CN111981245B - Water flow driven continuous operation coal conveying pipeline cleaning and dredging robot - Google Patents
Water flow driven continuous operation coal conveying pipeline cleaning and dredging robot Download PDFInfo
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- CN111981245B CN111981245B CN202010830886.8A CN202010830886A CN111981245B CN 111981245 B CN111981245 B CN 111981245B CN 202010830886 A CN202010830886 A CN 202010830886A CN 111981245 B CN111981245 B CN 111981245B
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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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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
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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
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The utility model provides a rivers drive continuity of operation coal pipeline clearance mediation robot, which comprises a body, storage battery, power generation facility, belt cleaning device and PLC controller, the body is concentric to be set up in coal pipeline, storage battery and PLC controller fixed mounting are on the body, power generation facility fixed mounting is at the preceding lateral part of body, belt cleaning device installs on the body and contacts with coal pipeline's inner wall, the equal fixed mounting of preceding lateral part and the back lateral part of body has drive arrangement, power generation facility is connected through waterproof charging cable electricity with storage battery, storage battery respectively with the PLC controller, belt cleaning device and two sets of drive arrangement are connected through waterproof circular telegram cable electricity, the PLC controller passes through waterproof signal cable signal connection with belt cleaning device and two sets of drive arrangement respectively. The invention provides enough electric energy for cleaning work through continuous power generation of water flow power, ensures that the robot works stably for a long time, and thoroughly cleans impurities on the inner wall of the coal conveying pipeline through twice scraping and cleaning.
Description
Technical Field
The invention relates to the field of coal conveying, in particular to a water flow driven continuous operation coal conveying pipeline cleaning and dredging robot.
Background
When the coal pipeline runs throughout the year, a large amount of magazines can be attached to the inner wall of the pipeline, so that the pipe diameter is reduced, the transportation resistance is increased, and the transportation of coal is greatly influenced. The possibility of pipeline congestion appears occasionally seriously, leads to the transportation resistance to increase, and the delivery capacity reduces, causes annual power consumption to increase fast, and the annual economic loss of transportation cost of extensive transportation pipeline exceeds millions even, consequently, clears away the impurity on the coal pipeline inner wall, guarantees coal pipeline's normal operating to reduce the energy consumption, improve the pipeline transport ability, have important meaning to improving coal transportation system.
Coal pipeline's cleaning is often accomplished by adopting the pipeline cleaning robot, and pipeline cleaning robot work needs the power, and the external power cord power supply of power supply mode optional also can select to carry the battery power supply, because pipeline cleaning robot will long distance work, outside electric wire is very inconvenient, and the electric quantity that the battery carried is limited, can not guarantee pipeline cleaning robot long distance, long-time continuous operation.
Disclosure of Invention
The invention aims to provide a water flow driven continuous operation coal conveying pipeline cleaning and dredging robot, which provides enough electric energy for cleaning work through continuous power generation of water flow power, ensures that the robot works stably for a long time, and thoroughly cleans impurities on the inner wall of a coal conveying pipeline through twice scraping and cleaning.
In order to achieve the purpose, the invention adopts the following technical scheme:
a water flow driven continuous operation coal conveying pipeline cleaning and dredging robot comprises a body, a storage battery, a power generation device, a cleaning device and a PLC (programmable logic controller), wherein the body is of a cuboid prismatic structure, the length direction of the body is horizontally arranged along the front-back direction, the body is concentrically arranged in the coal conveying pipeline, the front end of the coal conveying pipeline is connected with a water source through a water pump, water in the coal conveying pipeline flows from front to back, the storage battery and the PLC are fixedly arranged on the body, waterproof covers are fixedly arranged outside the storage battery and the PLC, the power generation device is fixedly arranged on the front side part of the body, the cleaning device is arranged on the body and is in contact with the inner wall of the coal conveying pipeline, driving devices for driving the body to move from back to front are fixedly arranged on the front side part and the back side part of the body, the two sets of driving devices are identical in structure and symmetrically arranged front and back, the power generation device is electrically connected with the storage battery pack through a waterproof charging cable, the storage battery pack is electrically connected with the PLC, the cleaning device and the two sets of driving devices through waterproof electrified cables, and the PLC is in signal connection with the cleaning device and the two sets of driving devices through waterproof signal cables.
The body comprises a first connector, a second connector and a third connector, wherein the first connector, the second connector and the third connector are of cuboid prismatic structures and are sequentially arranged from front to back, a first connecting column is integrally formed in the middle of the back side surface of the first connector, a second connecting column is integrally formed in the middle of the front side surface of the third connector, a first threaded blind hole is formed in the middle of the front side surface of the second connector, a second threaded blind hole is formed in the middle of the back side surface of the second connector, the length of the first connecting column is larger than the depth of the first threaded blind hole, the length of the second connecting column is larger than the depth of the second threaded blind hole, the back side part of the first connecting column is in threaded connection with the first threaded blind hole, the front side part of the second connecting column is in threaded connection with the second threaded blind hole, the first connector, the first connecting column, the second connector, the third connector and the second connecting column are concentrically provided with front and back corresponding through guide through holes, the storage battery pack is fixedly arranged on the second connector, and the PLC is fixedly arranged on the third connector.
The power generation device comprises four micro generators, the four micro generators are respectively fixedly mounted on four side faces of the front side portion of the first body, the central shafts of the four micro generators are horizontally arranged along the front and back direction, a power generation impeller is fixedly mounted at the front end of the central shaft of each micro generator, and the four micro generators are electrically connected with the storage battery through waterproof charging cables.
The cleaning device comprises a first cleaner and a second cleaner which are arranged at intervals front and back, the first cleaner comprises a first speed reducing motor, a first cleaning ring disc and a first driven inner gear ring, the first speed reducing motor is fixedly arranged on a second connector, the first cleaning ring disc is rotatably arranged on a first connecting column positioned between the back side surface of the first connector and the front side surface of the second connector through a first bearing, the first driven inner gear ring is concentrically sleeved outside the front side of the second connector, the front side surface of the first driven inner gear ring is fixedly connected with the back side surface of the first cleaning ring disc, the center lines of the first driven inner gear ring and the first cleaning ring disc are superposed and have the same outer diameter, the output shaft of the first speed reducing motor is parallel to the center line of the first driven inner gear ring, the front side part of the output shaft of the first speed reducing motor extends into the inner circle of the first driven inner gear ring and is fixedly provided with a first driving gear which is in meshing transmission with the first driven inner gear ring, the outer circumference of the first cleaning circular ring disc is fixedly connected with a plurality of hard hairbrushes which are in frictional contact with the inner wall of the coal conveying pipeline and are arranged in a circumferential array; the second cleaner comprises a second speed reducing motor, a second cleaning ring disc and a second driven inner gear ring, the second speed reducing motor is fixedly installed on a third connector, the second cleaning ring disc is rotatably installed on a second connecting column between the rear side face of the second connector and the front side face of the third connector through a second bearing, the second driven inner gear ring is concentrically sleeved outside the front side of the third connector, the front side face of the second driven inner gear ring is fixedly connected with the rear side face of the second cleaning ring disc, the center lines of the second driven inner gear ring and the second cleaning ring disc are superposed and have the same outer diameter, the output shaft of the second speed reducing motor is parallel to the center line of the second driven inner gear ring, the front side portion of the output shaft of the second speed reducing motor extends into the inner circle of the second driven inner gear ring and is fixedly provided with a second driving gear which is in meshing transmission with the second driven inner gear ring, and a plurality of second driving gears which are in friction contact with the inner wall of the coal conveying pipeline and are fixedly connected to the outer circumference of the second cleaning ring disc Soft brushes arranged in an array;
the storage battery pack is respectively electrically connected with the first speed reducing motor and the second speed reducing motor through waterproof electrified cables, and the PLC is respectively in signal connection with the first speed reducing motor and the second speed reducing motor through waterproof signal cables.
The driving device at the front side comprises a first through type lead screw stepping motor, a first central lead screw and a first fixed disc, the first through type lead screw stepping motor is concentrically and fixedly arranged on the front side surface of the first connecting body, the first central lead screw concentrically horizontally penetrates through a hollow rotating shaft of the first through type lead screw stepping motor along the front-back direction and is in threaded transmission connection with the hollow rotating shaft of the first through type lead screw stepping motor, the rear side part of the first central lead screw extends into a guide through hole of the first connecting body, the first fixed disc is vertically arranged, the first fixed disc is concentrically and fixedly arranged on the front side part of the first central lead screw, a plurality of first electric push rods arranged in a circumferential array are fixedly arranged on the outer edge of the front side surface of the first fixed disc, and telescopic rods of the first electric push rods are respectively and correspondingly arranged in a telescopic manner along the radial direction of the first fixed disc and extend towards the inner wall of the coal conveying pipeline, the end part of the telescopic rod of each first electric push rod is fixedly provided with a first friction block;
the rear driving device comprises a second through lead screw stepping motor, a second central lead screw and a second fixed disc, the second through lead screw stepping motor is concentrically and fixedly arranged on the rear side surface of the third connecting body, the second central lead screw concentrically horizontally passes through a hollow rotating shaft of the second through lead screw stepping motor along the front-rear direction and is in threaded transmission connection with the hollow rotating shaft of the second through lead screw stepping motor, the rear side part of the second central lead screw extends into a guide through hole of the third connecting body, the second fixed disc is vertically arranged, the second fixed disc is concentrically and fixedly arranged on the front side part of the second central lead screw, a plurality of second electric push rods arranged in a circumferential array are fixedly arranged on the outer edge of the front side surface of the second fixed disc, and telescopic rods of the second electric push rods are respectively arranged in a telescopic manner towards the inner wall of the coal conveying pipeline along the radial direction of the second fixed disc, the end part of the telescopic rod of each second electric push rod is fixedly provided with a second friction block;
the storage battery pack is respectively and electrically connected with the first through type lead screw stepping motor, each first electric push rod, the second through type lead screw stepping motor and each second electric push rod through waterproof electrified cables, and the PLC is respectively and electrically connected with the first through type lead screw stepping motor, each first electric push rod, the second through type lead screw stepping motor and each second electric push rod through waterproof signal cables.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, in particular to the invention which is arranged in a coal conveying pipeline and continuously pumps water into the coal conveying pipeline through a water pump for cleaning and dredging the coal conveying pipeline, the water flow drives a continuous operation coal conveying pipeline cleaning and dredging robot to move along the coal conveying pipeline in a reverse water way, when a storage battery needs to be charged, the water flow drives the continuous operation coal conveying pipeline cleaning and dredging robot to be fixed and stop cleaning and dredging work, four micro generators charge the storage battery, a power generation impeller at the front end of a central shaft of each micro generator drives the central shaft of the micro generator to rotate at high speed under the impact of the water flow, so that the micro generator continuously generates power, electric energy generated by the four micro generators is stored in the storage battery through a waterproof charging cable, the storage battery pack provides electric energy for the PLC through the waterproof electrified cable, the first speed reducing motor, the second speed reducing motor, the first through type lead screw stepping motor, each first electric push rod, the second through type lead screw stepping motor and each second electric push rod, and the water flow driving continuous operation coal conveying pipeline cleaning and dredging robot can stably work for a long time, the defects of the traditional cable mode or cable-free mode pipeline robot in the problems of power supply and the like are overcome, so that the pipeline robot can reliably operate in the pipeline for a long time and remotely and continuously, the water flow driving continuous operation coal conveying pipeline cleaning and dredging robot can work in the advancing process, four micro generators charge the storage battery pack in an auxiliary mode, during cleaning, firstly, the PLC controls the first electric push rods to act, and the telescopic rods of the first electric push rods extend out towards the inner wall of the coal conveying pipeline until the first friction blocks are jacked on the inner wall of the coal conveying pipeline On the wall, the first fixed disk is fixed relative to the coal conveying pipeline, meanwhile, the PLC controls each second electric push rod to reversely act, the telescopic rod of each second electric push rod is respectively retracted, each second friction block is separated from the inner wall of the coal conveying pipeline, the second fixed disk can move relative to the coal conveying pipeline, then, the PLC controls the first through type lead screw stepping motor to act, the first through type lead screw stepping motor moves forwards relative to the first central lead screw, the first through type lead screw stepping motor drives the body (the first connecting body, the second connecting body and the third connecting body) to move forwards together for a set distance (the power generation impeller is not contacted with the first fixed disk or the first electric push rod), the first through type lead screw stepping motor stops, and meanwhile, the PLC controls the second through type lead screw stepping motor to reversely act, the second through type lead screw stepping motor drives the second central lead screw to move forwards, the front side part of the second central lead screw extends into the guide through hole of the third connecting body, the second central lead screw drives the second fixed disc to move forwards together until the second fixed disc is contacted with the second through type lead screw stepping motor, the second through type lead screw stepping motor stops, then the PLC controller controls each first electric push rod to move reversely, so that the telescopic rods of each first electric push rod retract, each first friction block is separated from the inner wall of the coal conveying pipeline, the first fixed disc can move relative to the coal conveying pipeline, meanwhile, the PLC controller controls each second electric push rod to move, so that the telescopic rods of each second electric push rod extend towards the inner wall of the coal conveying pipeline until each second friction block is pressed against the inner wall of the coal conveying pipeline, and the second fixed disc is fixed relative to the coal conveying pipeline, in a similar way, the PLC controls the first through type lead screw stepping motor to move reversely, so that the first central lead screw moves forwards relative to the first through type lead screw stepping motor until the distance of the forward movement of the first central lead screw is close to the length of the first central lead screw, the rear end of the first central screw rod moves to the first through-type screw rod stepping motor, the first through-type screw rod stepping motor stops, meanwhile, the PLC controller controls the second through type lead screw stepping motor to act, the second through type lead screw stepping motor moves forwards relative to the second central lead screw, the second through type lead screw stepping motor drives the body (the first connecting body, the second connecting body and the third connecting body) to move forwards together until the second through type lead screw stepping motor moves to the front end of the second central lead screw, and the second through type lead screw stepping motor stops, therefore, the continuous sectional forward movement of the water flow driven continuous operation coal conveying pipeline cleaning and dredging robot can be realized by repeating the processes; in the continuous sectional forward moving process of the water flow driven continuous operation coal conveying pipeline cleaning and dredging robot, a PLC controller controls a first speed reducing motor and a second speed reducing motor to rotate, an output shaft of the first speed reducing motor drives a first driving gear to rotate at a high speed, the first driving gear is meshed with and drives a first driven inner gear ring to rotate at a high speed, the first driven inner gear ring drives a first cleaning circular disc to rotate at a high speed, each hard brush on the outer circumference of the first cleaning circular disc rotates at a high speed along with the first cleaning circular disc, each hard brush preliminarily scrapes and cleans impurities which are strong in adsorption force and difficult to clean on the inner wall of the coal conveying pipeline, and similarly, an output shaft of the second speed reducing motor drives a second driving gear to rotate at a high speed, the second driving gear is meshed with and drives a second driven inner gear ring to rotate at a high speed, and the second driven inner gear ring drives a second cleaning circular disc to rotate at a high speed, then each soft brush on the outer circumference of second washing ring dish rotates along with the second washing ring dish at a high speed, and each soft brush just carries out the meticulous clearance of scraping of secondary to the remaining impurity on the coal pipeline inner wall after the clearance is tentatively scraped to the stereoplasm brush, and the impurity that the clearance got off just can wash out along with the rivers.
Four micro generators are adopted to charge the storage battery, even if the body rotates or the water flow is reduced, at least one micro generator is always ensured to be in a working state, the charging is ensured to be continuous, and the working reliability of the fluid-driven coal conveying pipeline cleaning and dredging robot is improved.
In conclusion, the invention provides enough electric energy for cleaning work through continuous power generation of water flow power, ensures that the robot works stably for a long time, and thoroughly cleans impurities on the inner wall of the coal conveying pipeline through twice scraping and cleaning.
Drawings
FIG. 1 is a schematic representation of the operation of the present invention within a coal conveying pipeline.
Fig. 2 is a schematic structural diagram of the present invention.
Figure 3 is a cross-sectional view of the body and two sets of drives of the present invention.
Fig. 4 is a schematic structural view of the cleaning apparatus of the present invention.
Detailed Description
The embodiments of the present invention are further described below with reference to the drawings.
As shown in figures 1-4, a water flow driving continuous operation coal conveying pipeline cleaning and dredging robot comprises a body, a storage battery pack 1, a power generation device, a cleaning device and a PLC (programmable logic controller) 2, wherein the body is of a cuboid prismatic structure, the length direction of the body is horizontally arranged along the front and back direction, the body is concentrically arranged in the coal conveying pipeline 3, the front end of the coal conveying pipeline 3 is connected with a water source through a water pump, water in the coal conveying pipeline 3 flows from front to back, the storage battery pack 1 and the PLC 2 are fixedly arranged on the body, waterproof covers are fixedly arranged outside the storage battery pack 1 and the PLC 2, the power generation device is fixedly arranged on the front side part of the body, the cleaning device is arranged on the body and is in contact with the inner wall of the coal conveying pipeline 3, driving devices for driving the body to move from back to front are fixedly arranged on the front side part and the back side part of the body, the two sets of driving devices are identical in structure and are symmetrically arranged front and back, the power generation device is electrically connected with the storage battery pack 1 through a waterproof charging cable, the storage battery pack 1 is respectively electrically connected with the PLC 2, the cleaning device and the two sets of driving devices through waterproof electrified cables, and the PLC 2 is respectively in signal connection with the cleaning device and the two sets of driving devices through waterproof signal cables. The water pump, the waterproof cover, the waterproof charging cable, the waterproof energizing cable and the waterproof signal cable are not shown in the figure.
The body comprises a first connector 4, a second connector 5 and a third connector 6, the first connector 4, the second connector 5 and the third connector 6 are of cuboid prism structures and are sequentially arranged from front to back, a first connecting column 7 is integrally formed in the middle of the rear side face of the first connector 4, a second connecting column 8 is integrally formed in the middle of the front side face of the third connector 6, a first threaded blind hole is formed in the middle of the front side face of the second connector 5, a second threaded blind hole is formed in the middle of the rear side face of the second connector 5, the length of the first connecting column 7 is larger than the depth of the first threaded blind hole, the length of the second connecting column 8 is larger than the depth of the second threaded blind hole, the rear side part of the first connecting column 7 is in the first threaded blind hole in a threaded manner, the front side part of the second connecting column 8 is in the second threaded blind hole in a threaded manner, the first connector 4, the first connecting column 7, The second connector 5, the third connector 6 and the second connecting column 8 are concentrically provided with a front guide through hole 33 and a rear guide through hole 33 which are through correspondingly, the storage battery pack 1 is fixedly installed on the second connector 5, and the PLC 2 is fixedly installed on the third connector 6.
The power generation device comprises four micro generators 9, the four micro generators 9 are respectively fixedly installed on four side faces of the front side portion of the first body, the central shafts of the four micro generators 9 are horizontally arranged along the front-back direction, a power generation impeller 10 is fixedly installed at the front end of the central shaft of each micro generator 9, and the four micro generators 9 are electrically connected with the storage battery pack 1 through waterproof charging cables.
The cleaning device comprises a first cleaner and a second cleaner which are arranged at a front-back interval, the first cleaner comprises a first speed reducing motor 11, a first cleaning ring disc 12 and a first driven inner gear ring 13, the first speed reducing motor 11 is fixedly arranged on a second connector 5, the first cleaning ring disc 12 is rotatably arranged on a first connecting column 7 between the rear side surface of a first connector 4 and the front side surface of the second connector 5 through a first bearing 14, the first driven inner gear ring 13 is concentrically sleeved outside the front side of the second connector 5, the front side surface of the first driven inner gear ring 13 is fixedly connected with the rear side surface of the first cleaning ring disc 12, the center lines of the first driven inner gear ring 13 and the first cleaning ring disc 12 are superposed, the outer diameters of the first driven inner gear ring 13 and the first cleaning ring disc 12 are equal, the output shaft of the first speed reducing motor 11 is parallel to the center line of the first driven inner gear ring 13, the front side part of the output shaft of the first speed reducing motor 11 extends into the inner circle of the first driven inner gear ring 13 and is fixedly arranged to be meshed with the first driven inner gear ring 13 A plurality of hard brushes 16 which are in frictional contact with the inner wall of the coal conveying pipeline 3 and are arranged in a circumferential array are fixedly connected to the outer circumference of the first cleaning circular ring disc 12; the second cleaner comprises a second speed reducing motor 17, a second cleaning ring disc 18 and a second driven ring gear 19, the second speed reducing motor 17 is fixedly arranged on a third connecting body 6, the second cleaning ring disc 18 is rotatably arranged on a second connecting column 8 positioned between the rear side surface of the second connecting body 5 and the front side surface of the third connecting body 6 through a second bearing 20, the second driven ring gear 19 is concentrically sleeved outside the front side of the third connecting body 6, the front side surface of the second driven ring gear 19 is fixedly connected with the rear side surface of the second cleaning ring disc 18, the center lines of the second driven ring gear 19 and the second cleaning ring disc 18 are superposed and have the same outer diameter, the output shaft of the second speed reducing motor 17 is parallel to the center line of the second driven ring gear 19, the front side part of the output shaft of the second speed reducing motor 17 extends into the inner circle of the second driven ring gear 19 and is fixedly provided with a second driving gear 21 which is in meshing transmission with the second driven ring gear 19, the outer circumference of the second cleaning circular ring disc 18 is fixedly connected with a plurality of soft brushes 22 which are in frictional contact with the inner wall of the coal conveying pipeline 3 and are arranged in a circumferential array;
the storage battery pack 1 is respectively electrically connected with the first speed reduction motor 11 and the second speed reduction motor 17 through waterproof electrified cables, and the PLC 2 is respectively in signal connection with the first speed reduction motor 11 and the second speed reduction motor 17 through waterproof signal cables.
The front driving device comprises a first through type lead screw stepping motor 23, a first central lead screw 24 and a first fixed disk 25, the first through type lead screw stepping motor 23 is concentrically and fixedly installed on the front side surface of the first connecting body 4, the first central lead screw 24 concentrically horizontally penetrates through a hollow rotating shaft of the first through type lead screw stepping motor 23 along the front-back direction and is in threaded transmission connection with the hollow rotating shaft of the first through type lead screw stepping motor 23, the rear side part of the first central lead screw 24 extends into a guide through hole of the first connecting body 4, the first fixed disk 25 is vertically arranged, the first fixed disk 25 is concentrically and fixedly installed on the front side part of the first central lead screw 24, a plurality of first electric push rods 26 arranged in a circumferential array are fixedly installed on the outer edge of the front side surface of the first fixed disk 25, telescopic rods of the first electric push rods 26 are respectively arranged in a telescopic manner facing the inner wall of the coal conveying pipeline 3 along the radial direction of the first fixed disk 25, a first friction block 27 is fixedly arranged at the end part of the telescopic rod of each first electric push rod 26;
the rear driving device comprises a second through type screw rod stepping motor 28, a second central screw rod 29 and a second fixed disc 30, the second through type screw rod stepping motor 28 is concentrically and fixedly installed on the rear side surface of the third connecting body 6, the second central screw rod 29 concentrically horizontally passes through a hollow rotating shaft of the second through type screw rod stepping motor 28 along the front-rear direction and is in threaded transmission connection with the hollow rotating shaft of the second through type screw rod stepping motor 28, the rear side part of the second central screw rod 29 extends into a guide through hole of the third connecting body 6, the second fixed disc 30 is vertically arranged, the second fixed disc 30 is concentrically and fixedly installed on the front side part of the second central screw rod 29, a plurality of second electric push rods 31 arranged in a circumferential array are fixedly installed on the outer edge of the front side surface of the second fixed disc 30, and telescopic rods of the second electric push rods 31 are respectively arranged in a telescopic manner towards the inner wall of the coal conveying pipeline 3 along the radial direction of the second fixed disc 30, the end part of the telescopic rod of each second electric push rod 31 is fixedly provided with a second friction block 32;
the storage battery pack 1 is respectively electrically connected with the first through type lead screw stepping motor 23, each first electric push rod 26, the second through type lead screw stepping motor 28 and each second electric push rod 31 through waterproof electrified cables, and the PLC controller 2 is respectively in signal connection with the first through type lead screw stepping motor 23, each first electric push rod 26, the second through type lead screw stepping motor 28 and each second electric push rod 31 through waterproof signal cables.
The invention is arranged in a coal conveying pipeline 3, in order to clean and dredge the inner wall of the coal conveying pipeline 3, water is continuously pumped into the coal conveying pipeline 3 through a water pump, the water flow drives a continuous operation coal conveying pipeline cleaning and dredging robot to move along the coal conveying pipeline 3 in a reverse water mode, when a storage battery pack 1 needs to be charged, the water flow drives the continuous operation coal conveying pipeline cleaning and dredging robot to be fixed and stop cleaning and dredging work, four micro generators 9 charge the storage battery pack 1, a power generation impeller 10 at the front end of a central shaft of each micro generator 9 drives the central shaft of each micro generator 9 to rotate at a high speed under the impact of the water flow, so that the micro generators 9 continuously generate power, the power generated by the four micro generators 9 is stored in the storage battery pack 1 through waterproof charging cables, the storage battery pack 1 supplies the power to a PLC (programmable logic controller) 2 through waterproof power-on cables, The first speed reducing motor 11, the second speed reducing motor 17, the first through type lead screw stepping motor 23, each first electric push rod 26, the second through type lead screw stepping motor 28 and each second electric push rod 31 ensure that the water flow driving continuous operation coal conveying pipeline cleaning and dredging robot can stably work for a long time, the defects of the power supply and other problems of the traditional cable mode or cable-free mode pipeline robot are solved, the pipeline robot can reliably work continuously in the pipeline for a long time and a long distance, the water flow driving continuous operation coal conveying pipeline cleaning and dredging robot carries out the process, four micro generators 9 charge the storage battery pack 1 in an auxiliary way, when in cleaning work, firstly, the PLC 2 controls each first electric push rod 26 to act, the telescopic rods of each first electric push rod 26 extend towards the inner wall of the coal conveying pipeline 3 respectively until each first friction block 27 is jacked on the inner wall of the coal conveying pipeline 3, the first fixing disc 25 is fixed relative to the coal conveying pipeline 3, meanwhile, the PLC 2 controls each second electric push rod 31 to reversely act, the telescopic rod of each second electric push rod 31 is respectively retracted, each second friction block 32 is separated from the inner wall of the coal conveying pipeline 3, the second fixing disc 30 can move relative to the coal conveying pipeline 3, then, the PLC 2 controls the first through type lead screw stepping motor 23 to act, the first through type lead screw stepping motor 23 moves forwards relative to the first central lead screw 24, the first through type lead screw stepping motor 23 drives the body (the first connecting body 4, the second connecting body 5 and the third connecting body 6) to move forwards together for a set distance (the power generation impeller 10 is not in contact with the first fixing disc 25 or the first electric push rod 26), the first through type lead screw stepping motor 23 stops, and meanwhile, the PLC 2 controls the second through type lead screw stepping motor 28 to reversely act, the second through screw rod stepping motor 28 drives the second central screw rod 29 to move forward, the front side part of the second central screw rod 29 extends into the guide through hole of the third connecting body 6, the second central screw rod 29 drives the second fixed disk 30 to move forward together, until the second fixed disk 30 contacts with the second through screw rod stepping motor 28, the second through screw rod stepping motor 28 stops, then the PLC controller 2 controls each first electric push rod 26 to move reversely, so that the telescopic rod of each first electric push rod 26 retracts, each first friction block 27 is separated from the inner wall of the coal conveying pipeline 3, the first fixed disk 25 can move relative to the coal conveying pipeline 3, meanwhile, the PLC controller 2 controls each second electric push rod 31 to move, so that the telescopic rod of each second electric push rod 31 extends towards the inner wall of the coal conveying pipeline 3 until each second friction block 32 presses against the inner wall of the coal conveying pipeline 3, the second fixing disc 30 is fixed relative to the coal conveying pipeline 3, and similarly, the PLC controller 2 controls the first through type lead screw stepping motor 23 to reversely move, so that the first central lead screw 24 moves forward relative to the first through type lead screw stepping motor 23, when the distance of forward movement of the first central lead screw 24 is close to the length of the first central lead screw, the rear end of the first central lead screw 24 moves to the first through type lead screw stepping motor 23, the first through type lead screw stepping motor 23 stops, meanwhile, the PLC controller 2 controls the second through type lead screw stepping motor 28 to move, the second through type lead screw stepping motor 28 moves forward relative to the second central lead screw 29, the second through type lead screw stepping motor 28 drives the main body (the first connecting body 4, the second connecting body 5 and the third connecting body 6) to move forward together until the second through type lead screw stepping motor 28 moves to the front end of the second central lead screw 29, the second through type lead screw stepping motor 28 stops, and thus, the continuous sectional type forward movement of the water flow driven continuous operation coal conveying pipeline cleaning and dredging robot can be realized by repeating the processes; in the continuous sectional forward moving process of the water flow driven continuous operation coal conveying pipeline cleaning and dredging robot, a PLC (programmable logic controller) 2 controls a first speed reducing motor 11 and a second speed reducing motor 17 to rotate, an output shaft of the first speed reducing motor 11 drives a first driving gear 15 to rotate at a high speed, the first driving gear 15 is meshed with and drives a first driven inner gear ring 13 to rotate at a high speed, the first driven inner gear ring 13 drives a first cleaning circular disc 12 to rotate at a high speed, each hard brush 16 on the outer circumference of the first cleaning circular disc 12 rotates at a high speed along with the first cleaning circular disc 12, each hard brush 16 primarily scrapes and cleans impurities which are strong in adsorption force and difficult to clean on the inner wall of a coal conveying pipeline 3, and meanwhile, an output shaft of the second speed reducing motor 17 drives a second driving gear 21 to rotate at a high speed, the second driving gear 21 is meshed with and drives a second driven inner gear ring 19 to rotate at a high speed, the second driven inner gear ring 19 drives the second cleaning ring disc 18 to rotate at a high speed, then each soft brush 22 on the outer circumference of the second cleaning ring disc 18 rotates at a high speed along with the second cleaning ring disc 18, each soft brush 22 carries out secondary fine scraping and cleaning on residual impurities on the inner wall of the coal conveying pipeline 3 after the hard brushes 16 are primarily scraped and cleaned, and the cleaned impurities can be washed out along with water flow.
Four micro-generators 9 are adopted to charge the storage battery pack 1, even if the body rotates or water flow is reduced, at least one micro-generator 9 is always ensured to be in a working state, charging is ensured to be continuous, and the working reliability of the fluid-driven type coal conveying pipeline cleaning and dredging robot is improved.
The above embodiments are merely to illustrate rather than to limit the technical solutions of the present invention, and although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (4)
1. The utility model provides a rivers drive continuity of operation coal pipeline clearance mediation robot which characterized in that: the coal water-saving cleaning device comprises a body, a storage battery pack, a power generation device, a cleaning device and a PLC (programmable logic controller), wherein the body is of a cuboid prismatic structure, the length direction of the body is horizontally arranged along the front-back direction, the body is arranged in a coal conveying pipeline, the front end of the coal conveying pipeline is connected with a water source through a water pump, water in the coal conveying pipeline flows from front to back, the storage battery pack and the PLC are fixedly arranged on the body, waterproof covers are fixedly arranged outside the storage battery pack and the PLC, the power generation device is fixedly arranged on the front side portion of the body, the cleaning device is arranged on the body and is in contact with the inner wall of the coal conveying pipeline, driving devices for driving the body to move forwards from back are fixedly arranged on the front side portion and the rear side portion of the body, the two sets of driving devices are identical in structure and are symmetrically arranged from front to back, the power generation device is electrically connected with the storage battery pack through waterproof charging cables, and the storage battery pack is respectively connected with the PLC, The cleaning device and the two sets of driving devices are electrically connected through a waterproof electrified cable, and the PLC is respectively in signal connection with the cleaning device and the two sets of driving devices through waterproof signal cables;
the body comprises a first connector, a second connector and a third connector, wherein the first connector, the second connector and the third connector are of cuboid prismatic structures and are sequentially arranged from front to back, a first connecting column is integrally formed in the middle of the back side surface of the first connector, a second connecting column is integrally formed in the middle of the front side surface of the third connector, a first threaded blind hole is formed in the middle of the front side surface of the second connector, a second threaded blind hole is formed in the middle of the back side surface of the second connector, the length of the first connecting column is larger than the depth of the first threaded blind hole, the length of the second connecting column is larger than the depth of the second threaded blind hole, the back side part of the first connecting column is in threaded connection with the first threaded blind hole, the front side part of the second connecting column is in threaded connection with the second threaded blind hole, the first connector, the first connecting column, the second connector, the third connector and the second connecting column are concentrically provided with front and back corresponding through guide through holes, the storage battery pack is fixedly arranged on the second connector, and the PLC is fixedly arranged on the third connector.
2. The water flow driven continuous coal conveying pipeline cleaning and dredging robot as claimed in claim 1, wherein: the power generation device comprises four micro generators, the four micro generators are respectively fixedly mounted on four side faces of the front side portion of the first body, the central shafts of the four micro generators are horizontally arranged along the front and back direction, a power generation impeller is fixedly mounted at the front end of the central shaft of each micro generator, and the four micro generators are electrically connected with the storage battery through waterproof charging cables.
3. The water flow driven continuous coal conveying pipeline cleaning and dredging robot as claimed in claim 2, characterized in that: the cleaning device comprises a first cleaner and a second cleaner which are arranged at intervals front and back, the first cleaner comprises a first speed reducing motor, a first cleaning ring disc and a first driven inner gear ring, the first speed reducing motor is fixedly arranged on a second connector, the first cleaning ring disc is rotatably arranged on a first connecting column positioned between the back side surface of the first connector and the front side surface of the second connector through a first bearing, the first driven inner gear ring is concentrically sleeved outside the front side of the second connector, the front side surface of the first driven inner gear ring is fixedly connected with the back side surface of the first cleaning ring disc, the center lines of the first driven inner gear ring and the first cleaning ring disc are superposed and have the same outer diameter, the output shaft of the first speed reducing motor is parallel to the center line of the first driven inner gear ring, the front side part of the output shaft of the first speed reducing motor extends into the inner circle of the first driven inner gear ring and is fixedly provided with a first driving gear which is in meshing transmission with the first driven inner gear ring, the outer circumference of the first cleaning circular ring disc is fixedly connected with a plurality of hard hairbrushes which are in frictional contact with the inner wall of the coal conveying pipeline and are arranged in a circumferential array; the second cleaner comprises a second speed reducing motor, a second cleaning ring disc and a second driven inner gear ring, the second speed reducing motor is fixedly installed on a third connector, the second cleaning ring disc is rotatably installed on a second connecting column between the rear side face of the second connector and the front side face of the third connector through a second bearing, the second driven inner gear ring is concentrically sleeved outside the front side of the third connector, the front side face of the second driven inner gear ring is fixedly connected with the rear side face of the second cleaning ring disc, the center lines of the second driven inner gear ring and the second cleaning ring disc are superposed and have the same outer diameter, the output shaft of the second speed reducing motor is parallel to the center line of the second driven inner gear ring, the front side portion of the output shaft of the second speed reducing motor extends into the inner circle of the second driven inner gear ring and is fixedly provided with a second driving gear which is in meshing transmission with the second driven inner gear ring, and a plurality of second driving gears which are in friction contact with the inner wall of the coal conveying pipeline and are fixedly connected to the outer circumference of the second cleaning ring disc Soft brushes arranged in an array;
the storage battery pack is respectively electrically connected with the first speed reducing motor and the second speed reducing motor through waterproof electrified cables, and the PLC is respectively in signal connection with the first speed reducing motor and the second speed reducing motor through waterproof signal cables.
4. The water flow driven continuous coal conveying pipe cleaning and dredging robot of claim 3, wherein: the driving device at the front side comprises a first through type lead screw stepping motor, a first central lead screw and a first fixed disc, the first through type lead screw stepping motor is concentrically and fixedly arranged on the front side surface of the first connecting body, the first central lead screw concentrically horizontally penetrates through a hollow rotating shaft of the first through type lead screw stepping motor along the front-back direction and is in threaded transmission connection with the hollow rotating shaft of the first through type lead screw stepping motor, the rear side part of the first central lead screw extends into a guide through hole of the first connecting body, the first fixed disc is vertically arranged, the first fixed disc is concentrically and fixedly arranged on the front side part of the first central lead screw, a plurality of first electric push rods arranged in a circumferential array are fixedly arranged on the outer edge of the front side surface of the first fixed disc, and telescopic rods of the first electric push rods are respectively and correspondingly arranged in a telescopic manner along the radial direction of the first fixed disc and extend towards the inner wall of the coal conveying pipeline, the end part of the telescopic rod of each first electric push rod is fixedly provided with a first friction block;
the rear driving device comprises a second through lead screw stepping motor, a second central lead screw and a second fixed disc, the second through lead screw stepping motor is concentrically and fixedly arranged on the rear side surface of the third connecting body, the second central lead screw concentrically horizontally passes through a hollow rotating shaft of the second through lead screw stepping motor along the front-rear direction and is in threaded transmission connection with the hollow rotating shaft of the second through lead screw stepping motor, the rear side part of the second central lead screw extends into a guide through hole of the third connecting body, the second fixed disc is vertically arranged, the second fixed disc is concentrically and fixedly arranged on the front side part of the second central lead screw, a plurality of second electric push rods arranged in a circumferential array are fixedly arranged on the outer edge of the front side surface of the second fixed disc, and telescopic rods of the second electric push rods are respectively arranged in a telescopic manner towards the inner wall of the coal conveying pipeline along the radial direction of the second fixed disc, the end part of the telescopic rod of each second electric push rod is fixedly provided with a second friction block;
the storage battery pack is respectively and electrically connected with the first through type lead screw stepping motor, each first electric push rod, the second through type lead screw stepping motor and each second electric push rod through waterproof electrified cables, and the PLC is respectively and electrically connected with the first through type lead screw stepping motor, each first electric push rod, the second through type lead screw stepping motor and each second electric push rod through waterproof signal cables.
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| CN112648539A (en) * | 2020-12-19 | 2021-04-13 | 江苏晟尔检测仪器有限公司 | Detector for super buried depth underground pipeline |
| CN112692010A (en) * | 2020-12-22 | 2021-04-23 | 葛玉珍 | Petroleum pipeline cleaning system and method |
| CN112974435B (en) * | 2021-02-07 | 2022-03-11 | 安徽工业大学 | Pipeline wall climbing cleaning robot |
| CN113500063A (en) * | 2021-07-29 | 2021-10-15 | 李竹苗 | Pipeline dredging device with efficient automatic hydraulic engineering |
| CN114378843B (en) * | 2022-01-04 | 2023-06-06 | 中煤科工重庆设计研究院(集团)有限公司 | Robot for sealing internal seam of building wind system pipeline |
| CN115031085B (en) * | 2022-05-30 | 2023-06-23 | 安徽省皖能新奥天然气有限公司 | Underground pipe network protection system with early warning and damage prevention functions |
| CN117600186B (en) * | 2024-01-23 | 2024-05-03 | 成都理工大学 | Pipeline dredging robot |
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| CN102788225A (en) * | 2012-08-24 | 2012-11-21 | 浙江农林大学 | Jet-flow propelled pipeline robot |
| CN104797485A (en) * | 2012-11-15 | 2015-07-22 | 株式会社海博特 | Intratubular travel device and travel body |
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Effective date of registration: 20211117 Address after: 467000 South Section of Future Road in Pingdingshan New Urban District, Henan Province Applicant after: PINGDINGSHAN University Address before: 454000 No. 2001 Century Avenue, hi tech Zone, Henan, Jiaozuo Applicant before: HENAN POLYTECHNIC University |
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