CN115780427A

CN115780427A - Closed pipeline desilting robot

Info

Publication number: CN115780427A
Application number: CN202211280714.3A
Authority: CN
Inventors: 程翔; 刘彬; 吕自贵
Original assignee: Institute of Intelligent Manufacturing Technology JITRI
Current assignee: Institute of Intelligent Manufacturing Technology JITRI
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2023-03-14
Anticipated expiration: 2042-10-19
Also published as: CN115780427B

Abstract

The invention discloses a closed pipeline dredging robot which comprises a vehicle body assembly, a camera assembly, a driving part, a multidirectional transmission part and a camera, wherein the vehicle body assembly comprises a vehicle body, a conveying pipe arranged at the bottom of the vehicle body, an installation cabin arranged on the upper surface of the vehicle body, and the camera assembly comprises the driving part arranged on the inner side of the installation cabin, the multidirectional transmission part arranged on the vehicle body and driven by the driving part, and the camera arranged on the multidirectional transmission part. Through setting up the subassembly of making a video recording, in the course of the work, the picture of transmission record can be shot to the camera, makes the staff can know the clearance condition of pipeline and the real-time behavior of desilting robot outside the pipeline, can in time adjust according to actual conditions, promotes the effect of desilting, and at the in-process of shooting, through driving piece and multidirectional driving medium, can drive the multidirectional rotation of camera to the shooting direction of adjustment camera.

Description

Closed pipeline desilting robot

Technical Field

The invention relates to the technical field of dredging robots, in particular to a closed pipeline dredging robot.

Background

In recent years, the population of cities and towns in China is continuously increased, sewage pipelines are always in an overload running state, and in addition, the phenomenon of waterlogging easily occurs in cities due to the fact that old sewage pipelines are broken and blocked, so that the life and property safety of citizens is threatened, the modernization development of the cities is also hindered, and the intelligent sewage pipeline cleaning robot can not only detect and repair the internal condition of the pipelines, but also dredge the pipelines and clean sludge.

But current desilting robot is not equipped with the image recording structure, and when the desilting robot carried out silt clearance in some inclosed pipeline inboards, personnel could not observe the condition of desilting and the state of robot, caused the desilting effect for a moment and can't ensure for the first time, and the second can lead to unable accurate control desilting robot to avoid the obstacle.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The invention is provided in view of the problem of observing the dredging condition of the existing closed pipeline dredging robot.

Therefore, the invention aims to provide a closed pipeline dredging robot.

In order to solve the technical problems, the invention provides the following technical scheme: including, the automobile body subassembly, including the automobile body and set up in the conveyer pipe of automobile body bottom and set up in the installation cabin of automobile body upper surface, the desilting subassembly, including set up in on the automobile body with the preceding shovel portion of conveyer pipe intercommunication and set up in the inboard transport portion of conveyer pipe to and the subassembly of making a video recording, including set up in installation cabin inboard driving piece, set up in through driving piece driven multidirectional driving medium on the automobile body and set up in camera on the multidirectional driving medium.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: multidirectional driving medium includes first transmission portion and second transmission portion, first transmission portion including set up in the supporting seat of automobile body upper surface, set up in the inboard one-way pivoted one-way rolling disc of supporting seat, and set up in the inboard first atress piece of one-way rolling disc, second transmission portion including set up in the protection casing of one-way rolling disc upper surface, set up in the roof of protection casing upper surface and set up in the inboard second atress piece of roof, driving piece promote when rotating along the first direction first atress piece drive first transmission portion rotates, promotes when the driving piece rotates along the second direction second atress piece drive second transmission portion rotates, wherein the rotation opposite direction of first direction and second direction.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: first atress spare including set up in the inboard inner groovy of one-way rolling disc, set up in the inboard push back mechanism of inner groovy and set up in the inboard atress pole of pushing back the mechanism and being connected of one-way rolling disc, atress pole include through hinged joint in the inboard body of rod of one-way rolling disc, set up in the pole groove on the body of rod and slide connect in the inboard sliding block of pole groove, push back the mechanism including set up in the inboard built-in post of inner groovy, slide connect in the push back piece outside the built-in post, set up in push back the pole on the push back the piece and set up in the reset spring in the built-in post outside, reset spring's the position of setting is located between the inside wall of one side that the body of rod and inner groovy was kept away from to the push back the push piece, the one end of push back the pole with push back the block hinged joint, the other end with sliding block hinged joint, the inboard of one-way rolling disc still is provided with the locating part, the locating part restriction atress pole is rotated to keeping away from the direction of pushing back the mechanism.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: the second atress spare including set up in inboard expansion disc in top, slide connect in one-way atress mechanism on the expansion disc and set up in the secondary actuating mechanism of expansion disc upper surface, the through hole has been seted up on the expansion disc, one-way atress mechanism including slide connect in the inboard lift post of through hole, set up in the lift post outside just is located the anti-disengaging plate of expansion disc top and set up in lift toe end just is located the ejector pad of expansion disc below, secondary actuating mechanism including set up in the ejector pin of protective housing upper surface, rotate set up in on the ejector pin with the transmission post of expansion disc parallel and set up in the expansion disc upper surface just along with expansion disc pivoted stand, be provided with first bevel gear on the stand, be provided with the second bevel gear on the transmission post, first bevel gear and second bevel gear meshing, one side of ejector pad is the plane, the opposite side of ejector pad is the arc surface of inside shrink.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: the locating part including set up in the inboard protruding structure of one-way rolling disc and set up in the contact plate of the body of rod near one end of one-way rolling disc, the contact plate is close to the one side of returning the ejector pad when the inside wall of body of rod perpendicular to rolling disc and the protruding structure one side laminating of keeping away from the back ejector pad.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: the driving piece including set up in the inboard driving motor of installation cabin, with the drive shaft that driving motor's output shaft transmission is connected, the outside of drive shaft just is provided with first rotation push rod in the corresponding position of atress pole, the outside of drive shaft just is provided with the second in the corresponding position of receiving the ejector pad and rotates the push rod, first rotation push rod contact atress pole is close to one side of pushing back the mechanism and the arc surface that the second rotated the push rod and contacted the ejector pad when driving motor rotates along first direction, first rotation push rod contact atress pole keeps away from one side of pushing back the mechanism and the plane that the second rotated the push rod and contacted the ejector pad when driving motor rotated along the second direction.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: the outside of transmission post is provided with the installation pole, the camera sets up on the installation pole.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: preceding shovel portion including the shovel body, set up in the first spiral post of shovel internal portion and set up in the driven bevel gear in the first spiral post outside, conveying portion is including setting up in the inboard second spiral post of conveyer pipe and setting up in the drive bevel gear that the second spiral post is close to first spiral post one end outside, drive bevel gear and driven bevel gear meshing.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: the inner side of the conveying pipe is provided with a fixing frame, a sleeve hole is formed in the fixing frame, and the second spiral column is rotatably arranged on the inner side of the sleeve hole.

As a preferable scheme of the closed type pipeline dredging robot of the invention, wherein: two sides of the vehicle body are provided with two wheel sets, and two wheels of the two wheel sets are connected through a crawler belt.

The invention has the beneficial effects that: through setting up the subassembly of making a video recording, in the course of the work, the picture of transmission record can be shot to the camera, makes the staff can know the clearance condition of pipeline and the real-time behavior of desilting robot outside the pipeline, can in time adjust according to actual conditions, promotes the effect of desilting, and at the in-process of shooting, through driving piece and multidirectional driving medium, can drive the multidirectional rotation of camera to the shooting direction of adjustment camera.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:

fig. 1 is a schematic overall structure diagram of the closed type pipeline dredging robot of the invention.

Fig. 2 is a schematic structural diagram of a dredging component of the closed pipeline dredging robot.

Fig. 3 is a schematic structural diagram of a camera assembly of the closed type pipeline dredging robot of the invention.

Fig. 4 is a schematic diagram of the internal structure of the camera assembly of the closed pipe dredging robot of the invention.

Fig. 5 is a schematic structural diagram of a driving member of the closed type pipeline dredging robot of the invention.

Fig. 6 is a schematic structural view of a one-way rotating disc of the closed pipeline dredging robot.

Fig. 7 is an exploded view of the second transmission part of the closed pipe dredging robot of the present invention.

Fig. 8 is an enlarged schematic view of the structure of the closed type pipeline dredging robot in fig. 6 at a.

Fig. 9 is a partial structural diagram of a first stress part of the closed pipeline dredging robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1, 2 and 4, an overall structure schematic diagram of a closed pipe dredging robot is provided, and as shown in fig. 1, the closed pipe dredging robot includes a vehicle body assembly 100, including a vehicle body 101 and a conveying pipe 102 disposed at the bottom of the vehicle body 101, wherein the conveying pipe 102 is used for conveying dirt cleaned in front of the vehicle body 101 to the rear of the vehicle body 101, the vehicle body assembly 100 further includes an installation cabin 103 disposed on the upper surface of the vehicle body 101, and the installation cabin 103 is used for installing a driving member 301 of a camera assembly 300.

As shown in fig. 2, the dredging assembly 200 is further included, the dredging assembly 200 includes a front shovel portion 201 arranged on the vehicle body 101, the front shovel portion 201 is used for shoveling dirt accumulated on the inner side of the pipeline, the dredging assembly 200 further includes a conveying portion 202, the conveying portion 202 is arranged on the inner side of the conveying pipe 102, the conveying pipe 102 is communicated with the front shovel portion 201, and the dirt on the inner side of the front shovel portion 201 enters the inner side of the conveying pipe 102 and is conveyed to the rear side of the vehicle body 101 through pushing of the conveying portion 202.

As shown in fig. 1 and fig. 4, the camera module 300 further includes a driving member 301 disposed inside the installation cabin 103, a multi-directional transmission member 302 disposed on the vehicle body 101 and driven by the driving member 301, and a camera 303 disposed on the multi-directional transmission member 302, wherein the driving member 301 can drive the camera 303 to rotate in multiple directions through the multi-directional transmission member 302, so that the camera 303 can adjust a shooting direction.

Specifically, the installation cabin 103 is a downward concave structure integrally formed at the upper top of the vehicle body 101, the driving element 301 is arranged inside the concave installation cabin 103, the multidirectional transmission element 302 is installed at the upper top of the vehicle body 101, and the installation position is located at the opening at the top of the installation cabin 103, so that the height of the overall structure of the driving element 301, the multidirectional transmission element 302 and the camera 303 is reduced, and the passing performance of the whole device is improved.

The operation process is as follows: in the dredging process of the device, the front shovel part 201 is used for shoveling sludge and sundries on the inner side of a pipeline, the sludge and the sundries enter the inner side of the conveying pipe 102 through the connecting part of the front shovel part 201 and the conveying pipe 102, the sundries and the dirt enter the inner side of the conveying pipe 102 and then work through the conveying part 202, the dirt on the inner side of the conveying pipe 102 is conveyed to the rear side of the vehicle body 101, in the process, the camera 303 can shoot and transmit recorded pictures, so that workers can know the cleaning condition of the pipeline and the real-time working condition of a dredging robot outside the pipeline, adjustment can be timely carried out according to the actual condition, the dredging effect is improved, in the shooting process, the driving part 301 and the multidirectional transmission part 302 can drive the camera 303 to rotate in multiple directions, and accordingly the shooting direction of the camera 303 is adjusted.

Example 2

Referring to fig. 1-8, this embodiment differs from the first embodiment in that: the multi-directional transmission member 302 comprises a first transmission part 302a and a second transmission part 302b, the driving member 301 comprises a driving motor 301a arranged inside the installation cabin 103 and a driving shaft 301b in transmission connection with an output shaft of the driving motor 301a, pushing structures are arranged on the driving shaft 301b and at positions corresponding to the first transmission part 302a and the second transmission part 302b, the driving member 301 pushes the first force receiving member 302a-3 to drive the first transmission part 302a to rotate when rotating in a first direction (hereinafter referred to as forward rotation), and pushes the second force receiving member 302b-3 to drive the second transmission part 302b to rotate when rotating in a second direction (hereinafter referred to as reverse rotation), wherein the rotating directions of the first direction and the second direction are opposite.

Specifically, the first transmission portion 302a includes a supporting seat 302a-1 disposed on the upper surface of the vehicle body 101, a unidirectional rotating disk 302a-2 disposed inside the supporting seat 302a-1 for unidirectional rotation, and a first force-receiving member 302a-3 disposed inside the unidirectional rotating disk 302a-2 for driving the unidirectional rotating disk 302a-2 to rotate, wherein the first force-receiving member 302a-3 includes an inner groove 302a-3a opened inside the unidirectional rotating disk 302a-2, a push-back mechanism 302a-3b disposed inside the inner groove 302a-3a, and a force-receiving rod 302a-3c disposed inside the unidirectional rotating disk 302a-2 and connected to the push-back mechanism 302a-3b, a limiting member 302a-2a is further disposed inside the unidirectional rotating disk 302a-2a, the limiting member 302a-2a limits the unidirectional rotation of the force-receiving rod 302a-3c, when the driving motor 301a drives the driving shaft 301b, the limiting member 301b and the corresponding limiting member 302a pushing structure 302a-2a push the force-receiving rod 302a-3c to rotate around the axis, and thus the unidirectional rotating rod 302a-3c does not generate a camera-2-direction shooting effect when the driving shaft 302a-2 b rotates, and the unidirectional rotating disk 302a-2 b drives the camera to shoot camera.

Specifically, the second transmission portion 302b comprises a shield 302b-1 arranged on the upper surface of the one-way rotating disc 302a-2, a top plate 302b-2 arranged on the upper surface of the shield 302b-1, and a second force-bearing member 302b-3 arranged on the inner side of the top plate 302b-2, the second force-bearing member 302b-3 comprises a movable disc 302b-3a arranged on the inner side of the top, a one-way force-bearing mechanism 302b-3b connected to the movable disc 302b-3a in a sliding manner, and a secondary driving mechanism 302b-3c arranged on the upper surface of the movable disc 302b-3a, when the driving motor 301a rotates reversely, the driving shaft 301b rotates reversely, the one-way force-bearing mechanism 302b-3b is pushed by the structure corresponding to the second transmission portion 302b on the driving shaft 301b, the one-way driving mechanism transmits power to the movable disc 302b-3a, so as to drive the movable disc 302b-3a to rotate reversely, the secondary driving mechanism 302b-3a rotates reversely, and the secondary driving mechanism 302b-3c reversely, and the secondary driving camera head with a high and low shooting angle adjusted by the secondary driving mechanism 302b-3 c.

Further, the force-bearing rod 302a-3c comprises a rod body 302a-3c-1 connected to the inner side of the one-way rotating disc 302a-2 through a hinge, a rod groove 302a-3c-2 opened on the rod body 302a-3c-1, and a sliding block 302a-3c-3 slidably connected to the inner side of the rod groove 302a-3c-2, a push-back mechanism 302a-3b comprising a built-in post 302a-3b-1 arranged inside the inner groove 302a-3a, a push-back block 302a-3b-2 slidably connected to the outer side of the built-in post 302a-3b-1, a push-back rod 302a-3b-3 arranged on the push-back block 302a-3b-2, and a return spring 302a-3b-4 arranged outside the built-in post 302a-3b-1, the return spring 302a-3b-4 is arranged between the side of the push-back block 302a-3b-2 far from the rod body 302a-3c-1 and the inner side wall of the inner groove 302a-3c-3 a-3b-1, one end of the push-back rod 302a-3b-3 is hinged with the push-back block 302a-3b-2, and the other end is hinged with the sliding block 302a-3c-3, when the driving motor 301a rotates forwards, the structure corresponding to the first transmission part 302a on the driving shaft 301b contacts the force-receiving rod 302a-3c from the side of the force-receiving rod 302a-3c close to the push-back mechanism 302a-3b, at this time, the end of the force-receiving rod 302a-3c far from the inner groove 302a-3a cannot deflect in the direction far from the push-back structure because of the limit component 302a-2a, so that the force-receiving rod 302a-3c can transmit the power to the one-way rotating disc 302a-2, when the driving motor 301a rotates backwards, the structure of the driving shaft 301b corresponding to the first transmission portion 302a contacts the force-receiving rods 302a-3c from the side of the force-receiving rods 302a-3c away from the push-back mechanism 302a-3b, at this time, after the force-receiving rods 302a-3c are pressed, one end of the force-receiving rods 302a-3c away from the inner grooves 302a-3a rotates in the direction of the push-back mechanism 302a-3b, the rod bodies 302a-3c-1 press the push-back rods 302a-3b-3, the push-back rods 302a-3b-3 push the push-back blocks 302a-3b-2 to move in the direction away from the force-receiving rods 302a-3c so as to press the return springs 302a-3b-4, after the force-receiving rods 302a-3c are pressed to rotate, the distance between the force-receiving rods 302a-3c and the driving shaft 301b increases so as to slowly disengage from the contact, at this time, the force-receiving rods 302a-3c are no longer pressed, under the action of the return springs 302a-3b-4, the return springs 302a-3b push the push-back blocks 302a-3b to reach the effect of driving the one-direction rotation of the output shaft 302a-3b, and the one-3 b, thus the one-direction-rotation of the return motor, the return rod 302a-3b, and the return rod 302a-3b, thus the return-3 b, the return rod 302a-3b, the one-3 b, and the one-3 b, the one-drive scheme.

Further, the one-way force-bearing mechanism 302b-3b comprises a lifting column 302b-3b-1 connected to the inner side of the through hole 302b-3a-1 in a sliding manner, an anti-falling plate 302b-3b-2 arranged at the outer side of the lifting column 302b-3b-1 and positioned above the movable disc 302b-3a, a pushed block 302b-3b-3 arranged at the bottom end of the lifting column 302b-3b-1 and positioned below the movable disc 302b-3a, a secondary driving mechanism 302b-3c comprising a push rod 302b-3c-1 arranged on the upper surface of the protective cover 302b-1, a transmission column 302b-3c-2 arranged on the push rod 302b-3c-1 in a rotating manner and parallel to the movable disc 302b-3a, and a column 302b-3c-3 arranged on the upper surface of the movable disc 302b-3a and rotating along with the movable disc 302b-3a, a first bevel gear 302b-3c-4 is arranged on the upright column 302b-3c-3, a second bevel gear 302b-3c-5 is arranged on the transmission column 302b-3c-2, the first bevel gear 302b-3c-4 is meshed with the second bevel gear 302b-3c-5, one side of the pushed block 302b-3b-3 is a plane, the other side of the pushed block 302b-3b-3 is an inwardly contracted arc surface 302b-3b-4, the outer side of the transmission column 302b-3c-2 is provided with a mounting rod 304, the camera 303 is arranged on the mounting rod 304, when the output shaft of the driving motor 301a rotates reversely, the driving shaft 301b and the structure corresponding to the second transmission part 302b rotate, the camera contacts the plane part of the pushed block 302b-3b-3, and the pushed block 302b-3b-3 cannot move, therefore, power is transmitted to the movable disc 302b-3a through the pushed block 302b-3b-3 and the lifting column 302b-3b-1, the movable disc 302b-3a rotates in the reverse direction along with the movable disc, so that the upright column 302b-3c-3 is driven to rotate in the reverse direction, when the upright column 302b-3c-3 rotates in the reverse direction, the first bevel gear 302b-3c-4 is driven to rotate in the reverse direction, the second bevel gear 302b-3c-5 is driven to rotate, the transmission column 302b-3c-2 is driven to rotate, the camera 303 rotates by taking the transmission column 302b-3c-2 as an axis, so that the effect of adjusting the shooting angle of the camera 303 is achieved, meanwhile, when the driving motor 301a rotates in the forward direction, the structure corresponding to the second transmission part 302b rotates on the driving shaft 301b contacts the cambered surface part of the pushed block 302b-3b-3, the pushed block 302b-3b-3 is subjected to upward component force, and moves upwards to be separated, so that the driving motor 301a cannot drive the movable disc 302b-3a to rotate in the forward rotation.

Further, a first rotating push rod 301c is arranged outside the driving shaft 301b and at a position corresponding to the force receiving rods 302a to 3c, a second rotating push rod 301d is arranged outside the driving shaft 301b and at a position corresponding to the pushed blocks 302b to 3, when the driving motor 301a rotates forward, the first rotating push rod 301c contacts one side of the force receiving rods 302a to 3c close to the pushing mechanism 302a to 3b and the second rotating push rod 301d contacts the arc surface 302b to 3, when the driving motor 301a rotates backward, the first rotating push rod 301c contacts one side of the force receiving rods 302a to 3c away from the pushing mechanism 302a to 3b and the second rotating push rod 301d contacts the plane of the pushed blocks 302b to 3, so that when the driving motor 301a rotates backward, the one-way rotating disc 302a to 2 rotates and the movable disc 302b to 3a rotates and the movable disc 302a to 3b to 3a rotates and when the driving motor 301a rotates backward, the one-way rotating disc 302a to 2 and the movable disc 302a to 3b to rotate and the shooting area can be shot by shooting angle and the forward and reverse rotation of the driving motor 301 a.

Further, the limiting member 302a-2a includes a protrusion 302a-2a-1 disposed on the inner side of the one-way rotating disc 302a-2 and a contact plate 302a-2a-2 disposed on the rod 302a-3c-1 near one end of the one-way rotating disc 302a-2, where when the rod 302a-3c-1 is perpendicular to the inner sidewall of the rotating disc, one side of the contact plate 302a-2a-2 near the push-back block 302a-3b-2 abuts one side of the protrusion 302a-2a-1 far from the push-back block 302a-3b-2, and when the first rotating push rod 301c pushes the force receiving rod 302a-3c from one side of the force receiving rod 302a-3c near the push-back mechanism 302a-3b, the force receiving rod 302a-3c abuts against the contact plate 302a-2a-2 c because the contact plate 302a-2a-2 is limited in rotation of the force receiving rod 302a-3c by the protrusion 302a-2 a-1.

Furthermore, a damper or a damping ring is further arranged at the joint of the one-way rotating disc 302a-2 and the supporting seat 302a-1 and the joint of the movable disc 302b-3a and the top plate 302b-2 to increase the friction force at the joint, firstly, the positioning stability can be enhanced after the adjustment is completed, secondly, the friction at the joint is increased, the problem that the one-way rotating disc 302a-2 rotates when the driving motor 301a reversely rotates and the stress rod 302a-3c is stressed is avoided, and the problem that the movable disc 302b-3a rotates when the pushing block 302b-3b-3 is stressed when the driving motor 301a forwards is also avoided.

Furthermore, a damper or a damping ring is arranged at the joint of the transmission column 302b-3c-2 and the top rod 302b-3c-1, so that the problem that the transmission column 302b-3c-2 rotates due to the self weight of the camera 303 is avoided, the inner side of the top plate 302b-2 is provided with a central hole 302b-2a, the inner side wall of the central hole 302b-2a is provided with a limiting circular groove 302b-2b, the movable disc 302b-3a is rotatably arranged at the inner side of the central hole 302b-2b, the inner side wall of the rod groove 302a-3c-2 is provided with a sliding groove, the side wall of the sliding block 302a-3c-3 is provided with a clamping block, and the clamping block is connected to the inner side of the sliding groove in a sliding manner and used for avoiding the problem that the sliding block 302a-3c-3 is separated from the inner side of the rod groove 302a-3 c-2.

The rest of the structure was the same as in example 1.

The operation process comprises the following steps: in the using process of the robot, when the shooting area of the camera 303 needs to be adjusted, the driving motor 301a rotates forward, the first rotating push rod 301c contacts the stressed rod 302a-3c from one side of the stressed rod 302a-3c close to the push-back mechanism 302a-3b, at this time, the stressed rod 302a-3c cannot deflect in the direction away from the push-back structure due to the limitation of the limiting piece 302a-2a, one end of the stressed rod 302a-3a far away from the inner groove 302a-3a cannot be away from the push-back structure, the stressed rod 302a-3c transmits power to the one-way rotating disc 302a-2, the one-way rotating disc 302a-2 rotates accordingly to adjust the shooting area of the camera 303, at this time, the second rotating push rod 301d contacts the arc part of the pushed block 302b-3b-3 when rotating, the pushed block 302b-3b-3 receives an upward component force, moves upward to disengage, and the driving motor 301a cannot drive the movable disc 302b-3a to rotate forward;

when the shooting angle of the camera 303 needs to be adjusted, the driving motor 301a rotates reversely, the second rotating push rod 301d contacts the plane part of the pushed block 302b-3b-3 when rotating, at this time, the pushed block 302b-3b-3 cannot move, so that the power is transmitted to the movable disk 302b-3a through the pushed block 302b-3b-3 and the lifting column 302b-3b-1, the movable disk 302b-3a rotates along with the power in the reverse direction, thereby driving the upright column 302b-3c-3 to rotate reversely, when the upright column 302b-3c-3 rotates reversely, the first bevel gear 302b-3c-4 is driven to rotate reversely, the second bevel gear 302b-3c-5 is driven to rotate, the transmission column 302b-3c-2 is driven to rotate, the camera 303 rotates by taking the transmission column 302b-3c-2 as an axis, thereby achieving the effect of adjusting the shooting angle of the camera 303, at this time, when the first rotating push rod 301c rotates reversely, the side of the stress rods 302a-3c far away from the push-back mechanisms 302a-3b contacts the stress rods 302a-3c, and after the stress rods 302a-3c are pressed, the end of the rod body 302a-3c-1 away from the inner groove 302a-3a rotates towards the push-back mechanism 302a-3b, the rod body 302a-3c-1 presses the push-back rod 302a-3b-3, the push-back rod 302a-3b-3 pushes the push-back block 302a-3b-2 to move towards the direction away from the stressed rod 302a-3c so as to press the return spring 302a-3b-4, after the force-bearing rods 302a-3c are forced to rotate, the distance between the force-bearing rods 302a-3c and the driving shaft 301b increases, thereby coming out of contact slowly so that the one-way rotating disk 302a-2 cannot follow the rotation.

Example 3

Referring to fig. 1 and 9, this embodiment differs from the above embodiment in that: the front shovel part 201 comprises a shovel body 201a, a first spiral column 201b arranged inside the shovel body 201a and a driven bevel gear 201c arranged outside the first spiral column 201b, the driven bevel gear 201c is arranged at the center of the first spiral column 201b, the first spiral column 201b is divided into two spiral parts, the spiral directions of the two spiral parts face the middle part, when the first spiral column 201b rotates, the two spiral parts push dirt and sundries inside the shovel body 201a to the joint of the conveying pipe 102 and the shovel body 201a step by step, and the dirt and sundries enter the inner side of the conveying pipe 102 through the joint.

Specifically, the conveying part 202 includes a second spiral column 202a disposed inside the conveying pipe 102 and a driving bevel gear 202b disposed outside one end of the second spiral column 202a close to the first spiral column 201b, the driving bevel gear 202b is engaged with the driven bevel gear 201c, when the second spiral column 202a rotates, the driving bevel gear 202b can drive the first spiral column 201b to rotate, and after the first spiral column 201b conveys sludge and impurities to the inside of the conveying pipe 102, the second spiral column 202a rotates to push the sludge and impurities, so that the sludge and impurities are discharged to the rear side of the vehicle body 101 through the conveying pipe 102.

Further, a fixing frame 202c is arranged on the inner side of the conveying pipe 102, a sleeve hole is formed in the fixing frame 202c, and the second spiral columns 202a are rotatably arranged on the inner side of the sleeve hole, wherein the number of the fixing frames 202c is two, and the mounting positions of the two fixing frames 202c are respectively located at two ends of the inner side of the conveying pipe 102, so that the second spiral columns 202a are supported.

Furthermore, two sides of the vehicle body 101 are provided with two wheel sets 101a, two wheels of the two wheel sets 101a are connected through a crawler 101b, the ground gripping force and the friction force when the two wheel sets 101a rotate are increased through the crawler 101b, and the slip problem in the advancing process of the vehicle body 101 is effectively avoided.

The rest of the structure was the same as in example 2.

The operation process is as follows: in the process of cleaning sludge, the front shovel part 201 shovels the sludge to the inner side thereof, the two spiral parts push the dirt and impurities which are step-by-step inside the shovel body 201a to the joint of the conveying pipe 102 and the shovel body 201a, and enter the inner side of the conveying pipe 102 through the joint, and the second spiral column 202a rotates to push the sludge and the impurities, so that the sludge and the impurities are discharged to the rear side of the vehicle body 101 through the conveying pipe 102.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not have been described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. The utility model provides a closed pipeline desilting robot which characterized in that: comprises the steps of (a) preparing a substrate,

the vehicle body assembly (100) comprises a vehicle body (101), a conveying pipe (102) arranged at the bottom of the vehicle body (101), and a mounting cabin (103) arranged on the upper surface of the vehicle body (101);

a dredging assembly (200) comprising a front shovel part (201) arranged on the vehicle body (101) and communicated with the conveying pipe (102) and a conveying part (202) arranged at the inner side of the conveying pipe (102),

the camera shooting assembly (300) comprises a driving piece (301) arranged on the inner side of the installation cabin (103), a multidirectional transmission piece (302) arranged on the vehicle body (101) and driven by the driving piece (301), and a camera (303) arranged on the multidirectional transmission piece (302).

2. The hermetic pipe dredging robot as claimed in claim 1, wherein: the multidirectional transmission part (302) comprises a first transmission part (302 a) and a second transmission part (302 b), the first transmission part (302 a) comprises a supporting seat (302 a-1) arranged on the upper surface of the vehicle body (101), a one-way rotating disc (302 a-2) arranged on the inner side of the supporting seat (302 a-1) and capable of rotating in a one-way mode, and a first stress piece (302 a-3) arranged on the inner side of the one-way rotating disc (302 a-2), and the second transmission part (302 b) comprises a protective cover (302 b-1) arranged on the upper surface of the one-way rotating disc (302 a-2), a top plate (302 b-2) arranged on the upper surface of the protective cover (302 b-1) and a second stress piece (302 b-3) arranged on the inner side of the top plate (302 b-2);

when the driving piece (301) rotates along a first direction, the first force-bearing piece (302 a-3) is pushed to drive the one-way rotating disc (302 a-2), and when the driving piece (301) rotates along a second direction, the second force-bearing piece (302 b-3) is pushed to drive the second transmission part (302 b) to rotate, wherein the rotating directions of the first direction and the second direction are opposite.

3. The closed pipe dredging robot as recited in claim 2, wherein: the first stress piece (302 a-3) comprises an inner groove (302 a-3 a) arranged on the inner side of the one-way rotating disc (302 a-2), a push-back mechanism (302 a-3 b) arranged on the inner side of the inner groove (302 a-3 a) and a stress rod (302 a-3 c) arranged on the inner side of the one-way rotating disc (302 a-2) and connected with the push-back mechanism (302 a-3 b), the stress rod (302 a-3 c) comprises a rod body (302 a-3 c-1) connected with the inner side of the one-way rotating disc (302 a-2) through a hinge, a rod groove (302 a-3 c-2) arranged on the rod body (302 a-3 c-1) and a sliding block (302 a-3 c-3) connected with the inner side of the rod groove (302 a-3 c-2) in a sliding manner, the push-back mechanism (302 a-3 b) comprises a built-in column (302 a-3 b-1) arranged at the inner side of the inner groove (302 a-3 a), a push-back block (302 a-3 b-2) connected with the outer side of the built-in column (302 a-3 b-1) in a sliding manner, a push-back rod (302 a-3 b-3) arranged on the push-back block (302 a-3 b-2) and a return spring (302 a-3 b-4) arranged at the outer side of the built-in column (302 a-3 b-1), wherein the arrangement position of the return spring (302 a-3 b-4) is located at the push-back block (302 a-3 b-2) is far away from the side of the rod body (302 a-3 c-1) and the inner side wall of the inner groove (302 a-3 a), one end of the push-back rod (302 a-3 b-3) is hinged with the push-back block (302 a-3 b-2), the other end of the push-back rod is hinged with the sliding block (302 a-3 c-3), a limiting piece (302 a-2 a) is further arranged on the inner side of the one-way rotating disc (302 a-2), and the limiting piece (302 a-2 a) limits the force-bearing rod (302 a-3 c) to rotate towards the direction far away from the push-back mechanism (302 a-3 b).

4. The closed pipe dredging robot as recited in claim 3, wherein: the second stress part (302 b-3) comprises a movable disc (302 b-3 a) arranged on the inner side of the top, a one-way stress mechanism (302 b-3 b) connected to the movable disc (302 b-3 a) in a sliding manner and a secondary driving mechanism (302 b-3 c) arranged on the upper surface of the movable disc (302 b-3 a), a through hole (302 b-3 a-1) is formed in the movable disc (302 b-3 a), the one-way stress mechanism (302 b-3 b) comprises a lifting column (302 b-3 b-1) connected to the inner side of the through hole (302 b-3 a-1) in a sliding manner, an anti-falling plate (302 b-3 b-2) arranged on the outer side of the lifting column (302 b-3 b-1) and positioned above the movable disc (302 b-3 a) and a pushed block (302 b-3 b-3) arranged on the bottom end of the lifting column (302 b-3 b-1) and positioned below the movable disc (302 b-3 a), the secondary driving mechanism (302 b-3 c) comprises a top rod (302 b-3 c-1) arranged on the upper surface of the top plate (302 b-2), a transmission column (302 b-3 c-2) arranged on the top rod (302 b-3 c-1) and parallel to the movable disc (302 b-3 a), and a vertical column (302 b-3 c-3) arranged on the upper surface of the movable disc (302 b-3 a) and rotating along with the movable disc (302 b-3 a), the vertical column (302 b-3 c-3) is provided with a first bevel gear (302 b-3 c-4), the transmission column (302 b-3 c-2) is provided with a second bevel gear (302 b-3 c-5), the first bevel gear (302 b-3 c-4) is meshed with the second bevel gear (302 b-3 c-5), one side of the pushed block (302 b-3 b-3) is a plane, and the other side of the pushed block (302 b-3 b-3) is an arc surface (302 b-3 b-4) which contracts inwards.

5. A closed pipe dredging robot as claimed in claim 3 or 4, wherein: the limiting piece (302 a-2 a) comprises a protruding structure (302 a-2 a-1) arranged on the inner side of the one-way rotating disc (302 a-2) and a contact plate (302 a-2 a-2) arranged at one end, close to the one-way rotating disc (302 a-2), of the rod body (302 a-3 c-1), and when the rod body (302 a-3 c-1) is perpendicular to the inner side wall of the rotating disc, one side, close to the push-back block (302 a-3 b-2), of the contact plate (302 a-2 a-2) is attached to one side, far away from the push-back block (302 a-3 b-2), of the protruding structure (302 a-2 a-1).

6. The closed pipe dredging robot as recited in claim 5, wherein: the driving part (301) comprises a driving motor (301 a) arranged on the inner side of the installation cabin (103) and a driving shaft (301 b) in transmission connection with an output shaft of the driving motor (301 a), a first rotating push rod (301 c) is arranged on the outer side of the driving shaft (301 b) and at a position corresponding to the stress rod (302 a-3 c), and a second rotating push rod (301 d) is arranged on the outer side of the driving shaft (301 b) and at a position corresponding to the pushed block (302 b-3 b-3);

when the driving motor (301 a) rotates along a first direction, the first rotating push rod (301 c) contacts one side, close to the push-back mechanism (302 a-3 b), of the stress rod (302 a-3 c) and the second rotating push rod (301 d) contacts the arc surface (302 b-3 b-4) of the pushed block (302 b-3 b-3), when the driving motor (301 a) rotates along a second direction, the first rotating push rod (301 c) contacts one side, far away from the push-back mechanism (302 a-3 b), of the stress rod (302 a-3 c) and the second rotating push rod (301 d) contacts the plane of the pushed block (302 b-3 b-3).

7. Closed pipe dredging robot as claimed in any one of claims 4-6, wherein: the outer side of the transmission column (302 b-3 c-2) is provided with a mounting rod (304), and the camera (303) is arranged on the mounting rod (304).

8. A closed pipe dredging robot as claimed in any one of claims 1-7, wherein: the front shovel part (201) comprises a shovel body (201 a), a first spiral column (201 b) arranged inside the shovel body (201 a) and a driven bevel gear (201 c) arranged on the outer side of the first spiral column (201 b), the conveying part (202) comprises a second spiral column (202 a) arranged on the inner side of the conveying pipe (102) and a driving bevel gear (202 b) arranged on the outer side of one end, close to the first spiral column (201 b), of the second spiral column (202 a), and the driving bevel gear (202 b) is meshed with the driven bevel gear (201 c).

9. The closed pipe dredging robot as recited in claim 8, wherein: a fixing frame (202 c) is arranged on the inner side of the conveying pipe (102), a sleeve hole is formed in the fixing frame (202 c), and the second spiral column (202 a) is rotatably arranged on the inner side of the sleeve hole.

10. The hermetic pipe dredging robot as claimed in any one of claims 1 to 9, wherein: two sides of the vehicle body (101) are provided with two wheel sets (101 a), and two wheels in the two wheel sets (101 a) are connected through a crawler belt (101 b).