CN110792149B - Multifunctional robot and system for cement pipeline - Google Patents
Multifunctional robot and system for cement pipeline Download PDFInfo
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- CN110792149B CN110792149B CN201911087757.8A CN201911087757A CN110792149B CN 110792149 B CN110792149 B CN 110792149B CN 201911087757 A CN201911087757 A CN 201911087757A CN 110792149 B CN110792149 B CN 110792149B
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- radial expansion
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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- Hydrology & Water Resources (AREA)
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Abstract
The invention provides a multifunctional robot and a system for a cement pipeline, which are used for solving the problems of joint repair and dredging of a splicing seam of the cement pipeline in the prior art. The method comprises the following steps: the device comprises two frame bodies, a first radial expansion mechanism, an axial telescopic mechanism and a second radial expansion mechanism, wherein the axial telescopic mechanism can actively drive the two frame bodies to relatively approach and relatively separate; the first and second radial expansion mechanisms each comprise: the swing rod is provided with a through groove, the swing rod is installed on the frame body through a pin shaft, the pin shaft can slide in the through groove, and the swing rod limits the rotation displacement of the screw sleeve; the mud pipeline multifunctional robot further comprises a tail end action mechanism.
Description
Technical Field
The invention relates to the field of building equipment, in particular to a multifunctional robot and a system for a cement pipeline.
Background
The mud pipeline is also called cement pressure pipe and reinforced concrete pipe, and can be used as sewer pipe in urban construction foundation, and can discharge sewage, flood control and drainage, and water supply pipe and farmland pumping well used in some special factories and mines. The method generally comprises the following steps: the reinforced concrete pipe with the flat mouth, the reinforced concrete pipe with the flexible tongue-and-groove mouth, the reinforced concrete pipe with the bell and spigot mouth, the cement pipe with the F-shaped steel bell mouth, the cement pipe with the flat mouth lantern ring interface, the cement pipe with the tongue-and-groove mouth and the like.
The cement pipes need to be spliced by multiple sections, the existing method is to manually drill the cement pipes into the pipelines to smear mortar and seal the spliced joints, but sometimes workers have the problems of laziness and the like, only the lower half part close to the ground is coated, and water leakage is easily caused under the condition; even though workers coat the whole circle on the circumference in the earlier stage, when the coating is installed or after the coating is used, the cracks may leak water, the cracks need to be gunited and repaired at the moment, when the sludge in the pipeline is more, the influence on the normal drainage of the pipeline is caused, and the problem of how to realize dredging is also to be solved.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a multifunctional robot and a system for a cement pipeline, which are used for solving the problems of mending and dredging of the splicing seams of the cement pipeline in the prior art.
To achieve the above and other related objects, the present invention provides a multi-functional robot for a cement pipe, comprising:
two frame bodies are arranged on the frame body,
a first radial direction expanding mechanism is arranged on the upper surface of the main body,
an axial telescopic mechanism is arranged on the base plate,
the first radial expansion mechanism, the axial expansion mechanism and the second radial expansion mechanism are sequentially and axially fixed, the first radial expansion mechanism and the second radial expansion mechanism are respectively fixed on the two frame bodies, and the axial expansion mechanism can actively drive the two frame bodies to be relatively close to and relatively far away;
the first and second radial expansion mechanisms each comprise:
the cement pipeline conveying device comprises a first driving piece, a first transmission set, a hollow shaft, a threaded sleeve and a swing rod, wherein the first driving piece drives the hollow shaft to rotate through the first transmission set, external threads are arranged on the hollow shaft, the threaded sleeve is sleeved on the hollow shaft and provided with an external thread part, one end of the swing rod is hinged to the outer side face of the threaded sleeve, the other end of the swing rod is a free end and can extend out of the outer side of a frame body to abut against the inner wall of a cement pipeline, a through groove is formed in the swing rod, the swing rod is installed on the frame body through a pin shaft, the pin shaft can slide in the through groove, and the swing;
an intermediate pipeline is arranged between the hollow shaft of the first radial expansion mechanism and the hollow shaft of the second radial expansion mechanism, two ends of the intermediate pipeline are respectively communicated with one ends of the two hollow shafts through rotary joints, and the intermediate pipeline is of a telescopic structure or a bendable structure;
mud pipeline multifunctional robot still includes terminal actuating mechanism, terminal actuating mechanism includes:
second driving piece, second transmission group and return bend, return bend one end with the hollow shaft of the radial expanding mechanism of second passes through the rotary joint intercommunication, the return bend other end is the free end and radially towards, the second driving piece passes through the drive of second transmission group the return bend rotates.
