CN109235628A - A kind of pipe dredging machine people and its application method based on support wall link mechanism - Google Patents
A kind of pipe dredging machine people and its application method based on support wall link mechanism Download PDFInfo
- Publication number
- CN109235628A CN109235628A CN201811088554.6A CN201811088554A CN109235628A CN 109235628 A CN109235628 A CN 109235628A CN 201811088554 A CN201811088554 A CN 201811088554A CN 109235628 A CN109235628 A CN 109235628A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- mounting disc
- support wall
- connecting rod
- siding
- 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.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
Abstract
The present invention relates to a kind of pipe dredging machine people based on support wall link mechanism and its application methods, including dredging cylinder, telescoping cylinder, preceding mounting disc component, rear mounting disc component, support wall bar assembly and walking component；Preceding mounting disc component and rear mounting disc component include connecting rod free bearing and driving cylinder free bearing, and preceding mounting disc component further includes preceding mounting disc；Mounting disc component further includes rear mounting disc afterwards；Dredging cylinder is set to the bottom position between preceding mounting disc and rear mounting disc；Preceding mounting disc and rear mounting disc are provided with support wall bar assembly in same position；Supportting wall bar assembly further includes the lower support wall cylinder for being set to plate body on the outside of wobble wheel.It has many advantages, such as that reasonable in design, easy for operation, maintenance cost is low, automation and intelligentification degree is high, the regulatory function of robot overall size is realized by the contraction and expansion of supportting wall link mechanism, support requirement when not only meeting the size requirements of disengaging inspection shaft, but also meeting dredging operation.
Description
Technical field
The present invention relates to underground piping dredging facility technology field more particularly to a kind of pipelines based on support wall link mechanism
Dredging robot and its application method.
Background technique
Currently, the dredging robot for being suitable for domestic drainage pipeline requires to enter drainage pipeline from inspection shaft, because checking
Well well head size is limited, in the case where not removing inspection shaft cover board, it is desirable that robot entirety full-size cannot be greater than well head
Size just can guarantee the normal disengaging of robot.And for large-scale drainage pipeline, the caliber of pipeline may be that inspection shaft well head is straight
2 to 3 times of diameter need to solve machine in this way under the premise of guaranteeing that dredging robot normally supports operation in drainage pipeline
People's outer dimension be greater than inspection shaft well head size and caused by dimensional interference problem.The present invention be based under the research background and
It proposes, it is intended to improve the operating efficiency of pipe dredging work.
Summary of the invention
It is an object of the invention to: overcome pipe dredging machine people deficiency in the prior art, provides a kind of based on support wall company
The pipe dredging machine people of linkage and its application method, with reasonable in design, easy for operation, maintenance cost
Maximum ruler outside robot is realized in low, the advantages that automation and intelligentification degree is high, the contraction and expansion for passing through support wall link mechanism
Very little regulatory function, support requirement when not only meeting the size requirements of disengaging inspection shaft, but also meeting dredging operation.
In order to achieve the above object, the present invention adopts the following technical scheme that realization:
A kind of pipe dredging machine people based on support wall link mechanism, pipe dredging machine people include dredging cylinder, stretch
Cylinder, preceding mounting disc component, rear mounting disc component, support wall bar assembly and walking component；Wherein, the preceding mounting disc component and rear peace
Sabot component includes connecting rod free bearing and driving cylinder free bearing, and preceding mounting disc component further includes preceding mounting disc；Mounting disc component afterwards
It further include rear mounting disc；The connecting rod free bearing is fixedly installed in the top of mounting disc, and the driving cylinder free bearing is fixedly installed in peace
The middle part of sabot；The dredging cylinder is set to the bottom position between preceding mounting disc and rear mounting disc for driving pipeline clear
It becomes silted up；The cylinder body of the telescoping cylinder is fixed on preceding mounting disc, in rear mounting disc one of both, also sets up in the cylinder body of the telescoping cylinder
There is flexible cylinder piston rod, the flexible cylinder piston rod articulated connection is on the two of preceding mounting disc, rear mounting disc is another；Before described
Mounting disc and rear mounting disc are provided with support wall bar assembly in same position；The support wall bar assembly includes driving cylinder, connecting rod,
Driving cylinder piston rod that is extended or retracting, the hinged cloth in cylinder body top of the driving cylinder are provided in the cylinder body of the driving cylinder
On driving cylinder free bearing；One end of the connecting rod and driving cylinder piston rod articulated connection, the connecting rod also hinged company of being set to
Bar free bearing rotate freely the other end of the connecting rod can around connecting rod free bearing and can abut against with conduit upper tube wall, described
Support siding is additionally provided on the other end of connecting rod；The walking component includes being installed on preceding mounting disc and rear mounting disc two sides of the bottom
Wobble wheel；The support wall bar assembly further includes the lower support wall cylinder for being set to plate body on the outside of wobble wheel, the cylinder of the lower support wall cylinder
It is provided with the intracorporal lower support wall cylinder piston rod of cylinder that extended and pipeline lower inner wall abutted against or retracted lower support wall cylinder, institute in vivo
The bottom for stating lower support wall cylinder piston rod is additionally provided with lower support siding.
