CN109114356A

CN109114356A - A kind of pipe robot mode of progression suitable for municipal sewage network management

Info

Publication number: CN109114356A
Application number: CN201811253483.0A
Authority: CN
Inventors: 唐汉庆
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-25
Filing date: 2018-10-25
Publication date: 2019-01-01

Abstract

The invention discloses a kind of pipe robot mode of progression suitable for municipal sewage network management, including work box, a working space is provided in the work box, front bulkhead connection working space is provided in the working space aft bulkhead carrys out return-enclosure, it is described come return-enclosure in slidably connect a block back and forth, the left side of block back and forth is fixedly connected with the spring back and forth that a left end is fixedly connected with block left end wall back and forth, the front end face of block back and forth is fixedly connected with a front end through front of the slot wall back and forth and the force rod in working space, the force rod front end is fixedly connected with a block repeatedly, a four wheel mechanism is provided on the downside of the block repeatedly, the upper surface of block repeatedly is fixedly connected with a driving motor, the driving motor upper surface has been connected by power a drive shaft.This apparatus structure is simple, and it is convenient to operate, can to it is too small or it is internal carry out containing the inaccessiable insides of pipes of the mankind such as noxious material a section cleaning, and equally can be realized effective cleaning effect in various sizes of pipeline.

Description

A kind of pipe robot mode of progression suitable for municipal sewage network management

Technical field

The present invention relates to duct cleaning field, specially a kind of pipe robot traveling side suitable for municipal sewage network management Method.

Background technique

Municipal sewage network management is the important place of sewage collecting in city, and sewage discharges in the duct can be on the wall of pipeline Mud is accumulated, so that the pollution discharge capability of pipeline weakens, or even blocking pipeline.And the method for cleaning urban sewage pipe now is basic Go down cleaning for manpower, cannot thoroughly be cleaned in certain small pipelines, and there may be toxic harmful substances in sewage conduct Or other, it causes damages to the body of blowdown worker.

Summary of the invention

The purpose of the present invention is to provide a kind of pipe robot mode of progression suitable for municipal sewage network management, to solve The problems mentioned above in the background art.

To achieve the above object, the invention provides the following technical scheme: a kind of pipe machine suitable for municipal sewage network management Device people's mode of progression, including work box are provided with a working space, setting in the working space aft bulkhead in the work box Have front bulkhead connection working space carrys out return-enclosure, it is described come return-enclosure in slidably connect a block back and forth, the block left end back and forth Face is fixedly connected with the spring back and forth that a left end is fixedly connected with block left end wall back and forth, and the front end face of block back and forth is fixedly connected with Through front of the slot wall back and forth and the force rod in working space, the force rod front end is fixedly connected with one repeatedly for one front end Block, the downside of block repeatedly are provided with a four wheel mechanism, and the upper surface of block repeatedly is fixedly connected with a driving motor, the drive Dynamic motor upper surface has been connected by power a drive shaft, is provided with a concave being fixedly connected with aft bulkhead on the right side of the drive shaft Block, the elastic force slot of upper end wall connection working space is provided in the concave block, and the elastic force slot lower end wall is fixedly connected with One elastic spring, the elastic spring upper end are fixedly connected with a upper end through elastic force slot upper end wall and are located in working space Elastomer block, the elastomer block left side are provided with a force block being fixedly connected with elastomer block by rope, set in the force block It is equipped with the stress slot of about one end wall connection working space, the drive shaft and stress slot suit connect, on the upside of the force block Be provided with one be fixedly connected with drive shaft move bevel gear, described move is provided with a force-bearing piece on the upside of bevel gear, described to hold The load slot of upper and lower side connection working space is provided in power block, the drive shaft and load slot suit connect, described to hold It is provided with a mobile bevel gear being fixedly connected with drive shaft on the upside of power block, is provided with one and driving on the upside of the mobile bevel gear The timing block that axis left side is fixedly connected, the drive shaft left side are provided with a movement mechanism, are provided on the right side of the drive shaft One locating piece being fixedly connected with working space right end wall is provided with the work of lower end wall connection working space in the locating piece Slot is moved, the swivelling chute of right end wall connection loose slot and left end wall connection working space is provided in the wall of the loose slot left end, The loose slot upper end is fixedly connected with a positioning electromagnet, and loose slot upper end wall center is fixedly connected with a positioning bullet Spring, the retaining spring lower end are fixedly connected with a movable block, and the movable block upper surface is fixedly connected with a movable electro-magnet, The swivelling chute lower end wall is rotatably connected to a shaft, and the shaft upper end is fixedly connected with a right end through loose slot left end wall And it is located at the turntable in loose slot, setting is passed through slot there are two upper and lower end wall connection swivelling chute and loose slot in the turntable, The turntable outer end face is fixedly connected with several pushing blocks by center array of shaft, and the force-bearing piece front end face is rotatably connected to One hanging axis is fixedly connected with the hanging cone tooth that a upper end and mobile bevel gear front end are connected by meshing transmission on the hanging axis Wheel, the front of the slot back and forth are fixedly connected with an intermediate gear, are provided with a positioning mechanism on the right side of the intermediate gear, it is described in Between be provided with a transmission mechanism on the left of gear, the rank of front bulkhead connection working space is provided in the working space aft bulkhead Access slot, a connecting block is slidably connected in the connecting groove, and the connecting block front end face is fixedly connected with a front end through linking Front of the slot wall and the joining rod being located in working space, the joining rod front end is fixedly connected with a low speed block, the low speed block Left side is rotatably connected to the transmission shaft that working space left end wall is run through in a left end, is fixedly connected with a transmission on the transmission shaft Bevel gear, is provided with the annular groove of left end wall connection free surrounding space in the work box left side, with transmission shaft in the annular groove Centered on it is symmetrical above and below slidably connect a spill spin block, the spill spin block left side is fixedly connected with a left end through annular groove left end Wall and the swingle for being located at free surrounding space, upper and lower sides swingle left end is fixedly connected with a coordinating block, the cooperation jointly The mating groove of left hand end wall connection free surrounding space is provided in block, mating groove left hand end wall and position are run through in the transmission shaft left end In in free surrounding space, a stretching close to the end wall connection mating groove of mating groove is symmetrically arranged with above and below the mating groove in end wall Slot is fixedly connected with a upper end and stretches out slot lower end wall through upside and be located on the transmission shaft in the mating groove and stretches out slot Interior threaded block, the threaded block lower end are stretched out slot upper end wall and are located at and stretch out in slot through downside, the threaded block left side The interior sipes symmetrical above and below centered on transmission shaft for being provided with left end wall connection and stretching out slot, the threaded block left side is to be driven Symmetrical above and below centered on axis to be fixedly connected with a flat thread, the downside, which is stretched out in the wall of slot left end, is provided with right end wall connection The lifting groove of slot is stretched out, a movable block is slidably connected in the lifting groove, the movable block right side is fixedly connected with a right side End is through lifting groove right end wall and is located at the mobile bar stretched out in slot, and the mobile bar right end is fixedly connected with a cleaning block, institute The matching track that cleaning block right side is fixedly connected with one and is threadedly engaged connection with flat thread is stated, in the cleaning block right side It is provided with the stuck slot that slot is stretched out in right end wall connection, the stuck slot left end is fixedly connected with a positioning electromagnet, described fixed It is provided with one on the downside of the electromagnet of position and is fixedly connected with a stuck spring with stuck slot left end wall, the stuck spring right end is fixed to be connected A right end is connected to through stuck slot right end wall and is located at stuck piece stretched out in slot, is fixedly connected on the upside of the stuck piece of left side There is a movement electromagnet, the switching slot of lower end wall connection free surrounding space, the switching are provided in the cleaning block lower end surface Slot upper end wall is fixedly connected with a switching spring, and the switching lower spring end is fixedly connected with a lower end through switching slot lower end wall And it is located at the handoff block of free surrounding space, the handoff block is fixedly connected with stuck piece by rope；

