CN110159871A - A kind of horizontal Underground Culvert blocking dredging robot and its working method - Google Patents
A kind of horizontal Underground Culvert blocking dredging robot and its working method Download PDFInfo
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- CN110159871A CN110159871A CN201910478852.4A CN201910478852A CN110159871A CN 110159871 A CN110159871 A CN 110159871A CN 201910478852 A CN201910478852 A CN 201910478852A CN 110159871 A CN110159871 A CN 110159871A
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- 230000000903 blocking effect Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 119
- 230000009184 walking Effects 0.000 claims abstract description 111
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000010009 beating Methods 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 claims description 114
- 230000006978 adaptation Effects 0.000 claims description 60
- 238000009434 installation Methods 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 8
- 230000007797 corrosion Effects 0.000 claims description 6
- 238000005260 corrosion Methods 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009413 insulation Methods 0.000 claims description 4
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008021 deposition Effects 0.000 claims description 3
- 230000003628 erosive effect Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
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- 241000254173 Coleoptera Species 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 239000010865 sewage Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000010425 asbestos Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
A kind of horizontal Underground Culvert blocking dredging robot and its working method, including walking mechanism, dredging fuselage, beat dredging mechanism, high pressure dredging mechanism and camera shooting mechanism；The setting of dredging fuselage is in-house in walking, dredging front fuselage is provided with high pressure dredging mechanism, high pressure dredging mechanism is connect by conveying circuit with external high-pressure hydraulic pump, high-pressure hydraulic pump is connect with external water source, camera shooting mechanism is provided among high pressure dredging mechanism, mechanism is imaged by conveying circuit and external host computer data connection, high pressure dredging mechanism lower end is additionally provided with one group and beats dredging mechanism, and dredging back body is provided with driven walking mechanism；The present invention allows robot containing walking in pipe by setting walking mechanism, and being acquired in culvert pipe by camera shooting mechanism influences, and it is passed back to host computer, until searching out plugging point, the collaborative work by beating dredging mechanism and high pressure dredging mechanism opens up tamper, completes the dredging of culvert pipe blocking.
Description
Technical field:
The present invention relates to Underground Culverts to dredge robotic technology field, and in particular to a kind of horizontal Underground Culvert blocking dredging
Robot and its working method.
Background technique:
The important component that Underground Culvert is conveyed as urban groundwater, either municipal sewage or factory construction produce
The discharge of raw industrial wastewater is all to play most important, but the confession either as municipal sewage or factory construction sewage
There is a situation where certain blockings by Lu Douhui, and Underground Culvert is arranged under earth's surface, can only dig ground, finds plugging point, then
Secondary digging ground, carries out the replacement of choking portion culvert pipe, and project amount is big and complicated；There is no special cleaning equipment.
Summary of the invention:
Invention overcomes above-mentioned the deficiencies in the prior art, provides a kind of horizontal Underground Culvert blocking dredging machine
Device people；The present invention allows robot containing walking in pipe by setting walking mechanism, and being acquired in culvert pipe by camera shooting mechanism influences,
And it is passed back to host computer, until searching out plugging point, the collaborative work by beating dredging mechanism and high pressure dredging mechanism will be blocked up
Plug thing opens up, and completes the dredging of culvert pipe blocking.
A kind of horizontal Underground Culvert blockage dredging device, including walking mechanism, dredging fuselage, beat dredging mechanism, high pressure
Dredging mechanism and camera shooting mechanism；The dredging fuselage is arranged inside the walking mechanism, and the dredging front fuselage is provided with
High pressure dredging mechanism, the high pressure dredging mechanism connects by conveying circuit with external high-pressure hydraulic pump, the high-pressure hydraulic pump with outside
The connection of water receiving source, is provided with the camera shooting mechanism among the high pressure dredging mechanism, the camera shooting mechanism by conveying circuit and
External host computer data connection, high pressure dredging mechanism lower end be additionally provided with one group described in beat dredging mechanism, the dredging
Back body is provided with driven walking mechanism；
It is described beat dredging mechanism include one group beat dredging shell, described beat is provided with one group of walking in dredging shell
Driving motor, the travel driving motor main shaft are fixedly connected with one group of hoofing part lead screw, are set on the hoofing part lead screw
It is equipped with one group and the matched ball-screw nut of hoofing part lead screw, the ball-screw nut outer end set is provided with one group
Walking slide, the walking sliding base rear end are provided with two groups of mobile sliding blocks, and the mobile sliding block, which is arranged, beats dredging shell described
In the walking groove processed on internal end face, the walking slide front end is fixedly welded with one group of installation frame, the installing frame
Be provided with one group in frame and beat motor, it is described beat electric machine main shaft and beat cam with one group be fixedly connected, it is described to beat cam also
Connect by driven spindle with one group of driven bearing, the driven bearing be arranged in it is described beat processed on dredging shell it is driven
In groove, be provided with idler wheel on the inner sidewall of the driven groove, it is described beat dredging housing forward end be equidistantly machined with it is several
Group beats mounting groove, and each described beat is provided with one group and beats head in mounting groove, the back-end of machine head of beating is provided with
Actuating arm is beaten, the tail end for beating actuating arm is in contact with the cam of beating, and described beat is additionally provided on actuating arm
Reset ring, the resets ring is fixedly connected with one group of reset spring, the other end of the reset spring with beat in dredging shell
End face is fixedly connected.
Further, the walking mechanism includes two groups of symmetrically arranged arcs walking plates, arc walking plate outer end
Face spaced set has three groups of driving shifting rollers, each driving shifting roller master with one group of idler wheel driving motor respectively
Axis is fixedly connected, and the idler wheel driving motor is arranged on driving turning rolls by damping device, the driving turning rolls setting
On the outer end face of arc walking plate, the arc walking plate connects by the way that culvert pipe self-reacting device and dredging fuselage are fixed
It connects；
The driven walking mechanism includes two groups of symmetrically arranged driven arc panels, on the outer end face of the driven arc panel
Spaced set has three groups of driven rollers, and the driven roller is connect by shaft with damping device, the damping device setting
On driven roller frame, the driven roller frame is arranged on the outer end face of the driven arc panel.
Further, the damping device include one group under damping device and upper damping device, the driving turning rolls with
The driven roller frame includes one group of installation arc panel, the installation arc panel be welded on arc walking plate and it is described from
On dynamic arc panel, it is welded with one group of installation column on the installation arc panel, is machined with damping groove, institute on the installation column
It states damping groove bottom end and is fixed with the lower damping device, the lower damping device and the idler wheel driving motor and described driven
The shaft bearing of idler wheel is fixedly connected, the upper end of the shaft bearing of the idler wheel driving motor and the driven roller also with
Upper damping device connection, the upper damping device are fixedly connected with the upper surface of the damping groove.
Further, the upper damping device is several groups damping spring；Described damping spring one end and damping groove
Upper surface is fixedly connected, the shaft bearing of the other end of the damping spring and the idler wheel driving motor and the driven roller
It is fixedly connected；
The lower damping device includes one group of damping top plate and one group of damping bottom plate, the damping top plate and the idler wheel driving
Dynamic motor is fixedly connected with the shaft bearing of the driven roller, and the damping bottom plate is fixed at the damping groove-bottom
Portion is machined with limiting slot on the damping bottom plate, is provided in the limiting slot and subtracts in the hinged first damping cross board of X and second
The top of shake cross board, the first damping cross board and the second damping cross board passes through shaft and damping top plate is hinged, institute
It states the first damping and two groups of limited rollers is provided with by the cross board of lower end and the lower end of the second damping cross board, described first
Damping cross board and the second damping cross board are slided in the limiting slot by the limited roller of lower end, and the two of the limiting slot
End is provided with several groups spring, and the other end of the spring and the lower end of the first damping cross board and the second damping cross board are fixed
Connection.
Further, the self-reacting device includes hollow adaptation arm, and the hollow adaptation arm is internally provided with one group and fits
Answer motor, the adaptation electric machine main shaft is fixedly connected with one group of adaptation lead screw, be arranged on the adaptation lead screw one group with it is described
The screw nut of lead screw cooperation is adapted to, the ball-screw nut outer end is provided with one group of adaptation slide, the adaptation slide
On be also machined with four groups of mobile unthreaded holes, it is described hollow to adapt to be provided with one or four groups in arm and adapt to the parallel movements of lead screw with described and lead
Rail, the adaptation slide also pass through mobile unthreaded hole and are arranged on the moving guide rail, and the adaptation slide is also stretched with one group of adaptation
Contracting arm is fixedly connected, and the adaptation telescopic arm is processed as tubular telescopic and adapts to arm, and the adaptation telescopic arm is set in the adaptation
Lead screw outer end, the adaptation telescopic arm do stretching motion, the hollow adaptation arm and the dredging in the hollow adaptation arm
Fuselage is fixedly connected, and the adaptation telescopic arm is fixedly connected with arc walking plate.
Further, the high pressure dredging mechanism includes dredging disk, and dredging disk front end is machined with the extrusion of several groups height
Mouthful, one group of high pressure dredging pipe is provided in each high-pressure outlet, the high pressure dredging pipe is corrosion resistant metal pipe, described
High pressure dredging pipe front end is provided with dredging spray head, and electric control one-way valve, the electric control one-way valve are provided on the high pressure dredging pipe
It is connect by conveying circuit with external host computer, the dredging back-end disk is connect by conveying circuit with external high-pressure hydraulic pump, institute
State dredging disk be corrosion resistant metal disk, and inside be processed as it is hollow.
Further, the camera shooting mechanism is 360 degree of full-view cameras, and 360 degree of full-view camera outer ends are provided with
Sealed transparent cover, several groups headlamp is additionally provided in sealed transparent cover, and the headlamp passes through conveying circuit and external power supply
Connection, 360 degree of full-view cameras pass through conveying circuit and external host computer data connection, 360 degree of full-view cameras
In the dredging disk front center, the conveying circuit passes through one group of isolation pipe for running through the dredging disk for setting.
Further, the conveying circuit is from inside to outside successively by private water supply pipe, water barrier, middle part circuitron, heat-insulated
Layer, external data route pipe and erosion resistant coating are constituted, and the private water supply pipe is the high pressure dredging mechanism for high-pressure water, described
Middle part circuitron is walking mechanism, dredging fuselage, beats dredging mechanism, high pressure dredging mechanism and camera shooting mechanism and provides power supply, institute
It states external data route pipe and provides data source for camera shooting mechanism and high pressure dredging mechanism.
A kind of working method of horizontal Underground Culvert blocking dredging robot；The following steps are included:
Step a: culvert pipe diameter is adaptive: by inquiring or measuring culvert pipe diameter, opening and adapts to motor, drive and adapt to lead screw
Rotation, driving ball-screw nut, which drives, adapts to slide movement, and final driving adapts to telescopic arm and stretches in hollow adaptation arm, suitable
Answer telescopic arm that arc walking plate is driven to complete Telescopic, two groups of symmetrical arc walking plates are contacted with the inner wall of culvert pipe respectively,
The driving shifting roller on arc walking plate is set to be attached to the walking of culvert pipe inner wall；
Step b: culvert pipe internal influence acquisition；Under the auxiliary of headlamp, acquired in culvert pipe by 360 degree of full-view cameras
Data real-time transmission is returned external host computer by the data line in the external data route in conveying circuit, for dredging by portion's image
Logical worker observes in real time；
Step c: the walking of walking mechanism；Driving shifting roller on arc walking plate is attached to the walking of culvert pipe inner wall, walking
Acquire image in real time in the process；
Step d: the determination of blocking position: blocking position is determined by the image of acquisition, determines blocked state；
Step e: when tamper bulk deposition is at culvert pipe lower part: using and beat dredging；
When tamper piling height is excessively high, accumulating amount is excessive, is cooperated using dredging and high pressure dredging is beaten；
Step f: beat dredging: travel driving motor drives the rotation of hoofing part lead screw, and driving lead screw drives ball-screw
Motor transverse shifting is beaten in nut horizontal movement, the final movement for driving walking slide, drive, is beaten motor drive and is beaten cam
Rotation, respectively drive it is each beat head beat work, can select beat a little according to stacking states, dredging work is beaten in completion
Make；
Step g: high pressure dredging: opening external high-pressure hydraulic pump, is the confession of dredging disk by the private water supply pipe in transfer pipeline
High-pressure water passes through the data line of the external data route pipe in transfer pipeline according to the image that 360 degree of full-view cameras acquire
The electric control one-way valve that the data-signal selection of offer controls fixed position is opened, and the high-pressure water in dredging disk is clear by the high pressure
It becomes silted up to manage and be sprayed with the dredging spray head of front end, realize high pressure dredging.
A kind of vertical Underground Culvert blocking dredging robot, including walking mechanism, dredging fuselage and drill through dredging mechanism；Institute
It states dredging fuselage to be arranged inside the walking mechanism, the dredging fuselage interior is processed as closed hollow, the dredging fuselage
It is inside provided with and drills through dredging mechanism；
The dredging mechanism that drills through includes one group of dredging motor, and the dredging electric machine main shaft passes through shaft coupling and one group of dredging
Shaft is fixedly connected, and the dredging shaft passes through the dredging fuselage, and the dredging roller end is fixedly installed dredging drill bit.
The beneficial effects of the present invention are:
The present invention allows robot containing walking in pipe by setting walking mechanism, and by camera shooting, mechanism acquires shadow in culvert pipe
It rings, and is passed back to host computer, until searching out plugging point, the collaborative work by beating dredging mechanism and high pressure dredging mechanism will
Tamper opens up, and completes the dredging of culvert pipe blocking；
The present invention opens by inquiry or measurement culvert pipe diameter and adapts to motor, drives adaptation lead screw rotation, drives ball wire
Thick stick nut, which drives, adapts to slide movement, and final driving adapts to telescopic arm and stretches in hollow adaptation arm, and adaptation telescopic arm drives arc
Shape walking plate completes Telescopic, and two groups of symmetrical arcs walking plates contact with the inner wall of culvert pipe respectively, make on arc walking plate
Driving shifting roller be attached to culvert pipe inner wall walking；Two groups of arc walking plates can adapt to various sizes of culvert pipe, not need needle
Different robots is selected different culvert pipe, dredging cost is reduced；
The present invention can select desilting mode, either lower section heap according to the stacking states of tamper, the size of accumulating amount
Product or large area are accumulated on a large scale can thorough dredging；Guarantee dredging effect；
The present invention is arranged 360 degree full-view cameras of high definition and acquires images, and real-time delivery to the host computer on ground for grasping
Make personnel's observation, convenient for searching the position of plugging point；
Dredging process of the present invention only need to once be dug, and robot is put into culvert pipe, or even directly find culvert pipe entrance from culvert
Tube inlet starts to detect, and can accomplish once to dig even without digging ground, reduce the workload of dredging.
Detailed description of the invention:
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram for beating dredging mechanism of the invention；
Fig. 3 is the face the B-B cross-sectional view of Fig. 2；
Fig. 4 is the partial enlarged view of Fig. 2；
Fig. 5 is the structural schematic diagram of damping device of the present invention；
Fig. 6 is the face the A-A cross-sectional view of Fig. 5；
Fig. 7 is the structural schematic diagram of culvert pipe self-reacting device of the invention；
Fig. 8 is the structural schematic diagram of high pressure dredging mechanism of the invention；
Fig. 9 is rearview of the invention；
Figure 10 is the structural schematic diagram of the embodiment of the present invention ten.
Specific embodiment:
Below with reference to attached drawing, the present invention is described in detail.
Embodiment one:
In conjunction with shown in Fig. 1-Fig. 9, a kind of horizontal Underground Culvert blocking dredging robot disclosed in the present embodiment, including walking
Mechanism 1, dredging fuselage 2 beat dredging mechanism 3, high pressure dredging mechanism 4 and camera shooting mechanism 5；The dredging fuselage 2 is arranged in institute
It states inside walking mechanism 1,2 front end of dredging fuselage is provided with high pressure dredging mechanism 4, and the high pressure dredging mechanism 4 passes through defeated
Line sending road 6 is connect with external high-pressure hydraulic pump, and the high-pressure hydraulic pump is connect with external water source, is set among the high pressure dredging mechanism 4
It is equipped with the camera shooting mechanism 5, the camera shooting mechanism 5 passes through conveying circuit 6 and external host computer data connection, the high pressure dredging
Dredging mechanism 3 is beaten described in being additionally provided with one group in 4 lower end of mechanism, and 2 rear end of dredging fuselage is provided with driven walking mechanism 7；
It is described beat dredging mechanism 3 include one group beat dredging shell 3-1, described beat in dredging shell 3-1 is provided with
One group of travel driving motor 3-2-1, the travel driving motor 3-2-1 main shaft and the fixed company of one group of hoofing part lead screw 3-2-2
It connects, one group and the matched ball-screw spiral shell of hoofing part lead screw 3-2-2 is provided on the hoofing part lead screw 3-2-2
Mother, the ball-screw nut outer end set are provided with one group of rear end walking slide 3-2-3, the walking slide 3-2-3 and are provided with
The row beaten and processed on dredging shell 3-1 inner face is arranged in two groups of mobile sliding block 3-2-4, the mobile sliding block 3-2-4
It walks in groove 3-1-1, the front end the walking slide 3-2-3 is fixedly welded with one group of installation frame 3-3, the installation frame 3-3
Inside be provided with one group and beat motor 3-4-1, it is described beat motor 3-4-1 main shaft and beat cam 3-5 with one group be fixedly connected, it is described
It beats cam 3-5 and also passes through driven spindle and connect with one group of driven bearing 3-5-1, the driven bearing 3-5-1 is arranged described
It beats in the driven groove 3-1-2 processed on dredging shell 3-1, is provided with idler wheel on the inner sidewall of the driven groove 3-1-2,
It is described beat the front end dredging shell 3-1 and be equidistantly machined with several groups beat mounting groove 3-1-3, it is each described to beat mounting groove 3-
Be provided with one group in 1-3 and beat head 3-6, it is described beat the rear end head 3-6 and be provided with beat actuating arm 3-6-1, it is described to beat
The tail end for beating actuating arm 3-6-1 is in contact with the cam 3-5 that beats, and described beat is additionally provided with reset on actuating arm 3-6-1
Ring 3-6-2, the reset ring 3-6-2 are fixedly connected with one group of reset spring 3-6-3, the other end of the reset spring 3-6-3
It is fixedly connected with dredging shell 3-1 inner face is beaten；Inquiry or measurement culvert pipe diameter, open and adapt to motor, drive and adapt to lead screw
Rotation, driving ball-screw nut, which drives, adapts to slide movement, and final driving adapts to telescopic arm and stretches in hollow adaptation arm, suitable
Answer telescopic arm that arc walking plate is driven to complete Telescopic, two groups of symmetrical arc walking plates are contacted with the inner wall of culvert pipe respectively,
The driving shifting roller on arc walking plate is set to be attached to the walking of culvert pipe inner wall；Two groups of arc walking plates can adapt to various sizes of
Culvert pipe does not need to select different robots for different culvert pipe, reduces dredging cost；
Slide 3-2-3 walk when horizontal line is mobile, motor movement is beaten by installation frame drive in front end, due to beating electricity
Machine needs work long hours and own wt is larger, and mobile sliding block 3-2-4, mobile sliding block is arranged in the walking rear end slide 3-2-3
3-2-4 is arranged in the walking groove 3-1-1 for beating and processing on dredging shell 3-1 inner face, in walking slide 3-2-3 row
When walking, guarantee that the walking of walking slide 3-2-3 is stablized by the matching relationship of mobile sliding block 3-2-4 and the groove 3-1-1 that walks, together
When guarantee beat work stablize carry out.
Embodiment two:
On the basis of example 1, walking mechanism 1 described in the present embodiment includes two groups of symmetrically arranged arc walkings
Plate 1-1, the arc walking plate 1-1 outer end face spaced set have three groups of driving shifting roller 1-2, each driving movement
Idler wheel 1-2 is fixedly connected with the main shaft of one group of idler wheel driving motor 1-3 respectively, and the idler wheel driving motor 1-3 is filled by damping
1-4 setting is set on driving turning rolls 1-5, the outer end face of the arc walking plate 1-1 is arranged in the driving turning rolls 1-5
On, the arc walking plate 1-1 is fixedly connected by culvert pipe self-reacting device 1-6 with dredging fuselage 2；
The driven walking mechanism 7 includes two groups of symmetrically arranged driven arc panel 7-1, the driven arc panel 7-1's
Three groups of driven rollers 7-2, the driven roller 7-2 are equidistantly provided on outer end face to connect by shaft with damping device 1-4,
The damping device 1-4 is arranged on driven roller 7-2 frame, and the driven roller 7-2 frame is arranged in the driven arc panel 7-1
Outer end face on；Walking mechanism 1 and driven walking mechanism 7 drive the walking of dredging fuselage together, and one can complete seeking for plugging point
Action work is looked for, two can be when dredging works, and short distance is advanced, the progress of auxiliary dredging work.
Embodiment three:
On the basis of example 1, damping device 1-4 subtracts including damping device 1-4-2 under one group and above in the present embodiment
Device 1-4-1 is shaken, the driving turning rolls 1-5 and the driven roller 7-2 frame include one group of installation arc panel 7-2-1, institute
It states installation arc panel 7-2-1 to be welded on the arc walking plate 1-1 and driven arc panel 7-1, the installation arc panel
It is welded on 7-2-1 on one group of installation column 7-2-2, the installation column 7-2-2 and is machined with damping groove, the damping groove
Bottom end is fixed with the lower damping device 1-4-2, the lower damping device 1-4-2 and idler wheel driving motor 1-3 and described
The shaft bearing of driven roller 7-2 is fixedly connected, the shaft of the idler wheel driving motor 1-3 and the driven roller 7-2
The upper end of bearing is also connect with upper damping device 1-4-1, and the upper surface of the upper damping device 1-4-1 and the damping groove is solid
Fixed connection；During walking mechanism adapts to culvert pipe diameter, by the way that damping device is arranged, realize to idler wheel driving motor 1-3
With the movement damping of the driven roller 7-2, make idler wheel driving motor 1-3 and the driven roller 7-2 in the inner wall with culvert pipe
Contact process is softer, will not directly reset, and damages the idler wheel driving motor 1-3 and driven roller 7-2.
Example IV:
On the basis of example 1, upper damping device 1-4-1 is several groups damping spring 1-4-1-1 in the present embodiment；
The one end the damping spring 1-4-1-1 is fixedly connected with the upper surface of damping groove, the other end of the damping spring 1-4-1-1
It is fixedly connected with the shaft bearing of the idler wheel driving motor 1-3 and the driven roller 7-2；
The lower damping device 1-4-2 includes one group of damping top plate 1-4-2-1 and one group of damping bottom plate 1-4-2-2, described
Damping top plate 1-4-2-1 is fixedly connected with the shaft bearing of the idler wheel driving motor 1-3 and the driven roller 7-2, described
Damping bottom plate 1-4-2-2 is fixed at the damping bottom portion of groove, is machined with limiting slot 1- on the damping bottom plate 1-4-2-2
It is provided in 4-2-3, the limiting slot 1-4-2-3 in the hinged first damping cross board 1-4-2-4 of X and the second damping cross board 1-
The top of 4-2-5, the first damping cross board 1-4-2-4 and the second damping cross board 1-4-2-5 pass through shaft and damping
Top plate 1-4-2-1 is hinged, and first damping passes through the first damping cross board 1-4-2-4 and the second damping cross board 1- of lower end
The lower end of 4-2-5 is provided with two groups of limited rollers 1-4-2-6, the first damping cross board 1-4-2-4 and the second damping is handed over
Fork plate 1-4-2-5 is slided in the limiting slot 1-4-2-3 by the limited roller 1-4-2-6 of lower end, the limiting slot 1-4-
The both ends of 2-3 are provided with several groups spring 1-4-2-7, the other end of the spring 1-4-2-7 and the first damping cross board 1-4-
The lower end of 2-4 and the second damping cross board 1-4-2-5 are fixedly connected；
The shaft bearing of driven roller 7-2 can also be arranged in one group of installation fixed block, lower damping device 1-4-2 and upper
Damping device 1-4-1 is fixedly connected with installation fixed block respectively, guarantees that driven roller 7-2's stablizes movement.
During walking mechanism adapts to culvert pipe diameter, by the way that damping device is arranged, realize to idler wheel driving motor 1-3
With the movement damping of the driven roller 7-2, make idler wheel driving motor 1-3 and the driven roller 7-2 in the inner wall with culvert pipe
Contact process is softer, will not directly reset, and damages the idler wheel driving motor 1-3 and driven roller 7-2.
Embodiment five:
On the basis of example 1, culvert pipe self-reacting device 1-6 includes hollow adaptation arm 1-6-1, institute in the present embodiment
It states hollow adaptation arm 1-6-1 and is internally provided with one group of adaptation motor, the adaptation electric machine main shaft and the fixed company of one group of adaptation lead screw
It connects, the screw nut for adapting to be arranged with one group with the adaptation lead screw cooperation on lead screw, outside the ball-screw nut
End, which is provided on one group of adaptation slide 1-6-3, the adaptation slide 1-6-3, is also machined with four groups of mobile unthreaded holes, described hollow suitable
It answers and is provided with one or four groups of moving guide rail 1-6-2s parallel with the adaptation lead screw in arm 1-6-1, the adaptation slide 1-6-3 is also
Be arranged on the moving guide rail 1-6-2 by mobile unthreaded hole, the adaptation slide 1-6-3 also with one group of adaptation telescopic arm 1-6-
4 are fixedly connected, and the adaptation telescopic arm 1-6-4 is processed as tubular telescopic and adapts to arm, and the adaptation telescopic arm 1-6-4 is set in institute
It states and adapts to lead screw outer end, the adaptation telescopic arm 1-6-4 does stretching motion in the hollow adaptation arm 1-6-1, described hollow
It adapts to arm 1-6-1 to be fixedly connected with the dredging fuselage 2, the adaptation telescopic arm 1-6-4 is fixed with arc walking plate 1-1
Connection.
Embodiment six:
On the basis of example 1, the present embodiment mesohigh dredging mechanism 4 includes dredging disk 4-1, the dredging disk 4-1
Front end is machined with several groups high-pressure outlet, and one group of high pressure dredging pipe 4-2, the high pressure are provided in each high-pressure outlet
Dredging pipe 4-2 is corrosion resistant metal pipe, and the front end the high pressure dredging pipe 4-2 is provided with dredging spray head 4-3, the high pressure dredging pipe
Electric control one-way valve 4-4 is provided on 4-2, the electric control one-way valve 4-4 is connect by conveying circuit 6 with external host computer, described
The dredging rear end disk 4-1 is connect by conveying circuit 6 with external high-pressure hydraulic pump, and the dredging disk 4-1 is corrosion resistant metal disk, and interior
Portion is processed as hollow.
Embodiment seven
On the basis of example 1, it is 360 degree of full-view cameras, 360 degree of panoramas that mechanism 5 is imaged in the present embodiment
Camera outer end is provided with sealed transparent cover 5-1, and several groups headlamp, the headlamp are additionally provided in sealed transparent cover 5-1
It is connect by conveying circuit 6 with external power supply, 360 degree of full-view cameras pass through conveying circuit 6 and external host computer data
Connection, in the dredging disk 4-1 front center, the conveying circuit 6, which passes through one group, to be run through for 360 degree of full-view cameras setting
The isolation pipe of the dredging disk 4-1.
Embodiment eight:
On the basis of example 1, in the present embodiment conveying circuit 6 from inside to outside successively by private water supply pipe 6-1, every
Water layer 6-2, middle part circuitron 6-3, thermal insulation layer 6-4, external data route pipe 6-5 and erosion resistant coating constitute 6-6, the private water supply
Pipe 6-1 is the high pressure dredging mechanism 4 for high-pressure water, and the middle part circuitron 6-3 is walking mechanism 1, dredging fuselage 2, beats
It beats dredging mechanism 3, high pressure dredging mechanism 4 and camera shooting mechanism 5 and power supply is provided, the external data route pipe 6-5 is camera shooting mechanism 5
Data source is provided with high pressure dredging mechanism 4；
High pressure water is walked in private water supply pipe 6-1, arranges several groups power supply line in the circuitron 6-3 of middle part, is each of device
A power supply for electrical equipment, meanwhile, it is provided with water barrier between middle part circuitron and private water supply pipe 6-1, by rubber water proof material
It is process, guarantees that the high pressure water in private water supply pipe 6-1 will not influence the normal operation of power supply line, external data route pipe
Layout data route in 6-5 is each data circuit transmitting data of device, meanwhile, thermal insulation layer is set between power supply line,
Thermal insulation layer is process by asbestos material, and the heat for avoiding power supply line from generating influences the normal operation of data transmission.
Embodiment nine:
The working method of horizontal Underground Culvert blocking dredging robot；The following steps are included:
Step a: culvert pipe diameter is adaptive: by inquiring or measuring culvert pipe diameter, opening and adapts to motor, drive and adapt to lead screw
Rotation, driving ball-screw nut, which drives, adapts to slide 1-6-3 movement, and final driving adapts to telescopic arm 1-6-4 in hollow adaptation
It stretches in arm 1-6-1, adapts to telescopic arm 1-6-4 and arc walking plate 1-1 is driven to complete Telescopic, two groups of symmetrical arc walkings
Plate 1-1 is contacted with the inner wall of culvert pipe respectively, and the driving shifting roller 1-2 on arc walking plate 1-1 is made to be attached to the walking of culvert pipe inner wall；
Step b: culvert pipe internal influence acquisition；Under the auxiliary of headlamp, acquired in culvert pipe by 360 degree of full-view cameras
Data real-time transmission is returned external host computer by the data line in the external data route in conveying circuit 6, for dredging by portion's image
Logical worker observes in real time；
Step c: the walking of walking mechanism 1；Driving shifting roller 1-2 on arc walking plate 1-1 is attached to wallflow in culvert pipe
It walks, acquires image in walking process in real time；
Step d: the determination of blocking position: blocking position is determined by the image of acquisition, determines blocked state；
Step e: when tamper bulk deposition is at culvert pipe lower part: using and beat dredging；
When tamper piling height is excessively high, accumulating amount is excessive, is cooperated using dredging and high pressure dredging is beaten；
Step f: beat dredging: travel driving motor 3-2-1 drives hoofing part lead screw 3-2-2 rotation, drives lead screw band
Motor 3-4-1 transverse shifting is beaten in dynamic ball-screw nut horizontal movement, the final movement for driving walking slide 3-2-3, drive,
Beat motor 3-4-1 drive and beat cam 3-5 rotation, respectively drive it is each beat head 3-6 beat work, can be according to heap
The selection of cumuliformis state is beaten a little, and dredging work is beaten in completion；
Step g: high pressure dredging: opening external high-pressure hydraulic pump, is dredging disk by the private water supply pipe 6-1 in transfer pipeline
4-1 passes through the external data route pipe 6-5 in transfer pipeline according to the image that 360 degree of full-view cameras acquire for high-pressure water
The data-signal selection that provides of data line control the electric control one-way valve 4-4 of fixed position and open, the high pressure water in dredging disk 4-1
Source is sprayed by high pressure dredging pipe 4-2 and the dredging spray head 4-3 of front end, realizes high pressure dredging.
Embodiment ten:
As shown in Figure 10；What is different from the first embodiment is that it is thin to disclose a kind of vertical Underground Culvert blocking in the present embodiment
Logical robot, including walking mechanism 1, dredging fuselage 2 and drill through dredging mechanism 8；The dredging fuselage 2 is arranged in the vehicle with walking machine
It inside structure 1, is processed as closed hollow inside the dredging fuselage 2, is provided in the dredging fuselage 2 and drills through dredging mechanism 8；
It is described drill through dredging mechanism 8 include one group of dredging motor 8-1, the dredging motor 8-1 main shaft by shaft coupling with
One group of dredging shaft 8-2 is fixedly connected, and the dredging shaft 8-2 passes through the dredging fuselage 2, the end dredging shaft 8-2
It is fixedly installed dredging drill bit 8-3.
The connection that the present invention is previously mentioned, which is divided into, to be fixedly connected and dismantling connection, described to be fixedly connected with (as non-dismountable company
Connect) to include but is not limited to that flanging connection, rivet interlacement, bonding connection and welded connecting etc. are conventional be fixedly connected with mode, it is described can
Dismantling connection include but is not limited to be threadedly coupled, snap connection, pin connection such as connect at the routine disassembly mode with hinge, not yet explicitly
When limiting specific connection type, at least one connection type can be found in existing connection type by, which being defaulted as, can be realized the function
Can, those skilled in the art can voluntarily select as needed.Such as: it is fixedly connected with selection and is welded to connect, be detachably connected selection
Hinge connection.
Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (10)
1. a kind of horizontal Underground Culvert blocking dredging robot, it is characterised in that: including walking mechanism (1), dredging fuselage (2),
Beat dredging mechanism (3), high pressure dredging mechanism (4) and camera shooting mechanism (5)；The dredging fuselage (2) is arranged in the vehicle with walking machine
Structure (1) is internal, and dredging fuselage (2) front end is provided with high pressure dredging mechanism (4), and the high pressure dredging mechanism (4) passes through defeated
Line sending road (6) is connect with external high-pressure hydraulic pump, and the high-pressure hydraulic pump is connect with external water source, in the high pressure dredging mechanism (4)
Between be provided with the camera shooting mechanism (5), the camera shooting mechanism (5) passes through conveying circuit (6) and external host computer data connection, institute
State high pressure dredging mechanism (4) lower end be additionally provided with one group described in beat dredging mechanism (3), dredging fuselage (2) rear end setting
There are driven walking mechanism (7)；
Described beat dredging mechanism (3) are beaten dredging shell (3-1) including one group, described to beat setting in dredging shell (3-1)
There are one group of travel driving motor (3-2-1), travel driving motor (3-2-1) main shaft and one group of hoofing part lead screw (3-2-
2) be fixedly connected, be provided on the hoofing part lead screw (3-2-2) one group it is matched with the hoofing part lead screw (3-2-2)
Ball-screw nut, the ball-screw nut outer end set are provided with one group of walking slide (3-2-3), the walking slide (3-
2-3) rear end is provided with two groups of mobile sliding blocks (3-2-4), and the mobile sliding block (3-2-4), which is arranged, beats dredging shell described
In the walking groove (3-1-1) processed on (3-1) inner face, walking slide (3-2-3) front end is fixedly welded with one group of peace
Frame up frame (3-3), is provided with one group in the installation frame (3-3) and beats motor (3-4-1), described to beat motor (3-4-1)
Main shaft is beaten cam (3-5) with one group and is fixedly connected, described to beat cam (3-5) also by driven spindle and one group of driven bearing
(3-5-1) connection, the driven bearing (3-5-1) are arranged in the driven groove (3- for beating and processing on dredging shell (3-1)
In 1-2), it is provided with idler wheel on the inner sidewall of the driven groove (3-1-2), it is described to beat between front end dredging shell (3-1) etc.
Mounting groove (3-1-3) is beaten away from several groups are machined with, each described beat in mounting groove (3-1-3) is provided with one group of beetle
Head (3-6), it is described beat the rear end head (3-6) and be provided with beat actuating arm (3-6-1), the actuating arm (3-6-1) of beating
Tail end is in contact with the cam (3-5) of beating, and described beat is additionally provided with reset ring (3-6-2), institute on actuating arm (3-6-1)
State reset ring (3-6-2) be fixedly connected with one group of reset spring (3-6-3), the other end of the reset spring (3-6-3) with beat
Dredging shell (3-1) inner face is beaten to be fixedly connected.
2. a kind of horizontal Underground Culvert blocking dredging robot according to claim 1, it is characterised in that: the vehicle with walking machine
Structure (1) includes two groups of symmetrically arranged arc walkings plate (1-1), and described arc walking plate (1-1) outer end face spaced set has
Three groups of driving shifting rollers (1-2), each driving shifting roller (1-2) respectively with one group of idler wheel driving motor (1-3)
Main shaft is fixedly connected, and the idler wheel driving motor (1-3) is arranged in driving turning rolls (1-5) by damping device (1-4), institute
Driving turning rolls (1-5) setting is stated on the outer end face of arc walking plate (1-1), arc walking plate (1-1) passes through
Culvert pipe self-reacting device (1-6) is fixedly connected with dredging fuselage (2)；
The driven walking mechanism (7) includes two groups of symmetrically arranged driven arc panels (7-1), the driven arc panel (7-1)
Outer end face on be equidistantly provided with three groups of driven rollers (7-2), the driven roller (7-2) passes through shaft and damping device
(1-4) connection, the damping device (1-4) are arranged on driven roller (7-2) frame, and driven roller (7-2) the frame setting exists
On the outer end face of the driven arc panel (7-1).
3. a kind of horizontal Underground Culvert blocking dredging robot according to claim 2, it is characterised in that: the damping dress
Setting (1-4) includes damping device (1-4-2) and upper damping device (1-4-1) under one group, the driving turning rolls (1-5) and described
Driven roller (7-2) frame includes one group of installation arc panel (7-2-1), and the installation arc panel (7-2-1) is welded on the arc
In shape walking plate (1-1) and the driven arc panel (7-1), it is vertical that one group of installation is welded on the installation arc panel (7-2-1)
Column (7-2-2), is machined with damping groove on the installation column (7-2-2), damping groove bottom end be fixed with it is described under subtract
It shakes device (1-4-2), the lower damping device (1-4-2) and the idler wheel driving motor (1-3) and the driven roller (7-2)
Shaft bearing be fixedly connected, the shaft bearing of the idler wheel driving motor (1-3) and the driven roller (7-2) it is upper
End is also connect with upper damping device (1-4-1), and the upper surface of the upper damping device (1-4-1) and the damping groove is fixed to be connected
It connects.
4. a kind of horizontal Underground Culvert blocking dredging robot according to claim 3, it is characterised in that: the upper damping
Device (1-4-1) is several groups damping spring (1-4-1-1)；Described damping spring one end (1-4-1-1) is upper with damping groove
End face is fixedly connected, the other end of the damping spring (1-4-1-1) and the idler wheel driving motor (1-3) and the driven rolling
The shaft bearing of wheel (7-2) is fixedly connected；
The lower damping device (1-4-2) includes one group of damping top plate (1-4-2-1) and one group of damping bottom plate (1-4-2-2), institute
State the fixed company of shaft bearing of damping top plate (1-4-2-1) and the idler wheel driving motor (1-3) and the driven roller (7-2)
It connects, the damping bottom plate (1-4-2-2) is fixed at the damping bottom portion of groove, adds on the damping bottom plate (1-4-2-2)
Work has limiting slot (1-4-2-3), is provided in the limiting slot (1-4-2-3) in the hinged first damping cross board (1-4-2-4) of X
With the second damping cross board (1-4-2-5), the first damping cross board (1-4-2-4) and the second damping cross board (1-4-2-
5) top passes through shaft and damping top plate (1-4-2-1) hingedly, and first damping is intersected by the first damping of lower end
The lower end of plate (1-4-2-4) and the second damping cross board (1-4-2-5) is provided with two groups of limited rollers (1-4-2-6), described
First damping cross board (1-4-2-4) and the second damping cross board (1-4-2-5) are existed by the limited roller (1-4-2-6) of lower end
Sliding, the both ends of the limiting slot (1-4-2-3) are provided with several groups spring (1-4-2-7) in the limiting slot (1-4-2-3),
The other end of the spring (1-4-2-7) and the first damping cross board (1-4-2-4) and the second damping cross board (1-4-2-5)
Lower end is fixedly connected.
5. a kind of horizontal Underground Culvert blocking dredging robot according to claim 2, it is characterised in that: the culvert pipe is certainly
Adaptive device (1-6) includes hollow adaptation arm (1-6-1), and the hollow adaptation arm (1-6-1) is internally provided with one group of adaptation electricity
Machine, the adaptation electric machine main shaft are fixedly connected with one group of adaptation lead screw, are arranged with one group and the adaptation on the adaptation lead screw
The screw nut of lead screw cooperation, the ball-screw nut outer end are provided with one group of adaptation slide (1-6-3), and the adaptation is slided
It is also machined with four groups of mobile unthreaded holes on seat (1-6-3), is provided with one or four groups and the adaptation in the hollow adaptation arm (1-6-1)
The parallel moving guide rail of lead screw (1-6-2), the adaptation slide (1-6-3) are also arranged by mobile unthreaded hole in the moving guide rail
On (1-6-2), the adaptation slide (1-6-3) is also fixedly connected with one group of adaptation telescopic arm (1-6-4), the adaptation telescopic arm
(1-6-4) is processed as tubular telescopic and adapts to arm, and the adaptation telescopic arm (1-6-4) is set in the adaptation lead screw outer end, described
Adapt to telescopic arm (1-6-4) and do stretching motion in hollow the adaptations arm (1-6-1), the hollow adaptation arm (1-6-1) and
The dredging fuselage (2) is fixedly connected, and the adaptation telescopic arm (1-6-4) is fixedly connected with arc walking plate (1-1).
6. a kind of horizontal Underground Culvert blocking dredging robot according to claim 1, it is characterised in that: the high pressure is clear
Silt mechanism (4) includes dredging disk (4-1), and dredging disk (4-1) front end is machined with several groups high-pressure outlet, each high pressure
One group of high pressure dredging pipe (4-2) is provided in outlet, the high pressure dredging pipe (4-2) is corrosion resistant metal pipe, the high pressure
The front end dredging pipe (4-2) is provided with dredging spray head (4-3), is provided with electric control one-way valve (4- on the high pressure dredging pipe (4-2)
4), the electric control one-way valve (4-4) is connect by conveying circuit (6) with external host computer, and dredging disk (4-1) rear end passes through
Conveying circuit (6) is connect with external high-pressure hydraulic pump, the dredging disk (4-1) be corrosion resistant metal disk, and inside be processed as it is hollow.
7. a kind of horizontal Underground Culvert blocking dredging robot according to claim 6, it is characterised in that: the video camera
Structure (5) is 360 degree of full-view cameras, and 360 degree of full-view camera outer ends are provided with sealed transparent cover (5-1), sealed transparent
Several groups headlamp is additionally provided in cover (5-1), the headlamp is connect by conveying circuit (6) with external power supply, and described 360
Full-view camera is spent by conveying circuit (6) and external host computer data connection, and 360 degree of full-view cameras are arranged described
Dredging disk (4-1) front center, the conveying circuit (6) pass through one group of isolation pipe for running through the dredging disk (4-1).
8. a kind of horizontal Underground Culvert blocking dredging robot according to claim 7, it is characterised in that: the pipeline
Road (6) is from inside to outside successively by private water supply pipe (6-1), water barrier (6-2), middle part circuitron (6-3), thermal insulation layer (6-4), outer
Portion's data circuit pipe (6-5) and erosion resistant coating constitute (6-6), and the private water supply pipe (6-1) is the high pressure dredging mechanism (4) confession
High-pressure water, the middle part circuitron (6-3) is walking mechanism (1), dredging fuselage (2), to beat dredging mechanism (3), high pressure clear
Silt mechanism (4) and camera shooting mechanism (5) provide power supply, and the external data route pipe (6-5) is camera shooting mechanism (5) and high pressure dredging
Mechanism (4) provides data source.
9. it is a kind of using claim 1-8 it is one of any described in a kind of work side of horizontal Underground Culvert blocking dredging robot
Method；It is characterized by comprising following steps:
Step a: culvert pipe diameter is adaptive: by inquiring or measuring culvert pipe diameter, opening and adapts to motor, drive and adapt to lead screw rotation
Turn, driving ball-screw nut, which drives, adapts to slide (1-6-3) movement, and final driving adapts to telescopic arm (1-6-4) hollow suitable
It answers in arm (1-6-1) and stretches, adapt to telescopic arm (1-6-4) and arc walking plate (1-1) is driven to complete Telescopic, two groups symmetrical
Arc walking plate (1-1) is contacted with the inner wall of culvert pipe respectively, makes driving shifting roller (1-2) patch in arc walking plate (1-1)
It walks in culvert pipe inner wall；
Step b: culvert pipe internal influence acquisition；Under the auxiliary of headlamp, full-view camera is spent by (360) and is acquired inside culvert pipe
Data real-time transmission is returned external host computer by the data line in the external data route in conveying circuit (6), for dredging by image
Logical worker observes in real time；
Step c: the walking of walking mechanism (1)；Driving shifting roller (1-2) in arc walking plate (1-1) is attached to culvert pipe inner wall
It walks, acquires image in real time in walking process；
Step d: the determination of blocking position: blocking position is determined by the image of acquisition, determines blocked state；
Step e: when tamper bulk deposition is at culvert pipe lower part: using and beat dredging；
When tamper piling height is excessively high, accumulating amount is excessive, is cooperated using dredging and high pressure dredging is beaten；
Step f: beat dredging: travel driving motor (3-2-1) drives hoofing part lead screw (3-2-2) rotation, drives lead screw band
Dynamic ball-screw nut horizontal movement, the final movement for driving walking slide (3-2-3), drive beat motor (3-4-1) laterally
It is mobile, beat motor (3-4-1) drive and beat cam (3-5) rotation, respectively drive it is each beat head (3-6) beat work
Make, can select to beat a little according to stacking states, dredging work is beaten in completion；
Step g: high pressure dredging: opening external high-pressure hydraulic pump, is dredging disk by the private water supply pipe (6-1) in transfer pipeline
(4-1) spends the image of full-view camera acquisition according to (360), passes through the external data route in transfer pipeline for high-pressure water
The electric control one-way valve (4-4) for managing the fixed position of data-signal selection control of the data line offer of (6-5) is opened, dredging disk (4-
1) high-pressure water in is sprayed by the high pressure dredging pipe (4-2) and the dredging spray head (4-3) of front end, realizes high pressure dredging.
10. a kind of vertical Underground Culvert blocking dredging robot, it is characterised in that: including walking mechanism (1), dredging fuselage (2)
With drill through dredging mechanism (8)；Dredging fuselage (2) setting is internal in the walking mechanism (1), in the dredging fuselage (2)
Portion is processed as closed hollow, is provided in the dredging fuselage (2) and drills through dredging mechanism (8)；
Described drill through dredging mechanism (8) include one group of dredging motor (8-1), and dredging motor (8-1) main shaft passes through shaft coupling
It is fixedly connected with one group of dredging shaft (8-2), the dredging shaft (8-2) passes through the dredging fuselage (2), the dredging shaft
The end (8-2) is fixedly installed dredging drill bit (8-3).
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| CN201910478852.4A CN110159871B (en) | 2019-07-11 | 2019-07-11 | Horizontal underground culvert pipe blockage dredging robot and working method thereof |
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|---|---|---|---|
| CN201910478852.4A CN110159871B (en) | 2019-07-11 | 2019-07-11 | Horizontal underground culvert pipe blockage dredging robot and working method thereof |
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| CN110159871B CN110159871B (en) | 2021-07-30 |
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| BE1027523B1 (en) * | 2019-09-10 | 2021-06-08 | Guangdong Polytechnic | Device and method for measuring the roughness of an inner wall of a long pipe based on test and measurement technologies |
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| CN114016601A (en) * | 2022-01-06 | 2022-02-08 | 河北粤海水务集团有限公司 | Robot convenient for pipeline operation and application thereof in underground drainage pipeline operation |
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| BE1027523B1 (en) * | 2019-09-10 | 2021-06-08 | Guangdong Polytechnic | Device and method for measuring the roughness of an inner wall of a long pipe based on test and measurement technologies |
| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | A pipeline inspection robot |
| CN110762336A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Intelligent pipeline inspection system |
| CN110673205A (en) * | 2019-11-05 | 2020-01-10 | 合肥工业大学 | Micro-seismic sensor taking and placing device with strain gauge pasting structure and using method thereof |
| CN110673205B (en) * | 2019-11-05 | 2021-05-25 | 合肥工业大学 | Microseismic sensor pick-and-place device with strain gauge sticking structure and method of using the same |
| CN113775853A (en) * | 2021-09-28 | 2021-12-10 | 长庆实业集团有限公司 | Oil outlet pipeline plugging point positioning device |
| CN114016601A (en) * | 2022-01-06 | 2022-02-08 | 河北粤海水务集团有限公司 | Robot convenient for pipeline operation and application thereof in underground drainage pipeline operation |
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