CN115126076A

CN115126076A - Pipeline dredging robot

Info

Publication number: CN115126076A
Application number: CN202210933004.XA
Authority: CN
Inventors: 赵修林; 杨静; 仲辉; 孙强; 于振中
Original assignee: HRG International Institute for Research and Innovation
Current assignee: Hefei Hagong Zhiling Intelligent Technology Co ltd
Priority date: 2022-08-04
Filing date: 2022-08-04
Publication date: 2022-09-30

Abstract

The invention discloses a pipeline dredging robot, which comprises an advancing driving component, a rotary driving component, a milling head component, a plurality of sliding shoe components and a plurality of scraper components, wherein the rotary driving component is rotatably connected with one end of the advancing driving component; when the robot moves backwards, the scraping plate component is limited to be in a state of being perpendicular to the axis direction of the forward driving component. The invention has the beneficial effects that: can realize dragging out the obstacles after being crushed, has good dredging effect and more thorough dredging.

Description

Pipeline dredging robot

Technical Field

The invention relates to a pipeline robot, in particular to a pipeline dredging robot.

Background

Municipal drainage pipeline engineering construction is divided into several categories such as pipeline detection, maintenance, restoration, and high water level pipeline construction is earlier required to carry out works such as precipitation, drainage, washing after the pipeline mouth is sealed with the gasbag. The pipeline is often internally provided with sludge at the bottom of the pipeline, dirt on the pipe wall, construction waste, tree roots and other immersions, so that the section of the pipe orifice is reduced, the air bag cannot be installed in place, hard sharp waste can stab and scratch the air bag, the air bag is damaged or potential safety hazards are generated, the pipeline opening needs to be cleaned before the air bag is plugged, at present, a frogman wears a protective clothing to manually clean the underground well, and a small number of frogmans use a high-pressure cleaning vehicle to wash the underground well through high-pressure water jet. At present, the pipeline detection is generally carried out by manual or special CCTV pipeline closed-circuit television detection robots after the pipeline plugging, water dropping and draining and cleaning are finished, and also the QV periscope camera is used for rough detection at the pipeline port under the condition of low water level of the pipeline.

At present, CCTV pipeline closed-circuit television detection robots and QV periscopes are required to perform pipeline port plugging, drainage and pipeline cleaning, labor and time are more, and greater risks exist. Special vehicles represented by high-pressure cleaning vehicles, grab bucket dredging vehicles, sewage suction vehicles and the like have single dredging function, or use a large amount of water, or have small construction capacity and limited range, and also need a large amount of manual assistance. Especially, the device has almost no function in the working conditions of large drift diameter, serious blockage of pipelines, hard attachments of calcified pipe walls, large hard barriers and the like.

Some existing dredging robots can break up sludge, garbage, tree roots and the like in a pipeline, for example, in patent document with publication number CN210098446U, a cutting and smashing device of a pipeline dredging robot comprises 1 compass bottom cover; 1 compass top cover; 1 compass middle cover; a first moving blade head; a second moving blade head; 3 chains; 3 chain fixing blocks; 3 pieces are broken; 3 belt seats; 3 belts; 1 compass end cap; wherein, the cutting device comprises three types of cutting tools which are respectively a belt (10); a chain (6) and a crushing block (8); a first moving cutter head (4) and a second moving cutter head (5); but the sludge is still retained in the pipeline after being smashed, and is easy to harden on the inner wall of the pipeline after a long time, so that thorough dredging cannot be realized.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms part of the prior art that is already known to a person skilled in the art.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to solve the problem that the existing pipeline dredging mode can not thoroughly dredge.

The invention solves the technical problems through the following technical means:

the pipeline dredging robot comprises an advancing driving assembly, a rotating driving assembly, a milling head assembly, a plurality of sliding shoe assemblies and a plurality of scraper assemblies, wherein the rotating driving assembly is rotatably connected with one end of the advancing driving assembly, the milling head assembly is connected with the other end of the rotating driving assembly, the plurality of sliding shoe assemblies are connected with the advancing driving assembly along the circumferential direction of the advancing driving assembly, and the scraper assemblies can only rotate towards the opposite direction of the advancing direction and are connected with the adjacent sliding shoe assemblies; when the robot moves backwards, the scraper component is limited to be in a state of being vertical to the axis direction of the forward driving component.