As advanced optimizing for above scheme, the cylinder body top of the driving cylinder is hinged by connecting rod driving cylinder swivel pin
It is laid on driving cylinder free bearing；The connecting rod is hinged by swivel pin after connecting rod and driving cylinder piston rod；The connecting rod passes through company
Swivel pin is hingedly set to connecting rod free bearing before bar；The support siding is fixed on support siding connection frame, and the support siding connects
It connects frame and is hingedly connected on connecting rod by supportting siding hinge pin.
As advanced optimizing for above scheme, the pipe dredging machine people further includes for controlling dredging cylinder, stretching
The air-path control system of the piston rod stretching motion of cylinder, driving cylinder, lower support wall cylinder；The air-path control system includes gas source, gas
Pressure pipe road and opening and closing control valve；The dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder pass through opening and closing control valve respectively and are set to
On pneumatic circuit；The pneumatic circuit connects the gas source.
As advanced optimizing for above scheme, support siding, the lower support siding of the support siding bracket are curvature
Arc panel identical with wall curvature.
As advanced optimizing for above scheme, the wobble wheel includes swinging wheel support, wobble wheel ontology and buffering
Component；The wobble wheel, which is set to, to be swung in wheel support, the Buffer Unit be set to swing wheel support and safe pan bottom it
Between for buffering；It is provided with guide groove on the swing wheel support, is provided in the mounting disc mutually matched with guide groove
Guide post, the Buffer Unit are helical spring or spring leaf, and the both ends of the Buffer Unit are connected to guide groove respectively, lead
To between column.
As advanced optimizing for above scheme, the pipe dredging machine people further includes sensor module, the gas circuit
Control system further includes programmable PLC controller, and the sensor module is connect with programmable PLC controller data signal；Institute
State sensor module include be set on wobble wheel for the velocity sensor of real-time detection robot speed and for real-time
The position sensor of monitoring robot position is laid on the support siding and lower support siding of support siding bracket and supports for real-time detection
The pressure sensor of siding, lower support siding pressure；The velocity sensor, position sensor, pressure sensor are by real-time detection
Signal be sent to programmable PLC controller, the programmable PLC controller passes through the speed received, position, pressure signal
It is compared after data conversion with preset corresponding speed threshold value, position threshold, pressure threshold, control is stretched according to the result of the comparison
The gas circuit of contracting cylinder, the driving cylinder for supportting wall bar assembly, lower support wall cylinder；When the velocity amplitude of real-time detection is higher than preset threshold speed
When, programmable PLC controller controls telescoping cylinder and the gas circuit air pressure of driving cylinder and reduces；Conversely, then increasing；When the position of real-time detection
When setting higher than preset threshold speed, the gas circuit air pressure that programmable PLC controller controls driving cylinder is reduced；Conversely, then increasing；When
When the support siding of real-time detection, lower support siding pressure value are higher than preset pressure threshold, programmable PLC controller controls driving cylinder
Gas circuit air pressure reduce, conversely, then increasing.
As advanced optimizing for above scheme, the preceding mounting disc component of the pipe dredging machine people and/or rear installation
The journey controller being connected with opening and closing control valve, the journey controller and opening and closing control valve are provided in the mounting disc of disk component
Control connection.
As advanced optimizing for above scheme, car puller hook and trailer rope, institute are additionally provided on the rear mounting disc component
The one end for stating trailer rope is fixed on car puller hook, and the other end is fixed on the rope sheave disk of pipe inspection well head in order to clear in pipeline
Pipe dredging machine people is retracted after silt.
