CN209837277U

CN209837277U - Pipeline dredging robot with threaded wheels

Info

Publication number: CN209837277U
Application number: CN201822226044.2U
Authority: CN
Inventors: 田志国; 蒋伯忠; 成昊; 朱文秀
Original assignee: Jiangsu Environmental Protection Technology Co Ltd Bolkow
Current assignee: Jiangsu Environmental Protection Technology Co Ltd Bolkow
Priority date: 2018-12-28
Filing date: 2018-12-28
Publication date: 2019-12-24
Anticipated expiration: 2028-12-28

Abstract

The utility model discloses a pipeline desilting robot with screw thread wheel, including the fuselage, be located the hydraulic oil pump of fuselage, be fixed in on the fuselage and the sludge pipe of external suction pump, with sludge pipe mud inlet end flexible coupling's suction head and drive advancing mechanism that the fuselage was marchd, advancing mechanism is the screw thread wheel of being connected with the fuselage. The utility model discloses a pipeline desilting robot, the drive power of marcing comes from utensil screwed runner, utilizes axial rotation, can produce forward thrust in mud, and the screw thread wheel can produce disturbance and crushing effect when the silt is regional, is favorable to clearing up the poor deposit of mobility, still can prevent simultaneously that the robot from skidding in the pipeline.

Description

Pipeline dredging robot with threaded wheels

Technical Field

The utility model relates to a pipeline desilting equipment, concretely relates to pipeline desilting robot with screw thread wheel.

Background

The urban underground pipe network is an important component of urban infrastructure, and due to the fact that regular inspection is not carried out, sludge deposition inside the pipeline is easy to occur after long-term use, the drainage capacity of the pipe network is reduced, particulate matters are further accumulated, the pipeline is finally blocked, and serious influence is brought to production and life. The difficulty of pipeline desilting is that the space is narrow, cleaning equipment cannot directly enter, only upstream high-pressure water flow is used for washing and desilting, and the method can only clean pipelines with less deposition and shorter inspection well intervals.

Small robots have found some application in pipeline dredging, usually using tracks or wheels to advance, for example, chinese patent application publication No. CN106351326A discloses a pipeline dredging apparatus, comprising: the wheel of pipeline desilting equipment adopts the athey wheel, and the wheel is collapsible to be less than the pipe diameter, and it is slightly greater than the pipe diameter to expand to have certain elasticity, and the push pedal in desilting equipment the place ahead is semi-circular, is made by the rubber material, and desilting equipment power is provided by the battery, respectively one along installation electric light and camera on the push pedal.

The robot which advances by adopting the crawler belt or the wheels cannot advance smoothly for the pipeline with thicker sediments.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pipeline desilting robot with screw thread wheel solves the pipeline desilting problem that has thick deposit, is applicable to the more serious pipeline of siltation.

The utility model provides a pipeline desilting robot with screw thread wheel, includes the fuselage, is located the hydraulic oil pump of fuselage, be fixed in on the fuselage and the sludge pipe of external suction pump, advance mud head subassembly and the drive of mud end flexible coupling with the sludge pipe the advancing mechanism that the fuselage was marchd, advancing mechanism be with the screw thread wheel that the fuselage is connected.

The utility model discloses a pipeline desilting robot, the drive power of marcing comes from utensil screwed runner, utilizes axial rotation, can produce forward thrust in mud, and the screw thread wheel can produce disturbance and crushing effect when the silt is regional, is favorable to clearing up the poor deposit of mobility, still can prevent simultaneously that the robot from skidding in the pipeline.

Preferably, the distance between the threaded wheel and the machine body and/or between the threaded wheels on the opposite sides is adjustable. The distance between the thread wheel and the machine body is adjustable, and the height of the machine body can be controlled, so that the machine body is prevented from being trapped in sediments and is not easy to advance. The distance between the thread wheels on the opposite sides is adjustable, the distance between the thread wheels can be adjusted to adapt to pipelines with different sizes, meanwhile, due to the thread wheels, the rolling place can play a stirring or friction effect, so that deposits stuck on the wall fall off, and the width adjustment can enable the thread wheels to sweep a larger pipe wall area.

Preferably, the threaded wheel comprises:

a hub;

screw thread on outer wall of hub

The rotating shaft penetrates through the center of the hub along the axial direction and is fixedly connected with the hub;

support bearings matched with two ends of the rotating shaft;

and the hydraulic motor is connected with the rotating shaft and is connected with the hydraulic oil pump through a hydraulic pipeline.

The rotating shaft is square, a square hole matched with the rotating shaft is formed in the center of the hub, the rotating shaft penetrates through the center of the hub, and the hydraulic motor is connected with the rotating shaft and sequentially drives the rotating shaft and the hub to rotate. The threads on the hub crush and disturb the sludge during travel.

The connection mode between screw thread wheel and the fuselage accessible connecting rod fixed connection, the both ends of connecting pipe are fixed respectively on fuselage and corresponding support bearing, and further the installation of also adopting adjustable solves the adaptability problem of robot.

Therefore, it is further preferable that the support bearing and the body are connected by a first hydraulic rod, and the first hydraulic rod is connected with the hydraulic oil pump through a pressure night pipeline. One end of the first hydraulic rod is fixedly connected with a supporting bearing of the thread wheel, the other end of the first hydraulic rod is fixedly connected with the bottom of the machine body, and the height of the machine body can be controlled through the extension and retraction of the first hydraulic rod so as to prevent the machine body from being trapped in a deposit and being difficult to advance.

Further preferably, the support bearings of the threaded wheels on the opposite sides are connected through a second hydraulic rod, and the second hydraulic rod is connected with the hydraulic oil pump through a pressure pipeline. Two ends of the second hydraulic rod are respectively and fixedly connected to the supporting bearings of the two parallel threaded wheels. Through the synchronous flexible of first hydraulic telescoping rod and second hydraulic telescoping rod, can adjust the interval of fuselage height and screw thread wheel simultaneously, the fixed of fuselage is realized to the hydraulic telescoping rod auto-lock to adapt to not unidimensional pipeline, simultaneously owing to be the screw thread wheel, the place of rolling can play stirring or frictional effect, makes the deposit that glues on the wall drop, and width control can make the pipe wall region that the screw thread wheel was swept bigger a little.

Further preferably, the thread is a rubber thread; the thread pitch of the threads is 3-10 cm, and the thread height is 3-20 mm. The thread pitch is 3-10 cm, and the thread height is 3-20 mm. The thread material is rubber, has large friction force and can provide enough thrust when contacting with the pipe wall.

Preferably, the number of the threaded wheels is even, and the threaded wheels are uniformly and symmetrically arranged on two sides of the machine body; further preferably, the number of the thread wheels is 2 or 4; most preferably, 2 are provided.

Preferably, a storage battery for emergency power supply of the hydraulic oil pump is further arranged in the machine body. The power supply mode has two paths, one path is connected with the robot through a ground power supply through a cable, the other path is powered by a storage battery in the robot body, and the storage battery is used as a standby power supply and can provide 30min power for a hydraulic system.

Preferably, the first and second electrodes are formed of a metal,

the suction head assembly comprises:

the mud outlet end of the mud suction pipe is in flexible connection with the mud pipe;

the circular suction head is arranged at the mud inlet end of the mud suction pipe;

the high-pressure spray head is arranged at the periphery of a sludge suction port of the circular suction head;

the camera is arranged on the outer wall of the mud suction pipe close to the mud suction port.

The suction head is circular, and the periphery of the suction head is provided with a 3-6 cm edge. The suction head is provided with a high-pressure spray head which sprays downwards, the spray heads are uniformly arranged at the outer edge of the circular suction head, and the high-pressure spray head sprays high-pressure water flow to wash sludge in front of the suction head. The camera is arranged on the sludge pipeline above the suction head.

The suction pipe is connected with the machine body through a connecting rod, one end of the connecting rod is fixedly connected or hinged with the suction pipe, the other end of the connecting rod is connected with the machine body through a joint driving structure, the joint driving mechanism comprises a rotary oil cylinder and a corresponding hinged shaft, and the rotary oil cylinder can be replaced by a joint motor to lift up the suction head.

The sludge pipe is fixed on the top of the machine body through a hoop. The sludge suction head and the sludge pipe are in flexible connection, and the flexible connection material is a rubber hose.

The sludge pump and the high-pressure water pump are both positioned on the ground, the suction head is connected with the sludge pump through a sludge pipe, and the high-pressure spray head is connected with the high-pressure water pump through a water pipe.

Still be equipped with control module in the fuselage, the ground is carried through the cable together to camera signal and control module signal, and the staff controls and monitors on ground, realizes through prior art.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) the screw wheel is adopted to drive the robot to move, and the device is suitable for pipelines with serious siltation

(2) The screw wheel extends outwards on the vehicle body to adapt to different pipelines

(3) The screw thread is made of rubber, has larger friction force and enhances the forward driving force

(4) The screw wheel can generate disturbance and crushing action when passing through a sludge area, and is beneficial to cleaning sediment with poor fluidity

Drawings

Fig. 1 is a front view of two threaded wheels.

Fig. 2 is a top view of two threaded wheels.

Fig. 3 is a top view of four threaded wheels.

Fig. 4 is a schematic view of the interior of the fuselage.

Fig. 5 is an axial view of the screw wheel.

Fig. 6 is a side view of the screw wheel.

FIG. 7 is a schematic view of the engagement between the body, the threaded wheel, the first and second hydraulic rods and the tube wall.

The reference numerals shown in the figures are as follows:

1-fuselage 11-hoop 12-hydraulic station

13-control Module 14-Battery

2-screw wheel 21-support bearing 22-rotating shaft

23-hub 24-thread 25-square hole

26-Hydraulic Motor

31-first hydraulic lever 32-second hydraulic lever 33-connecting rod

4-suction head 41-high pressure nozzle 42-camera

43-mud suction pipe

5-sludge pipe 51-flexible connection

6-pipe wall

Detailed Description

As shown in fig. 1 to 7, the pipeline dredging robot with the thread wheel comprises a machine body 1, a sludge pipe 2, a suction head 4 and the thread wheel 2.

The structure of the machine body is shown in figure 4, and comprises a conventional machine body shell, a hydraulic station 12 (hydraulic oil pump) and a storage battery 14, wherein the hydraulic station 12 (hydraulic oil pump) and the storage battery 14 are arranged in the shell, the storage battery 14 is used as a standby power supply of the hydraulic oil pump, the power supply mode is divided into two paths, one path is connected with the robot through a ground power supply through a cable, the other path is supplied with power by the storage battery in the machine body, and the storage. In order to realize remote control, a control module 13 can be arranged in the machine body, and the control module 13 adopts conventional electric control equipment.

The number of the thread wheels is 2 (figure 2) or 4 (figure 4), and the thread wheels are uniformly and symmetrically arranged on two sides of the machine body. The sludge pipe 5 is fixed on the top of the machine body through a clamp 11, and the sludge pipe is connected with a sludge pump positioned on the bottom surface. The structure of the screw wheel 2 is as shown in fig. 1, fig. 5 and fig. 6, and comprises a rotating shaft 22, a hub 23, a thread 24, a supporting bearing 21 and a hydraulic motor 26, wherein the rotating shaft is square, a square hole 25 matched with the rotating shaft is arranged in the center of the hub, the rotating shaft penetrates through the center of the hub, and the hydraulic motor 26 is connected with the rotating shaft 22 to sequentially drive the rotating shaft 22 and the hub 23 to rotate. The hub 23 is provided with threads, the distance between the threads is 3-10 cm, the height of the threads is 3-20 mm, the threads are made of rubber, and the axial extension direction of the rotating shaft is consistent with the advancing direction of the robot. The hydraulic motor is connected with the hydraulic oil pump through a hydraulic pipeline, and a hydraulic control valve is arranged on the connecting pipeline.

The both ends of every pivot all cooperate and set up support bearing 21, but following three kinds of connected modes of selection between screw thread wheel and the fuselage:

the first method comprises the following steps: the threaded wheels are positioned under the machine body or under the two sides of the machine body, the threaded wheels are connected with the machine body through connecting rods, and the height of the machine body and the distance between the threaded wheels are fixed.

And the second method comprises the following steps: fuselage height-adjustable, the screw thread wheel is located under the fuselage, is connected through first hydraulic stem 31 between screw thread wheel and the fuselage, and first hydraulic stem one end rigid coupling is fixed in the fuselage bottom on corresponding the support bearing of screw thread wheel, the other end, realizes the lift of fuselage through the flexible of hydraulic stem.

Thirdly, the height of the machine body and the width between the thread wheels are simultaneously adjustable, the thread wheels are positioned below two sides of the machine body, the thread wheels are connected with the machine body through a first hydraulic rod 31, one end of the first hydraulic rod is fixedly connected with the bottom or the side surface of the machine body, and the other end of the first hydraulic rod is fixedly connected with a corresponding support bearing; the support bearings of two parallel thread wheels respectively positioned at two sides of the machine body are connected by a second hydraulic rod 32, and two ends of the second hydraulic rod are fixedly connected with the corresponding support bearings respectively. The first hydraulic rod and the second hydraulic rod are connected with a hydraulic oil pump through hydraulic pipelines, and hydraulic control valves are arranged on the connecting pipelines. The connection mode of the machine body, the first hydraulic rod, the second hydraulic rod and the threaded wheel is as shown in figure 7

Suction head 4 is ring shape suction head, be connected with the sludge pipe through suction pipe and sludge pipe 43, be connected through flexible coupling 51 between suction pipe and the sludge pipe, the suction head has 3 ~ 6 cm's edge all around, be equipped with the high pressure nozzle who sprays down along being equipped with, the shower nozzle evenly arranges in the outer department of following of ring type suction head, high pressure water pump is located ground, high pressure nozzle leads to pipe with high pressure water pump and is connected, high pressure nozzle sprays the silt that high pressure rivers washed suction head the place ahead, camera 42 installs on the suction pipe of suction head top.

The mud suction pipe 43 is connected with the machine body through a connecting rod 33, the connecting rod is fixedly connected with the mud suction pipe and is connected with the machine body through a joint driving mechanism, the joint driving mechanism comprises a rotary oil cylinder and a corresponding hinged shaft, and the rotary oil cylinder can be replaced by a joint motor to lift the suction head.

The adjustment of each hydraulic rod and the start and stop of the oil pump can be controlled by remote wired or wireless control.

The working mode is as follows:

according to the pipeline size, adjust first hydraulic telescoping rod and second hydraulic telescoping rod, the whorl wheel opens, makes the robot be fit for the diameter of pipeline, puts into the pipeline with the robot. And opening the camera, and adjusting the angle of the connecting rod to enable the suction head to be positioned at the height of the sediment or directly attached to the bottom of the pipeline. The sludge pump and the high-pressure water pump are opened, and the pipeline is flushed while the sludge is sucked. When the ground control end controls the robot to advance, the hydraulic oil pump drives the hydraulic motor to rotate, the rotating shaft drives the wheel hub to rotate, and the friction force between the rubber threads and the ground enables the robot to advance.

When a thicker deposit exists, the thread wheel sinks into the deposit, the robot continues to advance by utilizing the rotation of the thread, and the deeper the thread wheel sinks, the larger the advancing acting force is. When the robot penetrates through the pipeline, the pipeline is desilted again in a reverse mode, and the threaded wheel can play a certain disturbing and crushing role when passing through the sludge, so that the suction head can be sucked conveniently. Through the clearance of making a round trip many times, the deposit in the pipeline is by the clean up, but through camera real time monitoring desilting effect. And after finishing, taking out the robot, cleaning and finishing the dredging process. The height of the fuselage can also be adjusted in a wired or wireless manner during the travel.

The above description is only the specific embodiments of the present invention, but the technical features of the present invention are not limited thereto, and any person skilled in the relevant art can also make changes or modifications within the scope of the present invention.

Claims

1. The utility model provides a pipeline desilting robot with screw thread wheel, includes the fuselage, is located the hydraulic oil pump of fuselage, be fixed in on the fuselage and the sludge pipe of external suction pump, advance mud head subassembly and the drive of mud end flexible coupling with the sludge pipe the advancing mechanism that the fuselage was marchd, its characterized in that, advancing mechanism be with the screw thread wheel that the fuselage is connected.

2. The pipe dredging robot of claim 1, wherein the threaded wheel comprises:

a hub;

screw thread on outer wall of hub

support bearings matched with two ends of the rotating shaft;

3. The pipeline dredging robot of claim 2, wherein the support bearing is connected with the body through a first hydraulic rod, and the first hydraulic rod is connected with the hydraulic oil pump through a pressure night pipeline.

4. The pipeline dredging robot of claim 3, wherein the support bearings of the threaded wheels at the opposite sides are connected by a second hydraulic rod, and the second hydraulic rod is connected with the hydraulic oil pump through a pressure pipeline.

5. The pipe dredging robot of claim 2, wherein the thread is a rubber thread; the thread pitch of the threads is 3-10 cm, and the thread height is 3-20 mm.

6. The pipeline dredging robot of claim 1, wherein the threaded wheels are provided in even number and are evenly and symmetrically arranged on two sides of the machine body.

7. The pipeline dredging robot of claim 6, wherein the number of the thread wheels is 2 or 4.

8. The pipeline dredging robot of claim 1, wherein a storage battery for emergency power supply of the hydraulic oil pump is further arranged in the body.

9. The pipe dredging robot of claim 1, wherein the mud suction head assembly comprises: