CN109719094A - Pipeline cleaning machine people - Google Patents
Pipeline cleaning machine people Download PDFInfo
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- CN109719094A CN109719094A CN201811626561.7A CN201811626561A CN109719094A CN 109719094 A CN109719094 A CN 109719094A CN 201811626561 A CN201811626561 A CN 201811626561A CN 109719094 A CN109719094 A CN 109719094A
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- cutter
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- frame assembly
- machine people
- cleaning machine
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Abstract
The present invention relates to a kind of pipeline cleaning machine people, including frame assembly, it is mounted on frame assembly and drives the walking mechanism of its walking and the dredging mechanism on frame assembly head is set, the dredging mechanism includes the cutting tool assembly for being installed on frame assembly head and the cutting driving device of driving cutting tool assembly rotation, the cutting tool assembly packet cutter shaft and transmission are matched with cutter shaft and along the several groups cutters of cutter shaft axial direction arrangement, it include symmetrical two cutters centered on the radially section of cutter shaft in every group of cutter, each group cutter along bit shaft diameter to length successively shorten from cutter shaft axial centre to both ends.Well-behaved invention multiple groups cutter length gradual change, this structure meets arc structure inside pipeline, and the space that each cutter ends are cut is different, and comprehensive cutting can be carried out to rubbish, the coordinated of each cutter can effectively prevent cutter to be wound by rubbish, and this configuration has improved the cutting efficiencies of cutter.
Description
Technical field
The invention belongs to urban water supply and sewerage technical fields, are related to the cleaning plant of sewer, in particular to a kind of pipeline is clear
Manage robot.
Background technique
Drain pipe blocking is very common a kind of problem in daily life；Due to chemical substance or the day of solid refuse
The product moon is tired, is easy to cause sewer blockage；Its common solution is that cleaning worker enters the artificial dredging of progress in pipeline clearly
Reason, cleaning efficiency is low, and working environment is severe, and dredging personnel are caused serious peace by also frequent dangerous property gas in pipeline
Full hidden danger, particularly with the sewer pipe of small diameter tube, manual cleaning difficulty is larger；Its volume of tube cleaning currently on the market
It is larger, inefficient also multi-person synergy to be needed to be used cooperatively.
In view of above-mentioned insufficient and application demand, the present invention provides a kind of small in size, energy one man operation, adapts to complexity
Operating condition, can check the pipeline cleaning machine people of the progress of work in real time.
Summary of the invention
In view of this, the present invention provides a kind of pipeline cleaning machine people, small in size, energy one man operation adapts to complexity
Operating condition, can check the pipeline cleaning machine people of the progress of work in real time.
Pipeline cleaning machine people of the invention, including frame assembly, be mounted on frame assembly and drive its advance or fall
The walking mechanism moved back and frame assembly head is set to the dredging mechanism dredged in pipeline, the dredging mechanism includes
The cutting tool assembly and the rotation of driving cutting tool assembly for being installed on frame assembly head carry out cutting dredging to rubbish in pipeline and cut
Driving device is cut, the cutting tool assembly includes the knife that axis is parallel to frame assembly width direction and driven device driving rotation
Tool axis and transmission are matched with cutter shaft and include with knife along the several groups cutter of cutter shaft axial direction arrangement, every group of cutter
Have symmetrical two cutters centered on the radially section of axis, each group cutter along bit shaft diameter to length from cutter shaft
Successively shorten at axial centre to both ends.
Further, the cutter includes that several are distributed and what is radially extended cuts along cutter shaft central axis central symmetry
Cutter, the cutter and cutter shaft transmission cooperate.
Further, the walking mechanism includes being set to two groups of driving wheels and the driving of frame assembly width direction two sides
The power assembly of driving wheel rotation.
Further, the pipeline cleaning machine people further include be set to frame assembly tail portion for the rubbish after dredging into
The cleaning mechanism of row cleaning.
Further, the end of the cutter is in axial direction bent with certain radian, the cutter of two adjacent groups cutter
Bending direction is opposite.
Further, the cutter for driving cutter shaft to swing up and down it is connected between the cutter shaft and frame assembly
Axial brake device.
Further, the driving wheel includes big driving wheel and coaxial arrangement outside big driving wheel and diameter is less than big drive
The small driving wheel of driving wheel diameter.
Further, the cleaning mechanism includes cleaning plate and the connection for being set to frame assembly tail portion in a rotatable manner
For driving the cleaning plate driving device of cleaning plate rotation between frame assembly and cleaning plate.