The pipeline dredging robot advances through the advancing driving component, the sliding shoe component supports the pipe wall to play a role in supporting and guiding and serves as an installation body of the scraper component, the rotary driving component can rotate by itself and drive the milling head component to rotate, the milling head component can crush obstructions such as roots, large hard garbage and the like in the pipeline, the scraper component tilts backwards in the advancing process to reduce the advancing resistance, the pipeline dredging robot is dragged out after crushing is completed, at the moment, the scraper component is limited to be in a state perpendicular to the axis direction of the advancing driving component, hard sediments at the bottom of the pipe and large building garbage can be dragged out to an inspection well, and the building garbage and the sludge in the inspection well are lifted to the ground and cleaned through the sludge grab car; meanwhile, equipment such as a camera and sonar can be carried, and the pipeline condition detection and dredging effects are achieved. The invention can realize pulling out the obstacles after crushing, has good dredging effect and more thorough dredging.

Preferably, the forward driving assembly comprises a first mandrel and a high-pressure water joint, a water channel is formed in the first mandrel, the high-pressure water joint is connected with one end of the first mandrel, and the other end of the first mandrel comprises a plurality of second nozzles with the spraying directions opposite to the forward direction.

Preferably, the rotation driving assembly includes second dabber, adapter, first nozzle, be in the second dabber the water passageway and with first dabber is inside to communicate with each other, the one end of second dabber is rotated and is connected the one end that high pressure water swivel was kept away from to first dabber, the second dabber includes the radial hole of a plurality of circumference arrays, the adapter is connected the radial hole, first nozzle is connected the tip of adapter, the jet direction of first nozzle is the tangential direction of adapter tip place circle.

The high-pressure water is driven by high-pressure water and is connected with a high-pressure water pump or a high-pressure water cleaning vehicle through a high-pressure water joint, the high-pressure water enters a water channel of a first mandrel through the high-pressure water joint, is sprayed backwards from a second nozzle to generate forward reaction force to drive the robot to walk in a pipeline and clean the bottom of the pipeline, a sliding shoe assembly is in contact with the wall of the pipeline, and rolls forwards under the driving force of high-pressure water jet, so that the friction force between the robot and the wall of the pipeline is reduced; high-pressure water enters the second mandrel, high-pressure water jet is sprayed out through the first nozzle, and the generated tangential reaction force drives the second mandrel to rotate, so that the deposition at the bottom of the pipe can be effectively diluted, and dirt on the pipe wall can be removed; the second mandrel rotates and simultaneously drives the milling head assembly to rotate, residual construction waste of the bricklaying blocking wall is drilled through, a blockage in front of the robot is dredged, pipe wall attachments are removed, tree roots and large hard waste in the pipeline are crushed, and the like. The robot is driven to walk by the reaction force of the high-pressure water jet to the nozzle after the middle part and the rear part of the robot, and the operations of cleaning the pipe wall, dredging the pipeline and dredging the pipe bottom are simultaneously completed. Sufficient power, low cost, high efficiency and good effect.

Preferably, the milling head assembly comprises a milling head shaft, a drilling milling head and a chain, one end of the milling head shaft is fixedly connected with the rotary driving assembly, the drilling milling head is fixedly connected with the other end of the milling head shaft, and one end of the chain is connected with the cylindrical surface of the milling head shaft.

The drilling and milling head can drill through residual construction waste of the bricklaying blocking wall, the chain is a nylon chain, the nylon chain simulates hands to erase sharp waste on the pipe wall, and the nylon chain cannot damage the pipe wall on the premise of removing attachments on the pipe wall.

Preferably, the axes of the forward drive assembly, the rotary drive assembly and the milling head assembly are coaxial.

Preferably, the skid shoe assembly comprises a plurality of skid shoe supporting plates, a plurality of skid shoe adjusting plates and a plurality of skid shoe wheels, the skid shoe supporting plates are connected with the outer portion of the forward driving assembly along the circumferential direction, the skid shoe adjusting plates are connected with the skid shoe supporting plates, the skid shoe wheels are connected with the skid shoe adjusting plates in a rotatable mode, and the outer circumferential surfaces of the skid shoe wheels are contact surfaces with the inner wall of the pipeline.

The diameter of the circle where the sliding shoe wheel is located can be adjusted by adjusting the distance between the sliding shoe supporting plate and the sliding shoe adjusting plate, and the sliding shoe wheel can adapt to construction with various pipe diameters; the sliding shoe wheels are arranged at the front end and the rear end of the sliding shoe adjusting plate, and play a role in reducing frictional resistance with the pipe wall and guiding the robot.

Preferably, the scraper blade subassembly includes stopper, scraper blade body, the stopper is connected respectively the both sides of skid shoe regulating plate, the stopper includes the connecting axle, the side of scraper blade body includes connecting sleeve, connecting sleeve with the connecting axle is connected.

Preferably, the scraper blade subassembly is including still including spring, stop screw connects the stopper, connecting sleeve includes the spacing groove, the spring cup joints the connecting axle, the one end joint of spring is in the spacing inslot, the other end butt is in on the stop screw.

The scraper only realizes one-way rotation, and is dragged backwards to be horizontal when the robot moves forwards, so that the forward resistance is reduced; when the robot is withdrawn backwards, the robot returns to the initial position under the action of the elastic force of the spring and is in a vertical state, and can drag out hard sediments and large building garbage at the bottom of the pipe, thereby playing a role in removing obstacles.

Preferably, the milling head further comprises a dragging bracket assembly which is connected with one end of the sliding shoe assembly far away from the milling head assembly.

Preferably, the dragging frame assembly comprises an end plate and dragging plates, one end of each dragging plate is connected with the end of the sliding shoe assembly, and the other end of each dragging plate is connected with the end plate.

The end plate, pull the plate-shaped and taper structure pull the shelf subassembly, both can follow the rear side and carry out the guard action to the robot, can realize the robot business turn over vertical well through drawing high-pressure water pipe again, avoid producing the cross-pulling force to the water pipe joint when exchanging by level, perpendicular gesture and lead to the joint and damage, guide when retreating for the robot again and prevent to block.

The invention has the advantages that:

(1) the pipeline dredging robot advances through the advancing driving component, the sliding shoe component supports the pipe wall to play a role in supporting and guiding and serves as an installation body of the scraper component, the rotary driving component can rotate by itself and drive the milling head component to rotate, the milling head component can crush obstructions such as roots, large hard garbage and the like in the pipeline, the scraper component tilts backwards in the advancing process to reduce the advancing resistance, the pipeline dredging robot is dragged out after crushing is completed, at the moment, the scraper component is limited to be in a state perpendicular to the axis direction of the advancing driving component, hard sediments at the bottom of the pipe and large building garbage can be dragged out to an inspection well, and the building garbage and the sludge in the inspection well are lifted to the ground and cleaned through the sludge grab car; meanwhile, equipment such as a camera and sonar can be carried, and the pipeline condition detection and dredging effects are achieved. The invention can realize that the obstacles are dragged out after being crushed, has good dredging effect and more thorough dredging;

(2) the high-pressure water is driven by high-pressure water and is connected with a high-pressure water pump or a high-pressure water cleaning vehicle through a high-pressure water joint, the high-pressure water enters a water channel of a first mandrel through the high-pressure water joint, is sprayed backwards from a second nozzle to generate forward reaction force to drive the robot to walk in a pipeline and clean the bottom of the pipeline, a sliding shoe assembly is in contact with the wall of the pipeline, and rolls forwards under the driving force of high-pressure water jet, so that the friction force between the robot and the wall of the pipeline is reduced; high-pressure water enters the second mandrel, high-pressure water jet is sprayed out through the first nozzle, and the generated tangential reaction force drives the second mandrel to rotate, so that the deposition at the bottom of the pipe can be effectively diluted, and the dirt on the pipe wall can be removed; the second mandrel rotates and simultaneously drives the milling head assembly to rotate, residual construction waste of the bricklaying blocking wall is drilled through, a blockage in the front of the robot is dredged, pipe wall attachments are removed, tree roots and large hard waste in the pipeline are smashed, and the like. The robot is driven to walk by the reaction force of the high-pressure water jet to the nozzle after the middle part and the rear part of the robot, and the operations of cleaning the pipe wall, dredging the pipeline and dredging the pipe bottom are simultaneously completed. The power is sufficient, the cost is low, the efficiency is high, and the effect is good;

(3) the drilling and milling head can drill through residual construction waste of the bricklaying and blocking wall, the chain is a nylon chain, the nylon chain simulates a human hand to erase sharp waste on the wall of the pipe, and the nylon chain cannot damage the wall of the pipe on the premise of removing attachments on the wall of the pipe;

(4) the diameter of the circle where the sliding shoe wheel is located can be adjusted by adjusting the distance between the sliding shoe supporting plate and the sliding shoe adjusting plate, and the sliding shoe wheel can adapt to construction with various pipe diameters; the sliding shoe wheels are arranged at the front end and the rear end of the sliding shoe adjusting plate, and play a role in reducing the frictional resistance with the pipe wall and guiding the robot;

(5) the scraper only realizes one-way rotation, and is dragged backwards to be horizontal when the robot moves forwards, so that the forward resistance is reduced; when the robot retreats backwards, the robot returns to the initial position under the action of the elastic force of the spring and is in a vertical state, and hard sediments and large building garbage at the bottom of the pipe can be dragged out, so that the obstacle removing effect is achieved;

(6) the end plate and the dragging plate-shaped dragging frame assembly with the conical structure can protect the robot from the rear side, and can also pull the high-pressure water pipe to enable the robot to enter and exit the vertical well, so that the joint damage caused by the transverse pulling force generated on the water pipe joint when the horizontal posture and the vertical posture are interchanged is avoided, and the robot is guided to prevent the robot from being clamped when retreating;

(7) the robot can carry detectors such as a camera and a sonar to realize the detection of the position of a well mouth and the condition of a pipeline while finishing the cleaning and dredging of the pipeline under various working conditions such as water and no water, and finishes the image acquisition and report generation by matching with the control and monitoring software on the well, so that the intelligent degree is higher;

(8) aiming at different siltation conditions or brick building, the advancing speed of the robot and the rotating speeds of the chain and the drill bit are controlled by adjusting the flow rate of the high-pressure water jet, so that the application of different dredging and dredging working conditions is realized;

(9) the invention can be used for cleaning the pipeline opening before air bag plugging, and can also be used for dredging and detecting the pipeline without early-stage pipeline plugging and drainage; the robot is small and portable, has high adaptability, can be matched and applied to a high-pressure cleaning vehicle commonly applied in the industry, and can also be independently provided with a high-pressure water pump station to be installed on a freight car for application; the system is convenient to install, carry and transport, and system equipment is common construction configuration, can be to operation environment and demand, and the selective fitting robot is under construction fast.

Drawings

FIG. 1 is a schematic structural diagram of a pipeline dredging robot according to an embodiment of the invention;

FIG. 2 is a schematic diagram of the operation of the pipe dredging robot of the embodiment of the invention;

FIG. 3 is a schematic diagram of the operation of the pipe dredging robot of the embodiment of the invention;

FIG. 4 is a side view of a pipe dredging robot according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a pipe dredging robot according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a forward drive assembly in accordance with an embodiment of the present invention;

FIG. 7 is a schematic structural view of a squeegee assembly according to an embodiment of the invention;

FIG. 8 is a schematic structural view of a squeegee assembly embodiment of the invention;

FIG. 9 is a schematic diagram of the operation of the pipe dredging robot system according to the embodiment of the invention;

reference numbers in the figures:

1. a forward drive assembly; 11. a first mandrel; 12. a high-pressure water joint; 13. a second nozzle;

2. a rotary drive assembly; 21. a second mandrel; 22. an adapter; 23. a first nozzle;

3. a cutter head assembly; 31. milling a head shaft; 32. drilling and milling a head; 33. a chain;

4. a slipper assembly; 41. a slipper support plate; 42. a slipper adjusting plate; 43. a skate wheel;

5. a squeegee assembly; 51. a limiting block; 52. a squeegee body; 53. a spring; 54. a limit screw; 55. a limiting groove;

6. a trailing frame assembly; 61. an end plate; 62. dragging a plate;

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1 and 2, the pipeline dredging robot comprises a forward driving assembly 1, a rotary driving assembly 2, a milling head assembly 3, a plurality of sliding shoe assemblies 4 and a plurality of scraper assemblies 5; the rotary driving component 2 is rotatably connected with the right end of the forward driving component 1, the milling head component 3 is connected with the right end of the rotary driving component 2, a plurality of sliding shoe components 4 are connected with the forward driving component 1 along the circumferential direction of the forward driving component 1, and the scraper component 5 is rotatably connected with the adjacent sliding shoe components 4 only towards one side; during obstacle clearing operation, the milling head component 3 rotates along with the rotary driving component 2, the scraper component 5 inclines backwards relative to the advancing direction, and when the robot retreats, the scraper component 5 is limited in a state of being perpendicular to the axial direction of the advancing driving component 1.

Specifically, as shown in fig. 1-5 and 6, the forward driving assembly 1 includes a first mandrel 11, a high pressure water connector 12, and a second nozzle 13, the first mandrel 11 is a base for all installation, a water passage is formed in the first mandrel 11, the high pressure water connector 12 is connected to the left end of the first mandrel 11 and is communicated with the water passage in the first mandrel 11, and the high pressure water connector 12 can be connected to an external high pressure water pump or a high pressure water cleaning vehicle; the whole first mandrel 11 is cylindrical, an outward protruding plate is arranged on the outer surface of the first mandrel 11 and used for being connected with the sliding shoe assembly 4, the right end of the first mandrel 11 comprises a plurality of second nozzles 13, the spraying directions of the second nozzles 13 are opposite to the advancing directions, the second nozzles 13 are communicated with a water channel in the first mandrel 11, the included angle between each second nozzle 13 and the axis is 0-30 degrees and is approximately opposite to the advancing directions, the conical shape in the figures 2, 3 and 6 is sprayed water, the advancing driving assembly 1 serves as the advancing power output of the whole robot, specifically, the advancing driving assembly is driven by high-pressure water and is connected with a high-pressure water pump or a high-pressure water cleaning vehicle through a high-pressure water joint 12, the high-pressure water enters the water channel of the first mandrel 11 through the high-pressure water joint 12, and is sprayed backwards from the second nozzles 13 to generate forward reaction force to drive the robot to walk in the pipeline and clean the bottom of the pipeline.

Rotary drive subassembly 2 includes second dabber 21, adapter 22, first nozzle 23, be in the second dabber 21 water channel and with first dabber 11 is inside to communicate with each other, the one end of second dabber 21 can be rotated through the bearing and connect the one end that high pressure water swivel 12 was kept away from to first dabber 11, second dabber 21 includes the radial hole of a plurality of circumference arrays, adapter 22 connects the radial hole, adapter 22's inside also has water channel, and the outside can be column structure, along the radial installation of second dabber 21, first nozzle 23 is connected adapter 22's tip, but the injection direction of first nozzle 23 is the tangential direction of adapter 22 tip place circle. High-pressure water enters the second mandrel 21 from the first mandrel 11, then enters the adapter 22 along the radial hole, and is sprayed out from the first nozzle 23, as shown in fig. 4, the conical shape is sprayed out water, four strands of high-pressure water are sprayed out along the tangential direction, and the generated tangential reaction force drives the second mandrel 21 to rotate, so that the deposition at the bottom of the pipe can be effectively diluted, and the dirt on the pipe wall can be removed.

The milling head assembly 3 comprises a milling head shaft 31, a drilling and milling head 32 and a chain 33, one end of the milling head shaft 31 is fixedly connected with the second mandrel 21 in a bolt connection mode, the milling head shaft 31 is cylindrical and serves as a mounting base member for the drilling and milling head 32 to drink the chain 33, the drilling and milling head 32 is fixedly connected with the other end of the milling head shaft 31, one end of the chain 33 is connected with the cylindrical surface of the milling head shaft 31, a plurality of chains 33 can be arranged, the chains 33 are spaced along the axis of the milling head shaft 31, the length of the chain 33 can be adjusted, a plurality of holes for the chains 33 to pass through can be formed in the milling head shaft 31, the end portion of the chain 33 is folded back to be connected with the chain 33 after passing through, the length of the chain 33 is adjusted by connecting different chain rings, but the length of the chain 33 is adjusted in a circumferential contour formed by the outer edges of the plurality of the sliding shoe assemblies 4, so that the pipe wall cleaning and the dirt removal can be completed, But also can not scratch the pipe wall to protect the pipe wall. Under the rotation drive of the rotation driving component 2, the drilling and milling head 32 and the chain 33 at the front end can both do rotation motion, the drilling and milling head 32 can drill through residual construction waste of the bricklaying blocking wall, the chain 33 is a nylon chain, the nylon chain simulates hands to complete the erasing of sharp waste on the pipe wall, and the nylon chain can not damage the pipe wall on the premise of removing attachments on the pipe wall.

