CN111219563A - Self-adaptive pipeline dredging robot - Google Patents
Self-adaptive pipeline dredging robot Download PDFInfo
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- CN111219563A CN111219563A CN202010107140.4A CN202010107140A CN111219563A CN 111219563 A CN111219563 A CN 111219563A CN 202010107140 A CN202010107140 A CN 202010107140A CN 111219563 A CN111219563 A CN 111219563A
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- 238000000034 method Methods 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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- 238000004804 winding Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a self-adaptive pipeline dredging robot, which adopts a rear-mounted driving mode, eight guide rails carrying springs form a moving arm, the arm length can be automatically adjusted when the pipe wall surface is uneven, and the stability and the adaptability are ensured; the radial constraint effect of the pipeline is ingeniously utilized, the turning movement function under different pipe diameters is realized, the pipeline blockage is cleared, and the self-balancing and driving functions are achieved. The robot carries an integrated circuit control panel and a mobile phone mobile terminal App, and is simple to operate and easy to control. The robot can carry various functional modules, and the function integration is realized.
Description
Technical Field
The invention relates to the technical field of pipeline robots, in particular to a self-adaptive pipeline dredging robot.
Background
The pipeline in daily life often takes place to block up, brings inconvenience for life. At present, aiming at the problem of pipeline blockage, a plurality of types of dredging robots are designed abroad, for example, a double-crawler-type in-pipe robot of Canada NUKTUN company, the crawler of the robot adopts a rigid supporting structure, and the included angle of the crawler can be adjusted to adapt to different pipeline diameters, but the included angle of the rigidly supported crawler is fixed and cannot be changed in the walking process; also like the multi-joint worm type pipe robot system MAKRO developed in germany 2000, the pipe robot can easily cross obstacles and turns, but cannot adapt to the change of pipe diameter. The domestic pipeline robot is mainly focused in the field of industrial detection, for example, a 'small industrial pipeline robot mobile detection integrated system' developed by Shanghai university and an 'X-ray real-time detection pipeline robot' developed by Harbin university, and the robot application is not related to the solution of pipeline dredging still depending on a large amount of manpower.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a self-adaptive pipeline dredging robot which can automatically work along with the change of the pipe diameter and realize the function of automatically turning and moving in a pipeline.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a self-adaptive pipeline dredging robot comprises a main shaft, wherein two ends of the main shaft are connected with main shaft connecting pieces, each end is provided with four main shaft connecting pieces, the four main shaft connecting pieces are connected to the main shaft in a cross shape, and each main shaft connecting piece is provided with a pin joint head for pin joint of a guide rail; the front end face of the main shaft is provided with a mounting hole for connecting a rotary drill bit, the rotary drill bit is rotationally connected to the front end face, the rotary drill bit is connected with a driving motor, four main shaft connecting pieces close to the front end face are respectively pivoted with a guide rail, each guide rail is rotationally connected with a driven wheel, and when the robot is positioned in a pipeline, the four driven wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall of the pipeline;
the four main shaft connecting pieces far away from the front end face are respectively pivoted with a guide rail, the guide rails positioned on the upper side and the lower side of the main shaft are respectively rotatably connected with a driving wheel, each driving wheel is connected with a driving motor, the guide rails positioned on the left side and the right side of the main shaft are respectively rotatably connected with a driven wheel, and when the robot is positioned in a pipeline, two driven wheels positioned at the rear end of the main shaft and the two driving wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall of.
Preferably, the spindle and the spindle connecting piece are integrally connected and are 3D printing pieces.
Preferably, in order to design adaptable different pipe diameters and meet the condition of unevenness inside the pipe wall, a telescopic moving arm is designed, the guide rail comprises a wheel shaft connecting part, a sliding rod and a main shaft connecting part, one end of the main shaft connecting part is provided with a pivot port used for being pivoted on the main shaft connecting part, a sliding groove used for connecting the sliding rod is formed in the main shaft connecting part, a connecting hole used for pivoting a driving wheel and a driven wheel shaft is formed in the wheel shaft connecting part, the wheel shaft connecting part and the main shaft connecting part are connected through the sliding rod, one end of the sliding rod is fixedly connected with the wheel shaft connecting part, the other end of the sliding rod is connected.
Preferably, in order to meet the dredging function of the robot, the robot can carry various functional modules, the middle of the main shaft is provided with a hole, and threads are printed in the hole in a 3D mode and used for connecting a module carrying structure; the module carrying structure comprises a door-shaped connecting frame, a pair of vertical plates are arranged at the top end of the connecting frame, the main shaft is located between the vertical plates, threaded holes are formed in the vertical plates, screws are screwed in the threaded holes of the vertical plates and the main shaft, the connecting frame is connected onto the main shaft, the bottom end of the connecting frame is connected with a connecting plate, the connecting plate is close to one side of the main shaft, a battery is installed on one side of the connecting plate, and an integrated circuit control panel is installed on one side.
Furthermore, the integrated circuit control board comprises a motor drive board and a communication module, wherein the model of the communication module is an esp8266 chip, and the motor drive board is connected with a battery power supply to control the motor to rotate; the communication module carries the WiFi connection module, and the mobile terminal App is moved through the mobile phone to operate and control in real time.
The main shaft, the main shaft connecting piece, the driving wheel axle, the driven wheel axle, the motor driving board, the communication module and the battery form a movement function area of the robot, and the mounting hole reserved at the front end of the main shaft, the connecting frame connected with the main shaft and the connecting board form a movement function area of the robot
And applying the functional area.
The front end of the main shaft can carry a rotary drill bit for clearing away the blockage in the pipeline. The rotary drill includes a rotary shaft, a circular plate, a small motor, 4 blade mounting grooves and 4 blades. The rotary drill bit is fixed on a main shaft of the robot through a rotating shaft, a stator of a motor for driving the rotary drill bit to rotate is installed on the rotating shaft, a circular plate is directly connected with a rotor of a small motor, a blade installation groove is reserved on the circular plate, and a blade is installed in the groove. When the rotating motor is started and the rotary drill bit rotates, the circular plate and the blade mounted on the plate are driven to rotate, so that the pipeline robot can move forward and simultaneously realize the functions of splitting and clearing away the blockage. The camera can be carried on the connecting plate, can be used for detecting the internal structure of the pipeline, clearing obstacles, collecting signals, penetrating a cable, and the like, and can also be used for carrying a line memory module, a deicing module, and the like.
The working principle of the invention is as follows: when the robot meets straight pipes with different diameters, the arm length of the robot can be automatically changed by utilizing the spring guide rail, and the robot can be simultaneously supported by power to perform the work. When the robot gets into the little straight tube of pipe diameter from the big straight tube of pipe diameter, both sides wheel receives the pipe wall restraint, and the spring in the extrusion guide rail makes the wheel adapt to the pipe diameter, and the motor lasts the work action wheel simultaneously and drives from the driving wheel through two pipe changeover portions, and then lasts and gos forward in the pipeline that the pipe diameter is little. When the robot enters the straight pipe with large pipe diameter from the straight pipe with small pipe diameter, the spring in the guide rail extends from a compression state to enable the wheel to adapt to the pipe diameter, and meanwhile, the motor continuously works and the driving wheel drives the driven wheel to pass through the two-pipe transition section and then continuously move forward in the pipeline with large pipe diameter.
When the robot encounters a curve, the spring on the inner side of the guide rail is compressed, and the speed difference is formed between the driving wheels on the inner side and the driving wheels on the outer side, so that the robot is ensured to smoothly pass through the curve, and the turning process is finished.
The robot works according to the control signal, the front end rotary drill bit is utilized to cut the blockage in the movement process, and the blockage is pushed by the power of the robot to be discharged out of the pipeline, so that the dredging function is realized.
Compared with the prior art, the invention has the beneficial effects that:
the robot adopts a rear-mounted driving mode, eight guide rails with springs form a moving arm, and the arm length can be automatically adjusted when the wall surface of a pipeline is uneven, so that the stability and the adaptability are ensured; the radial constraint effect of the pipeline is ingeniously utilized, the turning movement function under different pipe diameters is realized, the pipeline blockage is cleared, and the self-balancing and driving functions are achieved.
The robot carries an integrated circuit control panel and a mobile phone mobile terminal App, and is simple to operate and easy to control. The robot can carry various functional modules, and the function integration is realized.
The invention has the advantages of small volume, flexibility, convenience, high utilization rate, stronger commercial popularization value and wide application prospect. Meanwhile, the product reduces the investment of manual pipeline dredging operation, makes a certain contribution to water saving and emission reduction, and meets the requirement of modern development.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the robot, wherein a is a three-dimensional structure from one viewing angle, and b is a three-dimensional structure from another viewing angle.
Fig. 2 is a schematic view of the spindle structure.
FIG. 3 is a schematic view of the structure of the master and slave wheels.
FIG. 4 is a schematic view of a rotary drill bit configuration.
Fig. 5 is a schematic view of the module mounting structure connected to the main shaft, where 5a is a three-dimensional structure at one viewing angle, and 5b is a three-dimensional structure at another viewing angle.
Fig. 6 is a schematic view of the mounting of the integrated circuit control board and the battery.
Fig. 7 is a schematic diagram of the overall structure of the robot mounting integrated circuit control board and the battery.
Fig. 8 is a schematic view of the connecting shaft of the guide rail and the runner.
Fig. 9 is a schematic diagram of a motor drive plate.
Fig. 10 is a schematic diagram of a network control board.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
as shown in fig. 1a, 1b and 2, the self-adaptive pipeline dredging robot comprises a main shaft 1, wherein two ends of the main shaft are integrally connected with main shaft connecting pieces 2, each end is provided with four main shaft connecting pieces, the four main shaft connecting pieces are connected to the main shaft in a cross shape, and each main shaft connecting piece is provided with a pivoting head for pivoting a guide rail 4; the front end face of the main shaft is provided with a mounting hole for connecting a rotary drill bit 7, the rotary drill bit is rotationally connected to the front end face and is connected with a driving motor, four main shaft connecting pieces close to the front end face are respectively pivoted with a guide rail, each guide rail is rotationally connected with a driven wheel 6, and when the robot is positioned in a pipeline, the four driven wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall of the pipeline;
the four main shaft connecting pieces far away from the front end face are respectively pivoted with a guide rail, the guide rails positioned on the upper side and the lower side of the main shaft are respectively and rotatably connected with a driving wheel 3, each driving wheel is connected with a driving motor, the guide rails positioned on the left side and the right side of the main shaft are respectively and rotatably connected with a driven wheel, and when the robot is positioned in a pipeline, two driven wheels positioned at the rear end of the main shaft and two driving wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall.
As shown in fig. 3, the surface material of the driving wheel is a rubber surface to improve the friction coefficient and prevent slipping; the diameter of the driven wheel is slightly smaller than that of the driving wheel, and the surface of the driven wheel is made of plastic. Each driving wheel and each driven wheel are rotatably connected to the guide rail through a wheel connecting shaft 5.
As shown in fig. 4, the rotary drill bit is connected with a blade, the blade rotates along with the rotary drill bit, the robot moves in the pipeline, and the blade on the rotary drill bit cuts the winding objects in the pipeline, so that the pipeline garbage which obstructs the robot walking is clear.
The blade is required to cover more than 50% of the area of the pipeline, so that the blockage is effectively cleared, and the main functions of the robot are realized.
As shown in fig. 8, the guide rail includes a wheel axle connecting portion, a sliding rod and a main axle connecting portion, one end of the main axle connecting portion has a pivot port for pivotally connecting to the main axle connecting portion, a sliding slot for connecting the sliding rod is provided in the main axle connecting portion, a connecting hole for pivotally connecting the driving wheel and the driven wheel axle is provided in the wheel axle connecting portion, the wheel axle connecting portion and the main axle connecting portion are connected through the sliding rod, one end of the sliding rod is fixedly connected to the wheel axle connecting portion, the other end of the sliding rod is slidably connected to the sliding slot in the main.
The guide rail is connected to the main shaft connecting piece, the spring is positioned between the connecting rod and the main shaft connecting piece and is compressed, and when the robot is positioned in the pipeline, the pressure spring ensures that the driving wheel and the driven wheel are in full contact with the pipe wall, so that the rotating wheel is prevented from slipping; when the robot walks to a pipeline with a large diameter, the restoring force of the spring can enable the connecting rod and the wheel shaft connecting part to slide outwards along the main shaft connecting part, namely slide towards the direction of increasing the pipe diameter, and the driving wheel and the driven wheel can be always kept in full contact with the pipe wall.
The main shaft is a cylinder with the length of 250mm and the diameter of 20mm, and is a core part of the whole robot. The main shaft connecting piece is a 3D printing bayonet.
As shown in fig. 2, 5a, 5b and 7, the middle part of the main shaft is provided with a hole, and a 3D printing thread is arranged in the hole and used for connecting the module carrying structure. The module carrying structure comprises a door-shaped connecting frame, a pair of vertical plates are arranged at the top end of the connecting frame, the main shaft is located between the vertical plates, threaded holes are formed in the vertical plates, screws are screwed in the threaded holes of the vertical plates and the main shaft, the connecting frame is connected onto the main shaft, the bottom end of the connecting frame is connected with a connecting plate 8, the connecting plate is close to a side mounting battery 10 of the main shaft, and a side mounting integrated circuit control panel 9 of the main shaft is far away from the connecting plate.
The radial pressure spring that the robot is located on the guide rail can make the main shaft of robot keep in the reasonable position that pressure phase is harmonious all around all the time, combines battery, the circuit control board of counter weight all to be located the same one side of robot for this side is heavier relatively, will be located the downside of robot main shaft all the time, thereby has realized the self-balancing.
As shown in fig. 9 and 10, the integrated circuit control board includes a motor driving board and a communication module, the model of the communication module is an esp8266 chip, wherein the motor driving board is connected with a battery power supply to control the motor to rotate; the communication module carries the WiFi connection module, and the mobile terminal App can be operated and controlled in real time through the mobile phone. When the robot is started, the battery supplies power for the motor driving board and the communication module, and the WiFi module on the communication module is connected into the mobile phone, so that real-time operation and control are performed through the mobile phone App. The APP operation interface of the mobile phone is provided with four operation keys, wherein left is that a left wheel normally rotates, and a right wheel rotates at a low speed; right is the normal rotation of the right wheel, and the low-speed rotation of the left wheel; straight running is controlled by straight, and the two wheels rotate at the same speed; stop, the normal rotational speed of motor according to factors such as the type of preceding barrier, pipeline placement condition, pipeline internal friction combine theory and actual conditions to calculate and obtain, do not do this and do not describe in detail.
As shown in fig. 9 and 10, the battery 10 is a lithium battery, and is connected through a power PORT of the motor driver board, and is connected in parallel to a 5V interface in an Ext PORT of the network control board, i.e., a communication module. An ESP07 module on the network control board is connected with a mobile phone hotspot or a router AP through WIFI so as to access the Internet, namely ESP07 is ESP 8266. After the internet is accessed, the module is connected to an mqtt server (wherein, mqtt is a transmission layer protocol based on a TCP/IP technology, and the mqtt server is a proxy role in the mqtt protocol), monitors a "turn" topic on the server, and makes corresponding actions on "left", "right", "straight", and "stop" commands under the topic, namely, changes the PWM duty ratio on GPIO 4/5/12/13. GPIO4/5/12/13 is connected with control signal input IN1-IN4 of the motor driving board, wherein, GPIO4/5 is a group, connected with IN1/2 and responsible for controlling the motor full bridge 1 so as to control the rotating speed and the steering of the left motor, GPIO12/13 is a group, connected with IN3/4 and responsible for controlling the right motor. Regarding the principle of the motor driving board, taking a left motor as an example, the EG2104 driving chip receives an input PWM signal, when the signal is at a high level, the EG2104 drives the upper tube to be conducted, and when the signal is at a low level, the EG2104 drives the lower tube to be conducted. Obviously, when the IN1 high level time is longer than IN2, the current flows from the left side to the right side of the motor and the motor rotates forward on average, and the larger the high level time difference is, the longer the current exists, and the faster the motor rotates according to the principles of electromechanics and impulse theorem. And when the IN2 high level time is longer than IN1, the motor rotates reversely. The ESP07 module also provides USB-TTL automatic code downloading function and TCP distribution network function. When the system power is off, the ESP07 module may be connected to a computer via USB for code download. The user can switch the module to the distribution network mode through the dial switch on the dial plate, and AP names and passwords of WIFI connected with the module in the working state are configured.
The mobile phone APP adopts a Paho MQTT and an android UI library, when a user opens software, the software is connected to the MQTT server through the Internet (the connection function of the Paho MQTT is used), and when the user presses a key, the software sends a preset command under the 'turn' topic to the MQTT server, so that the control of the robot is realized. The method comprises the following steps that stable transmission is achieved through an mqtt protocol in an application layer of communication, command stable transmission under severe signal conditions is provided, and real-time operation and control functions of an App at a mobile terminal of a mobile phone are achieved.
The non-illustrated parts referred to in the present invention are the same as or implemented by the prior art.
Claims (5)
1. A self-adaptive pipeline dredging robot is characterized by comprising a main shaft, wherein two ends of the main shaft are connected with main shaft connecting pieces, each end is provided with four main shaft connecting pieces, the four main shaft connecting pieces are connected to the main shaft in a cross shape, and each main shaft connecting piece is provided with a pivoting head for pivoting a guide rail; the front end face of the main shaft is provided with a mounting hole for connecting a rotary drill bit, the rotary drill bit is rotationally connected to the front end face, the rotary drill bit is connected with a driving motor, four main shaft connecting pieces close to the front end face are respectively pivoted with a guide rail, each guide rail is rotationally connected with a driven wheel, and when the robot is positioned in a pipeline, the four driven wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall of the pipeline;
the four main shaft connecting pieces far away from the front end face are respectively pivoted with a guide rail, the guide rails positioned on the upper side and the lower side of the main shaft are respectively rotatably connected with a driving wheel, each driving wheel is connected with a driving motor, the guide rails positioned on the left side and the right side of the main shaft are respectively rotatably connected with a driven wheel, and when the robot is positioned in a pipeline, two driven wheels positioned at the rear end of the main shaft and the two driving wheels are respectively positioned on the upper side, the lower side, the left side and the right side of the pipeline and roll along the inner wall of.
2. The self-adaptive pipeline dredging robot as claimed in claim 1, wherein the main shaft and the main shaft connecting piece are integrally connected and are 3D printed pieces.
3. The self-adaptive pipeline dredging robot of claim 1, wherein the guide rail comprises a wheel shaft connecting part, a sliding rod and a main shaft connecting part, one end of the main shaft connecting part is provided with a pivot port for pivoting on the main shaft connecting part, a sliding groove for connecting the sliding rod is formed in the main shaft connecting part, a connecting hole for pivoting a wheel shaft of the driving wheel and a wheel shaft of the driven wheel is formed in the wheel shaft connecting part, the wheel shaft connecting part and the main shaft connecting part are connected through the sliding rod, one end of the sliding rod is fixedly connected with the wheel shaft connecting part, the other end of the sliding rod is slidably connected in the sliding groove in the main shaft.
4. The self-adaptive pipeline dredging robot as claimed in claim 3, wherein a hole is formed in the middle of the main shaft, and a thread is 3D printed in the hole and used for connecting the module carrying structure; the module carrying structure comprises a door-shaped connecting frame, a pair of vertical plates are arranged at the top end of the connecting frame, the main shaft is located between the vertical plates, threaded holes are formed in the vertical plates, screws are screwed in the threaded holes of the vertical plates and the main shaft, the connecting frame is connected onto the main shaft, the bottom end of the connecting frame is connected with a connecting plate, the connecting plate is close to one side of the main shaft, a battery is installed on one side of the connecting plate, and an integrated circuit control panel is installed on one side.
5. The self-adaptive pipeline dredging robot as claimed in claim 1, wherein the integrated circuit control board comprises a motor drive board and a communication module, the model of the communication module is an esp8266 chip, and the motor drive board is connected with a battery power supply to control the motor to rotate; the communication module carries the WiFi connection module, and the mobile terminal App is moved through the mobile phone to operate and control in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010107140.4A CN111219563A (en) | 2020-02-21 | 2020-02-21 | Self-adaptive pipeline dredging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010107140.4A CN111219563A (en) | 2020-02-21 | 2020-02-21 | Self-adaptive pipeline dredging robot |
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| CN111219563A true CN111219563A (en) | 2020-06-02 |
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| CN202010107140.4A Pending CN111219563A (en) | 2020-02-21 | 2020-02-21 | Self-adaptive pipeline dredging robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114351848A (en) * | 2021-12-24 | 2022-04-15 | 东珠生态环保股份有限公司 | Automatic cleaning device for river drainage pipe and working method thereof |
| CN114654720A (en) * | 2022-03-23 | 2022-06-24 | 安徽工业大学 | 3D printing robot suitable for pipeline inner wall |
| EP4417857A1 (en) * | 2023-02-16 | 2024-08-21 | Boldan Oy | A guide for guiding an inflatable bladder within a pipeline and a bladder assembly |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4417857A1 (en) * | 2023-02-16 | 2024-08-21 | Boldan Oy | A guide for guiding an inflatable bladder within a pipeline and a bladder assembly |
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