CN110966041B - Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe - Google Patents
Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe Download PDFInfo
- Publication number
- CN110966041B CN110966041B CN201911198323.5A CN201911198323A CN110966041B CN 110966041 B CN110966041 B CN 110966041B CN 201911198323 A CN201911198323 A CN 201911198323A CN 110966041 B CN110966041 B CN 110966041B
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- robot
- guide rail
- main shaft
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 abstract description 6
- 238000007906 compression Methods 0.000 abstract description 6
- 201000010099 disease Diseases 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 239000013043 chemical agent Substances 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 5
- 239000013078 crystal Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 235000019738 Limestone Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000003673 groundwater Substances 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000002244 precipitate Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F16/00—Drainage
- E21F16/02—Drainage of tunnels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Sewage (AREA)
- Manipulator (AREA)
Abstract
The invention provides an intelligent dredging robot for a small-diameter tunnel drainage blind pipe, which relates to the technical field of blocking treatment equipment of tunnel drainage systems, and adopts a spiral wheel type travelling system and a compression spring self-adaptive mechanism to enable the robot to perform barrier-free operation when the pipe diameter of the blind pipe in the tunnel drainage system is about 50 mm. The main purpose is that the pipe diameter of most pipelines in the karst area tunnel drainage system is less and the abominable jam problem of operational environment is solved, the evolution of control disease to the life of extension tunnel, the traffic safety of guarantee operation period.
Description
Technical Field
The invention relates to the technical field of blockage treatment equipment of a road tunnel drainage system, in particular to an intelligent dredging robot for a small-pipe-diameter tunnel drainage blind pipe in a karst area.
Background
The leakage water not only affects the safety and the service life of the tunnel structure, but also can cause the road surface to be moist and affect the driving safety, and needs to be solved. Due to the special groundwater seepage movement of karst landforms, precipitated crystals are generated in the tunnel drainage pipe, and the precipitated crystals in the pipeline act together with sediment, surrounding rock broken stones, surrounding rock particles and the like to block the tunnel drainage system. The blockage of the drainage system is a primary cause of tunnel leakage water, so that the tunnel leakage water must be periodically overhauled by entering the drainage pipeline, and the tunnel leakage water is dredged when necessary.
However, because the internal operation environment of the pipeline is bad, the operation difficulty is relatively high, most of the drainage pipelines are blind pipes, the pipe diameter is smaller, internal crystal sediments are difficult to remove, and great difficulty and resistance are brought to the detection and maintenance of the drainage pipelines. The existing pipeline robot has various functions, but generally has the problem of unstable walking in a small pipeline.
Disclosure of Invention
The invention aims to provide an intelligent dredging robot for a small-diameter tunnel drainage blind pipe, which is used for removing the problem of blockage of precipitated crystals of the drainage blind pipe caused by underground water leakage diseases and mainly solves the problem of unstable walking of the robot in the small-diameter blind pipe.
Therefore, the invention adopts the following technical scheme:
an intelligent dredging robot for a small-pipe-diameter tunnel drainage blind pipe comprises a power system and an intelligent dredging system; the power system provides power for the robot to walk; the intelligent dredging system is used for completing dredging treatment of the blockage in the pipeline; the robot also comprises a transmission device connected with the power system; the transmission device is used for converting the power of the power system into a driving force for enabling the robot to stably walk along the pipeline and comprises a first driving wheel, a main shaft and a plurality of groups of first telescopic mechanisms, wherein the main shaft is connected with the power system, the first telescopic mechanisms are uniformly arranged around the main shaft, and the first driving wheel is connected to the first telescopic mechanisms;
The first telescopic mechanism comprises a first guide rail, a first sliding block, a first connecting rod, a first elastic piece and a first driving wheel connecting piece, and when the first driving wheel is pressed, the first connecting rod drives the first sliding block to compress the first elastic piece along the first guide rail;
The first driving wheel connecting piece is connected with the first connecting rod and the first driving wheel, and comprises a connecting part with a right trapezoid longitudinal section, wherein the inclined surface of the connecting part faces upwards, and an included angle of 11-14 degrees is formed between the inclined surface and the horizontal direction; the connecting part is connected with the first driving wheel.
Further, the first driving wheel connecting piece further comprises a bottom connected with the connecting part, the bottom is of a cuboid structure, the width of the bottom is equal to that of the connecting part, the length of the bottom is 3 times that of the connecting part, and the height of the connecting part is 8-10mm; the bottom is connected with the first connecting rod.
Further, the transmission device also comprises a platform connecting mechanism, one end of the platform connecting mechanism is connected with the first connecting rod, the other end of the platform connecting mechanism is connected with the first guide rail, the other end of the first guide rail is connected with the disc shaft sleeve, and a sliding block and a first elastic piece are sequentially arranged at one end of the first guide rail, which is connected with the disc; the first connecting rods are connected through cylindrical pins and connected with the first driving wheels through first driving wheel connecting pieces.
In addition, the robot of the present invention further comprises a support device for providing steering capability to the robot when the pipe has an inclination angle.
Preferably, the supporting device comprises a second driving wheel, a main shaft and a plurality of groups of second telescopic mechanisms, wherein the main shaft is connected with the power system through a ball hinge, the second telescopic mechanisms are uniformly arranged around the main shaft, and the second driving wheel is connected with the second telescopic mechanisms;
The second telescopic mechanism comprises a second guide rail, a second sliding block, a second connecting rod, a second elastic piece and a second driving wheel connecting piece, and when the second driving wheel is pressed, the second connecting rod drives the first sliding block to compress the second elastic piece along the second guide rail; the second driving wheel connecting piece is connected with the second connecting rod and the second driving wheel.
More preferably, the supporting device further comprises a platform connecting mechanism, one end of the platform connecting mechanism is connected with the second connecting rod, the other end of the platform connecting mechanism is connected with the second guide rail, the other end of the second guide rail is connected with the disc shaft sleeve, and a sliding block and a second elastic piece are sequentially arranged at one end of the second guide rail, which is connected with the disc; the second connecting rods are connected through cylindrical pins and are connected with a second driving wheel through a second driving wheel connecting piece.
Preferably, the first drive wheel or the second drive wheel each comprises a symmetrical double row drive wheel.
Preferably, the first telescopic mechanism or the second telescopic mechanism comprises three groups, are mutually arranged on the circumference of the main shaft at 120 degrees, and are fixedly connected with the disc shaft sleeve.
Specifically, the power system comprises a motor, and a motor driving shaft is connected with a main shaft through a coupler.
Specifically, the intelligent dredging system comprises a cutting cutterhead and a nozzle, wherein the cutting cutterhead or the nozzle is connected with a main shaft.
Compared with the prior art, the invention has the beneficial effects that:
(1) By the structure of the transmission system of the invention, in particular the first driving wheel connecting rod part with the inclination angle, the problem of unstable walking caused by bearing problem can be solved. Meanwhile, the robot disclosed by the invention has the advantages that the running mechanism is a spiral wheel mechanism, and the running stability is ensured.
(2) According to the robot, due to the design of the supporting system, the robot has certain curve passing performance, can smoothly pass through pipeline topological structures such as T-shaped interfaces and L-shaped interfaces, can adapt to rich and complex structures of pipelines, and can adapt to and pass through pipelines with certain inclination angles.
(3) The robot, the intelligent dredging system, provided by the invention, adopts the combination of the cutting cutterhead and the spray nozzle to spray chemical agents, can ensure that precipitated crystals are effectively removed, and has a good dredging effect on the problem of blockage in drainage pipes in karst areas.
(4) The robot provided by the invention can not damage the pipeline in the cleaning process, ensure that the drainage system can be continuously and normally used, and improve the dredging quality.
(5) The robot provided by the invention can adapt to the dredging requirements of pipelines with different pipe diameters, especially small pipe diameter dredging operation, and the compression spring self-adaptive mechanism is adopted to enable the robot to perform barrier-free operation when the pipe diameter of a blind pipe in a tunnel drainage system is about 50 mm.
(6) The robot disclosed by the invention can be used for carrying out rapid and safe cleaning operation on the drainage pipeline under the normal traffic condition, and overcomes the defects that the existing manual dredging needs to seal traffic, and is low in efficiency and high in safety risk. Meanwhile, the energy consumption is small, almost no pollution is caused, and the method is economical and environment-friendly.
Drawings
FIG. 1 is a side elevation view of an orthoxial system in an operative state of an embodiment of the present invention;
FIG. 2 is a side elevation view of an orthoxial side view of an embodiment of the present invention in an operative condition;
FIG. 3 is a front view of an embodiment of the present invention in an operational state;
FIG. 4 is a left side view of an embodiment of the present invention in an operational state;
FIG. 5 is a top view of an embodiment of the present invention in an operational state;
FIG. 6 is a top view of a drive wheel of the spiral travel mechanism of an embodiment of the present invention;
FIG. 7 is a block diagram of the drive wheel and the connecting member of the screw travel mechanism according to an embodiment of the present invention;
FIG. 8 is a block diagram of a drive wheel and a connecting member for supporting a running gear according to an embodiment of the present invention;
FIG. 9 is a block diagram of an L-interface in a curve operating state according to an embodiment of the present invention; ;
FIG. 10 is a block diagram of an embodiment of the present invention in a T-interface curve operating state;
FIG. 11 is a construction of a first drive wheel coupling;
fig. 12 is a schematic view of a portion of a support system.
In the drawings, the meaning of each reference numeral is: 1, a cutting cutterhead; 2-a flange plate; 3-a motor; 4-compressing the spring; 5-a first slider; 6-a first drive wheel; 7-a first link; 8, connecting rods; 9-a first drive wheel coupling (tilting coupling, having a tilting angle); 10-a main shaft; 11-a first guide rail; 12-a platform connection mechanism; 13-a nozzle; 14-a motor box; 15-end cover; 16-a disc sleeve; 17-a second drive wheel coupling; 18-a coupling; 19-ball hinge; 20-a pipeline; 21-connecting part, 22-bottom; 23-a second drive wheel; 24-a second guide rail; 25-a second slider; 26-a second link; 27-a second elastic member.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
In addition, in the technical scheme of the invention, the first driving wheel, the second elastic piece and the like are described in the names of the parts, and the first and the second are not in absolute sequence or other physical meanings, so that the parts of the transmission and the support system are only distinguished.
The inventor researches and discovers that the mechanical property of the running mechanism in the pipeline is influenced by the output torque of the driving motor and the maximum static friction force exerted on the driving wheel by the inner wall of the pipeline, and further researches and discovers that the inclination angle of the inclination angle connecting piece is related to the maximum bearing capacity of the running mechanism, namely, the inclination angle of the connecting piece is related to the driving force of a robot, the maximum bearing capacity of the running mechanism is correspondingly changed, the driving force of the robot is correspondingly changed, and the final research result is that: when the inclination angle is 11-14 degrees, the travelling mechanism has better bearing capacity, and when the inclination angle is 12 degrees, the travelling mechanism has optimal bearing capacity.
Example 1:
the embodiment provides a karst area small pipe diameter tunnel drainage blind pipe intelligence mediation robot, including transmission system, braced system, intelligence mediation system and driving system.
The transmission system is arranged at the front end of the pipeline robot in the motion direction of the cleaning pipeline and comprises a main shaft 10, a disc shaft sleeve 16, three groups of telescopic mechanisms, a first driving wheel 6, a coupler 18, a first driving wheel connecting piece 9 and a connecting rod 8 with double rows of wheels. Three groups of telescopic mechanisms are mutually arranged on the circumference of the main shaft 10 at 120 degrees, and all the three groups of telescopic mechanisms are connected with the disc shaft sleeves 16 at the two ends through welding.
