CN110375151A - A kind of autonomous type pipe-dredging machine people and dredging method - Google Patents
A kind of autonomous type pipe-dredging machine people and dredging method Download PDFInfo
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- CN110375151A CN110375151A CN201910780250.4A CN201910780250A CN110375151A CN 110375151 A CN110375151 A CN 110375151A CN 201910780250 A CN201910780250 A CN 201910780250A CN 110375151 A CN110375151 A CN 110375151A
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- fuselage
- dredging
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- driving
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 230000000903 blocking effect Effects 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 239000000758 substrate Substances 0.000 claims description 31
- 238000005520 cutting process Methods 0.000 claims description 23
- 238000003754 machining Methods 0.000 claims description 14
- 238000009826 distribution Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 6
- 241001465382 Physalis alkekengi Species 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 239000010801 sewage sludge Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The present invention provides a kind of autonomous type pipe-dredging machine people, including driving head, carrying fuselage, telescoping drive mechanism, walking mechanism and driving circuit, driving head to pass through universal coupling with carrying front fuselage face and rear end face be hinged, walking mechanism is hinged by telescoping drive mechanism and carrying fuselage outer surface, driving circuit is electrically connected in carrying fuselage, and respectively with driving head, telescoping drive mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator.Its dredging method includes hardware assembly and dredging two steps of operation.It is simple that present system constitutes structure, it is strong that environment adapts to energy ability, can effectively it meet to the needs for blocking prune job in different sewers, run high degree of automation, while effectively improving pipe-dredging operating efficiency, can also effectively prevent dredging device occur inside pipeline blocking and can not recovering state occur, greatly improve equipment operation safety.
Description
Technical field
The present invention relates to a kind of autonomous type pipe-dredging machine people and dredging methods, belong to prospecting technique field.
Background technique
At present in numerous tube apparatus operations such as sewer, ventilation shaft, material conveying pipe, easily because material is heavy
The factors such as product and cause to block inside pipeline, thus while seriously affecting pipe-line equipment operational efficiency and stability, separately
Easily cause the safety accidents such as pipeline burst, and be directed to this problem, be currently mostly by mechanically dredging, high pressure draught,
The modes such as highly pressurised liquid stream and mechanical oscillation carry out pipeline cleaning, although these traditional dredging modes can satisfy to a certain degree
The needs used, but dredge that operating efficiency is low, effectively dredging is apart from small, and easily because the factors such as pipe bending influence dredging effect
Fruit, while it is also relatively high also easily to cause a large amount of wasting of resources and dredging to walk the also costs such as energy consumption, it is difficult to effectively meet real
Border requirements of one's work.
Therefore it is directed to this status, needs to develop a kind of sewage sludge sampling mechanism and the corresponding method of sampling, with full
The needs actually used enough.
Summary of the invention
The object of the present invention is to provide the present invention to provide a kind of autonomous type pipe-dredging machine people.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of autonomous type pipe-dredging machine people, including driving head, carrying fuselage, telescoping drive mechanism, walking mechanism, pressure pass
Sensor, monitoring camera, illuminator and driving circuit, wherein driving head passes through universal coupling and carrying machine to two respectively
Body front end face and rear end face are hinged, and carrying fuselage is column airtight cavity structure, and outer surface is evenly distributed at least two water conservancy diversion
Slot, diversion trench is uniformly distributed around carrying fuselage axis, walking mechanism at least four, is evenly arranged on carrying fuselage around carrying fuselage axis
Outer surface, and by telescoping drive mechanism and carrying fuselage outer surface it is hinged, telescoping drive mechanism both ends respectively with carry fuselage
And walking mechanism is hinged, and telescoping drive mechanism axis in 0 ° -90 ° angles and intersects, pressure sensor with carrying fuselage axis
It is consistent with telescoping drive mechanism quantity, a pressure sensing is all provided at each telescoping drive mechanism and walking mechanism link position
Device, monitoring camera, illuminator equal at least two, and a monitoring camera and an illuminator constitute a job
Group, each driving head side surface is all provided with a working group, and working group's axis and driving head axis parallelly distribute on, driving circuit are embedding
In carrying fuselage in, and respectively with driving head, telescoping drive mechanism, walking mechanism, pressure sensor, monitoring camera, illumination
Lamps and lanterns electrical connection.