A kind of above-mentioned application method of pipe dredging machine people based on support wall link mechanism of the present invention includes the following steps:
1) pipe dredging machine people is placed at the inspection socket position of the pipeline to dredging；Opening gas circuit control system
Gas source, and open the opening and closing control valve of dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder；
2) telescoping cylinder, which controls preceding mounting disc component, relative motion occurs relative to rear mounting disc, so that pipe dredging machine
Device people travels forward；During moving advance, dredging cylinder control driving pipe dredging；Cheng Qian is crossed in pipe dredging, control is driven
The driving cylinder piston rod of dynamic cylinder stretches out, and connecting rod swivel pin rotation before connecting rod is preferably minimized position；During pipe dredging, root
According to the size value of pipe diameter, the driving cylinder piston rod for controlling driving cylinder retracts corresponding position so that connecting rod is cut with scissors before connecting rod
Outbound rotation rises to the position that can be abutted against with pipe diameter, support siding and support siding connection frame and turns around support siding hinge pin
It is dynamic, enable to the tube wall on the top of support siding and pipeline to abut against；At this point, it is living to control lower support wall cylinder in the cylinder body of lower support wall cylinder
Stopper rod stretches out so that the lower part tube wall of lower support siding and pipeline abuts against.
Had using the pipe dredging machine people of the invention based on support wall link mechanism and its application method following beneficial
Effect:
(1) structure design is more reasonable, and the traveling, clear of pipe dredging machine people can be realized using various cylinder assemblies
It becomes silted up, and in operational process, runs relatively reliable.
(2) regulatory function of robot overall size is realized by the contraction and expansion of support wall link mechanism, it is both full
The size requirements of foot disengaging inspection shaft, and support requirement when meeting dredging operation.
(3) it can be realized when pipe dredging machine people encounters special obstacle object during traveling using Buffer Unit to pendulum
Driving wheel is buffered, and the operating efficiency that its traveling and dredging are influenced because of vibration is prevented.
(4) reliability of pipe dredging machine people's end of run can be accurately controlled using journey controller, while by
In sensor module can parameter (including speed, position, pressure etc.) required for precise real-time detection, automation and intelligentification journey
Degree improves, and conveniently to the pressure control of each cylinder component.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the pipe dredging machine people based on support wall link mechanism of the embodiment of the present invention.
Fig. 2 is a kind of pipe dredging machine people's support wall bar assembly based on support wall link mechanism of the embodiment of the present invention in not
Same position view.
Fig. 3 is that a kind of support wall link mechanism of the pipe dredging machine people based on support wall link mechanism of the embodiment of the present invention shows
It is intended to.
It is respectively marked in figure as follows: dredging cylinder 1；Telescoping cylinder 2；Wobble wheel 3；Preceding mounting disc 4；Lower support wall cylinder 5；Connecting rod driving cylinder
Swivel pin 6；Drive cylinder piston rod 7；Swivel pin 8 after connecting rod；Swivel pin 9 before connecting rod；Connecting rod 10；Support siding 11；Support siding hinge pin
12；Support siding connection frame 13；Tube wall 1；Tube wall 2 16；Tube wall 3 17；Connecting rod free bearing 18；Driving cylinder free bearing 19；Driving cylinder
20；Mounting disc 21 afterwards.
Specific embodiment
1-3 is to the present invention is based on the pipe dredging machine people of support wall link mechanism and its application method to make with reference to the accompanying drawing
To be described in detail.
A kind of pipe dredging machine people based on support wall link mechanism, pipe dredging machine people include dredging cylinder 1, stretch
Cylinder 2, preceding mounting disc component, rear mounting disc component, support wall bar assembly and walking component；Wherein, the preceding mounting disc component is with after
Mounting disc component includes connecting rod free bearing 18 and driving cylinder free bearing 19, and preceding mounting disc component further includes preceding mounting disc 4；After install
Disk component further includes rear mounting disc 21；The connecting rod free bearing is fixedly installed in the top of mounting disc, and the driving cylinder free bearing is fixed
It is installed on the middle part of mounting disc；The dredging cylinder is set to the bottom position between preceding mounting disc and rear mounting disc for driving
Pipe dredging；The cylinder body of the telescoping cylinder is fixed on preceding mounting disc, in rear mounting disc one of both, in the cylinder body of the telescoping cylinder
It is additionally provided with flexible cylinder piston rod, the flexible cylinder piston rod articulated connection is on the two of preceding mounting disc, rear mounting disc is another；
The preceding mounting disc and rear mounting disc are provided with support wall bar assembly in same position；The support wall bar assembly includes driving cylinder
20, connecting rod 10 are provided with driving cylinder piston rod 7 that is extended or retracting, the cylinder of the driving cylinder in the cylinder body of the driving cylinder
Body top is hingedly laid on driving cylinder free bearing；One end of the connecting rod and driving cylinder piston rod articulated connection, the connecting rod is also
Hingedly being set to connecting rod free bearing rotate freely the other end of the connecting rod can around connecting rod free bearing and can be with conduit upper pipe
Wall abuts against, and support siding 11 is additionally provided on the other end of the connecting rod；The walking component include be installed on before mounting disc and
The wobble wheel 3 of mounting disc two sides of the bottom afterwards；The support wall bar assembly further includes the lower support wall cylinder for being set to plate body on the outside of wobble wheel
5, it is provided in the extended cylinder body for abutting against or retracting time support wall cylinder with pipeline lower inner wall in the cylinder body of the lower support wall cylinder
Lower support wall cylinder piston rod, it is described it is lower support wall cylinder piston rod bottom be additionally provided with lower support siding.
The cylinder body top of the driving cylinder is hingedly laid on driving cylinder free bearing by connecting rod driving cylinder swivel pin 6；It is described
Connecting rod is hinged by swivel pin 8 after connecting rod and driving cylinder piston rod；The connecting rod passes through the hinged company of being set to of swivel pin 9 before connecting rod
Bar free bearing；The support siding is fixed on support siding connection frame 13, and the support siding connection frame passes through support siding hinge pin 12
It is hingedly connected on connecting rod.
The pipe dredging machine people further includes the piston rod for controlling dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder
The air-path control system of stretching motion；The air-path control system includes gas source, pneumatic circuit and opening and closing control valve；The dredging
Cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder pass through opening and closing control valve respectively and are set on pneumatic circuit；The pneumatic circuit connection
The gas source.
Support siding, the lower support siding of the support siding bracket are curvature and the identical arc panel of wall curvature.
The wobble wheel includes swinging wheel support, wobble wheel ontology and Buffer Unit；The wobble wheel is set to swing
In wheel support, the Buffer Unit, which is set to, to be swung between wheel support and safe pan bottom for buffering；The swing wheel support
On be provided with guide groove, be provided in the mounting disc with the mutually matched guide post of guide groove, the Buffer Unit be spiral
The both ends of spring or spring leaf, the Buffer Unit are connected between guide groove, guide post respectively.
The pipe dredging machine people further includes sensor module, and the air-path control system further includes programmable PLC control
Device processed, the sensor module are connect with programmable PLC controller data signal；The sensor module includes being set to swing
The velocity sensor for real-time detection robot speed on wheel and the position sensor for real-time monitoring robot location,
It is laid on the support siding and lower support siding of support siding bracket for real-time detection support siding, the pressure sensing of lower support siding pressure
Device；The signal of real-time detection is sent to programmable PLC controller by the velocity sensor, position sensor, pressure sensor,
The programmable PLC controller by the speed received, position, pressure signal after data conversion with preset corresponding speed threshold
Value, position threshold, pressure threshold are compared, and control telescoping cylinder, the driving cylinder for supportting wall bar assembly, lower support according to the result of the comparison
The gas circuit of wall cylinder；When the velocity amplitude of real-time detection be higher than preset threshold speed when, programmable PLC controller control telescoping cylinder and
The gas circuit air pressure of driving cylinder reduces；Conversely, then increasing；When the position of real-time detection is higher than preset threshold speed, may be programmed
The gas circuit air pressure that PLC controller controls driving cylinder reduces；Conversely, then increasing；Support siding, lower support siding pressure when real-time detection
When value is higher than preset pressure threshold, the gas circuit air pressure that programmable PLC controller controls driving cylinder is reduced, conversely, then increasing.
It is provided with and opens in the mounting disc of the preceding mounting disc component and/or rear mounting disc component of the pipe dredging machine people
The connected journey controller of control valve is closed, the journey controller and opening and closing control valve control connect.
