CN113062442A - Intelligent dredging robot for urban sewage pipe gallery - Google Patents
Intelligent dredging robot for urban sewage pipe gallery Download PDFInfo
- Publication number
- CN113062442A CN113062442A CN202110361705.6A CN202110361705A CN113062442A CN 113062442 A CN113062442 A CN 113062442A CN 202110361705 A CN202110361705 A CN 202110361705A CN 113062442 A CN113062442 A CN 113062442A
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- loader body
- pipe gallery
- sewage pipe
- loader
- robot
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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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The utility model provides a city blowdown piping lane intelligence desilting robot, relate to the robotechnology field, including the loader body, locate the control unit on the loader body, the loader body is equipped with the athey wheel, be equipped with vision sensor and lighting device respectively at the front end of loader body, still be equipped with the scraper bowl at the front end of loader body, the scraper bowl is connected with the loader body through the arm that sets up in loader body both sides, the loader body advances through first actuating mechanism drive athey wheel, and control the scraper bowl through second actuating mechanism drive mechanical arm, vision sensor passes through wire and control unit signal connection, the control unit configuration is controlled first actuating mechanism and second actuating mechanism, and respectively with first actuating mechanism and second actuating mechanism electric connection. The intelligent cleaning system has higher intelligent level, can efficiently clean the sludge in the sewage pipe gallery, can actively avoid when meeting water flow danger, and can master the dynamic state of the robot in real time through remote control.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent dredging robot for an urban sewage pipe gallery.
Background
Underground sewer pipe rack is used for the passageway with sewage exhaust (not being the passageway that is used for setting up a lot of blow off pipes), usually has a lot of silts to deposit in sewer pipe rack's bottom, for keeping sewer pipe rack's unobstructed, needs regularly clearance. At present, the manual cleaning mode is gradually replaced by the robot cleaning mode. However, the existing sewage pipe gallery robot has certain defects, which are mainly embodied as follows:
1. the intelligent degree is not high, and the efficiency of cleaning the sludge is low;
2. when the water flow in the underground sewage pipe gallery is too large, the sewage pipe gallery cannot be actively avoided;
3. lack of remote control function, the operating personnel on the earth's surface cannot master the dynamics of the robot in real time.
Disclosure of Invention
The invention provides an intelligent dredging robot for an urban sewage pipe gallery, aiming at solving the problems in the prior art, and aiming at enabling the improved robot to have higher intelligent level, enabling the robot to actively avoid when meeting water flow danger and mastering the dynamic state of the robot in real time through remote control.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a city blowdown piping lane intelligence desilting robot, includes the loader body, locates the control unit on the loader body, the loader body be equipped with the athey wheel, be equipped with vision sensor and lighting device respectively at the front end of loader body, still be equipped with the scraper bowl at the front end of loader body, the scraper bowl through set up in the arm and this body coupling of loader body both sides, the loader body advance through first actuating mechanism drive athey wheel to control the scraper bowl through second actuating mechanism drive arm, vision sensor pass through wire and the control unit signal connection, the control unit configure to control first actuating mechanism and second actuating mechanism to respectively with first actuating mechanism and second actuating mechanism electric connection.
Preferably, the front end, the outer surfaces of the two side walls and the rear end of the loader body are respectively provided with an ultrasonic distance sensor, and the ultrasonic distance sensors are in signal connection with the control unit through leads.
Preferably, the rear end lower part of loader body be equipped with dodge the structure, dodge the structure and use with athey wheel, arm, scraper bowl cooperation to when mutually supporting, through the mode that backs, the arm control scraper bowl supports along the arc inner wall climbing of blowdown piping lane.
Preferably, dodge the structure for the chamfer structure, when the loader body retreats the climbing on to the arc inner wall of blowdown piping lane, the chamfer structure avoid touching mutually with the arc inner wall, under the support of mechanical arm and scraper bowl, the loader body be fixed in blowdown piping lane's inner chamber one side.
Preferably, a cross beam is connected between the front ends of the mechanical arms on the two sides of the loader body, a mounting seat is arranged in the middle of the upper end of the cross beam, and a vision sensor is fixedly mounted on the mounting seat.
Preferably, the lighting device comprises a first lighting lamp arranged at the upper part of the front end of the loader body and a second lighting lamp arranged at the rear end of the mounting seat and positioned above the vision sensor.
Preferably, a water level sensor is further arranged on the lower portion of the side wall of the loader body, and the water level sensor is in signal connection with the control unit through a lead.
Preferably, a wireless transmission module is arranged in the control unit and is in wireless connection with a robot control center on the ground surface through the wireless transmission module.
Preferably, the upper parts of the rear ends of the two side walls of the loader body are also provided with balancing weights.
The intelligent dredging robot for the urban sewage pipe gallery has the following beneficial effects:
1. the intelligent underground sewage pipe gallery cleaning device has higher intelligence, the underground sewage pipe gallery is automatically cleaned through the control unit, and the scraper bucket and the scraper box are matched for use during cleaning, so that the efficiency of cleaning the sludge of the sewage pipe gallery can be obviously improved;
2. when larger water flow occurs in the sewage pipe gallery, the water flow can be avoided in a retreating, climbing and avoiding mode, so that the pipe gallery is prevented from being blocked, and meanwhile, the safety of the robot is also protected;
3. the mud scraping device and the mechanical arm are arranged, so that the robot can walk across obstacles, and when the crawler wheel breaks down, the robot can walk out of the sewage pipe gallery in a walking mode;
4. the invention is also connected with the robot control center through the wireless transmission module, and the earth surface staff can master the dynamics of the robot in real time.
Drawings
FIG. 1: the side view structure of embodiment 1 of the invention is schematically shown;
FIG. 2: a schematic view of a top view structure (omitting a balancing weight) of embodiment 1 of the present invention;
FIG. 3: the schematic diagram of avoiding water flow in the sewage pipe gallery in the embodiment 1 of the invention;
FIG. 4: the side view structure of embodiment 2 of the invention is schematically shown;
FIG. 5: embodiment 2 of the invention side view structure schematic diagram under the working condition;
FIG. 6: in embodiment 2 of the invention, the position of the mud scraping device is schematically shown when water flow is avoided in the sewage pipe gallery;
FIG. 7: the invention discloses a schematic plan view of the position relationship between a double-shaft motor and a loader body;
FIG. 8: a rear view of the inventive scraper box;
01: blowdown piping lane, 02: the bottom of the pipe gallery; 1: loader body, 2: avoidance structure, 3: balancing weight, 4: control unit, 5: mechanical arm, 6: visual sensor, 7: second illumination lamp, 8: first illumination lamp, 9: ultrasonic distance sensor, 10: mount pad, 11: cross member, 12: water level sensor, 13: first hydraulic cylinder, 14: output shaft of two-shaft motor, 15: doctor blade case, 16: second hydraulic cylinder, 17: board, 18: lower end opening of doctor blade case, 19: a two-shaft motor.
Detailed Description
In the following, embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, the present invention is not to be construed as being limited thereto.
Examples 1,
An intelligent dredging robot for an urban sewage pipe gallery, as shown in figures 1 and 2, comprises a loader body 1 and a control unit arranged on the loader body, wherein the loader body 1 is provided with crawler wheels, a visual sensor 6 and an illuminating device are respectively arranged at the front end of the loader body 1, a bucket is also arranged at the front end of the loader body 1, the bucket is connected with the loader body 1 through mechanical arms 5 arranged on two sides of the loader body, the loader body 1 drives the crawler wheels to move through a first driving mechanism, and the second driving mechanism drives the mechanical arm 5 to control the bucket, the visual sensor 6 is in signal connection with the control unit 4 through a lead, the control unit 4 is configured to control the first driving mechanism and the second driving mechanism, and is electrically connected with the first driving mechanism and the second driving mechanism respectively; the loader is the prior art, the structure of the mechanical arm of the loader and how to control the loader through the first driving mechanism and the second driving mechanism are known and are not described in detail; the vision sensor 6 can transmit a vision signal to the control unit 4, and the sludge to be cleaned is identified through comparison of stored images preset in the control unit 4; the lighting device is used for lighting the inside of the sewage pipe gallery 01 and assisting the recognition function of the vision sensor 6;
as shown in fig. 1 and 2, the front end, the outer surfaces of the two side walls and the rear end of the loader body 1 are respectively provided with an ultrasonic distance sensor 9, and the ultrasonic distance sensors 9 are in signal connection with the control unit 4 through wires; the distance of the obstacle can be sensed by the ultrasonic distance sensor 9, and after a distance signal is received, the control unit 4 controls the loader to move in the sewage pipe gallery and perform sewage discharge;