Specifically, telescopic machanism comprises two connecting rods, elastic component (adopting compression spring 4), platform coupling mechanism 12, slider and guide rail, and specifically, the guide rail is cylinder, and one end welding disc that the diameter is slightly bigger, and one part welding platform connection structure is cut off to the other end of guide rail, and the slider is installed in this one end of welding disc, and one part is cut off to the top of slider, welds a platform connection structure. The connecting rods are connected by cylindrical pins, one ends of the connecting rods are connected with a platform connecting mechanism above the sliding blocks by the cylindrical pins, the other ends of the connecting rods are connected with a platform connecting mechanism on the guide rail by the cylindrical pins, the springs are cylindrical helical compression springs, and the springs are arranged at one ends of the guide rails, which are provided with discs.
Specifically, the first driving wheel connecting piece 9 has an inclination angle, for cutting off a part of one end connected with the driving wheel, the included angle between the oblique direction and the horizontal direction is optimally 12 degrees, the height of the cut part is 8mm, the aperture of the unresectable end is consistent with that of the connecting rod, the connecting piece is connected with the connecting position of the two connecting rods, one end with the inclination angle is connected with the middle hole of the driving wheel connecting piece through a hexagonal nut and a bolt, and the two ends of the driving wheel connecting piece are respectively connected with the driving wheel through the hexagonal nut and the bolt.
Specifically, the driving wheels adopt symmetrical double-row driving wheels, and the transmission system is provided with 12 driving wheels. The main shaft 10 is used as a central shaft of a transmission system and is connected with the motor 3, two ends of the main shaft 10 are respectively provided with a disc shaft sleeve 16, and the forefront end of the main shaft 10 is of a hollow hole-shaped structure.
Specifically, the intelligent dredging system comprises a circular cutter head 1 and a small nozzle 13. Specifically, one disposal mode is to use a circular cutter disc 1, fix two sides of the circular cutter disc by using a flange 2, and fix the circular cutter disc to a spindle 10 by using a hexagonal nut and a bolt for fixing. Another disposal mode is to install a nozzle 13 at the hollow hole position at the forefront end of the main shaft 10, the hose is connected with the nozzle 13 through one end inside the main shaft 10, one end is connected with a water pump, and the water pump pumps chemical agents to the nozzle 13. The two means may be combined when a precipitate is encountered that is difficult to handle.
In particular, the support system is substantially identical to the drive train structure, except that the spindle 10 is connected to the motor 3 via a ball hinge 19, which gives the robot a certain curve-passing ability. The second drive wheel coupling 17 does not have an inclination angle.
Specifically, the power system is a 3lK15GN-AW2L2 alternating-current gear motor, the motor 3 is wrapped by a motor box 14 and end covers 15 at two ends, and a driving shaft is connected with the main shaft 10 through a coupling 18 to provide power for the driving wheel and the cutter disc 1. The other end of the motor 3 is connected with a supporting system through a ball hinge 19, so that the stability of the robot operation and certain curve passing performance are ensured.
The transmission device comprises three groups of telescopic mechanisms, a main shaft 10, a disc shaft sleeve 16, a first driving wheel connecting piece 9, a connecting rod 8, a first driving wheel 6 and a coupling 18, wherein each group of telescopic mechanisms consists of two connecting rods, a compression spring 4, a guide rail, a sliding block and a platform connecting mechanism 12 and is used for converting the driving force of a motor into the driving force for enabling a robot to travel along the direction of a pipeline 20.
The supporting device comprises three groups of telescopic mechanisms, including two connecting rods, a main shaft 10, a disc shaft sleeve 16, a compression spring 4, a guide rail, a connecting piece, a second driving wheel connecting piece 17, a driving wheel, a sliding block, a ball hinge 19 and a platform connecting mechanism 12, and is used for supporting the pipeline robot to walk in a steering way. When the pipe diameter of the trolley operation is reduced, pressure is generated between the driving wheel 6 and the contact pipe wall and acts on two equal-length connecting rods 7, and the connecting rods 7 drive the sliding blocks 5 to compress the springs 4 to slide, so that the diameter of the cross section of the pipeline robot is reduced.
In particular, the three sets of telescopic mechanisms are 120 degrees from each other around the spindle disk, since this allows the three sets of drive wheels to be subjected to substantially uniform pressure from the pipe wall 20, thereby ensuring that the traction provided by each drive wheel is the same. Meanwhile, the robot can achieve better sealing effect when running in the pipeline, good stability is guaranteed when the robot rotates, and dangerous situations such as offset, side turning or falling can not occur. When the robot enters the blind pipe, the motor 3 generates torque to drive the disc shaft sleeve 16 of the transmission device to rotate, so that three groups of driving wheels are driven to revolve in the circumference, the driving wheels have rotation capacity, friction force is generated between the driving wheels and the pipe wall of the pipeline 20, the whole mechanism is driven to advance by the friction force in the axial component force, and when the motor is reversed, the driving direction of the robot is changed, so that the flexibility of the robot in the pipe is ensured. Specifically, the two ends of the three groups of telescopic mechanisms are welded with the disc shaft sleeve 16, so that the stability and firmness of the robot are ensured.
Specifically, in order to enable the sliding block to be reasonably matched with the guide rail, a groove is formed in the sliding block, and torsion sliding phenomenon cannot occur in the operation process. Specifically, the platform linkage 12 ensures a secure linkage of the links to the rails.
In particular, as shown in fig. 7 and 8, a certain included angle exists between the axle of the first driving wheel 6 and the axial direction of the pipeline 20, which is called a helix angle, when the motor 3 drives the main shaft 10 to rotate, the main shaft 10 drives the transmission device to rotate, and an included angle exists between the first driving wheel 6 and the cross section of the pipeline 20, so that an axial force parallel to the pipeline direction can be generated to drive the robot; specifically, the robot is more stable to operate when the inclination angle of the first driving wheel coupling 9 is 12 ° through the study.
The invention adopts a symmetrical double-row driving wheel form. No matter how the robot runs in the pipeline, two symmetrical groups of driving wheels can be simultaneously contacted with the pipeline wall and generate the same pressure, so that the stress balance of the whole mechanism is ensured, the double-row driving wheels enable the robot to have certain obstacle crossing capability, and the stability of the whole framework of the pipeline robot is effectively ensured.
Specifically, the working radius of the cutter disc 1 is slightly smaller than the minimum diameter of the working blind pipe due to the large variation of the blind pipe diameter, and the limitation of the load and the volume of the robot. Specifically, the flange plate 2 is used for fixing the two ends of the cutterhead 1, so that the stability of the cutterhead 1 during operation of the pipeline robot is guaranteed.
Specifically, due to the limitation of the working radius of the cutter disc 1, the cutter disc is matched in a chemical agent corrosion mode during cleaning, and a nozzle 13 carried by a pipeline robot is mainly used for spraying chemical agents specially used for dredging onto the inner wall of a drainage blind pipe, so that the purpose of removing the deposited limestone is achieved. However, because the pipeline robot has small volume and limited load capacity and is not easy to carry a container for storing chemical agents, the container for storing chemical agents can be placed on the ground in a manual conveying mode at present, an elongated hose is connected to the robot body, and the chemical agents are pumped by a water pump and sprayed to the appointed position of the pipeline through a nozzle 13 carried by the robot, so that the dredging work of the chemical mode is completed. The mini-nozzle 13 may be of different types selected according to different working circumstances.
The specific working process of the embodiment is as follows:
When the robot is placed in a drainage pipeline of a highway tunnel drainage system, the motor 3 is started, driving force is transmitted to the transmission device along a driving shaft of the speed reduction motor, and the main shaft 10 and the disc shaft sleeve 16 of the transmission device are driven to rotate, so that three groups of driving wheels are driven to revolve around the main shaft 10. At this time, as the first driving wheel 6 has a friction force with the pipe wall and a certain included angle is formed between the first driving wheel and the cross section of the pipe wall, the force has a component force in the horizontal direction, and a driving force for the robot to travel along the pipe is provided, so that the robot can perform revolution motion around the main shaft of the rotating body stably and perform autorotation motion around the self-axle. And the support means of the rear part maintains the stability and operational stability of the pipe robot. When the motor 3 changes the driving direction, the traveling direction of the robot also changes.
