CN207899828U - A kind of adaptive dredging robot of pipeline - Google Patents
A kind of adaptive dredging robot of pipeline Download PDFInfo
- Publication number
- CN207899828U CN207899828U CN201721673956.3U CN201721673956U CN207899828U CN 207899828 U CN207899828 U CN 207899828U CN 201721673956 U CN201721673956 U CN 201721673956U CN 207899828 U CN207899828 U CN 207899828U
- Authority
- CN
- China
- Prior art keywords
- robot
- robot body
- cutter
- pipeline
- grid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of adaptive dredging robots of pipeline, it is connect including robot body, the Athey wheel mechanism for driving robot body to advance in pipeline and with the robot body and is located at the cutterhead in front of robot body along direction of travel, cutter plate driver motor is equipped in the robot body；The cutterhead includes：Shaft, the output axis connection with the cutter motor, the axis of shaft are parallel with the axial direction of pipeline；Cutter, in diverging distribution centered on shaft；Spring connects shaft and corresponding cutter；Universal wheel is set to the end point of each cutter free end, is contacted with inner wall of the pipe.The dredging that the utility model is suitable for different tube diameters works.
Description
Technical field
The utility model is related to a kind of pipe dredging equipment, and in particular to a kind of adaptive dredging robot of pipeline.
Background technology
The dredging dredging problem of drainage pipeline has become the thorny problem of government department.Currently, domestic carrying out drainpipe
When the dredging dredging in road, frequently with winch dredging method and hydraulic desilting method.With the development of science and technology, robot dredging is to pipe
Road blocks and siltation problem provides a new resolving ideas.In recent years, had been developed for it is various forms of from
Dynamicization Accrete clearing device, by the milling cutter of outfit, cutting, be crushed and removing for mud is realized in high-pressure nozzle and push plate.However milling cutter
Size all immobilize, even with revolution, revolution-radius is also to immobilize, and is not suitable for the dredging of different tube diameters
Work nozzles wash away a kind of supplement that mud can be cut as milling cutter, but need a large amount of clean water, waste water resource, and
And it increases burden to later stage sludge treatment.In addition, for the more pipeline of residual sludge, robot body may immerse sludge
In region or sewage, robot easily corrodes, and shortens the working life.
Utility model content
The utility model provides a kind of adaptive dredging robot of pipeline, and the dredging for being suitable for different tube diameters works.
A kind of adaptive dredging robot of pipeline, including robot body, drive robot body advance in pipeline
It Athey wheel mechanism and is connect with the robot body and is located at the cutterhead in front of robot body, the machine along direction of travel
Cutter plate driver motor is equipped in human agent, the cutterhead includes：
Shaft, the output axis connection with the cutter motor, the axis of shaft are parallel with the axial direction of pipeline；
Cutter, in diverging distribution centered on shaft；
Spring connects shaft and corresponding cutter；
Universal wheel is set to the end point of each cutter free end, is contacted with inner wall of the pipe.
Preferably, the cutter includes：
Knife plate, one end is connect with the spring, the other end installs the universal wheel；
Several blades are distributed on knife plate and positioned at along the front side of direction of travel.
It is further preferred that spring strut is arranged outside the spring, spring strut one end is fixed with shaft, and knife plate is from spring strut
The other end is stretched into spring strut and is slidably matched with spring strut.
Knife plate is embedded with blade, is uniformly distributed in knife plate surface.Knife plate end is equipped with universal wheel, when universal wheel is by radial load
When, spring is squeezed contraction, and a knife plate part is incorporated into protective case, and cutterhead radius of turn is made to reduce.
It is further preferred that the angle between adjacent cutter is 45~90 °.4~8 cutters are set.Most preferably,
Angle is 60 °.
Preferably, the Athey wheel mechanism includes：
It is located at two groups of Athey wheels of robot body's following above and；
Several hydraulic electric motors of the corresponding Athey wheel of driving；
Connect the liftable bindiny mechanism of robot body and corresponding Athey wheel.
Adjusting robot body's height by liftable bindiny mechanism makes robot body be always positioned at ullage.Into one
Preferably, the liftable bindiny mechanism includes step：
A piece hydraulic stem, is arranged horizontally between robot body and Athey wheel；
Symmetrically arranged a pair of first connecting rod, one end of first connecting rod and the hinged, other end point at Athey wheel different location
It is not hinged with the both ends of hydraulic stem；
It is symmetrically arranged a pair of second connecting rod, one end of second connecting rod with it is hinged, another at robot body's different location
End is hinged with the both ends of hydraulic stem respectively.
There are two crawler belt turbin generator, Athey wheels to be connect with the fixed block of shell both sides by connecting rod at Athey wheel both ends, connects
The link assembly of Athey wheel is made of two sections, there are two link assembly on an Athey wheel, passes through hydraulic pressure between link assembly
Bar connects.Pass through the contraction or elongation of hydraulic stem, the lifting of realization body.
Further, the shell both sides respectively setting two fixed blocks, two fixed blocks be located in same level and
Spacing and Athey wheel length between two fixed blocks is isometric, and the position of two fixed blocks is corresponding with the both ends of Athey wheel respectively.
Further, Athey wheel and the side angle of main body connection are between 30 °~75 °.
Further, Athey wheel can set two groups, be located at the lower-left of main body, bottom-right location, parallel arrangement can also
It is arranged to four groups, is located at the lower-left of main body, bottom right, upper left, upper-right position, parallel arrangement.The type of drive of Athey wheel is
Hydraulic electric motor drives, and hydraulic electric motor is respectively arranged in Athey wheel both ends, and hydraulic electric motor is controlled by hydraulic system.
Preferably, the robot body is equipped with liftable grid or scraper plate and driving lattice along the rear of direction of travel
The grid or scraper plate driving mechanism of grid or scraping plate lifting, drop under grid or scraper plate working condition contacted with tube wall, inoperative
It is taken in robot body under state.
It is further preferred that the grid or scraper plate driving mechanism include：
Grid or scraper plate are installed on vertically to the chain of both sides；
With the gear of chain cooperation；
Drive the direct current generator of the gear rotation；
The gear and direct current generator are respectively positioned in robot body.
It is further preferred that being additionally provided with the bristle brush wheel with grid or scraper plate cooperation, the hair below the robot body
Brush wheel and the engaged gears are simultaneously driven by gear.
Grid or scraper plate both sides are equipped with lattice wheel chain, and with engaged gears, under the drive of direct current generator, grid or scraper plate can
To stretch out or be taken in main body in the vertical direction.Grid or scraper plate can be released or pack up as needed.It is straight in main body
Galvanic electricity machine operating band moving gear, gear is engaged with wheel chain drives grid from releasing or income.Gear also with the gear of bristle brush wheel
Occlusion drives bristle brush wheel operating, bristle brush wheel to be close to grid or scraper plate, and direction of rotation is opposite with the grid direction of motion.
Preferably, the robot body includes：
Shell；
The hydraulic system being disposed in the housing, all hydraulic stems and hydraulic electric motor are controlled by the hydraulic system.Knife
Disk-drive motor is also controlled by hydraulic system.
Prior art realization can be used in hydraulic system itself, and hydraulic system includes hydraulic cylinder, hydraulic pressure pump group, corresponding liquid
Pressure pipe road and the control valve group on each fluid pressure line, fluid pressure line are correspondingly connected to each hydraulic stem, hydraulic motor and hydraulic pressure
Motor.Hydraulic pressure pump group makes hydraulic oil be sucked into hydraulic pump from hydraulic cylinder, and each driving portion is reached by fluid pressure line and control valve
Part.
Preferably, it is additionally provided with accumulator in the shell, is the power electrical apparatus in the shell.
Dredging robot is put into the pipeline opening for waiting for dredging, cutterhead direction is consistent with direction of advance, long by adjusting knife plate
The angle of degree and Athey wheel connecting rod, makes the universal wheel on Athey wheel and cutterhead be adjacent to tube wall, while main body being made to be fully located at
It is more than pipeline liquid level.After robot is completely into pipeline, opens direct current generator and drive lattice gear and bristle brush wheel operating, hairbrush
Effect is the sundries cleared up on grid or scraper plate, grid or scraper plate is discarded to from main body and tube contacts.
The operating of driving motor makes sliding block move up and down, and is adjusted to push plate lower edge to the height close to lower tube wall, then leads to
It crosses hydraulic pump driving Athey wheel to travel forward, while another hydraulic pump drives cutter motor, and cutterhead is made to rotate.With robot
The effect of the propulsive force of advance and the shearing force of cutterhead cutter, the pipeline sludge of deposition are destroyed.The grid of back body
Or scraper plate retains the mud of bulk in pipeline and other deposits, with moving ahead as trolley advances together.Work as trolley travelling
When to pipe outlet, bulk mud and deposit are all scraped, and wait for centralized collection and disposition.Ensure that dredging is thorough, with identical
Mode, clear up mud again from opposite direction.
The utility model has the advantages that：
1. a kind of adaptive cutterhead realizes that cutterhead is close to tube wall rotation under different tube diameters by spring contraction knife plate length
Turn, cuts sludge to the maximum extent, while universal wheel being housed at the endpoint of the knife plate of cutterhead, reduce the frictional resistance with tube wall；
2. robot rear portion is equipped with liftable coarse rack or scraper plate, larger deposit can be scraped；3. lower Athey wheel is changed into
With liftable form as upper crawler belt, freedom to work degree is high, and certain protective role is played to main body in the case of high water level.
Description of the drawings
Fig. 1 is schematic diagram of the utility model in pipeline.
Fig. 2 is the robot body's schematic diagram for being originally the utility model.
Fig. 3 be the utility model in pipeline along the rearview of direction of travel.
Fig. 4 is the cutter head structure front view of the utility model.
Fig. 5 is the utility model cutterhead part-structure side view.
Fig. 6 is the utility model grid front view.
Fig. 7 is the utility model grid side view (under grid working condition).
Reference numeral as shown in the figure is as follows：
10- cutterhead 20- Athey wheels mechanism 30- robot bodies
40- grid mechanism 50- pipelines
11- shaft 12- spring 13- cutters
14- universal wheel 15- spring strut 131- knife plates
132- blade 21- Athey wheel 22- hydraulic motors
23- first connecting rod 24- second connecting rod 25- fixed blocks
26- hydraulic stem 31- shell 32- cutter plate driver motors
33- accumulator 34- hydraulic system 41- grids
42- chain 43- gear 44- bristle brush wheels
45- gear drive motors
Specific implementation mode
As shown in Fig. 1~Fig. 7, a kind of self-adapting pipe dredging robot (it is illustrated so that grid is installed at rear as an example, when
When needing that scraper plate is installed, grid is directly replaced with into scraper plate), including robot body 30, driving robot body are in pipeline 50
The grid mechanism of the Athey wheel mechanism 20 of interior traveling, the cutterhead 10 and rear that are located at along direction of travel in front of robot body
40。
Accumulator 33, liquid is arranged in shell 1 as shown in Fig. 2, including seeing shell 31 in the structural schematic diagram of robot body 30
Pressure system 34, cutter plate driver motor 32 and grid mechanism 40, accumulator are the power electrical apparatus in shell, hydraulic system sheet
Body is realized using the prior art.
Athey wheel mechanism 20 includes two groups of Athey wheels 21, the hydraulic motor 22 at each Athey wheel both ends, connection robot master
The liftable bindiny mechanism of body and corresponding Athey wheel.In present embodiment, every group of Athey wheel is set as symmetrical a pair, along traveling
Direction is located at lower-left, upper left, bottom right and the upper right side of shell 31, and the rearview along direction of travel is as shown in figure 3, on shell
In the two side walls parallel with direction of travel be symmetrical arranged a pair of fixed block 25, two fixed blocks be located in same level and
Spacing between two fixed blocks is equal to the length of Athey wheel, i.e. two fixed blocks are located at the both ends of corresponding Athey wheel same respectively
On one vertical line, liftable bindiny mechanism includes a pair of of first connecting rod 23, a pair of of second connecting rod 23 and a hydraulic stem 26, each
First connecting rod connects the crawler belt wheel end and hydraulic rod end of homonymy, and junction is hinged, and each second connecting rod connects homonymy
Hydraulic rod end and fixed block, junction is hinged.
The structure of cutterhead 10 is as shown in Figure 4 and Figure 5, including shaft 11, centered on shaft in diverging distribution cutter 13,
Connect the spring 12 of shaft and corresponding cutter, the free end end set universal wheel 14 of each cutter, the axial direction and pipeline of shaft
Axis is parallel, the output axis connection of shaft and cutter plate driver motor 32, and 6 cutters are arranged in present embodiment, are uniformly distributed, often
A cutter includes knife plate 131 and the blade 132 that is distributed on knife plate, and blade is located at the front side of knife plate (along traveling side of robot
To), knife plate one end is fixedly connected with other end installation universal wheel 14 with spring, and the other end and the shaft of spring are fixed, each spring
Be correspondingly arranged spring strut 15 outside, 15 one end of spring strut is fixed with shaft, knife plate stretched into spring strut from the other end of spring strut and
It is slidably matched with spring strut inner wall.
Grid mechanism 40 is as shown in Fig. 1, Fig. 6 and Fig. 7, including grid 41 and grid driving mechanism, and grid 41 is located at shell
Interior rear end (along robot direction of travel) falls under working condition out of shell and is contacted with inner wall of the pipe, off working state
In lower income shell, chains 42 are arranged in two of grid 41 vertical sides, and chain 42 is engaged with gear 43, gear by
Gear drive motor 45 drives, and gear and gear drive motor are located in shell, and gear is located at bottom in shell, shell outer bottom
Close to grid exit, bristle brush wheel 44, bristle brush wheel 44 and engaged gears are set.
Knife plate driving motor and gear drive motor are hydraulic electric motor, are controlled by hydraulic system.
Utility model works mode is as follows：
Dredging robot is put into the pipeline opening for waiting for dredging, cutterhead direction is consistent with direction of advance, long by adjusting knife plate
The angle of degree and Athey wheel connecting rod, makes the universal wheel on Athey wheel and cutterhead be adjacent to tube wall, while main body being made to be fully located at
It is more than pipeline liquid level.After robot is completely into pipeline, opens direct current generator and drive lattice gear and bristle brush wheel operating, hairbrush
Effect is the sundries cleared up on grid, and grid is discarded to from main body and tube contacts.
Athey wheel is driven to travel forward by hydraulic pump, while another hydraulic pump drives cutter motor, and cutterhead is made to rotate.
The effect of the shearing force of the propulsive force and cutterhead cutter advanced with robot, the pipeline sludge of deposition are destroyed.Main body
The grid at rear portion retains the mud of bulk in pipeline and other deposits, with moving ahead as trolley advances together.Work as trolley
When running to pipe outlet, bulk mud and deposit are all scraped, and wait for centralized collection and disposition.Ensure that dredging is thorough, with
Identical mode clears up mud again from opposite direction.
The foregoing is merely the specific implementation cases of the utility model patent, but the technical characteristic of the utility model patent is simultaneously
It is not limited to this, any those skilled in the relevant art in the field of the utility model, made by changes or modifications all cover
Among the scope of the claims of the utility model.
Claims (10)
1. a kind of adaptive dredging robot of pipeline, including robot body, the shoe that drives robot body to advance in pipeline
It belt wheel mechanism and is connect with the robot body and is located at the cutterhead in front of robot body, the robot along direction of travel
Cutter plate driver motor is equipped in main body, which is characterized in that the cutterhead includes：
Shaft, the output axis connection with the cutter motor, the axis of shaft are parallel with the axial direction of pipeline；
Cutter, in diverging distribution centered on shaft；
Spring connects shaft and corresponding cutter；
Universal wheel is set to the end point of each cutter free end, is contacted with inner wall of the pipe.
2. the adaptive dredging robot of pipeline according to claim 1, which is characterized in that the cutter includes：
Knife plate, one end is connect with the spring, the other end installs the universal wheel；
Several blades are distributed on knife plate and positioned at along the front side of direction of travel.
3. the adaptive dredging robot of pipeline according to claim 2, which is characterized in that spring strut is set outside the spring,
Spring strut one end is fixed with shaft, and knife plate is stretched into spring strut from the other end of spring strut and is slidably matched with spring strut.
4. the adaptive dredging robot of pipeline according to claim 1, which is characterized in that the angle between adjacent cutter is 45
~90 °.
5. the adaptive dredging robot of pipeline according to claim 1, which is characterized in that the Athey wheel mechanism includes：
It is located at two groups of Athey wheels of robot body's following above and；
Several hydraulic electric motors of the corresponding Athey wheel of driving；
Connect the liftable bindiny mechanism of robot body and corresponding Athey wheel.
6. the adaptive dredging robot of pipeline according to claim 5, which is characterized in that the liftable bindiny mechanism packet
It includes：
A piece hydraulic stem, is arranged horizontally between robot body and Athey wheel；
Symmetrically arranged a pair of first connecting rod, one end of first connecting rod and the hinged, other end at Athey wheel different location respectively with
The both ends of hydraulic stem are hinged；
Symmetrically arranged a pair of second connecting rod, one end of second connecting rod and the hinged, other end point at robot body's different location
It is not hinged with the both ends of hydraulic stem.
7. the adaptive dredging robot of pipeline according to claim 1, which is characterized in that the robot body is along traveling side
To rear be equipped with the grid or scraper plate driving mechanism of liftable grid or scraper plate and driving grid or scraping plate lifting, grid
Or it drops under scraper plate working condition and is contacted with tube wall, taken in robot body under off working state.
8. the adaptive dredging robot of pipeline according to claim 7, which is characterized in that the grid or scraper plate driving mechanism
Including：
Grid or scraper plate are installed on vertically to the chain of both sides；
With the gear of chain cooperation；
Drive the direct current generator of the gear rotation；
The gear and direct current generator are respectively positioned in robot body.
9. the adaptive dredging robot of pipeline according to claim 8, which is characterized in that also set below the robot body
There are the bristle brush wheel with grid or scraper plate cooperation, the bristle brush wheel and the engaged gears simultaneously to be driven by gear.
10. the adaptive dredging robot of pipeline according to claim 1, which is characterized in that the robot body includes：
Shell；
The hydraulic system being disposed in the housing, all hydraulic stems and hydraulic electric motor are controlled by the hydraulic system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721673956.3U CN207899828U (en) | 2017-12-05 | 2017-12-05 | A kind of adaptive dredging robot of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721673956.3U CN207899828U (en) | 2017-12-05 | 2017-12-05 | A kind of adaptive dredging robot of pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207899828U true CN207899828U (en) | 2018-09-25 |
Family
ID=63571441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721673956.3U Active CN207899828U (en) | 2017-12-05 | 2017-12-05 | A kind of adaptive dredging robot of pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207899828U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803372A (en) * | 2017-12-05 | 2018-03-16 | 浙江大学苏州工业技术研究院 | A kind of adaptive dredging robot of pipeline |
| CN110387952A (en) * | 2019-07-29 | 2019-10-29 | 武汉理工大学 | A kind of dredger for cleaning sewer |
| CN112871904A (en) * | 2021-01-12 | 2021-06-01 | 广西大学 | Pipeline dredging robot |
-
2017
- 2017-12-05 CN CN201721673956.3U patent/CN207899828U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803372A (en) * | 2017-12-05 | 2018-03-16 | 浙江大学苏州工业技术研究院 | A kind of adaptive dredging robot of pipeline |
| CN107803372B (en) * | 2017-12-05 | 2023-10-10 | 浙江大学苏州工业技术研究院 | Pipeline self-adaptation dredging robot |
| CN110387952A (en) * | 2019-07-29 | 2019-10-29 | 武汉理工大学 | A kind of dredger for cleaning sewer |
| CN112871904A (en) * | 2021-01-12 | 2021-06-01 | 广西大学 | Pipeline dredging robot |
| CN112871904B (en) * | 2021-01-12 | 2022-09-13 | 广西大学 | Pipeline dredging robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107803372A (en) | A kind of adaptive dredging robot of pipeline | |
| CN207899828U (en) | A kind of adaptive dredging robot of pipeline | |
| CN208033222U (en) | A kind of pipe dredging machine people with ultrasonic wave addi-tional crusher | |
| KR20090025881A (en) | An apparatus for removing coal tar on the inner surface of the superannuated pipe | |
| KR102066976B1 (en) | Amphibious dredging robot device having screw shape wheel | |
| KR100991297B1 (en) | Apparatus for excavating sediment in closed conduit | |
| CN207776083U (en) | Pipe dredging robot and pipe dredging system with the robot | |
| CN110499818A (en) | A kind of urban duct dredging machine | |
| CN107143027A (en) | A kind of multifunctional pipe dredging vehicle | |
| CN103552665A (en) | Water surface oil stain cleaning ship | |
| CN205501924U (en) | Equipment is clear away to road surface ice and snow | |
| CN214737736U (en) | Tunnel defroster | |
| CN114825165B (en) | Snow and ice removing device for power transmission line of power system | |
| CN206815509U (en) | A kind of multifunctional pipe dredging vehicle | |
| CN107416054B (en) | A kind of soil cleaning plant for creeper undercarriage | |
| CN202430697U (en) | Involute crush type bar screen machine | |
| CN2556121Y (en) | Vessel for collecting pollution and removing grass from open water | |
| CN107605030B (en) | Pipeline dredging and obstacle removing vehicle | |
| CN210342056U (en) | Appearance and each modularization structure of municipal administration hidden channel barrier removing robot | |
| CN209907356U (en) | Water surface sundry cleaning device for hydropower station | |
| CN209585154U (en) | A kind of latent bottom operation automatic desilting machine people under water | |
| CN206800614U (en) | A kind of urban duct impurity crushes cleaning device | |
| CN108480332B (en) | A clear stifled device of inside for hydraulic engineering pipeline | |
| CN206706991U (en) | A kind of hand rotary type trash cleaning device | |
| CN217911808U (en) | Subway floating slab track bed drainage ditch cleaning trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |