CN114622644A - Snakelike pipeline dredging robot - Google Patents
Snakelike pipeline dredging robot Download PDFInfo
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- CN114622644A CN114622644A CN202210203020.3A CN202210203020A CN114622644A CN 114622644 A CN114622644 A CN 114622644A CN 202210203020 A CN202210203020 A CN 202210203020A CN 114622644 A CN114622644 A CN 114622644A
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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
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Abstract
The invention relates to a snakelike pipeline dredging robot. The invention relates to a snake-shaped pipeline dredging robot which comprises a snake head, a body unit, a snake tail, an image identification unit and a control unit, wherein the snake head is connected with the body unit; the snake head comprises a crushing mechanism which can crush the pipeline blockage; the two ends of the body unit are respectively connected with the snake head and the snake tail; the image recognition unit is arranged at the snake head; the control unit set up in the snake afterbody, the control unit can control crushing mechanism with the motion of trunk unit. The snakelike pipeline dredging robot can be applied to pipeline dredging and can better replace manual work to conduct pipeline dredging.
Description
Technical Field
The invention relates to the field of robots, in particular to a snake-shaped pipeline dredging robot.
Background
Drainage pipelines are used as infrastructure construction in daily life and become an essential part of daily production life, but with the acceleration of life rhythm, the problem of pipeline blockage becomes a difficult problem of urban construction.
The most of the existing pipeline dredging processes are manual cleaning, sometimes, grooves need to be dug for cleaning, and the process is complex and time-consuming.
The cleaning of the high-pressure water gun has the defects that the large objects blocking the pipeline cannot be broken, and the water gun is difficult to extend into the pipeline with special depth and has the limitation of definite position.
The pipeline dredging robot is one of special robots, has the characteristics of unique functions and great market development potential, and is a research and development hotspot of robots in the world. Domestic current pipeline mediation robot is mostly wheeled and tracked robot, and this kind of robot is when the operation in the pipeline, if appear turning on one's side, the card is dead, drive power scheduling problem not enough, can directly lead to the robot can't continue work, retrieves also relatively troublesome moreover.
Disclosure of Invention
Based on the above, the invention aims to provide a snakelike pipeline dredging robot which can be applied to pipeline dredging and can better replace manpower to conduct pipeline dredging.
A snake-shaped pipeline dredging robot comprises a snake head, a body unit, a snake tail, an image recognition unit and a control unit; the snake head comprises a crushing mechanism which can crush pipeline blockage; the two ends of the body unit are respectively connected with the snake head and the snake tail; the image recognition unit is arranged at the snake head part; the control unit set up in the snake afterbody, the control unit can control crushing mechanism with the motion of trunk unit.
The snake-shaped robot is one of the bionic robot fields, has the advantages of multi-step motion capability and capability of adapting to complex and changeable environments, and can replace human beings to complete some tasks in some environments in which the human beings cannot normally move. According to the snakelike pipeline dredging robot, the image recognition unit is used for recognizing the blocking condition of a pipeline, the control unit is used for controlling the crushing mechanism of the snake head to perform crushing work, and the control unit is used for driving the trunk unit to creep so that the snakelike pipeline dredging robot moves in the pipeline; the snake-shaped pipeline dredging robot can be applied to pipeline dredging, can adapt to complex and variable pipeline environments, and can better replace manpower to conduct pipeline dredging work.
Furthermore, the crushing mechanism comprises a first bearing frame, a first motor, a connecting rod, a crushing drill bit, a driving bevel gear, a plurality of driven bevel gears, a plurality of cutting discs and two snake head connecting pieces; one end of the first bearing frame is provided with an accommodating cavity and a plurality of brackets positioned on the periphery of the accommodating cavity; the first motor is fixedly connected with the first bearing frame through the accommodating cavity, and an output shaft of the first motor faces the advancing direction of the snake head; one end of the connecting rod is fixedly connected with an output shaft of the first motor; the crushing drill bit is fixedly connected with the other end of the connecting rod; the driving bevel gear is sleeved and fixed on the connecting rod; the plurality of driven bevel gears are respectively connected with the plurality of brackets of the first bearing plate, and the plurality of driven bevel gears are respectively meshed with the driving bevel gears; the plurality of cutting discs are respectively arranged on the plurality of driven bevel gears and can rotate along with the rotation of the driven bevel gears; one end of each of the two snake-head connecting pieces is fixedly connected with two sides of the other end of the first bearing frame respectively, and the other end of each of the two snake-head connecting pieces is connected with one end of the trunk unit respectively.