When a blockage is encountered in the pipeline, the cutter disc 1 is driven by the motor 3 to perform cleaning work on the blockage, and when the pipeline has a certain inclination angle, the spherical hinge connection between the driving device and the supporting device can change the operation direction of the robot.
In addition, in the invention, the transmission device is removed from the cutter disc mechanism at the front end, the rest part and the driving device form a driving unit, a plurality of driving units can be added between the driving device and the supporting device on the basis of the invention, and the driving units are connected through a spherical hinge. A new intelligent dredging robot for the small-pipe-diameter tunnel drainage blind pipe is formed to meet the requirements of different working environments.
The above description is merely illustrative of the embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the invention is intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. An intelligent dredging robot for a small-pipe-diameter tunnel drainage blind pipe comprises a power system and an intelligent dredging system; the power system provides power for the robot to walk; the intelligent dredging system is used for completing dredging treatment of the blockage in the pipeline;
The method is characterized in that: the robot also comprises a transmission device connected with the power system; the transmission device is used for converting the power of the power system into a driving force for enabling the robot to stably walk along the pipeline and comprises a first driving wheel (6), a main shaft (10) and a plurality of groups of first telescopic mechanisms, wherein the main shaft (10) is connected with the power system, the first telescopic mechanisms are uniformly arranged around the main shaft (10), and the first driving wheel (6) is connected to the first telescopic mechanisms;
the first telescopic mechanism comprises a first guide rail (11), a first sliding block (5), a first connecting rod (7), a first elastic piece and a first driving wheel connecting piece (9), when the first driving wheel (6) is pressed, the first connecting rod (7) drives the first sliding block (5) to compress the first elastic piece along the first guide rail (11);
The first driving wheel connecting piece (9) is connected with the first connecting rod (7) and the first driving wheel (6), the first driving wheel connecting piece (9) comprises a connecting part (21) with a right trapezoid longitudinal section, the inclined plane of the connecting part (21) faces upwards, and an included angle of 11-14 degrees is formed between the inclined plane and the horizontal direction; the connecting part (21) is connected with the first driving wheel (6);
The transmission device also comprises a platform connecting mechanism (12), one end of the platform connecting mechanism is connected with the first connecting rod (7), the other end of the platform connecting mechanism is connected with the first guide rail (11), the other end of the first guide rail (11) is connected with the disc shaft sleeve (16), and a first sliding block (5) and a first elastic piece are sequentially arranged at one end of the first guide rail (11) connected with the disc shaft sleeve (16); the first connecting rods (7) are connected through cylindrical pins and are connected with the first driving wheels (6) through first driving wheel connecting pieces (9);
the robot further comprises a support device for providing steering capability to the robot when the pipe has an inclination angle;
The supporting device comprises a second driving wheel (23), a main shaft (10) and a plurality of groups of second telescopic mechanisms, wherein the main shaft (10) is connected with the power system through a ball hinge (19), the second telescopic mechanisms are uniformly arranged around the main shaft (10), and the second driving wheel (23) is connected to the second telescopic mechanisms;
The second telescopic mechanism comprises a second guide rail (24), a second sliding block (25), a second connecting rod (26), a second elastic piece (27) and a second driving wheel connecting piece (17), and when the second driving wheel (23) is pressed, the second connecting rod (26) drives the second sliding block (25) to compress the second elastic piece (27) along the second guide rail (24); the second driving wheel connecting piece (17) is connected with a second connecting rod (26) and a second driving wheel (23);
The supporting device further comprises a platform connecting mechanism (12), one end of the platform connecting mechanism is connected with a second connecting rod (26), the other end of the platform connecting mechanism is connected with a second guide rail (24), the other end of the second guide rail (24) is connected with the disc shaft sleeve (16), and a second sliding block (25) and a second elastic piece (27) are sequentially arranged at one end, connected with the disc shaft sleeve (16), of the second guide rail (24); the second connecting rods (26) are connected through cylindrical pins and are connected with the second driving wheels (23) through second driving wheel connecting pieces (17).
2. The small-caliber tunnel drainage blind pipe intelligent dredging robot according to claim 1, wherein: the first driving wheel connecting piece (9) further comprises a bottom (22) connected with the connecting part (21), the bottom (22) is of a cuboid structure, the width of the bottom is equal to that of the connecting part (21), the length of the bottom is 3 times of that of the connecting part (21), and the height of the connecting part (21) is 8-10mm; the bottom (22) is connected with the first connecting rod (7).
3. The small-caliber tunnel drainage blind pipe intelligent dredging robot according to claim 1, wherein: the first driving wheel (6) or the second driving wheel (23) comprises symmetrical double-row driving wheels.
4. The small-caliber tunnel drainage blind pipe intelligent dredging robot according to claim 1, wherein: the first telescopic mechanism or the second telescopic mechanism comprises three groups, are mutually arranged on the circumference of the main shaft (10) at 120 degrees and are fixedly connected with the disc shaft sleeve (16).
5. The small-caliber tunnel drainage blind pipe intelligent dredging robot according to claim 1, wherein: the power system comprises a motor (3), and a driving shaft of the motor (3) is connected with a main shaft (10) through a coupling (18).
6. The small-caliber tunnel drainage blind pipe intelligent dredging robot according to claim 1, wherein: the intelligent dredging system comprises a cutting cutterhead (1) and a nozzle (13), wherein the cutting cutterhead (1) or the nozzle (13) is connected with a main shaft (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911198323.5A CN110966041B (en) | 2019-11-29 | 2019-11-29 | Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911198323.5A CN110966041B (en) | 2019-11-29 | 2019-11-29 | Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110966041A CN110966041A (en) | 2020-04-07 |
| CN110966041B true CN110966041B (en) | 2024-04-30 |
Family
ID=70032157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911198323.5A Active CN110966041B (en) | 2019-11-29 | 2019-11-29 | Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110966041B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570428B (en) * | 2020-04-09 | 2021-06-04 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Posture adjusting device for dredging equipment of tunnel drainage system |
| CN111282929B (en) * | 2020-05-12 | 2020-07-31 | 湖南翰坤实业有限公司 | Pipeline cleaning robot |
| CN111691539B (en) * | 2020-05-13 | 2021-06-15 | 姚啸啸 | Inflatable underground sewage pipeline cleaning machine |
| CN112108468B (en) * | 2020-08-11 | 2022-01-25 | 广东技术师范大学天河学院 | Automatic reducing type pipeline cleaning robot |
| CN111981244B (en) * | 2020-08-18 | 2022-03-29 | 河南理工大学 | Robot for cleaning and dredging coal conveying pipeline in rapid charging continuous operation |
| CN112044884A (en) * | 2020-08-27 | 2020-12-08 | 华东送变电工程有限公司 | Cable conduit mediation cleaning machines people |
| CN113289991B (en) * | 2021-05-21 | 2022-03-29 | 长安大学 | External power dredging equipment for small-diameter drainage blind pipe of tunnel and working method |
| CN113399388A (en) * | 2021-07-09 | 2021-09-17 | 重庆国翔新材料有限公司 | Tunnel pipeline crystal cleaning device |
| CN113426775B (en) * | 2021-08-26 | 2021-11-12 | 山东科技职业学院 | Pipe fitting inner wall cleaning device |
| CN113500064B (en) * | 2021-09-09 | 2021-11-26 | 徐州智云安全技术研究院有限公司 | Urban pipeline intelligent robot that decontaminates that can turn to pursuit |
| CN114131103B (en) * | 2021-12-23 | 2024-06-04 | 中国十七冶集团有限公司 | Cutting module and cutting method for intelligent cutting repair robot for urban pipe network |
| CN116550705B (en) * | 2023-07-06 | 2023-09-05 | 山西众尚建设工程有限公司 | Cable calandria pull throughs |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130000088A (en) * | 2011-06-22 | 2013-01-02 | 주식회사 로보피아 | Robot for pipeline work having improved running capability and integrated centering capability |
| JP2013117364A (en) * | 2011-12-05 | 2013-06-13 | Ryuki Engineering:Kk | Duct device and dust collecting system within tunnel |
| CN106862196A (en) * | 2017-02-28 | 2017-06-20 | 重庆交通大学 | Pipe-dredging machine people |
| CN108412544A (en) * | 2018-03-08 | 2018-08-17 | 南京工业大学 | Chemical dissolving and cleaning dredging method for crystal blockage of karst tunnel drainage system |
| CN109184754A (en) * | 2018-08-08 | 2019-01-11 | 中铁第四勘察设计院集团有限公司 | A kind of tunnel water handling Disease Processing method and system |
| CN109973148A (en) * | 2019-05-09 | 2019-07-05 | 交通运输部公路科学研究所 | A kind of tunnel drainage system dredging device and application method |
| CN211343019U (en) * | 2019-11-29 | 2020-08-25 | 长安大学 | Small-pipe-diameter tunnel drainage blind pipe intelligent dredging robot |
-
2019
- 2019-11-29 CN CN201911198323.5A patent/CN110966041B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130000088A (en) * | 2011-06-22 | 2013-01-02 | 주식회사 로보피아 | Robot for pipeline work having improved running capability and integrated centering capability |
| JP2013117364A (en) * | 2011-12-05 | 2013-06-13 | Ryuki Engineering:Kk | Duct device and dust collecting system within tunnel |
| CN106862196A (en) * | 2017-02-28 | 2017-06-20 | 重庆交通大学 | Pipe-dredging machine people |
| CN108412544A (en) * | 2018-03-08 | 2018-08-17 | 南京工业大学 | Chemical dissolving and cleaning dredging method for crystal blockage of karst tunnel drainage system |
| CN109184754A (en) * | 2018-08-08 | 2019-01-11 | 中铁第四勘察设计院集团有限公司 | A kind of tunnel water handling Disease Processing method and system |
| CN109973148A (en) * | 2019-05-09 | 2019-07-05 | 交通运输部公路科学研究所 | A kind of tunnel drainage system dredging device and application method |
| CN211343019U (en) * | 2019-11-29 | 2020-08-25 | 长安大学 | Small-pipe-diameter tunnel drainage blind pipe intelligent dredging robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110966041A (en) | 2020-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110966041B (en) | Intelligent dredging robot for small-pipe-diameter tunnel drainage blind pipe | |
| CN211343019U (en) | Small-pipe-diameter tunnel drainage blind pipe intelligent dredging robot | |
| RU2424937C2 (en) | Conveyor mechanism with hinge joint | |
| CN114653696B (en) | Pipeline inner wall self-adaptive robot cleaning device based on centrifugal force principle | |
| KR100991297B1 (en) | Apparatus for excavating sediment in closed conduit | |
| CN205183214U (en) | Cleaning device | |
| WO2021000894A1 (en) | Self-propelled vehicle for removing sand from track | |
| KR20190140331A (en) | Dredging robot for small pipe and its driving method | |
| CN114751214A (en) | Wheel pushing type shield grain delivery machine | |
| CN205341417U (en) | Machine people is cleaned in cable channel inspection | |
| CN109338973B (en) | Combined snow remover | |
| CN105521972A (en) | Cable pipe checking and cleaning robot | |
| CN104763857A (en) | Cross structural potential risk detection pipeline robot for reservoir culvert pipe | |
| CN209757310U (en) | Wall-climbing robot | |
| CN208395767U (en) | A kind of road sweeper | |
| CN110130475A (en) | A kind of urban discharging pipeline dredging robot | |
| CN206554147U (en) | A kind of culvert mud and war dredging machine | |
| CN212200233U (en) | Small-size courtyard snow removal robot mechanism | |
| CN213223629U (en) | Pipeline cleaning vehicle | |
| CN113906847A (en) | Global land ecological restoration construction device under territorial space planning system | |
| CN104565671B (en) | Tube inside walking device | |
| CN108343801A (en) | A kind of pipeline climbing robot | |
| CN107059710A (en) | A kind of taking and discharging tunnel Hand scarf device and method | |
| CN106436534B (en) | A kind of Miniature remote control road roller | |
| CN207521387U (en) | A kind of petroleum pipeline dredger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |