CN117358701A

CN117358701A - Pipeline dredging robot

Info

Publication number: CN117358701A
Application number: CN202311382982.0A
Authority: CN
Inventors: 王明远; 袁建军; 邵东盈; 李蒙; 张光鑫; 鲍晟; 杜亮
Original assignee: Shanghai Xinyinnovai Robot Engineering Technology Research Co ltd
Current assignee: Shanghai Xinyinnovai Robot Engineering Technology Research Co ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-01-09

Abstract

The invention discloses a pipeline dredging robot, which comprises: the dredging section comprises a sawtooth barrel, fan blades and a dredging brush; the support section comprises a support piece, and the support section is kept in abutting connection with the inner wall of the pipeline through the support piece; the connecting section comprises a dust cover and a steering connecting piece, two ends of the steering connecting piece are respectively and fixedly connected with the dredging section and the supporting section, and the dust cover is arranged outside the steering connecting piece. The pipeline dredging robot provided by the invention adopts a passive driving mode, so that the whole pipeline dredging robot has good driving force, so that the pipeline dredging robot can conveniently move in a narrow environment in the pipeline, the dredging section and the supporting section are connected through the connecting section, the dredging section is guaranteed to have good steering capability through the steering connecting piece, particles can be prevented from entering the steering connecting piece through the dust cover arranged outside the steering connecting piece, and the service life of the steering connecting piece can be prolonged while the dredging section is guaranteed to have good steering capability.

Description

Pipeline dredging robot

Technical Field

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

Background

The pipeline is a device for conveying gas, liquid or solid particles, crystals, dirt or residues can be generated on the inner wall of a fluid channel of the pipeline in the use process of the pipeline, the pipeline path is reduced due to the deposition and adhesion of the crystals, the dirt or the residues on the pipeline wall, if the pipeline is not cleaned effectively, the normal use of the pipeline is seriously affected when the dirt reaches a certain degree, so that the pipeline needs to be cleaned in order to ensure the normal production, and a pipeline dredging robot is required to be used in the cleaning process.

According to publication No.: CN116575565B, published patent application No. 2023-09-15, discloses a cabinet, which comprises a cylindrical side wall, and a front end plate and a rear end plate respectively located at two ends of the cylindrical side wall; the walking mechanism comprises a plurality of sets of walking wheel sets, wherein the sets of walking wheel sets are all arranged on the outer side of the cylindrical side wall and are uniformly distributed along the circumferential direction of the cylindrical side wall, one set of walking wheel sets is connected with a walking driving piece to serve as a driving wheel set, and the rest walking wheel sets serve as supporting wheel sets; the rotary cutting driving piece is fixed in the cylindrical side wall, and an output shaft of the rotary cutting driving piece penetrates through the front end plate; the rotary cutting mechanism is positioned in front of the front end plate and comprises a cutter disc and a cutter, the center of the cutter disc is fixedly connected with an output shaft of the rotary cutting driving piece, the cutter disc is provided with a first avoiding window which is suitable for the scattered blockage to pass through, and the cutter is arranged on the cutter disc. The main technical effects are as follows: the pipeline cleaning device has the advantages that the pipeline cleaning device can be internally supported in the pipeline through the travelling mechanism and independently travel along the pipeline, the rotary cutting mechanism at the front end can break up the plugs in the pipeline under the drive of the rotary cutting driving piece, and the rotary cutting mechanism is matched with the travelling mechanism to break up the plugs in the whole pipeline, so that the plugs can be flushed away during subsequent flushing, and dredging is completed. Adopt this device to dredge the pipeline, for current artifical desilting, have following advantage: firstly, because the rotary cutting mechanism is matched with the pipeline, all the plugs in the pipeline can be scattered and removed by walking, and dredging is thorough; secondly, the machine is adopted to replace manual work, so that a large amount of labor force is saved, and the dredging efficiency is higher; thirdly, personnel are not required to enter the pipeline, and the biogas in the pipeline is prevented from threatening the personal safety of cleaning personnel.