Further, the driving head include bearing substrate, main cutting edge, assisted machining sword, diversion pipe, negative pressure pump,
Rotary motion mechanism, wherein the bearing substrate is the round table-like airtight cavity structure that distribution is parallel to the horizontal plane in axis, before
End face diameter is 1/10-the 1/3 of rear end face diameter, the main cutting edge, assisted machining sword at least three, and each master
Cutting edge rear end face is hinged with an assisted machining sword rear end face, wherein each main cutting edge is cut by rotary motion mechanism and master
Cut that sword side surface is slidably connected and to surround bearing substrate axis uniformly distributed, and each main cutting edge front end face intersects, intersection point is located at carrying
On matrix axis and it is located at least 5 millimeters of bearing substrate front end face, the assisted machining sword passes through rotary motion mechanism and carries
Matrix rear end face is slidably connected, and uniformly distributed around bearing substrate axis, and the assisted machining sword front end face is located at carrying fuselage
Outside is simultaneously slidably connected with carrying fuselage outer surface, and partition is set in the bearing substrate, and passes through partition for bearing substrate the past
Back cavity and jet chamber are divided into after, wherein the corresponding bearing substrate front end face of the back cavity and side surface are uniformly distributed several
Open-work, the corresponding bearing substrate rear end face of jet chamber are evenly distributed at least two jet orifices, the jet orifice and carrying fuselage side surface
Diversion trench be coaxially distributed, the negative pressure pump in the jet chamber, and by diversion pipe respectively with back cavity and each jet orifice phase
Intercommunicated, the negative pressure pump, rotary motion mechanism are electrically connected with driving circuit.
Further, the corresponding carrying fuselage side surface of the telescoping drive mechanism, walking mechanism sets locating slot, and works as
When telescoping drive mechanism axis and carrying fuselage axis angle are 0 °, walking mechanism in the locating slot, and walking mechanism with hold
The distribution of carrier aircraft body flush with outer surface.
Further, the telescoping drive mechanism is twisted connecting rod structure, electric expansion rod structure, hydraulic telescopic rod knot
Any one in structure, air pressure telescopic link mechanism and telescopic spring rod structure；The walking mechanism is Universal wheel type structure, crawler belt
Any one in formula structure and universal ball structure.
Further, a carrying fuselage at least section, and when carrying fuselage is two sections and two sections or more, it is adjacent to hold
It is hinged by universal coupling between carrier aircraft body.
Further, the driving circuit is based on the circuit system based on industrial single-chip microcontroller, and on driving circuit
Separately set at least one satellite positioning module, at least one RFID radio-frequency communication module, at least one wireless network communication module and
At least one power module.
Further, the power module and based on being located at difference between the circuit system based on industrial single-chip microcontroller
Carrying fuselage in.
A kind of pipe-dredging method of autonomous type pipe-dredging machine people, includes the following steps:
S1, hardware assembly, first according to duct length to be detected, conduit types and caliber to constituting driving head of the invention, hold
Carrier aircraft body, telescoping drive mechanism mechanism carry out type selecting, then to constituted after option driving head of the invention, carrying fuselage, stretch
Contracting driving mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator and driving circuit are assembled, and pass through drive
Dynamic circuit and external control circuit establish circuit connection, data connection；
S2 dredges operation, and after completing S1 step, the present invention after assembling is put into pipeline to be unclogged, then passes through flexible driving
Then the position of institutional adjustment walking mechanism drives walking mechanism operation, being engaged in makes this so that each walking mechanism is connect with tube wall
Invention is advanced along conduit axis direction, detects pressure between walking mechanism and tube wall by pressure sensor whole process in traveling process,
Position between walking mechanism and carrying fuselage is adjusted flexibly, meets the needs of different tube diameters operation, while by monitoring camera, illumination
The working group that lamps and lanterns are constituted carries out complete monitoring to environment in pipeline, and when operation to blocking position, while driving front end face
It runs with the driving head of rear end face position, inner pipeline plug plug thing is crushed by main cutting edge first, tamper is obtained after crushing
It is then entered in back cavity body under negative pressure pump driving by open-work, after being then directly discharged to driving head by jet orifice again
Side, while water conservancy diversion collection is carried out to tamper after crushing by the diversion trench of carrying fuselage side surface, to reach pipe-dredging
Purpose.
Further, in the S2 step, the main cutting edge traffic direction phase of two driving heads at fuselage both ends is carried
Instead.
Present system composition structure is simple, integrated, modularization and high degree of automation, and environment adaptation energy ability is strong,
It can effectively meet to the needs for blocking prune job in different sewers, run high degree of automation, be dredged effectively improving pipeline
While logical operating efficiency, can also effectively prevent dredging device occurs blocking inside pipeline and can not recovering state generation,
Greatly improve the safety of equipment operation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is present device structural schematic diagram；
Fig. 2 is dredging method method process of the present invention intention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing of the invention, it is clear that retouched
The embodiment stated is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
A kind of autonomous type pipe-dredging machine people as illustrated in fig. 1 and 2, including driving head 1, carrying fuselage 2, flexible driving
Mechanism 3, walking mechanism 4, pressure sensor 5, monitoring camera 6, illuminator 7 and driving circuit 8, wherein driving head 1 to two
It is a, it is hinged respectively by universal coupling 9 and carrying 1 front end face of fuselage and rear end face, carrying fuselage 1 is column airtight cavity
Structure, and outer surface is evenly distributed at least two diversion trenches 10, diversion trench 10 is uniformly distributed around carrying 1 axis of fuselage, and walking mechanism 4 is at least
Four, it is evenly arranged on carrying 2 outer surface of fuselage around carrying 2 axis of fuselage, and is passed through outside telescoping drive mechanism 3 and carrying fuselage 2
Surface is hinged, and 3 both ends of telescoping drive mechanism are hinged with carrying fuselage 2 and walking mechanism 4 respectively, and 3 axis of telescoping drive mechanism
In 0 ° -90 ° angles and intersect with carrying 2 axis of fuselage, pressure sensor 5 is consistent with 3 quantity of telescoping drive mechanism, Mei Geshen
It is all provided with a pressure sensor 5 at contracting driving mechanism 3 and 4 link position of walking mechanism, monitoring camera 6, illuminator 7 are extremely
It is two few, and a monitoring camera 6 and an illuminator 7 constitute a working group, each 1 side surface of driving head is all provided with one
A working group, and working group's axis and 1 axis parallelly distribute on of driving head, driving circuit 8 in carrying fuselage 1, and respectively with
Driving head 1, telescoping drive mechanism 3, walking mechanism 4, pressure sensor 5, monitoring camera 6, illuminator 7 are electrically connected.
In the present embodiment, the driving head 1 includes bearing substrate 101, main cutting edge 102, assisted machining sword 103, leads
Flow tube 104, negative pressure pump 105, rotary motion mechanism 106, wherein the bearing substrate 101 is that distribution is parallel to the horizontal plane in axis
Round table-like airtight cavity structure, front end face diameter are 1/10-the 1/3 of rear end face diameter, and the main cutting edge 102, auxiliary are cut
Sword 103 at least three are cut, and 102 rear end face of each main cutting edge is hinged with 103 rear end face of assisted machining sword,
In each main cutting edge 102 be slidably connected by rotary motion mechanism 106 and 102 side surface of main cutting edge and surround bearing substrate
101 axis are uniformly distributed, and 102 front end face of each main cutting edge intersects, and intersection point is located on 101 axis of bearing substrate and is located at bearing substrate
At least 5 millimeters of 101 front end faces, the assisted machining sword 103 is sliding by rotary motion mechanism 106 and 101 rear end face of bearing substrate
Dynamic connection, and it is uniformly distributed around 101 axis of bearing substrate, and 103 front end face of assisted machining sword is located at 2 outside of carrying fuselage simultaneously
It is slidably connected with carrying 2 outer surface of fuselage, partition 107 is set in the bearing substrate 101, and pass through partition 107 for bearing substrate
101 are divided into back cavity 11 and jet chamber 12 from front to back, wherein corresponding 101 front end face of bearing substrate of the back cavity 11
Several open-works 108 are evenly distributed with side surface, corresponding 101 rear end face of bearing substrate of jet chamber 12 is evenly distributed at least two jet orifices 109,
The coaxial distribution of diversion trench 10 of the jet orifice 109 and carrying 2 side surface of fuselage, the negative pressure pump 105 are embedded in jet chamber 12,
And be interconnected respectively with back cavity 11 and each jet orifice 109 by diversion pipe 104, the negative pressure pump 105, rotary motion mechanism
106 are electrically connected with driving circuit 8.
In the present embodiment, the telescoping drive mechanism 3, corresponding 2 side surface of carrying fuselage of walking mechanism 4 set locating slot
13, and when 3 axis of telescoping drive mechanism and carrying 2 axis angle of fuselage are 0 °, walking mechanism 4 is embedded in locating slot 13, and
Walking mechanism 4 and carrying 2 flush with outer surface of fuselage distribution.
In the present embodiment, the telescoping drive mechanism 3 is twisted connecting rod structure, electric expansion rod structure, hydraulically extensible
Any one in rod structure, air pressure telescopic link mechanism and telescopic spring rod structure；The walking mechanism 4 is Universal wheel type knot
Any one in structure, track structure and universal ball structure.
In the present embodiment, a carrying fuselage 2 at least section, and when carrying fuselage 2 is two sections and two sections or more, phase
It is hinged by universal coupling 9 between neighbour's carrying fuselage 2.
In the present embodiment, the driving circuit 8 is based on the circuit system based on industrial single-chip microcontroller, and driving circuit
On separately set at least one satellite positioning module, at least one RFID radio-frequency communication module, at least one wireless network communication module
And at least one power supply mould 14.
In the present embodiment, the power module 14 and based on being located between the circuit system based on industrial single-chip microcontroller
In different carrying fuselages 2.
A kind of pipe-dredging method of autonomous type pipe-dredging machine people, includes the following steps:
S1, hardware assembly, first according to duct length to be detected, conduit types and caliber to constituting driving head of the invention, hold
Carrier aircraft body, telescoping drive mechanism mechanism carry out type selecting, then to constituted after option driving head of the invention, carrying fuselage, stretch
Contracting driving mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator and driving circuit are assembled, and pass through drive
Dynamic circuit and external control circuit establish circuit connection, data connection；
S2 dredges operation, and after completing S1 step, the present invention after assembling is put into pipeline to be unclogged, then passes through flexible driving
Then the position of institutional adjustment walking mechanism drives walking mechanism operation, being engaged in makes this so that each walking mechanism is connect with tube wall
Invention is advanced along conduit axis direction, detects pressure between walking mechanism and tube wall by pressure sensor whole process in traveling process,
Position between walking mechanism and carrying fuselage is adjusted flexibly, meets the needs of different tube diameters operation, while by monitoring camera, illumination
The working group that lamps and lanterns are constituted carries out complete monitoring to environment in pipeline, and when operation to blocking position, while driving front end face
It runs with the driving head of rear end face position, inner pipeline plug plug thing is crushed by main cutting edge first, tamper is obtained after crushing
It is then entered in back cavity body under negative pressure pump driving by open-work, after being then directly discharged to driving head by jet orifice again
Side, while water conservancy diversion collection is carried out to tamper after crushing by the diversion trench of carrying fuselage side surface, to reach pipe-dredging
Purpose.
In the present embodiment, in the S2 step, the main cutting edge traffic direction of two driving heads at fuselage both ends is carried
On the contrary.
Present system composition structure is simple, integrated, modularization and high degree of automation, and environment adaptation energy ability is strong,
It can effectively meet to the needs for blocking prune job in different sewers, run high degree of automation, be dredged effectively improving pipeline
While logical operating efficiency, can also effectively prevent dredging device occurs blocking inside pipeline and can not recovering state generation,
Greatly improve the safety of equipment operation.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. a kind of autonomous type pipe-dredging machine people, it is characterised in that: the autonomous type pipe-dredging machine people includes driving
Head, carrying fuselage, telescoping drive mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator and driving circuit,
Described in driving head to two, respectively by universal coupling and carrying front fuselage face and rear end face be hinged, the carrying
Fuselage is column airtight cavity structure, and outer surface is evenly distributed at least two diversion trenches, and the diversion trench is around carrying fuselage axis
Uniformly distributed, the walking mechanism at least four is evenly arranged on carrying fuselage outer surface around carrying fuselage axis, and passes through flexible driving
Mechanism and carrying fuselage outer surface are hinged, and the telescoping drive mechanism both ends are hinged with carrying fuselage and walking mechanism respectively, and
Telescoping drive mechanism axis in 0 ° -90 ° angles and intersects with carrying fuselage axis, the pressure sensor and flexible driving machine
Structure quantity is consistent, is all provided with a pressure sensor at each telescoping drive mechanism and walking mechanism link position, the monitoring is taken the photograph
As head, illuminator equal at least two, and a monitoring camera and an illuminator constitute a working group, each driving
Head side surface is all provided with a working group, and working group's axis and driving head axis parallelly distribute on, and the driving circuit is embedded in carrying
In fuselage, and it is electric with driving head, telescoping drive mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator respectively
Gas connection.
2. a kind of autonomous type pipe-dredging machine people according to claim 1, it is characterised in that: the driving head includes
Bearing substrate, main cutting edge, assisted machining sword, diversion pipe, negative pressure pump, rotary motion mechanism, wherein the bearing substrate is axis
The round table-like airtight cavity structure of distribution is parallel to the horizontal plane in line, and front end face diameter is 1/10-the 1/3 of rear end face diameter, institute
State main cutting edge, assisted machining sword at least three, and each main cutting edge rear end face with an assisted machining sword rear end
Face is hinged, wherein each main cutting edge is slidably connected by rotary motion mechanism and main cutting edge side surface and surround bearing substrate axis
Line is uniformly distributed, and each main cutting edge front end face intersects, and intersection point is located on bearing substrate axis and is located at bearing substrate front end face at least 5
Millimeter, the assisted machining sword are slidably connected by rotary motion mechanism and bearing substrate rear end face, and around bearing substrate axis
Line is uniformly distributed, and the assisted machining sword front end face is located at carrying fuselage outer side and is slidably connected with carrying fuselage outer surface, described
Partition is set in bearing substrate, and bearing substrate is divided by back cavity and jet chamber by partition from front to back, wherein described
The corresponding bearing substrate front end face of back cavity and side surface are evenly distributed with several open-works, and the corresponding bearing substrate rear end face of jet chamber is uniformly distributed
At least two jet orifices, the jet orifice and the diversion trench of carrying fuselage side surface are coaxially distributed, and the negative pressure pump is embedded in jet stream
It is intracavitary, and be interconnected respectively with back cavity and each jet orifice by diversion pipe, the negative pressure pump, rotary motion mechanism with drive
Dynamic circuit electrical connection.
3. a kind of autonomous type pipe-dredging machine people according to claim 1, it is characterised in that: the flexible driving machine
The corresponding carrying fuselage side surface of structure, walking mechanism sets locating slot, and when telescoping drive mechanism axis and carrying fuselage axis wire clamp
When angle is 0 °, walking mechanism is in locating slot, and walking mechanism and carrying fuselage flush with outer surface distribution.
4. a kind of autonomous type pipe-dredging machine people according to claim 1, it is characterised in that: the flexible driving machine
Structure is twisted connecting rod structure, electric expansion rod structure, hydraulically extensible rod structure, air pressure telescopic link mechanism and telescopic spring rod structure
In any one；The walking mechanism is any one in Universal wheel type structure, track structure and universal ball structure.
