CN208991398U - A kind of pipeline blowdown robot - Google Patents
A kind of pipeline blowdown robot Download PDFInfo
- Publication number
- CN208991398U CN208991398U CN201820913675.9U CN201820913675U CN208991398U CN 208991398 U CN208991398 U CN 208991398U CN 201820913675 U CN201820913675 U CN 201820913675U CN 208991398 U CN208991398 U CN 208991398U
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- pipeline
- robot
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- 238000004140 cleaning Methods 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 239000002689 soil Substances 0.000 claims abstract description 31
- 238000010408 sweeping Methods 0.000 claims description 25
- 210000000245 forearm Anatomy 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 6
- 239000000356 contaminant Substances 0.000 abstract description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 4
- 239000013049 sediment Substances 0.000 abstract description 4
- 238000011109 contamination Methods 0.000 abstract description 2
- 238000003756 stirring Methods 0.000 abstract description 2
- 230000001376 precipitating effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 239000000126 substance Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 239000010883 coal ash Substances 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000005416 organic matter Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
Abstract
The utility model discloses a kind of pipeline blowdown robots, including two cleaning parts, two soil pick-up components, cleaning machine hand, two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；The front cleaning part of the utility model blowdown robot can be effective for the dirt of stirring precipitating, to which sediment dirt is sucked out by soil pick-up component, the utility model blowdown robot can clear up the hard material inside pipeline by the drill bit in front of mechanical arm of removing contamination, prevent cleaning part and soil pick-up component from being damaged by hard material, the utility model realizes moving freely for robot by transmission parts and crawler belt, complete exploring work can be carried out to pipeline inside, the utility model pipeline blowdown robot is suitable for length pipeline, pass through the reasonable dirt removed in pipeline of the manipulation of staff, effectively prevent energy waste and environmental pollution and the in the past limitation of cleaning way, to improve the contaminant removal effectiveness of staff.
Description
Technical field
The utility model relates to a kind of pipeline blowdown robots, belong to robotic technology field.
Background technique
Dirt is a kind of extremely widespread phenomenon, it is present in nature, daily life and in oil pipeline, heating, confession
The various industrial processes such as water system and steam power plant's coal ash exhaust system, especially due to the external world in various diabatic processes
The variation of condition easily forms dirt in inner wall of the pipe, influences production and is normally carried out with what is lived, makes effectively to transmit caliber and subtracts
Few, efficiency decline, material consumption, energy consumption increase, and process flow is interrupted, equipment failure, and safety accident occurs.So-called dirt be usually with
Existing for the state of mixture, for example contain a large amount of substance, such as organic matter, H in the media such as oil gas of pipeline2S and
CO2, different kinds of ions, the impurity such as bacterium and silt particle.Because there is the presence of dirt composition, it just has the condition of fouling so pipe
Harm brought by road fouling has the following aspects:
(1) energy waste；Pipeline needs to be crude oil heating, heating using a large amount of heat exchange equipment during transporting.And it is dirty
The presence of dirt has seriously affected heat exchange facilities and has played Operating ettectiveness, reduced heat exchange efficiency, it is big to be used in the thermally conductive related energy
Criticize waste.And the increase of fluid resistance also results in the rising of overall operation power cost.
(2) environmental pollution；Make acid solution outlet after cleaning using traditional chemical, increase the discharge of pollution sources, gives environment band
Carry out huge pollution, inconceivable consequence is brought to the production and life of people.
(3) facility continuous operation is influenced；With the accumulation of dirt, there is serious block up in heat exchange facilities and feed-line
Plug.Stop conveying, then scale removal, more exchange device, pipeline, cause transport can not continuous operation, seriously affect the whole of enterprise
Body profit.
(4) operation expense increases；Operation facility, piping foundation caused by fouling bring huge economic loss,
The consuming of power caused by anti-dirty removing processing, water resource waste, labour cost etc. all increase operation expense.
Mainly there are following methods in pipeline cleaning depolluting processes both at home and abroad at present: (1) chemical dirt method；According to pipe
The chemical component of dirt is come to select suitable chemical reagent to dissolve to its scale removal in road.This method is relatively easy, but cleans
Raffinate will cause environmental pollution.(2) mechanical descaling's method；By being goed deep into pipeline by machine tool, but this is only applicable in
It in the shorter pipeline of duct length, and for longer pipe road is cleaned using unpowered rope hauling mode of pulling,
It can not be cleaned according to pipeline inner case.
Summary of the invention
The purpose of this utility model is to provide a kind of pipeline blowdown robot, the utility model pipeline blowdown robot is suitable
Energy waste and ring are effectively prevented by the reasonable dirt removed in pipeline of the manipulation of staff for length pipeline
Border pollution and the in the past limitation of cleaning way, to improve the contaminant removal effectiveness of staff.
The technical solution of the utility model is as follows: a kind of pipeline blowdown robot, including two cleaning parts, two soil pick-ups
Component, cleaning machine hand, two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；
The vehicle body includes bottom plate, cover board and erecting bed, and the cover board is fixed on above bottom plate, and the erecting bed is fixed on
The cover forward end, described two cleaning parts are connect with the both ends of the erecting bed of vehicle body respectively, described two soil pick-up components position
It is separately mounted on the erecting bed of body structure in the top of the lower section of the erecting bed of vehicle body, and described two soil pick-up components, institute
The inside that two soil pick-up components are respectively positioned on two cleaning parts is stated, the cleaning machine hand is mounted on the erecting bed of vehicle body, and
The cleaning machine hand is located above two soil pick-up components, and described two transmission parts are separately mounted to the bottom plate of the vehicle body
On, and be located at below the cover board, described two crawler haulage components are separately mounted to the two sides of the bottom plate of vehicle body, described two
Crawler haulage component is located at the outside of two transmission parts, described two crawler haulage components respectively with ipsilateral transmission parts
Connection, described two shooting parts are separately mounted to both ends at the top of the cover board of vehicle body, and two shooting parts are located at the cleaning
Component rear.
The structure of described two cleaning parts is identical, and each cleaning part includes sweeping disk, motor I, sweeping plate rail, fixing axle；
One end of the erecting bed of one end and vehicle body of the fixing axle is fixedly connected, and the plate rail of sweeping includes bracket, connection
One end of bar, the connecting rod is connect by screw VIII with the other end of fixing axle, the other end and bracket one of the connecting rod
The top of end connection, the bracket is installed by motor I；
The disk of sweeping includes a piece of above sweeping blade and shaft, and one end of a piece of above sweeping blade, which is separately fixed at, to be turned
On axis, the shaft is mounted on the front end for sweeping the bracket of plate rail, and the output shaft of the motor passes through cantilever tip and passes through key
It is connect with the shaft for sweeping disk.
The structure of described two soil pick-up components is identical, and each soil pick-up component includes sucker, nut；The top of the sucker is logical
Nut is crossed to be fixed on the erecting bed of vehicle body.
The sucker is vacuum chuck.
The cleaning machine hand include drill bit, pin I, forearm, sleeve, supporting element, large arm, connector, tower seat, pedestal,
Screw VII, screw VI, screw V, screw IV, III, two, screw, II, four, screw screw I；
The pedestal is fixed on the cover board of vehicle body by four screws I, and the tower seat is fixed on by two screws II
On pedestal, the supporting element is fixed on tower seat by screw III, and the large arm is fixed on tower seat by screw IV, the company
One end of fitting is connect by screw V with the top of supporting element, and the other end of the connector passes through the top of screw VI and large arm
Portion's connection, the sleeve are fixed on connector by screw VII, and one end of the forearm is inserted into the sleeve, the forearm
The other end drill bit is installed, the drill bit is mounted on forearm by pin I.
The structure of described two transmission parts is identical, and each transmission parts include reduction gearbox, it is motor II, small pulley, same
Walk band, big belt wheel, pinion gear, gear wheel, axle, mounting plate I, mounting plate II, one or more screw-nut pair, transmission shaft；
The mounting plate I, mounting plate II are fixed on the bottom plate of vehicle body by one or more screw-nut pair respectively, institute
It states reduction gearbox to be fixed on mounting plate II by four screw-nut pairs, the output shaft of the motor II is connect with reduction gearbox, institute
It states and small pulley is installed on the output shaft of reduction gearbox, one end of the axle is mounted on mounting plate I by bearing, on the axle
Gear wheel is installed, the transmission shaft passes through mounting plate I, and big belt wheel, the other end installation of transmission shaft are installed in one end of transmission shaft
Pinion gear, the big belt wheel are connect by synchronous belt with small pulley, and by transmission parts, the power of motor II is transmitted to axle
On, realize the rotation of axle.
The structure of described two crawler haulage components is identical, and each crawler haulage component includes preceding Athey wheel, vehicle body company
Fishplate bar, axis, bearing, pin II, rear Athey wheel, crawler belt；
The bottom of the car body connecting plate is fixed on the bottom plate of vehicle body, and the other end of the axle of transmission parts passes through vehicle body
Athey wheel after connecting plate and installation, one end of the axis are mounted on car body connecting plate by bearing, and the other end of the axis is logical
It crosses bearing and pin II installs preceding Athey wheel, the crawler belt is sleeved on preceding Athey wheel and rear Athey wheel, and rear Athey wheel, which becomes, to be driven
Driving wheel, Athey wheel drives crawler belt rotation after driving wheel, realizes the movement of robot.
The structure of described two shooting parts is identical, and each shooting part includes III, four support rod of mounting plate, camera shooting
Head, mounting plate IV, two headlamp, screw Ⅸ；
The mounting plate III is fixed on the cover board of vehicle body, and the two sides of the mounting plate III are respectively equipped with two support rods,
One end of four support rods passes through screw Ⅸ respectively and is mounted on mounting plate III, the other end difference of four support rods
It is connect by screw Ⅸ with the two sides of mounting plate IV, the top of the mounting plate IV is set there are two headlamp, and the camera is pacified
On mounting plate IV, and camera is located at the lower section of two headlamps, by shooting part it is clear that ground understands in pipeline
Sundries situation, and make corresponding reasonable treatment measures.
On the bottom plate of the vehicle body by support frame install suction pump, the suction pump by pipeline respectively with two soil pick-ups
The sucker of component is connected to.
The working principle of the utility model is:
The utility model pipeline blowdown robot is put into the pipeline for needing blowdown, the plate rail of sweeping in robot plays
The effect fixed and supported, motor I provide power to sweep disk, and disk stirred up dirt is swept in drive, realize the cleaning effect of sediment, sweep
Plate rail is fixed on the erecting bed of vehicle body, is moved by vehicle body with cleaning part；Sucker is fixed below the erecting bed of vehicle body,
Sucker is used to draw dirt, is equally moved by vehicle body with soil pick-up component；Pass through each joint of the mechanical arm of cleaning machine hand
Union Movement, realize manipulator bit location change, the drill bit of cleaning machine on hand for clear up it is hard inside pipeline
Object, thus unclog the pipe；The reduction gearbox of transmission parts provides power by motor II and realizes the transmission of reduction gearbox, and reduction gearbox drives
Small pulley rotation, small pulley drives big belt wheel to rotate by synchronous belt, since big belt wheel and pinion gear are coaxially connected, and pinion gear
It being engaged with gear wheel, gear wheel is mounted on axle, by the above transmission parts, the power of motor is transmitted on axle,
Realize the rotation of axle；Athey wheel is driving wheel afterwards, and Athey wheel drives crawler belt rotation after driving wheel, realizes the shifting of robot
It is dynamic；The sundries situation in pipeline can be well understood in shooting part with let us, and makes corresponding reasonable treatment measures.
Compared with prior art, the utility model has the beneficial effects that
(1) dirt that the front cleaning part of the utility model blowdown robot can be precipitated effective for stirring, thus
Sediment dirt is sucked out by soil pick-up component.
(2) the utility model blowdown robot can be cleared up hard inside pipeline by the drill bit in front of mechanical arm of removing contamination
Substance prevents clearing apparatus and sewage suction device from being damaged by hard material.
(3) the utility model blowdown robot camera can observe at any time pipeline inner case simultaneously for staff
It proposes corresponding reasonable solution, effectively improves contaminant removal effectiveness.
(4) the utility model realizes moving freely for robot by transmission parts and crawler belt, can to pipeline inside into
Row is complete to probe work.
(5) vehicle body of the utility model is smaller, can adapt to most pipeline cleaning, effectively prevent energy waste and
Environmental pollution and the in the past limitation of cleaning way, to improve the contaminant removal effectiveness of staff.
Detailed description of the invention
Fig. 1 is the overall structure diagram inside the utility model；
Fig. 2 is the overall structure diagram outside the utility model；
Fig. 3 is the structural schematic diagram of the cleaning part of the utility model；
Fig. 4 is the structural schematic diagram of the soil pick-up component of the utility model；
Fig. 5 is the structural schematic diagram of the shooting part of the utility model；
Fig. 6 is the structural schematic diagram of the cleaning machine hand of the utility model；
Fig. 7 is the structural schematic diagram of the vehicle body of the utility model；
Fig. 8 is the structural schematic diagram of the transmission parts of the utility model；
Fig. 9 is the structural schematic diagram of the crawler haulage component of the utility model；
Each label in figure: 1- sweeps disk, 2- motor I, 3- and sweeps plate rail, 4- sucker, 5- nut, 6- mounting plate III, 7- support
Bar, 8- camera, 9- mounting plate IV, 10- headlamp, 11- screw Ⅸ, 12- drill bit, 13- pin I, 14- forearm, 15- sleeve,
16- supporting element, 17- large arm, 18- connector, 19- tower seat, 20- pedestal, 21- suction pump, 22- screw VI, 23- screw V, 24-
Screw IV, 25- screw III, 26- screw II, 27- screw I, 28- bottom plate, 29- cover board, 30- erecting bed, 31- fixing axle, 32-
Screw VIII, 33- reduction gearbox, 34- motor II, 35- small pulley, 36- synchronous belt, 37- big belt wheel, 38- pinion gear, 39- canine tooth
Athey wheel, 45- car body connecting plate, 46- before wheel, 40- axle, 41- mounting plate I, 42- mounting plate II, 43- screw-nut pair, 44-
Athey wheel, 50- crawler belt, 51- bracket, 52- connecting rod, 53- sweeping blade, 54- shaft after axis, 47- bearing, 48- pin II, 49-.
Specific embodiment
Utility model will be further explained below with reference to the attached drawings and specific embodiments.
Embodiment 1: as shown in figure 1-9, a kind of automatic pollution discharge robot, including two cleaning part A, two soil pick-up portions
Part B, cleaning machine hand C, two transmission parts D, two crawler haulage component E, two shooting part F, vehicle body G；
The vehicle body G includes bottom plate 28, cover board 29 and erecting bed 30, and the cover board 29 is fixed on 28 top of bottom plate, described
Erecting bed 30 is fixed on 29 front end of cover board, and described two cleaning part A connect with the both ends of the erecting bed 30 of vehicle body G respectively
It connects, described two soil pick-up part Bs are located at the lower section of the erecting bed 30 of vehicle body G, and the top of described two soil pick-up part Bs is pacified respectively
On the erecting bed 30 of the front end vehicle body G, described two soil pick-up part Bs are respectively positioned on the inside of two cleaning part A, the cleaning
Manipulator C is mounted on the erecting bed 30 of vehicle body G, and the cleaning machine hand C is located above two soil pick-up part Bs, and described two
A transmission parts D is separately mounted on the bottom plate 28 of the vehicle body G, and is located at 29 lower section of cover board, and described two crawler belts pass
Dynamic component E is separately mounted to the two sides of the bottom plate 28 of vehicle body G, and described two crawler haulage component E are located at two driving sections
The outside of part D, described two crawler haulage component E are connect with ipsilateral transmission parts D respectively, described two shooting part F difference
The 29 top both ends of cover board of vehicle body G are mounted on, and two shooting part F are located at the rear the cleaning part A.
The structure of described two cleaning part A is identical, and each cleaning part A includes sweeping disk 1, motor I 2, sweeping plate rail 3, is solid
Dead axle 31；
One end of the erecting bed 30 of one end and vehicle body G of the fixing axle 31 is fixedly connected, and the plate rail 3 of sweeping includes branch
One end of frame 51, connecting rod 52, the connecting rod 52 is connect by screw VIII 32 with the other end of fixing axle 31, the connecting rod
52 other end is connect with 51 one end of bracket, and motor I 2 is installed at the top of the bracket 51；
The disk 1 of sweeping includes 4 sweeping blade 53 and shaft 54, and one end of 4 sweeping blade 53 is separately fixed in shaft 54,
The shaft 54 is mounted on the front end for the bracket 51 for sweeping plate rail 3, and the output shaft of the motor I 2 passes through 51 top of bracket and leads to
It crosses key and is connect with the shaft 54 for sweeping disk 1.
The structure of described two soil pick-up part Bs is identical, and each soil pick-up part B includes sucker 4, nut 5；The sucker 4
Top is fixed on the erecting bed 30 of vehicle body G by nut 5.
The sucker 4 is vacuum chuck.
The cleaning machine hand C includes drill bit 12, pin I 13, forearm 14, sleeve 15, supporting element 16, large arm 17, connection
Part 18, tower seat 19, pedestal 20, screw VII, screw VI 22, screw V 23, screw IV 24, III 25, two screws II 26 of screw,
Four screws I 27；
The pedestal 20 is fixed on the cover board 29 of vehicle body G by four screws I 27, and the tower seat 19 passes through two screws
II 26 are fixed on pedestal 20, and the supporting element 16 is fixed on tower seat 19 by screw III 25, and the large arm 17 passes through screw
IV 24 are fixed on tower seat 19, and one end of the connector 18 is connect by screw V 23 with the top of supporting element 16, the company
The other end of fitting 18 is connect by screw VI 22 with the top of large arm 17, and the sleeve 15 is fixed on connection by screw VII
On part 18, one end of the forearm 14 is inserted into the sleeve 15, and the other end of the forearm 14 installs drill bit 12, the drill bit
12 are mounted on forearm 14 by pin I 13.
The structure of described two transmission parts D is identical, and each transmission parts D includes reduction gearbox 33, motor II 34, small band
Take turns 35, synchronous belt 36, big belt wheel 37, pinion gear 38, gear wheel 39, axle 40, II 42,10 mounting plate I 41, mounting plate screws
Pair of nut 43, transmission shaft；
The mounting plate I 41 is fixed on the bottom plate 28 of vehicle body G by two screw-nut pairs 43, the mounting plate II 42
It is fixed on the bottom plate 28 of vehicle body G by four screw-nut pairs 43, the reduction gearbox 33 is solid by four screw-nut pairs 43
It is scheduled on mounting plate II 42, the output shaft of the motor II 34 is connect with reduction gearbox 33, is pacified on the output shaft of the reduction gearbox 33
Small pulley 35 is filled, one end of the axle 40 is mounted on mounting plate I 41 by bearing, installs gear wheel on the axle 40
39, the transmission shaft passes through mounting plate I 41, and big belt wheel 37 is installed in one end of transmission shaft, and the other end of transmission shaft installs small tooth
Wheel 38, the big belt wheel 37 are connect by synchronous belt 36 with small pulley 35.
The structure of described two crawler haulage component E is identical, and each crawler haulage component E includes preceding Athey wheel 44, vehicle
Body connecting plate 45, axis 46, bearing 47, pin II 48, rear Athey wheel 49, crawler belt 50；
The bottom of the car body connecting plate 45 is fixed on the bottom plate 28 of vehicle body G, the axle 40 of transmission parts D it is another
End Athey wheel 49 after car body connecting plate 45 and installation, one end of the axis 46 is mounted on car body connecting plate 45 by bearing
On, Athey wheel 44 before the other end of the axis 46 is installed by bearing 47 and pin II 48, the crawler belt 50 is sleeved on preceding crawler belt
On wheel 44 and rear Athey wheel 49.
The structure of described two shooting part F is identical, and each shooting part F include III 6, four support rods 7 of mounting plate,
Camera 8, mounting plate IV 9, two headlamps 10, screws Ⅸ 11；
The mounting plate III 6 is fixed on the cover board 29 of vehicle body G, and the two sides of the mounting plate III 6 are respectively equipped with two branch
Strut 7, one end of four support rods 7 pass through screw Ⅸ 11 respectively and are mounted on mounting plate III 6, four support rods 7
The other end pass through screw Ⅸ 11 respectively and connect with the two sides of mounting plate IV 9, the top of the mounting plate IV 9 sets that there are two illuminations
Lamp 10, the camera 8 are mounted on mounting plate IV 9, and camera 8 is located at the lower section of two headlamps 10.
On the bottom plate 28 of the vehicle body G by support frame install suction pump 21, the suction pump 21 by pipeline respectively with
The sucker 4 of two soil pick-up part Bs is connected to.
The course of work of the present embodiment is:
The utility model pipeline blowdown robot is put into the pipeline for needing blowdown, plate rail 3 is swept in robot and is played
The effect fixed and supported, motor I 2 are to sweep disk 1 to provide power, and 1 stirred up dirt of disk is swept in drive, realizes that the cleaning of sediment is made
With, sweep plate rail 3 and be fixed on the erecting bed 30 of vehicle body G, by vehicle body G with cleaning part A move；Sucker 4 is fixed on vehicle body G
The lower section of erecting bed 30, sucker 4 is used to draw dirt, equally be moved by vehicle body G with soil pick-up part B；Pass through cleaning machine
The change of manipulator bit location is realized in the Union Movement in each joint of the mechanical arm of hand C, and the drill bit on cleaning machine hand C is used
Hard object inside cleaning pipeline, thus unclog the pipe；The reduction gearbox 33 of transmission parts D provides power and real by motor II 34
The transmission of existing reduction gearbox, reduction gearbox 33 drive small pulley 35 to rotate, and small pulley 35 drives 37 turns of big belt wheel by synchronous belt 36
Dynamic, since big belt wheel 37 and pinion gear 38 are coaxially connected, and pinion gear 38 and gear wheel 39 engage, and gear wheel 39 is mounted on axle
On 40, by the above transmission parts D, the power of motor is transmitted on axle, realizes the rotation of axle；Athey wheel 49 is afterwards
Driving wheel, Athey wheel 49 drives crawler belt 50 to rotate after driving wheel, realizes the movement of robot；Shooting part F can allow me
Sundries situation in pipeline is well understood, and make corresponding reasonable treatment measures；Vehicle body G plays fixed all devices
Effect, and moved together by vehicle body with all mechanisms, complete blowdown operation.
Specific embodiment of the utility model is explained in detail above in conjunction with attached drawing, but the utility model and unlimited
In above-described embodiment, within the knowledge of a person skilled in the art, the utility model can also not departed from
Various changes can be made under the premise of objective.
Claims (9)
1. a kind of pipeline blowdown robot, which is characterized in that including two cleaning parts, two soil pick-up components, cleaning machine hand,
Two transmission parts, two crawler haulage components, two shooting parts, vehicle bodies；
The vehicle body includes bottom plate (28), cover board (29) and erecting bed (30), and the cover board (29) is fixed on above bottom plate (28),
The erecting bed (30) is fixed on the cover board (29) front end, described two cleaning parts respectively with the erecting bed of vehicle body (30)
Both ends connection, described two soil pick-up components are located at the lower section of the erecting bed (30) of vehicle body, and the top of described two soil pick-up components
It is separately mounted on the erecting bed (30) of body structure, described two soil pick-up components are respectively positioned on the inside of two cleaning parts, institute
It states cleaning machine hand to be mounted on the erecting bed (30) of vehicle body, and the cleaning machine hand is located above two soil pick-up components, institute
It states two transmission parts to be separately mounted on the bottom plate (28) of the vehicle body, and is located at below the cover board (29), it is described two
Crawler haulage component is separately mounted to the two sides of the bottom plate (28) of vehicle body, and described two crawler haulage components are located at two biographies
The outside of dynamic component, described two crawler haulage components are connect with ipsilateral transmission parts respectively, described two shooting part difference
Both ends at the top of the cover board (29) of vehicle body are mounted on, and two shooting parts are located at the cleaning part rear.
2. pipeline blowdown according to claim 1 robot, it is characterised in that: the structure phase of described two cleaning parts
Together, each cleaning part includes sweeping disk (1), motor I (2), sweeping plate rail (3), fixing axle (31)；
One end of the erecting bed (30) of one end and vehicle body of the fixing axle (31) is fixedly connected, and described sweep plate rail (3) include branch
One end of frame (51), connecting rod (52), the connecting rod (52) is connect by screw VIII (32) with the other end of fixing axle (31),
The other end of the connecting rod (52) is connect with bracket (51) one end, and motor I (2) are installed at the top of the bracket (51)；
The disk (1) of sweeping includes a piece of above sweeping blade (53) and shaft (54), one end of a piece of above sweeping blade (53)
It is separately fixed on shaft (54), the shaft (54) is mounted on the front end for the bracket (51) for sweeping plate rail (3), the motor I
(2) output shaft passes through bracket (51) top and is connect by key with the shaft (54) for sweeping disk (1).
3. pipeline blowdown according to claim 1 robot, it is characterised in that: the structure phase of described two soil pick-up components
Together, each soil pick-up component includes sucker (4), nut (5)；The top of the sucker (4) is fixed on the peace of vehicle body by nut (5)
It fills on platform (30).
4. pipeline blowdown according to claim 3 robot, it is characterised in that: the sucker (4) is vacuum chuck.
5. pipeline blowdown according to claim 1 robot, it is characterised in that: the cleaning machine hand includes drill bit
(12), pin I (13), forearm (14), sleeve (15), supporting element (16), large arm (17), connector (18), tower seat (19), pedestal
(20), screw VII, screw VI (22), screw V (23), screw IV (24), screw III (25), two screws II (26), four spiral shells
Follow closely I (27)；
The pedestal (20) is fixed on the cover board (29) of vehicle body by four screws I (27), and the tower seat (19) passes through two
Screw II (26) is fixed on pedestal (20), and the supporting element (16) is fixed on tower seat (19) by screw III (25), described
Large arm (17) is fixed on tower seat (19) by screw IV (24), and one end of the connector (18) passes through screw V (23) and branch
The top of support member (16) connects, and the other end of the connector (18) is connect by screw VI (22) with the top of large arm (17),
The sleeve (15) is fixed on connector (18) by screw VII, and the sleeve (15) is inserted into one end of the forearm (14)
Interior, the other end of the forearm (14) installs drill bit (12), and the drill bit (12) is mounted on forearm (14) by pin I (13)
On.
6. pipeline blowdown according to claim 1 robot, it is characterised in that: the structure phase of described two transmission parts
Together, and each transmission parts include reduction gearbox (33), motor II (34), small pulley (35), synchronous belt (36), big belt wheel (37),
Pinion gear (38), gear wheel (39), axle (40), mounting plate I (41), mounting plate II (42), one or more screw-nut pair
(43), transmission shaft；
The mounting plate I (41), mounting plate II (42) are fixed on vehicle body by one or more screw-nut secondary (43) respectively
On bottom plate (28), the reduction gearbox (33) is fixed on mounting plate II (42) by four screw-nut pairs (43), the motor
The output shaft of II (34) is connect with reduction gearbox (33), installs small pulley (35) on the output shaft of the reduction gearbox (33), the vehicle
One end of axis (40) is mounted on mounting plate I (41) by bearing, installs gear wheel (39) on the axle (40), the transmission
Axis passes through mounting plate I (41), and big belt wheel (37) are installed in one end of transmission shaft, and the other end of transmission shaft installs pinion gear (38),
The big belt wheel (37) is connect by synchronous belt (36) with small pulley (35).
7. pipeline blowdown according to claim 1 robot, it is characterised in that: the structure of described two crawler haulage components
It is identical, and each crawler haulage component includes preceding Athey wheel (44), car body connecting plate (45), axis (46), bearing (47), pin II
(48), rear Athey wheel (49), crawler belt (50)；
The bottom of the car body connecting plate (45) is fixed on the bottom plate (28) of vehicle body, the other end of the axle (40) of transmission parts
The Athey wheel (49) after car body connecting plate (45) and installation, one end of the axis (46) is mounted on car body connecting plate by bearing
(45) on, Athey wheel (44) before the other end of the axis (46) is installed by bearing (47) and pin II (48), the crawler belt
(50) it is sleeved on preceding Athey wheel (44) and rear Athey wheel (49).
8. pipeline blowdown according to claim 1 robot, it is characterised in that: the structure phase of described two shooting parts
Together, and each shooting part includes mounting plate III (6), four support rods (7), camera (8), mounting plate IV (9), two illuminations
Lamp (10), screw Ⅸ (11)；
The mounting plate III (6) is fixed on the cover board (29) of vehicle body, and the two sides of the mounting plate III (6) are respectively equipped with two branch
Strut (7), one end of four support rods (7) pass through screw Ⅸ (11) respectively and are mounted on mounting plate III (6), and described four
The other end of support rod (7) passes through screw Ⅸ (11) respectively and connect with the two sides of mounting plate IV (9), the mounting plate IV (9)
Top is set there are two headlamp (10), and the camera (8) is mounted on mounting plate IV (9), and camera (8) is located at two photographs
The lower section of bright lamp (10).
9. pipeline blowdown according to claim 1 robot, it is characterised in that: pass through branch on the bottom plate (28) of the vehicle body
Support installs suction pump (21), and the suction pump (21) is connected to the sucker of two soil pick-up components (4) respectively by pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913675.9U CN208991398U (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820913675.9U CN208991398U (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
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| Publication Number | Publication Date |
|---|---|
| CN208991398U true CN208991398U (en) | 2019-06-18 |
Family
ID=66795124
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| CN201820913675.9U Expired - Fee Related CN208991398U (en) | 2018-06-13 | 2018-06-13 | A kind of pipeline blowdown robot |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108746099A (en) * | 2018-06-13 | 2018-11-06 | 昆明理工大学 | A kind of pipeline blowdown robot |
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2018
- 2018-06-13 CN CN201820913675.9U patent/CN208991398U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108746099A (en) * | 2018-06-13 | 2018-11-06 | 昆明理工大学 | A kind of pipeline blowdown robot |
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Granted publication date: 20190618 Termination date: 20210613 |