CN111207267A - Tunnel center ditch dredging robot - Google Patents
Tunnel center ditch dredging robot Download PDFInfo
- Publication number
- CN111207267A CN111207267A CN202010221705.1A CN202010221705A CN111207267A CN 111207267 A CN111207267 A CN 111207267A CN 202010221705 A CN202010221705 A CN 202010221705A CN 111207267 A CN111207267 A CN 111207267A
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- CN
- China
- Prior art keywords
- oil cylinder
- guide sleeve
- fixedly connected
- tunnel center
- supporting
- 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.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C21/00—Disintegrating plant with or without drying of the material
- B02C21/02—Transportable disintegrating plant
- B02C21/026—Transportable disintegrating plant self-propelled
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
本发明公开了隧道中心沟疏通机器人，包括机体，所述机体的整体外观呈圆柱形，且机体内设置有外导套，所述外导套内嵌套滑动连接有内导套，所述内导套内设置有支撑油缸，所述机体的外表面靠近支撑油缸的一侧设置有外壳体，所述外壳体内设置有与支撑油缸的驱动端相固定连接的移动架，所述移动架上共设置有三个第一固定轴，且三个第一固定轴两两之间均呈120°角设置，三个所述第一固定轴上均转动连接有连杆。本发明中，通过设置的支撑油缸驱动移动架结构带动支撑爪卡紧在中心沟或者管道的内壁中即可完成结构的卡紧定位工作，通过液压马达驱动转动盘上的钻头配合推进油缸即可完成疏通工作，结构轻巧简便，连接稳定，使用方便。
The invention discloses a tunnel center ditch dredging robot, comprising a body, the overall appearance of the body is cylindrical, and an outer guide sleeve is arranged in the body, and an inner guide sleeve is nested and slidably connected in the outer guide sleeve, and the inner guide sleeve is slidably connected. A supporting oil cylinder is arranged in the guide sleeve, an outer casing is arranged on the side of the outer surface of the body close to the supporting oil cylinder, and a moving frame fixedly connected with the driving end of the supporting oil cylinder is arranged in the outer casing. Three first fixed shafts are arranged, and each of the three first fixed shafts is arranged at an angle of 120°, and a connecting rod is rotatably connected to the three first fixed shafts. In the present invention, the clamping and positioning work of the structure can be completed by driving the supporting claws to be clamped in the inner wall of the central groove or the pipeline by driving the movable frame structure by the provided supporting oil cylinder, and the hydraulic motor can drive the drill bit on the rotating disk to cooperate with the propelling oil cylinder. Complete the dredging work, the structure is light and simple, the connection is stable, and the use is convenient.
Description
Technical Field
The invention relates to the technical field of dredging, in particular to a tunnel central ditch dredging robot.
Background
The tunnel central trench is an extremely important used pipeline in a tunnel, but is easy to block, dredging work is required under the condition, and the problem that equipment enters and leaves the field under the condition of dredging construction conditions of the tunnel central trench and comprehensive consideration is taken into consideration, so that the dredging work of the central trench has certain requirements;
the current tunnel center ditch mediation work uses hand tool to excavate the mediation mostly, and such operation mode not only wastes time and energy, and the operation degree of difficulty is very big moreover, also influences the mediation efficiency of center ditch when work load is big.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a tunnel center ditch dredging robot.
In order to achieve the purpose, the invention adopts the following technical scheme: the tunnel center ditch dredging robot comprises a machine body, wherein the whole appearance of the machine body is cylindrical, an outer guide sleeve is arranged in the machine body, an inner guide sleeve is connected in the outer guide sleeve in a nested and sliding manner, a supporting oil cylinder is arranged in the inner guide sleeve, one side, close to the supporting oil cylinder, of the outer surface of the machine body is provided with an outer shell, a moving frame fixedly connected with a driving end of the supporting oil cylinder is arranged in the outer shell, three first fixing shafts are arranged on the moving frame in a 120-degree angle manner, connecting rods are rotatably connected to the three first fixing shafts, fixing plates are fixedly connected to positions, corresponding to the three connecting rods, on the outer shell, second fixing shafts are arranged on the three fixing plates, rotating frames are rotatably connected to the three second fixing shafts, and supporting claws are fixedly connected to one side of the outer surfaces of the three rotating frames, the novel motor is characterized in that a groove is formed in the position, located on one side of the outer guide sleeve, in the motor body, a propelling oil cylinder is arranged in the groove, the driving end of the propelling oil cylinder is fixedly connected with one side of the outer surface of the outer shell, a connecting shaft is fixedly connected to one side, away from the outer shell, of the outer surface of the motor body, a hydraulic motor is arranged on the connecting shaft, and a rotating disc is fixedly connected to the driving end of the hydraulic motor.