The method comprises the following steps:

Pipe robot is put into pipeline first, starts driving motor, so that drive shaft turns are driven, in the effect of gear train Under, driving wheel rotation is driven, intermediate gear idle running drives pipe robot to travel forward, drive shaft band under the transmission of belt Dynamic timing block rotation, pushes turntable rotation under the cooperation of pushing block, rotates until being passed through slot on the upside of movable block, movable block exists The lower pop-up downwards of retaining spring or so, to push elastomer block to decline, to pull drive shaft to move right, so that movement cone tooth It takes turns and moves bevel gear to be disengaged from, pipe robot stop motion, intermediate gear is engaged with high gear, to drive high speed Gear rotation drives high speed block and low speed block to rise, until locating piece upper-end contact under the action of rack-and-pinion and belt pulley Pipeline upper end wall squeezes locating piece decline, and linkage block decline is pushed to be detached from the stuck of locating slot, and drive block is acted in electromagnetic spring Lower pop-up is engaged so that driven wheel is detached from high gear, high gear no longer turns so that block be pushed repeatedly to move downward It is dynamic, and driven wheel is engaged with mate gear, so that mate gear is driven to rotate, under the action of gear train, mate gear Transmission shaft rotation is driven, drives upper and lower sides cleaning block to move out under being threadedly engaged of flat thread and matching track, until Handoff block withstands pipeline, and end wall, handoff block are pressed into switching slot up and down, and under the effect of stuck spring, stuck piece is pushed away Out, into stuck in sipes, so that coordinating block be driven to rotate, the cleaning of pipeline is carried out；

Then after the completion of cleaning, driving motor is closed, positioning electromagnet and movement electromagnet are powered and adsorb, so that stuck piece de- From sipes and enter stuck slot in, reverse starting driving motor, make clean block reset, close driving motor, ring electromagnet with Ring electromagnet, which is powered, to be adsorbed, and drive block moves right, and block resets intermediate gear disengaging under the action of spring back and forth and matches repeatedly It closes the engagement of gear and is engaged with high gear, at this point, starting driving motor, drives low speed block and high speed block reset, locating piece It is resetted in the case where moving spring effect, linkage block reenters stuck in locating slot, closing driving motor, positioning electromagnet and movement Electromagnet power-off, movable electro-magnet and positioning electromagnet, which are powered, to be adsorbed, so that movable block is moved upwards into loose slot, elasticity Block resets upwards under elastic spring effect, and block moves downward under the effect of spring back and forth repeatedly, so that moving bevel gear and moving Dynamic bevel gear resets, and starts driving motor, and drive shaft turns one is driven to enclose, and device resets.

Preferably, the four wheel mechanism includes cooperation wheel, the working space aft bulkhead is rotatably connected to a front end With the drive wheel shaft of working space front bulkhead rotation connection, it is fixedly connected with a lower end on the drives wheel shaft and runs through working space lower end Wall and the driving wheel for being located at free surrounding space, the driving wheel front side being located in working space are provided with one and the fixed company of drive wheel shaft Connect and upper end and the drive wheel bevel gear that is coupled bevel gear rear end and is connected by meshing transmission, be provided on front side of the drive wheel bevel gear one with Drive the counter wheel that is fixedly connected of wheel shaft, be provided on front side of the counter wheel one with drive that wheel shaft is fixedly connected and work is run through in lower end Make space lower end wall and is located at the driven wheel of free surrounding space, it is described to drive wheel shaft right side and end wall rotation connection before and after working space Cooperate axle, is fixedly connected with a lower end through working space lower end wall on the cooperation axle and is located at the cooperation of free surrounding space Wheel is provided with one and the vehicle belt wheel that is sequentially connected by belt friction of counter wheel, the vehicle band on front side of the cooperation wheel Wheel front side be provided with one with cooperation axle be fixedly connected and lower end through working space lower end wall and positioned at free surrounding space linkage Gear.

Preferably, the movement mechanism includes support rod, working space left end wall is rotatably connected to a rotary shaft, The rotary shaft right end is fixedly connected with a upper end and moves the movement bevel gear that bevel gear is connected by meshing transmission, the rotary shaft On be fixedly connected with a driving bevel gear, be provided with a support being fixedly connected with working space left end wall on the downside of the rotary shaft Bar, the support rod right end are fixedly connected with a receiving block, and about one guarantee connection working space is provided in the receiving block Connection slot, the connection slot inner sleeve load is connected to a bearing shaft, and the bearing shaft upper end is fixedly connected with a right end and driving The Intermediate bevel gears that bevel gear lower end is connected by meshing transmission, the bearing shaft lower end are fixedly connected with a connection bevel gear.

Preferably, the positioning mechanism includes high gear, a left end wall is provided in the working space right end wall The movement slots of working space are connected to, slidably connect a moving mass in the movement slots, the moving mass left side is fixedly connected There is a left end through movement slots left end wall and the moving lever in working space, it is high that the moving lever left end is fixedly connected with one Fast block, is provided with the locating slot of upper end wall connection working space in high speed block upper surface, in the locating slot right end wall Be provided with left end wall connection locating slot and move slot, be provided in the locating slot lower end wall upper end wall connection locating slot and Left end wall is connected to the electromagnetism slot of working space, and described move slidably connects one and move block in slot, and described to move block lower end surface solid Surely it is connected with a lower end and is fixedly connected with a left side with the spring that moves that slot lower end wall is fixedly connected, the block left side of moving is moved Through moving slot left end wall and being located at the bar that moves in locating slot, the bar left end of moving is fixedly connected with a upper end through fixed at end Position slot upper end wall and working space upper end wall and the locating piece for being located at free surrounding space, the electromagnetism slot right end wall are fixedly connected with one Ring electromagnet, electromagnetism slot right end wall center are fixedly connected with an electromagnetic spring, and the electromagnetic spring left end is fixedly connected There is a left end through electromagnetism slot left end wall and the drive block in working space, the drive block right side is fixedly connected with one Ring electromagnet is provided with the elastic groove of upper end wall connection electromagnetism slot, institute in the drive block upper surface in elastomeric spring It states elastic groove lower end wall and is fixedly connected with an elastomeric spring, the elastomeric spring upper end is fixedly connected with a upper end through electromagnetism slot Upper end wall and the linkage block being located in locating slot, the high speed block left side are provided with one and the rotation connection of working space aft bulkhead It is connected axis, is fixedly connected with the high gear that a right end is connected by meshing transmission with high speed block left side on the linking axis, it is described The driving pulley for being provided with one on front side of high gear and be connected axis and being fixedly connected is provided with one and the sky that works on the upside of the linking axis Between the fitted shaft that is rotatablely connected of aft bulkhead, one is fixedly connected in the fitted shaft and is connected by belt and driving pulley frictional drive The driven pulley connect, the driven pulley front side are provided with a linkage belt wheel being fixedly connected with fitted shaft, and the fitted shaft is left Side is provided with the pulley shaft of one with the rotation connection of working space aft bulkhead, be fixedly connected on the pulley shaft one by belt with The drive pulley of the belt wheel frictional drive that links connection, the drive pulley rear side are provided with a transmission being fixedly connected with pulley shaft Gear, the pulley shaft left side are provided with the slow-speed shaft of one with the rotation connection of working space aft bulkhead, fix on the slow-speed shaft It is connected with the low speed that a right end is connected by meshing transmission with transmission gear left end and left end and low speed block right side are connected by meshing transmission Gear.