It is additionally provided with car puller hook and trailer rope on mounting disc component after described, one end of the trailer rope is fixed and car puller hook
On, the other end is fixed on the rope sheave disk of pipe inspection well head to retract pipe dredging machine people after pipe dredging.
The application method of the above-mentioned pipe dredging machine people based on support wall link mechanism of the present invention includes the following steps:
1) pipe dredging machine people is placed at the inspection socket position of the pipeline to dredging；Opening gas circuit control system
Gas source, and open the opening and closing control valve of dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder；
2) telescoping cylinder, which controls preceding mounting disc component, relative motion occurs relative to rear mounting disc, so that pipe dredging machine
Device people travels forward；During moving advance, dredging cylinder control driving pipe dredging；Cheng Qian is crossed in pipe dredging, control is driven
The driving cylinder piston rod of dynamic cylinder stretches out, and connecting rod swivel pin rotation before connecting rod is preferably minimized position；During pipe dredging, root
According to the size value of pipe diameter, the driving cylinder piston rod for controlling driving cylinder retracts corresponding position so that connecting rod is cut with scissors before connecting rod
Outbound rotation rises to the position that can be abutted against with pipe diameter, support siding and support siding connection frame and turns around support siding hinge pin
It is dynamic, enable to the tube wall on the top of support siding and pipeline to abut against；At this point, it is living to control lower support wall cylinder in the cylinder body of lower support wall cylinder
Stopper rod stretches out so that the lower part tube wall of lower support siding and pipeline abuts against.
In Fig. 2, during pipe dredging, according to the size value of pipe diameter, the driving the cylinder piston of driving cylinder is controlled
Bar retract corresponding position so that connecting rod before connecting rod swivel pin rotation rise to the position that can be abutted against with pipe diameter,
Siding and support siding connection frame are supportted around support siding hinge pin rotation, the tube wall on the top of support siding and pipeline is enabled to abut against；
When the driving cylinder piston rod of driving cylinder 20 stretches out, the rotation of swivel pin 9 before connecting rod of connecting rod 10 is preferably minimized position；
When the driving cylinder piston rod of driving cylinder 20 is shunk, the rotation of swivel pin 9 before connecting rod of connecting rod 10 rises, support siding 11 and support siding
Connection frame 13 is rotated around support siding hinge pin 12, can closely be pressed onto tube wall 1, it can walk in the pipeline of small diameter；
Continue to rise, touches tube wall 2 16 and hold out against, so that it may work in the pipeline being relatively large in diameter；Eminence is risen to, is touched
Tube wall 3 17 and hold out against, so that it may work in the bigger pipeline of diameter, it is this in this way based on the complete pneumatic of support wall link mechanism
Pipe dredging machine people is adapted to the pipeline of different-diameter.
This hair can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art
It is bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to implementations here
Example, those skilled in the art's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be
Within protection scope of the present invention.
Claims (9)
1. a kind of pipe dredging machine people based on support wall link mechanism, it is characterised in that: pipe dredging machine people includes clear
Silt cylinder (1), telescoping cylinder (2), preceding mounting disc component, rear mounting disc component, support wall bar assembly and walking component；Wherein, before described
Mounting disc component and rear mounting disc component include connecting rod free bearing (18) and driving cylinder free bearing (19), and preceding mounting disc component also wraps
Include preceding mounting disc (4)；Mounting disc component further includes rear mounting disc (21) afterwards；The connecting rod free bearing is fixedly installed in the top of mounting disc
Portion, the driving cylinder free bearing are fixedly installed in the middle part of mounting disc；The dredging cylinder be set to preceding mounting disc and rear mounting disc it
Between bottom position for driving pipe dredging；The cylinder body of the telescoping cylinder be fixed on both preceding mounting disc, rear mounting disc it
On one, flexible cylinder piston rod is additionally provided in the cylinder body of the telescoping cylinder, the flexible cylinder piston rod articulated connection is in preceding installation
Disk, rear mounting disc the two it is another on；The preceding mounting disc and rear mounting disc are provided with support wall bar assembly in same position；
The support wall bar assembly includes driving cylinder (20), connecting rod (10), is provided in the cylinder body of the driving cylinder extended or retraction
It drives cylinder piston rod (7), the cylinder body top of the driving cylinder is hingedly laid on driving cylinder free bearing；One end of the connecting rod and drive
Dynamic cylinder piston rod articulated connection, the connecting rod are also hingedly set to connecting rod free bearing and make the other end of the connecting rod can be around connecting rod
Free bearing is rotated freely and can be abutted against with conduit upper tube wall, and support siding (11) is additionally provided on the other end of the connecting rod；Institute
Stating walking component includes the wobble wheel (3) for being installed on preceding mounting disc and rear mounting disc two sides of the bottom；The support wall bar assembly is also wrapped
The lower support wall cylinder (5) for being set to plate body on the outside of wobble wheel is included, is provided under extended and pipeline in the cylinder body of the lower support wall cylinder
Portion's inner wall abuts against or retracts the intracorporal lower support wall cylinder piston rod of cylinder of lower support wall cylinder, and the bottom of the lower support wall cylinder piston rod is also
It is provided with lower support siding.