In this embodiment, the axes of the forward driving assembly 1, the rotary driving assembly 2 and the milling head assembly 3 are coaxial. The forward direction is consistent when the rotary drum is rotated, so that the rotary drum cannot be twisted.

As shown in fig. 2 and 3, the slipper assembly 4 includes a plurality of slipper supporting plates 41, a slipper adjusting plate 42, and a slipper roller 43, the plurality of slipper supporting plates 41 are connected to the protruding plate outside the first mandrel 11 along the circumferential direction, in this embodiment, the number of slipper supporting plates 41 is five, the five slipper supporting plates 41 are arranged at regular intervals, the slipper supporting plates 41 are connected to the first mandrel 11 by bolts, the slipper supporting plates 41 are rectangular plates, a plurality of connecting holes are arranged on the first mandrel 11, the positions of the connecting holes are different, the distance between the shoe adjusting plate 42 and the first mandrel 11 can be adjusted, the slipper adjustment plate 42 is connected with the slipper support plate 41, the slipper adjustment plate 42 is a strip-shaped plate with the length larger than that of the slipper support plate 41, the sliding shoe wheels 43 are rotatably connected with two ends of the sliding shoe adjusting plate 42, and the outer circumferential surfaces of the sliding shoe wheels 43 are contact surfaces with the inner wall of the pipeline. The diameter of the circle where the sliding shoe wheel 43 is located can be adjusted by adjusting the distance between the sliding shoe supporting plate 41 and the sliding shoe adjusting plate 42, and the sliding shoe wheel is suitable for construction with various pipe diameters; the skid shoe wheels 43 are installed at the front and rear ends of the skid shoe adjusting plate 42, and play a role in reducing frictional resistance with the pipe wall and guiding the robot. The slipper adjustment plates 42 are provided with slipper rollers 43, and in actual use, at least one slipper roller 43 is arranged at the front end and the rear end of each slipper adjustment plate 42.

As shown in fig. 7 and 8, the scraper component 5 includes a limiting block 51, a scraper body 52, a spring 53, a limiting screw 54, and a limiting groove 55, where the limiting block 51 is a block-shaped structure, the limiting block 51 is respectively connected to two sides of the shoe adjusting plate 42 and located at the tail end, the tail end refers to a direction opposite to the forward direction, the rear end surface of the limiting block 51 is a limiting surface and can contact with the scraper body 52 and limit the scraper body 52 to rotate forward, the side surface of the limiting block 51 includes a connecting shaft, the scraper body 52 is a plate-shaped structure and can be a waist-shaped plate or a rectangular plate, the side surface of the scraper body 52 includes a connecting sleeve, and the connecting sleeve is connected with the connecting shaft to realize the rotation of the scraper body 52 and the limiting block 51.

The limiting screw 54 is connected with the limiting block 51, as shown in fig. 8, a limiting groove 55 is formed in the end portion of the connecting sleeve, the limiting groove 55 is formed in one side close to the limiting block 51, the cross section of the limiting groove 55 is a horizontal U-shaped groove with an outward opening, one end of the spring 53 can extend out of the limiting groove 55, and limiting is achieved by the side face of the limiting groove 55; the spring 53 is sleeved with the connecting shaft, two ends of the spring 53 are not spiral any more, two ends of the spring 53 extend outwards along a spiral tangent direction, extending ends of the two ends are acute angles, the extending end of one end is clamped in the limiting groove 55, and the other end abuts against the limiting screw 54; the limit screw 54 may be separately connected to the limit block 51, as shown in fig. 8, or may be replaced by a bolt connected to the shoe adjusting plate 42 through the limit block 51, and the bolt may extend to abut against the spring 53. Under the action of the spring 53, the scraper blade body 52 and the first mandrel 11 are in a vertical state, and due to the action of the limiting block 51, the scraper blade body 52 only realizes unidirectional rotation, the unidirectional rotation is in a backward rotation direction, and when the robot moves forward, the robot is pulled backward and is in a horizontal state, so that the forward resistance is reduced; when the robot retreats backwards, the robot returns to the initial position under the action of the elastic force of the spring 53 and is in a vertical state and limited at the position of the limiting block 51, and the scraper blade body 52 can drag out hard sediments and large building garbage at the bottom of the pipe to play a role in removing obstacles.

In fig. 2, 3, and 4, only three scraper bodies 52 are shown, and in actual use, the scraper bodies 52 are arranged in a circle. That is, according to the present embodiment, when five shoe assemblies 4 are provided, the number of the blade assemblies 5 is also five, and it is needless to say that four, six, or the like may be provided depending on the actual situation, and the number thereof is not limited.

The working process of the embodiment:

as shown in fig. 9, the high-pressure water joint 12 is fastened and connected with a high-pressure water pipe matched with the high-pressure water pump station or the high-pressure water cleaning vehicle C through a terminal thread, a hydraulic hose and a net cover E connected to the pipeline dredging robot a are placed in the well through a hydraulic winch D by controlling and monitoring software B to control the hydraulic winch D, and after entering a horizontal well mouth, a high-pressure water switch of the high-pressure water pump station or the high-pressure water cleaning vehicle C is started.

High-pressure water enters a water channel of the first mandrel 11 through the high-pressure water joint 12, is ejected backwards from the second nozzle 13 to generate forward reaction force to drive the robot to walk in the pipeline and clean the bottom of the pipeline, the sliding shoe component 4 is contacted with the pipe wall, and rolls forwards under the driving force of high-pressure water jet, so that the friction force between the robot and the pipe wall is reduced; high-pressure water enters the second mandrel 21, high-pressure water jet is sprayed out through the first nozzle 23, and the generated tangential reaction force drives the second mandrel 21 to rotate, so that the deposition at the bottom of the pipe can be effectively diluted, and the dirt on the pipe wall can be removed; the second mandrel 21 rotates and simultaneously drives the milling head component 3 to rotate, residual construction waste in the wall plugged by the bricks is drilled through, the blockage in the front of the robot is dredged, and attachments on the pipe wall and tree roots and large hard waste in the pipeline are removed and crushed. The robot is driven to walk by the reaction force of the high-pressure water jet to the nozzle after the middle part and the rear part of the robot, and the operations of cleaning the pipe wall, dredging the pipeline and dredging the pipe bottom are simultaneously completed. Sufficient power, low cost, high efficiency and good effect.

Meanwhile, the advancing driving component 1 realizes the advancing of the pipeline dredging robot, the rotary driving component 2 can realize the self-rotation and drive the milling head component 3 to rotate, and the milling head component 3 can crush the obstructions such as roots, large hard garbage and the like in the pipeline. In the process of advancing, scraper blade subassembly 5 inclines backward, reduces the resistance that advances, smashes the completion back, drag out pipeline dredging robot, at this moment, scraper blade subassembly 5 is spacing to be and advances drive assembly 1 axis direction vertical state, can drag out harder sediment in the bottom of the tube and bold building rubbish, after the robot gos forward to the upper reaches inspection shaft, cooperation hydraulic capstan D antiport, the tractive backward, the scraper blade subassembly drags out the building rubbish of smashing to the inspection shaft in, promote building rubbish and silt in the inspection shaft to ground and clearance through silt grab bucket truck.

The pipeline dredging robot in this embodiment can carry on equipment such as camera, sonar, can carry on at the middle part of skid shoe regulating plate 42, and the operation in-process accomplishes the image acquisition of camera, sonar through control and monitoring software B, detects pipeline condition and desilting effect, can control high pressure water jet flow rate simultaneously and adjust high pressure water piping detection and desilting robot forward speed and desilting intensity. This embodiment can realize dragging out the barrier after smashing, and the mediation is effectual, and the desilting is more thorough.

The second embodiment:

as shown in fig. 2, the pipe dredging robot further comprises a towing bracket assembly 6, wherein the towing bracket assembly 6 is connected with one end of the sliding shoe assembly 4 far away from the milling head assembly 3.

Specifically, the towing bracket assembly 6 comprises an end plate 61 and a towing plate 62, wherein one end of the towing plate 62 is connected with the end of the slipper adjusting plate 42, the other end of the towing plate 62 is connected with the end plate 61, and the connection mode is hinged.

The end plate 61 and the dragging plate 62 form the dragging frame assembly 6 with a conical structure, so that the robot can be protected from the rear side, and can pass in and out of the vertical well by dragging the high-pressure water pipe, the damage to the joint caused by the transverse pulling force generated by the water pipe joint when the horizontal posture and the vertical posture are exchanged is avoided, and the robot is guided to prevent the clamping when retreating.

The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The pipeline dredging robot is characterized by comprising an advancing driving assembly, a rotary driving assembly, a milling head assembly, a plurality of sliding shoe assemblies and a plurality of scraper assemblies, wherein the rotary driving assembly is rotatably connected with one end of the advancing driving assembly, the milling head assembly is connected with the other end of the rotary driving assembly, the sliding shoe assemblies are connected with the advancing driving assembly along the circumferential direction of the advancing driving assembly, and the scraper assemblies can only rotate towards the opposite direction of the advancing direction and are connected with the adjacent sliding shoe assemblies; when the robot moves backwards, the scraper component is limited to be in a state of being vertical to the axis direction of the forward driving component.

2. The pipe dredging robot of claim 1, wherein the forward driving assembly comprises a first mandrel, a high pressure water connector, a water channel is formed in the first mandrel, the high pressure water connector is connected with one end of the first mandrel, and the other end of the first mandrel comprises a plurality of second nozzles with spraying directions opposite to the forward direction.

3. The pipeline dredging robot of claim 2, wherein the rotary driving assembly comprises a second mandrel, an adapter and a first nozzle, a water channel is formed in the second mandrel and is communicated with the interior of the first mandrel, one end of the second mandrel is rotatably connected with one end, away from the high-pressure water connector, of the first mandrel, the second mandrel comprises a plurality of radial holes in a circumferential array, the adapter is connected with the radial holes, the first nozzle is connected with the end of the adapter, and the spraying direction of the first nozzle is tangential to a circle where the end of the adapter is located.

4. The pipeline dredging robot of claim 1, wherein the milling head assembly comprises a milling head shaft, a drilling and milling head and a chain, one end of the milling head shaft is fixedly connected with the rotary driving assembly, the drilling and milling head is fixedly connected with the other end of the milling head shaft, and one end of the chain is connected with the cylindrical surface of the milling head shaft.

5. The pipe dredging robot of claim 1, wherein the axes of the forward drive assembly, the rotary drive assembly, and the milling head assembly are coaxial.

6. The pipeline dredging robot of claim 1, wherein the sliding shoe assembly comprises a plurality of sliding shoe support plates, a plurality of sliding shoe adjustment plates and a sliding shoe wheel, the sliding shoe support plates are connected with the outside of the forward driving assembly along the circumferential direction, the sliding shoe adjustment plates are connected with the sliding shoe support plates, the sliding shoe wheel is rotatably connected with the sliding shoe adjustment plates, and the outer circumferential surface of the sliding shoe wheel is a contact surface with the inner wall of the pipeline.

7. The pipeline dredging robot of claim 6, wherein the scraper assembly comprises a limiting block and a scraper body, the limiting block is respectively connected with two sides of the sliding shoe adjusting plate, the limiting block comprises a connecting shaft, the side surface of the scraper body comprises a connecting sleeve, and the connecting sleeve is connected with the connecting shaft.

8. The pipeline dredging robot of claim 7, wherein the scraper assembly further comprises a spring and a limit screw, the limit screw is connected with the limit block, the connecting sleeve comprises a limit groove, the spring is sleeved with the connecting shaft, one end of the spring is clamped in the limit groove, and the other end of the spring abuts against the limit screw.

9. The pipe dredging robot of claim 1, further comprising a towing bracket assembly connecting an end of the slipper assembly remote from the cutter head assembly.

10. The pipe dredging robot of claim 1, wherein the towing bracket assembly comprises an end plate, a towing plate, and a plurality of the towing plates are connected with one end of the slipper assembly and the other end of the slipper assembly.