Optionally, the axial telescopic mechanism comprises a third driving piece, the third driving piece is a linear driving piece, one end of the third driving piece is fixed to the first radial expansion mechanism, and the other end of the third driving piece is fixed to the second radial expansion mechanism.
Optionally, the telescopic mechanism further comprises at least one passive telescopic cylinder, and two ends of the passive telescopic cylinder are respectively fixed to the first radial expansion mechanism and the second radial expansion mechanism.
Optionally, the first driving member and the second driving member include a gear drive, a belt drive, a chain drive or a worm gear.
Optionally, a cushion block is arranged at the free end of the swing rod, and the inner side of the cushion block is hinged to the swing rod.
Optionally, the cushion block is an arc-shaped plate, and the arc surface of the outer side of the cushion block is matched with the inner side surface of the cement pipeline.
Optionally, both ends of the middle pipeline are provided with fixed pipes, the fixed pipes are fixed on the frame body, one end of each fixed pipe is communicated with the middle pipeline through a rotary joint, and the other end of each fixed pipe is communicated with the hollow shaft through a rotary joint.
Optionally, the system further comprises a camera, wherein the camera is used for collecting the image in the cement pipeline.
Optionally, the camera is mounted on the frame body or on the elbow.
A system comprises the cement pipeline multifunctional robot;
the pump is communicated with the hollow shaft of the first radial expansion mechanism through a hose and a rotary joint.
As described above, the multifunctional robot and the system for cement pipelines of the present invention have at least the following advantages:
the hollow shaft both ends all set up rotary joint, make the hollow shaft when as the radial expanding mechanism of pivot drive, can also regard as the passageway of logical water and logical mortar, but because the intermediate line is extending structure or hose construction, make first radial expanding mechanism and the radial expanding mechanism of second can realize the adaptation when taking place relative displacement in the axial and change, the return bend passes through rotary joint and hollow shaft connection, when making the return bend driven by the second driving piece, it can rotate around the axis, thereby realize that 360 degrees any angles in the week all can sew up, and as desilting robot can carry out angle modulation on week.
Drawings
FIG. 1 shows a schematic diagram of the system of the present invention.
Figure 2 shows a schematic view of the inventive spacer in combination with a cement pipe.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1-2. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1 to 2, the present invention provides an embodiment of a multifunctional robot for a cement pipeline, including: the expansion device comprises two frame bodies 1, a first radial expansion mechanism 2, an axial expansion mechanism 3 and a second radial expansion mechanism 4, wherein the first radial expansion mechanism 2, the axial expansion mechanism 3 and the second radial expansion mechanism 4 are sequentially and axially fixed, the first radial expansion mechanism 2 and the second radial expansion mechanism 4 are respectively fixed on the two frame bodies 1, and the axial expansion mechanism 3 can actively drive the two frame bodies 1 to be relatively close to and relatively far away; said first radial expansion means 2 and said second radial expansion means 4 each comprise: the cement pipeline support comprises a first driving piece 21, a first transmission group 22, a hollow shaft 23, a threaded sleeve 24 and a swing rod 25, wherein the first driving piece drives the hollow shaft 23 to rotate through the first transmission group 22, an external thread is arranged on the hollow shaft 23, the threaded sleeve 24 is sleeved on the hollow shaft 23 and is provided with an external thread part, one end of the swing rod 25 is hinged to the outer side surface of the threaded sleeve 24, the other end of the swing rod 25 is a free end and can extend out of the outer side of the support body 1 to abut against the inner wall of the cement pipeline, a through groove is arranged on the swing rod 25, the swing rod 25 is installed on the support body 1 through a pin shaft, the pin shaft can slide in the through groove, and the swing rod; an intermediate pipeline 231 is arranged between the hollow shaft 23 of the first radial expansion mechanism 2 and the hollow shaft 23 of the second radial expansion mechanism 4, two ends of the intermediate pipeline 231 are respectively communicated with one ends of the two hollow shafts 23 through