As a further description of the above technical solution:
one ends of the three connecting rods are fixedly connected with one sides of the outer surfaces of the three rotating frames correspondingly.
As a further description of the above technical solution:
and fixing nuts are respectively arranged at two ends of the three first fixing shafts and two ends of the three second fixing shafts.
As a further description of the above technical solution:
the three support claws are all provided with connecting bolts, the two sides of the outer surface of each support claw on the three connecting bolts are all sleeved with rolling wheels, and the outer surfaces of the two ends of the three connecting bolts on the rolling wheels are all in threaded connection with fastening nuts.
As a further description of the above technical solution:
the outer surface of the machine body is provided with a containing groove which is matched with the three supporting claws in an embedded mode.
As a further description of the above technical solution:
and a propeller is arranged on one side, close to the hydraulic motor, of the outer surface of the rotating disc, and a drill bit is arranged on one side, far away from the propeller, of the outer surface of the rotating disc.
The invention has the following beneficial effects:
the tunnel center ditch dredging robot has the advantages that the whole machine body structure can be supported and fixed in a pipeline to be dredged and a tunnel through the arrangement of the supporting oil cylinder and the matching of the supporting claw structure on the shell, the subsequent dredging work is convenient, the joint connection is stable and the movement is convenient, the blocked center ditch and the pipeline can be crushed and dredged through the arranged hydraulic motor driving rotating disc structure, the whole structure adopts hydraulic transmission power, the structural connection is stable, the equipment lightness and the installation and use convenience required by the tunnel center ditch dredging construction working condition and the equipment in the processes of entering and exiting are realized, the rapidness and the safety are realized, when the tunnel center ditch dredging robot is used, the machine body is placed in the water pipeline or the center ditch, the supporting oil cylinder is started, the supporting oil cylinder drives the moving frame to move, the moving frame drives the connecting rod to move, and the connecting rod drives the rotating frame to rotate, the rotating frame drives the supporting claws to rotate, the fixing work of the machine body can be completed by the contact clamping of the supporting claws and the inner wall of a pipeline or a central groove, the hydraulic motor is started, the hydraulic motor drives the rotating disc to rotate, the drill bit at the front end of the rotating disc automatically crushes and dredges the blockage, the propelling oil cylinder is started, the propelling oil cylinder can drive the machine body to propel forwards through the fixing effect of the outer shell structure, meanwhile, the machine body drives the drill bit to move forwards to crush and dredge, when the stroke of the propelling oil cylinder is maximized, the propelling oil cylinder can be withdrawn after the supporting structure is operated in a same way, the propelling oil cylinder can be withdrawn, the propelling process of one unit can be completed, the whole process can be operated in a same way to perform the circulating and dredging work, the whole structure is not only stably connected, but also is convenient and fast to use, the flexible dredging work, meanwhile, the operation difficulty is reduced, the existing tunnel center ditch dredging work is solved, manual tools are mostly used for excavating and dredging manually, the operation mode is time-consuming and labor-consuming, the operation difficulty is very high, and the dredging efficiency of the center ditch is also influenced when the workload is large.
Drawings
Fig. 1 is a front view of a tunnel center trench dredging robot provided by the invention;
FIG. 2 is a schematic structural diagram of a tunnel center trench dredging robot provided by the invention;
FIG. 3 is a top view of the tunnel center trench dredging robot provided by the invention;
FIG. 4 is a left side view of the tunnel center trench dredging robot provided by the invention;
FIG. 5 is a right side view of the tunnel center trench dredging robot provided by the invention;
fig. 6 is an overall structural schematic diagram of the tunnel center trench dredging robot provided by the invention.
Illustration of the drawings:
1. a body; 2. an outer guide sleeve; 3. an inner guide sleeve; 4. a support cylinder; 5. an outer housing; 6. a movable frame; 7. a first fixed shaft; 8. a connecting rod; 9. a rotating frame; 10. a fixing plate; 11. a second fixed shaft; 12. fixing a nut; 13. a support claw; 14. a connecting bolt; 15. a rolling wheel; 16. fastening a nut; 17. a groove; 18. a propulsion cylinder; 19. accommodating grooves; 20. a connecting shaft; 21. a hydraulic motor; 22. rotating the disc; 23. a propeller; 24. a drill bit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-6, one embodiment of the present invention is provided: the tunnel center ditch dredging robot comprises a machine body 1, wherein the whole appearance of the machine body 1 is cylindrical, an outer guide sleeve 2 is arranged in the machine body 1, an inner guide sleeve 3 is connected in the outer guide sleeve 2 in a nested and sliding manner, a supporting oil cylinder 4 is arranged in the inner guide sleeve 3, an outer shell 5 is arranged on one side, close to the supporting oil cylinder 4, of the outer surface of the machine body 1, a moving frame 6 fixedly connected with a driving end of the supporting oil cylinder 4 is arranged in the outer shell 5, three first fixing shafts 7 are arranged on the moving frame 6, 120-degree angles are formed between every two first fixing shafts 7, connecting rods 8 are rotatably connected on the three first fixing shafts 7, fixing plates 10 are fixedly connected on the positions, corresponding to the three connecting rods 8, on the outer shell 5, second fixing shafts 11 are arranged on the three fixing plates 10, rotating frames 9 are rotatably connected on the three second fixing shafts 11, supporting claws 13 are fixedly connected, a groove 17 is formed in the machine body 1 and located on one side of the outer guide sleeve 2, a propulsion oil cylinder 18 is arranged in the groove 17, the driving end of the propulsion oil cylinder 18 is fixedly connected with one side of the outer surface of the outer shell 5, a connecting shaft 20 is fixedly connected to one side, away from the outer shell 5, of the outer surface of the machine body 1, a hydraulic motor 21 is arranged on the connecting shaft 20, and a rotating disc 22 is fixedly connected to the driving end of the hydraulic motor 21.
One ends of the three connecting rods 8 are fixedly connected with one sides of the outer surfaces of the three rotating frames 9 correspondingly, and the connecting rods 8 can stably run through the connection relation between the connecting rods 8 and the rotating frames 9, so that the supporting structure can be guaranteed to stably run and play a supporting role; fixing nuts 12 are respectively arranged at two ends of the three first fixing shafts 7 and two ends of the three second fixing shafts 11, and the stability of the operation of the whole structure can be ensured through the arrangement of the fixing nuts 12; connecting bolts 14 are arranged on the three supporting claws 13, rolling wheels 15 are sleeved on the three connecting bolts 14 and positioned on two sides of the outer surfaces of the three supporting claws 13, fastening nuts 16 are connected at two ends of the three connecting bolts 14 and positioned on the outer surfaces of the rolling wheels 15 in a threaded manner, the arrangement of the rolling wheels 15 can play a role of reducing resistance when the supporting claw 13 structure operates, the supporting claw is prevented from being clamped with a pipeline wall in the supporting process, and meanwhile, the disassembly, maintenance and replacement work are facilitated through the movable connection of the structure; the outer surface of the machine body 1 is provided with an accommodating groove 19 which is in nested fit with the three supporting claws 13, and the arrangement of the accommodating groove 19 can ensure that the supporting claws 13 have stable placing space when the structure is retracted, thereby playing a role in protecting the structure and occupying no volume; one side that is close to hydraulic motor 21 on the surface of rolling disc 22 is provided with screw 23, and one side that screw 23 was kept away from to the surface of rolling disc 22 is provided with drill bit 24, can play stable mediation effect through the cooperation hydraulic motor 21 structure of setting up of drill bit 24, can play the plug dispersion mediation of drilling and the effect of the backstepping of arousing rivers backward through the setting of screw 23.
The working principle is as follows: when the tunnel center ditch dredging robot is used, the machine body 1 is placed in a water pipeline or a center ditch through a water collecting well, a supporting oil cylinder 4 is started, the supporting oil cylinder 4 drives a moving frame 6 to move, the moving frame 6 drives a connecting rod 8 to move, the connecting rod 8 drives a rotating frame 9 to rotate, the rotating frame 9 drives a supporting claw 13 to rotate, the fixing work of the machine body 1 can be completed by the contact and clamping of the supporting claw 13 and the inner wall of the pipeline or the center ditch, a hydraulic motor 21 is started, the hydraulic motor 21 drives a rotating disc 22 to rotate, a drill bit 24 at the front end of the rotating disc 22 automatically crushes and dredges blockages, a propelling oil cylinder 18 is started, the propelling oil cylinder 18 can drive the machine body 1 to propel forwards through the fixing effect of a structure of an outer shell 5, the machine body 1 drives the drill bit 24 to move forwards to crush and dredge simultaneously, when, the supporting structure can be retracted by operating the supporting oil cylinder 4 structure in the same way, and then the pushing oil cylinder 18 is retracted, so that the pushing process of one unit can be completed, and the whole process can be operated in the same way to perform circulating dredging work.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010221705.1A CN111207267A (en) | 2020-03-20 | 2020-03-20 | Tunnel center ditch dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010221705.1A CN111207267A (en) | 2020-03-20 | 2020-03-20 | Tunnel center ditch dredging robot |
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| Publication Number | Publication Date |
|---|---|
| CN111207267A true CN111207267A (en) | 2020-05-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010221705.1A Pending CN111207267A (en) | 2020-03-20 | 2020-03-20 | Tunnel center ditch dredging robot |
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| CN (1) | CN111207267A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029291A (en) * | 2021-11-05 | 2022-02-11 | 中国铁建重工集团股份有限公司 | Shield tunneling machine pipeline cleaning robot, shield tunneling machine and shield tunneling machine pipeline cleaning method |
| CN115218740A (en) * | 2022-08-05 | 2022-10-21 | 中煤科工能源科技发展有限公司 | Concentrator tube fixing device |
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| JP2005126931A (en) * | 2003-10-22 | 2005-05-19 | Mitsubishi Heavy Ind Ltd | Tunnel excavating machine, and method of replacing cutter of tunnel excavating machine |
| US20050121249A1 (en) * | 2003-01-08 | 2005-06-09 | Koji Iwaki | Hydraulic axle-drive device |
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| CN104005472A (en) * | 2014-06-11 | 2014-08-27 | 天津倚时科技发展有限公司 | Trenchless pipe tunneling and dredging device operating with water |
| US9039330B1 (en) * | 2010-06-01 | 2015-05-26 | LLAJ, Inc. | Pipe boring shield |
| CN106439377A (en) * | 2016-10-11 | 2017-02-22 | 西南石油大学 | Rotary plough feeding type pipeline repairer |
| CN109837978A (en) * | 2019-03-25 | 2019-06-04 | 温妙云 | A kind of climb type pipeline cleaning machine people from bottom to top |
| CN110331774A (en) * | 2019-07-11 | 2019-10-15 | 天津科环逸宸科技发展有限公司 | A kind of non-excavating underground pipe line brill milling dredging device |
| CN211951886U (en) * | 2020-03-20 | 2020-11-17 | 郭思岳 | Tunnel center ditch dredging robot |
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2020
- 2020-03-20 CN CN202010221705.1A patent/CN111207267A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4436168A (en) * | 1982-01-12 | 1984-03-13 | Dismukes Newton B | Thrust generator for boring tools |
| US20050121249A1 (en) * | 2003-01-08 | 2005-06-09 | Koji Iwaki | Hydraulic axle-drive device |
| JP2005126931A (en) * | 2003-10-22 | 2005-05-19 | Mitsubishi Heavy Ind Ltd | Tunnel excavating machine, and method of replacing cutter of tunnel excavating machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029291A (en) * | 2021-11-05 | 2022-02-11 | 中国铁建重工集团股份有限公司 | Shield tunneling machine pipeline cleaning robot, shield tunneling machine and shield tunneling machine pipeline cleaning method |
| CN114029291B (en) * | 2021-11-05 | 2023-01-20 | 中国铁建重工集团股份有限公司 | Shield tunneling machine pipeline cleaning robot, shield tunneling machine and shield tunneling machine pipeline cleaning method |
| CN115218740A (en) * | 2022-08-05 | 2022-10-21 | 中煤科工能源科技发展有限公司 | Concentrator tube fixing device |
| CN115218740B (en) * | 2022-08-05 | 2024-01-09 | 中煤科工能源科技发展有限公司 | Energy gathering tube fixing device |
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