CN210280082U - Dredging robot for sewage pipeline - Google Patents
Dredging robot for sewage pipeline Download PDFInfo
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- CN210280082U CN210280082U CN201920855035.1U CN201920855035U CN210280082U CN 210280082 U CN210280082 U CN 210280082U CN 201920855035 U CN201920855035 U CN 201920855035U CN 210280082 U CN210280082 U CN 210280082U
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Abstract
The utility model discloses a dredging robot for sewage pipeline passing, which comprises a cabin body, a front paddle device and a rear paddle device, wherein the front paddle device and the rear paddle device are driven to alternately move by the reverse reciprocating motion of sliding sleeves of the front paddle device and the rear paddle device, which are arranged on the sliding sleeves, so that the robot can pass through the sludge, and the problem that the existing robot is difficult to pass through the sewage pipeline in the sludge is solved; the sewage pipeline passing through the dredging robot is pulled back to the inspection well through the traction mechanism, and the front paddle and the rear paddle push the sludge into the inspection well, so that the dredging problem of the sewage pipeline, particularly a small-diameter pipeline, is solved; the sludge in front of the robot is cut by the spiral drill and is conveyed to the front paddle device behind the robot, so that the front obstacle is cleared away for the robot, and the sludge cut by the spiral drill is pushed to the rear by the front paddle and the rear paddle, so that the robot can move forward and desilt; the center of gravity position of the robot is adjusted through the balancing weight, and more effective movement is achieved.
Description
Technical Field
The invention relates to a pipeline robot, in particular to a dredging robot for pipeline passing.
Background
After the urban sewage pipeline runs for a period of time, more sludge is accumulated, the existing machine equipment is easy to sink into the sludge and is difficult to crawl through after the sludge reaches a certain depth, the dredging and pipeline maintenance work is difficult to complete, the dredging work of the existing sewage pipeline is mainly completed manually, due to the fact that the diameter of the pipeline is small, sanitation personnel can only dig out the sludge in a maintenance well generally and hardly enter the sewage pipeline for dredging, the environment in the maintenance well is severe, and the risks of oxygen deficiency, poisoning and gas explosion exist; the method needs to block a pipe, suck sewage by a silt suction vehicle, wash the pipe wall by a high-pressure jet spray head, and finally remove sludge by the silt suction vehicle, is complex to operate, needs large-scale equipment of a high-pressure pump vehicle and the silt suction vehicle, has high silt removal cost, occupies large floor area of construction vehicles, is difficult to suck and remove sludge in the deep part of a pipeline, and more importantly, urban sewage pipelines are generally arranged on non-motor vehicle lanes, and block traffic after the large-scale equipment is parked, so the method is less in application.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a dredging robot for a sewage pipeline to pass through.
The technical scheme is as follows:
a sewage pipeline passing dredging robot comprises a cabin body, a front paddle-rowing device, a rear paddle-rowing device and a traction mechanism;
the cabin is a watertight cabin;
the front paddle device comprises a front sliding sleeve, a plurality of front paddles and a front sliding sleeve driving mechanism, the front sliding sleeve is slidably sleeved at the middle front part of the cabin body, the front paddles are rotatably arranged at the periphery of the front sliding sleeve, the front sliding sleeve driving mechanism drives the front sliding sleeve to reciprocate back and forth relative to the cabin body, when the front sliding sleeve moves forwards, the front paddles move forwards along with the front sliding sleeve and rotate backwards under the action of muddy water resistance to avoid muddy water resistance, and when the front sliding sleeve moves backwards, the front paddles move backwards along with the front sliding sleeve and move backwards to muddy water;
the rear paddle device comprises a rear sliding sleeve, a plurality of rear paddles and a rear sliding sleeve driving mechanism, the rear sliding sleeve is slidably sleeved at the middle rear part of the cabin body, the rear paddles are rotatably arranged on the periphery of the rear sliding sleeve, the rear sliding sleeve driving mechanism drives the rear sliding sleeve to reciprocate back and forth relative to the cabin body, when the rear sliding sleeve moves forwards, the rear paddles then move forwards and rotate backwards under the action of muddy water resistance to avoid muddy water resistance, and when the rear sliding sleeve moves backwards, the rear paddles then move backwards and drag muddy water backwards;
the movement direction of the front sliding sleeve is opposite to that of the rear sliding sleeve;
the robot is characterized in that the traction mechanism is arranged at the tail of the cabin and used for dragging the robot backwards, and preferably comprises the following three forms, namely, a battery is arranged in the cabin, the robot is powered by the battery, and the traction mechanism is a traction rope arranged at the tail of the cabin; the robot adopts external power supply, is connected to the tail of the cabin body through a power supply cable and is communicated with cables in the cabin body, and the traction mechanism is the power supply cable; thirdly, in order to reduce the stress of the power supply cable, a traction rope is arranged at the tail part of the cabin body, and the traction mechanism comprises the traction rope and the power supply cable.
Further, the head of the front sliding sleeve is provided with an auger, and the auger is preferably a conical auger.
The bellows is connected between the front sliding sleeve and the rear sliding sleeve in a sealing manner, so that muddy water is prevented from entering the sliding sleeve and blocking sliding between the sliding sleeve and the cabin body.
The bellows is connected between the rear sliding sleeve and the tail of the cabin body in a sealing manner, so that muddy water is prevented from entering the rear sliding sleeve and blocking sliding between the rear sliding sleeve and the cabin body.
The cabin body can also be internally provided with a balancing weight and a balancing weight pushing mechanism which can reciprocate back and forth, when the front sliding sleeve moves forwards, the balancing weight pushing mechanism pushes the balancing weight to the front part of the cabin body, and when the front sliding sleeve moves backwards, the balancing weight pushing mechanism pushes the balancing weight to the rear part of the cabin body.
The dredging robot for sewage pipeline to pass through is operated by opening the inspection well cover, putting the robot into the sewage pipeline from the inspection well, starting the front sliding sleeve driving mechanism and the rear sliding sleeve driving mechanism, driving the front paddle and the rear paddle to move reversely under the driving of the front sliding sleeve driving mechanism and the rear sliding sleeve driving mechanism, driving the front paddle and the rear paddle to move forwards by the rear paddle when the front paddle avoids the resistance of sludge, driving the robot to move forwards by the rear paddle when the rear paddle avoids the resistance of sludge, driving the robot to move forwards by the front paddle and the rear paddle when the rear paddle avoids the resistance of sludge and moves forwards, realizing the passing of the robot in the sewage pipeline by the front paddle and the rear paddle alternately by the robot, pulling the dredging robot for passing through the sewage pipeline back to the inspection well by the traction mechanism when the robot moves forwards by each distance, pushing the sludge into the inspection well by the front paddle and the rear paddle, fishing the sludge by the sludge equipment or manpower, completing dredging of the sewage pipeline; the added spiral drill cuts the sludge in front of the robot and conveys the sludge to the front paddle device behind the robot, so that the front obstacle of the robot is cleared, and meanwhile, the front paddle and the rear paddle push the sludge cut by the spiral drill to the rear, and the forward movement and the desilting of the robot are facilitated.
The dredging robot for the sewage pipeline to pass comprises a cabin body, a front paddle-rowing device and a rear paddle-rowing device, wherein the front paddle-rowing device and the rear paddle-rowing device drive a sliding sleeve of the front paddle-rowing device and the sliding sleeve of the rear paddle-rowing device to reciprocate in opposite directions to alternately move the front paddle-rowing device and the rear paddle-rowing device on the sliding sleeve, so that the robot can effectively pass through the sludge, and the problem that the existing robot is difficult to pass through the sewage pipeline in the sludge is solved; the sewage pipeline passing through the dredging robot is pulled back to the inspection well by the traction mechanism, the front paddle and the rear paddle push the sludge into the inspection well, and the sludge can be fished out of the sewage pipeline by sludge fishing equipment or manpower, so that the dredging problem of the sewage pipeline, particularly a small-diameter pipeline, is solved; the added spiral drill cuts the sludge in front of the robot and conveys the sludge to the front paddle device behind the robot, so that the front obstacle of the robot is cleared, and the sludge cut by the spiral drill is pushed to the rear by the front paddle and the rear paddle, so that the robot can move forward and desilt; the balancing weight that increases adjusts the focus position of robot, realizes more effective motion.
Drawings
Fig. 1 is a front view of a sewage pipe running dredging robot according to a first embodiment of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a cross-sectional view taken along line a-a of fig. 2.
Fig. 4 is a sectional view taken along line B-B of fig. 3.
Fig. 5 is a sectional view taken along line C-C of fig. 3.
Fig. 6 is an enlarged view of the head portion of fig. 3.
Fig. 7 is an enlarged view of the tail portion of fig. 3.
Fig. 8 is a front view of the sewage pipe running through the dredging robot according to the second embodiment of the present invention.
Fig. 9 is a left side view of fig. 8.
Fig. 10 is a cross-sectional view taken along line D-D of fig. 9.
Fig. 11 is a sectional view taken along line E-E of fig. 10.
Fig. 12 is a sectional view taken along line F-F in fig. 10.
Fig. 13 is a state view of the push block of fig. 12 disengaged from the stopper.
Fig. 14 is a sectional view taken along line H-H in fig. 10.
Fig. 15 is a state view of the push block of fig. 14 disengaged from the stopper.
Fig. 16 is a structural diagram of a sewage pipeline passing through the desilting robot in the third embodiment of the invention.
The reference numbers in the figures are: 1. The gear transmission mechanism comprises an auger, a corrugated pipe, a rear paddle device, a corrugated pipe, a gear II, a gear 11, a chain transmission mechanism I, a chain transmission mechanism 12, a rear driving shaft 13, a balancing weight I, a cabin body 7, a front driving shaft 15, a speed reducer 16, a gear III, a gear 17, a rack I, a gear 18, a gear IV, a gear 19, a rack II, a gear 20, a front sliding sleeve 21, a front paddle, a gear 22, a limiting surface 23, a rack III, a gear 24, a rack IV, a chain transmission mechanism II, a chain transmission mechanism 33, a chain transmission mechanism III, a balancing weight II, a chain transmission mechanism 36, a chain transmission mechanism IV, a chain transmission mechanism V, a chain transmission mechanism 38, a pushing block I, a pushing block 39, a block I, a block 40, a block II, a block 41, a pushing block II, a pushing block 42, a block III, a block 43, a block IV, a block 101, a motor, a 102; 103. power supply cables 104, watertight electric connectors 105, cabin cables 106, traction ropes 107 and battery packs.
Detailed Description
Fig. 1 to 7 show a sewage pipeline running dredging robot according to a first embodiment of the present invention, which comprises a cabin 7, an auger 1, a front rowing device 5 and a rear rowing device 3; a traction mechanism;
the cabin 7 is a cylindrical watertight cabin;
referring to fig. 3 and 5, the front paddle device includes a front sliding sleeve 20, front paddles 21, and a front sliding sleeve driving mechanism, the front sliding sleeve 20 is slidably sleeved on the middle front portion of the cabin 7, the head portion of the front sliding sleeve 20 is a conical structure and covers the head portion of the cabin 7, 16 front paddles 21 are provided, 16 front paddles are rotatably installed on the periphery of the front sliding sleeve 20 through a pin shaft, the front sliding sleeve driving mechanism includes a speed reducer 15 installed in the cabin 7 and a front driving shaft 14 driven by the speed reducer 15, both ends of the front driving shaft 14 penetrate through a cabin wall and are sealed with the cabin wall through a sealing ring, the upper end of the front driving shaft 14 is provided with a gear iii 16, the lower end of the front driving shaft 14 is provided with a gear iv 18, the gear iii 16 is engaged with a rack i 17 installed on the inner wall of the front sliding sleeve 20 to realize gear rack transmission, the gear iv 18 is engaged with a rack ii 19 installed on, the front driving shaft 14 drives the gear III 16 and the gear IV 18 to rotate, and further drives the rack I17 and the rack II 19 to move linearly, the front sliding sleeve 20 fixedly installed with the rack moves along with the rack, when the speed reducer 15 moves clockwise from top to bottom, the front sliding sleeve 20 moves towards the front of the cabin body, when the speed reducer 15 rotates anticlockwise, the front sliding sleeve 20 moves towards the rear of the cabin body, the front sliding sleeve 20 can reciprocate back and forth by changing the rotation direction of the speed reducer 15, when the front sliding sleeve 20 moves forwards, the front paddle 21 moves forwards along with the front sliding sleeve 20 and rotates backwards under the action of muddy water resistance to avoid muddy water resistance, when the front sliding sleeve 21 moves backwards, the front paddle 21 moves backwards along with the front sliding sleeve 20, the muddy water rotates to a position vertical to the movement direction of the front sliding sleeve 20 for limiting under the resistance action of the muddy water, the limiting surface 22 is arranged on the front sliding sleeve 20, and the rear limiting front paddle 21 efficiently paddles the muddy water backwards.
Referring to fig. 3 and 4, the rear paddle device comprises a rear sliding sleeve 6, 12 rear paddles 8 and a rear sliding sleeve driving mechanism, the rear sliding sleeve 6 is slidably sleeved at the middle rear part of the cabin body 7, the number of the rear paddles 8 is 12, the 12 rear paddles are rotatably installed at the periphery of the rear sliding sleeve 6 through pin shafts, the rear sliding sleeve driving mechanism comprises a speed reducer 15 installed in the cabin body 7, a chain transmission mechanism i 11 driven by the speed reducer 15, and a rear driving shaft 12 driven by the chain transmission mechanism i 11, two ends of the rear driving shaft 12 penetrate through the cabin body wall and are sealed with the cabin body wall through sealing rings, a gear ii 10 is installed at the upper end of the rear driving shaft 12, a gear i 9 is installed at the lower end of the rear driving shaft 12, the gear ii 10 is meshed with a rack iii 23 installed on the inner wall of the rear sliding sleeve 6 to realize gear rack transmission, the gear i 9 is meshed with a rack iv, the rear driving shaft 12 drives the gear I9 and the gear II 10 to rotate, and further drives the rack IV 24 and the rack III 23 to linearly move, the rack IV and the rack III move along with the rear sliding sleeve 6 fixedly installed on the rack, when the tail of the robot passing through the sewage pipeline is seen forwards, the rack of the rear sliding sleeve driving device is located on the right side of the gear, the rack of the front sliding sleeve driving device is located on the left side of the gear, so that the moving direction of the rear sliding sleeve 6 is opposite to that of the front sliding sleeve 20, when the rear sliding sleeve 6 moves forwards, the rear paddle 8 moves forwards and rotates backwards under the action of muddy water resistance to avoid muddy water resistance, when the rear sliding sleeve 6 moves backwards, the rear paddle 8 moves backwards, the rear sliding sleeve 6 rotates to be limited to the position vertical to the moving direction of the rear sliding sleeve 6 under the action of muddy water resistance, the limiting surface is arranged on the rear sliding sleeve 6, and after limiting, the rear paddle.
Referring to fig. 1 and 3, the corrugated pipe 4 is hermetically connected between the front sliding sleeve 20 and the rear sliding sleeve 6, so that muddy water is prevented from entering between the sliding sleeves and the cabin body to block sliding.
Referring to fig. 1 and 3, the bellows 2 is connected between the rear sliding sleeve 6 and the tail of the cabin 7 in a sealing manner, so that muddy water is prevented from entering between the rear sliding sleeve and the cabin to block sliding.
Referring to fig. 3, a counterweight block i 13 and a counterweight block pushing mechanism which reciprocate back and forth are further installed inside the cabin body 7, the counterweight block pushing mechanism is a transmission chain of the chain transmission mechanism i 11, the counterweight block i 13 is installed on the transmission chain, when the front sliding sleeve 20 moves forward, the transmission chain pushes the counterweight block i 13 to the front portion of the cabin body 7, and when the front sliding sleeve 20 moves backward, the transmission chain pushes the counterweight block i 13 to the rear portion of the cabin body 7.
Referring to fig. 6, an auger is mounted on the head of the front slide 20, the auger including a conical auger bit 102 and a motor 101 for driving the bit into rotation.
Referring to fig. 7, the robot of this embodiment uses an external power source to supply power to the robot through a power supply cable 103, the power supply cable 103 is electrically connected to a plug of a watertight electrical connector 104, a socket portion of the watertight electrical connector 104 is fixed to the tail of the cabin 7, an in-cabin cable 105 is electrically connected to a socket of the watertight electrical connector 104, and the power supply cable also serves as a traction mechanism for dragging the robot of the present invention backward.
Fig. 8 to 15 show a second embodiment of the sewage pipeline running dredging robot of the invention, which only differs from the first embodiment in the front sliding sleeve driving device, the rear sliding sleeve driving device, the balancing weight and the traction mechanism.
Referring to fig. 10, 14 and 15, the front sliding sleeve driving device is changed from the rack-and-pinion transmission of the first embodiment to a chain pushing mechanism, which specifically comprises: the mechanism comprises a speed reducer 15 arranged in a cabin body 7, a front driving shaft 14 driven by the speed reducer 15, a chain transmission mechanism IV 36 which is arranged above the cabin body 7 and is driven by the front driving shaft 14 and is positioned between the cabin body 7 and a front sliding sleeve 20, a chain transmission mechanism V37 which is arranged below the cabin body 7 and is driven by the front driving shaft 14 and is positioned between the cabin body 7 and the front sliding sleeve 20, referring to figure 13, a pushing block II 41 is arranged on a chain plate of the chain transmission mechanism IV 36, a block III 42 and a block IV 43 are arranged on the inner upper wall of the front sliding sleeve 20, a transmission chain of the chain transmission mechanism IV 36 is set to rotate clockwise, when the pushing block II 41 moves linearly along with the chain plate above two chain wheels, the pushing block II 41 pushes the block III 42 to move rightwards to drive the front sliding sleeve 20 to move forwards, when the pushing block II 41 moves along with the chain plate around a right chain wheel in an arc, the, when the pushing block II 41 moves linearly on the lower sides of the two chain wheels along with the chain plates around the chain wheels, the pushing block II 41 pushes the stop dog IV 43 to move leftwards to drive the front sliding sleeve 20 to move backwards, when the pushing block II 41 moves circularly along with the chain plates around the left chain wheels, the pushing block II 41 is separated from the stop dog IV 43, the front sliding sleeve 20 is static, when the pushing block II 41 moves linearly on the upper sides of the two chain wheels along with the chain plates around the chain wheels, the pushing block II 41 pushes the stop dog III 42 to move rightwards to drive the front sliding sleeve 20 to move forwards, and accordingly the front sliding sleeve 20 is pushed to reciprocate forwards and; the chain transmission mechanism V37 is arranged below the cabin body 7 and synchronously pushes the front sliding sleeve 20 to reciprocate back and forth in the same way as the chain transmission mechanism IV 36.
Referring to fig. 10, 12 and 13, the rear sliding sleeve driving device is also changed from the rack-and-pinion transmission of the first embodiment to a chain pushing mechanism, and specifically includes: the mechanism comprises a speed reducer 15 arranged in a cabin body 7, a chain transmission mechanism I11 driven by the speed reducer 15, a rear driving shaft 12 driven by the chain transmission mechanism I11, a chain transmission mechanism II 32 located between the cabin body 7 and a rear sliding sleeve 6 and driven by the rear driving shaft 12 above the cabin body 7, a chain transmission mechanism III 33 located between the cabin body 7 and the rear sliding sleeve 6 and driven by the rear driving shaft 12 below the cabin body 7, referring to the figure 11, a push block I38 is arranged on a chain plate of the chain transmission mechanism II 32, a stop block I39 and a stop block II 40 are arranged on the inner upper wall of the rear sliding sleeve 6, when the push block II 41 runs for one circle along with the chain plate of the chain transmission mechanism IV 36, the push block I38 also runs for one circle along with the chain plate of the chain transmission mechanism II 32, the motion direction of the push block I38 is opposite to the motion direction of the push block II 41, the transmission chain of the chain transmission mechanism II 32 is set to rotate clockwise, when, the pushing block I38 pushes the stop block I39 to move leftwards, the rear sliding sleeve 6 is driven to move backwards, when the pushing block I38 moves around a left chain wheel in an arc manner along with a chain plate, the pushing block I38 is separated from the stop block I39, the separated state is shown in figure 12, the rear sliding sleeve 6 is static, when the pushing block I38 moves linearly on the upper sides of the two chain wheels along with the chain plate around the chain wheel, the pushing block I38 pushes the stop block II 40 to move rightwards, the rear sliding sleeve 6 is driven to move forwards, when the pushing block 38 moves around the right chain wheel in an arc manner along with the chain plate, the pushing block I38 is separated from the stop block II 40, the rear sliding sleeve 6 is static, when the pushing block I38 moves linearly on the lower sides of the two chain wheels along with the chain plate around the chain wheel, the pushing block I38 pushes the stop block I39; the chain transmission mechanism III 33 is arranged below the cabin body 7 and synchronously pushes the rear sliding sleeve 6 to reciprocate back and forth in the same way as the chain transmission mechanism II 32.