2. a kind of pipe dredging machine people based on support wall link mechanism according to claim 1, it is characterised in that: described
The cylinder body top of driving cylinder is hingedly laid on driving cylinder free bearing by connecting rod driving cylinder swivel pin (6)；The connecting rod passes through company
Swivel pin (8) and driving cylinder piston rod are hinged after bar；Swivel pin (9) is hingedly set to connecting rod hinge before the connecting rod passes through connecting rod
Seat；The support siding is fixed in support siding connection frame (13), and the support siding connection frame passes through support siding hinge pin (12)
It is hingedly connected on connecting rod.
3. a kind of pipe dredging machine people based on support wall link mechanism according to claim 2, it is characterised in that: described
Pipe dredging machine people further includes the gas for controlling the piston rod stretching motion of dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder
Path control system；The air-path control system includes gas source, pneumatic circuit and opening and closing control valve；The dredging cylinder, telescoping cylinder, drive
Dynamic cylinder, lower support wall cylinder pass through opening and closing control valve respectively and are set on pneumatic circuit；The pneumatic circuit connects the gas source.
4. a kind of pipe dredging machine people based on support wall link mechanism according to claim 3, it is characterised in that: described
Support siding, the lower support siding for supportting siding bracket are curvature and the identical arc panel of wall curvature.
5. a kind of pipe dredging machine people based on support wall link mechanism according to claim 4, it is characterised in that: described
Wobble wheel includes swinging wheel support, wobble wheel ontology and Buffer Unit；The wobble wheel, which is set to, to be swung in wheel support, institute
Buffer Unit is stated to be set between swing wheel support and safe pan bottom for buffering；Guiding is provided on the swing wheel support
Slot, be provided in the mounting disc with the mutually matched guide post of guide groove, the Buffer Unit is helical spring or spring
The both ends of piece, the Buffer Unit are connected between guide groove, guide post respectively.
6. a kind of pipe dredging machine people based on support wall link mechanism according to claim 5, it is characterised in that: described
Pipe dredging machine people further includes sensor module, and the air-path control system further includes programmable PLC controller, the sensing
Device assembly is connect with programmable PLC controller data signal；The sensor module includes being set on wobble wheel to be used in fact
When detection robot speed velocity sensor and for real-time monitoring robot location position sensor, be laid in support siding
For real-time detection support siding, the pressure sensor of lower support siding pressure on the support siding of bracket and lower support siding；The speed
The signal of real-time detection is sent to programmable PLC controller by sensor, position sensor, pressure sensor, described programmable
PLC controller by the speed received, position, pressure signal after data conversion with preset corresponding speed threshold value, position threshold
Value, pressure threshold are compared, and control the gas of telescoping cylinder, the driving cylinder for supportting wall bar assembly, lower support wall cylinder according to the result of the comparison
Road；When the velocity amplitude of real-time detection is higher than preset threshold speed, programmable PLC controller controls telescoping cylinder and driving cylinder
Gas circuit air pressure reduces；Conversely, then increasing；When the position of real-time detection is higher than preset threshold speed, programmable PLC controller
The gas circuit air pressure for controlling driving cylinder reduces；Conversely, then increasing；When the support siding of real-time detection, lower support siding pressure value are higher than in advance
If pressure threshold when, programmable PLC controller control driving cylinder gas circuit air pressure reduce, conversely, then increasing.
7. a kind of pipe dredging machine people based on support wall link mechanism according to claim 6, it is characterised in that: described
It is provided in the mounting disc of the preceding mounting disc component and/or rear mounting disc component of pipe dredging machine people and is connected with opening and closing control valve
Journey controller, the journey controller and opening and closing control valve control connect.
8. a kind of pipe dredging machine people based on support wall link mechanism according to claim 7, it is characterised in that: described
Car puller hook and trailer rope are additionally provided on mounting disc component afterwards, one end of the trailer rope is fixed on car puller hook, and the other end is solid
Due on the rope sheave disk of pipe inspection well head in order to pipe dredging machine people is retracted after pipe dredging.
9. the application method of pipe dredging machine people based on support wall link mechanism according to claim 8 a kind of, special
Sign is that the application method includes the following steps:
1) pipe dredging machine people is placed at the inspection socket position of the pipeline to dredging；The gas of opening gas circuit control system
Source, and open the opening and closing control valve of dredging cylinder, telescoping cylinder, driving cylinder, lower support wall cylinder；
2) telescoping cylinder, which controls preceding mounting disc component, relative motion occurs relative to rear mounting disc, so that pipe dredging machine people
It travels forward；During moving advance, dredging cylinder control driving pipe dredging；Cheng Qian is crossed in pipe dredging, controls driving cylinder
Driving cylinder piston rod stretch out, connecting rod before connecting rod swivel pin rotation is preferably minimized position；During pipe dredging, according to pipe
The size value of road caliber, the driving cylinder piston rod for controlling driving cylinder retract corresponding position so that connecting rod swivel pin before connecting rod
Rotation rises to the position that can be abutted against with pipe diameter, support siding and support siding connection frame around support siding hinge pin rotation, energy
Enough so that the tube wall on the top of support siding and pipeline abuts against；At this point, controlling lower support wall cylinder piston rod in the cylinder body of lower support wall cylinder
It stretches out so that the lower part tube wall of lower support siding and pipeline abuts against.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088554.6A CN109235628B (en) | 2018-09-18 | 2018-09-18 | Pipeline dredging robot based on wall supporting and connecting rod mechanism and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811088554.6A CN109235628B (en) | 2018-09-18 | 2018-09-18 | Pipeline dredging robot based on wall supporting and connecting rod mechanism and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109235628A true CN109235628A (en) | 2019-01-18 |
| CN109235628B CN109235628B (en) | 2023-09-12 |
Family
ID=65059658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811088554.6A Active CN109235628B (en) | 2018-09-18 | 2018-09-18 | Pipeline dredging robot based on wall supporting and connecting rod mechanism and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109235628B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109780368A (en) * | 2019-02-19 | 2019-05-21 | 北京交通大学 | Sewage conduct band water based on pneumatic drive mechanism detects robot |
| CN109797844A (en) * | 2019-02-19 | 2019-05-24 | 北京交通大学 | The full Pneumatic pipe dredging robot of Cheng Bi mechanism is folded based on crank multi link |
| CN112858308A (en) * | 2021-01-18 | 2021-05-28 | 山东大学 | Disease underwater detection device for water pipeline in operation period |
| CN113502904A (en) * | 2021-07-25 | 2021-10-15 | 河海大学 | Mechanical structure of pipeline dredging robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010248908A (en) * | 2004-09-22 | 2010-11-04 | Tokyo Metropolitan Government | Method for automatically operating dredging bucket apparatus for great depth manhole |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN205276457U (en) * | 2015-11-16 | 2016-06-01 | 北京建筑大学 | A sediment removal device for secret drainage pipe |
| CN106439385A (en) * | 2016-09-30 | 2017-02-22 | 福建（泉州）哈工大工程技术研究院 | Telescopic arm pipe detecting robot suitable for different size pipe diameters |
| CN106862195A (en) * | 2017-02-21 | 2017-06-20 | 常州大学 | A kind of ventilation pipeline sweeping of varistructure |
| CN106903122A (en) * | 2017-05-03 | 2017-06-30 | 西华大学 | A kind of wiper speed-controlling device |
| CN206448355U (en) * | 2016-11-04 | 2017-08-29 | 长沙伟诺机电有限公司 | A kind of municipal pipeline desilting dredger and municipal pipeline desilting dredging vehicle |
