CN212597681U

CN212597681U - In-pipe dredging robot

Info

Publication number: CN212597681U
Application number: CN202021784657.9U
Authority: CN
Inventors: 阚景隆; 曾卓; 智效龙
Original assignee: Zhongji Hengtong Environmental Technology Co ltd
Current assignee: Zhongji Hengtong Environmental Technology Co ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2021-02-26
Anticipated expiration: 2030-08-24

Abstract

The utility model discloses an in-pipe dredging robot, which comprises a main body, a crawling device and a stirring device, wherein the crawling device comprises a driving unit and a crawling track, the driving unit is fixed on the crawling track, the crawling track is rotatably connected to two sides of the main body, and the rotating angle of the crawling track can be adjusted to be attached to the pipe wall; the stirring device comprises a telescopic rod, a swinging mechanism and a hobbing mechanism, the swinging mechanism is rotatably connected to the main machine body and the hobbing mechanism, and the telescopic rod is connected to the main machine body and the swinging mechanism. The utility model discloses an intraductal desilting robot rotationally connects in the main fuselage through the track of crawling that sets up, makes the adjustable turned angle of the track of crawling, combines the telescopic link to drive the swing mechanism luffing motion in order to adjust the angle of gear hobbing mechanism in the pipeline, adapts to the pipeline of various internal diameters, has improved the application scope of robot, and adjustable turned angle's the track of crawling can make its bigger with pipeline internal face area of contact, can not damage the pipeline.

Description

In-pipe dredging robot

Technical Field

The utility model relates to a pipeline cleaning equipment technical field especially relates to an intraductal desilting robot.

Background

When the pipeline is used for conveying materials or wastes, blockage inevitably occurs. Although the early manual dredging can treat more complicated blockage conditions, the sanitary conditions of workers are worried, the visual field environment of the pipeline is not easy to directly reach or allow people to directly enter, and the cleaning difficulty is very high.

In order to solve the above problems, a dredging apparatus has been developed to replace the manual dredging work. The existing dredging device is suitable for pipelines with the diameter of more than 1800mm, and for the pipelines with the diameter of less than 1800mm, the dredging device cannot enter the pipelines for treatment due to overlarge volume; and the existing dredging device is easy to cause the damage of the inner wall of the pipeline due to the defects of simple structure, stiffness and the like.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, an embodiment of the utility model provides a expect to provide a structure is nimble, be suitable for the pipeline of various diameters and do not damage the intraductal desilting robot of pipeline inner wall.

The technical scheme of the utility model is realized like this:

an intraductal desilting robot, including the main body, connect to crawl device and agitating unit on the said main body, the said crawl device includes drive unit and crawl track, the said drive unit is fixed to the said crawl track in order to drive the said crawl track to move, the said crawl track rotates and connects to both sides of the said main body, the angle of rotation of the said crawl track is adjustable in order to laminate with pipe wall; agitating unit includes telescopic link, swing mechanism and gear hobbing mechanism, swing mechanism's both ends rotate respectively connect in the host computer body with gear hobbing mechanism, the one end of telescopic link is fixed in on one's body, the other end connect in swing mechanism is with the drive swing mechanism motion.

Preferably, the swing mechanism comprises two connecting rods, two ends of the connecting rods are rotatably connected to the main machine body and the hobbing mechanism, the two connecting rods are arranged in parallel at intervals, and the telescopic rod is connected to one of the connecting rods.

Preferably, the telescopic rod is a hydraulic cylinder.

Preferably, the rolling direction of the gear hobbing mechanism is tangent to the advancing direction of the dredging robot in the pipe.

Preferably, the gear hobbing mechanism comprises a fixed frame, and a driving assembly and gear hobbing arranged in the fixed frame, wherein the driving assembly drives the gear hobbing to roll.

Preferably, the fan blades of the hobbing are arc-shaped.

Preferably, the driving assembly comprises a driving hydraulic motor and a spur gear system speed reducer driven by the driving hydraulic motor, and the spur gear system speed reducer is connected with the hobbing to drive the hobbing to roll.

Preferably, the driving unit comprises a hydraulic motor and a worm and gear reduction box, a worm of the worm and gear reduction box is connected with the hydraulic motor, the hydraulic motor drives the worm to rotate so as to drive a worm wheel meshed with the worm to rotate, and the worm wheel is connected with the crawling track so as to drive the crawling track to move.

Preferably, the crawling track is connected to the main body through a connecting support, one end of the connecting support is rotatably connected to the main body, the other end of the connecting support is fixedly connected to the crawling track, and two ends of a transmission hydraulic cylinder are respectively connected with the main body and the connecting support and used for driving the connecting support to rotate so as to drive the crawling track to rotate at different angles;

wherein, linking bridge is the L type, and fixed connection in the bottom of track of crawling.

Preferably, still including locating supplementary rolling device on the main fuselage, supplementary rolling device is including locating the locating rack at main fuselage top, locating take the gyro wheel support directly over the locating rack, rotate connect in the locating rack with take the double link of gyro wheel support and be fixed in on the main fuselage with double link rotates to be connected and is used for the drive double link wobbling promotes the pneumatic cylinder.

The embodiment of the utility model provides an intraductal desilting robot rotationally connects in the main fuselage through the track of crawling that sets up, makes the adjustable turned angle of track of crawling adapts to the pipeline that adapts to various internal diameters to combine the telescopic link to drive the swing mechanism luffing motion in order to adjust the angle of hobbing mechanism in the pipeline, adapt to the pipeline of various internal diameters, the application scope of robot has been improved effectively, but also adjustable turned angle's the track of crawling can make its bigger with pipeline internal face area of contact, when crawling, the stress dispersion that the pipeline received distributes, can not damage the pipeline, thereby the pipeline has been protected effectively.

Drawings

FIG. 1 is a perspective view of an in-pipe dredging robot provided by the present invention;

FIG. 2 is a schematic structural diagram of the dredging robot in the pipe shown in FIG. 1 in a circular pipe;

FIG. 3 is a perspective view of another angle of the in-pipe desilting robot shown in FIG. 1;

fig. 4 is a bottom structure view of the in-pipe dredging robot shown in fig. 1.

Detailed Description

In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the following description will be made in conjunction with the accompanying drawings in embodiments of the present invention to describe the technical solutions in the embodiments of the present invention clearly and completely, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Please refer to fig. 1 and fig. 2 in combination, wherein fig. 1 is a perspective view of an in-pipe dredging robot provided by the present invention; fig. 2 is a schematic structural diagram of the dredging robot in the pipe shown in fig. 1 in the circular pipe. The in-pipe dredging robot comprises a main machine body 1, and a crawling device 3 and a stirring device 5 which are connected to the main machine body 1. The crawling device 3 is used for crawling in the pipeline, and the stirring device 5 is used for stirring and smashing sludge and sundries in the pipeline to dredge the pipeline 10.

The main body 1 is internally provided with a control circuit board which is communicated with external equipment, and the control circuit board is respectively connected with the crawling device 3 and the stirring device 5 and is used for controlling the crawling device and the stirring device to act.

Please refer to fig. 3, which is a perspective view of the pipe dredging robot shown in fig. 1. The crawler 3 includes a driving unit 31 and a crawler belt 33, and the driving unit 31 is fixed to the crawler belt 33 to drive the crawler belt 33 to move. The driving unit 31 comprises a hydraulic motor 311 and a worm and gear reduction box 313, a worm 317 of the worm and gear reduction box 313 is connected with the hydraulic motor 311, the hydraulic motor 311 drives the worm to rotate so as to drive a worm wheel 315 meshed with the worm 317 to rotate, the worm wheel 315 is connected with the crawling crawler 33 so as to drive a meshing gear arranged in the crawling crawler 33 to rotate, and the crawler of the crawling crawler 33 is meshed with the internal gear so as to realize crawling of the crawling crawler 33. Come through hydraulic motor worm gear reducing gear box 313 moves, and rethread worm gear reducing gear box 313 drives the mode that crawl 33 moved can effectually reduce whole desilting robot's width to can adapt to the pipeline desilting of less internal diameter, and the track of the desilting device among the prior art passes through support lug connection on the fuselage, and its width is big, can't move in the pipeline that the diameter is little.

Please refer to fig. 2 and fig. 4 in combination, wherein fig. 4 is a schematic bottom structure diagram of the pipe dredging robot shown in fig. 1. The crawling track 33 is rotatably connected to two sides of the main body 1, and the rotation angle of the crawling track 33 is adjustable to be attached to the pipe wall. Wherein, crawl track 33 pass through linking bridge 35 connect in on the main fuselage 1, the one end of linking bridge 35 rotate connect in main fuselage 1, other end fixed connection in crawl track 33, the both ends of transmission hydraulic cylinder 37 respectively with main fuselage 1 with linking bridge 35 is connected and is used for the drive linking bridge 35 rotates in order to drive crawl track 33 rotates the angle of various differences, changes the extension scope of whole robot through the adjustable of angle, like this, rotatory various angles crawl track 33 can be adjusted to and laminate the pipeline that adapts to various internal diameters completely with the pipeline inner wall, thereby makes crawl track 33 is bigger with pipeline internal face area of contact, and during crawling, the stress dispersion that the pipeline received distributes, just so can not damage the pipeline, thereby has protected the pipeline effectively.

Specifically, in this embodiment, the connecting bracket 35 is L-shaped and is fixedly connected to the bottom of the crawler belt 33.

Specifically, in this embodiment, the crawling track 33 forms an acute angle with the horizontal plane. Wherein the included angle is 30-45 degrees. Specifically, the size of the inner diameter of the pipeline can be adjusted.

As shown in fig. 1, the stirring device 5 includes a telescopic rod 51, a swinging mechanism 53 and a hobbing mechanism 55, two ends of the swinging mechanism 53 are respectively rotatably connected to the main body 1 and the hobbing mechanism 55, one end of the telescopic rod 51 is fixed on the main body 1, and the other end is connected to the swinging mechanism 53 to drive the swinging mechanism 53 to move.

The swing mechanism 53 includes two parallel connecting rods 531 rotatably connected to the main body 1 and the hobbing mechanism 55, and the telescopic rod 51 is connected to one of the connecting rods 531. Two connecting rod 531 rotate connect in main fuselage 1 with form four-bar linkage on the gear hobbing mechanism 55, telescopic link 51 promotes one of them connecting rod 531 motion realizes four-bar linkage's luffing motion, thereby has avoided effectively the contact of gear hobbing 555 and pipeline, and then has avoided gear hobbing 555 damages the pipeline at the in-process of stirring mud, like this, has successfully protected the pipeline, also can realize the purpose of mediation with the mud stirring.

Specifically, in this embodiment, the telescopic rod 51 is a hydraulic cylinder.

The rolling direction of the gear hobbing mechanism 55 is tangent to the advancing direction of the dredging robot in the pipe. The gear hobbing mechanism 55 comprises a fixed frame 551, and a driving assembly 553 and a gear hobbing 555 which are arranged in the fixed frame 551, wherein the driving assembly 553 drives the gear hobbing 555 to roll.

As shown in fig. 3, the driving assembly 553 includes a driving hydraulic motor 557, a spur gear reducer 559 driven by the driving hydraulic motor 557, and the spur gear reducer 559 is connected to the roller gear 555 to drive the roller gear 555 to roll. Specifically, in this embodiment, the fan blades 556 of the gear hobbing 555 are arc-shaped. Arc lines of the arc-shaped fan blades 556 protrude towards the advancing direction, the rolling direction of the hobbing 555 is tangent to the advancing direction of the dredging robot in the pipe in the reverse direction, and the hobbing 555 advances along the arc direction of the pipe to form a rolling cutting mode to stir sludge, so that damage to the pipe is effectively reduced. And the hobbing among the prior art is perpendicular to the mud mutually, stirs through the mode of boring into mud, can make like this at the in-process of desilting because the rotatory centrifugal force that produces of hobbing leads to driving the rotatory pump of hobbing to absorb muddy water and break down, and then leads to desilting work efficiency low, and the stirring mode of boring into mud perpendicularly in addition contacts with the pipeline wall easily and damages the pipeline, makes the maintenance more difficult.

As shown in fig. 1, in another embodiment, the circular tube dredging robot further includes an auxiliary rolling device 7 disposed on the main body 1, wherein the auxiliary rolling device 7 includes a positioning frame 71 disposed on the top of the main body 1, a bracket 73 with a roller disposed directly above the positioning frame 71, a dual-link 75 rotatably connected to the positioning frame 71 and the bracket 73 with a roller, and a pushing hydraulic cylinder 77 fixed on the main body 1 and rotatably connected to the dual-link 75 for driving the dual-link 75 to swing. In the advancing process of the crawling crawler 33, the auxiliary rolling device 7 can assist the crawler to crawl, so that the crawling capacity of the circular tube dredging robot is improved, the crawling power is reduced, and the crawling process of the whole robot is easier. The double connecting rods 75, the positioning frame 71 and the belt roller bracket 73 form a four-bar mechanism, and the telescopic range of the belt roller bracket 73 can be adjusted to adapt to pipelines with different inner diameters.

The embodiment of the utility model provides an intraductal desilting robot rotationally connects in the main fuselage through the crawler of crawling that sets up, makes the adjustable turned angle of crawling adapts to the pipeline that adapts to various internal diameters to combine the telescopic link to drive the swing mechanism luffing motion in order to adjust the angle of hobbing mechanism in the pipeline, adapt to the pipeline of various internal diameters, the extension scope of whole robot is changed in the adjustable of angle, the application scope of robot has been improved effectively, but also adjustable turned angle's crawler of crawling can make it bigger with pipeline internal face area of contact, when crawling, the stress dispersion that the pipeline received distributes, can not damage the pipeline, thereby the pipeline has been protected effectively.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The in-pipe dredging robot is characterized by comprising a main body, a crawling device and a stirring device, wherein the crawling device and the stirring device are connected to the main body; agitating unit includes telescopic link, swing mechanism and gear hobbing mechanism, swing mechanism's both ends rotate respectively connect in the host computer body with gear hobbing mechanism, the one end of telescopic link is fixed in on one's body, the other end connect in swing mechanism is with the drive swing mechanism motion.

2. The robot for removing sludge from inside of pipe as claimed in claim 1, wherein said swing mechanism comprises two parallel and spaced connecting rods with both ends rotatably connected to said main body and said hobbing mechanism, and said telescopic rod is connected to one of said connecting rods.

3. The in-pipe dredging robot of claim 1, wherein the telescoping rod is a hydraulic cylinder.

4. The in-pipe dredging robot of claim 1, wherein the rolling direction of the hobbing mechanism is tangential to the advancing direction of the in-pipe dredging robot.

5. The in-pipe dredging robot of claim 1, wherein the gear hobbing mechanism comprises a fixed frame, and a driving component and gear hobbing which are arranged in the fixed frame, and the driving component drives the gear hobbing to roll.

6. The robot for removing sludge from inside pipe of claim 5, wherein the fan blade of said hobbing is arc-shaped.

7. The in-pipe dredging robot of claim 5, wherein the driving assembly comprises a driving hydraulic motor, a spur gear train reducer driven by the driving hydraulic motor, and the spur gear train reducer is connected with the hobbing gears to drive the hobbing gears to roll.

8. The in-pipe dredging robot of claim 1, wherein the driving unit comprises a hydraulic motor and a worm gear reduction box, a worm of the worm gear reduction box is connected with the hydraulic motor, the hydraulic motor drives the worm to rotate so as to drive a worm wheel meshed with the worm to rotate, and the worm wheel is connected with the crawling track so as to drive the crawling track to move.

9. The in-pipe dredging robot of claim 1, wherein the crawling track is connected to the main body through a connecting bracket, one end of the connecting bracket is rotatably connected to the main body, the other end of the connecting bracket is fixedly connected to the crawling track, and two ends of a transmission hydraulic cylinder are respectively connected to the main body and the connecting bracket for driving the connecting bracket to rotate so as to drive the crawling track to rotate at different angles;

10. The robot for removing sludge in pipe according to any one of claims 1 to 9, further comprising an auxiliary rolling device arranged on the main body, wherein the auxiliary rolling device comprises a positioning frame arranged on the top of the main body, a bracket with a roller arranged right above the positioning frame, a double connecting rod rotatably connected to the positioning frame and the bracket with the roller, and a pushing hydraulic cylinder fixed on the main body and rotatably connected with the double connecting rod for driving the double connecting rod to swing.