CN112064777A - Pipeline dredging robot and dredging method thereof - Google Patents
Pipeline dredging robot and dredging method thereof Download PDFInfo
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- CN112064777A CN112064777A CN202010900213.5A CN202010900213A CN112064777A CN 112064777 A CN112064777 A CN 112064777A CN 202010900213 A CN202010900213 A CN 202010900213A CN 112064777 A CN112064777 A CN 112064777A
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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Abstract
The invention discloses a pipeline dredging robot and a dredging method thereof, and solves the problems that a dredging device in the prior art is low in dredging efficiency and poor in applicability. The invention relates to a pipeline dredging robot which comprises a telescopic travelling mechanism and a telescopic supporting mechanism, wherein a dredging mechanism and a driving mechanism for driving the dredging mechanism to act are arranged between the telescopic travelling mechanism and the telescopic supporting mechanism, and the driving mechanism is arranged on the telescopic travelling mechanism or the telescopic supporting mechanism. The telescopic travelling mechanism and the telescopic supporting mechanism are matched to drive the dredging mechanism and the driving mechanism to carry out flexible and efficient dredging along the wall of the hole, so that the dredging efficiency is improved. The telescopic travelling mechanism and the telescopic supporting mechanism can adjust the length direction, and the dredging mechanism can adjust the diameter of the cleaning brush so as to be suitable for cleaning pipelines with different pipe diameters, so that the application range is wide, and the construction cost is reduced.
Description
Technical Field
The invention relates to the technical field of pipeline dredging, in particular to a pipeline dredging robot and a dredging method thereof.
Background
The sewer is used as an important urban infrastructure, the scale of the sewer continuously enlarges the scale of a pipe network along with the expansion of urban population, sewage and domestic garbage (containing grease, scaling substances, winding substances and the like) discharged into the sewer every day and ground silt brought by rainwater accumulate over the years to cause the sewer to be silted and blocked. Some old sewers are lower because of the design standard at first, and the phenomenon of silting up is more outstanding, has seriously influenced the normal drainage function of sewer, because the dredging mediation of sewer ubiquitous the construction degree of difficulty is big, the security is poor, problem with high costs, and some local sewers can only abandon and rebuild.
At present, the more advanced high-pressure water jet propulsion type dredging tool (commonly called water mouse) for the sewer can only dredge the sewer with small pipe diameter below 500mm, and a small number of ultrahigh-pressure water jet propulsion type dredging tools can only dredge the sewer with small and medium pipe diameter of 1000mm at most.
For large-diameter sewers, manual work can only be adopted to dredge the sewer. The dredging and dredging mode has the advantages of high labor intensity and low efficiency, harmful gas exists in a sewer, and the danger of workers operating in the limited space is very high. The pipeline dredging method and the pipeline dredging robot with the application number of CN201410244030.7 are complex in structure, inflexible in walking and small in application range, and further increase the construction cost.
Disclosure of Invention
Aiming at the defects in the background art, the invention provides a pipeline dredging robot and a dredging method thereof, and solves the problems of low dredging efficiency and poor applicability of a dredging device in the prior art.
The technical scheme of the invention is realized as follows: a pipeline dredging robot comprises a telescopic walking mechanism and a telescopic supporting mechanism, wherein a dredging mechanism and a driving mechanism for driving the dredging mechanism to move are arranged between the telescopic walking mechanism and the telescopic supporting mechanism, and the driving mechanism is arranged on the telescopic walking mechanism or the telescopic supporting mechanism.
The dredging mechanism comprises a reducing frame, the reducing frame is connected with the driving mechanism, and a cleaning brush is arranged on the reducing frame.
The reducing frame comprises a first connecting disc, a first connecting rod is arranged on the first connecting disc along the circumferential direction, one end of the first connecting rod is hinged to the first connecting disc, the other end of the first connecting rod is hinged to a brush rod, and the brush rod is connected with the driving mechanism through an umbrella-shaped frame.
The umbrella-shaped frame comprises an upper connecting disc and a lower connecting disc, an upper supporting rod is arranged on the upper connecting disc along the circumferential direction, a lower supporting rod is arranged on the lower connecting disc along the circumferential direction, the lower supporting rod is hinged to the middle of the upper supporting rod, and the outer end portion of the upper supporting rod is hinged to the brush rod.
