CN116411629B - Cleaning robot for pipe network blockage and application method thereof - Google Patents

Cleaning robot for pipe network blockage and application method thereof Download PDF

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Publication number
CN116411629B
CN116411629B CN202310216437.8A CN202310216437A CN116411629B CN 116411629 B CN116411629 B CN 116411629B CN 202310216437 A CN202310216437 A CN 202310216437A CN 116411629 B CN116411629 B CN 116411629B
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module
sludge
crushing
walking
pipeline
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CN116411629A (en
Inventor
张超
徐翔
向鹏
刘江月
雷轰
廖少波
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Yangtze Ecology and Environment Co Ltd
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Yangtze Ecology and Environment Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C19/00—Other disintegrating devices or methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C21/00—Disintegrating plant with or without drying of the material
    • B02C21/02—Transportable disintegrating plant
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • E03F9/002—Cleaning sewer pipes by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C2201/00—Codes relating to disintegrating devices adapted for specific materials
    • B02C2201/06—Codes relating to disintegrating devices adapted for specific materials for garbage, waste or sewage
    • B02C2201/063—Codes relating to disintegrating devices adapted for specific materials for garbage, waste or sewage for waste water or sewage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/62—Plastics recycling; Rubber recycling

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Food Science & Technology (AREA)
  • Sewage (AREA)

Abstract

The invention provides a cleaning robot for pipe network blockage and a use method thereof, wherein the cleaning robot comprises a walking module for supporting the whole robot and realizing walking in a pipeline; a driving module is arranged on one side of the head of the walking module; the driving module adopts a double-output end structure, wherein one output end is connected with the walking module and provides walking power; the other output end is connected with the crushing module and drives the crushing module to crush the sludge on the pipe wall; a pushing module for pushing the sludge on the pipe wall to the crushing module is arranged on one side of the head of the driving module; and a sludge suction module for sucking the sludge after crushing is arranged on the periphery of the driving module. The robot can be used for quickly and effectively cleaning the sludge which is blocked in the pipe network.

Description

Cleaning robot for pipe network blockage and application method thereof
Technical Field
The invention relates to the technical field of pipeline dredging, in particular to a cleaning robot for pipe network blockage and a use method thereof.
Background
The sewage pipe network is used as the most important component in urban drainage system and consists of several crisscrossed pipes connected directly to the pipe well of residential building and restaurant. After the pipeline is used for a long time, the interior of the pipeline is easy to be blocked due to the fact that sewage and waste are received, and the pipeline cannot be used normally.
When the pipeline is dredged, the pipeline is mostly manually put into the pipeline, after the blocking point is found, the blocking point is dredged, and the pipeline operation mode is changed specifically and greatly along with the rapid development of technology, and the blocking point is found in the pipeline by operating the pipeline robot by an operator at present and is dredged, so that the pipeline dredging operation is greatly facilitated by the operation mode, and the pipeline dredging efficiency is improved.
However, most of today's robots, in which a pulverizing roller for pulverizing sludge is located at a central axis, can only clean sludge located at the center, and although this method can simply perform a dredging operation of a pipe, a space dredged at the center is easily blocked again, as shown in fig. 1, and it is difficult to clean sludge on surrounding pipe walls due to limitation of a pulverizing range of a pulverizing structure, thereby causing re-blocking of the pipe.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a cleaning robot for pipe network blockage and a use method thereof, wherein the robot can rapidly and effectively clean sludge causing the pipe network blockage; meanwhile, the sludge adsorption structure is used for adsorbing the sludge remained on the pipe wall and the sludge crushed on the back, so that the adhesion of the sludge in the pipe is reduced, and the subsequent pipe network is prevented from being blocked due to the accumulation of the sludge or garbage; and is provided with adjustable support legs which adapt to different pipe diameters.
In order to achieve the technical characteristics, the aim of the invention is realized in the following way: the cleaning robot for pipe network blockage comprises a walking module, a cleaning module and a control module, wherein the walking module is used for supporting the whole robot and realizing walking in a pipeline;
a driving module is arranged on one side of the head of the walking module;
the driving module adopts a double-output end structure, wherein one output end is connected with the walking module and provides walking power; the other output end is connected with the crushing module and drives the crushing module to crush the sludge on the pipe wall;
a pushing module for pushing the sludge on the pipe wall to the crushing module is arranged on one side of the head of the driving module;
and a sludge suction module for sucking the sludge after crushing is arranged on the periphery of the driving module.
The walking module comprises two bearing plates which are arranged in parallel, and the bearing plates are fixedly connected through a plurality of groups of brackets to form a frame structure; a screw pair is rotatably supported at the central parts of the two bearing plates, and one end of the screw pair is connected with one output shaft of the double-shaft motor of the driving module; the screw pair is provided with a screw nut through screw transmission, three supporting legs are connected on the periphery of the screw nut in a rotating way along the circumferential direction, and rolling wheels are arranged at the end parts of the supporting legs; a sleeving plate is fixed on one side of the tail of the support, the sleeving plate is not in contact with the screw rod pair, the fixing arrangement is adopted, three connecting pieces are arranged on the sleeving plate corresponding to the three supporting legs, and two ends of each connecting piece are respectively connected with the sleeving plate and the supporting legs in a rotating mode.
The support leg adopts a telescopic support leg with adjustable length;
the outer wall of the wheel frame of the roller is fixedly provided with a walking motor, and an output shaft of the walking motor is connected with a main shaft of the roller and drives the roller to walk by being attached to the inner wall of the pipeline.
The driving module comprises a shell and a double-shaft motor assembled in the shell through a fixing piece; the shell is fixed on the outer wall of one side of the head of the walking module; the two output shafts of the double-shaft motor are respectively arranged corresponding to the walking module and the crushing module; the device is respectively used for driving the walking module to adjust the radius of the walking module in the pipeline, and driving the crushing module to rotate so as to crush the sludge; the driving module is assembled between the walking module and the crushing module, and the driving module, the crushing module and the walking module are coaxially arranged.
The crushing module comprises a first plate and a fixed rod; the first plate is connected with the shell through a plurality of fixing rods, and an accommodating space is formed in the first plate; one output shaft of the double-shaft motor of the driving module is connected with a connecting shaft, the periphery of the connecting shaft is sleeved with a driving wheel, and a crushing roller is arranged at the position of the connecting shaft protruding out of the first plate body; the periphery of the driving wheel is sleeved with a driven wheel, the end face of the driven wheel is connected with a rotating shaft, and the rotating shaft is also provided with a crushing roller; and the tip ends are arranged at the end positions of the two crushing rollers.
The connecting shaft is connected with a first ring body through a connecting rod, the end part of the first ring body is provided with a second ring body, and the periphery of the second ring body is provided with a plectrum structure; the poking piece structure comprises a plurality of arc-shaped pieces and springs, wherein the arc-shaped pieces are annularly and equidistantly arranged on the periphery of the second ring body; and a groove is formed on the periphery of the second ring body, a spring is arranged in the groove, and the other end of the spring is connected to the arc-shaped piece.
The pushing module comprises a pushing structure and a multi-stage telescopic rod, the multi-stage telescopic rod is fixed on the outer wall of one side of the head of the crushing module, the telescopic end of the multi-stage telescopic rod is connected with the pushing structure and drives the pushing structure to move, so that the crushing module can extrude silt to the center in the crushing process, and the silt can be crushed fully.
The silt sucking module comprises a micro pump, an air pipe, a sucking pipe and an elastic buffer structure; one end of the micropump is connected with the air pipe, one end of the micropump is connected with the suction pipe, and the suction pipe is installed on the outer wall of the shell of the driving module in a buffering way through the elastic buffering structure.
When in actual use, the elastic buffer structure of the silt suction module can be correspondingly provided with the nozzles for softening solidified silt, and the water pipe is connected to the external water tank; and the other end of the air pipe is connected with an external sewage suction pump.
The application method of the cleaning robot for pipe network blockage comprises the following steps:
step one, supporting and walking inside a cleaning robot pipeline:
the cleaning robot is placed in a pipeline, a walking module is started, a screw rod pair is driven by a double-shaft motor of a driving module, a screw rod nut is driven to move on the screw rod pair by the screw rod pair, the walking radius of the walking module formed by three supporting legs is further adjusted to be abutted against the pipeline wall, and the whole cleaning robot is driven to walk along the interior of the pipeline by a roller;
crushing sludge at the central part of the pipeline:
in the process that the cleaning robot walks in the pipeline, the connecting shaft is driven by the double-shaft motor of the driving module, and the external crushing roller is driven to rotate by the connecting shaft; simultaneously, the driving wheel is synchronously driven by the connecting shaft, the driven wheel is driven by the driving wheel to move, the driven wheel and the connecting shaft respectively drive the two crushing rollers to rotate, and one crushing roller on the connecting shaft rotates by taking the crushing roller as the circle center, so that sludge in the central part of the pipeline is cleaned;
pushing and squeezing sludge on the inner wall of the pipeline:
in the process of crushing the sludge at the central part of the pipeline, the cleaning robot pushes the pushing structure through the multi-stage telescopic rod of the pushing module, and pushes the sludge which is not in the range of the crushing module to the operation range of the cleaning robot through the pushing structure, so that the cleaning robot sufficiently crushes the sludge in the blocked pipeline;
scraping residual sludge on the inner wall of the pipeline:
in the sludge crushing process, the cleaning robot synchronously drives the connecting rod through the connecting shaft, drives the first ring body through the connecting rod, synchronously drives the second ring body through the first ring body, and drives the arc-shaped sheet on the outer circumference of the second ring body to further scrape the sludge on the inner wall of the pipeline;
step five, sucking and discharging sludge:
sucking the crushed sludge into the micro pump through a suction pipe by the micro pump passing through the sludge suction module, and discharging the sludge from the air pipe to the inside of the pipeline through an outlet of the micro pump;
step six, preliminary softening of sludge:
in the actual use process, on the elastic buffer structure of the silt suction module, a nozzle is correspondingly arranged for softening solidified silt, and a water pipe is connected to an external water tank; and the other end of the air pipe is connected with an external sewage suction pump.
Novel beneficial effect of use:
1. the invention adopts the crushing module to simultaneously perform central rotary crushing operation and annular crushing operation aiming at the pipe wall, and simultaneously utilizes the pushing structure to push the sludge which is not in the range of the crushing module to the operation range of the crushing module, so that the sludge in the blocked pipe can be sufficiently crushed. By means of the linkage and coordination of the three modes, rapid and effective cleaning operation of the sludge causing the blockage in the pipe network is realized.
2. After the sludge is crushed, most of the crushed sludge is adsorbed on the pipeline wall due to the centrifugal force of the cleaning roller, and the sludge adsorption structure is utilized to adsorb the residual sludge on the pipeline wall and the sludge crushed at the back, so that the adhesion of the sludge in the pipeline is reduced, and the subsequent pipeline is prevented from being blocked due to the accumulation of the sludge or garbage.
3. When the walking module is used by an operator, the motor drives the screw nut to move on the screw pair, so that the walking radius of the walking module formed by the three supporting legs is adjusted, the walking module can be abutted with the pipe wall, and the walking module can be suitable for pipes with different pipe diameters.
4. Through setting up the module of extruding in the one end of smashing the module, it is rotatory along with smashing the module at the in-process of smashing the module operation, the module of extruding to the silt that is located outside the operation scope to the interior extrusion of smashing the module operation scope to this carries out abundant stirring to the silt in the pipeline.
5. According to the crushing module, the driving wheel is driven to rotate by the motor, the driven wheel is driven to move, the driven wheel and the connecting shaft respectively drive the two crushing rollers to rotate, and the crushing rollers on the connecting shaft are used as circle centers to rotate; and further cleaning the sludge in the pipeline.
6. The arc-shaped sheet can be fully contacted with the pipe wall through the spring, so that the device is suitable for pipes with different pipe diameters.
7. The water pipe can be connected to the external water tank by correspondingly installing nozzles on the elastic buffer structure of the sludge suction module for softening solidified sludge; and the other end of the air pipe is connected with an external sewage suction pump.
Drawings
The invention is further described below with reference to the drawings and examples.
Fig. 1 is a schematic view of a conventional pipeline dredging robot.
Fig. 2 is an overall cross-sectional view of the present invention.
Fig. 3 is an enlarged view of a portion of fig. 1 in accordance with the present invention.
Fig. 4 is a side cross-sectional view of the structure of the plectrum of the present invention.
100 parts of a walking module; 101. a bracket; 102. a carrying plate; 103. a screw pair; 104. a screw nut; 105. a support leg; 106. a roller; 107. sleeving a plate; 108. a connecting piece;
200. a driving module; 201. a housing; 202. a biaxial motor; 203. a fixing member;
300. a crushing module; 301. a first plate member; 302. a fixed rod; 303. an accommodating space; 304. a driving wheel; 305. driven wheel; 306. a connecting rod; 307. a first ring body; 308. a second ring body; 309. a plectrum structure; 3091. an arc-shaped sheet; 3092. a spring; 310. a pushing structure; 311. a multi-stage telescopic rod; 312. a connecting shaft; 313. a rotation shaft; 314. a pulverizing roller; 315. a tip;
400. a silt suction module; 401. a micropump; 402. an air duct; 403. a suction pipe; 404. elastic buffer structure.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 2 to 4, a cleaning robot for pipe network blockage includes a traveling module 100 for supporting the entire robot and performing traveling inside a pipe; a driving module 200 is installed at one side of the head of the walking module 100; the driving module 200 adopts a dual output end structure, wherein one output end is connected with the walking module 100 and provides walking power; the other output end is connected with the crushing module 300 and drives the crushing module 300 to crush the sludge on the pipe wall; a pushing module for pushing the sludge on the pipe wall to the crushing module 300 is arranged on one side of the head of the driving module 200; a sludge suction module 400 for sucking up sludge after crushing is installed on the outer circumference of the driving module 200. By adopting the cleaning robot, the sludge which causes the blockage in the pipe network can be cleaned rapidly and effectively; meanwhile, residual sludge on the pipe wall and the sludge after back crushing are adsorbed by utilizing a sludge adsorption structure, so that the adhesion of sludge in the pipe is reduced, and the subsequent pipe network is prevented from being blocked due to sludge or garbage accumulation. In a specific working process, the crushing module 300 is used for simultaneously carrying out central rotary crushing operation and annular crushing operation aiming at the pipe wall, and meanwhile, the pushing structure 310 is used for pushing the sludge which is not in the range of the crushing module 300 into the working range of the crushing module, so that the sludge in the blocked pipe can be sufficiently crushed.
Further, the walking module 100 includes two parallel carrying boards 102, and the carrying boards 102 are fixedly connected by a plurality of groups of brackets 101 to form a frame structure; the center parts of the two bearing plates 102 are rotatably supported with a screw pair 103, and one end of the screw pair 103 is connected with one output shaft of a double-shaft motor 202 of the driving module 200; the screw pair 103 is provided with a screw nut 104 through screw transmission, three supporting legs 105 are connected on the periphery of the screw nut 104 in a rotating way along the circumferential direction, and rolling wheels 106 are arranged at the end parts of the supporting legs 105; a sleeve joint plate 107 is fixed on one side of the tail of the bracket 101, the sleeve joint plate 107 is not contacted with the screw rod pair 103, and is fixedly arranged, three connecting pieces 108 are arranged on the sleeve joint plate 107 corresponding to the three supporting legs 105, and two ends of each connecting piece 108 are respectively connected with the sleeve joint plate 107 and the supporting legs 105 in a rotating mode. The traveling module 100 can be used to drive the entire cleaning robot to travel along the inner wall of the pipe. But also can be well adapted to pipelines with different diameters. In a specific working process, the screw pair is driven by the double-shaft motor 202 of the driving module 200, the screw nut 104 is driven to move on the screw pair by the screw pair 202, and then the shape-moving radius of the walking module 100 formed by the three supporting legs 105 is adjusted to be abutted with the pipe wall, and the whole cleaning robot is driven to walk along the inside of the pipe by the idler wheels 106.
Further, the legs 105 are telescopic legs with adjustable length; the outer wall of the wheel frame of the roller 106 is fixedly provided with a traveling motor, and an output shaft of the traveling motor is connected with a main shaft of the roller 106 and drives the roller 106 to travel by being attached to the inner wall of the pipeline. The robot can walk by itself in the pipeline through the roller 106.
Further, the driving module 200 includes a housing 201 and a biaxial motor 202 assembled in the housing 201 through a fixing member 203; the housing 201 is fixed to the head-side outer wall of the traveling module 100; two output shafts of the double-shaft motor 202 are respectively arranged corresponding to the walking module 100 and the crushing module 300; the device is respectively used for driving the walking module 100 to adjust the radius of the walking module in the pipeline and driving the crushing module 300 to rotate so as to crush the sludge; the driving module 200 is assembled between the traveling module 100 and the pulverizing module 300, and the three are coaxially disposed. The traveling module 100 and the pulverizing module 300 can be driven simultaneously by the driving module 200 described above.
Further, the crushing module 300 includes a first plate 301 and a fixing rod 302; the first plate 301 is connected with the housing 201 through a plurality of fixing rods 302, and an accommodating space 303 is formed in the first plate 301; one output shaft of the double-shaft motor 202 of the driving module 200 is connected with a connecting shaft 312, the periphery of the connecting shaft 312 is sleeved with a driving wheel 304, and a crushing roller 314 is arranged at the position of the connecting shaft 312 protruding out of the first plate body 301; the outer periphery of the driving wheel 304 is sleeved with a driven wheel 305, a rotating shaft 313 is connected to the end face of the driven wheel 305, and a crushing roller 314 is also arranged on the rotating shaft 313; and tips 315 are provided at the end portions of both pulverizing rolls 314. The above-described pulverizing module 300 can implement a pulverizing process of sludge. In the working process, the connecting shaft 312 is driven by the double-shaft motor 202 of the driving module 200, and the external crushing roller 314 is driven to rotate by the connecting shaft 312; meanwhile, the driving wheel 304 is synchronously driven by the connecting shaft 312, the driven wheel 305 is driven by the driving wheel 304 to move, the driven wheel 305 and the connecting shaft 312 respectively drive the two crushing rollers 314 to rotate, and one of the two crushing rollers 314 rotates by taking the crushing roller 314 on the connecting shaft 312 as the center of a circle, so that sludge in the central part of the pipeline is cleaned.
Further, the connecting shaft 312 is connected with a first ring body 307 through a connecting rod 306, the end part of the first ring body 307 is provided with a second ring body 308, and the periphery of the second ring body 308 is provided with a plectrum structure 309; the paddle structure 309 comprises an arc-shaped piece 3091 and a spring 3092, wherein the arc-shaped piece 3091 is a plurality of pieces and is annularly and equidistantly arranged on the periphery of the second ring 308; and a groove is formed on the outer circumference of the second ring 308, a spring 3092 is provided in the groove, and the other end of the spring 3092 is connected to the arc-shaped piece 3091. Through foretell structure can realize the striking off of pipeline inner wall silt, and then guarantee that the desilting is thorough. Connecting rod 306 is synchronously driven through connecting shaft 312, first ring body 307 is driven through connecting rod 306, second ring body 308 is synchronously driven through first ring body 307, and arc-shaped pieces 3091 on the outer circumference of second ring body 308 drive the sludge on the inner wall of the pipeline to be further scraped. The elastic arc-shaped piece 3091 can be fully contacted with the pipe wall according to the pipe diameter, and in this way, the scraping effect can be ensured, and meanwhile, the pipe scraper is suitable for pipes with different pipe diameters.
Further, the pushing module comprises a pushing structure 310 and a multi-stage telescopic rod 311, the multi-stage telescopic rod 311 is fixed on the outer wall of one side of the head of the crushing module 300, the telescopic end of the multi-stage telescopic rod 311 is connected with the pushing structure 310 and drives the pushing structure 310 to move, so that the crushing module 300 can extrude sludge to the center in the crushing process, and the sludge is fully crushed. The pushing module is used for adsorbing the crushed sludge on the pipe wall.
Further, the sludge suction module 400 includes a micro pump 401, an air duct 402, a suction pipe 403 and an elastic buffer structure 404; one end of the micropump 401 is connected with an air pipe 402, one end of the micropump is connected with a suction pipe 403, and the suction pipe 403 is installed on the outer wall of the shell 201 of the driving module 200 in a buffering mode through an elastic buffering structure 404. Since the crushed sludge is mostly adsorbed on the pipe wall due to the centrifugal force of the cleaning roller after the sludge is crushed, the sludge can be sucked and discharged through the sludge suction module 400.
Further, in actual use, nozzles can be correspondingly installed on the elastic buffer structure 404 of the sludge suction module 400, for softening the solidified sludge, and the water pipe is connected to the external water tank; while the other end of the air duct 402 is connected to an external suction pump. The softening of the sludge is convenient to realize through the structure.
Example 2:
the application method of the cleaning robot for pipe network blockage comprises the following steps:
step one, supporting and walking inside a cleaning robot pipeline:
placing the cleaning robot in the pipeline, starting the walking module 100, driving a screw pair through a double-shaft motor 202 of the driving module 200, driving a screw nut 104 to move on the screw pair through the screw pair 202, and further adjusting the walking radius of the walking module 100 formed by the three supporting legs 105 to be in contact with the pipe wall, and driving the whole cleaning robot to walk along the interior of the pipeline through the roller 106;
crushing sludge at the central part of the pipeline:
in the process of the cleaning robot walking in the pipeline, the connecting shaft 312 is driven by the double-shaft motor 202 of the driving module 200, and the external crushing roller 314 is driven to rotate by the connecting shaft 312; simultaneously, the driving wheel 304 is synchronously driven by the connecting shaft 312, the driven wheel 305 is driven by the driving wheel 304 to move, the driven wheel 305 and the connecting shaft 312 respectively drive the two crushing rollers 314 to rotate, and one of the two crushing rollers 314 rotates by taking the crushing roller 314 on the connecting shaft 312 as the center of a circle, so that sludge in the central part of the pipeline is cleaned;
pushing and squeezing sludge on the inner wall of the pipeline:
in the process of crushing the sludge at the central part of the pipeline, the cleaning robot pushes the pushing structure 310 through the multi-stage telescopic rod 311 of the pushing module, and pushes the sludge which is not in the range of the crushing module 300 to the operation range through the pushing structure 310, so that the sludge in the blocked pipeline is fully crushed;
scraping residual sludge on the inner wall of the pipeline:
in the sludge crushing process, the cleaning robot synchronously drives the connecting rod 306 through the connecting shaft 312, drives the first ring body 307 through the connecting rod 306, synchronously drives the second ring body 308 through the first ring body 307, and drives the arc-shaped sheets 3091 on the outer circumference of the second ring body 308 to further scrape the sludge on the inner wall of the pipeline;
step five, sucking and discharging sludge:
the crushed sludge is sucked into the micro pump 401 through the suction pipe 403 of the sludge suction module 400, and the sludge is discharged into the pipeline through the air pipe 402 by the outlet of the micro pump 401;
step six, preliminary softening of sludge:
in the actual use process, on the elastic buffer structure 404 of the sludge suction module 400, nozzles are correspondingly installed for softening the solidified sludge, and the water pipe is connected to an external water tank; while the other end of the air duct 402 is connected to an external suction pump.

Claims (5)

1. A cleaning robot for pipe network blockage, characterized in that it comprises a walking module (100) for supporting the whole robot and for realizing walking inside a pipe;
a driving module (200) is arranged on one side of the head of the walking module (100);
the driving module (200) adopts a double-output end structure, wherein one output end is connected with the walking module (100) and provides walking power; the other output end is connected with the crushing module (300) and drives the crushing module (300) to crush the sludge on the pipe wall;
a pushing module for pushing the sludge on the pipe wall to the crushing module (300) is arranged on one side of the head of the driving module (200);
a sludge suction module (400) for sucking the sludge after crushing is mounted on the outer circumference of the driving module (200);
the walking module (100) comprises two bearing plates (102) which are arranged in parallel, and the bearing plates (102) are fixedly connected through a plurality of groups of brackets (101) to form a frame structure; the center parts of the two bearing plates (102) are rotatably supported with a screw pair (103), and one end of the screw pair (103) is connected with one output shaft of a double-shaft motor (202) of the driving module (200); the screw pair (103) is provided with a screw nut (104) through screw transmission, three supporting legs (105) are connected to the periphery of the screw nut (104) in a rotating way along the circumferential direction, and rolling wheels (106) are arranged at the end parts of the supporting legs (105); a sleeving plate (107) is fixed on one side of the tail part of the bracket (101), the sleeving plate (107) is not contacted with the screw rod pair (103), and is fixedly arranged, three connecting pieces (108) are arranged on the sleeving plate (107) corresponding to the three supporting legs (105), and two ends of each connecting piece (108) are respectively connected with the sleeving plate (107) and the supporting legs (105) in a rotating way;
the drive module (200) comprises a housing (201) and a biaxial motor (202) assembled in the housing (201) through a fixing piece (203); the shell (201) is fixed on the outer wall of one side of the head of the walking module (100); two output shafts of the double-shaft motor (202) are respectively arranged corresponding to the walking module (100) and the crushing module (300); the device is respectively used for driving the walking module (100) to adjust the radius of the walking module in the pipeline and driving the crushing module (300) to rotate so as to crush the sludge; the driving module (200) is assembled between the walking module (100) and the crushing module (300), and the driving module, the crushing module and the crushing module are coaxially arranged;
the crushing module (300) comprises a first plate (301) and a fixed rod (302); the first plate (301) is connected with the shell (201) through a plurality of fixing rods (302), and a containing space (303) is formed in the first plate (301); one output shaft of the double-shaft motor (202) of the driving module (200) is connected with a connecting shaft (312), the periphery of the connecting shaft (312) is sleeved with a driving wheel (304), and a crushing roller (314) is arranged at the position of the connecting shaft (312) protruding out of the first plate (301); the periphery of the driving wheel (304) is sleeved with the driven wheel (305), the end face of the driven wheel (305) is connected with a rotating shaft (313), and the rotating shaft (313) is also provided with a crushing roller (314); tip ends (315) are arranged at the end parts of the two crushing rollers (314);
the connecting shaft (312) is connected with a first ring body (307) through a connecting rod (306), the end part of the first ring body (307) is provided with a second ring body (308), and the periphery of the second ring body (308) is provided with a plectrum structure (309); the poking piece structure (309) comprises an arc-shaped piece (3091) and a spring (3092), wherein the arc-shaped piece (3091) is a plurality of annular equidistant arranged on the periphery of the second ring body (308); a groove is formed on the periphery of the second ring body (308), a spring (3092) is arranged in the groove, and the other end of the spring (3092) is connected to the arc-shaped piece (3091);
the pushing module comprises a pushing structure (310) and a multi-stage telescopic rod (311), the multi-stage telescopic rod (311) is fixed on the outer wall of one side of the head of the smashing module (300), the telescopic end of the multi-stage telescopic rod (311) is connected with the pushing structure (310) and drives the pushing structure (310) to move, so that the smashing module (300) can extrude silt to the center in the smashing process, and the silt can be fully smashed.
