinder block set, wriggling component, rear cylinder block set etc.,
The robot fortune that section wheel drives on one's own time is completed by hydraulic system, link mechanism, gear mechanism, motor driven
It is defeated, at work between section cutter head radial expansion and body peristaltic action, and then realize clear to different tube diameters seabed tunnel
The function that brush, two-way wriggly walking, land are carried.Variable diameter seabed tunnel robot for cleaning of the invention have stability it is reliable,
Obstacle climbing ability is strong, adaptively good to tapered pipeline, the speed of travel is fast, work efficiency is high, high-power, the high-intensitive spy for cleaning cutter with water
Point, cleans with engineering significance seabed tunnel with water.
Claims (3)
1. a kind of variable diameter seabed tunnel robot for cleaning, it is characterised in that：Including cutter head assembly, preceding cylinder block set, wriggling component
With rear cylinder block set, the cutter head assembly includes cutterhead pedestal, three cutter head support bars being symmetrically hinged on cutterhead pedestal, divides
The not cutterhead hinged with cutter head support bar, the blade being uniformly arranged on cutterhead, between each cutter head support bar and cutterhead, often
Cutterhead hydraulic cylinder is respectively arranged between a cutter head support bar and cutterhead pedestal, the preceding cylinder block set and rear cylinder block set wrap
It includes casing, the pipe walls support pedestal one that is arranged in casing and pipe walls support pedestal two, the wheel cabinet being arranged in casing, set
It sets in the intracorporal wheel lifting hydraulic cylinder of wheel case, the axletree clamper being arranged on wheel lifting hydraulic cylinder, be arranged in vehicle
Axletree in wheel shaft clamper, is arranged in pipe walls support pedestal one and pipe walls support base the wheel that axletree both ends are arranged in
Seat two between pipe walls support guiding optical axis, be arranged in pipe walls support guiding optical axis on pipe walls support guiding linear bearing, with
Pipe walls support is oriented to the connected pipe walls support guide pad of linear bearing, is arranged in pipe walls support guide pad and pipe walls support pedestal one
Between pipe walls support hydraulic cylinder, be symmetrically hinged on pipe walls support bar two on pipe walls support guide pad, be arranged in each tube wall
The pipe walls support foot of two end of support rod, three be respectively hinged between three pipe walls support bars two and pipe walls support pedestal one
Pipe walls support bar one；Rear body wheel drive motors, rear wheel are additionally provided on the axletree clamper of cylinder block set after described
It is provided with rear body vehicle wheel drive gear one on the output end of driving motor, is also equipped with rear machine on the axletree of rear cylinder block set
Body vehicle wheel drive gear two, rear body vehicle wheel drive gear one are engaged with rear body vehicle wheel drive gear two；The preceding body group
Front end in the casing of part is additionally provided with driving cutter head motor cabinet, drives and drives cutter head there are three being symmetrically installed on cutter head motor cabinet
Motor is equipped with a planetary gear on the output shaft of each driving cutter head motor, and the interposition of the driving cutter head motor cabinet installs
Be equipped with cutter head axis, be provided with centre wheel on cutter head axis, three planetary gears engages with centre wheel simultaneously, the end of the cutter head axis and
Cutterhead pedestal is connected；The wriggling component includes the preceding engine body end cover connecting with the shell of preceding cylinder block set and rear cylinder block set
The rear engine body end cover of shell connection, the wriggling hydraulic cylinder that is arranged between preceding engine body end cover and rear engine body end cover.
2. a kind of variable diameter seabed tunnel robot for cleaning according to claim 1, it is characterised in that：The pipe walls support is led
To optical axis and pipe walls support guiding linear bearing respectively there are three and be symmetrical arranged.
3. a kind of variable diameter seabed tunnel robot for cleaning according to claim 1 or 2, it is characterised in that：The preceding body
Three groups of wriggling guiding optical axises are also symmetrically arranged between end cap and rear engine body end cover and guiding linear bearing of wriggling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510939.0A CN108895244A (en) | 2018-05-25 | 2018-05-25 | A kind of variable diameter seabed tunnel robot for cleaning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510939.0A CN108895244A (en) | 2018-05-25 | 2018-05-25 | A kind of variable diameter seabed tunnel robot for cleaning |
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| CN108895244A true CN108895244A (en) | 2018-11-27 |
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| CN201810510939.0A Pending CN108895244A (en) | 2018-05-25 | 2018-05-25 | A kind of variable diameter seabed tunnel robot for cleaning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821832A (en) * | 2019-03-18 | 2019-05-31 | 金陵科技学院 | A kind of duct cleaning dredging robot and application method |
| CN110645945A (en) * | 2019-10-31 | 2020-01-03 | 上海速介机器人科技有限公司 | Inner diameter measuring device |
| CN111495898A (en) * | 2020-05-06 | 2020-08-07 | 滁州学院 | Pipeline obstacle clearing device |
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Application publication date: 20181127 |