Actuating mechanism includes the first mounting panel that is connected with telescopic running gear, is equipped with protective housing, drive mobile jib and first motor on the first mounting panel, and the one end of drive mobile jib rotates with telescopic running gear to be connected, the other end stretches out the protective housing and is connected with desilting mechanism, the drive mobile jib is connected with first motor through the gear pair.
The gear pair is a bevel gear pair, the bevel gear pair is positioned in the protective shell, a first electric cylinder is also arranged in the protective shell, the motion direction of the first electric cylinder is parallel to the axial direction of the driving main rod, and the output end of the first electric cylinder is connected with the dredging mechanism; and a sewage discharge system is also arranged on the first mounting plate.
The sewage system comprises a sewage pump arranged on the first mounting plate, a liquid inlet pipe is arranged at the inlet of the sewage pump, and a sewage pipe is arranged at the outlet of the sewage pump.
The telescopic walking mechanism comprises a first fixing plate and a second fixing plate, wherein the first fixing plate is hinged with a supporting leg along the circumferential direction, the first fixing plate is provided with a second electric cylinder along the axial direction, the second fixing plate is arranged at the telescopic end of the second electric cylinder, the second fixing plate is hinged with a second connecting rod along the circumferential direction, the second connecting rod is hinged with the supporting leg, and the tail end of the supporting leg is provided with a walking assembly.
The walking assembly comprises a walking wheel and a second motor, the walking wheel and the second motor are arranged on the supporting leg, and the second motor is connected with the walking wheel; the first fixing plate is connected with the driving mechanism through a hinge.
The telescopic supporting mechanism comprises a mounting bottom plate connected with the dredging mechanism, the mounting bottom plate is connected with a mounting plate I through a connecting frame, a third electric cylinder is arranged on the mounting plate I, the third electric cylinder is hinged with a supporting leg along circumferential direction, the telescopic end of the third electric cylinder is provided with a second mounting plate, the second mounting plate is hinged with a third connecting rod along circumferential direction, the third connecting rod is hinged with the supporting leg, and a roller is arranged on the supporting leg.
And the mounting bottom plate is provided with a gas detector and a liquid level sensor, and the second mounting plate is provided with an industrial camera.
A dredging method of a pipeline dredging robot comprises the following steps:
s1: when the robot is used for dredging, the telescopic travelling mechanism and the telescopic supporting mechanism are tightly supported on the inner wall of the pipeline, then the cleaning brush of the dredging mechanism is tightly attached to the inner wall of the pipeline, and the main driving rod of the driving mechanism drives the reducing frame and the cleaning brush to rotate under the driving of the driving mechanism so as to clean the pipeline wall;
s2: in the process of cleaning the pipeline, a gas detector arranged on a telescopic supporting mechanism monitors gas in the pipeline in real time, an industrial camera arranged on the telescopic supporting mechanism collects images in the pipeline in real time, a liquid level sensor arranged on the telescopic supporting mechanism monitors liquid in the pipeline in real time, and when the liquid in the pipeline exceeds a safe value, a sewage discharge system extracts sludge for safe sewage discharge;
s3: when the robot moves forward, the cleaning brush tightly attached to the pipe wall is retracted by the dredging mechanism, the supporting legs tightly supported on the pipe wall are retracted by the telescopic travelling mechanism and the telescopic supporting mechanism, and the robot moves forward or backward under the driving of the driving device;
s5: during turning, the rotation speed of the driving device is adjusted to drive the telescopic walking mechanism to turn, and then the whole robot is turned.
The telescopic travelling mechanism and the telescopic supporting mechanism are matched to drive the dredging mechanism and the driving mechanism to carry out flexible and efficient dredging along the wall of the hole, so that the dredging efficiency is improved. The telescopic travelling mechanism and the telescopic supporting mechanism can adjust the length direction, and the dredging mechanism can adjust the diameter of the cleaning brush so as to be suitable for cleaning pipelines with different pipe diameters, so that the application range is wide, and the construction cost is reduced. The self-walking type dredging robot is a self-walking type dredging robot, is high in integration level, monitors the concentration of inflammable gases and harmful gases such as methane, carbon monoxide and the like in a pipeline through the gas sensor, detects the liquid level height of sludge and sewage in the pipeline through the liquid level sensor, is used for image acquisition in the pipeline through the industrial camera, grasps the construction condition in real time and improves the construction safety coefficient. And when the sewage in the pipeline reaches a certain amount, the sewage pump is started to discharge the sewage in the pipeline, so that the dredging work is smoothly carried out, the dredging efficiency is improved, and the high popularization value is realized.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the telescopic traveling mechanism.
Fig. 3 is a schematic structural diagram of the driving mechanism.
FIG. 4 is a schematic structural diagram of a dredging mechanism.
FIG. 5 is a schematic view of the connection state of the reducing frame and the umbrella frame.
Fig. 6 is a schematic structural view of the telescopic supporting mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, embodiment 1 is a pipeline dredging robot, which comprises a telescopic travelling mechanism 1 and a telescopic supporting mechanism 4, wherein a dredging mechanism 3 and a driving mechanism 2 for driving the dredging mechanism 3 to act are arranged between the telescopic travelling mechanism 1 and the telescopic supporting mechanism 4, and the driving mechanism 2 is arranged on the telescopic travelling mechanism 1 or the telescopic supporting mechanism 4. Preferably, the driving mechanism is arranged on the telescopic travelling mechanism 1, one end of the dredging mechanism is connected with the driving mechanism, the other end of the dredging mechanism is connected with the telescopic supporting mechanism, and the driving mechanism drives the dredging mechanism to perform corresponding actions. Telescopic running gear 1 and telescopic supporting mechanism 4 provide the support for desilting mechanism 3 and actuating mechanism 2, are used for propping up at the pipeline inner wall simultaneously, drive desilting mechanism 3 and actuating mechanism 2 motion, carry out high-efficient nimble desilting.
Further, as shown in fig. 4, the dredging mechanism 3 comprises a diameter-variable frame 31, the diameter-variable frame 31 is connected with the driving mechanism 2, the diameter-variable frame 31 is provided with a cleaning brush 32, and the outer diameter of the diameter-variable frame is adjustable so as to be suitable for pipelines with different diameters. The reducing frame 31 comprises a first connecting disc 301, the first connecting disc 301 is arranged on a driving main rod 201 of the driving mechanism 2, the driving main rod drives the first connecting disc to rotate, a plurality of first connecting rods 302 are arranged on the first connecting disc 301 along the circumferential direction, one ends of the first connecting rods 302 are hinged to the first connecting disc 301, the other ends of the first connecting rods are hinged to brush rods 303, the number of the brush rods 303 corresponds to the number of the first connecting rods one by one, and the brush rods 303 are connected with the driving mechanism 2 through an umbrella-shaped frame. The cleaning brush 32 can be detachably arranged on the brush rod, and the cleaning brush 32 is positioned on the same outer circular surface to form a cylindrical brush for cleaning the wall of the hole. The umbrella-shaped frame can be folded to drive the cleaning brush 32 on the brush rod to open and close, so that the umbrella-shaped frame is suitable for pipelines with different diameters.
Preferably, as shown in fig. 5, the umbrella-shaped frame includes an upper connecting disc 304 and a lower connecting disc 305, the upper connecting disc 304 and the lower connecting disc 305 are sleeved on the driving main rod 201 of the driving mechanism 2, and the driving main rod drives the umbrella-shaped frame to rotate. The lower connecting disc 305 is connected with the first electric cylinder 202 of the driving mechanism 2, and is driven by the first electric cylinder to move up and down along the driving main rod, so that the umbrella-shaped frame is opened and closed. A plurality of upper support rods 306 are arranged on the upper connecting disc 304 along the circumferential direction, a plurality of lower support rods 307 are arranged on the lower connecting disc 305 along the circumferential direction, and the upper support rods 306 correspond to the lower support rods one to one. The lower stay bar 307 is hinged with the middle part of the upper stay bar 306, the outer end part of the upper stay bar 306 is hinged with the brush rod 303, and the opening and closing of the brush rod are driven by the umbrella-shaped frame.
Further, as shown in fig. 3, the driving mechanism 2 includes a first mounting plate 206 connected with the telescopic traveling mechanism 1, the first mounting plate 206 is a supporting structure of the driving mechanism, the first mounting plate 206 is provided with a protective housing 207, a driving main rod 201 and a first motor 205, one end of the driving main rod 201 is connected with the telescopic traveling mechanism 1 through a bearing rotation, the other end of the driving main rod extends out of the protective housing 207 and is connected with the dredging mechanism 3, the driving main rod 201 is connected with the first motor 205 through a gear pair 203, and the first motor 205 drives the dredging mechanism to rotate through the gear pair, so as to realize uniform dredging of the hole wall by the cleaning brush.
Further, gear pair 203 is the bevel gear pair, and the bevel gear pair is located protective housing 207, prevents that the foreign matter from polluting the bevel gear pair, still is equipped with two first electric jar 202 in the protective housing 207, the direction of motion of first electric jar 202 and the axial direction parallel of drive mobile jib 201, and the output of first electric jar 202 is connected with lower connection pad 305 of desilting mechanism 3, drives lower connection pad 305 and slides along drive mobile jib 201. The first mounting plate 206 is also provided with a sewage system for discharging sewage in the pipeline. Preferably, sewage system is including setting up dredge pump 204 on first mounting panel 206, and the import of dredge pump 204 is equipped with the feed liquor pipe, and the contact of sewage in feed liquor pipe and the pipeline, the export of dredge pump 204 is equipped with the blow off pipe, and the blow off pipe extends to the pipeline outside, and when sewage reachd a certain amount in the pipeline, start the dredge pump, with the sewage discharge in the pipeline, the smooth of the work of being convenient for desilting goes on.
Referring to fig. 2, embodiment 2, the pipeline dredging robot, the telescopic walking mechanism 1 comprises a first fixing plate 102 and a second fixing plate 107, and the first fixing plate 102 and the second fixing plate 107 are arranged in parallel. First fixed plate 102 has three landing leg 103 along the circumference is articulated, and first fixed plate 102 is equipped with second electric jar 104 along the axial, and second fixed plate 107 sets up the flexible end at second electric jar 104, and second fixed plate 107 articulates along circumference has second connecting rod 108, and second connecting rod 108 just articulates with the landing leg with landing leg 103 one-to-one, and the end of landing leg 103 is equipped with walking assembly. Under the flexible effect of second electric jar 104, drive the landing leg through the second connecting rod and open and shut for adjust telescopic running gear 1 length, with be applicable to the pipeline of different pipe diameters, make its stable stay on the pipeline inner wall simultaneously.
Preferably, the walking assembly comprises a walking wheel 106 and a second motor 105 which are arranged on the supporting leg 103, the second motor 105 is connected with the walking wheel 106 through a gear pair or a coupling, and under the action of the second motor, the walking wheel rotates to realize the movement of the dredging robot along the inner wall of the pipeline. The first fastening plate 102 is connected to the drive mechanism 2 via a joint 101. The articulation may be a universal joint that enables flexible connection of the first fixing plate 102 with the first mounting plate 206 for flexible telemechanical and turning of the present dredging robot.
Further, as shown in fig. 6, the telescopic supporting mechanism 4 includes an installation bottom plate 410 connected with the dredging mechanism 3, namely, the installation bottom plate is fixedly connected with the first connecting plate 301, the installation bottom plate 410 is connected with an installation plate i 401 through a connecting frame 402, the connecting frame is fixed on the installation bottom plate, the installation plate i is fixed on the connecting frame, a third electric cylinder 406 is arranged on the installation plate i 401, the third electric cylinder 406 is hinged with a plurality of supporting legs 403 along the circumferential direction, the telescopic end of the third electric cylinder 406 is provided with a second installation plate 411, the second installation plate 411 is hinged with a plurality of third connecting rods 405 along the circumferential direction, the third connecting rods 405 are in one-to-one correspondence with the supporting legs 403 and the supporting legs 403 are hinged, and rollers 404 are arranged on. The telescopic driving supporting legs of the third electric cylinder are opened and closed, and the rollers are stably supported in pipelines with different pipe diameters. Preferably, the mounting base plate 410 is provided with a gas detector 409 and a liquid level sensor 408, and the second mounting plate 411 is provided with an industrial camera 407. The gas sensor 409 is used for monitoring the concentration of inflammable gases and harmful gases such as methane, carbon monoxide and the like in the pipeline, and the liquid level sensor 408 is used for detecting the liquid level height of sludge and sewage in the pipeline. The industrial camera 407 is used for acquiring images in the pipeline, so that the construction condition can be mastered in real time, and the construction safety factor can be improved.
The other structure is the same as embodiment 1.
Example 3: a dredging method of the pipe dredging robot as described in embodiment 2, comprising the following steps:
s1: when the robot is used for dredging, the telescopic travelling mechanism 1 and the telescopic supporting mechanism 4 are tightly supported on the inner wall of the pipeline, then, under the action of a first electric cylinder of the driving mechanism, the cleaning brush 32 of the dredging mechanism 3 is tightly attached to the inner wall of the pipeline, and under the driving of the driving mechanism 2, the main driving rod 201 of the driving mechanism 2 drives the reducing frame 31 and the cleaning brush 32 to rotate so as to clean the pipeline wall;
s2: in the process of cleaning the pipeline, a gas detector 409 arranged on the telescopic supporting mechanism 4 monitors gas in the pipeline in real time, an industrial camera 407 arranged on the telescopic supporting mechanism 4 collects images in the pipeline in real time, a liquid level sensor 408 arranged on the telescopic supporting mechanism 4 monitors liquid in the pipeline in real time, and when the liquid in the pipeline exceeds a safe value, a sewage system extracts sludge for safe sewage discharge;
s3: when the robot moves forward, the dredging mechanism 3 retracts the cleaning brush 32 tightly attached to the pipe wall, the telescopic walking mechanism 1 and the telescopic supporting mechanism 4 retract the supporting legs tightly supported on the pipe wall, and the robot moves forward or backward under the driving of the driving device;
s5: when the robot turns, the rotation speed of the driving device is adjusted to drive the telescopic travelling mechanism 1 to turn, so that the whole robot turns.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. The utility model provides a pipeline desilting robot which characterized in that: the dredging device comprises a telescopic travelling mechanism (1) and a telescopic supporting mechanism (4), wherein a dredging mechanism (3) and a driving mechanism (2) for driving the dredging mechanism (3) to move are arranged between the telescopic travelling mechanism (1) and the telescopic supporting mechanism (4), and the driving mechanism (2) is arranged on the telescopic travelling mechanism (1) or the telescopic supporting mechanism (4).
2. The pipe dredging robot of claim 1, wherein: the dredging mechanism (3) comprises a reducing frame (31), the reducing frame (31) is connected with the driving mechanism (2), and a cleaning brush (32) is arranged on the reducing frame (31).
3. The pipe dredging robot of claim 2, wherein: the reducing frame (31) comprises a first connecting disc (301), a first connecting rod (302) is arranged on the first connecting disc (301) along the circumferential direction, one end of the first connecting rod (302) is hinged to the first connecting disc (301), the other end of the first connecting rod is hinged to a brush rod (303), and the brush rod (303) is connected with the driving mechanism (2) through an umbrella-shaped frame.
4. The pipe dredging robot of claim 3, wherein: the umbrella-shaped frame comprises an upper connecting disc (304) and a lower connecting disc (305), an upper stay bar (306) is arranged on the upper connecting disc (304) along the circumferential direction, a lower stay bar (307) is arranged on the lower connecting disc (305) along the circumferential direction, the lower stay bar (307) is hinged to the middle of the upper stay bar (306), and the outer end of the upper stay bar (306) is hinged to a brush rod (303).
5. The pipeline dredging robot as claimed in any one of claims 1-4, wherein: actuating mechanism (2) are equipped with protective housing (207), drive mobile jib (201) and first motor (205) including first mounting panel (206) that are connected with telescopic running gear (1) on first mounting panel (206), and the one end of drive mobile jib (201) rotates with telescopic running gear (1) to be connected, and the other end stretches out protective housing (207) and is connected with desilting mechanism (3), drive mobile jib (201) are connected with first motor (205) through gear pair (203).
6. The pipe dredging robot of claim 5, wherein: the gear pair (203) is a bevel gear pair, the bevel gear pair is positioned in a protective shell (207), a first electric cylinder (202) is further arranged in the protective shell (207), the movement direction of the first electric cylinder (202) is parallel to the axial direction of the driving main rod (201), and the output end of the first electric cylinder (202) is connected with the dredging mechanism (3); and a sewage draining system is also arranged on the first mounting plate (206).
7. The pipe dredging robot of claim 6, wherein: the sewage system comprises a sewage pump (204) arranged on a first mounting plate (206), a liquid inlet pipe is arranged at the inlet of the sewage pump (204), and a sewage pipe is arranged at the outlet of the sewage pump (204).
8. The pipeline dredging robot as claimed in any one of claims 1-4, 6 and 7, wherein: the telescopic walking mechanism (1) comprises a first fixing plate (102) and a second fixing plate (107), the first fixing plate (102) is hinged with a supporting leg (103) along the circumferential direction, the first fixing plate (102) is provided with a second electric cylinder (104) along the axial direction, the second fixing plate (107) is arranged at the telescopic end of the second electric cylinder (104), the second fixing plate (107) is hinged with a second connecting rod (108) along the circumferential direction, the second connecting rod (108) is hinged with the supporting leg (103), and the tail end of the supporting leg (103) is provided with a walking assembly.
9. The pipe dredging robot of claim 8, wherein: the walking assembly comprises a walking wheel (106) and a second motor (105), the walking wheel (106) is arranged on the supporting leg (103), and the second motor (105) is connected with the walking wheel (106); the first fixing plate (102) is connected with the driving mechanism (2) through a hinge (101).
10. The pipeline dredging robot as claimed in any one of claims 1-4, 6 and 9, wherein: telescopic supporting mechanism (4) include mounting plate (410) that are connected with desilting mechanism (3), mounting plate (410) are connected with mounting panel I (401) through link (402), be equipped with third electric jar (406) on mounting panel I (401), third electric jar (406) articulate along circumference has supporting leg (403), the flexible end of third electric jar (406) is equipped with second mounting panel (411), second mounting panel (411) articulate along circumference has third connecting rod (405), and third connecting rod (405) and supporting leg (403) articulate, be equipped with gyro wheel (404) on supporting leg (403).
11. The pipe dredging robot of claim 10, wherein: the mounting base plate (410) is provided with a gas detector (409) and a liquid level sensor (408), and the second mounting plate (411) is provided with an industrial camera (407).
12. A dredging method of a pipeline dredging robot is characterized in that: the method comprises the following steps:
s1: when the robot is used for dredging, the telescopic walking mechanism (1) and the telescopic supporting mechanism (4) are tightly supported on the inner wall of a pipeline, then a cleaning brush (32) of the dredging mechanism (3) is tightly attached to the inner wall of the pipeline, and a main driving rod (201) of the driving mechanism (2) drives the reducing frame (31) and the cleaning brush (32) to rotate under the driving of the driving mechanism (2), so that the pipeline wall is cleaned;
s2: in the process of cleaning the pipeline, a gas detector (409) arranged on a telescopic supporting mechanism (4) monitors gas in the pipeline in real time, an industrial camera (407) arranged on the telescopic supporting mechanism (4) collects images in the pipeline in real time, a liquid level sensor (408) arranged on the telescopic supporting mechanism (4) monitors liquid in the pipeline in real time, and when the liquid in the pipeline exceeds a safe value, a sewage system extracts sludge for safe sewage discharge;
s3: when the robot moves forward, the dredging mechanism (3) retracts the cleaning brush (32) tightly attached to the pipe wall, the telescopic walking mechanism (1) and the telescopic supporting mechanism (4) retract the supporting legs tightly supported on the pipe wall, and the robot moves forward or backward under the driving of the driving device;
s5: when the robot turns, the rotation speed of the driving device is adjusted to drive the telescopic walking mechanism (1) to turn, so that the whole robot turns.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010900213.5A CN112064777A (en) | 2020-08-31 | 2020-08-31 | Pipeline dredging robot and dredging method thereof |
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| CN202010900213.5A CN112064777A (en) | 2020-08-31 | 2020-08-31 | Pipeline dredging robot and dredging method thereof |
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| CN112815177A (en) * | 2021-01-13 | 2021-05-18 | 北京理工大学 | Robot structure capable of adapting to complex pipeline |
| CN113047415A (en) * | 2021-03-31 | 2021-06-29 | 郑州科技学院 | Intelligent robot for detecting and cleaning pipeline |
| CN113369252A (en) * | 2021-06-09 | 2021-09-10 | 安徽信息工程学院 | Pipeline cleaning robot |
| CN113482138A (en) * | 2021-07-16 | 2021-10-08 | 华能巢湖发电有限责任公司 | Floating ash treatment mechanism in drainage pipeline |
| CN113634561A (en) * | 2021-08-17 | 2021-11-12 | 广州城市理工学院 | Underground pipeline detection and cleaning device and using method thereof |
| CN114016601A (en) * | 2022-01-06 | 2022-02-08 | 河北粤海水务集团有限公司 | Robot convenient for pipeline operation and application thereof in underground drainage pipeline operation |
| CN117868294A (en) * | 2024-03-11 | 2024-04-12 | 甘肃江源建设工程有限公司 | Municipal water conservancy pipe network anti-clogging system |
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