Further, driving wheel described in every group includes two driving wheels, and the power assembly includes being set on frame assembly
It is respectively used to two driving motors of two groups of driving wheels of driving, a driving wheel in the driving motor and respective drive wheel group
It is drivingly connected, is provided with a pair of sprocket on the wheel shaft of two driving wheels in the driving wheel group, this passes sprocket wheel by chain
Dynamic cooperation.
Further, car light and the camera for remotely monitoring are provided on the frame assembly.
Beneficial effects of the present invention:
Cutter structure form of the present invention and internal diameter of the pipeline are adapted, and are avoided cutter from striking and are damaged cutter on pipe side wall,
Cleaning machine human reriability is improved, the cutter coordinated of multiple groups carries out cutting dredging operation to the rubbish in pipeline, by
In multiple groups cutter length gradual change, so that each cutter ends are sequentially connected composition convex structure when cutting, this structure is met
Arc structure inside pipeline, and the space that each cutter ends are cut is different, and comprehensive cutting can be carried out to rubbish, it is each
The coordinated of cutter can effectively prevent cutter to be wound by rubbish, and this configuration has improved the cutting efficiencies of cutter, reduce machine
People needs the risk of maintenance down, and every group of cutter is symmetrical, the stress of robot when improving cutting, so that uniform force, avoids
Due to the rollover phenomenon of unbalance stress generation when robot ambulation；
The each cutter of the present invention are mutually indepedent, when one of cutter are wound, do not influence other cutter
Work, and multiple cutter have one section of bar stroke during rotating with cutter shaft, this bar stroke makes cutter exist
With certain impact force when contacting with rubbish, cutting effect is enhanced；
The large and small driving wheel of the present invention is arranged so that large and small tire while the offer that lands when meeting the road surface of uneven
Power makes it have good adhesive force, enhances the dynamic property of robot, tire caused by can effectively avoid because of bottom surface injustice
Slipping phenomenon；It when big driving wheel is closer apart from pipe side wall, is preferentially contacted by small driving wheel with pipe side wall, improves machine
Contact situation of the people with duct wall effectively prevent big driving wheel and pipeline so that big driving wheel will not contact always with duct wall
Stuck phenomenon occurs for side wall；
For cutter leading portion of the invention with certain radian to curving, point of a knife part is arc, can shred the same of rubbish
When prevent cutter from being snarled and pipeline will not be scratched.
Long-pending small, the energy one man operation of pipeline cleaning machine human body of the invention, adapts to complicated operating condition, can real time remote inspection
Look into the progress of work.
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is isometric structural schematic diagram of the present invention；
Fig. 2 is present invention cleaning plate structural schematic diagram；
Fig. 3 is power assembly structural schematic diagram；
Fig. 4 is driving wheel structure schematic diagram；
Specific embodiment
Fig. 1 is isometric structural schematic diagram of the present invention；Fig. 2 is present invention cleaning plate structural schematic diagram；Fig. 3 is power assembly
Structural schematic diagram；Fig. 4 is driving wheel structure schematic diagram；
Frame assembly length direction is its direction of travel in the present embodiment, and frame assembly head is to exist along vehicle frame length direction
Its direction of travel side, frame assembly tail portion are along vehicle frame length direction in its reverse direction side；
It is as shown in the figure: including frame assembly, be mounted on frame assembly and drive its advance or fall back walking mechanism with
And frame assembly head is set to the dredging mechanism dredged in pipeline, the dredging mechanism includes being installed on frame assembly
The cutting tool assembly on head and driving cutting tool assembly rotation carry out the cutting driving device of cutting dredging to rubbish in pipeline, described
Cutting tool assembly includes that the cutter shaft 1 that axis is parallel to frame assembly width direction and driven device driving rotates and transmission are matched
It include the center-diameter with cutter shaft together in cutter shaft and along the several groups cutter 2 of cutter shaft axial direction arrangement, every group of cutter
Two symmetrical cutters centered on to section, each group cutter along bit shaft diameter to length from cutter shaft axial centre to
Successively shorten at both ends；Cutter used in the robot can be made of high-intensitive steel alloy, cutter length gradual change, closer to pipeline
Its length of the cutter of side wall is smaller, this cutter structure form can be adapted with internal diameter of the pipeline, and cutter is avoided to strike pipe side wall
Upper damage cutter, improves cleaning machine human reriability, and the cutter coordinated of multiple groups cuts the rubbish in pipeline
Operation is dredged, due to multiple groups cutter length gradual change, so that each cutter ends are sequentially connected composition convex structure when cutting, this
Structure meets arc structure inside pipeline, and the space that each cutter ends are cut is different, can carry out to rubbish comprehensive
Cutting, the coordinated of each cutter can effectively prevent cutter to be wound by rubbish, this configuration has improved the cutting efficiency of cutter,
Reducing robot needs the risk of maintenance down, and every group of cutter is symmetrical, the stress of robot when improving cutting, so that stress
Uniformly, the rollover phenomenon occurred when robot ambulation due to unbalance stress is avoided.
In the present embodiment, the cutter includes that several are distributed and radially extend along cutter shaft central axis central symmetry
Cutter 2a, the cutter and cutter shaft transmission cooperate；There are three cutter for each cutter setting in the present embodiment, certainly
Also the cutter of other quantity can be set, details are not described herein again, and three cutter are integrated on toolframe 10, and toolframe is in circle
Plate-like is simultaneously driven cooperation with cutter shaft, can be coaxially disposed and be integrally formed with cutter shaft to simplify the two structure toolframe, cutter
The cutter there are three detachably connecing are connected by screw on frame, the maintenance of cutter is facilitated to replace, each cutter are mutually indepedent,
When one of cutter are wound or damage, the work of other cutter is not influenced, and multiple cutter are with cutter shaft
During rotation, there is one section of bar stroke, this bar stroke makes cutter when contacting with rubbish with certain impact
Power enhances cutting effect, can effectively be crushed to the biggish rubbish of hardness；Cutter is symmetrical so that cutting axis stress is equal
It is even, every group of cutter cutter shaft circumferential direction can interlaced arrangement, reduce the impact force that is subject to of cutting axis, improve cutting effect.
In the present embodiment, walking mechanism includes being set to two groups of driving wheels and the driving of frame assembly width direction two sides
The power assembly of driving wheel rotation；For every group of driving wheel at least there are two driving wheel, dynamic structure can be internal combustion engine or motor etc.
Drive system meets the power demand of robot ambulation by dynamic structure driving driving wheel.
In the present embodiment, the pipeline cleaning machine people further includes being set to frame assembly tail portion for the rubbish after dredging
The cleaning mechanism that rubbish is cleared up；Robot is cut and is dredged to internal rubbish when advancing, and when robot retreats, is passed through
The place that can manually clear up is gathered and shifted onto from pipeline depths to cleaning mechanism to the rubbish of place's chopping, and the robot of this structure is integrated
Cutting rubbish and the function of clearing up rubbish substantially increase the efficiency of pipe-dredging in one, while avoiding and being manually entered pipe
Operation in road, saves manpower, and the cleaning mode of certain cleaning mechanism is not limited to push out such mode of rubbish, can also lead to
The mode of the pump housing is crossed by outside the garbage transporting to tube body after cutting, other cleaning modes can also be used, details are not described herein again.
In the present embodiment, the end of the cutter 2a is in axial direction bent with certain radian, two adjacent groups cutter
Cutter bending direction is opposite；With certain radian to curving, point of a knife part is arc for cutter end, can shred rubbish
It prevents cutter from being snarled simultaneously and pipeline will not be scratched, cutter end is provided with blade, when cutting rubbish, cuts first
Cutter side is contacted with rubbish, be then only blade and cut to rubbish, this structure effective protection blade, and each cutting
The bending part of knife can carry out comprehensive cutting and crushing to rubbish, make rubbish have axial force and axis when cutting
To displacement, rubbish can be effectively loosened, enhances its cutting effect.
In the present embodiment, it is connected between the cutter shaft and frame assembly for driving cutter shaft to swing up and down it
Cutter axial brake device；Cutter axial brake device is electric pushrod I 11 in the present embodiment, and wherein cutting driving device uses torque
The motor of motor 12, the structure can remain to continuous running when even rotor can not rotate in motor low speed, not will cause electricity
The damage of motivation, motor can provide stable torque to load；Torque motor is located at cutter shaft medium position, and cutter shaft can
With the rotor in torque motor it is integrated can also be divided into two-part structure respectively with the both ends of torque motor rotor transmission match
It closes, wherein I both ends of electric pushrod pass through hinge respectively and are articulated on frame assembly head and torque motor, on frame assembly head
It is also hinged with follower link 13, the other end of follower link is fixedly connected with torque motor, and electric pushrod I and follower link use
Mode arranged up and down, by the promotion of electric pushrod I so that follower link swing is expanded to realize swinging up and down for cutter shaft
The big working range of cutter, improves the efficiency of cutter.