2. A cleaning robot for pipe network plugging according to claim 1, wherein said legs (105) are telescopic legs with adjustable length;
the outer wall of the wheel frame of the roller (106) is fixedly provided with a walking motor, an output shaft of the walking motor is connected with a main shaft of the roller (106), and the roller (106) is driven to be attached to the inner wall of the pipeline for walking.
3. A cleaning robot for pipe network plugging according to claim 2, wherein said sludge suction module (400) comprises a micropump (401), an air duct (402), a suction pipe (403) and an elastic buffer structure (404); one end of the micropump (401) is connected with the air pipe (402), one end of the micropump is connected with the suction pipe (403), and the suction pipe (403) is installed on the outer wall of the shell (201) of the driving module (200) in a buffering mode through the elastic buffering structure (404).
4. A cleaning robot for pipe network plugging according to claim 3, wherein in actual use, nozzles are installed on the elastic buffer structure (404) of the sludge suction module (400) in correspondence for softening solidified sludge, and the water pipe is connected to an external water tank; and the other end of the air pipe (402) is connected with an external sewage suction pump.
5. The method of using a cleaning robot for pipe network plugging according to claim 4, comprising the steps of:
step one, supporting and walking inside a cleaning robot pipeline:
the cleaning robot is placed in a pipeline, the walking module (100) is started, a screw rod pair is driven by a double-shaft motor (202) of the driving module (200), a screw rod nut (104) is driven to move on the screw rod pair by the screw rod pair, the walking radius of the walking module (100) formed by three supporting legs (105) is further adjusted to be in butt joint with the pipe wall, and the whole cleaning robot is driven to walk along the interior of the pipeline by a roller (106);
crushing sludge at the central part of the pipeline:
in the process that the cleaning robot walks in the pipeline, a double-shaft motor (202) of a driving module (200) drives a connecting shaft (312), and the connecting shaft (312) drives an external crushing roller (314) to rotate; simultaneously, the driving wheel (304) is synchronously driven by the connecting shaft (312), the driven wheel (305) is driven by the driving wheel (304) to move, the driven wheel (305) and the connecting shaft (312) respectively drive the two crushing rollers (314) to rotate, and one crushing roller (314) on the connecting shaft (312) rotates by taking the crushing roller (314) as the circle center, so that sludge in the central part of the pipeline is cleaned;
pushing and squeezing sludge on the inner wall of the pipeline:
in the process of crushing the sludge at the central part of the pipeline, the cleaning robot pushes the pushing structure (310) through the multi-stage telescopic rod (311) of the pushing module, and pushes the sludge which is not in the range of the crushing module (300) to the operation range through the pushing structure (310), so that the sludge in the blocked pipeline is fully crushed;
scraping residual sludge on the inner wall of the pipeline:
in the sludge crushing process, the cleaning robot synchronously drives the connecting rod (306) through the connecting shaft (312), drives the first ring body (307) through the connecting rod (306), synchronously drives the second ring body (308) through the first ring body (307), and drives the arc-shaped sheets (3091) on the outer circumference of the second ring body (308) to further scrape the sludge on the inner wall of the pipeline;
step five, sucking and discharging sludge:
sucking the crushed sludge into the micro pump (401) through a suction pipe (403) of the sludge suction module (400), and discharging the sludge from the air pipe (402) into the pipeline through an outlet of the micro pump (401);
step six, preliminary softening of sludge:
in the actual use process, on the elastic buffer structure (404) of the silt suction module (400), corresponding to the nozzles, the nozzles are arranged for softening solidified silt, and the water pipe is connected to an external water tank; and the other end of the air pipe (402) is connected with an external sewage suction pump.
CN202310216437.8A 2023-03-08 2023-03-08 Cleaning robot for pipe network blockage and application method thereof Active CN116411629B (en)

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CN210597580U (en) * 2019-09-09 2020-05-22 浙江中卓环境科技有限公司 Pipeline dredging robot with stranding cage
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