rotating joints 6, and the intermediate pipeline 231 is of a telescopic structure or a bendable structure; mud pipeline multifunctional robot still includes terminal actuating mechanism 5, terminal actuating mechanism 5 includes: the second driving part 51, the second transmission set 52 and the elbow 53, one end of the elbow 53 is communicated with the hollow shaft 23 of the second radial expansion mechanism 4 through the rotary joint 6, the other end of the elbow 53 is a free end and faces to the radial direction, and the second driving part 51 drives the elbow 53 to rotate through the second transmission set 52. Hollow shaft 23 both ends all set up rotary joint 6, make hollow shaft 23 when being the radial expanding mechanism of pivot drive, can also regard as the passageway of logical water and logical mortar, because middle pipeline 231 is extending structure or hose construction, make first radial expanding mechanism 2 and second radial expanding mechanism 4 can realize the adaptation when relative displacement takes place in the axial, return bend 53 passes through rotary joint 6 and hollow shaft 23 and connects, when making return bend 53 driven by second driving piece 51, it can rotate around the axis, thereby realize that 360 degrees any angles in the week all can mend, and can carry out angle modulation on week as the desilting robot. During specific work, in the radial expanding mechanism 4 of second entered into the cement pipeline, the inner wall that cement pipeline 7 was withstood in the radial expansion of the radial expanding mechanism 4 of second, then axial telescopic machanism 3 shortens, with the radial expanding mechanism 2 of first radial expanding mechanism pull to the radial expanding mechanism of second, then the expansion of first radial expanding mechanism 2 withstands cement pipeline 7 inner wall, the radial shrink of the radial expanding mechanism 4 of second, the extension of axial telescopic machanism is with the radial expanding mechanism 4 forward propelling movement of second, so reciprocal. The action of radial expansion or contraction of the specific first radial expansion mechanism 2 and the specific second radial expansion mechanism 4 is as follows: the first driving piece 21 drives the hollow shaft 23 to rotate through the first transmission set 22, the rotation displacement of the threaded sleeve 24 is limited, the threaded sleeve 24 can only axially move on the hollow shaft 23, the threaded sleeve 24 axially moves to pull one end of the swing rod 25, and therefore the tail end of the swing rod 25 extends to the inner wall of the cement pipeline 7 or is far away from the inner wall of the cement pipeline 7, when the preset position is reached, the first radial expansion mechanism 2 and the second radial expansion mechanism 4 are both expanded, when desilting is needed, the second driving piece 51 drives the bent pipe 53 to rotate to the preset position in the circumferential direction, the hollow shaft 23 of the first radial expansion mechanism 2 is communicated with a water pump, and the sludge is pumped away. When the seam repair is needed, the second driving piece 51 drives the bent pipe 53 to rotate in the axial direction, so that the guniting of any displacement is realized, in order to ensure the guniting effect, a guniting head can be arranged at the tail end of the bent pipe 53, and the guniting head and the rotary joint are both the prior art and are not described again here. The hollow shaft 23 of the first radial expansion mechanism 2 is communicated with a slurry pump, and mortar is pumped into the inner wall of the cement pipeline 7 from the outside.
Referring to fig. 1, the present invention provides an embodiment of a telescopic mechanism, in which the axial telescopic mechanism 3 includes a third driving member 31, the third driving member 31 is a linear driving member, one end of the third driving member 31 is fixed to the first radial expansion mechanism 2, and the other end of the third driving member 31 is fixed to the second radial expansion mechanism 4. The third drive member 31 may be embodied as an electric motor, a pneumatic cylinder or a hydraulic cylinder.
Referring to fig. 1, another embodiment of the telescopic mechanism further includes at least one passive telescopic cylinder 32, and two ends of the passive telescopic cylinder 32 are respectively fixed to the first radial expansion mechanism 2 and the second radial expansion mechanism 4. The passive telescopic cylinder 32 can realize relative support of the first radial expansion mechanism 2 and the second radial expansion structure, and the plurality of passive telescopic cylinders 32 can effectively share gravity and reduce the shearing force of the third driving part 31, so that the service life of the third driving part 31 is prolonged.
In this embodiment, the first driving member and the second driving member 52 include a gear drive, a belt drive, a chain drive or a worm gear. In fig. 1, the transmission is conventionally performed by bevel gears.
In this embodiment, referring to fig. 1 and fig. 2, a cushion block 251 is disposed at a free end of the swing rod 25, and an inner side of the cushion block 251 is hinged to the swing rod 25. Optionally, the cushion block 251 is an arc-shaped plate, and an outer arc surface of the cushion block 251 is matched with an inner side surface of the cement pipeline 7. The contact area can be increased, and the damage to the inner wall of the cement pipeline 7 is avoided. Referring to fig. 1, the specific hinge structure may be connected by a pin, and the axis of the pin is perpendicular to the axis of the cement pipe 7; it may also be other hinge structures, such as a ball joint, with a higher degree of freedom. For better protection and adaptability, the cushion block 251 may be of rubber structure.
In this embodiment, referring to fig. 1, two ends of the intermediate pipeline 231 are respectively provided with a fixing pipe 2311, the fixing pipes 2311 are fixed on the frame body 1, one end of each fixing pipe 2311 is communicated with the intermediate pipeline 231 through a rotary joint 6, and the other end of each fixing pipe 2311 is communicated with the hollow shaft 23 through a rotary joint 6. Through the setting of fixed pipe 2311, fixed pipe 2311 is fixed on support body 1, and fixed pipe 2311 stable in structure can effectively ensure that hollow shaft 23 goes out pivoted independence, and middle pipeline 231 can not have torsion or reduce torsion, and also more convenience when changing middle pipeline 231.
In this embodiment, please refer to fig. 1, further comprising a camera 8, where the camera 8 is configured to collect an image in the cement pipeline 7. Optionally, the camera 8 is mounted on the frame body 1. The camera 8 with the structure faces in the direction, a plurality of cameras need to be arranged on the circumferential direction of the frame body 1, and when the mortar spraying mending machine is used as a mortar spraying mending function, the interference of mortar to the camera 8 can be reduced, particularly when the mortar spraying mending machine is used for upwards patching.
In this embodiment, please refer to fig. 1, further comprising a camera 8, where the camera 8 is configured to collect an image in the cement pipeline 7. Optionally, the camera 8 is mounted on the elbow 53. In this case, the monitoring of the axial position can be performed by a camera 8, which rotates along with the elbow 53.
In this embodiment, referring to fig. 1, an embodiment of a system includes the cement pipeline 7 multifunctional robot described in the above embodiment; a pump 9 is also included, said pump 9 communicating with the hollow shaft 23 of said first radial expansion means 2 through a hose and through a rotary joint 6. The pump 9 can be selected according to the requirement, for example, the slurry pump 9 can be rotated. To avoid setting of the mortar, the mortar on the outside should be stirred in real time.
In summary, the rotary joints 6 are respectively arranged at the two ends of the hollow shaft 23, so that the hollow shaft 23 can be used as a rotating shaft to drive the radial expansion mechanism and can also be used as a channel for water and mortar to flow through, the intermediate pipeline 231 is of a telescopic structure or a hose structure, so that the first radial expansion mechanism 2 and the second radial expansion mechanism 4 can realize adaptive change when relative displacement occurs in the axial direction, the bent pipe 53 is connected with the hollow shaft 23 through the rotary joints 6, so that the bent pipe 53 can rotate around the axis when driven by the second driving part 51, and therefore, the sewing can be performed at any angle of 360 degrees in the circumferential direction, and the hollow shaft can be used as a desilting robot to perform angle adjustment in the circumferential direction. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a cement pipeline multi-functional robot which characterized in that includes:
two frame bodies are arranged on the frame body,
a first radial direction expanding mechanism is arranged on the upper surface of the main body,
an axial telescopic mechanism is arranged on the base plate,
the first radial expansion mechanism, the axial expansion mechanism and the second radial expansion mechanism are sequentially and axially fixed, the first radial expansion mechanism and the second radial expansion mechanism are respectively fixed on the two frame bodies, and the axial expansion mechanism can actively drive the two frame bodies to be relatively close to and relatively far away;
the first and second radial expansion mechanisms each comprise:
the cement pipeline conveying device comprises a first driving piece, a first transmission set, a hollow shaft, a threaded sleeve and a swing rod, wherein the first driving piece drives the hollow shaft to rotate through the first transmission set, external threads are arranged on the hollow shaft, the threaded sleeve is sleeved on the hollow shaft and provided with an external thread part, one end of the swing rod is hinged to the outer side face of the threaded sleeve, the other end of the swing rod is a free end and can extend out of the outer side of a frame body to abut against the inner wall of a cement pipeline, a through groove is formed in the swing rod, the swing rod is installed on the frame body through a pin shaft, the pin shaft can slide in the through groove, and the swing;
an intermediate pipeline is arranged between the hollow shaft of the first radial expansion mechanism and the hollow shaft of the second radial expansion mechanism, two ends of the intermediate pipeline are respectively communicated with one ends of the two hollow shafts through rotary joints, and the intermediate pipeline is of a telescopic structure or a bendable structure;
two ends of the middle pipeline are respectively provided with a fixed pipe, the fixed pipes are fixed on the frame body, one end of each fixed pipe is communicated with the middle pipeline through a rotary joint, and the other end of each fixed pipe is communicated with the hollow shaft through a rotary joint;
mud pipeline multifunctional robot still includes terminal actuating mechanism, terminal actuating mechanism includes:
second driving piece, second transmission group and return bend, return bend one end with the hollow shaft of the radial expanding mechanism of second passes through the rotary joint intercommunication, the return bend other end is the free end and radially towards, the second driving piece passes through the drive of second transmission group the return bend rotates.
2. The multifunctional robot for cement pipelines as claimed in claim 1, wherein: the axial telescopic mechanism comprises a third driving piece, the third driving piece is a linear driving piece, one end of the third driving piece is fixed with the first radial expansion mechanism, and the other end of the third driving piece is fixed with the second radial expansion mechanism.
3. The multifunctional robot for cement pipelines as claimed in claim 2, wherein: the telescopic mechanism further comprises at least one passive telescopic cylinder, and two ends of the passive telescopic cylinder are fixed with the first radial expansion mechanism and the second radial expansion mechanism respectively.
4. The multifunctional robot for cement pipelines as claimed in claim 1, wherein: the first driving piece and the second driving set comprise gear transmission, belt transmission, chain transmission or worm and gear.
5. The multifunctional robot for cement pipelines as claimed in claim 1, wherein: and a cushion block is arranged at the free end of the oscillating bar, and the inner side of the cushion block is hinged with the oscillating bar.
6. The multifunctional robot for cement pipelines as claimed in claim 5, wherein: the cushion block is an arc-shaped plate, and the arc surface on the outer side of the cushion block is matched with the inner side surface of the cement pipeline.
7. The multifunctional robot for cement pipelines as claimed in claim 1, wherein: still include the camera, the camera is used for gathering the image in the cement pipeline.
8. The multifunctional robot for cement pipelines as claimed in claim 7, wherein: the camera is installed on the frame body or on the elbow.
9. A system, characterized by: a multi-functional robot comprising the cement pipe according to any one of claims 1 to 8;
the pump is communicated with the hollow shaft of the first radial expansion mechanism through a hose and a rotary joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911087757.8A CN110792149B (en) | 2019-11-08 | 2019-11-08 | Multifunctional robot and system for cement pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911087757.8A CN110792149B (en) | 2019-11-08 | 2019-11-08 | Multifunctional robot and system for cement pipeline |
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| CN110792149A CN110792149A (en) | 2020-02-14 |
| CN110792149B true CN110792149B (en) | 2021-05-11 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844422B (en) * | 2020-08-05 | 2021-07-06 | 九江职业技术学院 | Centrifugal manufacturing device for cement pipeline |
| CN114215164B (en) * | 2021-12-23 | 2022-05-27 | 安徽利达市政工程有限公司 | Municipal administration pipeline pull throughs |
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| CN103672290A (en) * | 2013-12-11 | 2014-03-26 | 电子科技大学 | All-wheel-drive squirming-type pipe robot |
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| KR20180093678A (en) * | 2017-02-14 | 2018-08-22 | 삼성중공업 주식회사 | Driving robot inside pipe |
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