CN111389825A

CN111389825A - Multi-angle in-pipe dredging device

Info

Publication number: CN111389825A
Application number: CN202010211986.2A
Authority: CN
Inventors: 王兆铨; 郑文杰; 吴国君; 王洁; 程庆余
Original assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Current assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Priority date: 2020-03-24
Filing date: 2020-03-24
Publication date: 2020-07-10
Anticipated expiration: 2040-03-24
Also published as: CN111389825B

Abstract

The application provides a multi-angle intraductal sediment removal device belongs to the mobile device technical field that the chase dirt prevented and removed. Including main pivot, change the tooth, inhale mud groove and well accuse, it is automatic that main pivot is driven by main pivot driver, change the tooth and drive its rotation by changeing the tooth driver, set up multistage flexible arm between main pivot and the commentaries on classics tooth, each flexible arm is driven respectively by flexible arm driver, main pivot driver, flexible arm driver all are connected with well accuse, well accuse regulation is adjusted walking driver, main pivot driver, flexible arm driver operating condition to adapt to different environment desilting needs. Be applied to mud with this application and prevent and remove, especially the processing of pipe network pond silt has advantages such as desilting is accurate, job stabilization, satisfy multi-angle operation.

Description

Multi-angle in-pipe dredging device

Technical Field

The application relates to a multi-angle in-pipe dredging device, and belongs to the technical field of moving devices for preventing and removing dirt in pipe grooves.

Background

When the pipeline structure is widely applied to building structures and production activities, the problem of blockage inevitably occurs when materials or wastes are conveyed through the pipeline. In order to solve the problem, the cleaning is generally carried out by manual dredging or pressure difference, but different defects exist:

(1) although the jam condition of more complicacy can be handled in artifical mediation, the sanitary conditions that the staff is located are embarrassed, and the visual field environment that the pipeline was located often is difficult for directly reaching or not allowing people directly to get into, the clearance degree of difficulty is very big, operating personnel still can face the safety risk that oxygen deficiency and space are narrow and small to bring, when adopting the robot to replace artifical the operation under this condition, although above-mentioned safety risk has been avoided to a certain extent, but the robot is when clearing up the pipeline, mostly adopt ergodic formula desilting mode, desilting pertinence and targetability are not strong, the dirt under the clearance on the pipe wall is under the not enough condition of rivers, can not in time taken away, cause secondary deposit and jam easily, and can't realize improving the inside visual field environment of operator observation pipeline automatically, and then carry out the pertinence operation according to the situation on the spot.

(2) The mode of pressure difference clearance mainly includes negative pressure suction and high-pressure liquid and erodes, produces huge pressure difference in whole pipeline and carries out the clear stifled operation, and the mode of applying the pressure difference in whole pipeline and carrying out the clearance can cause considerable destruction to the pipeline wall, especially when the inner wall of these pipelines is because of the age, can cause the pipeline breakage problem usually.

So far, the two common modes cannot well realize dredging, particularly pipeline structure dredging.

Disclosure of Invention

In view of this, the application provides a can realize accurate desilting, can satisfy and be applied to intraductal desilting device of multi-angle of desilting.

Specifically, the method is realized through the following scheme:

the multi-angle pipe internal dredging device comprises a dredging unit, a sand-water separation unit and a sludge solidification unit which are sequentially arranged, wherein the dredging unit comprises a walking wheel, a main rotating shaft, a rotating tooth, a sludge suction groove, a sludge discharge port, a camera unit and a central control, the walking wheel is connected with a walking driver, the main rotating shaft is positioned on the walking wheel and is driven to rotate by the main rotating shaft driver, a plurality of stages of telescopic arms are arranged between the main rotating shaft and the rotating tooth, each telescopic arm is driven by a telescopic arm driver respectively, the walking driver, the main rotating shaft driver, the telescopic arm driver and the camera unit are connected with the central control, the camera unit collects real-time sludge conditions and forms signals to be transmitted to the central control, and the central control adjusts the working state of the walking driver, the main rotating shaft driver and the telescopic arm driver according to the signals so; the travelling wheels are obliquely arranged below the main rotating shaft so as to carry the main rotating shaft to travel in the pipe; in the multi-stage telescopic arms, at least one stage of telescopic arm drives the rotating teeth to move close to or far away from the main rotating shaft, and at least one stage of telescopic arm drives the rotating teeth to swing; the mud sucking groove is matched with the rotating teeth and is provided with a mud outlet and a mud sucking pump, the mud outlet is communicated with a mud discharging port, the mud sucking pump sucks the mud at the rotating teeth into the mud sucking groove and transfers the mud into the mud discharging port through the mud outlet, the mud is pressurized and conveyed to the sand-water separation unit, the mud is conveyed to the mud solidification unit after sand removal is completed, and the mud cake and clear water are formed by dosing separation.

According to the sludge treatment device provided by the scheme, the main rotating shaft rotates to drive the multi-stage telescopic arm and the rotary teeth to rotate in the integral direction, and the rotary teeth rotate to drive the rotary teeth to rotate on the axis of the rotary teeth; the main pivot driver, flexible arm driver all is connected with well accuse, can adopt the unit of making a video recording, a sensor, the real-time silt situation of gathering such as level gauge is as the signal input part of well accuse, main pivot driver and flexible arm driver are the signal reception part of well accuse, with the help of the different operating condition of flexible arm driver, realize the flexible of multistage flexible arm, and the main pivot realizes flexonics through multistage (at least two-stage) flexible arm and commentaries on classics tooth, satisfy the swing of the removal of commentaries on classics tooth on the horizontal direction and vertical direction, thereby satisfy under overall structure stable's the condition, can also realize the real-time regulation and control of commentaries on classics tooth according to the condition on the spot, the breakage of the biggest realization silt, and cooperate the effective discharge of mud groove and suction pump realization relevant position commentaries on classics tooth.

Further, as preferable:

the multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, the second telescopic arm is movably connected between the connecting arm and the main rotating shaft, one end of the first telescopic arm is movably connected with the rotating teeth, and the other end of the first telescopic arm is movably connected with the main rotating shaft through the connecting arm; more preferably, a first support is fixed on the main rotating shaft, a second support is fixed on the rotating teeth, a first rotating shaft and a fourth rotating shaft are arranged on the first support, a second rotating shaft and a fifth rotating shaft are arranged on the connecting arm, a third rotating shaft is arranged on the second support, the first support is connected with the connecting arm, the connecting arm is connected with the first telescopic arm and the first telescopic arm is connected with the second support sequentially through the first rotating shaft, the second rotating shaft and the third rotating shaft, and the second telescopic arm is connected with the first support and the second telescopic arm sequentially through the fourth rotating shaft and the fifth rotating shaft. When the travelling wheel drives the main rotating shaft and the rotating teeth to run at proper positions, the central control transmits further signals to the telescopic arm drivers corresponding to the first telescopic arm and the second telescopic arm respectively, when the telescopic arm driver corresponding to the first telescopic arm works, the first telescopic arm extends or contracts to realize fine adjustment of the horizontal position, when the telescopic arm driver corresponding to the second telescopic arm works, the second telescopic arm extends or contracts to drive the connecting arm to swing relative to the first rotating shaft, and the rotating teeth are driven by the telescopic arm to swing correspondingly, so that the height of the rotating teeth can be changed. Above-mentioned operation process, with the help of flexible arm one, flexible arm two and even arm, can realize horizontal position and vertical height's regulation, realize the accuracy with position control, realize the pertinence of intraductal silt and clear away with well accuse cooperation, the clearance improves greatly.