| CN107859159A (en) * | 2017-11-10 | 2018-03-30 | 盐城恒清河湖整治有限公司 | A kind of municipal pipeline Accrete clearing device |
| CN209053223U (en) * | 2018-09-18 | 2019-07-02 | 北京城市排水集团有限责任公司 | A kind of pipe dredging machine people based on support wall link mechanism |
-
2018
- 2018-09-18 CN CN201811088554.6A patent/CN109235628B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010248908A (en) * | 2004-09-22 | 2010-11-04 | Tokyo Metropolitan Government | Method for automatically operating dredging bucket apparatus for great depth manhole |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN205276457U (en) * | 2015-11-16 | 2016-06-01 | 北京建筑大学 | A sediment removal device for secret drainage pipe |
| CN106439385A (en) * | 2016-09-30 | 2017-02-22 | 福建（泉州）哈工大工程技术研究院 | Telescopic arm pipe detecting robot suitable for different size pipe diameters |
| CN206448355U (en) * | 2016-11-04 | 2017-08-29 | 长沙伟诺机电有限公司 | A kind of municipal pipeline desilting dredger and municipal pipeline desilting dredging vehicle |
| CN106862195A (en) * | 2017-02-21 | 2017-06-20 | 常州大学 | A kind of ventilation pipeline sweeping of varistructure |
| CN106903122A (en) * | 2017-05-03 | 2017-06-30 | 西华大学 | A kind of wiper speed-controlling device |
| CN107859159A (en) * | 2017-11-10 | 2018-03-30 | 盐城恒清河湖整治有限公司 | A kind of municipal pipeline Accrete clearing device |
| CN209053223U (en) * | 2018-09-18 | 2019-07-02 | 北京城市排水集团有限责任公司 | A kind of pipe dredging machine people based on support wall link mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109780368A (en) * | 2019-02-19 | 2019-05-21 | 北京交通大学 | Sewage conduct band water based on pneumatic drive mechanism detects robot |
| CN109797844A (en) * | 2019-02-19 | 2019-05-24 | 北京交通大学 | The full Pneumatic pipe dredging robot of Cheng Bi mechanism is folded based on crank multi link |
| CN112858308A (en) * | 2021-01-18 | 2021-05-28 | 山东大学 | Disease underwater detection device for water pipeline in operation period |
| CN113502904A (en) * | 2021-07-25 | 2021-10-15 | 河海大学 | Mechanical structure of pipeline dredging robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109235628B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109235628A (en) | A kind of pipe dredging machine people and its application method based on support wall link mechanism | |
| CN108692133B (en) | Pipeline robot | |
| CN102954314A (en) | Pipeline robot dragging mechanism | |
| CN105003791A (en) | Supporting wheel type pipeline robot driving device | |
| CN207316352U (en) | A kind of pipeline climbing robot for being used to detect dredging | |
| CN109737267A (en) | Based on detecting robot of pipe combined of multi-sensor information and method | |
| CN200944094Y (en) | Universal tyre X-ray monitoring device | |
| CN102384939B (en) | Apparatus for examining eddy current of control rod driving mechanism of CEPR nuclear power station | |
| CN202937957U (en) | Supporting wheel type pipeline robot traction device | |
| CN209053223U (en) | A kind of pipe dredging machine people based on support wall link mechanism | |
| CN106342485A (en) | Mowing accessory head capable of bypassing obstacle | |
| CN110886583B (en) | Pipe arranging robot for drill floor of drilling machine | |
| CN207108136U (en) | A kind of steel wire rope torsion cancellation element that can be detected torsion structure and adjust tension force | |
| CN108397639B (en) | Pipeline self-adaptive robot walking system | |
| CN106004680A (en) | Rotation type active step | |
| CN109027515A (en) | A kind of K shape pipe robot | |
| CN206571322U (en) | Water injection machine is closed the door mechanism | |
| CN206740724U (en) | A kind of adjustable wireless combustible gas detecting system | |
| CN209587485U (en) | A kind of detecting robot of pipe | |
| CN108910465A (en) | The rubber band conveying device of automatic flexible strapping machine | |
| CN109668760B (en) | Water quality sampler capable of being flexibly contracted | |
| CN107878368A (en) | A kind of new-energy automobile with rainproof function based on Internet of Things | |
| CN208963907U (en) | A kind of pipe chain machine with automatic adjustment tensioning apparatus | |
| CN206734307U (en) | Railroad train automatic water supply device and system | |
| CN206212688U (en) | A kind of obstacle mowing accessory head |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |