CN115041477A - Obstacle clearing and repairing robot for underground cable pipeline - Google Patents
Obstacle clearing and repairing robot for underground cable pipeline Download PDFInfo
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- CN115041477A CN115041477A CN202210971206.3A CN202210971206A CN115041477A CN 115041477 A CN115041477 A CN 115041477A CN 202210971206 A CN202210971206 A CN 202210971206A CN 115041477 A CN115041477 A CN 115041477A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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Abstract
The invention discloses an obstacle clearing and repairing robot for an underground cable pipeline, wherein a digging end of the robot is defined as a front end, and the other end of the robot is defined as a tail end; the robot comprises a front-section shell, a universal top bracing unit and a rear-section shell, wherein both axial ends of the universal top bracing unit radially and elastically support the inner wall of a cable pipeline and are respectively and fixedly connected with the front-section shell and the rear-section shell in the axial direction; the front end of the front-section shell is axially telescopically adjusted and connected with a cutting unit; the front end of the rear section shell is radially stretched and adjusted to be connected with a drilling positioning unit, and the tail end of the rear section shell is coaxially and rotatably connected with a spiral pushing unit which provides axial moving power for the robot in the cable duct. The robot has good driving capability, better stability in the pipe, better obstacle crossing capability, better passing ability of the bent pipe, simple structure, stronger pipe diameter adaptability, higher transmission efficiency, higher movement efficiency and stronger axial load capability.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a robot for removing obstacles and repairing underground cable ducts.
Background
In recent years, cable ducts are used more and more widely as important power channels for meeting cable line ground-entering engineering, and have the characteristics of high strength, small frictional resistance and the like. The cable pipeline is mainly constructed by adopting early civil engineering once in the construction process, is used in later period, does not need to repeatedly excavate roads, has the advantages of saving ground space, high current carrying capacity, low thermal resistance coefficient, reducing the construction quantity of vertical shafts, attractive appearance and the like, and the application scale of the cable pipeline is continuously increased. The cable pipeline is mainly suitable for laying a large number of cables, and is hidden in underground cables in heavy-load sections such as motor cars and the like, so that electric shock accidents can be effectively avoided. The cable pipeline has the advantages of strong heat resistance, water resistance, frost resistance, corrosion resistance, impermeability and long service life, and can effectively improve the power supply reliability of a power system.
Because the technical characteristics of 'concentrated construction at first and separate use at later stage' are mostly adopted in the construction of the cable pipeline, the scale of the existing standby pipeline is huge, but the standby pipeline is not put into use, and the external force damages the pipeline due to long-term placement, and the like, so that a large amount of pipelines are blocked, and the cable cannot be laid. It has been found that the main causes of pipe blockage include: the tube orifice is staggered at the interface, a gap is not butted at the tube orifice, and the tube wall is damaged by external force, so that foreign matters enter the pipeline to block the tube array. After the pipeline blockage occurs, the influence on the later-stage cable laying is caused, the cable cannot be laid normally, even if the situation that the whole pipeline is blocked only at one position is found in the cable laying process, the whole pipeline cannot be used normally or abandoned, and huge waste is caused for a power grid power supply system.
The pipeline maintenance robot in the prior art is mainly wheel type and crawler type, wherein 1, the wheel type robot has the advantages of high walking efficiency, compact structure, continuous and stable motion, strong operability, easy control, good load capacity, good flexibility and high practicability; but the adhesion of the pipe wall contact is small, the larger dragging force is difficult to realize during the cable type power supply, the pipe diameter adaptability is weaker, the obstacle crossing capability is poorer, and the guiding capability is poor; 2. the crawler-type robot has the advantages of strong driving force capability, high transmission efficiency, strong obstacle crossing capability, strong load capacity, large dragging force and good bent pipe passing capability; but the structure is more complicated, the flexibility of the movement is poorer, the side turning is easy, the adaptive capacity of the pipe diameter is poorer, and the stability of the movement is poorer.
In addition, in an actual use environment, routes such as turning and corner exist in laying of the underground cable pipeline, and pipeline maintenance equipment in the prior art is difficult to stretch into the deep part of the cable pipeline, particularly the turning corner part of the pipeline maintenance equipment, and obstacle clearing and repairing construction of the turning corner part is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the obstacle clearing and repairing robot for the underground cable pipeline, which has the advantages of good driving capability, better stability in the pipeline, better obstacle crossing capability, better passing performance of a bent pipe, simple structure, stronger pipe diameter adaptability, higher transmission efficiency, higher movement efficiency and stronger axial load capacity.
A robot for removing obstacles and repairing underground cable ducts is characterized in that a digging end of the robot is defined as a front end, and the other end of the robot is defined as a tail end; the robot comprises a front-section shell, a universal top bracing unit and a rear-section shell, wherein both axial ends of the universal top bracing unit radially and elastically support the inner wall of a cable pipeline and are respectively and fixedly connected with the front-section shell and the rear-section shell in an axial direction; the front end of the front-section shell is axially telescopically adjusted and connected with a cutting unit; the front end of the rear section shell is radially stretched and connected with a drilling positioning unit in a sliding and guiding manner, and the tail end of the rear section shell is circumferentially and rotatably connected with a spiral pushing unit which provides axial moving power for the robot in the cable duct.
Preferably, the front end face of the front-section shell is provided with an opening, and the opening axially penetrates through and is slidably connected with the cutting unit; the cutting unit comprises a slide way, a slide block, a servo motor, a cutting motor and a cutting tool; the slideway is axially and fixedly arranged on the inner wall of the front-section machine shell and is slidably guided to the supporting slide block; a servo motor for providing sliding power for the sliding block is fixedly arranged on one side of the sliding block, and a cutting motor is fixedly arranged on the other side of the sliding block in the axial direction; the cutting motor axially penetrates through the front end face of the opening of the front section casing, and a cutting tool is coaxially and fixedly connected to an output shaft of the cutting motor.
Preferably, the universal top bracing unit comprises a universal coupling and two fixed three-way brackets, wherein the two fixed three-way brackets are fixedly mounted on the axial tail end face of the front-section shell and the axial front end face of the rear-section shell respectively, and the universal coupling is connected between the two fixed three-way brackets in a universal adjusting manner; three wheel seats are uniformly distributed and radially manufactured on the periphery of the fixed three-way support, and a first wheel set is elastically supported in the wheel seats; the first wheel set comprises rollers and a wheel frame, wherein the rollers are symmetrically and rotatably connected to two sides of the wheel frame, and the rotating rolling path of the rollers is parallel to the extending direction of the cable pipeline; the bottom of the wheel carrier is inserted in the wheel seat in a sliding manner, and a spring is embedded in the wheel carrier; one end of the spring is elastically supported on the root of the wheel seat, the other end of the spring is elastically supported on the wheel frame, and the spring provides power for the roller and the elastic support of the inner wall of the cable pipeline.
Preferably, the drilling positioning unit comprises a fixed chuck, a jaw, a spiral turntable and a positioning motor; the fixed chuck is coaxially and fixedly arranged on the inner wall of the front end face of the rear-section shell, and a plurality of clamping jaws are radially and slidably embedded on one axial end face of the fixed chuck; the claw radially slides and penetrates through the shell of the rear-section shell, and teeth are formed on the side surface of the claw; the positioning motor is axially and fixedly arranged in the rear-section shell, and the output end of the positioning motor is coaxially and fixedly connected with the spiral turntable; one end face of the spiral rotary disc is provided with spiral insections which are engaged with the teeth and provide radial telescopic power for the jaws.
Preferably, the spiral pushing unit comprises a pushing motor, a rotating three-way support, a planetary gear set and a second gear set, wherein the pushing motor is axially and fixedly arranged in the rear-section shell, and the output end of the pushing motor axially penetrates through the end face of the tail end of the rear-section shell and is in power connection with the planetary gear set; the planetary gear set is rotationally connected inside the rotary three-way support and provides rotary power for the rotary three-way support; the periphery of the rotating three-way support is uniformly distributed and is radially provided with wheel seats the same as the fixed three-way support, and a second wheel set is elastically supported in the wheel seats; the second wheel set comprises a wheel carrier and a spring which are the same as the first wheel set, and the second wheel set also comprises an inclined roller; the oblique rollers are symmetrically and rotatably connected to two sides of the wheel frame, and the rotating rolling path of the oblique rollers is surrounded on the inner wall of the cable duct.
Preferably, the planetary gear set comprises a driving gear, a driven gear and an annular rack, wherein the driving gear is coaxially and fixedly arranged at the output end of the pushing motor, and the periphery of the driving gear is meshed with a plurality of driven gears; the driven gears are rotatably connected to the end face of the tail end of the rear-section shell, and the outer parts of the plurality of driven gears are matched, supported and meshed with the annular rack; the annular rack is coaxially and fixedly arranged inside the rotary three-way bracket.
Preferably, the rotating three-way support is rotatably supported and connected with a pushing bearing towards the axial end face of the rear section casing, and the pushing bearing is slidably supported on the end face of the tail end of the rear section casing.
Preferably, the circumferential outer wall at the front end of the front section machine shell is rotatably connected with a plurality of fixed supporting wheels.
The invention has the advantages and the technical effects that:
according to the obstacle clearing and repairing robot for the underground cable pipeline, the front-section shell and the rear-section shell are connected through the universal hinge of the universal jacking unit, so that the robot can conveniently integrally run in a turning route of the cable pipeline, the cutting unit is axially and telescopically connected in the front-section shell, the cutting unit is provided with axial telescopic power by a servo motor and is provided with axial telescopic guide by a slide way and a slide block, finally sundries in the cable pipeline are cut by a cutting tool, and the axial telescopic design of the cutting unit can avoid the cutting tool from being blocked in the cable pipeline and can also facilitate the discharge of cutting scraps; moreover, the front end of the front-section machine shell is supported on the inner wall of the cable duct through a fixed supporting wheel, so that the radial direction of the cutting unit is convenient; moreover, the fixed three-way support of the universal jacking unit is connected with the roller through the wheel seat and the spring radial elastic jacking, so that the robot can conveniently turn and run in the cable duct, and the problem of collision or friction between the robot and the inner wall of the cable duct when the robot turns is avoided; the drilling positioning unit is used for supporting and positioning the robot during drilling in the cable duct, so that the axial positioning and radial supporting of the robot are realized, and the drilling efficiency of the cutting tool is improved; and the spiral pushing unit is used for providing the robot with driving power for the robot to advance or retreat in the cable duct.
Drawings
FIG. 1 is a schematic perspective view (rear 45) of the present invention;
FIG. 2 is a schematic perspective view (front 45) of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a side view of the present invention (front and rear enclosures not shown);
FIG. 5 is a cross-sectional view of section A-A of FIG. 3;
FIG. 6 is a cross-sectional view of section B-B of FIG. 3;
FIG. 7 is a cross-sectional view of section C-C of FIG. 3;
FIG. 8 is a cross-sectional view taken along section D-D of FIG. 3;
in the figure: 1-cutting the cutter; 2-front section case; 3-a universal top bracing unit; 4-a drilling positioning unit; 5-rear section casing; 6-a spiral pushing unit; 7-fixing the supporting wheel; 8-a roller; 9-fixing a three-way bracket; 10-universal couplings; 11-wheel seat; 12-a wheel carrier; 13-rotating three-way stand; 14-pushing the bearing; 15-a cutting motor; 16-a slide block; 17-a pushing motor; 18-positioning the motor; 19-a spiral turntable; 20-clamping jaws; 21-a fixed chuck; 22-a servo motor; 23-a slide; 24-a spring; 25-teeth; 26-helical insection; 27-oblique rollers; 28-ring rack; 29-a drive gear; 30-driven gear.
Detailed Description
For a further understanding of the contents, features and effects of the present invention, reference will now be made to the following examples, which are to be considered in conjunction with the accompanying drawings. It should be noted that the present embodiment is illustrative, not restrictive, and the scope of the invention should not be limited thereby.
A robot for removing obstacles and repairing underground cable ducts is characterized in that a digging end of the robot is defined as a front end, and the other end of the robot is defined as a tail end; the robot comprises a front-section shell 2, a universal top bracing unit 3 and a rear-section shell 5, wherein both axial ends of the universal top bracing unit radially and elastically support the inner wall of a cable pipeline and are respectively and axially and fixedly connected with the front-section shell and the rear-section shell; the front end of the front-section shell is axially telescopically adjusted and connected with a cutting unit; the front end of the rear section of the machine shell is radially stretched and slidably guided to be connected with a drilling positioning unit 4, and the tail end of the rear section of the machine shell is circumferentially and rotatably connected with a spiral pushing unit 6 which provides axial moving power for the robot in the cable pipeline.
Preferably, the front end face of the front-section shell is provided with an opening, and the opening axially penetrates through and is slidably connected with the cutting unit; the cutting unit comprises a slideway 23, a sliding block 16, a servo motor 22, a cutting motor 15 and a cutting tool 1; the slideway is axially and fixedly arranged on the inner wall of the front-section machine shell and is used for sliding, guiding and supporting the sliding block; a servo motor for providing sliding power for the sliding block is fixedly arranged on one side of the sliding block, and a cutting motor is fixedly arranged on the other side of the sliding block in the axial direction; the cutting motor axially penetrates through the front end face of the opening of the front section casing, and a cutting tool is coaxially and fixedly connected to an output shaft of the cutting motor.
Preferably, the universal top bracing unit comprises a universal coupling 10 and two fixed three-way brackets 9, wherein the two fixed three-way brackets are respectively fixedly mounted on the axial tail end face of the front-section casing and the axial front end face of the rear-section casing, and the universal coupling is connected between the two fixed three-way brackets in a universal adjusting manner; three wheel seats 11 are uniformly distributed on the periphery of the fixed three-way support and are radially manufactured, and a first wheel set is elastically supported in each wheel seat; the first wheel set comprises rollers 8 and a wheel carrier 12, wherein the rollers are symmetrically and rotationally connected to two sides of the wheel carrier, and the rotating rolling path of the rollers is parallel to the extending direction of the cable duct; the bottom of the wheel carrier is inserted in the wheel seat in a sliding way, and a spring 24 is embedded in the wheel carrier; one end of the spring is elastically supported on the root of the wheel seat, the other end of the spring is elastically supported on the wheel frame, and the spring provides power for the roller and the elastic support of the inner wall of the cable pipeline.
Preferably, the drilling positioning unit comprises a fixed chuck 21, a jaw 20, a spiral turntable 19 and a positioning motor 18; the fixed chuck is coaxially and fixedly arranged on the inner wall of the front end face of the rear-section shell, and a plurality of clamping jaws are radially and slidably embedded on one axial end face of the fixed chuck; the claw radially slides and penetrates through the shell of the rear-section shell, and the side surface of the claw is provided with teeth 25; the positioning motor is axially and fixedly arranged in the rear-section shell, and the output end of the positioning motor is coaxially and fixedly connected with the spiral turntable; one end face of the spiral rotary disc is provided with spiral insections 26 which are engaged with the teeth and provide radial telescopic power for the jaws.
Preferably, the spiral pushing unit comprises a pushing motor 17, a rotating three-way support 13, a planetary gear set and a second gear set, wherein the pushing motor is axially and fixedly arranged inside the rear-section shell, and the output end of the pushing motor axially penetrates through the end face of the tail end of the rear-section shell and is in power connection with the planetary gear set; the planetary gear set is rotationally connected inside the rotary three-way support and provides rotary power for the rotary three-way support; the periphery of the rotating three-way support is uniformly distributed and is radially provided with wheel seats the same as the fixed three-way support, and a second wheel set is elastically supported in the wheel seats; the second wheel set comprises a wheel carrier and a spring which are the same as the first wheel set, and the second wheel set also comprises an inclined roller 27; the oblique rollers are symmetrically and rotatably connected to two sides of the wheel frame, and the rotating rolling path of the oblique rollers is surrounded on the inner wall of the cable duct.
Preferably, the planetary gear set comprises a driving gear 29, a driven gear 30 and an annular rack 28, wherein the driving gear is coaxially and fixedly arranged on the output end of the pushing motor, and the periphery of the driving gear is meshed with a plurality of driven gears; the driven gears are rotatably connected to the end face of the tail end of the rear-section shell, and the outer parts of the plurality of driven gears are matched, supported and meshed with the annular rack; the annular rack is coaxially and fixedly arranged inside the rotary three-way bracket.
Preferably, the rotating three-way bracket is rotatably supported and connected with a pushing bearing 14 towards the axial end face of the rear section casing, and the pushing bearing is slidably supported on the end face of the rear section casing.
Preferably, a plurality of fixed supporting wheels 7 are rotatably connected to the circumferential outer wall at the front end of the front section casing.
In order to more clearly describe the specific embodiments of the present invention, an example is provided below:
according to the obstacle clearing and repairing robot for the underground cable pipeline, the cutting tool is a device for clearing the blocking objects, the blocking objects in the exhaust pipe are cleared firstly, and the blocking objects are cut by the cutting tool with the cylindrical outline structure similar to the shape of the exhaust pipe, so that the pipe wall is prevented from being damaged in the cutting operation process. The cutting tool separates the blocking object from the pipe wall in the cutting process, breaks the blocking object into small blocks from large blocks, and then carries out thinning treatment on the small blocks. The cutting tool is cylindrical and toothed, and has a built-in stepped annular toothed tool for rotary cutting. The cutter can realize the mashing effect of rotary cutting, thereby achieving the purpose of breaking the barrier.
The periphery of the fixed three-way support and the periphery of the rotating three-way support are uniformly provided with wheel seats, the wheel seats are connected with wheel carriers through elastic support of springs, the wheel carriers of the fixed three-way support the rollers along the traveling direction of the robot, and the wheel carriers of the rotating three-way support the oblique rollers along the direction surrounding the inner wall of the cable pipeline.
When the robot for removing obstacles and repairing underground cable ducts enters the interior of the cable duct and normally travels straight, the drilling positioning unit is radially contracted into the rear-section shell, the pushing motor drives the planetary gear set to rotate, so that rotary power is provided for the rotating three-way support, surrounding motion power attached to the inner wall of the cable duct is provided for the oblique rollers, and axial advancing/retreating power is provided for the whole robot in the surrounding process of the oblique rollers.
According to the obstacle clearing and repairing robot for the underground cable pipeline, when the robot enters the cable pipeline and turns to run, the universal coupling of the universal jacking unit is bent, so that the front-section shell or the rear-section shell of the robot firstly passes through the turn, the tail of the rear robot secondly passes through the turn, and during the turning process, the rollers on the fixed three-way support provide self-adaptive adjustment support for the universal jacking unit of the robot, so that the front-section shell and the rear-section shell are prevented from colliding and rubbing the inner wall of the cable pipeline.
When the obstacle clearing and repairing robot for the underground cable pipeline is used for cutting an obstacle in the cable pipeline, the drilling positioning unit radially extends out of the rear-section shell and props against the inner wall of the cable pipeline for axially and radially positioning the robot, the servo motor drives the sliding block to push the cutting motor and the cutting tool to the front end, and the cutting motor provides power to drive the cutting tool to rotationally cut the obstacle.
Finally, the invention adopts mature products and mature technical means in the prior art to the full extent.
It will be appreciated that modifications and variations are possible to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the scope of the appended claims.
Claims (8)
1. A robot for removing obstacles and repairing underground cable ducts is characterized in that a digging end of the robot is defined as a front end, and the other end of the robot is defined as a tail end; the method is characterized in that: the robot comprises a front-section shell, a universal top bracing unit and a rear-section shell, wherein both axial ends of the universal top bracing unit radially and elastically support the inner wall of a cable pipeline and are respectively and fixedly connected with the front-section shell and the rear-section shell in an axial direction; the front end of the front-section shell is axially, telescopically, slidably and guidingly connected with a cutting unit; the front end of the rear section of the machine shell is radially stretched and adjusted to be connected with a drilling positioning unit, and the tail end of the rear section of the machine shell is circumferentially and rotatably connected with a spiral pushing unit which provides axial moving power for the robot in the cable pipeline.
2. A robot for clearing and repairing an underground cable duct according to claim 1, characterized in that: the front end face of the front-section shell is provided with an opening, and the opening axially penetrates through the cutting unit in a sliding connection manner; the cutting unit comprises a slide way, a slide block, a servo motor, a cutting motor and a cutting tool; the slideway is axially and fixedly arranged on the inner wall of the front-section shell and is used for sliding and guiding the supporting slide block; a servo motor for providing sliding power for the sliding block is fixedly arranged on one side of the sliding block, and a cutting motor is fixedly arranged on the other side of the sliding block in the axial direction; the cutting motor axially penetrates through the front end face of the opening of the front section casing, and a cutting tool is coaxially and fixedly connected to an output shaft of the cutting motor.
3. A robot for removing obstacles and repairing underground cable ducts as claimed in claim 1, wherein: the universal top bracing unit comprises a universal coupling and two fixed three-way brackets, wherein the two fixed three-way brackets are fixedly arranged on the axial tail end face of the front-section shell and the axial front end face of the rear-section shell respectively, and the universal coupling is connected between the two fixed three-way brackets in a universal adjusting manner; three wheel seats are uniformly distributed on the periphery of the fixed three-way support and are radially manufactured, and a first wheel set is elastically supported in the wheel seats; the first wheel set comprises rollers and a wheel carrier, wherein the rollers are symmetrically and rotationally connected to two sides of the wheel carrier, and the rotating rolling path of the rollers is parallel to the extending direction of the cable duct; the bottom of the wheel carrier is inserted in the wheel seat in a sliding manner, and a spring is embedded in the wheel carrier; one end of the spring is elastically supported on the root of the wheel seat, the other end of the spring is elastically supported on the wheel frame, and the spring provides power for the roller and the elastic support of the inner wall of the cable pipeline.
4. A robot for clearing and repairing an underground cable duct according to claim 1, characterized in that: the drilling positioning unit comprises a fixed chuck, a clamping jaw, a spiral rotary table and a positioning motor; the fixed chuck is coaxially and fixedly arranged on the inner wall of the front end face of the rear-section shell, and a plurality of clamping jaws are radially and slidably embedded on one axial end face of the fixed chuck; the jack catch radially slides and penetrates through the shell of the rear-section shell, and teeth are formed on the side surface of the jack catch; the positioning motor is axially and fixedly arranged in the rear-section shell, and the output end of the positioning motor is coaxially and fixedly connected with the spiral turntable; one end face of the spiral rotary disc is provided with spiral insections which are engaged with the teeth and provide radial telescopic power for the jaws.
5. A robot for clearing and repairing an underground cable duct according to claim 1, characterized in that: the spiral pushing unit comprises a pushing motor, a rotary three-way support, a planetary gear set and a second gear set, wherein the pushing motor is axially and fixedly arranged in the rear-section shell, and the output end of the pushing motor axially penetrates through the end face of the tail end of the rear-section shell and is in power connection with the planetary gear set; the planetary gear set is rotationally connected inside the rotary three-way support and provides rotary power for the rotary three-way support; the periphery of the rotating three-way support is uniformly distributed and is radially provided with wheel seats the same as the fixed three-way support, and a second wheel set is elastically supported in the wheel seats; the second wheel set comprises a wheel carrier and a spring which are the same as the first wheel set, and the second wheel set also comprises an inclined roller; the inclined rollers are symmetrically and rotatably connected to two sides of the wheel frame, and the rotating rolling path of the inclined rollers is surrounded on the inner wall of the cable duct.
6. A robot for clearing and repairing an underground cable duct according to claim 5, characterized in that: the planetary gear set comprises a driving gear, a driven gear and an annular rack, wherein the driving gear is coaxially and fixedly arranged on the output end of the pushing motor, and the periphery of the driving gear is meshed with a plurality of driven gears; the driven gears are rotatably connected to the end face of the tail end of the rear-section shell, and the outer parts of the driven gears are matched, supported and meshed with the annular racks; the annular rack is coaxially and fixedly arranged in the rotary three-way bracket.
7. A robot for clearing and repairing an underground cable duct according to claim 5, characterized in that: the rotary three-way support is connected with a pushing bearing in a rotating supporting mode towards the axial end face of the rear section casing, and the pushing bearing is supported on the end face of the tail end of the rear section casing in a sliding supporting mode.
8. A robot for removing obstacles and repairing underground cable ducts as claimed in claim 1, wherein: the circumference outer wall of anterior segment casing front end is gone up to rotate and is connected with a plurality of fixed stay wheels.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210971206.3A CN115041477B (en) | 2022-08-15 | 2022-08-15 | Obstacle clearing and repairing robot for underground cable pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210971206.3A CN115041477B (en) | 2022-08-15 | 2022-08-15 | Obstacle clearing and repairing robot for underground cable pipeline |
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| CN115041477B CN115041477B (en) | 2023-01-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115411655A (en) * | 2022-10-31 | 2022-11-29 | 天津滨电电力工程有限公司 | Embedded pipe repairing robot for underground cable duct bank |
| CN116967221A (en) * | 2023-09-22 | 2023-10-31 | 南通清风通用机械有限公司 | Cleaning equipment for spiral air duct |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115411655A (en) * | 2022-10-31 | 2022-11-29 | 天津滨电电力工程有限公司 | Embedded pipe repairing robot for underground cable duct bank |
| CN115411655B (en) * | 2022-10-31 | 2023-01-17 | 天津滨电电力工程有限公司 | Embedded pipe repairing robot for underground cable duct bank |
| CN116967221A (en) * | 2023-09-22 | 2023-10-31 | 南通清风通用机械有限公司 | Cleaning equipment for spiral air duct |
| CN116967221B (en) * | 2023-09-22 | 2023-12-19 | 南通清风通用机械有限公司 | Cleaning equipment for spiral air duct |
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| CN115041477B (en) | 2023-01-17 |
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