The existing pipeline dredging robot only breaks impurities when dredging, secondary cleaning is needed, cleaning efficiency is low, and when a bent pipeline is encountered, the linearly distributed dredging robot is difficult to adapt to the bending degree of the pipeline, and the existing pipeline dredging robot adopts an active travelling device, a driving device is arranged on a robot main body to meet the requirement of moving in the pipeline, and when dredging in a long distance, the continuous voyage of the pipeline dredging robot cannot meet the requirement well, so that the pipeline dredging robot is provided, and the problem that the existing pipeline dredging robot is insufficient in dredging method, bent pipe turning and driving modes is solved.

Disclosure of Invention

The invention aims to provide a pipeline dredging robot, which aims to solve the problem that the existing pipeline dredging robot is insufficient in dredging method, bent pipe turning and driving mode.

In order to achieve the above object, the present invention provides the following technical solutions:

a pipeline dredging robot comprising:

the dredging section comprises a sawtooth cylinder, fan blades and a dredging brush, wherein the fan blades are rotationally connected inside the sawtooth cylinder, and the dredging brush is arranged on the outer wall of the sawtooth cylinder;

the support section comprises a support piece, and the support section is kept in abutting connection with the inner wall of the pipeline through the support piece;

the connecting section comprises a dust cover and a steering connecting piece, two ends of the steering connecting piece are respectively kept connected with the dredging section and the supporting section, and the dust cover is arranged outside the steering connecting piece.

Preferably, the dredging section further comprises a dredging barrel, the dredging barrel comprises a shell, an impurity track and a filter screen, the dredging barrel is kept connected with the connecting section, the dredging section is rotationally connected with the dredging barrel, the connecting barrel is fixedly arranged inside the shell, the filter screen is arranged between the shell and the connecting barrel, the impurity track is fixedly arranged on the inner wall of the shell, and a vent hole is formed in the outer wall of one side of the shell.

Preferably, the support section further comprises a protective shell and a driving unit, wherein the driving unit is arranged in the protective shell, and the output end of the driving unit is in transmission connection with the steering connecting piece.

Preferably, the steering connecting piece comprises a first universal joint and a second universal joint, one end of the first universal joint is connected to the protective shell, the other end of the first universal joint is connected to the shell, a transmission shaft is arranged in the connecting cylinder, one end of the transmission shaft is kept connected with the fan blade, the other end of the transmission shaft is kept connected with the second universal joint, and one end of the second universal joint, far away from the transmission shaft, is kept in rotary connection with the output end of the driving unit.

Preferably, the support piece comprises a support rod, an auxiliary wheel and a telescopic rod, one end of the support rod is rotationally connected to the protective shell, the auxiliary wheel is rotationally installed at one end, far away from the protective shell, of the support rod, and two ends of the telescopic rod are respectively connected to the support rod and the protective shell.

Preferably, a plurality of tooth openings are formed in the outer wall of the end part of the sawtooth barrel, the desilting brushes are distributed on the outer wall of the sawtooth barrel in a circumferential array mode, the desilting brushes are obliquely arranged on the outer wall of the sawtooth barrel, and the arrangement direction of the desilting brushes is opposite to the arrangement direction of the tooth openings.

In the technical scheme, the pipeline dredging robot provided by the invention has the following beneficial effects:

according to the invention, the support piece of the support section is kept in butt joint with the inner wall of the pipeline, the dredging section which is kept connected with the support section through the connecting section can be driven to move in the pipeline through driving the support section to move in the pipeline, meanwhile, the fan blades of the dredging section drive the sawtooth barrel to rotate, attachments on the inner wall of the pipeline are crushed, the broken attachments can be cleaned through the dredging brush arranged on the dredging section, the attachments are always positioned at the front end of the dredging brush, negative pressure formed by rotation of the fan blades is absorbed, the broken attachments can be directly absorbed, a good driving force is provided for the whole body by adopting a passive driving mode, so that the dredging section and the support section are connected through the connecting section, the good steering capability of the dredging section is ensured through the steering connecting piece, particles can be prevented from entering the steering connecting piece through the dust cover arranged outside the steering connecting piece, and the service life of the steering connecting piece is prolonged while the good steering capability of the dredging section is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a schematic view of the internal structure of a silt collecting cylinder according to an embodiment of the present invention;

FIG. 3 is an enlarged schematic view of the portion A according to an embodiment of the present invention;

FIG. 4 is a schematic view of a steering connector according to an embodiment of the present invention;

FIG. 5 is an enlarged schematic view of the portion B according to an embodiment of the present invention;

FIG. 6 is a schematic view of a three-dimensional cross-sectional structure according to an embodiment of the present invention;

fig. 7 is a schematic view of a steering state structure according to an embodiment of the present invention.

Reference numerals illustrate:

1. a dredging section; 11. a saw tooth cylinder; 12. a fan blade; 13. a desilting brush; 14. a silt collecting cylinder; 141. a housing; 142. impurity tracks; 143. a filter screen; 145. a connecting cylinder; 146. a transmission shaft; 15. tooth openings; 2. a support section; 21. a support; 211. a support rod; 212. an auxiliary wheel; 213. a telescopic rod; 22. a protective shell; 23. a driving unit; 3. a connection section; 31. a dust cover; 32. a steering linkage; 321. a first universal joint; 322. and a second universal joint.

Detailed Description

In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.

Referring to fig. 1-7, a pipeline dredging robot includes:

the dredging section 1 comprises a sawtooth barrel 11, fan blades 12 and a dredging brush 13, wherein the fan blades 12 are rotatably connected inside the sawtooth barrel 11, and the dredging brush 13 is arranged on the outer wall of the sawtooth barrel 11;

a support section 2, the support section 2 comprising a support 21, the support section 2 being held in abutment with the inner wall of the pipe by the support 21;

the connecting section 3 comprises a dust cover 31 and a steering connecting piece 32, two ends of the steering connecting piece 32 are respectively and fixedly connected with the dredging section 1 and the supporting section 2, and the dust cover 31 is arranged outside the steering connecting piece 32.

Specifically, the dredging section 1 includes a sawtooth section 11, the flabellum 12 and removes silt brush 13, the flabellum 12 sets up inside a sawtooth section 11, rotate through the flabellum 12 and drive a sawtooth section 11 rotation, make dredging section 1 when removing along the pipeline, keep rotating at the pipeline inner wall through the rotation drive sawtooth section 11 of flabellum 12, thereby carry out breakage, clearance through the attached residue of pipeline inner wall through a sawtooth section 11, simultaneously, the silt brush 13 that removes that sets up on the sawtooth section 11 outer wall can keep rotating with a sawtooth section 11 in step, can clear up broken piece, make broken piece be located the silt brush 13 front end all the time, and adsorb the piece to a sawtooth section 11 inside through the negative pressure that the flabellum 12 rotated and formed.

The support section 2 comprises a support piece 21, and the support section 2 is kept in abutting connection with the inner wall of the pipeline through the support piece 21;

the connecting section 3, the connecting section 3 includes dirt proof boot 31 and turns to connecting piece 32, turn to connecting piece 32 both ends respectively with the desilting section 1, support section 2 keeps being connected, be connected support section 2 and desilting section 1 through connecting piece 3, make desilting section 1 can suspend in the computer that hangs, only remove the desilting brush 13 on the outer wall of the sawtooth section 11 through on the outer wall of sawtooth section 11 and contact with the pipeline inner wall, make soft contact between dirt proof boot 31 and the pipeline inner wall, can prevent sawtooth section 11 and pipeline inner wall collision through removing the contact of desilting brush 13 and pipeline inner wall, can make sawtooth section 11 have certain movable range in the pipeline inside, reduce the loss of sawtooth section 11 and pipeline inner wall, remove the piece that the desilting brush 13 is broken through sawtooth section 11 all the time with pipeline inner wall keeps contacting simultaneously and rotates along with removing brush 13, thereby concentrate piece, dust all the time in removing brush 13 front end.

The support piece 21 through the support section 2 keeps the butt with the pipeline inner wall, move through driving the support section 2 and can drive the desilting section 1 that keeps being connected through linkage segment 3 and support section 2 in pipeline inside and remove, simultaneously drive the sawtooth section 11 through the flabellum 12 of desilting section 1 and rotate, the attachment on the pipeline inner wall is broken, remove the desilting brush 13 through setting up on the desilting section 1 can clear up the attachment through broken, make it be located the desilting brush 13 front end all the time, and adsorb through the negative pressure that the flabellum 12 rotated and form, guarantee that the attachment after the breakage can directly be absorbed away, adopt passive drive mode can make whole have good driving force, so as to remove in pipeline inside narrow and small environment, connect desilting section 1 and support section 2 through linkage segment 3, it has good steering capacity to guarantee that desilting section 1 has through steering connection piece 32, can prevent that the granule from entering into steering connection piece 32 inside through setting up the dirt-proof housing 31 that turns to the outside of connection piece 32, can guarantee that desilting section 1 has good steering capacity, the life of connection piece 32 is long-time.

Further, the dredging section 1 further comprises a dredging barrel 14, the dredging barrel 14 is connected to the sawtooth barrel 11, the dredging barrel 14 comprises a shell 141, an impurity track 142 and a filter screen 143, the connecting barrel 145 is fixedly installed at the axis of the inside of the shell 141, the inside of the connecting barrel 145 is of a hollow structure, the impurity track 142 is arranged inside the dredging barrel 14, specifically, the impurity track 142 is fixedly installed inside the dredging barrel 14, the impurity track 142 is specifically inclined, one end of the impurity track 142 is far away from the connecting barrel 145, the filter screen 143 is fixedly installed inside the shell 141, preferably, the impurity track 142 is installed at one end of the shell 141 close to the dredging section 1, the inclined direction of the impurity track 142 faces the dredging section 1, particles can be collected along the impurity track 142 when the broken fragments passing through the sawtooth barrel 11 are adsorbed through the fan blades 12, a semi-closed dust collecting cavity is formed through the impurity track 142 and the filter screen 143, the broken particles can be adsorbed inside the dust collecting cavity, interception is carried out through the filter screen 143, the particles are prevented from being blown out of the shell 141 under the negative pressure effect, as shown in fig. 3, the ventilation performance of the shell 141 can be guaranteed through the inside the shell on the outer wall of the bottom of the shell.

As a further embodiment of the present invention, the support section 2 further includes a protective housing 22 and a driving unit 23, where the driving unit 23 is disposed in the protective housing 22, specifically, the driving unit 23 is a servo motor, and an output end of the driving unit 23 is in transmission connection with the steering connection member 32, and by disposing the driving unit 23 in the protective housing 22, the weight of the dredging section 1 can be reduced, so that the dredging section 1 can be more flexible in moving. The output of the drive unit 23 remains connected to the steering connection 32, so that power at the output of the drive unit 23 can be transmitted via the steering connection 32.

Further, as an embodiment provided by the present invention, the steering coupling 32 includes a first universal joint 321 and a second universal joint 322, as shown in fig. 5, one end of the first universal joint 321 is rotatably coupled to the housing 141, a driving shaft 146 is provided inside the coupling cylinder 145, one end of the driving shaft 146 is kept coupled to the fan blade 12, the other end of the driving shaft 146 is kept coupled to the first universal joint 321, so that the driving unit 23 is kept coupled to the driving shaft 146 through the first universal joint 321, the fan blade 12 can be kept rotated, a negative pressure is formed by rotation of the fan blade 12, particles broken by the saw-tooth cylinder 11 are adsorbed, one end of the second universal joint 322 is coupled to the housing 141, one end of the second universal joint 322 is coupled to the protective housing 22, the first universal joint 321 is located inside the second universal joint 322, the power transmission of the driving unit 23 is transmitted to the transmission shaft 146 through the first universal joint 321, the shell 141 can be kept to rotate freely through the second universal joint 322, when a pipe is cleaned, and the pipe is bent, the dredging section 1 is kept in contact with the inner wall of the pipe through the dredging brush 13 inside the pipe, and the shell 141 and the protective shell 22 are kept connected through the second universal joint 322, so that the dredging section 1 and the supporting section 2 can have mutual yaw freedom degree, the dredging section 1 can swing to a certain extent when passing through the pipe, the dredging section 1 can swing freely when passing through the pipe, and the pipe can pass through the pipe, and has good trafficability.

As a further embodiment provided by the invention, the supporting member 21 comprises a supporting rod 211, an auxiliary wheel 212 and a telescopic rod 213, specifically, the auxiliary wheel 212 is rotatably installed at one end of the supporting rod 211, one end of the supporting rod 211 far away from the auxiliary wheel 212 is rotatably connected with the protective shell 22, two ends of the telescopic rod 213 are respectively rotatably connected with the protective shell 22 and the supporting rod 211, as the embodiment provided by the invention, the telescopic rod 213 is specifically an elastic telescopic rod, the auxiliary wheel 212 can be driven to keep abutting with the inner wall of a pipeline through the elasticity of the telescopic rod, preferably, the number of the supporting members 21 is a plurality of groups, each two groups are oppositely arranged, the plurality of groups of supporting members 21 are distributed on the outer wall of the protective shell 22 in a circumferential array, so that the protective shell 22 can be centered in the pipeline, and pipelines with different pipe diameters can be adapted, a third universal joint 24 is fixedly arranged on the outer wall of one side of the protective shell 22, a driving rod is fixed at the other end of the third universal joint 24, the driving rod can be kept connected with the output end of external propulsion equipment, the support section 2 is driven to move in a pipeline through the external propulsion equipment, thereby the dredging section 1 can be driven to move in the pipeline through the movement of the support section 2, the driving unit 23 arranged in the support section 2 drives the fan blades 12 to keep rotating, the saw tooth barrel 11 is driven to keep rotating through the rotation of the fan blades 12, a plurality of tooth openings 15 are arranged at the end part of the saw tooth barrel 11, the plurality of tooth openings 15 are distributed in a circumferential array at the end part of the saw tooth barrel 11, preferably, the dredging brush 13 is obliquely arranged on the outer wall of the saw tooth barrel 11, and the arrangement direction of the dredging brush 13 is opposite to the arrangement direction of the tooth openings 15, the opposite direction of the desilting brush 13 and the tooth opening 15 can enable the sawtooth barrel 11 to crush impurities, and the opposite direction of the desilting brush 13 can sweep out the crushed impurities as far as possible while keeping the same direction rotation with the sawtooth barrel 11, and the impurities are adsorbed by the fan blades 12, the crushed impurities and particles are guided into the dust collection cavity to be collected through the impurity rails 142, and the particles can be prevented from entering the vent holes to cause blockage through the filter screen 143.

Further, the third gimbal 24 includes a plurality of gimbals, the number of which can be customized to the depth of cleaning desired.

Working principle:

when the pipeline needs to be cleaned, the dredging section 1 is pushed into the pipeline needing to be cleaned;

then the support section 2 is pushed into the pipeline to be cleaned, the support piece 21 arranged on the outer wall of the protective shell 22 of the support section 2 is kept in abutting connection with the inner wall of the pipeline, so that the support section 2 is positioned at the axis position in the pipeline, and the auxiliary wheel 212 at one end of the support rod 211 can be driven to keep in abutting connection with the inner wall of the pipeline through the telescopic rod 213 of the support piece 21, so that the support section 2 can be adapted to pipelines with different diameters;

the driving rod is pushed to move through an external pushing device, such as a hydraulic rod, an electric push rod and the like, the supporting section 2 is driven to walk in the pipeline through the movement of the driving rod, the dredging section 1 is driven to move in the pipeline through the movement of the supporting section 2, the steering connecting piece 32 is driven to rotate through the driving unit 23 arranged in the supporting section 2 while moving, the transmission shaft 146 is driven to rotate through the first universal joint 321 arranged in the steering connecting piece 32, the fan blades 12 and the sawtooth barrel 11 can be driven to rotate, impurities attached to the inner wall of the pipeline are scraped through the rotation of the sawtooth barrel 11, meanwhile, the dredging brush 13 reversely arranged on the outer wall of the sawtooth barrel 11 rotates synchronously along with the sawtooth barrel 11, the broken impurities can be swept out in the rotation process of the dredging brush 13, the broken impurities are sucked into the sawtooth barrel 11 through the fan blades 12 which keep rotating through the dredging section 1, and the impurities enter the dust collecting cavity under the action of negative pressure.

Those skilled in the art will appreciate that other similar connections may implement the present invention. Such as welding, bonding, or bolting.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.

Claims

1. A pipeline dredging robot, comprising:

the dredging section (1) comprises a sawtooth barrel (11), fan blades (12) and a dredging brush (13), wherein the fan blades (12) are rotationally connected inside the sawtooth barrel (11), and the dredging brush (13) is arranged on the outer wall of the sawtooth barrel (11);

-a support section (2), the support section (2) comprising a support (21), the support section (2) being held in abutment with the inner wall of the pipe by the support (21);

the connecting section (3), connecting section (3) include dirt proof boot (31) and turn to connecting piece (32), turn to connecting piece (32) both ends respectively with desilting section (1), support section (2) keep being connected, dirt proof boot (31) set up in turn to connecting piece (32) outside.

2. The pipeline dredging robot according to claim 1, wherein the dredging section (1) further comprises a dredging barrel (14), the dredging barrel (14) comprises a shell (141), an impurity track (142) and a filter screen (143), the dredging barrel (14) is kept connected with the connecting section (3), the dredging section (1) is rotationally connected with the dredging barrel (14), the connecting barrel (145) is fixedly arranged inside the shell (141), the filter screen (143) is arranged between the shell (141) and the connecting barrel (145), the impurity track (142) is fixedly arranged on the inner wall of the shell (141), and a vent hole is formed in the outer wall of one side of the shell (141).

3. A pipeline dredging robot according to claim 1, characterized in that the support section (2) further comprises a protective shell (22) and a driving unit (23), the driving unit (23) is arranged in the protective shell (22), and the output end of the driving unit (23) is in transmission connection with a steering connecting piece (32).

4. A pipeline dredging robot according to any one of claims 2 or 3, wherein the steering connector (32) comprises a first universal joint (321) and a second universal joint (322), one end of the first universal joint (321) is connected to the protective shell (22), the other end of the first universal joint (321) is connected to the outer shell (141), a transmission shaft (146) is arranged inside the connecting cylinder (145), one end of the transmission shaft (146) is kept connected with the fan blade (12), the other end of the transmission shaft (146) is kept connected with the second universal joint (322), and one end of the second universal joint (322) far away from the transmission shaft (146) is kept in rotary connection with the output end of the driving unit (23).

5. The pipeline dredging robot according to claim 1, wherein the supporting member (21) comprises a supporting rod (211), an auxiliary wheel (212) and a telescopic rod (213), one end of the supporting rod (211) is rotatably connected to the protective shell (22), the auxiliary wheel (212) is rotatably installed at one end, far away from the protective shell (22), of the supporting rod (211), and two ends of the telescopic rod (213) are respectively connected to the supporting rod (211) and the protective shell (22).

6. The pipeline dredging robot according to claim 1, wherein a plurality of tooth openings (15) are formed in the outer wall of the end portion of the sawtooth barrel (11), the dredging brushes (13) are distributed on the outer wall of the sawtooth barrel (11) in a circumferential array, the dredging brushes (13) are obliquely arranged on the outer wall of the sawtooth barrel (11), and the arrangement direction of the dredging brushes (13) is opposite to that of the tooth openings (15).