In the present embodiment, the driving wheel includes big driving wheel 3 and coaxial arrangement outside big driving wheel and diameter is small
In the small driving wheel 4 of driving wheel diameter greatly；Small driving wheel can be driven on the wheel shaft for being matched with big driving wheel, by wheel shaft to it is big,
The synchronous driving of small driving wheel, small driving wheel can also be rotatably assorted on the wheel shaft of big driving wheel, so that small driving wheel can be free
Rotation, this structure large and small tire while landing when making the road surface for meeting uneven and provide power, make it have good attached
Put forth effort, enhances the dynamic property of robot, tyre slip phenomenon caused by can effectively avoid because of ground injustice；When big driving wheel away from
It when closer from pipe side wall, is preferentially contacted by small driving wheel with pipe side wall, improves contact situation of the robot with duct wall,
So that big driving wheel will not contact always with duct wall, it effectively prevent big driving wheel and pipe side wall that stuck phenomenon occurs；It is large and small
Driving wheel outer circle increases frictional force using Chevy Trucks, and details are not described herein again.
In the present embodiment, the cleaning mechanism include be set in a rotatable manner the cleaning plate 5 of frame assembly tail portion with
And it is connected to frame assembly and clears up between plate for driving the cleaning plate driving device of cleaning plate rotation；The top for clearing up plate is logical
The tail portion for being hingedly coupled to frame assembly is crossed, clears up between plate and frame assembly tail portion and is provided with electric pushrod II 14, it is electronic to push away
The both ends of bar II pass through hinge respectively and cleaning backboard portion and frame assembly tail portion are hinged, and flexible by electric pushrod II can
The angle of cleaning plate is adjusted, when robot advances, makes to clear up plate inclination by electric pushrod II, the bottom for clearing up plate is lifted not
It is touched with ground, when robot retreats, adjusts the angle of cleaning plate, so that cleaning plate is in close to vertical state, cleaning
Board bottom subordinate moves, so that rubbish is gathered to the rubbish after cutting and pushed to cleaning plate, cleaning board bottom portion is than pipe radius
Small circular arc shovel 15, circular arc shovel, which is folded upward at and clears up, to be kept at an angle to form scoop structure between plate, through this structure
Rooting out for rubbish is facilitated to gather, cleaning plate has the side wall 16 upwardly extended in the two sides of frame assembly width direction, passes through side wall
Gather rubbish, prevent rubbish from covering to frame assembly, garbage shovel can be walked and will be deposited in the rubbish of duct bottom by above structure
Rubbish is removed.
In the present embodiment, driving wheel described in every group includes two driving wheels, and the power assembly is total including being set to vehicle frame
A drive at two driving motors for being above respectively used to two groups of driving wheels of driving, in the driving motor and respective drive wheel group
Driving wheel is drivingly connected, and is provided with a pair of sprocket 8 on the wheel shaft of two driving wheels in the driving wheel group, this passes through chain to sprocket wheel
The transmission cooperation of item 9；Driving motor uses worm gear reducer motor 17, this motor has large transmission ratio, and stable drive；Driving wheel passes
It is dynamic to be connected on wheel shaft 19, bearing 20 is provided on wheel shaft 19, bearing is located in the bearing block on frame assembly, is driven on wheel shaft
It is combined with sprocket wheel, the end of wheel shaft, which is driven in spline structure by the output shaft of shaft coupling and worm gear reducer motor, to be cooperated, and is used
Bi-motor realizes four-wheel drive；By two motor independent controls, it can be achieved that the differential of two groups of driving wheels, facilitates turning for robot
To ipsilateral speed is controllable, stable direction；By chain drive, nonelastic sliding and slipping phenomenon, average ratios are accurate, work
Make reliably, it is high-efficient；Transmitting power is big, and overload capacity is strong, and the size of the components under identical operating condition is small；Required tensile force is small,
The pressure acted on wheel shaft is small；Can in high temperature, humidity, more dirt, have pollution etc. and work in adverse circumstances；Certainly, to continue to increase
The dynamic property of strong robot, four driving wheels can be driven by a motor respectively, on details are not described herein again.
In the present embodiment, car light 6 and the camera 7 for remotely monitoring are provided on the frame assembly；By taking the photograph
As working condition can be observed in real time in the cooperation of head and car light.
In the present embodiment, it is internally provided with controller 18 in frame assembly, controller can be used ECU or single-chip microcontroller, pass through
Controller controls two worm gear reducer motors and torque motor, so that three motors cooperate, that is, meets the row of robot
The power demand walked also meets the power demand of cutter rotation, while Collaborative Control electric pushrod I and electric pushrod II work, this
Place repeats no more.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. a kind of pipeline cleaning machine people, it is characterised in that: including frame assembly, be mounted on frame assembly and drive its advance
Or fall back walking mechanism and frame assembly head is set to the dredging mechanism dredged in pipeline, the dredging mechanism
Cutting tool assembly and driving cutting tool assembly rotation including being installed on frame assembly head carry out cutting dredging to rubbish in pipeline
Cutting driving device, the cutting tool assembly include axis be parallel to frame assembly width direction and driven device driving rotation
Cutter shaft and transmission be matched with cutter shaft and include along the several groups cutter of cutter shaft axial direction arrangement, along every group of cutter
Two symmetrical cutters centered on the radially section of cutter shaft, each group cutter along bit shaft diameter to length from knife
Successively shorten at tool axis axial centre to both ends.
2. pipeline cleaning machine people according to claim 1, it is characterised in that: the cutter includes several along cutter shaft
The cutter that central axis central symmetry is distributed and radially extends, the cutter and cutter shaft transmission cooperate.
3. pipeline cleaning machine people according to claim 2, it is characterised in that: the end of the cutter is with certain radian
It is in axial direction bent, the cutter bending direction of two adjacent groups cutter is opposite.
4. pipeline cleaning machine people according to claim 2, it is characterised in that: connect between the cutter shaft and frame assembly
It is connected to the cutter axial brake device for driving cutter shaft to swing up and down it.
5. pipeline cleaning machine people according to claim 1, it is characterised in that: the walking mechanism includes being set to vehicle frame
Two groups of driving wheels of assembly width direction two sides and the power assembly of driving driving wheel rotation.
6. pipeline cleaning machine people according to claim 1, it is characterised in that: the pipeline cleaning machine people further includes setting
It is placed in cleaning mechanism of the frame assembly tail portion for being cleared up the rubbish after dredging.
7. pipeline cleaning machine people according to claim 5, it is characterised in that: the driving wheel include big driving wheel and
It is coaxially disposed outside big driving wheel and diameter is less than the small driving wheel of big driving wheel diameter.
8. pipeline cleaning machine people according to claim 6, it is characterised in that: the cleaning mechanism includes with rotatable side
Formula is set to the cleaning plate of frame assembly tail portion and is connected between frame assembly and cleaning plate for driving cleaning plate rotation
Cleaning plate driving device.
9. pipeline cleaning machine people according to claim 5, it is characterised in that: driving wheel described in every group includes two drivings
Wheel, the power assembly includes being set to two driving motors that two groups of driving wheels of driving are respectively used on frame assembly, described
Driving motor is connect with a drive wheel in respective drive wheel group, the wheel shaft of two driving wheels in the driving wheel group
On be provided with a pair of sprocket, this to sprocket wheel pass through chain drive cooperate.
10. pipeline cleaning machine people according to claim 1, it is characterised in that: be provided with car light on the frame assembly
And the camera for remotely monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811626561.7A CN109719094A (en) | 2018-12-28 | 2018-12-28 | Pipeline cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811626561.7A CN109719094A (en) | 2018-12-28 | 2018-12-28 | Pipeline cleaning machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109719094A true CN109719094A (en) | 2019-05-07 |
Family
ID=66297831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811626561.7A Withdrawn CN109719094A (en) | 2018-12-28 | 2018-12-28 | Pipeline cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109719094A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110385318A (en) * | 2019-07-08 | 2019-10-29 | 湖北三峡职业技术学院 | Pipe culvert silting dredges robot and dredging method |
| CN110499818A (en) * | 2019-09-27 | 2019-11-26 | 山东英才学院 | Urban pipeline dredging machine |
| CN113502903A (en) * | 2021-07-19 | 2021-10-15 | 深圳市深水水务咨询有限公司 | Large-flow-velocity underwater drainage hidden culvert defect detection equipment and use method |
-
2018
- 2018-12-28 CN CN201811626561.7A patent/CN109719094A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110385318A (en) * | 2019-07-08 | 2019-10-29 | 湖北三峡职业技术学院 | Pipe culvert silting dredges robot and dredging method |
| CN110499818A (en) * | 2019-09-27 | 2019-11-26 | 山东英才学院 | Urban pipeline dredging machine |
| CN110499818B (en) * | 2019-09-27 | 2021-05-07 | 山东英才学院 | Urban pipeline dredging machine |
| CN113502903A (en) * | 2021-07-19 | 2021-10-15 | 深圳市深水水务咨询有限公司 | Large-flow-velocity underwater drainage hidden culvert defect detection equipment and use method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190507 |
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| WW01 | Invention patent application withdrawn after publication |