CN114622644B - Snakelike pipeline dredging robot - Google Patents
Snakelike pipeline dredging robot Download PDFInfo
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- CN114622644B CN114622644B CN202210203020.3A CN202210203020A CN114622644B CN 114622644 B CN114622644 B CN 114622644B CN 202210203020 A CN202210203020 A CN 202210203020A CN 114622644 B CN114622644 B CN 114622644B
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- 241000270295 Serpentes Species 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 238000005520 cutting process Methods 0.000 claims description 11
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 description 7
- 230000002572 peristaltic effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000523 sample Substances 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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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
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
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Abstract
The invention relates to a snake-shaped pipeline dredging robot. The invention relates to a snake-shaped pipeline dredging robot, which comprises a snake head, a trunk unit, a snake tail, an image recognition unit and a control unit, wherein the snake head is connected with the trunk unit; the snake head comprises a crushing mechanism capable of crushing a pipe blockage; two ends of the trunk unit are respectively connected with the snake head part and the snake tail part; the image recognition unit is arranged on the snake head; the control unit is arranged at the tail part of the snake, and the control unit can control the crushing mechanism and the motion of the trunk unit. The snake-shaped pipeline dredging robot can be applied to pipeline dredging and can better replace manual pipeline dredging.
Description
Technical Field
The invention relates to the field of robots, in particular to a snake-shaped pipeline dredging robot.
Background
The drainage pipeline is used as an infrastructure construction in daily life, and becomes an indispensable part of our daily production and life, but with the increase of the life rhythm, the problem of pipeline blockage becomes a difficult problem of urban construction.
The most of the existing pipeline dredging processes is manual cleaning, and sometimes the grooves are required to be dug for cleaning, so that the process is complex and time-consuming.
The disadvantage of high pressure water gun cleaning is that it cannot break large objects that plug the pipeline, and the water gun is difficult to extend into a particularly deep pipeline, with certain limitations.
The pipeline dredging robot is used as a special robot, has the characteristics of unique functions and great market development potential, and is a research and development hot spot of the worldwide robot. Most of domestic existing pipeline dredging robots are wheeled and crawler-type robots, and when the robot works in a pipeline, if the problems of rollover, blocking, insufficient driving force and the like occur, the robot can be directly caused to be incapable of continuing to work, and recovery is troublesome.
Disclosure of Invention
Based on the above, the invention aims to provide a snake-shaped pipeline dredging robot which can be applied to pipeline dredging and can better replace manual pipeline dredging.
A snake-shaped pipeline dredging robot comprises a snake head part, a trunk unit, a snake tail part, an image recognition unit and a control unit; the snake head comprises a crushing mechanism capable of crushing a pipe blockage; two ends of the trunk unit are respectively connected with the snake head part and the snake tail part; the image recognition unit is arranged on the snake head; the control unit is arranged at the tail part of the snake, and the control unit can control the crushing mechanism and the motion of the trunk unit.
The snake-shaped robot is a kind of bionic robot field, and its advantage is that have multistep motion ability, and can adapt to the characteristics of complicated changeable environment, replace the human beings to accomplish some tasks in the environment that some human beings can't normally move. According to the snake-shaped 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 controlling the trunk unit to be driven to perform peristaltic motion 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 changeable pipeline environments, and can better replace manual pipeline dredging.
Further, 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 a containing cavity and a plurality of brackets positioned at the periphery of the containing 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 to the advancing direction of the snake head; one end of the connecting rod is fixedly connected with the 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 driven bevel gears are respectively connected with the brackets of the first bearing frame, and the 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 snake head connecting piece is fixedly connected with two sides of the other end of the first bearing frame, and the other ends of the two snake head connecting pieces are connected with one end of the trunk unit.
When the first motor is driven, the crushing drill bit and the driving gear which are connected with the connecting rod are driven to rotate at high speed at the same time; the driving bevel gears drive the driven bevel gears to rotate at high speed, so that the cutting discs and the crushing drill bits are driven to rotate at high speed simultaneously, and crushing work is carried out.
Further, the crushing mechanism further comprises a high-pressure water gun carrier which is inverted U-shaped and comprises a carrying part provided with high-pressure water gun carrying holes and two carrier connecting parts arranged on two sides of the carrying part; the carrying part is arranged above the first bearing frame, and the direction of the high-pressure water gun carrying hole faces the advancing direction of the snake head part; the two carrier connecting parts are fixedly connected to the outer sides of the two snake head connecting pieces respectively. The high-pressure water gun is loaded through the high-pressure water gun carrier, so that the serpentine pipeline dredging robot of the loaded high-pressure water gun can enable the blockage in the pipeline or the crushed blockage to flow out of the pipeline along the water flow by means of the high-pressure water gun.
Further, the torso unit includes at least one torso body; each trunk body comprises a driving mechanism; the driving mechanism comprises a first fixing piece, a first double-output-shaft stepping motor, a first connecting piece and a second connecting piece, and the second fixing piece, the 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 of the first fixing plate; the first double-output-shaft stepping motor passes through and is fixed on the second fixing plate, so that two output shafts of the first double-output-shaft stepping motor face an upper direction and a lower direction relative to the advancing direction respectively; 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 part 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 in a relatively orthogonal mode; the second double-output-shaft stepping motor penetrates through and is fixed on the fourth fixed plate; and the two output shafts of the second double-output-shaft stepping motor face to the left direction and the right direction relative to the advancing direction respectively; one end of the third connecting piece and one end of the fourth connecting piece are respectively connected with a left output shaft and a 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 tail part of the snake; the left and right ends of the first fixing plate of the first fixing piece are respectively connected with the other ends of the third connecting piece and the fourth connecting piece of the last adjacent trunk body or connected with the snake head.
When the first double-output-shaft stepping motor works, two output shafts of the first double-output-shaft stepping motor rotate upwards and downwards, so that the first connecting piece and the second connecting piece are driven to rotate in one degree of freedom; when the second double-output-shaft stepping motor works, the left output shaft and the right output shaft of the second double-output-shaft stepping motor rotate, so that the third connecting piece and the fourth connecting piece are driven to rotate in one degree of freedom; the second fixing plate and the fourth fixing plate are arranged in relative quadrature, so that the first double-output-shaft stepping motor and the second double-output-shaft stepping motor are arranged in relative quadrature; thereby make every the rotation of two degrees of freedom can be realized to the truck body, and the motion of snakelike pipeline dredging robot is realized to a plurality of truck bodies mutually supporting.
Further, the outer surfaces of the first connecting piece and the second connecting piece are provided with corrugated lines. The first connecting piece and the second connecting piece can be regarded as the skeleton of trunk body, the surface of first connecting piece, second connecting piece can respectively with the interior upper inner wall of pipeline and lower inner wall contact, first two go out axle step motor during operation can drive first connecting piece and second connecting piece simultaneously and control the rotation, all be equipped with the ripple line at the surface of first connecting piece and second connecting piece, the tangential frictional force of the surface of first connecting piece and second connecting piece and pipeline can be increased to the ripple line, and increase tangential frictional force can make serpentine pipeline dredging robot's peristaltic more nimble.
Further, the second connecting piece is U-shaped and comprises a second connecting piece connecting part and two side walls positioned at two sides of the second connecting piece connecting part; two ends of the second connecting piece connecting part 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 connectors, 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 which is 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 to 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; and two ends of the damping spring are respectively abutted with the two first driven wheel connecting parts of the two driven wheel connecting pieces.
The driven wheels are respectively arranged on two sides of the second connecting piece, so that the support function can be achieved, and the balance of the snake-shaped pipeline dredging robot is maintained; the redundant friction force of the snake-shaped pipeline dredging robot can be reduced when the snake-shaped pipeline dredging robot moves, so that the movement speed of the snake-shaped pipeline dredging robot is higher; in addition, through the setting of damping spring, can make snakelike pipeline dredging robot from the driving wheel can inwards extrude when the pipeline is narrower, reduce driven mechanism's occupation volume, increase snakelike pipeline dredging robot at narrow pipeline motion's flexibility.
Further, the trunk body further comprises a magnetic attraction mechanism; the magnetic attraction mechanism comprises a plurality of magnets and a plurality of baffle plates; the magnets are respectively embedded on the outer side of the third connecting piece and/or the outer side of the fourth connecting piece and/or the first fixing plate; the baffle is used for fixing the magnet. The magnets are arranged on the outer side of the third connecting piece and/or the outer side of the fourth connecting piece and/or the first fixing plate and are fixed through the baffle plates, so that the residual metal in the pipeline can be adsorbed by the magnets when the pipeline is dredged in the process of operating the snake-shaped pipeline dredging robot in the pipeline, and the purpose of metal recovery is achieved.
Further, the tail portion includes a tail connector and a tail housing, one end of the tail connector is connected to one end of the torso unit, and the tail housing is connected to the other end of the tail connector.
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 the image to the control system in real time; the transparent baffle is used for enclosing 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 which are arranged in the snake tail shell; the gyroscope is used for acquiring the motion gesture of the serpentine 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 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 to the main control board and the motor driving board.
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a schematic diagram of a serpentine pipe dredging robot according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the structure of the snake head of FIG. 1;
FIG. 3 is an exploded view of the structure of FIG. 2;
FIG. 4 is a schematic view of the first receiving frame 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 fixing members of FIG. 6;
FIG. 8 is a schematic view of the second connector in FIG. 6;
FIG. 9 is a schematic view of the structure of the snake tail of FIG. 1;
FIG. 10 is a schematic view of the snake tail shell of FIG. 9;
fig. 11 is a schematic diagram of the structure 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 trunk unit 2, a snake tail 3, an image recognition unit 4 and a control unit (not shown); the snake head 1 comprises a crushing mechanism 11, wherein the crushing mechanism 11 can crush a pipeline blockage; two ends of the trunk unit 2 are respectively connected with a snake head part 1 and a snake tail part 3; the image recognition unit 4 is arranged on the snake head 1; the control unit is arranged at the snake tail 3 and is capable of controlling the movement of the crushing mechanism 11 and the torso unit 2.
According to the snake-shaped pipeline dredging robot, the blocking condition of a pipeline is identified through the image identification unit 4, the crushing mechanism 11 of the snake head 1 is controlled to perform crushing work through the control unit, and the trunk unit 2 is controlled to be driven to perform peristaltic motion 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 changeable pipeline environments, and can better replace manual pipeline dredging.
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 drill 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 the 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; the driven bevel gears 116 are respectively connected with the supports 1112 of the first bearing frame 111, and the driven bevel gears 116 are respectively meshed with the driving bevel gears 115; a plurality of cutting discs 117 are respectively arranged on the driven bevel gears 116 and rotate along with the rotation of the driven bevel gears 116; one end of each of the two snake-head connectors 118 is fixedly connected with two sides of the other end of the first bearing frame 111, and the other ends of the two snake-head connectors 118 are connected with one end of the trunk unit 2.
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 simultaneously, and the driving bevel gear 115 drives the driven bevel gears 116 to rotate, so that the cutting discs 117 and the crushing drill 114 are driven to rotate simultaneously at high speed to perform crushing work.
In the embodiment, 4 brackets 1112, driven bevel gears 116 and cutting discs 117 are respectively arranged, so that cutting work can be performed in multiple directions, and the pipeline dredging is facilitated.
Referring to fig. 2 and 3, the crushing mechanism 11 further includes a high-pressure water gun carrier 119, where the high-pressure water gun carrier is in an inverted U shape 119, and includes a carrying portion 1191 provided with a high-pressure water gun carrying hole and two carrier connecting portions 1192 disposed at two sides of the carrying portion; the mounting portion 1191 is provided above the first receiving frame 111, and the direction of the high-pressure water gun mounting hole faces the direction in which the snake head advances; the two carrier connection portions 1192 are respectively and fixedly connected to the outer sides of the two snake head connectors 118. The high-pressure water gun is loaded through the high-pressure water gun carrier 119, so that the serpentine pipeline dredging robot carrying the high-pressure water gun can enable the blockage in the pipeline or the crushed blockage to flow out of the pipeline along the water flow by means of the high-pressure water gun.
Referring to fig. 1, 5-7, torso unit 2 includes at least one torso body 20, each torso body 20 includes a driving mechanism 21, and driving mechanism 21 includes a first fixing member 211, a first dual-output shaft stepping motor 212, a first connecting member 213, a second connecting member 214, a second fixing member 215, a second dual-output shaft 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 dual-output shaft stepper motor 212 penetrates and is fixed on the second fixing plate 2112, so that two output shafts of the first dual-output shaft stepper motor 212 face an upper direction and a lower direction relative to the advancing direction respectively; one end of the first connecting piece 213 and one end of the second connecting piece 214 are respectively connected with an upper output shaft and a 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 connection members 213 and 214, respectively; the fourth fixed plate 2152 is disposed relatively orthogonal to the second fixed plate 2112; the second dual-output shaft stepper motor 216 penetrates and is fixed to the fourth fixed plate 2152, so that two output shafts of the second dual-output shaft stepper motor 216 face 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 and right ends of the first fixing plate 2111 of the first fixing piece 211 of the next adjacent trunk body or connected with the snake tail 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 and fourth connecting members 217 and 218 of the last adjacent trunk body or to the snake head 3, respectively.
In this embodiment, the trunk unit includes 7 trunk bodies, two connecting pieces 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 piece 211 of the first trunk body 20, the other ends of the 7 trunk bodies are respectively fixedly connected with the left and right ends of the first fixing plate 2111 of the first fixing piece 211 of the next trunk body through the third connecting piece 217 and the fourth connecting piece 218 of the trunk body, and the other ends of the third connecting piece 217 and the fourth connecting piece 218 of the last trunk body are connected with the snake tail.
When the first double-output-shaft stepping motor 212 works, 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 in one degree of freedom; when the second dual output shaft stepper motor 216 works, the left and right output shafts of the second dual output shaft stepper motor 216 rotate to drive the third connecting piece 217 and the fourth connecting piece 218 to rotate in one degree of freedom; the first dual-output stepper motor 212 and the second dual-output stepper motor 216 are disposed relatively orthogonally by the second fixed plate 2112 being disposed relatively orthogonally to the fourth fixed plate 2152; thereby each trunk body 20 can realize the rotation of two degrees of freedom, and the motion of snakelike pipeline dredging robot is realized to a plurality of trunk bodies 20 mutually supporting. Specifically, in the present embodiment, the first connecting member 213 and the second connecting member are the upper and lower frames of the trunk, and the first dual output shaft stepper motor 212 rotates with two output shafts facing up and down, so as to drive the first connecting member 213 and the second connecting member 214 to rotate left and right relative to the advancing direction; the third connecting piece 217 and the first connecting piece 218 are left and right skeletons of the trunk body, and the two output shafts of the second double-output-shaft stepping motor 216 which face left and right rotate, so that the third connecting piece 217 and the second connecting piece 218 are driven to rotate up and down relative to the advancing direction; the two are matched, so that the trunk body can rotate in two degrees of freedom, and the snake-shaped pipeline dredging robot can creep in a 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. The first connecting piece 213 and the second connecting piece 214 can be regarded as the skeleton of the trunk body, the outer surfaces of the first connecting piece 213 and the second connecting piece 214 can be respectively contacted with the upper inner wall and the lower inner wall in the pipeline, the first double-output-shaft stepping motor can drive the first connecting piece 213 and the second connecting piece 214 to rotate left and right simultaneously when working 212, corrugated lines are arranged on the outer surfaces of the first connecting piece 213 and the second connecting piece 214, tangential friction force between the outer surfaces of the first connecting piece 213 and the second connecting piece 214 and the pipeline can be increased by the corrugated lines, and peristaltic movement of the snake-shaped pipeline dredging robot can be more flexible by increasing the tangential friction force.
Referring to fig. 8, the second connecting member 214 has a U-shape and includes a second connecting member connecting portion 2141 and two side walls 2142 disposed at two sides of the second connecting member connecting portion, and two ends of the second connecting member connecting portion 2141 are respectively connected to the first dual-output stepper motor 212 and the third fixing plate 2151.
Referring to fig. 5 and 6, the 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 damper spring 223; the two driven wheel connectors 221 are L-shaped and include a first driven wheel connection portion 2211 and a second driven wheel connection portion 2212 perpendicular to the first driven wheel connection portion 2211; the two first driven wheel connection parts 2211 of the two driven wheel connection parts 221 are respectively attached to the inner sides of the two side walls 2142 of the second connection part 214, and the two second driven wheel connection parts 222 of the two driven wheel connection parts 221 face to the outer sides of the two side walls 2142 of the second connection part 214; the two driven wheels 222 are connected to the two second driven wheel connection parts 2212 of the two driven wheel connection pieces 221, respectively; both ends of the damper spring 223 are respectively abutted against the two first driven wheel connection portions 2211 of the two driven wheel connections 221. Driven wheels 222 are respectively arranged on two sides of the second connecting piece 214, so that the support function can be realized, and the balance of the snake-shaped robot is realized; it is also possible to limit the frictional force other than the frictional force with the driven advancing direction at the time of movement of the robot, so that the movement of the robot is faster.
Referring to fig. 5 and 6, the torso body 20 further includes a magnetic attraction mechanism 23, where the magnetic attraction mechanism 23 includes a plurality of magnets 231 and a plurality of blocking pieces 232, and the magnets 231 are respectively embedded on 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 and/or the outer side of the fourth connecting piece 217 and/or the first fixing plate 218 and are fixed through the baffle plates 232, so that the residual metal in the pipeline can be adsorbed by the magnets 231 while the pipeline is dredged in the process of operating the snake-shaped pipeline dredging robot in the pipeline, 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 shell 32, wherein one end of the snake tail connector 31 is connected to the other end of the trunk unit 2, and the snake tail shell 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 connecting piece 31 has the same structure as that of the part of the trunk body 20, the snake tail connecting piece 31 includes a first snake tail connecting piece 311 and a second snake tail connecting piece 312 which are identical in structure and connection relationship with the second fixing piece 215, the second double-output shaft stepping motor 216, the third connecting piece 217 and the fourth connecting piece 218 and are arranged relatively orthogonally, one end of the first snake tail connecting piece 311 is connected with the other ends of the third connecting piece 217 and the fourth connecting piece 218 of the last trunk body, and the other end is connected with the snake tail shell 32 through the second snake tail connecting piece 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, where the detection lamp 41 and the detection camera 42 are disposed on a first receiving frame, the detection lamp 41 is used for illumination, and the detection camera 42 is used for uploading an image to the control unit in real time; the transparent baffle 43 serves to enclose the probe lamp 41 and the camera 42. In general, the arrangement positions of the probe lamp 41 and the probe camera 42 are not limited to the first receiving frame; the detection lamp 41 is installed mainly for detecting illumination at the time of advance; the detection camera 42 is mainly used for uploading images to the control unit in real time, so that the serpentine pipeline dredging robot has the capability of autonomously identifying specific targets, such as blocked places in pipelines; the transparent barrier 43 prevents the probe lamp 41 and the probe camera 42 from being sputtered 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 gesture of the serpentine 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 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 to the main control board and the motor driving board.
In this embodiment, the gyroscope is preferably an MPU6050 gyroscope, and the MPU6050 gyroscope can obtain a motion gesture of the serpentine pipe dredging robot, for example: pitch angle, heading angle, roll angle, etc.; the main control board is preferably an STM32 main control board, can process the information of the image recognition unit 4 and the gyroscope and rapidly react, and has the excellent characteristics of high integration level, strong performance and low power consumption; the motor drive plate is a DM542 motor drive plate.
Specifically, the working principle of the serpentine pipe 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 rotation with two degrees of freedom, and a plurality of trunk bodies 20 are mutually matched to realize peristaltic motion of the snake-shaped pipeline dredging robot in a pipeline; meanwhile, the detection camera 42 of the image recognition unit 4 shoots in real time and is used for recognizing the blocking 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 continues to control so that the snake-shaped pipeline dredging robot continues to creep in the pipeline, and the detection camera of the image recognition unit 4 continues to recognize the pipeline blockage condition.
When the detection camera 42 of the image recognition unit 4 recognizes that the blockage occurs in the pipeline, 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 bit 114 and the driving bevel gear 115 connected with the connecting rod 113 to rotate simultaneously, and the driving bevel gear 115 drives the driven bevel gears 116 to rotate, so that the cutting discs 117 and the crushing drill bit 114 are driven to rotate simultaneously at a high speed to perform crushing work, and the pipeline blockage is crushed and dredged.
Compared with the prior art, the snake-shaped pipeline dredging robot provided by the invention has the advantages that 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 trunk unit is controlled to be driven to perform peristaltic motion 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 changeable pipeline environments, and can better replace manual pipeline dredging.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention, and the invention is intended to encompass such modifications and improvements.
Claims (6)
1. A snakelike pipeline dredging robot which is characterized in that: comprises a snake head part, a trunk unit, a snake tail part, an image recognition unit and a control unit; the snake head comprises a crushing mechanism capable of crushing a pipe blockage; two ends of the trunk unit are respectively connected with the snake head part and the snake tail part; the image recognition unit is arranged on the snake head; the control unit is arranged at the tail part of the snake, and can control the crushing mechanism and the trunk unit to move;
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 a containing cavity and a plurality of brackets positioned at the periphery of the containing 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 to the advancing direction of the snake head; one end of the connecting rod is fixedly connected with the 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 driven bevel gears are respectively connected with the brackets of the first bearing frame, and the 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 snake head connecting piece is fixedly connected with two sides of the other end of the first bearing frame, and the other ends of the two snake head connecting pieces are connected with one end of the trunk unit;
the torso unit includes at least one torso body; each trunk body comprises a driving mechanism; the driving mechanism comprises a first fixing piece, a first double-output-shaft stepping motor, a first connecting piece and a second connecting piece, and the second fixing piece, the 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 of the first fixing plate; the first double-output-shaft stepping motor passes through and is fixed on the second fixing plate, so that two output shafts of the first double-output-shaft stepping motor face an upper direction and a lower direction relative to the advancing direction respectively; 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 part 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 in a relatively orthogonal mode; the second double-output-shaft stepping motor penetrates through and is fixed on the fourth fixed plate; and the two output shafts of the second double-output-shaft stepping motor face to the left direction and the right direction relative to the advancing direction respectively; one end of the third connecting piece and one end of the fourth connecting piece are respectively connected with a left output shaft and a 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 tail part of the snake; the left end and the right end of the first fixing plate of the first fixing piece are respectively connected with the other ends of the third connecting piece and the fourth connecting piece of the last adjacent trunk body or connected with the snake head; 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 second connecting piece connecting part 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 connectors, 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 which is 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 to 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; two ends of the damping spring are respectively abutted with the two first driven wheel connecting parts of the two driven wheel connecting pieces; the trunk body further comprises a magnetic attraction mechanism; the magnetic attraction mechanism comprises a plurality of magnets and a plurality of baffle plates; the magnets are respectively embedded on the outer side of the third connecting piece and/or the outer side of the fourth connecting piece and/or the first fixing plate; the baffle is used for fixing the magnet.
2. A serpentine tubing dredging robot as claimed in claim 1, wherein: the crushing mechanism further comprises a high-pressure water gun carrier which is inverted U-shaped and comprises a carrying part provided with high-pressure water gun carrying holes and two carrier connecting parts arranged on two sides of the carrying part; the carrying part is arranged above the first bearing frame, and the direction of the high-pressure water gun carrying hole faces the advancing direction of the snake head part; the two carrier connecting parts are fixedly connected to the outer sides of the two snake head connecting pieces respectively.
3. A serpentine tubing dredging robot as claimed in claim 1, wherein: the outer surfaces of the first connecting piece and the second connecting piece are provided with corrugated lines.
4. A serpentine pipe dredging robot according to any one of claims 1-3, wherein: the snake tail 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.
5. A serpentine pipe dredging robot according to any one of claims 1-3, 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 the image to the control system in real time; the transparent baffle is used for enclosing the detection lamp and the camera.
6. The serpentine tubing dredging robot of claim 5, wherein: the control unit comprises a gyroscope, a main control board, a motor driving board, a WIFI module and a built-in power supply which are arranged in the snake tail shell; the gyroscope is used for acquiring the motion gesture of the serpentine 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 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 to 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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