5. a kind of autonomous type pipe-dredging machine people according to claim 1, it is characterised in that: the carrying fuselage is extremely
A few section, and when carrying fuselage is two sections and two sections or more, it is hinged by universal coupling between adjacent carrying fuselage.
6. a kind of autonomous type pipe-dredging machine people according to claim 1, it is characterised in that: the driving circuit is
Separately set based on the circuit system based on industrial single-chip microcontroller, and on driving circuit at least one satellite positioning module, at least one
RFID radio-frequency communication module, at least one wireless network communication module and at least one power module.
7. a kind of autonomous type pipe-dredging machine people according to claim 6, it is characterised in that: the power module with
Based on being located between the circuit system based on industrial single-chip microcontroller in different carrying fuselages.
8. a kind of pipe-dredging method of autonomous type pipe-dredging machine people, it is characterised in that: the autonomous type pipe-dredging
The pipe-dredging method of robot includes the following steps:
S1, hardware assembly, first according to duct length to be detected, conduit types and caliber to constituting driving head of the invention, hold
Carrier aircraft body, telescoping drive mechanism mechanism carry out type selecting, then to constituted after option driving head of the invention, carrying fuselage, stretch
Contracting driving mechanism, walking mechanism, pressure sensor, monitoring camera, illuminator and driving circuit are assembled, and pass through drive
Dynamic circuit and external control circuit establish circuit connection, data connection；
S2 dredges operation, and after completing S1 step, the present invention after assembling is put into pipeline to be unclogged, then passes through flexible driving
Then the position of institutional adjustment walking mechanism drives walking mechanism operation, being engaged in makes this so that each walking mechanism is connect with tube wall
Invention is advanced along conduit axis direction, detects pressure between walking mechanism and tube wall by pressure sensor whole process in traveling process,
Position between walking mechanism and carrying fuselage is adjusted flexibly, meets the needs of different tube diameters operation, while by monitoring camera, illumination
The working group that lamps and lanterns are constituted carries out complete monitoring to environment in pipeline, and when operation to blocking position, while driving front end face
It runs with the driving head of rear end face position, inner pipeline plug plug thing is crushed by main cutting edge first, tamper is obtained after crushing
It is then entered in back cavity body under negative pressure pump driving by open-work, after being then directly discharged to driving head by jet orifice again
Side, while water conservancy diversion collection is carried out to tamper after crushing by the diversion trench of carrying fuselage side surface, to reach pipe-dredging
Purpose.
9. the pipe-dredging method of autonomous type pipe-dredging machine people according to claim 6 a kind of, it is characterised in that:
In the S2 step, the main cutting edge traffic direction for carrying two driving heads at fuselage both ends is opposite.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910780250.4A CN110375151A (en) | 2019-08-22 | 2019-08-22 | A kind of autonomous type pipe-dredging machine people and dredging method |
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| CN201910780250.4A CN110375151A (en) | 2019-08-22 | 2019-08-22 | A kind of autonomous type pipe-dredging machine people and dredging method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111474000A (en) * | 2020-05-24 | 2020-07-31 | 南京南测仪器技术有限公司 | Sewer sludge sampling device and vehicle moving method |
| CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
| CN115350783A (en) * | 2022-08-23 | 2022-11-18 | 福建福大北斗通信科技有限公司 | Beidou positioning navigation urban pipe network intelligent surveying and mapping inspection device and inspection method thereof |
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| CN111474000B (en) * | 2020-05-24 | 2022-10-25 | 南京南测仪器技术有限公司 | Sewer sludge sampling device and method |
| CN112044883A (en) * | 2020-08-11 | 2020-12-08 | 肖勇强 | Pipeline dredging device |
| CN115350783A (en) * | 2022-08-23 | 2022-11-18 | 福建福大北斗通信科技有限公司 | Beidou positioning navigation urban pipe network intelligent surveying and mapping inspection device and inspection method thereof |
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