Preferably, the transmission mechanism includes linking bevel gear, a rear end and work are provided on the left of the intermediate gear The helical axis for making the rotation connection of space aft bulkhead, is fixedly connected with a mate gear on the helical axis, before the mate gear Side is provided with a driven wheel of differential being fixedly connected with helical axis, and the working space lower end wall is fixedly connected with a bearing rod, The bearing rod upper end is fixedly connected with a supporting block, and the branch of left hand end wall connection working space is provided in the supporting block Support slot, the support slot inner sleeve load is connected to a jackshaft, the jackshaft right end be fixedly connected with a rear end with from mantle tooth The linkage bevel gear that wheel left end is connected by meshing transmission, the jackshaft left end is fixedly connected with a linking bevel gear, the load The universal driving shaft of one with the rotation connection of working space lower end wall are provided on the left of bar, be fixedly connected on the universal driving shaft right end with The rotation bevel gear that linking bevel gear lower end is connected by meshing transmission, the rotation bevel gear upside are provided with a upper end through connection The short axle of slot end wall up and down, the linkage slot of lower end wall connection working space, the linkage are provided in the short axle lower end surface Axis upper end is through linkage slot lower end wall and is located in linkage slot, and the universal driving shaft upper surface is fixedly connected with a upper end and linkage slot The linkage spring that upper end wall is fixedly connected is fixedly connected with one and low speed block upper surface in the short axle on the upside of the connectivity slot The crushing block being slidably connected, the short axle upper end are fixedly connected with a left end and match with what drive bevel gear lower end was connected by meshing transmission Close bevel gear.

Preferably, the high gear radius is twice of low-speed gear, and transmission shaft initial position is located at locating piece The center of the up and down direction of upper surface and driving wheel lower end surface.

Compared with prior art, the beneficial effects of the present invention are: pipe robot is put into pipeline in present invention work It is interior, start driving motor, to drive drive shaft turns, under the action of gear train, drives driving wheel rotation, center tooth makes a turn Turn, under the transmission of belt, pipe robot is driven to travel forward, drive shaft drives timing block rotation, in the cooperation of pushing block Lower promotion turntable rotation, rotates until being passed through slot on the upside of movable block, movable block pop-up downwards under retaining spring or so, thus Elastomer block decline is pushed, so that drive shaft is pulled to move right, so that movement bevel gear is disengaged from bevel gear is moved, pipeline Robot stop motion, intermediate gear are engaged with high gear, to drive high gear to rotate, in rack-and-pinion and belt pulley Under the action of drive high speed block and low speed block to rise, until locating piece upper-end contact pipeline upper end wall, squeezes locating piece decline, pushes away Dynamic linkage block decline is detached from the stuck of locating slot, and drive block pops up under electromagnetic spring effect, so that block be pushed repeatedly to transport to the left It is dynamic, it is engaged so that driven wheel is detached from high gear, high gear no longer rotates, and driven wheel is nibbled with mate gear Close, so that mate gear be driven to rotate, under the action of gear train, mate gear drives transmission shaft rotation, flat thread with Upper and lower sides cleaning block is driven to move out under being threadedly engaged of matching track, until handoff block withstands pipeline end wall up and down, switching Block is pressed into switching slot, stuck spring effect under, stuck piece is pushed out, into sipes in it is stuck, thus drive match Block rotation is closed, the cleaning of pipeline is carried out, after the completion of cleaning, closes driving motor, positioning electromagnet and movement electromagnet are powered Absorption so that stuck piece of disengagings sipes and enter stuck slot in, reverse starting driving motor, make clean block reset, close drive Motor, ring electromagnet and ring electromagnet, which are powered, to be adsorbed, and drive block moves right, and block is multiple under the action of spring back and forth repeatedly Position intermediate gear be detached from mate gear engagement simultaneously engage with high gear, at this point, starting driving motor, drive low speed block with height Fast block reset, locating piece are resetted in the case where moving spring effect, and linkage block reenters stuck in locating slot, closing driving motor, Positioning electromagnet and movement electromagnet power-off, movable electro-magnet and positioning electromagnet are powered and adsorb, so that movable block moves upwards Into in loose slot, elastomer block resets upwards under elastic spring effect, and block moves downward under the effect of spring back and forth repeatedly, makes Bevel gear must be moved and move bevel gear reset, start driving motor, drive shaft turns one is driven to enclose, device resets, this device Structure is simple, and operation is convenient, can carry out to the too small or internal inaccessiable insides of pipes of the mankind such as noxious material that contains A section cleaning, and equally can be realized effective cleaning effect in various sizes of pipeline.