Referring to fig. 10, the second embodiment of the counterweight block is a counterweight block ii 34 installed on the chain plate of the chain transmission mechanism i 11, the counterweight block ii 34 runs for a circle along with the chain plate of the chain transmission mechanism i 11, the pushing block ii 41 also runs for a circle along with the chain plate of the chain transmission mechanism iv 36, when the front sliding sleeve 20 moves forward, the counterweight block ii 34 moves towards the head of the cabin 7 along with the chain plate of the chain transmission mechanism i 11, and when the front sliding sleeve 20 moves backward, the counterweight block ii 34 moves towards the rear of the cabin 7 along with the chain plate of the chain transmission mechanism i 11.
At the left end of fig. 10, the towing mechanism of this embodiment comprises, in addition to the power supply cables 103, a towing rope 106 mounted at the rear of the cabin 7.
Figure 16 shows a third embodiment of the sewage pipe running dredging robot according to the invention, which differs from the second embodiment only in that the cabin 7 is provided with a battery pack 107 and the power supply cables 103 and watertight electrical connectors 104 are omitted, the robot being powered by the battery pack 107.
Claims (10)
1. The utility model provides a sewage conduit passes desilting robot which characterized in that: the sewage pipeline passing dredging robot comprises a cabin body, a front paddle rowing device, a rear paddle rowing device and a traction mechanism;
the cabin is a watertight cabin;
the front paddle device comprises a front sliding sleeve, a plurality of front paddles and a front sliding sleeve driving mechanism, the front sliding sleeve is slidably sleeved at the middle front part of the cabin body, the front paddles are rotatably arranged at the periphery of the front sliding sleeve, the front sliding sleeve driving mechanism drives the front sliding sleeve to reciprocate back and forth relative to the cabin body, when the front sliding sleeve moves forwards, the front paddles move forwards along with the front sliding sleeve and rotate backwards under the action of muddy water resistance to avoid muddy water resistance, and when the front sliding sleeve moves backwards, the front paddles move backwards along with the front sliding sleeve and move backwards to muddy water;
the rear paddle device comprises a rear sliding sleeve, a plurality of rear paddles and a rear sliding sleeve driving mechanism, the rear sliding sleeve is slidably sleeved at the middle rear part of the cabin body, the rear paddles are rotatably arranged on the periphery of the rear sliding sleeve, the rear sliding sleeve driving mechanism drives the rear sliding sleeve to reciprocate back and forth relative to the cabin body, when the rear sliding sleeve moves forwards, the rear paddles then move forwards and rotate backwards under the action of muddy water resistance to avoid muddy water resistance, and when the rear sliding sleeve moves backwards, the rear paddles then move backwards and drag muddy water backwards;
the movement direction of the front sliding sleeve is opposite to that of the rear sliding sleeve;
the traction mechanism is arranged at the tail part of the cabin body and used for dragging the sewage pipeline backwards to pass through the dredging robot.
2. The sewer pipe passing desilting robot of claim 1, wherein: the head of the front sliding sleeve is provided with an auger.
3. The sewer pipe passing desilting robot of claim 1 or 2, characterized in that: the corrugated pipe is connected between the front sliding sleeve and the rear sliding sleeve in a sealing manner, and the corrugated pipe is connected between the rear sliding sleeve and the tail of the cabin body in a sealing manner.
4. The sewer pipe passing desilting robot of claim 1 or 2, characterized in that: the cabin body can also be internally provided with a balancing weight and a balancing weight pushing mechanism which can reciprocate back and forth, when the front sliding sleeve moves forwards, the balancing weight pushing mechanism pushes the balancing weight to the front part of the cabin body, and when the front sliding sleeve moves backwards, the balancing weight pushing mechanism pushes the balancing weight to the rear part of the cabin body.
5. The sewer pipe passing desilting robot of claim 3, wherein: the cabin body can also be internally provided with a balancing weight and a balancing weight pushing mechanism which can reciprocate back and forth, when the front sliding sleeve moves forwards, the balancing weight pushing mechanism pushes the balancing weight to the front part of the cabin body, and when the front sliding sleeve moves backwards, the balancing weight pushing mechanism pushes the balancing weight to the rear part of the cabin body.
6. The sewer pipe passing desilting robot of claim 4, wherein: the traction mechanism is a power supply cable and a traction rope which are arranged at the tail part of the cabin body.
7. The sewer pipe passing desilting robot of claim 1 or 2, characterized in that: the front sliding sleeve driving mechanism comprises a speed reducer (15) arranged in a cabin body (7) and a front driving shaft (14) driven by the speed reducer (15), two ends of the front driving shaft (14) penetrate through the wall of the cabin body and are sealed with the wall of the cabin body through a sealing ring, a gear III (16) is arranged at the upper end of the front driving shaft (14), a gear IV (18) is arranged at the lower end of the front driving shaft (14), the gear III (16) is meshed with a rack I (17) arranged on the inner wall of the front sliding sleeve (20) to realize gear-rack transmission, and the gear IV (18) is meshed with a rack II (19) arranged on the inner wall of the front sliding sleeve (20) to;
the rear sliding sleeve driving mechanism comprises a speed reducer (15) installed in a cabin body (7), a chain transmission mechanism I (11) driven by the speed reducer (15), a rear driving shaft (12) driven by the chain transmission mechanism I (11), two ends of the rear driving shaft (12) penetrate through the cabin body wall and are sealed with the cabin body wall through sealing rings, a gear II (10) is installed at the upper end of the rear driving shaft (12), a gear I (9) is installed at the lower end of the rear driving shaft (12), the gear II (10) is meshed with a rack III (23) installed on the inner wall of the rear sliding sleeve (6) to realize gear and rack transmission, and the gear I (9) is meshed with a rack IV (24) installed on the inner wall of the rear sliding sleeve (6) to realize.
8. The sewer pipe passing desilting robot of claim 7, wherein: the cabin body (7) is internally provided with a balancing weight I (13) and a balancing weight pushing mechanism which move back and forth, the balancing weight pushing mechanism is a transmission chain of a chain transmission mechanism I (11), the balancing weight I (13) is arranged on the transmission chain, when the front sliding sleeve (20) moves forward, the transmission chain pushes the balancing weight I (13) to the front part of the cabin body (7), and when the front sliding sleeve (20) moves backward, the transmission chain pushes the balancing weight I (13) to the rear part of the cabin body (7).
9. The sewer pipe passing desilting robot of claim 1 or 2, characterized in that: the front sliding sleeve driving device comprises a speed reducer (15) arranged in a cabin body (7), a front driving shaft (14) driven by the speed reducer (15), a chain transmission mechanism IV (36) which is arranged above the cabin body (7) and is driven by the front driving shaft (14) and positioned between the cabin body (7) and the front sliding sleeve (20), a chain transmission mechanism V (37) which is arranged below the cabin body (7) and is driven by the front driving shaft (14) and positioned between the cabin body (7) and the front sliding sleeve (20), a pushing block II (41) is arranged on a chain plate of the chain transmission mechanism IV (36), a block III (42) and a block IV (43) are arranged on the inner upper wall of the front sliding sleeve (20), when the pushing block II (41) moves linearly along with the chain plate above two chain wheels, the pushing block II (41) pushes the block III (42) to move rightwards to drive the front sliding sleeve (20) to move forwards, and when the pushing block II (41), when the pushing block II (41) moves linearly on the lower sides of the two chain wheels along with the chain plates around the chain wheels, the pushing block II (41) pushes the stop block IV (43) to move leftwards to drive the front sliding sleeve (20) to move backwards, when the pushing block II (41) moves circularly along with the chain plates around the left chain wheels, the pushing block II (41) is separated from the stop block IV (43), the front sliding sleeve (20) is static, when the pushing block II (41) moves linearly on the upper sides of the two chain wheels along with the chain plates around the chain wheels, the pushing block II (41) pushes the stop block III (42) to move rightwards to drive the front sliding sleeve (20) to move forwards, and accordingly the front sliding sleeve (20) is pushed to move back and forth; the chain transmission mechanism V (37) is arranged below the cabin body (7) and synchronously pushes the front sliding sleeve (20) to reciprocate back and forth in the same way as the chain transmission mechanism IV (36);
the rear sliding sleeve driving device comprises a speed reducer (15) arranged in a cabin body (7), a chain transmission mechanism I (11) driven by the speed reducer (15), a rear driving shaft (12) driven by the chain transmission mechanism I (11), a chain transmission mechanism II (32) which is positioned above the cabin body (7) and is driven by the rear driving shaft (12) and between the cabin body (7) and the rear sliding sleeve (6), a chain transmission mechanism III (33) which is positioned below the cabin body (7) and is driven by the rear driving shaft (12) and between the cabin body (7) and the rear sliding sleeve (6), a pushing block I (38) is arranged on a chain plate of the chain transmission mechanism II (32), a baffle I (39) and a baffle II (40) are arranged on the inner upper wall of the rear sliding sleeve (6), and when the pushing block II (41) runs for one circle along with the chain plate of the chain transmission mechanism IV (36), the pushing block I (38) also runs for one circle along with the chain plate of the chain transmission, the moving direction of the pushing block I (38) is opposite to the moving direction of the pushing block II (41), a transmission chain of the chain transmission mechanism II (32) is set to rotate clockwise, when the pushing block I (38) moves linearly along chain plates below two chain wheels, the pushing block I (38) pushes the stopper I (39) to move leftwards, the rear sliding sleeve (6) is driven to move backwards, when the pushing block I (38) moves circularly along the chain plates around the left chain wheel, the pushing block I (38) is separated from the stopper I (39), the rear sliding sleeve (6) is static, when the pushing block I (38) moves linearly along the chain plates around the chain wheels at the upper sides of the two chain wheels, the pushing block I (38) pushes the stopper II (40) to move rightwards, the rear sliding sleeve (6) is driven to move forwards, when the pushing block I (38) moves along the chain plates around the right chain wheels, the pushing block I (38) is separated from the stopper II (40), the rear sliding sleeve (6) is static, and when the pushing block I (38) moves linearly along the chain wheels around the, the pushing block I (38) pushes the stop block I (39) to move leftwards to drive the rear sliding sleeve (6) to move backwards, so that the rear sliding sleeve (6) is pushed to reciprocate forwards and backwards; the chain transmission mechanism III (33) is arranged below the cabin body (7) and synchronously pushes the rear sliding sleeve (6) to reciprocate back and forth in the same way as the chain transmission mechanism II (32).
10. The sewer pipe passing desilting robot of claim 9, wherein: the cabin body (7) is internally provided with a balancing weight and a balancing weight pushing mechanism which move back and forth, the balancing weight pushing mechanism is a chain transmission mechanism I (11), the balancing weight is a balancing weight II (34) arranged on a chain plate of the chain transmission mechanism I (11), the balancing weight II (34) moves for a circle along with the chain plate of the chain transmission mechanism I (11), the push block II (41) also moves for a circle along with the chain plate of the chain transmission mechanism IV (36), when the front sliding sleeve (20) moves forwards, the balancing weight II (34) moves towards the head of the cabin body (7) along with the chain plate of the chain transmission mechanism I (11), and when the front sliding sleeve (20) moves backwards, the balancing weight II (34) moves towards the rear part of the cabin body (7) along with the chain plate of the chain transmission mechanism.
Priority Applications (1)
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| CN112780878A (en) * | 2021-01-15 | 2021-05-11 | 中国石油化工股份有限公司西北油田分公司 | Process and device for repairing old pipeline by pipeline lining inserting method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112780878A (en) * | 2021-01-15 | 2021-05-11 | 中国石油化工股份有限公司西北油田分公司 | Process and device for repairing old pipeline by pipeline lining inserting method |
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