CN209958486U - Robot applied to underground sewage pipeline sludge cleaning - Google Patents

Robot applied to underground sewage pipeline sludge cleaning Download PDF

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Publication number
CN209958486U
CN209958486U CN201920365589.3U CN201920365589U CN209958486U CN 209958486 U CN209958486 U CN 209958486U CN 201920365589 U CN201920365589 U CN 201920365589U CN 209958486 U CN209958486 U CN 209958486U
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China
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flood dragon
robot
frame
sludge
robot frame
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CN201920365589.3U
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Chinese (zh)
Inventor
张振
费守明
张玉
赵锦宪
袁春波
齐伟
王建波
郝志香
常素云
王松庆
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TIANJIN WATER RESOURCES RESEARCH INSTITUTE
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TIANJIN WATER RESOURCES RESEARCH INSTITUTE
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Abstract

The utility model discloses a robot applied to underground sewage pipeline sludge cleaning, which comprises a robot frame, a hydraulic pump, a control box, a walking mechanism, an underwater camera, a light supplementing lamp, a sludge recovery device and a sludge discharge header pipe; the walking mechanism comprises a walking motor and walking wheels; one side of robot frame is located in the activity of silt recovery unit, and silt recovery unit includes flood dragon installing support, link, pivot, soil pick-up mouth, flood dragon motor and flood dragon device, and the one end of mud drainage house steward is fixed nested in the inboard of soil pick-up mouth, and the one end that flood dragon installing support was kept away from to the mud drainage house steward is fixed connection with the water inlet of hydraulic pump. The utility model discloses carry out the desilting to the pipeline that the siltation is serious, the people can't get into again, the camera under water of accessible control box control explores the damaged department of pipeline inner wall, utilizes silt recovery unit and arranges the mud house steward and clear away siltation rubbish, and the short time just can be accomplished comprehensively, and the desilting effect is showing.

Description

Robot applied to underground sewage pipeline sludge cleaning
Technical Field
The utility model relates to a sewer line cleaning equipment technical field, especially a be applied to robot of underground sewer line silt clearance.
Background
Once the urban underground sewage pipeline is blocked, dredging operation is required. In recent years, many operators have been poisoned and killed in the dredging operation of underground sewage pipelines, and great loss is caused to the lives and properties of people. The dredging work of urban underground sewage pipelines in China is generally in a backward state of manual operation, physical strength is heavy, efficiency is low, severe environments and sewage pipelines run for years, and severe silting and damage occur in multiple places. In addition, underground sewage pipelines cannot be seen under the road surface, and the dredging and repairing become a big problem.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem, a robot applied to underground sewage pipeline sludge cleaning is designed.
The technical scheme of the utility model is that the robot applied to underground sewage pipeline sludge cleaning comprises a robot frame, a hydraulic pump, a control box, a walking mechanism, an underwater camera, a light supplement lamp, a sludge recovery device and a sludge discharge header pipe;
the hydraulic pump is fixedly arranged in the middle of the robot frame;
the control box is fixedly arranged in the middle of the robot frame and is arranged on one side of the hydraulic pump;
the walking mechanisms are arranged on two sides of the bottom end of the robot frame and comprise walking motors and walking wheels;
the underwater camera is fixedly arranged at the top of the robot frame;
the light supplement lamp is fixedly arranged at the top of the robot frame and is arranged on one side of the underwater camera;
the sludge recovery device is movably arranged on one side of the robot frame and comprises a flood dragon mounting support, a connecting frame, a rotating shaft, a sewage suction port, a flood dragon motor and a flood dragon device, wherein one end of the connecting frame is connected with the bottom end of the robot frame, one end of the connecting frame, which is far away from the robot frame, is fixedly connected with the outer side of the flood dragon mounting support, the rotating shaft is movably connected with two ends of the flood dragon mounting support through a bearing, the sewage suction port is arranged on one side of the flood dragon mounting support, the flood dragon motor is fixedly connected with one side of the flood dragon mounting support, an output shaft of the flood dragon motor is fixedly connected with the rotating shaft through a coupler, the flood dragon device is fixedly connected with the rotating shaft, and the flood dragon device is arranged inside the flood dragon mounting support;
the one end of row's mud house steward is fixed nestification in the inboard of soil pick-up mouth, the one end that the flood dragon installing support was kept away from to row's mud house steward and the water inlet fixed connection of hydraulic pump.
Further, the control box includes PLC controller and power module, and the control box adopts waterproof quick-witted case, control box fixedly connected with cable, the input and the power module electric connection of PLC controller, the output of PLC controller and the input electric connection of hydraulic pump, walking motor, flood dragon motor and light filling lamp, PLC controller and camera electric connection under water
Furthermore, the control box is connected with a display through a cable, a detachable sunshade is installed on the outer side of the display, and the display adopts a 19-inch LED high-brightness liquid crystal display.
Further, the walking mechanism adopts a crawler walking mechanism, the walking wheels adopt a crawler group, the walking motor adopts a servo motor, the servo motor is arranged in the crawler group, the crawler group comprises a crawler, a connecting shaft and two supporting plates, the two supporting plates are fixedly connected through the connecting shaft, one of the supporting plates is fixedly connected with the robot frame, the crawler is movably arranged between the two supporting plates, a small bevel gear is fixedly arranged on an output shaft of the walking motor, the small bevel gear is meshed with a large bevel gear, a first shaft is fixedly arranged in the large bevel gear, a first straight gear is fixedly sleeved on the outer side of the first shaft, a second straight gear is meshed with the first straight gear, a second shaft is fixedly arranged in the second straight gear, a driving belt wheel is fixedly sleeved on the outer side of the second shaft, and the crawler is meshed with the outer side of the driving belt wheel, the track still the meshing be connected with from the driven pulleys, from the driven pulleys locates the inside of track, and keeps away from driving pulley, from the fixed third axle that is equipped with in inside of driven pulleys, from being equipped with the connecting axle between driven pulleys and the walking motor, connecting axle and backup pad fixed connection, primary shaft, secondary shaft and third axle all rotate with the backup pad through the bearing and are connected.
Furthermore, the high-wear-resistance rubber crawler belt is adopted as the crawler belt, and the internal tooth profile of the high-wear-resistance rubber crawler belt is trapezoidal.
Furthermore, at least 2 underwater cameras are arranged, and 700-wire high-definition muddy water cameras are adopted by the underwater cameras; the light filling lamp is at least provided with 2, and the light filling lamp adopts the LED light filling lamp.
Further, the camera is provided with 4 under water, and 4 under water the camera is fixed respectively around the robot frame top, the fixed cover in the outside of camera under water is equipped with the solid fixed ring of camera, first connecting hole has been seted up on the solid fixed ring of camera, the below of robot frame and the corresponding department welding in camera position under water or threaded connection have two first connecting ears, the second connecting hole has been seted up on the first connecting ear, camera and robot frame are through the connecting piece fixed connection who runs through first connecting hole and second connecting hole under water.
Furthermore, the sludge recovery device also comprises a telescopic cylinder, one end of the telescopic cylinder is fixedly connected with one side of the bottom end of the robot frame, and the telescopic end of the telescopic cylinder is fixedly connected with the outer side below the flood dragon mounting bracket; the input end of the telescopic cylinder is electrically connected with the output end of the PLC; one end of the connecting frame, far away from the flood dragon mounting support, is hinged to one side of the bottom end of the robot frame.
Further, the flood dragon device includes first flood dragon and second flood dragon, first flood dragon is mirror image fixed distribution in the pivot with the second flood dragon, the top in the middle of first flood dragon and the second flood dragon is located to the soil pick-up mouth.
Further, the robot frame and the sludge recovery device are both made of stainless steel.
Compared with the prior art, the utility model has the advantages and beneficial effects that,
1. the utility model can desilt the pipeline which is seriously silted and can not be entered by people, an underwater camera which can be controlled by a control box probes the damaged part of the inner wall of the pipeline, and a silt recovery device and a mud discharge header pipe are used for removing silted garbage, so that the desilting effect can be completely finished in a short time; in addition, the pipeline can still work under the conditions of normal flow speed and no continuous flow; can continuously work for 24 hours, greatly shortens the construction period, improves the efficiency, and greatly reduces the labor cost and the risk of municipal underground pipeline engineering!
Drawings
FIG. 1 is a schematic diagram of the overall structure of a robot applied to underground sewage pipeline sludge cleaning according to the present invention;
fig. 2 is a cross-sectional view of a crawler set in a robot applied to underground sewage pipeline sludge cleaning according to the present invention;
fig. 3 is a circuit connection block diagram of a robot applied to underground sewage pipeline sludge cleaning.
In the figure, 1 robot frame, 2 hydraulic pumps, 3 control cabinets, 4 underwater cameras, 5 light filling lamps, 6 silt recovery units, 7 mud discharging main pipes, 8 walking motors, 9 walking wheels, 10 flood dragon installing supports, 11 connecting frames, 12 rotating shafts, 13 sewage suction ports, 14 flood dragon motors, 15 tracks, 16 connecting shafts, 17 supporting plates, 18 small bevel gears, 19 large bevel gears, 20 first shafts, 21 first straight gears, 22 second straight gears, 23 second shafts, 24 driving belt wheels, 25 driven belt wheels, 26 third shafts, 27 first flood dragon and 28 second flood dragon.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-3, the robot applied to the sludge cleaning of the underground sewage pipeline has the whole size of 2750 x 1300 x 1150mm, adopts an ultra-small machine body design, is made of stainless steel, and is not easy to generate sparks; the underwater sludge recycling system comprises a robot frame 1, a hydraulic pump 2, a control box 3, a traveling mechanism, an underwater camera 4, a light supplementing lamp 5, a sludge recycling device 6 and a sludge discharge main pipe 7; the robot frame 1 and the sludge recovery device 6 are made of stainless steel materials, sparks are not easy to generate, and the equipment strength and the corrosion prevention effect of the robot are guaranteed;
the hydraulic pump 2 is fixedly arranged in the middle of the robot frame 1, a water inlet of the hydraulic pump 2 is fixedly connected with the sludge discharge main pipe 7, a water outlet of the hydraulic pump 1 is fixedly connected with a sewage discharge hose, and the length of the sewage discharge hose can be selected according to actual needs;
the control box 3 is fixedly arranged in the middle of the robot frame 1 and is arranged on one side of the hydraulic pump 2;
the walking mechanisms are arranged on two sides of the bottom end of the robot frame 1 and comprise walking motors 8 and walking wheels 9;
the underwater camera 4 is fixedly arranged at the top of the robot frame 1; at least 2 underwater cameras 4 are arranged, and 700-wire high-definition muddy water cameras are adopted in the underwater cameras 4; the image is clear and fine, and the illumination intensity is 0.001 lux; the number of the underwater cameras 4 is 4, the 4 underwater cameras 4 are respectively fixed on the periphery of the top end of the robot frame 1, a camera fixing ring is fixedly sleeved on the outer side of each underwater camera 4, a first connecting hole is formed in each camera fixing ring, two first connecting lugs are welded or in threaded connection with the position, corresponding to the position of each underwater camera 4, below the robot frame 1, second connecting holes are formed in the first connecting lugs, and the underwater cameras 4 are fixedly connected with the robot frame 1 through connecting pieces penetrating through the first connecting holes and the second connecting holes;
the light supplement lamp 5 is fixedly arranged at the top of the robot frame 1 and is arranged on one side of the underwater camera 4; the number of the light supplement lamps 5 is at least 2, the light supplement lamps 5 are LED light supplement lamps, the LED light supplement lamps are solid semiconductor devices capable of converting electric energy into visible light, electricity can be directly converted into light, illumination can be carried out in a pipeline, visibility is improved, and in addition, the 50W LED light supplement lamps are adopted and can be effectively used in turbid water areas;
the sludge recovery device 6 is movably arranged on one side of the robot frame 1, the sludge recovery device 6 comprises a flood dragon mounting support 10, a connecting frame 11, a rotating shaft 12, a sewage suction port 13, a flood dragon motor 14 and a flood dragon device, one end of the connecting frame 11 is connected with the bottom end of the robot frame 1, one end, far away from the robot frame 1, of the connecting frame 11 is fixedly connected with the outer side of the flood dragon mounting support 10, the rotating shaft 12 is movably connected with two ends of the flood dragon mounting support 10 through bearings, the sewage suction port 13 is arranged on one side of the flood dragon mounting support 10, the flood dragon motor 14 is fixedly connected with one side of the flood dragon mounting support 10, an output shaft of the flood dragon motor 14 is fixedly connected with the rotating shaft 12 through a coupler, the flood dragon device is fixedly connected with the rotating shaft 12, and the flood dragon device is arranged inside the flood dragon mounting support 10; the sludge recovery device 6 further comprises a telescopic cylinder, one end of the telescopic cylinder is fixedly connected with one side of the bottom end of the robot frame 1, and the telescopic end of the telescopic cylinder is fixedly connected with the outer side below the flood dragon mounting bracket 10; the input end of the telescopic cylinder is electrically connected with the output end of the PLC; one end of the connecting frame 11, which is far away from the flood dragon mounting frame 10, is hinged with one side of the bottom end of the robot frame 1; the angle adjustment of the flood dragon mounting bracket 10 can be realized according to the extension or shortening of the telescopic cylinder and the hinged connection of the connecting frame 11 and the robot frame 1, so that the omnibearing sludge treatment work can be carried out on the interior of an underground sewage pipeline; the flood dragon device comprises a first flood dragon 27 and a second flood dragon 28, the first flood dragon 27 and the second flood dragon 28 are fixedly distributed on the rotating shaft 12 in a mirror image manner, and the sewage suction port 13 is arranged at the top between the first flood dragon 27 and the second flood dragon 28;
arrange the fixed nestification of mud house steward's 7 one end in the inboard of soil pick-up mouth 13, perhaps arrange mud house steward's 7 one end and soil pick-up mouth 13 welding and link to each other, arrange mud house steward 7 and keep away from flood dragon installing support 10's one end and hydraulic pump 2's water inlet fixed connection.
Control box 3 includes PLC controller and power module, and control box 3 adopts waterproof machine case, 3 fixedly connected with cables of control box, and the cable outside is wrapped up two-layer bearing steel wire armour and rubber protective layer, PLC controller's input and power module electric connection, power module adopt chargeable call, PLC controller's output and hydraulic pump 2, walking motor 8, flood dragon motor 14 and light filling lamp 5's input electric connection, PLC controller and 4 electric connection of camera under water.
The control box 3 is connected with a display through a cable, a detachable sunshade is installed on the outer side of the display, the display is a 19-inch LED high-brightness liquid crystal display, the brightness of the display is not lower than 800, the screen display time/date is adopted, an I5 host is adopted, the capacity of a hard disk is 1T, and a 128GB SSD solid state disk is adopted, the path generation is realized, the coordinate recording function is realized, the GPS coordinate is recorded and sampled, the driving path can be generated, the video overlapping function is realized, the user icon can be overlapped, the date and time, the GPS parameters, the depth and the temperature can be overlapped.
The walking mechanism adopts a crawler walking mechanism, the walking wheels 9 adopt a crawler group, the walking motor 8 adopts a servo motor, the model of the servo motor is SM150-270-20LFB, the speed can be changed, the servo motor is arranged in the crawler group, the crawler group comprises a crawler 15, a connecting shaft 16 and two supporting plates 17, the two supporting plates 17 are fixedly connected through the connecting shaft 16, one supporting plate 17 is fixedly connected with the robot frame 1, the crawler 15 is movably arranged between the two supporting plates 17, a small bevel gear 18 is fixedly arranged on an output shaft of the walking motor 8, the small bevel gear 18 is meshed with a large bevel gear 19, a first shaft 20 is fixedly arranged in the large bevel gear 19, a first straight gear 21 is fixedly sleeved on the outer side of the first shaft 20, a second straight gear 22 is meshed with the first straight gear 21, a second straight gear 23 is fixedly arranged in the second straight gear 22, the outer side of the second shaft 23 is fixedly sleeved with a driving belt wheel 24, the outer side of the driving belt wheel 24 is meshed with a crawler 15, the crawler 15 is further meshed with a driven belt wheel 25, the driven belt wheel 25 is arranged inside the crawler 15 and far away from the driving belt wheel 24, a third shaft 26 is fixedly arranged inside the driven belt wheel 25, a connecting shaft 16 is arranged between the driven belt wheel 25 and the traveling motor 8, the connecting shaft 16 is fixedly connected with a supporting plate 17, and the first shaft 20, the second shaft 22 and the third shaft 26 are rotatably connected with the supporting plate 17 through bearings, wherein the crawler 15 is movable and has the advantages of large landing area, high adhesion, high road surface adaptability, good traction performance and high obstacle crossing capability; the crawler belt 15 is a high-wear-resistance rubber crawler belt, and the internal tooth shape of the high-wear-resistance rubber crawler belt is trapezoidal.
The working principle is as follows:
when sludge in an underground sewage pipeline needs to be cleaned, the robot is thrown into the underground sewage pipeline through a crane, related commands are input through an overground display, the related commands are transmitted through cables, a PLC (programmable logic controller) positioned in a control box 3 of the underground sewage pipeline is further controlled, a light supplementing lamp 5 is controlled by the PLC to be turned on to illuminate the underground sewage pipeline, the light supplementing lamp 5 is fixedly arranged at the top of a robot frame 1, 4 light supplementing lamps are arranged, the light supplementing lamp 5 adopts LED light supplementing lamps, the LED light supplementing lamps are solid semiconductor devices capable of converting electric energy into visible light, electricity can be directly converted into light, illumination can be performed in the pipeline, the visibility is improved, and in addition, 50W LED light supplementing lamps are adopted, so that the robot can be effectively used in turbid water areas; simultaneously controls the underwater camera 4 to start to collect video images of the conditions in the underground sewage pipeline, the information is transmitted back to the display on the ground through the cable and is displayed by the display, so that the workers on the ground can know the condition of the underground sewage pipeline in real time, the number of the underwater cameras 4 is 4, and the 4 underwater cameras 4 are respectively fixed on the periphery of the top end of the robot frame 1, the condition of the inner wall of the pipeline can be observed in an omnibearing way, a camera fixing ring is fixedly sleeved on the outer side of the underwater camera 4, the camera fixing ring is provided with a first connecting hole, two first connecting lugs are welded or in threaded connection with the position, corresponding to the underwater camera 4, below the robot frame 1, the first connecting lug is provided with a second connecting hole, and the underwater camera 4 is fixedly connected with the robot frame 1 through a connecting piece penetrating through the first connecting hole and the second connecting hole; the underwater camera 4 adopts a 700-wire high-definition muddy water camera; the image is clear and fine, and the illumination intensity is 0.001 lux; then the hydraulic pump 2, the walking motor 8, the flood dragon motor 14 and the telescopic cylinder are started as required, wherein the rotation of the walking motor 8 drives the small bevel gear 18 fixed on the output shaft of the walking motor to rotate, and further drives the large bevel gear 19 meshed and connected with the small bevel gear 18 to rotate, and further drives the first shaft 20 fixed inside the large bevel gear 19 to rotate, and further drives the first straight gear 21 fixed on the outer side of the first shaft 20 to rotate, and further drives the second straight gear 22 to rotate, and the second shaft 23 fixed inside the second shaft is driven by the second straight gear 22 to rotate, and further drives the driving belt wheel 24 to rotate, and further drives the crawler belt 15 to rotate, wherein the connecting shaft 16 is used for fixing the two supporting plates 17, and further supports the crawler belt 15; the operation of the crawler belt 15 drives the whole robot to walk, and then the robot walks;
the operation of the hydraulic pump 2 is to finish the suction of thinner sludge from the sewage suction port 13, then the sludge enters the hydraulic pump 2 from the sludge discharge main pipe 7 and is discharged into a sewage discharge hose fixedly connected with the hydraulic pump 2 from a water outlet of the hydraulic pump 2, one end of the sludge discharge main pipe, which is far away from the hydraulic pump 2, is directly placed on the ground or is communicated with a sewage truck on the ground, and the length of the sewage discharge hose can be selected according to actual needs;
because there is harder silt in the underground sewage pipeline, smash back flood dragon installing support 10's middle part through the flood dragon device and carry silt to being taken out by hydraulic pump 2 after filtering through soil pick-up 13, unified export by the mud drainage house steward 7 is delivered silt to the bank through the blowdown hose, specifically is: the flood dragon motor 14 is started, the rotation of the flood dragon motor 14 drives the rotating shaft 12 connected with the flood dragon motor to synchronously rotate, then the first flood dragon 27 and the second flood dragon 28 which are fixedly arranged on the rotating shaft 12 rotate relative to the flood dragon mounting bracket 10 to smash the sludge in front of the flood dragon recovery device 6, the sludge gradually moves towards the middle of the flood dragon mounting bracket 10 along with the smashing, and as the top end of the middle of the flood dragon mounting bracket 10 is provided with the sewage suction port 13, and the sewage suction port 13 is communicated with the sludge discharge main pipe 7 connected with the hydraulic pump 2, the smashed sludge is discharged out of an underground sewage pipeline through the sewage suction port 13 and the sludge discharge main pipe 7; because the opening and the position of the sludge recovery device 6 are both arranged right ahead and at the bottom of the robot, the conventional robot cannot clean the sludge at the top end of the pipeline, and the utility model can control the extension and the shortening of the telescopic cylinder and the hinged connection of the connecting frame 11 and the robot frame 1 through the PLC controller, can control and adjust the opening direction of the flood dragon mounting bracket 10 and the position of the flood dragon device relative to the robot, and further complete the cleaning of the sludge at the top end of the pipeline; the sludge recovery device 6 can realize more thorough sludge cleaning; in addition, the hydraulic pump, the walking motor, the flood dragon motor and the telescopic cylinder are all provided with leakage switches, so that the device is reliable and stable. The operation can still be carried out under the condition that the pipeline has normal flow speed and does not stop flowing.
In addition, the continuous operation can be carried out for 24 hours, the construction period is greatly shortened, and the efficiency is improved. The labor cost and the risk of municipal underground pipeline engineering are greatly reduced!
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. A robot applied to underground sewage pipeline sludge cleaning is characterized by comprising a robot frame, a hydraulic pump, a control box, a traveling mechanism, an underwater camera, a light supplementing lamp, a sludge recovery device and a sludge discharge main pipe;
the hydraulic pump is fixedly arranged in the middle of the robot frame;
the control box is fixedly arranged in the middle of the robot frame and is arranged on one side of the hydraulic pump;
the walking mechanisms are arranged on two sides of the bottom end of the robot frame and comprise walking motors and walking wheels;
the underwater camera is fixedly arranged at the top of the robot frame;
the light supplement lamp is fixedly arranged at the top of the robot frame and is arranged on one side of the underwater camera;
the sludge recovery device is movably arranged on one side of the robot frame and comprises a flood dragon mounting support, a connecting frame, a rotating shaft, a sewage suction port, a flood dragon motor and a flood dragon device, wherein one end of the connecting frame is connected with the bottom end of the robot frame, one end of the connecting frame, which is far away from the robot frame, is fixedly connected with the outer side of the flood dragon mounting support, the rotating shaft is movably connected with two ends of the flood dragon mounting support through a bearing, the sewage suction port is arranged on one side of the flood dragon mounting support, the flood dragon motor is fixedly connected with one side of the flood dragon mounting support, an output shaft of the flood dragon motor is fixedly connected with the rotating shaft through a coupler, the flood dragon device is fixedly connected with the rotating shaft, and the flood dragon device is arranged inside the flood dragon mounting support;
the one end of row's mud house steward is fixed nestification in the inboard of soil pick-up mouth, the one end that the flood dragon installing support was kept away from to row's mud house steward and the water inlet fixed connection of hydraulic pump.
2. The robot of claim 1, wherein the control box comprises a PLC (programmable logic controller) and a power module, the control box adopts a waterproof case, a cable is fixedly connected to the control box, the input end of the PLC is electrically connected with the power module, the output end of the PLC is electrically connected with the input ends of a hydraulic pump, a walking motor, a flood dragon motor and a light supplement lamp, and the PLC is electrically connected with an underwater camera.
3. The robot for cleaning sludge in underground sewage pipelines of claim 1 or 2, wherein the control box is connected with a display through a cable, a detachable sunshade is arranged outside the display, and the display adopts a 19-inch LED high-brightness liquid crystal display.
4. The robot of claim 1, wherein the traveling mechanism is a crawler traveling mechanism, the traveling wheels are crawler sets, the traveling motors are servo motors, the servo motors are built in the crawler sets, the crawler sets comprise crawlers, connecting shafts and two supporting plates, the two supporting plates are fixedly connected through the connecting shafts, one of the supporting plates is fixedly connected with the robot frame, the crawlers are movably arranged between the two supporting plates, small bevel gears are fixedly arranged on output shafts of the traveling motors, the small bevel gears are meshed with large bevel gears, first shafts are fixedly arranged in the large bevel gears, first straight gears are fixedly sleeved on outer sides of the first shafts, second straight gears are meshed with the first straight gears, second straight gears are fixedly arranged in the second straight gears, the outside of secondary shaft is still fixed the cover and is equipped with driving pulley, driving pulley's outside meshing has the track, the track still meshes and is connected with driven pulley, driven pulley locates the inside of track, and keeps away from driving pulley, driven pulley's inside is fixed and is equipped with the third axle, be equipped with the connecting axle between driven pulley and the walking motor, connecting axle and backup pad fixed connection, primary shaft, secondary shaft and third axle all rotate with the backup pad through the bearing and are connected.
5. The robot applied to underground sewage pipeline sludge cleaning is characterized in that the high-wear-resistance rubber track is adopted as the track, and the internal tooth profile of the high-wear-resistance rubber track is trapezoidal.
6. The robot applied to underground sewage pipeline sludge cleaning is characterized in that at least 2 underwater cameras are provided, and 700-line high-definition muddy water cameras are adopted; the light filling lamp is at least provided with 2, and the light filling lamp adopts the LED light filling lamp.
7. The robot of claim 1 or 6, wherein 4 underwater cameras are respectively fixed around the top end of the robot frame, a camera fixing ring is fixedly sleeved on the outer side of each underwater camera, a first connecting hole is formed in the camera fixing ring, two first connecting lugs are welded or screwed at the position, corresponding to the position of the underwater camera, below the robot frame, of the robot frame, a second connecting hole is formed in each first connecting lug, and the underwater cameras are fixedly connected with the robot frame through a connecting piece penetrating through the first connecting hole and the second connecting hole.
8. The robot for cleaning sludge in underground sewage pipelines according to claim 1, wherein the sludge recovery device further comprises a telescopic cylinder, one end of the telescopic cylinder is fixedly connected with one side of the bottom end of the robot frame, and the telescopic end of the telescopic cylinder is fixedly connected with the outer side below the flood dragon mounting bracket; the input end of the telescopic cylinder is electrically connected with the output end of the PLC; one end of the connecting frame, far away from the flood dragon mounting support, is hinged to one side of the bottom end of the robot frame.
9. The robot applied to underground sewer pipe sludge cleaning according to claim 1 or 8, wherein the flood dragon device comprises a first flood dragon and a second flood dragon, the first flood dragon and the second flood dragon are fixedly distributed on a rotating shaft in a mirror image mode, and the sewage suction port is arranged at the top between the first flood dragon and the second flood dragon.
10. The robot for cleaning sludge in underground sewage pipes of claim 1, wherein the robot frame and the sludge recovery device are made of stainless steel.
CN201920365589.3U 2019-03-21 2019-03-21 Robot applied to underground sewage pipeline sludge cleaning Active CN209958486U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920365589.3U CN209958486U (en) 2019-03-21 2019-03-21 Robot applied to underground sewage pipeline sludge cleaning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920365589.3U CN209958486U (en) 2019-03-21 2019-03-21 Robot applied to underground sewage pipeline sludge cleaning

Publications (1)

Publication Number Publication Date
CN209958486U true CN209958486U (en) 2020-01-17

Family

ID=69239872

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920365589.3U Active CN209958486U (en) 2019-03-21 2019-03-21 Robot applied to underground sewage pipeline sludge cleaning

Country Status (1)

Country Link
CN (1) CN209958486U (en)

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