When the first motor is driven, the crushing drill bit connected with the connecting rod and the driving gear are driven to rotate at high speed simultaneously; the driving bevel gears drive the driven bevel gears to rotate at a high speed, so that the cutting discs and the crushing drill bits are driven to rotate at a high speed simultaneously to perform crushing work.
Furthermore, the crushing mechanism further comprises a high-pressure water gun carrier, wherein the high-pressure water gun carrier is in an inverted U shape and comprises a carrying part provided with a high-pressure water gun carrying hole and two carrier connecting parts arranged on two sides of the carrying part; the carrying part is arranged above the first carrying frame, and the direction of the carrying hole of the high-pressure water gun faces the advancing direction of the snake head; the two carrier connecting parts are fixedly connected to the outer sides of the two first connecting parts respectively. Through the high-pressure squirt carrier loads the high-pressure squirt for the snakelike pipeline mediation robot of the high-pressure squirt who carries on can make in the pipeline plug or follow rivers outflow pipeline through broken plug with the help of the high-pressure squirt.
Further, the torso unit includes at least one torso body; each of the torso bodies includes a drive mechanism; the driving mechanism comprises a first fixing piece, a first double output shaft stepping motor, a first connecting piece, a second fixing piece, a second double output shaft stepping motor, a third connecting piece and a fourth connecting piece; the first fixing piece is T-shaped and comprises a first fixing plate and a second fixing plate vertically connected with the middle part of the first fixing plate; the first double-output-shaft stepping motor penetrates through and is fixed on the second fixing plate, so that two output shafts of the first double-output-shaft stepping motor respectively face to the upper direction and the lower direction relative to the advancing direction; one end of the first connecting piece and one end of the second connecting piece are respectively connected with an upper output shaft and a lower output shaft of the first double-output-shaft stepping motor; the second fixing piece is T-shaped and comprises a third fixing plate and a fourth fixing plate vertically connected with the middle of the third fixing plate; the upper end and the lower end of the third fixing plate are respectively connected with the other ends of the first connecting piece and the second connecting piece; the fourth fixing plate and the second fixing plate are arranged orthogonally relative to each other; the second double output shaft stepping motor penetrates into and is fixed on the fourth fixing plate; two output shafts of the second double output shaft stepping motor respectively face to the left direction and the right direction relative to the advancing direction; one end of the third connecting piece and one end of the fourth connecting piece are respectively connected with the left output shaft and the right output shaft of the second double output shaft stepping motor; the other ends of the third connecting piece and the fourth connecting piece are respectively connected with the left end and the right end of the first fixing plate of the first fixing piece of the next adjacent trunk body or connected with the snake tail part; the left end and the right end of the first fixing plate of the first fixing piece are respectively connected with the other end of the third connecting piece and the other end of the fourth connecting piece of the upper adjacent trunk body or connected with the snake head.
When the first double-output-shaft stepping motor works, the two output shafts of the first double-output-shaft stepping motor which face up and down rotate, so that the first connecting piece and the second connecting piece are driven to rotate at one degree of freedom; when the second double output shaft stepping motor works, the two output shafts of the second double output shaft stepping motor which face left and right rotate, so that the third connecting piece and the fourth connecting piece are driven to rotate at one degree of freedom; the second fixing plate and the fourth fixing plate are arranged in a relatively orthogonal mode, so that the first double-output-shaft stepping motor and the second double-output-shaft stepping motor are arranged in a relatively orthogonal mode; therefore, each body can realize the rotation of two degrees of freedom, and the plurality of body bodies are mutually matched to realize the movement of the snake-shaped pipeline dredging robot.
Furthermore, the outer surfaces of the first connecting piece and the second connecting piece are provided with corrugated grains. First connecting piece and second connecting piece can be regarded as the skeleton of the trunk body, the surface of first connecting piece, second connecting piece can respectively with the interior last inner wall of pipeline with lower inner wall contact, first pair play axle step motor during operation can drive first connecting piece and second connecting piece bilateral rotation simultaneously, all be equipped with the corrugate line at the surface of first connecting piece and second connecting piece, the corrugate line can increase the surface of first connecting piece and second connecting piece and the tangential friction of pipeline, and increase tangential friction can make snakelike pipeline mediation robot's wriggling is more nimble.
Furthermore, the second connecting piece is U-shaped and comprises a second connecting piece connecting part and two side walls positioned on two sides of the second connecting piece connecting part; two ends of the connecting part of the second connecting piece are respectively connected with the first double-output-shaft stepping motor and the third fixing plate;
the trunk body further comprises a driven mechanism; the driven mechanism comprises two driven wheel connecting pieces, two driven wheels and a damping spring; the two driven wheel connecting pieces are L-shaped and comprise a first driven wheel connecting part and a second driven wheel connecting part perpendicular to the first driven wheel connecting part; the two first driven wheel connecting parts of the two driven wheel connecting pieces are respectively attached to the inner sides of the two side walls of the second connecting piece, and the two second driven wheel connecting parts of the two driven wheel connecting pieces face the outer sides of the two side walls of the second connecting piece; the two driven wheels are respectively connected with two second driven wheel connecting parts of the two driven wheel connecting pieces; the two ends of the damping spring are respectively abutted to the first driven wheel connecting parts of the driven wheel connecting pieces.
The driven wheels are respectively arranged on two sides of the second connecting piece, so that the driven wheels can play a supporting role and maintain the balance of the snake-shaped pipeline dredging robot; the redundant friction force can be reduced when the snake-shaped pipeline dredging robot moves, so that the snake-shaped pipeline dredging robot moves faster; in addition, through the arrangement of the damping spring, the snake-shaped pipeline dredging robot can be inwards extruded from a driving wheel when the pipeline is narrow, the occupied size of a driven mechanism is reduced, and the flexibility of the snake-shaped pipeline dredging robot in the movement of a narrow pipeline is increased.
Furthermore, the trunk body also comprises a magnetic attraction mechanism; the magnetic attraction mechanism comprises a plurality of magnets and a plurality of blocking pieces; the magnets are embedded in the outer side of the third connecting piece, the outer side of the fourth connecting piece and/or the first fixing plate respectively; the separation blade is used for fixing the magnet. The outer side of the third connecting piece, the outer side of the fourth connecting piece and/or the first fixing plate are/is provided with a plurality of magnets which are fixed through the blocking pieces, and when the snake-shaped pipeline dredging robot works in the pipeline, residual metal in the pipeline can be adsorbed by the magnets while the pipeline is dredged, so that the purpose of metal recovery is achieved.
Furthermore, the snake tail part comprises a snake tail connecting piece and a snake tail shell, one end of the snake tail connecting piece is connected with one end of the trunk unit, and the snake tail shell is connected with the other end of the snake tail connecting piece.
Further, the image recognition unit comprises a detection lamp, a detection camera and a transparent baffle; the detection lamp and the detection camera are arranged on the first bearing frame; the detection lamp is used for lighting, and the camera is used for uploading images to the control system in real time; the transparent baffle is used for enclosing and blocking the detection lamp and the camera.
Further, the control unit comprises a gyroscope, a main control board, a motor driving board, a WIFI module and a built-in power supply, wherein the gyroscope, the main control board, the motor driving board, the WIFI module and the built-in power supply are arranged in the snake tail shell; the gyroscope is used for acquiring the motion attitude of the snakelike pipeline dredging robot; the main control board is used for processing the data acquired by the image recognition unit and the gyroscope; the motor driving board is used for driving the first double output shaft stepping motor, the second double output shaft stepping motor and the first motor; the WIFI module is used for transmitting the data processed by the main control board to an external control end; the built-in power supply is used for supplying power for the main control board and the motor driving board.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a serpentine pipeline dredging robot in embodiment 1 of the present invention;
FIG. 2 is a schematic view of the snake head of FIG. 1;
FIG. 3 is an exploded view of the structure of FIG. 2;
FIG. 4 is a schematic structural view of the first receiving rack in FIG. 2;
FIG. 5 is a schematic view of the torso body of FIG. 1;
FIG. 6 is an exploded view of the structure of FIG. 5;
FIG. 7 is a schematic view of the first and second fastening members of FIG. 6;
FIG. 8 is a schematic structural view of the second connector of FIG. 6;
FIG. 9 is a schematic structural view of the snake tail of FIG. 1;
FIG. 10 is a schematic structural view of the snake tail housing of FIG. 9;
fig. 11 is a schematic structural diagram of the image recognition unit in fig. 1.
Detailed Description
Example 1
Referring to fig. 1 and 2, a snake-shaped pipeline dredging robot comprises a snake head 1, a body unit 2, a snake tail 3, an image recognition unit 4 and a control unit (not shown); the snake head part 1 comprises a crushing mechanism 11, and the crushing mechanism 11 can crush pipeline blockage; the two ends of the trunk unit 2 are respectively connected with the snake head part 1 and the snake tail part 3; the image recognition unit 4 is arranged on the snake head 1; the control unit is arranged at the tail 3 of the snake and can control the movement of the crushing mechanism 11 and the trunk unit 2.
According to the snake-shaped pipeline dredging robot, the image recognition unit 4 recognizes the blocking condition of a pipeline, the control unit controls the crushing mechanism 11 of the snake head 1 to perform crushing work, and the control unit controls the driving body unit 2 to creep so that the snake-shaped pipeline dredging robot moves in the pipeline; the snake-shaped pipeline dredging robot can be applied to pipeline dredging, can adapt to complex and variable pipeline environments, and better replaces the manual work to conduct pipeline dredging work.
Referring to fig. 2-4, the crushing mechanism 11 includes a first receiving frame 111, a first motor 112, a connecting rod 113, a crushing bit 114, a driving bevel gear 115, a plurality of driven bevel gears 116, a plurality of cutting discs 117, and two snake head connectors 118; referring to fig. 4, one end of the first receiving frame 111 is provided with a receiving cavity 1111 and a plurality of brackets 1112 located at the periphery of the receiving cavity; the first motor 112 is fixedly connected with the first bearing frame 111 through the accommodating cavity 1111, and an output shaft of the first motor 112 faces the advancing direction of the snake head; one end of the connecting rod 113 is fixedly connected with an output shaft of the first motor 112; the crushing drill bit 4 is fixedly connected with the other end of the connecting rod 113; the driving bevel gear 115 is sleeved and fixed on the connecting rod 113; a plurality of driven bevel gears 116 are respectively connected with a plurality of brackets 1112 of the first bearing plate 111, and a plurality of driven bevel gears 116 are respectively engaged with the driving bevel gear 115; a plurality of cutting discs 117 are respectively arranged on the plurality of driven bevel gears 116 and rotate along with the rotation of the driven bevel gears 116; one ends of the two snake-head connecting pieces 118 are fixedly connected to both sides of the other end of the first receiving frame 111, respectively, and the other ends of the two snake-head connecting pieces 118 are connected to one end of the trunk unit 2, respectively.
When the first motor 112 is driven, the crushing drill 114 and the driving bevel gear 115 connected with the connecting rod 113 are driven to rotate at the same time, and the driving bevel gear 115 drives the plurality of driven bevel gears 116 to rotate, so that the plurality of cutting discs 117 and the crushing drill 114 are driven to rotate at high speed at the same time to perform crushing work.
In this embodiment, there are 4 brackets 1112, driven bevel gears 116, and cutting discs 117, respectively, which can perform cutting operations in multiple directions, and are more advantageous for dredging pipes.
Referring to fig. 2 and 3, the crushing mechanism 11 further includes a high-pressure water gun carrier 119, the high-pressure water gun carrier is in an inverted U shape, and includes a carrying portion 1191 having a high-pressure water gun carrying hole and two carrier connecting portions 1192 disposed at two sides of the carrying portion; the carrying part 1191 is arranged above the first receiving frame 111, and the direction of the high-pressure water gun carrying hole faces the advancing direction of the snake head; the two carrier connection portions 1192 are respectively fixed to the outer sides of the two first connection members 118. Load the high-pressure squirt through high-pressure squirt carrier 119 for the snakelike pipeline mediation robot that has carried on the high-pressure squirt can make in the pipeline plug or follow rivers outflow pipeline through broken plug with the help of the high-pressure squirt.
Referring to fig. 1, 5-7, the torso unit 2 includes at least one torso body 20, each torso body 20 includes a driving mechanism 21, and the driving mechanism 21 includes a first fixing member 211, a first dual-output-axis stepping motor 212, a first connecting member 213, a second connecting member 214, a second fixing member 215, a second dual-output-axis stepping motor 216, a third connecting member 217, and a fourth connecting member 218; referring to fig. 7, the first fixing member 211 is T-shaped, and includes a first fixing plate 2111 and a second fixing plate 2112 vertically connected to a middle portion of the first fixing plate 2111; the first double-output-shaft stepping motor 212 penetrates through and is fixed to the second fixing plate 2112, so that two output shafts of the first double-output-shaft stepping motor 212 respectively face to the upper direction and the lower direction relative to the advancing direction; one end of the first connecting piece 213 and one end of the second connecting piece 214 are respectively connected with the upper output shaft and the lower output shaft of the first double output shaft stepping motor 212; referring to fig. 7, the second fixing member 215 is T-shaped, and the second fixing member 215 includes a third fixing plate 2151 and a fourth fixing plate 2152 vertically connected to a middle portion of the third fixing plate 2151; both ends of the third fixing plate 2151 are connected to the other ends of the first and second connecting members 213 and 214, respectively; the fourth fixing plate 2152 is disposed orthogonally to the second fixing plate 2112; the second double output shaft stepping motor 216 penetrates into and is fixed to the fourth fixing plate 2152, so that two output shafts of the second double output shaft stepping motor 216 face to the left and right directions relative to the advancing direction respectively; one end of the third connecting piece 217 and one end of the fourth connecting piece 218 are respectively connected with the left output shaft and the right output shaft of the second double output shaft stepping motor; the other ends of the third connecting piece 217 and the fourth connecting piece 218 are respectively connected with the left end and the right end of the first fixing plate 2111 of the first fixing piece 211 of the next adjacent torso body or connected with the snake tail part 3; the left and right ends of the first fixing plate 2111 of the first fixing member 211 are connected to the other ends of the third connecting member 217 and the fourth connecting member 218 of the upper adjacent torso or the snake head 3, respectively.
In this embodiment, the trunk unit includes 7 trunk bodies, two snake head connecting parts 118 of the snake head 1 are respectively fixedly connected with the left and right ends of the first fixing plate 2111 of the first fixing part 211 of the first trunk body 20, 7 trunk bodies are respectively fixedly connected with the left and right ends of the first fixing plate 2111 of the first fixing part 211 of the next trunk body through the other ends of the third connecting part 217 and the fourth connecting part 218 of the trunk body, and the other ends of the third connecting part 217 and the fourth connecting part 218 of the last trunk body are connected with the snake tail part.
When the first double output shaft stepping motor 212 works, the two output shafts of the first double output shaft stepping motor 212 which face up and down rotate to drive the first connecting piece 213 and the second connecting piece 214 to rotate at a degree of freedom; when the second double output shaft stepping motor 216 works, the two output shafts of the second double output shaft stepping motor 216 which face left and right rotate to drive the third connecting piece 217 and the fourth connecting piece 218 to rotate at a degree of freedom; the second fixing plate 2112 and the fourth fixing plate 2152 are arranged in an opposite orthogonal manner, so that the first double-output-axis stepping motor 212 and the second double-output-axis stepping motor 216 are arranged in an opposite orthogonal manner; therefore, each trunk body 20 can rotate with two degrees of freedom, and the plurality of trunk bodies 20 are matched with each other to realize the movement of the snake-shaped pipeline dredging robot. Specifically, in this embodiment, the first connecting member 213 and the second connecting member are upper and lower frames of the torso body, and the two output shafts of the first double output shaft stepping motor 212 facing up and down rotate, so as to drive the first connecting member 213 and the second connecting member 214 to rotate left and right relative to the forward direction; the third connecting piece 217 and the first connecting piece 218 are left and right frameworks of the trunk body, and two output shafts of the second double output shaft stepping motor 216 facing left and right rotate so as to drive the third connecting piece 217 and the second connecting piece 218 to rotate up and down relative to the advancing direction; the two are matched to realize the rotation of the trunk body at two freedom degrees, so that the snake-shaped pipeline dredging robot can creep in the pipeline.
Referring to fig. 5-6, the outer surfaces of the first connecting member 213 and the second connecting member 214 are provided with corrugated lines. First connecting piece 213 and second connecting piece 214 can be regarded as the skeleton of trunk body, first connecting piece 213, the surface of second connecting piece 214 can be respectively with the interior last inner wall of pipeline with lower inner wall contact, first pair of axle stepper motor work 212 can drive first connecting piece 213 and second connecting piece 214 rotation about simultaneously, all be equipped with the corrugate line at the surface of first connecting piece 213 and second connecting piece 214, the corrugate line can increase the tangential friction of the surface of first connecting piece 213 and second connecting piece 214 and pipeline, and increase tangential friction can make snakelike pipeline mediation robot's wriggle about more nimble.
Referring to fig. 8, the second connecting member 214 is U-shaped, and includes a second connecting member connecting portion 2141 and two sidewalls 2142 located at two sides of the second connecting member connecting portion, and two ends of the second connecting member connecting portion 2141 are connected to the first double-output-shaft stepping motor 212 and the third fixing plate 2151, respectively.
Referring to fig. 5 and 6, the trunk body 20 further includes a driven mechanism 22, and the driven mechanism 22 includes two driven wheel connectors 221, two driven wheels 222, and a damping spring 223; the two driven wheel connecting pieces 221 are L-shaped, and include a first driven wheel connecting portion 2211 and a second driven wheel connecting portion 2212 perpendicular to the first driven wheel connecting portion 2211; the two first driven wheel connecting portions 2211 of the two driven wheel connecting pieces 221 are respectively attached to the inner sides of the two side walls 2142 of the second connecting piece 214, and the two second driven wheel connecting portions 222 of the two driven wheel connecting pieces 221 face the outer sides of the two side walls 2142 of the second connecting piece 214; the two driven wheels 222 are connected to the two second driven wheel connection portions 2212 of the two driven wheel connection members 221, respectively; both ends of the damper spring 223 are respectively abutted against the two first driven wheel connecting portions 2211 of the two driven wheel connecting pieces 221. Driven wheels 222 are respectively arranged on two sides of the second connecting piece 214, so that the support function and the balance of the snake-shaped robot can be realized; the robot can also be made to limit friction force except friction force with the driven forward direction when moving, so that the robot moves faster.