The rotating teeth are provided with a plurality of groups of blades which are obliquely arranged relative to the longitudinal direction, different sludge hardening degrees are different in the dredging process, and the blades which are vertically or horizontally arranged can break up soft sludge; and then need consume bigger power when handling the silt that hardens relatively and realize breaking up, it is great to cross just (perpendicular or horizontal setting) then the impact force if the blade, is unfavorable for changeing the good stable operation of tooth, and the blade that the slope set up has not only effectively reduced this kind of impact force, and is changeed and inserts in the silt to improve and break up efficiency.

The mud outlet is connected with an elastic pipe, the pressure is high when mud is sucked, the elastic pipe resists impact and is favorable for buffering the pressure, the mud outlet and the sand-water separation unit are connected through the elastic pipe or a rigid pipe, the elastic pipe is preferably connected with the rigid pipe, the rigid pipe is preferably a hydraulic pipe, and the elastic pipe is preferably a corrugated pipe.

Drawings

FIG. 1 is a side view of the present application;

FIG. 2 is a front view of the present application;

FIG. 3 is a top view of the present application;

FIG. 4 is a schematic perspective view of the present application;

fig. 5 is a schematic perspective view of another perspective view of the present application.

Reference numbers in the figures: 1. a traveling wheel; 11. a support arm; 111. a first support arm; 112. a second support arm; 2. a chassis; 3. a main rotating shaft; 31. a sensor; 32. a first rotating shaft; 321. a first bracket; 33. a connecting arm; 34. a second rotating shaft; 35. a first telescopic arm; 36. a rotating shaft III; 361. a second bracket; 37. a rotating shaft IV; 38. a second telescopic arm; 381. a fifth rotating shaft; 4. rotating the teeth; 41. a rotating shaft; 42. a gear rotating seat; 43. a blade; 5. a sludge suction groove; 51. a sludge outlet; 52. accommodating grooves; 521. a dredge pump; 522. a sludge inlet; 6. a sludge discharge port; 61. a connecting port; 7. an image pickup unit; 71. a first camera; 72. a second camera; 73. and (4) lifting the column.

Detailed Description

The multi-angle pipe internal dredging device comprises a walking wheel 1 (arranged according to use requirements), a main rotating shaft 3, a rotating gear 4, a mud sucking groove 5, a mud discharging port 6, a camera unit 7 (arranged as a signal input part according to use requirements) and a central control unit (not shown in the figure), wherein the walking wheel 1 is connected with a walking driver (which can adopt a form such as a motor and the like and is not shown in the figure), the main rotating shaft 3 is positioned on the walking wheel 1 and is driven to rotate (self-rotate and drive the subsequent rotating gear 4 and the like to rotate by the main rotating shaft driver (which can adopt a form such as a motor and the like and is not shown in the figure), a plurality of stages of telescopic arms are arranged between the main rotating shaft 3 and the rotating gear 4, each telescopic arm is respectively driven by a telescopic arm driver (which can adopt a form such as a cylinder, a hydraulic cylinder and the like and is not shown in the figure), the walking driver, the main rotating shaft driver, the telescopic arm, the camera unit 7 collects the real-time sludge condition and forms a signal to be transmitted to the central control, and the central control adjusts the working states of the walking driver, the main rotating shaft driver and the telescopic arm driver according to the signal so as to adapt to the requirement of dredging in a real-time environment; the walking wheel 1 is obliquely arranged below the main rotating shaft 3 so as to carry the main rotating shaft 3 to walk in the pipe; in the multi-stage telescopic arms, at least one stage of telescopic arm drives the rotating teeth 4 to move close to or far away from the main rotating shaft 3, and at least one stage of telescopic arm drives the rotating teeth 4 to swing; the sludge suction groove 5 is matched with the rotating teeth 4, the sludge suction groove 5 is provided with a sludge outlet 51 and a sludge suction pump 521, the sludge outlet 51 is communicated with the sludge discharge port 6, and the sludge suction pump 521 sucks the sludge at the rotating teeth 4 into the sludge suction groove and transfers the sludge to the sludge discharge port 6 through the sludge outlet 51 to be output to the next procedure.

The desilting device that the present case provided carries out the desilting with the mud in the pipe network through above-mentioned device earlier and handles, forwards to next process again, if: and the sludge enters a sand-water separation unit for mud-sand separation, the separated mud water is transferred to a sludge solidification unit to form a mud cake and clear water, the clear water can be directly discharged, and the mud cake can be transferred to subsequent recycling or drying treatment, namely the clearing and treatment of the sludge in the pipe network pool are completed. The travelling wheels 1 are used as moving parts of the whole device in the transverse direction, so that the main rotating shaft 3, the rotating teeth 4 connected with the main rotating shaft and the mud suction groove 5 can move synchronously in the pipe, the travelling wheels 1 are obliquely arranged, the contact area between the travelling wheels 1 and the inner wall of a pipe network to be treated is increased, the travelling wheels can be ensured to walk along the pipe wall, only the travelling wheels 1 are in contact with the pipe wall in the whole moving process, the contact of all parts and the pipe wall in the moving process is reduced to the maximum extent, the friction between devices such as the main rotating shaft 3 and the like and the pipe wall is effectively reduced, and the damage to the pipe caused; the main pivot driver, flexible arm driver and the unit of making a video recording all are connected with well accuse, the unit of making a video recording 7 is the signal input part of well accuse, main pivot driver and flexible arm driver are the signal receiving part of well accuse, will on the spot silt condition cooperate with multistage flexible arm control on the spot, main pivot 3 realizes flexonics through multistage (at least two-stage) flexible arm and commentaries on classics tooth 4, satisfy the removal of commentaries on classics tooth 4 on the horizontal direction and the swing of vertical direction, under the stable condition of overall structure, can also realize the real-time regulation and control of commentaries on classics tooth 4 according to on the spot condition, the breakage of the realization silt of at utmost, and cooperation suction mud groove 5 and suction mud pump 521 realize the effective discharge of silt after corresponding position commentaries on classics tooth 4 handles.

As a preferable example, a plurality of groups of blades 43 are arranged on the rotating tooth 4, the blades 43 are arranged obliquely relative to the longitudinal direction, different sludge hardening degrees are different in the dredging process, and for soft sludge, when the rotating tooth 4 is driven to rotate by the rotating shaft 41 (fixed with the rotating tooth 4, and the rotating tooth 4 is positioned at the output end of the rotating shaft 41), the blades 43 arranged vertically or horizontally can break up the sludge; and then need consume bigger power and realize breaing up when handling the silt that hardens relatively, it is great to cross just (perpendicular or horizontal setting) then the impact force if blade 43, is unfavorable for the good stable operation of rotary teeth, and blade 43 that the slope set up has not only effectively reduced this kind of impact force, and is changeed and inserts in the silt to efficiency is breaed up in the improvement.

As a preferable example, the sludge outlet 51 is connected with (the connection port 61 of) the sludge discharge port 6 by an elastic pipe (such as a corrugated pipe), the pressure is large when sludge is sucked, the elastic pipe resists impact and is beneficial to buffering the pressure, and the sludge discharge port 6 is connected with a sand-water separation unit in a subsequent process by an elastic pipe or a rigid pipe (such as a hydraulic pipe, the influence of the material is not obvious).

As a preferable example, referring to fig. 2, the traveling wheels 1 are preferably arranged in pairs to ensure uniform stress, at this time, the support arm 11 can be arranged on the traveling wheel 1, the support arm 11 can be formed by a first support arm 111 and a second support arm 112, the lower ends of the first support arm 111 and the second support arm 112 are respectively provided with the traveling wheel 1 of a crawler structure, an included angle ө between the first support arm 111 and the second support arm 112 is preferably 120-150 °, the main rotating shaft 3 is fixed between the first support arm 111 and the second support arm 112 to ensure that the main rotating shaft 3 is located on a longitudinal central axis of a pipe network to be processed, the central axis has a large moving space, so that the main rotating shaft 3 can move flexibly in the pipe, and an installation space is provided for additional installation of auxiliary.

As a preferable example, with reference to fig. 4 and 5, the case 2 may be further installed between the first support arm 111 and the second support arm 112, the main shaft 3 is installed on one side of the case 2 facing the rotary teeth 4, a connection port 61 for butting with the sludge discharge port 6 is provided on a wall corresponding to the sludge discharge port 51, the sludge discharge port 6 is provided on the other side, the camera unit 7 is provided on the case 2, so as to facilitate monitoring of the surrounding environment, and devices such as a main shaft driver, a telescopic arm driver and the like are installed in the case 3, so as to ensure efficient layout of the components in a limited space, and devices such as a main shaft driver, a telescopic arm driver and the like are placed in the case 3, so as to avoid damage and unstable performance of the devices due to contact; the pipeline between the connecting port 61 and the sludge discharge port 6 is fixed outside the case 2 or positioned in the case 2 as shown in the figure, and particularly when the pipeline is fixed in the case 2, the pipeline can assist in bearing the pressure caused by a part of sludge and is also beneficial to ensuring the stable conveying.

As a preferable example, referring to fig. 1, the multi-stage telescopic boom comprises a first telescopic boom 35, a second telescopic boom 38 and a connecting boom 33, the second telescopic boom 38 is movably connected between the connecting boom 33 and the main rotating shaft 3, one end of the first telescopic boom 35 is movably connected with the rotating teeth 4, and the other end is movably connected with the main rotating shaft 3 through the connecting boom 33; more preferably, referring to fig. 4, a first support 321 is fixed on the main rotating shaft 3, a second support 361 is fixed on the rotating tooth seat 42 of the rotating tooth 4, a first rotating shaft 32 and a fourth rotating shaft 37 are arranged on the first support 321, a second rotating shaft 34 and a fifth rotating shaft 381 are arranged on the connecting arm 33, a third rotating shaft 36 is arranged on the second support 361, the first support 321 and the connecting arm 33, the connecting arm 33 and the first telescopic arm 35, the first telescopic arm 35 and the second support 361 are sequentially connected by the first rotating shaft 32, the second rotating shaft 34 and the third rotating shaft 36, and the second telescopic arm 38 and the first support 321, the second telescopic arm 38 and the connecting arm 33 are sequentially connected by the fourth rotating shaft 37 and the fifth rotating shaft 381. When the traveling wheel 1 drives the main rotating shaft 3 (or the case 2) and the rotating teeth 4 to operate at proper positions, the central control transmits further signals to the telescopic arm drivers corresponding to the first telescopic arm 35 and the second telescopic arm 38 respectively, when the telescopic arm driver corresponding to the first telescopic arm 35 works (at this time, the second telescopic arm 38 can be kept still, the second telescopic arm 38, the connecting arm 33 and the first bracket 321 form a fixed structure, and the stable structure of the other multi-stage telescopic arms except the first telescopic arm 35 is maintained), the first telescopic arm 35 extends or contracts to realize the fine adjustment of the horizontal position, when the telescopic arm driver corresponding to the second telescopic arm works (at this time, the first telescopic arm 35 can be kept still, the first telescopic arm 35, the connecting arm 33, the first bracket 321 and the second bracket 361 form a fixed structure, and the stable structure of the other multi-stage telescopic arms except the second telescopic arm 38 and the connecting arm 33 is maintained), the second telescopic arm 38 extends or contracts, the connecting arm 33 is driven to swing relative to the first rotating shaft 32, and the rotating teeth 4 are driven to swing correspondingly through the first telescopic arm 35 and the rotating tooth seat 42, so that the height of the rotating teeth 4 can be changed. In the operation process, the adjustment of the transverse position and the longitudinal height can be realized by means of the first telescopic arm 35, the second telescopic arm 38 and the connecting arm 33, the position adjustment is realized accurately, the targeted removal of sludge in the pipe is realized by matching with the central control unit and the camera unit 7, and the removal rate is greatly improved. More preferably, referring to fig. 2, a sensor 31 (which may be a conventional sensor) is disposed on the main rotating shaft 3, and sensors (which are not shown in the figure and may be conventional sensors) are also disposed on the first telescopic arm 35 and the second telescopic arm 38, respectively, and the sensors are connected to the central control unit to implement operation monitoring.

Claims

1. Intraductal sediment removal device of multi-angle, its characterized in that: the automatic dredging device comprises a main rotating shaft, a rotating tooth, a mud sucking groove and a central control, wherein the main rotating shaft is driven to rotate automatically by a main rotating shaft driver, the rotating tooth is driven to rotate by a rotating tooth driver, a plurality of stages of telescopic arms are arranged between the main rotating shaft and the rotating tooth, each telescopic arm is driven by a telescopic arm driver respectively, the main rotating shaft driver and the telescopic arm drivers are connected with the central control, and the central control adjusts and adjusts the working states of a walking driver, the main rotating shaft driver and the telescopic arm drivers so as to adapt to dredging requirements of different environments; in the multi-stage telescopic arms, at least one stage of telescopic arm drives the rotating teeth to move close to or far away from the main rotating shaft, and at least one stage of telescopic arm drives the rotating teeth to swing; the mud suction groove is matched with the rotating teeth and is provided with a mud suction pump and a mud outlet, and the mud at the rotating teeth is sucked into the mud suction groove by the mud suction pump and is output through the mud outlet.

2. The multi-angle pipe internal dredging device of claim 1, wherein: the multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, the second telescopic arm is movably connected between the connecting arm and the main rotating shaft, one end of the first telescopic arm is movably connected with the rotating teeth, and the other end of the first telescopic arm is movably connected with the main rotating shaft through the connecting arm.

3. The multi-angle pipe internal dredging device of claim 1, wherein: the multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, a first support is fixed on a main rotating shaft, a second support is fixed on a rotating tooth, a first rotating shaft and a fourth rotating shaft are arranged on the first support, a second rotating shaft and a fifth rotating shaft are arranged on the connecting arm, a third rotating shaft is arranged on the second support, the first support is connected with the connecting arm, the first telescopic arm is connected with the first telescopic arm, the first telescopic arm is connected with the second support sequentially through the first rotating shaft, the second rotating shaft and the third rotating shaft, and the second telescopic arm is connected with the first support, the second telescopic arm and the connecting arm sequentially through the fourth rotating shaft and the fifth.

4. The multi-angle pipe internal dredging device of claim 1, wherein: the rotating teeth are provided with a plurality of groups of blades which are arranged in an inclined mode relative to the longitudinal direction.

5. The multi-angle pipe internal dredging device of claim 1, wherein: the rotary tooth driver drives the rotary shaft to rotate, the rotary teeth are arranged at the output end of the rotary shaft, and the working state of the rotary teeth is adjusted by the central control.

6. The multi-angle pipe internal dredging device of claim 5, wherein: install the rotation toothholder on the rotation axis, be fixed with support two on the rotation toothholder, multistage flexible arm is including flexible arm one, flexible arm two and link the arm, be fixed with support one in the main pivot, be fixed with support two on the rotation tooth, set up pivot one on the support one, pivot four, set up pivot two and pivot five on linking the arm, set up pivot three on the support two, support one with link the arm, link the arm and flexible arm one, flexible arm one is connected by pivot one, pivot two, pivot three with support two in proper order, flexible arm two and link the arm by pivot four, pivot five are connected in proper order.

7. The multi-angle pipe internal dredging device of claim 1, wherein: the mud outlet is connected with an elastic pipe, the elastic pipe is connected with a rigid pipe, and the elastic pipe and the rigid pipe form an output pipeline.

8. The portable tubular desilting robot according to claim 7, characterized in that: the elastic pipe is a corrugated pipe, and the rigid pipe is a hydraulic pipe.