Detailed description of the invention

Fig. 1 is a kind of main view knot of the pipe robot mode of progression entirety complete section suitable for municipal sewage network management of the present invention Structure schematic diagram；

Fig. 2 is drive shaft main view sectional structure a kind of pipe robot mode of progression suitable for municipal sewage network management of the present invention Schematic diagram；

Fig. 3 is drive shaft left view sectional structure a kind of pipe robot mode of progression suitable for municipal sewage network management of the present invention Schematic diagram；

Fig. 4 is to drive wheel shaft a kind of pipe robot mode of progression suitable for municipal sewage network management of the present invention to overlook sectional structure Schematic diagram；

Fig. 5 is that a kind of pipe robot mode of progression turntable vertical view sectional structure suitable for municipal sewage network management of the present invention shows It is intended to；

Fig. 6 is the right view sectional structure of low speed block a kind of pipe robot mode of progression suitable for municipal sewage network management of the present invention Schematic diagram.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1-6 is please referred to, a kind of embodiment provided by the invention: a kind of pipe robot suitable for municipal sewage network management Mode of progression, including work box 100 are provided with a working space 101,101 rear end of working space in the work box 100 Front bulkhead connection working space 101 is provided in wall carrys out return-enclosure 218, it is described come return-enclosure 218 in slidably connect one back and forth Block 168,168 left side of block back and forth is fixedly connected with a left end and 168 left end wall of block is fixedly connected back and forth spring back and forth 174,168 front end face of block back and forth, which is fixedly connected with a front end, to be run through to carry out 218 front bulkhead of return-enclosure and be located in working space 101 Force rod 220,220 front end of force rod is fixedly connected with block 166 repeatedly, is provided with one on the downside of the block repeatedly 166 Four wheel mechanism 221,166 upper surface of block repeatedly are fixedly connected with a driving motor 165,165 upper surface of driving motor It has been connected by power a drive shaft 164, a concave block 201 being fixedly connected with aft bulkhead, institute are provided on the right side of the drive shaft 164 The elastic force slot 202 that upper end wall connection working space 101 is provided in concave block 201 is stated, 202 lower end wall of elastic force slot is fixed Be connected with an elastic spring 203,203 upper end of elastic spring be fixedly connected with a upper end through 202 upper end wall of elastic force slot and Elastomer block 204 in working space 101 is provided with one on the left of the elastomer block 204 and is fixed with elastomer block 204 by rope The force block 199 of connection is provided with the stress slot 200 of about one end wall connection working space 101, institute in the force block 199 It states drive shaft 164 and the suit of stress slot 200 connects, one is provided on the upside of the force block 199 and is fixedly connected with drive shaft 164 Bevel gear 205 is moved, described move is provided with a force-bearing piece 198, is provided with one in the force-bearing piece 198 on the upside of bevel gear 205 Upper and lower side is connected to the load slot 206 of working space 101, and the drive shaft 164 is connected with the suit of load slot 206, the load It is provided with a mobile bevel gear 207 being fixedly connected with drive shaft 164 on the upside of block 198, is arranged on the upside of the mobile bevel gear 207 There is a timing block 162 being fixedly connected with 164 left side of drive shaft, is provided with a movement mechanism on the left of the drive shaft 164 186, a locating piece 217 being fixedly connected with 101 right end wall of working space, the positioning are provided on the right side of the drive shaft 164 It is provided with the loose slot 213 of lower end wall connection working space 101 in block 217, is provided with one in the 213 left end wall of loose slot Right end wall is connected to the swivelling chute 211 of loose slot 213 and left end wall connection working space 101, and 213 upper end of loose slot is fixed to be connected It is connected to a positioning electromagnet 216, the 213 upper end wall center of loose slot is fixedly connected with a retaining spring 215, the positioning bullet 215 lower end of spring is fixedly connected with a movable block 212, and 212 upper surface of movable block is fixedly connected with a movable electro-magnet 214, 211 lower end wall of swivelling chute is rotatably connected to a shaft 209, and 209 upper end of shaft is fixedly connected with a right end through work Dynamic 213 left end wall of slot and the turntable 210 being located in loose slot 213, there are two the connection rotations of upper and lower end wall for the interior setting of the turntable 210 Turn trough 211 is passed through slot 228 with loose slot 213, and 210 outer end face of turntable is that center array is fixedly connected with shaft 209 Several pushing blocks 208,198 front end face of force-bearing piece are rotatably connected to a hanging axis 236, fixed company on the hanging axis 236 Be connected to the hanging bevel gear 219 that a upper end and mobile 207 front end of bevel gear are connected by meshing transmission, it is described come 218 front end of return-enclosure it is solid Surely it is connected with an intermediate gear 163, a positioning mechanism 136, the intermediate gear 163 are provided on the right side of the intermediate gear 163 Left side is provided with a transmission mechanism 175, and front bulkhead connection working space 101 is provided in 101 aft bulkhead of working space Connecting groove 230, slidably connect a connecting block 231 in the connecting groove 230,231 front end face of connecting block is fixedly connected There is a front end through 230 front bulkhead of connecting groove and the joining rod 232 in working space 101,232 front end of joining rod is solid Surely it is connected with a low speed block 124,124 left side of low speed block is rotatably connected to a left end through 101 left end wall of working space Transmission shaft 123, be fixedly connected with a drive bevel gear 126 on the transmission shaft 123, set in 100 left side of work box It is equipped with the annular groove 103 of left end wall connection free surrounding space, sliding symmetrical above and below centered on transmission shaft 123 in the annular groove 103 It is connected with a spill spin block 102,102 left side of spill spin block is fixedly connected with a left end through 103 left end wall of annular groove and is located at The swingle 104 of free surrounding space, 104 left end of upper and lower sides swingle are fixedly connected with a coordinating block 233, the cooperation jointly The mating groove 122 of left hand end wall connection free surrounding space is provided in block 233, mating groove 122 is run through in 123 left end of transmission shaft Left hand end wall and be located at free surrounding space in, be symmetrically arranged with one close to the end of mating groove 122 in about 122 end wall of mating groove Wall is connected to the stretching slot 109 of mating groove 122, is fixedly connected with a upper end on the transmission shaft 123 positioned in mating groove 122 and passes through It puts on side to stretch out 109 lower end wall of slot and be located at the threaded block 121 stretched out in slot 109,121 lower end of threaded block is stretched through downside Out 109 upper end wall of slot and be located at stretch out slot 109 in, it is symmetrical above and below centered on transmission shaft 123 in 121 left side of threaded block It is provided with the sipes 105 that slot 109 is stretched out in left end wall connection, 121 left side of threaded block is upper and lower centered on transmission shaft 123 It is symmetrically fixedly connected with a flat thread 120, the downside, which is stretched out in 109 left end wall of slot, is provided with right end wall connection stretching slot 109 lifting groove 110 slidably connects a movable block 115 in the lifting groove 110, and 115 right side of movable block is fixed to be connected A right end is connected to through 110 right end wall of lifting groove and is located at the mobile bar 117 stretched out in slot 109,117 right end of mobile bar is solid Surely it is connected with a cleaning block 118,118 right side of cleaning block, which is fixedly connected with one and is threadedly engaged with flat thread 120, to be connect Matching track 119, the stuck slot 112 that slot 109 is stretched out in right end wall connection, institute are provided in 118 right side of cleaning block State stuck 112 left end of slot and be fixedly connected with a positioning electromagnet 114, be provided on the downside of the positioning electromagnet 114 one with it is stuck 112 left end wall of slot is fixedly connected with a stuck spring 113, and stuck 113 right end of spring is fixedly connected with a right end through card Dead 112 right end wall of slot and it is located at stuck piece 111 stretched out in slot 109, is fixedly connected with one on the upside of stuck piece of 111 left sides Electromagnet 116 is moved, the switching slot 108 of lower end wall connection free surrounding space is provided in 118 lower end surface of cleaning block, it is described 108 upper end wall of switching slot is fixedly connected with a switching spring 106, and 106 lower end of switching spring is fixedly connected with a lower end and passes through It wears 108 lower end wall of switching slot and is located at the handoff block 107 of free surrounding space, the handoff block 107 is solid by rope with stuck piece 111 Fixed connection；

The method comprises the following steps:

Pipe robot is put into pipeline first, starts driving motor 165, to drive drive shaft 164 to rotate, in gear train Under the action of, drive driving wheel 193 to rotate, intermediate gear 163 dallies, and under the transmission of belt, drives pipe robot forward Movement, drive shaft 164 drive timing block 162 to rotate, and push turntable 210 to rotate under the cooperation of pushing block 208, until being passed through slot 228 rotations are to 212 upside of movable block, and movable block 212 is in the lower pop-up downwards of retaining spring 215 or so, to push elastomer block 204 Decline, so that drive shaft 164 is pulled to move right, so that movement bevel gear 195 is disengaged from bevel gear 205 is moved, pipeline Robot stop motion, intermediate gear 163 are engaged with high gear 150, to drive high gear 150 to rotate, in gear teeth High speed block 140 and low speed block 124 is driven to rise under the action of item and belt pulley, until 144 upper-end contact pipeline upper end of locating piece Wall squeezes locating piece 144 and declines, and pushes the decline of linkage block 153 to be detached from the stuck of locating slot 141, drive block 229 is in electromagnetic spring The lower pop-up of 158 effects is engaged so that driven wheel 160 is detached from high gear 150 so that block 166 be pushed repeatedly to move downward, High gear 150 no longer rotates, and driven wheel 160 is engaged with mate gear 170, so that mate gear 170 is driven to rotate, Under the action of gear train, mate gear 170 drives transmission shaft 123 to rotate, in the spiral shell of flat thread 120 and matching track 119 Line cooperation is lower to drive upper and lower sides cleaning block 118 to move out, until handoff block 107 withstands pipeline end wall up and down, 107 quilt of handoff block Be squeezed into switching slot 108, stuck spring 113 effect under, stuck piece 111 is pushed out, into sipes 105 in it is stuck, from And coordinating block 233 is driven to rotate, carry out the cleaning of pipeline；

Then after the completion of cleaning, driving motor 165 is closed, positioning electromagnet 114 and movement electromagnet 116 are powered and adsorb, make It obtains stuck piece 111 disengaging sipes 105 and enters in stuck slot 112, reverse starting driving motor 165, reset cleaning block 118, Driving motor 165 is closed, ring electromagnet 159 and ring electromagnet 157, which are powered, to be adsorbed, and drive block 229 moves right, repeatedly block 166 reset intermediate gear 163 under the action of spring 174 back and forth is detached from the engagement of mate gear 170 and nibbles with high gear 150 Conjunction, at this point, starting driving motor 165, drives low speed block 124 and high speed block 140 to reset, locating piece 144 is moving the work of spring 145 With lower reset, linkage block 153 reenters stuck in locating slot 141, closing driving motor 165, positioning electromagnet 114 and movement Electromagnet 116 powers off, and movable electro-magnet 214 and positioning electromagnet 216 are powered and adsorb, so that movable block 212 moves upwards entrance In loose slot 213, elastomer block 204 resets upwards under the effect of elastic spring 203, and block 166 is under the effect of spring 174 back and forth repeatedly It moves downward, so that movement bevel gear 195 drives 164 turns of drive shaft with the reset of bevel gear 205, starting driving motor 165 is moved A dynamic circle, device reset.

Valuably, the four wheel mechanism 221 includes cooperation wheel 223, and 101 aft bulkhead of working space is rotatably connected to The drive wheel shaft 191 of one front end and the rotation connection of 101 front bulkhead of working space, is fixedly connected with a lower end on the drive wheel shaft 191 Through 101 lower end wall of working space and positioned at the driving wheel 193 of free surrounding space, the driving wheel in working space 101 193 front sides are provided with one and are fixedly connected with drive wheel shaft 191 and upper end and the drive wheel that is coupled 189 rear end of bevel gear and is connected by meshing transmission Bevel gear 192, described drive are provided with one and the counter wheel 222 that is fixedly connected of drive wheel shaft 19 on front side of wheel bevel gear 192, it is described in Between be provided on front side of belt wheel 222 one with drive that wheel shaft 191 is fixedly connected and lower end through 101 lower end wall of working space and is located at the external world The driven wheel 160 in space, the cooperation axle 224 for driving wheel shaft 191 right side and the rotation connection of 101 front and back end wall of working space, A lower end is fixedly connected with through 101 lower end wall of working space on the cooperation axle 224 and is located at the cooperation vehicle of free surrounding space 223 are taken turns, is provided with a vehicle belt wheel being sequentially connected with counter wheel 222 by belt friction on front side of the cooperation wheel 223 225, it is provided with one on front side of the vehicle belt wheel 225 and is fixedly connected with cooperation axle 224 and lower end is through 101 lower end wall of working space And it is located at the linkage gear 226 of free surrounding space.

Valuably, the movement mechanism 186 includes support rod 197, and the 101 left end wall of working space is rotatably connected to one Rotary shaft 184,184 right end of rotary shaft are fixedly connected with a upper end and move the movement that bevel gear 205 is connected by meshing transmission Bevel gear 195 is fixedly connected with a driving bevel gear 185 in the rotary shaft 184, is provided with one on the downside of the rotary shaft 184 The support rod 197 being fixedly connected with 101 left end wall of working space, 197 right end of support rod are fixedly connected with a receiving block 187, the connection slot 196 of about one guarantee connection working space 101 is provided in the receiving block 187, in the connection slot 196 Suit is connected with a bearing shaft 190, and 190 upper end of bearing shaft is fixedly connected with a right end and nibbles with 185 lower end of driving bevel gear The Intermediate bevel gears 188 of transmission connection are closed, 190 lower end of bearing shaft is fixedly connected with a connection bevel gear 189.

Valuably, the positioning mechanism 136 includes high gear 150, is provided with one in the 101 right end wall of working space Left end wall is connected to the movement slots 147 of working space 101, slidably connects a moving mass 148, the fortune in the movement slots 147 148 left side of motion block is fixedly connected with a left end through 147 left end wall of movement slots and the moving lever in working space 101 149,149 left end of moving lever is fixedly connected with a high speed block 140, is provided with a upper end in 140 upper surface of high speed block Wall is connected to the locating slot 141 of working space 101, and left end wall connection locating slot 141 is provided in the 141 right end wall of locating slot Move slot 146, be provided in 141 lower end wall of locating slot a upper end wall connection locating slot 141 and left end wall connection work The electromagnetism slot 155 in space 101, described move slidably connect one and move block 143 in slot 146, described to move 143 lower end surface of block solid Surely it is connected with a lower end and moves spring 145 with move that 146 lower end wall of slot is fixedly connected, 143 left side of block of moving is fixed It is connected with a left end and runs through to move 146 left end wall of slot and be located in locating slot 141 and move bar 142, it is described to move 142 left end of bar A upper end is fixedly connected with through 141 upper end wall of locating slot and 101 upper end wall of working space and is located at the locating piece of free surrounding space 144, the 155 right end wall of electromagnetism slot is fixedly connected with a ring electromagnet 157, and the 155 right end wall center of electromagnetism slot is fixed Be connected with an electromagnetic spring 158,158 left end of electromagnetic spring be fixedly connected with a left end through 155 left end wall of electromagnetism slot and Drive block 229 in working space 101,229 right side of drive block are fixedly connected with a ring electromagnet 159, position It is described in the elastic groove 154 for being provided with upper end wall connection electromagnetism slot 155 in 229 upper surface of drive block in elastomeric spring 156 154 lower end wall of elastic groove is fixedly connected with an elastomeric spring 156, and 156 upper end of elastomeric spring is fixedly connected with a upper end and passes through 155 upper end wall of electromagnetism slot and the linkage block 153 in locating slot 141 are worn, is provided with one and work on the left of the high speed block 140 The linking axis 152 of 101 aft bulkhead of space rotation connection is fixedly connected with 140 left side of a right end and high speed block on the linking axis 152 The high gear 150 that end face is connected by meshing transmission is provided with one on front side of the high gear 150 and is fixedly connected with axis 152 is connected Driving pulley 151, it is described linking axis 152 on the upside of be provided with one with 101 aft bulkhead of working space rotation connection fitted shaft 139, a driven pulley connecting by belt with 151 frictional drive of driving pulley is fixedly connected in the fitted shaft 139 137, a linkage belt wheel 138 being fixedly connected with fitted shaft 139, the fitted shaft 139 are provided on front side of the driven pulley 137 Left side is provided with the pulley shaft 135 of one with the rotation connection of 101 aft bulkhead of working space, is fixedly connected on the pulley shaft 135 One passes through the drive pulley 134 that belt is connect with 138 frictional drive of belt wheel that links, and is provided with one on rear side of the drive pulley 134 The transmission gear 133 being fixedly connected with pulley shaft 135 is provided with one and 101 aft bulkhead of working space on the left of the pulley shaft 135 The slow-speed shaft 132 of rotation connection is fixedly connected with a right end and 133 left end of transmission gear engaged transmission on the slow-speed shaft 132 The low-speed gear 131 that connection and left end and 124 right side of low speed block are connected by meshing transmission.

Valuably, the transmission mechanism 175 includes linking bevel gear 177, after being provided with one on the left of the intermediate gear 163 The helical axis 167 with the rotation connection of 101 aft bulkhead of working space is held, is fixedly connected with a mate gear on the helical axis 167 170, a driven wheel of differential 169 being fixedly connected with helical axis 167 is provided on front side of the mate gear 170, the work is empty Between 101 lower end walls be fixedly connected with a bearing rod 180,180 upper end of bearing rod is fixedly connected with a supporting block 176, described The support slot 172 of left hand end wall connection working space 101 is provided in supporting block 176, the 172 inner sleeve load of support slot connects There is a jackshaft 178,178 right end of jackshaft is fixedly connected with a rear end and 169 left end of driven wheel of differential engaged transmission even The linkage bevel gear 173 connect, 178 left end of jackshaft are fixedly connected with a linking bevel gear 177, and the bearing rod 180 is left Side is provided with the universal driving shaft 183 of one with the rotation connection of 101 lower end wall of working space, is fixedly connected with one on the universal driving shaft 183 Right end and the rotation bevel gear 181 for being connected 177 lower end of bevel gear and being connected by meshing transmission are arranged on the upside of the rotation bevel gear 181 There is a upper end to run through the short axle 182 of about 130 end wall of connectivity slot, lower end wall connection is provided in 182 lower end surface of short axle The linkage slot 128 of working space 101,183 upper end of universal driving shaft is through linkage 128 lower end wall of slot and is located in linkage slot 128, 183 upper surface of universal driving shaft is fixedly connected with the linkage spring 129 that a upper end is fixedly connected with 128 upper end wall of slot that links, institute Rheme is in being fixedly connected with a crushing block being slidably connected with 124 upper surface of low speed block in the short axle 182 of the upside of connectivity slot 130 125,182 upper end of short axle is fixedly connected with the cooperation cone tooth that a left end and 126 lower end of drive bevel gear are connected by meshing transmission Wheel 127.

Valuably, 150 radius of high gear is twice of low-speed gear 131, and 123 initial position of transmission shaft is located at The center of the up and down direction of 144 upper surface of locating piece and 193 lower end surface of driving wheel, the purpose is to the change with duct size, Transmission shaft 123 always can targeted duct center.

Specifically used mode: in present invention work, pipe robot being put into pipeline, starts driving motor 165, thus It drives drive shaft 164 to rotate, under the action of gear train, driving wheel 193 is driven to rotate, intermediate gear 163 dallies, in belt Under transmission, pipe robot is driven to travel forward, drive shaft 164 drives timing block 162 to rotate, under the cooperation of pushing block 208 Turntable 210 is pushed to rotate, until being passed through the rotation of slot 228 to 212 upside of movable block, movable block 212 is under retaining spring 215 or so Pop-up downwards, so that elastomer block 204 be pushed to decline, so that drive shaft 164 be pulled to move right so that movement bevel gear 195 with It moves bevel gear 205 to be disengaged from, pipe robot stop motion, intermediate gear 163 is engaged with high gear 150, thus band Dynamic high gear 150 rotates, and high speed block 140 and low speed block 124 is driven to rise under the action of rack-and-pinion and belt pulley, until 144 upper-end contact pipeline upper end wall of locating piece squeezes locating piece 144 and declines, and the decline of linkage block 153 is pushed to be detached from locating slot 141 It is stuck, drive block 229 electromagnetic spring 158 effect under pop up, thus push repeatedly block 166 move downward so that driven wheel 160 disengagings are engaged with high gear 150, and high gear 150 no longer rotates, and driven wheel 160 is nibbled with mate gear 170 It closes, so that mate gear 170 be driven to rotate, under the action of gear train, mate gear 170 drives transmission shaft 123 to rotate, flat Face screw thread 120 drives upper and lower sides cleaning block 118 to move out under being threadedly engaged of matching track 119, until handoff block 107 is pushed up Firmly end wall, handoff block 107 are pressed into switching slot 108 pipeline up and down, under the effect of stuck spring 113, stuck piece of 111 quilts Release, into sipes 105 in it is stuck, thus drive coordinating block 233 rotate, carry out the cleaning of pipeline, after the completion of cleaning, close Driving motor 165, positioning electromagnet 114 and movement electromagnet 116 are powered and adsorb, so that stuck piece 111 disengaging sipes 105 is gone forward side by side Enter in stuck slot 112, reverse starting driving motor 165, reset cleaning block 118, closes driving motor 165, ring electromagnet 159 are powered with ring electromagnet 157 adsorbs, and drive block 229 moves right, and block 166 is multiple under the action of spring 174 back and forth repeatedly Position intermediate gear 163 is detached from the engagement of mate gear 170 and engages with high gear 150, at this point, starting driving motor 165, band Dynamic low speed block 124 is resetted with high speed block 140, and locating piece 144 is resetted in the case where moving spring 145 and acting on, and linkage block 153 reenters It is stuck in locating slot 141, driving motor 165 is closed, positioning electromagnet 114 and movement electromagnet 116 power off, movable electro-magnet 214 are powered with positioning electromagnet 216 adsorbs, so that movable block 212 is moved upwards into loose slot 213, elastomer block 204 is in bullet The effect of power spring 203 is lower to be resetted upwards, and block 166 moves downward under the effect of spring 174 back and forth repeatedly, so that movement bevel gear 195 reset with bevel gear 205 is moved, and start driving motor 165, drive one circle of the rotation of drive shaft 164, device reset, this device Structure is simple, and operation is convenient, can carry out to the too small or internal inaccessiable insides of pipes of the mankind such as noxious material that contains A section cleaning, and equally can be realized effective cleaning effect in various sizes of pipeline.

It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.

Claims

1. a kind of pipe robot mode of progression suitable for municipal sewage network management, including work box, it is characterised in that: the work Make to be provided with a working space in case, front bulkhead connection working space is provided in the working space aft bulkhead back and forth Slot, it is described come return-enclosure in slidably connect a block back and forth, it is left with block back and forth that the left side of block back and forth is fixedly connected with a left end The spring back and forth that end wall is fixedly connected, the front end face of block back and forth are fixedly connected with a front end through front of the slot wall back and forth and are located at Force rod in working space, the force rod front end is fixedly connected with one, and block, the downside of block repeatedly are provided with one or four repeatedly Mechanism is taken turns, the upper surface of block repeatedly is fixedly connected with a driving motor, and the driving motor upper surface has been connected by power a drive Moving axis, the drive shaft right side are provided with a concave block being fixedly connected with aft bulkhead, are provided with a upper end in the concave block Wall is connected to the elastic force slot of working space, and the elastic force slot lower end wall is fixedly connected with an elastic spring, the elastic spring upper end A upper end is fixedly connected with to be provided on the left of elastic force slot upper end wall and the elastomer block in working space, the elastomer block One force block being fixedly connected with elastomer block by rope is provided with about one end wall connection working space in the force block Stress slot, the drive shaft and stress slot suit connect, be provided on the upside of the force block one be fixedly connected with drive shaft move Dynamic bevel gear, described move are provided with a force-bearing piece on the upside of bevel gear, and upper and lower side connection work is provided in the force-bearing piece Make the load slot in space, the drive shaft and load slot suit connect, be provided with one on the upside of the force-bearing piece and fix with drive shaft The mobile bevel gear of connection, the mobile bevel gear upside are provided with a timing block being fixedly connected with drive shaft left side, institute It states and is provided with a movement mechanism on the left of drive shaft, one is provided on the right side of the drive shaft and is fixedly connected with working space right end wall Locating piece is provided with the loose slot of lower end wall connection working space, setting in the wall of the loose slot left end in the locating piece There is the swivelling chute of right end wall connection loose slot and left end wall connection working space, the loose slot upper end is fixedly connected with centainly Position electromagnet, loose slot upper end wall center are fixedly connected with a retaining spring, and the retaining spring lower end is fixedly connected with One movable block, the movable block upper surface are fixedly connected with a movable electro-magnet, and the swivelling chute lower end wall is rotatably connected to one Shaft, the shaft upper end be fixedly connected with a right end through loose slot left end wall and be located at loose slot in turntable, described turn Setting is passed through slot, turntable outer end face battle array centered on shaft there are two upper and lower end wall connection swivelling chute and loose slot in disk Column are fixedly connected with several pushing blocks, and the force-bearing piece front end face is rotatably connected to a hanging axis, fixed company on the hanging axis It is connected to the hanging bevel gear that a upper end and mobile bevel gear front end are connected by meshing transmission, the front of the slot back and forth is fixedly connected with one Intermediate gear, the intermediate gear right side are provided with a positioning mechanism, are provided with a transmission mechanism, institute on the left of the intermediate gear The connecting groove for being provided with front bulkhead connection working space in working space aft bulkhead is stated, slidably connects one in the connecting groove Connecting block, the connecting block front end face are fixedly connected with a front end through connecting groove front bulkhead and the linking in working space Bar, the joining rod front end are fixedly connected with a low speed block, and low speed block left side is rotatably connected to a left end through work The transmission shaft of space left end wall is fixedly connected with a drive bevel gear on the transmission shaft, is arranged in the work box left side There is the annular groove of left end wall connection free surrounding space, it is symmetrical above and below centered on transmission shaft in the annular groove to slidably connect a rotation Block, the spill spin block left side is fixedly connected with a left end through annular groove left end wall and is located at the swingle of free surrounding space, described Upper and lower sides swingle left end is fixedly connected with a coordinating block jointly, and it is extraneous empty that left hand end wall connection is provided in the coordinating block Between mating groove, the transmission shaft left end through mating groove left hand end wall and be located at free surrounding space in, the mating groove upper and lower side A stretching slot close to the end wall connection mating groove of mating groove is symmetrically arranged in wall, on the transmission shaft in the mating groove It is fixedly connected with a upper end to stretch out slot lower end wall through upside and be located at the threaded block stretched out in slot, the threaded block lower end is run through Downside is stretched out slot upper end wall and is located at and stretches out in slot, symmetrical above and below centered on transmission shaft in the threaded block left side to be provided with The sipes of slot is stretched out in the connection of one left end wall, and the threaded block left side is symmetrical above and below centered on transmission shaft, and to be fixedly connected with one flat Face screw thread, the downside, which is stretched out, is provided with the lifting groove that slot is stretched out in right end wall connection in the wall of slot left end, sliding in the lifting groove Dynamic to be connected with a movable block, the movable block right side is fixedly connected with a right end through lifting groove right end wall and is located at stretching slot Interior mobile bar, the mobile bar right end are fixedly connected with a cleaning block, and the cleaning block right side is fixedly connected with one and puts down The matching track that face screw thread is cooperatively connected is provided with right end wall connection in the cleaning block right side and stretches out the stuck of slot Slot, the stuck slot left end are fixedly connected with a positioning electromagnet, and it is left with stuck slot that one is provided on the downside of the positioning electromagnet End wall is fixedly connected with a stuck spring, and the stuck spring right end is fixedly connected with a right end through stuck slot right end wall and position A movement electromagnet, the cleaning block lower end are fixedly connected on the upside of stuck piece stretched out in slot, the stuck piece of left side The switching slot of lower end wall connection free surrounding space is provided in face, the switching slot upper end wall is fixedly connected with a switching spring, The switching lower spring end is fixedly connected with a lower end through switching slot lower end wall and is located at the handoff block of free surrounding space, described to cut It changes block and is fixedly connected with stuck piece by rope；

The method comprises the following steps:

2. a kind of pipe robot mode of progression suitable for municipal sewage network management according to claim 1, feature exist In: the four wheel mechanism includes cooperation wheel, and the working space aft bulkhead is rotatably connected to a front end and working space front end The drive wheel shaft of wall rotation connection is fixedly connected with a lower end on the drives wheel shaft through working space lower end wall and is located at extraneous sky Between driving wheel, be provided on front side of the driving wheel in the working space one be fixedly connected with drive wheel shaft and upper end be coupled The drive wheel bevel gear that bevel gear rear end is connected by meshing transmission, the drive wheel bevel gear front side are provided with one and are fixedly connected with wheel shaft is driven Counter wheel, be provided on front side of the counter wheel one with drive that wheel shaft is fixedly connected and working space lower end wall is run through simultaneously in lower end Positioned at the driven wheel of free surrounding space, the cooperation axle driven on the right side of wheel shaft with end wall rotation connection before and after working space is described It is fixedly connected with a lower end on cooperation axle through working space lower end wall and is located at the cooperation wheel of free surrounding space, the cooperation One and the vehicle belt wheel that be sequentially connected by belt friction of counter wheel are provided on front side of wheel, the vehicle belt wheel front side is provided with one It is fixedly connected with cooperation axle and lower end is through working space lower end wall and positioned at the linkage gear of free surrounding space.

3. a kind of pipe robot mode of progression suitable for municipal sewage network management according to claim 1, feature exist In: the movement mechanism includes support rod, and working space left end wall is rotatably connected to a rotary shaft, the rotary shaft right end It is fixedly connected with a upper end and moves the movement bevel gear that bevel gear is connected by meshing transmission, be fixedly connected with one in the rotary shaft Driving bevel gear, the rotary shaft downside are provided with a support rod being fixedly connected with working space left end wall, the support rod Right end is fixedly connected with a receiving block, and the connection slot of about one guarantee connection working space is provided in the receiving block, described It is coupled the load of slot inner sleeve and is connected to a bearing shaft, the bearing shaft upper end is fixedly connected with a right end and engages with driving bevel gear lower end The Intermediate bevel gears of transmission connection, the bearing shaft lower end are fixedly connected with a connection bevel gear.

4. a kind of pipe robot mode of progression suitable for municipal sewage network management according to claim 1, feature exist In: the positioning mechanism includes high gear, and left end wall connection working space is provided in the working space right end wall Movement slots, a moving mass is slidably connected in the movement slots, and the moving mass left side is fixedly connected with a left end through fortune Dynamic slot left end wall and the moving lever being located in working space, the moving lever left end is fixedly connected with a high speed block, the high speed It is provided with the locating slot of upper end wall connection working space in block upper surface, is provided with a left end wall in the locating slot right end wall Connection locating slot moves slot, and upper end wall connection locating slot and the connection work of left end wall are provided in the locating slot lower end wall The electromagnetism slot in space, described move slidably connect one and move block in slot, the block lower end surface of moving is fixedly connected with a lower end With move the spring that moves that slot lower end wall is fixedly connected, the block left side of moving is fixedly connected with a left end through moving a slot left side End wall and it is located in locating slot and moves bar, the bar left end of moving is fixedly connected with a upper end through locating slot upper end wall and work Make space upper end wall and be located at the locating piece of free surrounding space, the electromagnetism slot right end wall is fixedly connected with a ring electromagnet, institute It states electromagnetism slot right end wall center and is fixedly connected with an electromagnetic spring, the electromagnetic spring left end is fixedly connected with a left end through electricity Magnetic slot left end wall and the drive block being located in working space, the drive block right side is fixedly connected with a ring electromagnet, position In the elastic groove for being provided with upper end wall connection electromagnetism slot in the drive block upper surface in elastomeric spring, the elastic groove lower end wall It is fixedly connected with an elastomeric spring, the elastomeric spring upper end is fixedly connected with a upper end through electromagnetism slot upper end wall and positioned at fixed Linkage block in the slot of position, the high speed block left side are provided with one and are connected axis, the rank with what working space aft bulkhead was rotatablely connected It is fixedly connected with the high gear that a right end is connected by meshing transmission with high speed block left side in spindle, is set on front side of the high gear The driving pulley for being equipped with one and being connected axis and being fixedly connected is provided with one on the upside of the linking axis and connects with the rotation of working space aft bulkhead The fitted shaft connect is fixedly connected with a driven pulley connecting by belt with driving pulley frictional drive in the fitted shaft, It is provided with a linkage belt wheel being fixedly connected with fitted shaft on front side of the driven pulley, is provided with one and work on the left of the fitted shaft Make the pulley shaft of space aft bulkhead rotation connection, one is fixedly connected on the pulley shaft and is passed by belt and linkage belt wheel friction The drive pulley of dynamic connection, the drive pulley rear side are provided with a transmission gear being fixedly connected with pulley shaft, the belt wheel The slow-speed shaft of one with the rotation connection of working space aft bulkhead are provided on the left of axis, be fixedly connected on the slow-speed shaft right end with The low-speed gear that transmission gear left end is connected by meshing transmission and left end and low speed block right side are connected by meshing transmission.

5. a kind of pipe robot mode of progression suitable for municipal sewage network management according to claim 1, feature exist In: the transmission mechanism includes linking bevel gear, and a rear end is provided on the left of the intermediate gear and working space aft bulkhead turns The helical axis of connection is moved, a mate gear is fixedly connected on the helical axis, is provided with one and spiral shell on front side of the mate gear The driven wheel of differential that spin axis is fixedly connected, the working space lower end wall are fixedly connected with a bearing rod, the bearing rod upper end It is fixedly connected with a supporting block, the support slot of left hand end wall connection working space, the support are provided in the supporting block Slot inner sleeve load is connected to a jackshaft, and the jackshaft right end is fixedly connected with a rear end and driven wheel of differential left end engaged transmission The linkage bevel gear of connection, the jackshaft left end are fixedly connected with a linking bevel gear, are provided with one on the left of the bearing rod With the universal driving shaft of working space lower end wall rotation connection, be fixedly connected on the universal driving shaft right end be connected bevel gear lower end The rotation bevel gear being connected by meshing transmission, rotation bevel gear upside are provided with a upper end and run through the short of connectivity slot or more end wall Axis is provided with the linkage slot of lower end wall connection working space in the short axle lower end surface, and the universal driving shaft upper end is through linkage Slot lower end wall and be located at linkage slot in, the universal driving shaft upper surface be fixedly connected with a upper end with link slot upper end wall be fixedly connected Linkage spring, be fixedly connected with an extruding being slidably connected with low speed block upper surface in the short axle on the upside of the connectivity slot Block, the short axle upper end are fixedly connected with the cooperation bevel gear that a left end and drive bevel gear lower end are connected by meshing transmission.

6. a kind of pipe robot mode of progression suitable for municipal sewage network management according to claim 1, feature exist In: the high gear radius is twice of low-speed gear, and transmission shaft initial position is located at locating piece upper surface and driving wheel The center of the up and down direction of lower end surface.