Referring to fig. 5 and 6, the trunk body 20 further includes a magnetic attraction mechanism 23, the magnetic attraction mechanism 23 includes a plurality of magnets 231 and a plurality of blocking pieces 232, the magnets 231 are respectively embedded in the outer side of the third connecting member 216, and/or the outer side of the fourth connecting member 217, and/or the first fixing plate 2111, and the blocking pieces 232 are used for fixing the magnets 231. The magnets 231 are arranged on the outer side of the third connecting piece 216, the outer side of the fourth connecting piece 217 and/or the first fixing plate 218 and are fixed through the blocking pieces 232, so that when the snakelike pipeline dredging robot works in a pipeline, residual metal in the pipeline can be adsorbed by the magnets 231 while the pipeline is dredged, and the purpose of metal recovery is achieved.
Referring to fig. 1, 9 and 10, the snake tail 3 includes a snake tail connector 31 and a snake tail housing 32, one end of the snake tail connector 31 is connected to the other end of the trunk unit 2, and the snake tail housing 32 is connected to the other end of the snake tail connector 31. In this embodiment, in order to make the snake tail 3 swing left and right, the snake tail connector 31 has the same structure as that of a part of the trunk body 20, the snake tail connector 31 includes a first snake tail connector 311 and a second snake tail connector 312 which have the same structure and the same connection relationship as the second fixing member 215, the second double-output shaft stepping motor 216, the third connector 217 and the fourth connector 218, but are arranged orthogonally to each other, one end of the first snake tail connector 311 is connected to the other ends of the third connector 217 and the fourth connector 218 of the last trunk body, and the other end is connected to the snake tail housing 32 through the second snake tail connector 312.
Referring to fig. 1 and 11, the image recognition unit 4 includes a detection lamp 41, a detection camera 42, and a transparent baffle 43, the detection lamp 41 and the detection camera 42 are disposed on the first support frame, the detection lamp 41 is used for illuminating, and the detection camera 42 is used for uploading an image to the control unit in real time; the transparent barrier 43 is used to enclose the detection lamp 41 and the camera 42. Generally, the arrangement positions of the detection lamp 41 and the detection camera 42 are not limited to the first receiving rack; the detection lamp 41 is installed mainly for detecting illumination at the time of forward travel; the detection camera 42 is mainly used for uploading images to the control unit in real time, so that the snakelike pipeline dredging robot has the capability of automatically identifying a specific target, such as a blocked place in a pipeline; the transparent barrier 43 prevents the detection lamp 41 and the detection camera 42 from being splashed by sewage or sludge.
In an embodiment, the control unit comprises a gyroscope, a main control board, a motor driving board, a WIFI module and a built-in power supply, wherein the gyroscope, the main control board, the motor driving board, the WIFI module and the built-in power supply are arranged in the snake tail shell; the gyroscope is used for acquiring the motion attitude of the snakelike pipeline dredging robot; the main control board is used for processing data acquired by the image recognition unit and the gyroscope; the motor driving plate is used for driving the first double output shaft stepping motor, the second double output shaft stepping motor and the first motor; the WIFI module is used for transmitting the data processed by the main control board to an external control end; the built-in power supply is used for supplying power for the main control board and the motor driving board.
In the present embodiment, the gyroscope is preferably an MPU6050 gyroscope, and the MPU6050 gyroscope is capable of acquiring the motion attitude of the serpentine pipe dredging robot, for example: pitch angle, course angle, roll angle, etc.; the main control board is preferably an STM32 main control board, can process information of the image recognition unit 4 and the gyroscope and quickly respond, and has the excellent characteristics of high integration level, strong performance and low power consumption; the motor driving board is a DM542 motor driving board.
Specifically, the working principle of the serpentine pipeline dredging robot of the embodiment is as follows:
the main control board controls the motor driving board to drive the first double output shaft stepping motor 212 and the second double output shaft stepping motor 216 of each trunk body 20 to rotate back and forth, so that each trunk body 20 can realize the rotation with two degrees of freedom, and the plurality of trunk bodies 20 are mutually matched to realize the crawling of the snake-shaped pipeline dredging robot in the pipeline; meanwhile, the detection camera 42 of the image recognition unit 4 takes a real-time image for recognizing the blockage condition of the pipeline.
When the detection camera 42 of the image recognition unit 4 does not recognize the pipeline blockage, the main control board continuously controls the snakelike pipeline dredging robot to continuously creep in the pipeline, and the detection camera of the image recognition unit 4 continuously recognizes the blockage condition in the pipeline.
When the detection camera 42 of the image recognition unit 4 recognizes that the pipeline is blocked, the motor driving board of the main control board further drives the first motor 112 of the crushing mechanism 11 of the snake head 1 to rotate; the first motor 112 rotates to drive the crushing drill 114 and the driving bevel gear 115 connected with the connecting rod 113 to rotate simultaneously, and the driving bevel gear 115 drives the plurality of driven bevel gears 116 to rotate, so as to drive the plurality of cutting discs 117 and the crushing drill 114 to rotate simultaneously at a high speed for crushing, thereby crushing and dredging the pipeline blockage.
Compared with the prior art, the snakelike pipeline dredging robot identifies the blocking condition of the pipeline through the image identification unit, controls the crushing mechanism of the snake head to perform crushing work through the control unit, and controls and drives the trunk unit to creep so as to enable the snakelike pipeline dredging robot to move in the pipeline; the snake-shaped pipeline dredging robot can be applied to pipeline dredging, can adapt to complex and variable pipeline environments, and better replaces the manual work to conduct pipeline dredging work.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, to those skilled in the art, changes and modifications may be made without departing from the spirit of the present invention, and it is intended that the present invention encompass such changes and modifications.
Claims (10)
1. The utility model provides a snakelike pipeline mediation robot which characterized in that: comprises a snake head, a body unit, a snake tail, an image recognition unit and a control unit; the snake head comprises a crushing mechanism which can crush pipeline blockage; the two ends of the body unit are respectively connected with the snake head and the snake tail; the image recognition unit is arranged at the snake head part; the control unit set up in the snake afterbody, the control unit can control broken mechanism with the motion of trunk unit.
2. The snake dredging robot of claim 1, wherein: the crushing mechanism comprises a first bearing frame, a first motor, a connecting rod, a crushing drill bit, a driving bevel gear, a plurality of driven bevel gears, a plurality of cutting discs and two snake head connecting pieces; one end of the first bearing frame is provided with an accommodating cavity and a plurality of brackets positioned on the periphery of the accommodating cavity; the first motor is fixedly connected with the first bearing frame through the accommodating cavity, and an output shaft of the first motor faces the advancing direction of the snake head; one end of the connecting rod is fixedly connected with an output shaft of the first motor; the crushing drill bit is fixedly connected with the other end of the connecting rod; the driving bevel gear is sleeved and fixed on the connecting rod; the plurality of driven bevel gears are respectively connected with the plurality of brackets of the first bearing plate, and the plurality of driven bevel gears are respectively meshed with the driving bevel gears; the plurality of cutting disks are respectively arranged on the plurality of driven bevel gears and can rotate along with the rotation of the driven bevel gears; one end of each of the two snake-head connecting pieces is fixedly connected with two sides of the other end of the first bearing frame respectively, and the other end of each of the two snake-head connecting pieces is connected with one end of the trunk unit respectively.
3. The snake-shaped pipeline dredging robot as claimed in claim 2, wherein: the crushing mechanism further comprises a high-pressure water gun carrier, the high-pressure water gun carrier is in an inverted U shape and comprises a carrying part provided with a high-pressure water gun carrying hole and two carrier connecting parts arranged on two sides of the carrying part; the carrying part is arranged above the first carrying frame, and the direction of the carrying hole of the high-pressure water gun faces the advancing direction of the snake head; the two carrier connecting parts are fixedly connected to the outer sides of the two first connecting parts respectively.
4. The snake dredging robot of any one of claims 1-3, wherein: the torso unit includes at least one torso body; each of the torso bodies includes a drive mechanism; the driving mechanism comprises a first fixing piece, a first double output shaft stepping motor, a first connecting piece, a second fixing piece, a second double output shaft stepping motor, a third connecting piece and a fourth connecting piece; the first fixing piece is T-shaped and comprises a first fixing plate and a second fixing plate vertically connected with the middle part of the first fixing plate; the first double-output-shaft stepping motor penetrates through and is fixed on the second fixing plate, so that two output shafts of the first double-output-shaft stepping motor respectively face to the upper direction and the lower direction relative to the advancing direction; one end of the first connecting piece and one end of the second connecting piece are respectively connected with an upper output shaft and a lower output shaft of the first double output shaft stepping motor; the second fixing piece is T-shaped and comprises a third fixing plate and a fourth fixing plate vertically connected with the middle of the third fixing plate; the upper end and the lower end of the third fixing plate are respectively connected with the other ends of the first connecting piece and the second connecting piece; the fourth fixing plate and the second fixing plate are arranged orthogonally relative to each other; the second double output shaft stepping motor penetrates into and is fixed on the fourth fixing plate; two output shafts of the second double output shaft stepping motor respectively face to the left direction and the right direction relative to the advancing direction; one end of the third connecting piece and one end of the fourth connecting piece are respectively connected with the left output shaft and the right output shaft of the second double output shaft stepping motor; the other ends of the third connecting piece and the fourth connecting piece are respectively connected with the left end and the right end of the first fixing plate of the first fixing piece of the next adjacent trunk body or connected with the snake tail part; the left end and the right end of the first fixing plate of the first fixing piece are respectively connected with the other end of the third connecting piece and the other end of the fourth connecting piece of the last adjacent trunk body or connected with the snake head.
5. The snake dredging robot of claim 4, wherein: the outer surfaces of the first connecting piece and the second connecting piece are provided with corrugated grains.
6. The snake dredging robot of claim 4, wherein: the second connecting piece is U-shaped and comprises a second connecting piece connecting part and two side walls positioned on two sides of the second connecting piece connecting part; two ends of the connecting part of the second connecting piece are respectively connected with the first double-output-shaft stepping motor and the third fixing plate;
the trunk body further comprises a driven mechanism; the driven mechanism comprises two driven wheel connecting pieces, two driven wheels and a damping spring; the two driven wheel connecting pieces are L-shaped and comprise a first driven wheel connecting part and a second driven wheel connecting part perpendicular to the first driven wheel connecting part; the two first driven wheel connecting parts of the two driven wheel connecting pieces are respectively attached to the inner sides of the two side walls of the second connecting piece, and the two second driven wheel connecting parts of the two driven wheel connecting pieces face the outer sides of the two side walls of the second connecting piece; the two driven wheels are respectively connected with two second driven wheel connecting parts of the two driven wheel connecting pieces; the two ends of the damping spring are respectively abutted to the first driven wheel connecting parts of the driven wheel connecting pieces.
7. The snake dredging robot of claim 4, wherein: the trunk body also comprises a magnetic attraction mechanism; the magnetic attraction mechanism comprises a plurality of magnets and a plurality of blocking pieces; the magnets are embedded in the outer side of the third connecting piece, the outer side of the fourth connecting piece and/or the first fixing plate respectively; the separation blade is used for fixing the magnet.
8. The serpentine pipeline dredging robot as claimed in any one of claims 1 to 7, wherein: the snake tail part comprises a snake tail connecting piece and a snake tail shell, one end of the snake tail connecting piece is connected with the other end of the trunk unit, and the snake tail shell is connected with the other end of the snake tail connecting piece.
9. The serpentine pipeline dredging robot as claimed in any one of claims 1 to 7, wherein: the image recognition unit comprises a detection lamp, a detection camera and a transparent baffle; the detection lamp and the detection camera are arranged on the first bearing frame; the detection lamp is used for lighting, and the camera is used for uploading images to the control system in real time; the transparent baffle is used for enclosing and blocking the detection lamp and the camera.
10. The snake dredging robot of claim 8, wherein: the control unit comprises a gyroscope, a main control board, a motor drive board, a WIFI module and a built-in power supply, wherein the gyroscope, the main control board, the motor drive board, the WIFI module and the built-in power supply are arranged in the snake tail shell; the gyroscope is used for acquiring the motion attitude of the snakelike pipeline dredging robot; the main control board is used for processing data acquired by the image recognition unit and the gyroscope; the motor driving board is used for driving the first double output shaft stepping motor, the second double output shaft stepping motor and the first motor; the WIFI module is used for transmitting the data processed by the main control board to an external control terminal; the built-in power supply is used for supplying power for the main control board and the motor driving board.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2810783Y (en) * | 2005-07-11 | 2006-08-30 | 陈付英 | Pipe dredging machine |
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| DE102015012074A1 (en) * | 2015-09-22 | 2017-03-23 | Prokasro Mechatronik Gmbh | Sewer rehabilitation robot with a camera unit |
| CN215395218U (en) * | 2021-05-12 | 2022-01-04 | 韶关学院 | Snake-shaped robot |
-
2022
- 2022-03-02 CN CN202210203020.3A patent/CN114622644B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2810783Y (en) * | 2005-07-11 | 2006-08-30 | 陈付英 | Pipe dredging machine |
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| DE102015012074A1 (en) * | 2015-09-22 | 2017-03-23 | Prokasro Mechatronik Gmbh | Sewer rehabilitation robot with a camera unit |
| CN215395218U (en) * | 2021-05-12 | 2022-01-04 | 韶关学院 | Snake-shaped robot |
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