as shown in fig. 1 and 3, an avoiding structure 2 is arranged at the lower part of the rear end of the loader body 1, and the avoiding structure 2 is matched with a track wheel, a mechanical arm 5 and a bucket for use, and when the avoiding structure 2 is matched with the track wheel, the mechanical arm 5 and the bucket, the bucket climbs along the arc-shaped inner wall of the sewage pipe gallery 01 in a mode of reversing and controlling the bucket to support; when the loader body 1 needs to avoid, the loader body 1 backs up towards the side wall of the sewage pipe gallery 01, climbs towards the surface of the inner wall of the sewage pipe gallery 01 under the support of the mechanical arm 5 and the bucket, and the loader body 1 can avoid to one side in the sewage pipe gallery 01 through climbing to a certain degree;
as shown in fig. 1 and 3, the avoiding structure 2 is a chamfering structure, when the loader body 1 retreats and climbs towards the arc-shaped inner wall of the sewage pipe gallery 01, the chamfering structure avoids touching the arc-shaped inner wall, and the loader body 1 is fixed at one side of the inner cavity of the sewage pipe gallery 01 under the support of the mechanical arm 5 and the bucket; when the danger of water flow is met, the loader body avoids blocking of the sewage pipe gallery and can also avoid damage to the loader;
as shown in fig. 2, a cross beam 11 is connected between the front ends of the mechanical arms 5 at both sides of the loader body, a mounting seat 10 is arranged in the middle of the upper end of the cross beam 11, and a vision sensor 6 is fixedly mounted on the mounting seat 10; the visual sensor 6 transmits a sludge signal ahead to the control unit; meanwhile, when the sludge is loaded and unloaded through the bucket, the visual sensor can identify the site and the device for loading and unloading the sludge;
as shown in fig. 1 and 2, the lighting device comprises a first lighting lamp 8 arranged at the upper part of the front end of the loader body 1, and a second lighting lamp 7 arranged at the rear end of the mounting seat and positioned above the vision sensor 6; the second illuminating lamp 7 is matched with a detection point of the visual sensor 6, so that the sensitivity of the visual sensor 6 is improved, the first illuminating lamp 8 can illuminate the internal environment of the sewage pipe gallery, the loader body can conveniently move, and the state of the loader body can be remotely monitored (see the following content);
as shown in fig. 1, a water level sensor 12 is further arranged at the lower part of the side wall of the loader body 1, and the water level sensor 12 is in signal connection with the control unit 4 through a lead; when the water level sensor 12 detects that the water flow reaches the warning water level, a signal is sent to the control unit 4, and the control unit 4 controls the loader body 1 to retreat, climb and avoid danger;
a wireless transmission module (not shown in the figure) is arranged in the control unit 4 and is wirelessly connected with a robot control center on the ground surface through the wireless transmission module; the robot control center can control the state of the robot in real time through the received visual signals and distance signals;
as shown in fig. 1, the loader body 1 is further provided with a counterweight 3 at the upper portions of the rear ends of the two side walls.
Examples 2,
On the basis of embodiment 1, the present embodiment is further improved, specifically:
as shown in fig. 4-8, the rear side of the loader body 1 is further provided with a mud scraping device, the mud scraping device includes a dual-shaft motor 19 disposed in the loader body 1 along the left-right direction, the output shaft of the dual-shaft motor 19 is rotatably connected to the side wall of the loader body through a bearing, the end portions of 2 output shafts are respectively and fixedly connected with a first hydraulic cylinder 13, 2 first hydraulic cylinders 13 are inclined towards the rear lower side at the same angle, and a scraper box 15 is fixedly connected to the end portion of the piston rod of the first hydraulic cylinder, the scraper box 15 is vertically connected, the front edge of the lower end opening 18 of the scraper box is configured as a structure matched with the bottom of the inner wall of the sewage pipe gallery (if the bottom of the inner wall is arc-shaped, the front edge is configured as an arc-shaped), an insertion plate 17 is inserted into the scraper box in a sliding manner, second hydraulic cylinders 16 are further disposed on the two sides of the scraper box 15, the end portion of the piston rod of, when the piston rod is extended, the insert plate 17 is pulled out from the interior of the scraper box, and when the piston rod is shortened, the insert plate 17 slides into the scraper box 15, and the control unit is configured to control the scraper.
In this embodiment, can play following several effect through setting up mud scraping device: A. when the robot pushes the sludge out of the sewage pipe gallery through the bucket, the double-shaft motor can be started simultaneously, the scraper box 15 is put down, the first hydraulic cylinder 13 and the second hydraulic cylinder 16 are extended simultaneously, as shown in fig. 5, the bucket shovels out the sludge on the inner surface of the sewage pipe gallery, the sludge scraping device scrapes the sludge left on the inner wall surface of the sewage pipe gallery behind the robot, when the sludge is sent out by the bucket, the robot returns backwards, and after returning, the sludge scraped by the scraper box is shoveled away again, so that the scraper box and the bucket are matched for use, and the effect of quickly cleaning the sludge is achieved; B. as shown in fig. 6, when the robot needs to make a refuge and avoid a risk like fig. 3, the scraper box can be carried at the back shoulder of the robot through the double-shaft motor, so that the refuge and avoid a risk can be smoothly performed; C. owing to set up the mud scraping device to make the robot possess the walking function, specifically embodied, accessible scraper bowl, scraper box prop ground simultaneously, and the mode of the angle of adjusting the length of first pneumatic cylinder and arm 5 lifts up loader body 1 and moves forward or backward, thereby has realized strideing across and has kept away the barrier, when the athey wheel broke down, the robot can rely on the mode of walking to walk out from the blowdown piping lane.
It should be noted that the control unit controls the mud scraping device in the following form: the control unit is respectively electrically connected with the driving mechanism of the first hydraulic cylinder, the driving mechanism of the second hydraulic cylinder and the double-shaft motor, so that the mud scraping device is controlled. The driving mechanism of the first hydraulic cylinder and the driving mechanism of the second hydraulic cylinder are hydraulic stations arranged in the loader body. As a common configuration, the loader body should be provided with necessary existing equipment such as a power supply, which is not described herein and is not described to the greatest extent, and the problem is solved by the content recorded in the prior art.
Claims (10)
1. The utility model provides a city sewage pipe gallery intelligence desilting robot, characterized in that: the loader body is provided with crawler wheels, the front end of the loader body is provided with a visual sensor and an illuminating device respectively, the front end of the loader body is also provided with a bucket, the bucket is connected with the loader body through mechanical arms arranged at two sides of the loader body, the loader body drives the crawler wheels to advance through a first driving mechanism and controls the bucket through a second driving mechanism, the visual sensor is connected with the control unit through a lead and is configured to control the first driving mechanism and the second driving mechanism and is electrically connected with the first driving mechanism and the second driving mechanism respectively.
2. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, characterized in that: the loader is characterized in that ultrasonic distance sensors are arranged at the front end, the outer surfaces of the two side walls and the rear end of the loader body and are in signal connection with the control unit through leads.
3. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1 or 2, characterized in that: the loader body rear end lower part be equipped with dodge the structure, dodge the structure and use with athey wheel, arm, scraper bowl cooperation to when mutually supporting, through the mode that backs, the arm control scraper bowl supports along the arc inner wall climbing of blowdown piping lane.
4. The intelligent dredging robot for the urban sewage pipe gallery according to claim 3, characterized in that: dodge the structure for the chamfer structure, when the loader body retreats the climbing on to the arc inner wall of blowdown piping lane, the chamfer structure avoid touching mutually with the arc inner wall, under the support of mechanical arm and scraper bowl, the loader body be fixed in blowdown piping lane's inner chamber one side.
5. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, 2 or 4, characterized in that: the front ends of the mechanical arms on the two sides of the loader body are connected with a cross beam, the middle of the upper end of the cross beam is provided with a mounting seat, and a vision sensor is fixedly mounted on the mounting seat.
6. The intelligent dredging robot for the urban sewage pipe gallery according to claim 5, characterized in that: the lighting device comprises a first lighting lamp arranged on the upper portion of the front end of the loader body and a second lighting lamp arranged at the rear end of the mounting seat and positioned above the vision sensor.
7. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, 2, 4 or 6, characterized in that: the lower part of the side wall of the loader body is also provided with a water level sensor, and the water level sensor is in signal connection with the control unit through a lead.
8. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, 2, 4 or 6, characterized in that: and the control unit is internally provided with a wireless transmission module and is in wireless connection with a robot control center on the earth surface through the wireless transmission module.
9. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, 2, 4 or 6, characterized in that: the upper parts of the rear ends of the two side walls of the loader body are also provided with balancing weights.
10. The intelligent dredging robot for the urban sewage pipe gallery according to claim 1, 2, 4 or 6, characterized in that: the rear side of loader body still be equipped with the mud scraping device, the mud scraping device include along the left right direction set up in the internal biaxial motor of loader, the output shaft of biaxial motor pass through the rotatable lateral wall that link up the loader body of bearing to at the tip of 2 output shafts respectively fixedly connected with first pneumatic cylinders, 2 first pneumatic cylinders with the same angle to the below slope of back, and at the piston rod tip fixedly connected with scraper box of first pneumatic cylinder, scraper box link up from top to bottom, and the lower extreme open-ended leading edge of scraper box establishes to the structure that uses with the inner wall bottom cooperation of blowdown piping lane, scraper box in slip grafting have the picture peg, still be equipped with the second pneumatic cylinder in scraper box's both sides, the piston rod tip of second pneumatic cylinder be connected with the top of picture peg, when the piston rod extends, the picture peg is extracted from scraper box internal portion, when the piston rod is shortened, the inserting plate slides into the scraper box, and the control unit is configured to control the mud scraping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110361705.6A CN113062442B (en) | 2021-04-02 | 2021-04-02 | Intelligent dredging robot for urban sewage pipe gallery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110361705.6A CN113062442B (en) | 2021-04-02 | 2021-04-02 | Intelligent dredging robot for urban sewage pipe gallery |
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| Publication Number | Publication Date |
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| CN113062442A true CN113062442A (en) | 2021-07-02 |
| CN113062442B CN113062442B (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB597344A (en) * | 1945-07-30 | 1948-01-23 | Robey & Co Ltd | Improvements in or connected with trench excavators |
| CN104815827A (en) * | 2015-04-13 | 2015-08-05 | 长沙智汛通环保科技有限公司 | Drainage pipe network dredging robot and dredging method thereof |
| CN105436160A (en) * | 2016-01-16 | 2016-03-30 | 漳州市锦成电力设备有限公司 | Robot system capable of cleaning urban duct rubbish |
| CN206448355U (en) * | 2016-11-04 | 2017-08-29 | 长沙伟诺机电有限公司 | A kind of municipal pipeline desilting dredger and municipal pipeline desilting dredging vehicle |
| CN109577402A (en) * | 2018-11-30 | 2019-04-05 | 中船重工中南装备有限责任公司 | Crawler body front end, which swings, twists suction dredging robot |
| CN212715093U (en) * | 2020-05-12 | 2021-03-16 | 东莞电建水环境治理技术有限公司 | Urban river dredging device |
-
2021
- 2021-04-02 CN CN202110361705.6A patent/CN113062442B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB597344A (en) * | 1945-07-30 | 1948-01-23 | Robey & Co Ltd | Improvements in or connected with trench excavators |
| CN104815827A (en) * | 2015-04-13 | 2015-08-05 | 长沙智汛通环保科技有限公司 | Drainage pipe network dredging robot and dredging method thereof |
| CN105436160A (en) * | 2016-01-16 | 2016-03-30 | 漳州市锦成电力设备有限公司 | Robot system capable of cleaning urban duct rubbish |
| CN206448355U (en) * | 2016-11-04 | 2017-08-29 | 长沙伟诺机电有限公司 | A kind of municipal pipeline desilting dredger and municipal pipeline desilting dredging vehicle |
| CN109577402A (en) * | 2018-11-30 | 2019-04-05 | 中船重工中南装备有限责任公司 | Crawler body front end, which swings, twists suction dredging robot |
| CN212715093U (en) * | 2020-05-12 | 2021-03-16 | 东莞电建水环境治理技术有限公司 | Urban river dredging device |
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| CN113062442B (en) | 2022-11-15 |
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