CN215053818U

CN215053818U - Cleaning robot for municipal pipelines

Info

Publication number: CN215053818U
Application number: CN202121139989.6U
Authority: CN
Inventors: 李岭旭
Original assignee: Changsha Qingxiao Environmental Protection Technology Co ltd
Current assignee: Changsha Qingxiao Environmental Protection Technology Co ltd
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2021-12-07
Anticipated expiration: 2031-05-26

Abstract

The utility model provides a cleaning robot for municipal pipelines, including crawler-type running gear, a controller, brake valve lever, clearance arm and nozzle or pick or sucking disc, the controller sets up in crawler-type running gear's top, the one end and the crawler-type running gear swing joint of clearance arm, nozzle or pick or sucking disc set up on the other end of clearance arm, be connected through the wire between controller and the brake valve lever, the controller is used for controlling the motion of crawler-type running gear and clearance arm, the nozzle communicates with external water source through the pipeline or the pick communicates with external hydraulic oil source or air supply through the pipeline or the sucking disc communicates with external soil pick truck through the trachea; this cleaning robot can be convenient gets into the municipal administration pipeline, and the washing arm that its was equipped with can realize the deflection of a plurality of angles and direction, great improvement the clearance operating efficiency of pipeline, simultaneously, the front end of washing arm can be equipped with nozzle or pick or sucking disc, realizes washing, broken and the triple function of blowdown.

Description

Cleaning robot for municipal pipelines

Technical Field

The utility model relates to the technical field of robot, specifically be a cleaning robot of municipal administration pipeline.

Background

Along with the development in city, city population density constantly rises, can produce very much rubbish and debris in people's daily life, these rubbish and debris are most likely to be handled through refuse handling system, but have in partial rubbish and the debris entering sewer pipe, cause the jam, and traditional municipal sewer pipe desilting adopts the manual work to draw the manual work to dig or the manual work suction vehicle goes on mostly, and operational environment is abominable, and the space is narrow, if meet emergency and can't in time dodge, endanger constructor's personal safety.

The existing pipeline cleaning equipment has large volume and cannot enter municipal pipelines; on the other hand, the condition in the pipeline can only be detected to current equipment, can't clear up simultaneously, if have stone, cement piece etc. in the pipeline, can only rely on the manual work to get into the clearance, and some equipment is furnished with the accessory that can be used to clearance stone, cement piece at best, but cleaning speed is slower, and the clearance is thorough inadequately, still needs another pipeline detection equipment cooperation to use usually.

SUMMERY OF THE UTILITY MODEL

The above-mentioned problem to prior art exists, the utility model provides a cleaning robot of municipal pipeline, entering municipal pipeline that can be convenient, the deflection of a plurality of angles and direction can be realized to the washing arm that its was equipped with, great improvement the clearance operating efficiency of pipeline, and simultaneously, the front end of washing arm can be equipped with the nozzle that can spray high pressure water or can be equipped with hydraulic power's pickaxe or pneumatic pickaxe or utilize the sucking disc that the negative pressure that external soil pick vehicle produced siphoned away the spot, power is more powerful like this, the cleaning speed is faster, washing has been realized, three kinds of functions of breakage and blowdown.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a cleaning robot of municipal pipeline, includes crawler-type running gear, controller, brake valve lever, clearance arm and nozzle or pick or sucking disc, the controller sets up crawler-type running gear's top, the one end of clearance arm with crawler-type running gear swing joint, nozzle or pick or sucking disc set up on the other end of clearance arm, the controller with connect through the wire between the brake valve lever, the controller is used for control the motion of crawler-type running gear and clearance arm, the nozzle passes through pipeline and external water source intercommunication or be the pick passes through pipeline and external hydraulic oil source or air supply intercommunication or the sucking disc passes through trachea and external soil pick vehicle intercommunication.

In one embodiment, the cleaning arm comprises a first cleaning arm, a second cleaning arm, a third cleaning arm, a fourth cleaning arm, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and a first hydraulic motor, the crawler-type traveling mechanism is provided with a first hinged support, and the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the first hydraulic motor are respectively communicated with an external hydraulic oil source through pipelines and controlled by the controller;

the nozzle or the pickaxe or the sucker is arranged at one end of the first cleaning arm, the other end of the first cleaning arm is rotatably connected with one end of the second cleaning arm through a pin shaft, the other end of the second cleaning arm is rotatably connected with one end of the third cleaning arm through the first hydraulic motor, the other end of the third cleaning arm is rotatably connected with one end of the fourth cleaning arm through a pin shaft, the other end of the fourth cleaning arm is rotatably connected with the first hinged support through a pin shaft, two ends of the first hydraulic cylinder are respectively hinged with the first cleaning arm and the second cleaning arm through pin shafts, two ends of the second hydraulic cylinder are respectively hinged with the third cleaning arm and the fourth cleaning arm through pin shafts, and two ends of the third hydraulic cylinder are respectively hinged with the fourth cleaning arm and the crawler-type travelling mechanism through pin shafts.

In one embodiment, two ends of the first hydraulic cylinder are respectively hinged to the upper side walls of the first cleaning arm and the second cleaning arm, two ends of the second hydraulic cylinder are respectively hinged to the lower side walls of the third cleaning arm and the fourth cleaning arm, a second hinge seat is arranged on the fourth cleaning arm at a position hinged to the third hydraulic cylinder, the second hinge seat is located on the front side or the rear side of the fourth cleaning arm, and two ends of the third hydraulic cylinder are respectively hinged to the second hinge seat and the crawler type travelling mechanism.

In one embodiment, the crawler type traveling mechanism comprises a frame, crawler wheels, a crawler belt and a second hydraulic motor, the controller is arranged above the frame, the first hinged support is arranged at one end of the frame, two ends of the third hydraulic cylinder are respectively hinged with the second hinged support and the frame, the crawler wheels are respectively arranged at two sides of the frame, the crawler belt is respectively sleeved on the crawler wheels on the same side of the frame, the second hydraulic motor is arranged on the frame and used for driving the crawler wheels to rotate, and the second hydraulic motor is controlled by the controller and is communicated with an external hydraulic oil source through a pipeline.

In one embodiment, a camera is arranged on the frame and connected with the controller through a wire.

In one embodiment, the control handle is provided with a display for displaying video information from the camera.

In one embodiment, a camera mounting seat is arranged on the frame, a rotating motor is arranged on the camera mounting seat, a camera mounting bracket is arranged on a spindle of the rotating motor, the spindle of the rotating motor is vertically arranged, the camera is arranged on the camera mounting bracket, and the rotating motor is connected with the controller through a wire.

In one embodiment, waterproof covers are respectively arranged outside the camera and the controller.

Compared with the prior art, the utility model provides a pair of cleaning robot of municipal administration pipeline has following advantage:

1. through the washing arm that sets up a plurality of directions that can deflect and angle, not only make the scope of clearance bigger, also can clear up the position of some angles comparison cunning simultaneously, great improvement the cleaning efficiency of robot, simultaneously, because the utility model discloses a robot's volume is less, conveniently gets into the municipal pipeline, consequently, is particularly suitable for the inside clearance operation of municipal pipeline.

2. The front end of the cleaning arm can be provided with a nozzle capable of spraying high-pressure water, or a pick head capable of spraying hydraulic power, or a pneumatic pick head, or a sucker capable of sucking away dirt through a dirt suction truck, so that the inside sludge of the pipeline can be cleaned, stones or cement blocks in the pipeline can be removed, the dirt generated in the cleaning process can be sucked away and discharged, the cleaning operation of the pipeline is greatly improved, and the pipeline can be completely cleaned without manpower.

3. The power of pick can be according to the timely adoption hydraulic power of operating mode or pneumatics, and crawler-type running gear's power also self-derived simultaneously is from hydraulic power, therefore, the utility model provides a robot is not only powerful, and simultaneously, pick and crawler-type running gear's power all does not adopt the power of higher voltage, only need adopt safe voltage the power control to it can, consequently, can avoid the robot to appear the phenomenon of electrocuteeing in the in-process of work.

4. The camera capable of rotating 360 degrees is arranged to monitor the operation condition in real time, so that the robot is controlled accurately, and the operation efficiency of the robot is effectively improved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Detailed Description

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1, for convenience of description, the "up", "down", "left", "right", "front" and "rear" orientation references in the present invention are based on the orientation shown in fig. 1;

a cleaning robot for municipal pipelines comprises a crawler-type travelling mechanism 1, a controller 2, a control handle, a cleaning arm 3 and a nozzle 4 or a pick or a sucker, wherein the nozzle 4, the pick and the sucker can be switched and used alternatively outside the pipelines, the controller 2 is arranged above the crawler-type travelling mechanism 1, the right end of the cleaning arm 3 is movably connected with the crawler-type travelling mechanism 1, the nozzle 4 or the pick or the sucker is arranged at the left end of the cleaning arm 3, the controller 2 is connected with the control handle through a lead, the controller 2 is used for controlling the travelling of the crawler-type travelling mechanism 1 and the deflection action of the cleaning arm 3, the nozzle 4 is communicated with a high-pressure water source provided by an external water pump through a pipeline, and dirt inside the pipelines is washed by the high-pressure water source; or the pick is arranged at the left end of the cleaning arm and is driven to work by a high-pressure hydraulic oil source provided by a pipeline and an external oil pump or a high-pressure air source provided by an air pump so as to break stones or cement blocks in the pipeline; or the suction cup is communicated with an external sewage suction truck through an air pipe, and the suction force generated by the sewage suction truck is utilized to suck away the dirt or the crushed stone generated in the cleaning process and discharge the dirt or the crushed stone out of the pipeline.

In this embodiment, the cleaning arm 3 includes a first cleaning arm 31, a second cleaning arm 32, a third cleaning arm 33, a fourth cleaning arm 34, a first hydraulic cylinder 35, a second hydraulic cylinder 36, a third hydraulic cylinder 37 and a first hydraulic motor 38, the crawler travel mechanism 1 is provided with a first hinge base 5, the first hydraulic cylinder 35, the second hydraulic cylinder 36, the third hydraulic cylinder 37 and the first hydraulic motor 38 are respectively communicated with a high-pressure hydraulic oil source provided by an external oil pump through pipelines, the controller 2 is controlled, and the corresponding control handle can conveniently control the first hydraulic cylinder 35, the second hydraulic cylinder 36, the third hydraulic cylinder 37 and the first hydraulic motor 38 through the controller 2 so as to drive the first cleaning arm 31, the second cleaning arm 32, the third cleaning arm 33 and the fourth cleaning arm 34 to swing and rotate, so that the cleaning operation of all angles and directions in the pipeline is realized;

the nozzle 4 or the pickaxe or the sucker is arranged at the left end of the first cleaning arm 31, the right end of the first cleaning arm 31 is rotatably connected with the left end of the second cleaning arm 32 through a pin shaft, the right end of the second cleaning arm 32 is rotatably connected with the left end of the third cleaning arm 33 through a first hydraulic motor 38, thus, the second cleaning arm 32 is driven by the first hydraulic motor 38 to rotate relative to the third cleaning arm 33, the right end of the third cleaning arm 33 is rotatably connected with the left end of the fourth cleaning arm 34 through a pin shaft, the right end of the fourth cleaning arm 34 is rotatably connected with the first hinged support 5 through a pin shaft, two ends of the first hydraulic cylinder 35 are respectively hinged with the first cleaning arm 31 and the second cleaning arm 32 through pin shafts, two ends of the second hydraulic cylinder 36 are respectively hinged with the third cleaning arm 33 and the fourth cleaning arm 34 through pin shafts, and two ends of the third hydraulic cylinder 37 are respectively hinged with the fourth cleaning arm 34 and the crawler-type traveling mechanism 1 through pin shafts;

preferably, both ends of the first hydraulic cylinder 35 are hinged with the upper side walls of the first cleaning arm 31 and the second cleaning arm 32 respectively, so that the first cleaning arm 31 can swing up and down relative to the second cleaning arm 32 under the driving of the telescopic action of the first hydraulic cylinder 35, both ends of the second hydraulic cylinder 36 are hinged with the lower side walls of the third cleaning arm 33 and the fourth cleaning arm 34 respectively, so that the third cleaning arm 33 can swing up and down relative to the fourth cleaning arm 34 under the driving of the telescopic action of the second hydraulic cylinder 36, a second hinge base 6 is arranged on the fourth cleaning arm 34 at the position hinged with the third hydraulic cylinder 37, the second hinge base 6 is arranged on the front side or the rear side of the fourth cleaning arm 34, both ends of the third hydraulic cylinder 37 are hinged with the second hinge base 6 and the crawler-type traveling mechanism 1 respectively, so that the fourth cleaning arm 34 can swing back and forth relative to the crawler-type traveling mechanism 1 under the driving of the telescopic action of the third hydraulic cylinder 37, consequently, whole wash arm 3 can realize the action of deflecting of a plurality of directions and angle, not only makes the utility model provides a robot's clearance scope is bigger, also can clear up some angles simultaneously and more the position of cunning, great improvement the cleaning efficiency of robot.

In this embodiment, the crawler type traveling mechanism 1 includes a frame, crawler wheels 7, a crawler 8 and a second hydraulic motor, the controller 2 is disposed above the frame, the first hinged support 5 is disposed at the left end of the frame, two ends of the third hydraulic cylinder 37 are respectively hinged to the second hinged support 6 and the frame, the crawler wheels 7 are respectively disposed at two sides of the frame, the crawler 8 is respectively sleeved on the crawler wheels 7 located at the same side of the frame, the second hydraulic motor is disposed on the frame, the second hydraulic motor is used for driving the crawler wheels 7 to rotate and further driving the whole robot to move back and forth, the second hydraulic motor is controlled by the controller 2 and is communicated with a high-pressure hydraulic oil source provided by an external oil pump through a pipeline, a corresponding control handle can conveniently control the rotation of the second hydraulic motor through the controller 2, and the whole robot moves through the crawler type traveling mechanism 1, the power supply of crawler-type running gear 1 is external high-pressure hydraulic pressure oil source simultaneously, consequently, the utility model provides a moving power of robot is powerful, and trafficability characteristic is strong, simultaneously because do not adopt the higher electric motor of pressure as the power supply, only need adopt safe voltage to control as the control power supply can realize controlling the removal action of robot, consequently, the electric leakage phenomenon that has ponding or moist appearance in the pipeline can not appear because of having, and the security has obtained great improvement.

In the embodiment, the camera 9 is arranged on the frame of the crawler type travelling mechanism 1, the camera 9 is connected with the controller 2 through a wire, and the control handle is provided with a display screen for displaying video information from the camera 9, so that the condition inside the pipeline can be conveniently observed through the display screen on the control handle electrically connected with the controller 2, the pipeline does not need to be manually entered for cleaning, and meanwhile, due to the existence of the camera, accurate video information can be provided for operators so as to facilitate the operators to accurately control the robot;

preferably, be provided with camera mount pad 10 on crawler-type running gear 1's the frame, be provided with rotating electrical machines 11 on camera mount pad 10, be provided with the camera installing support on rotating electrical machines 11's the main shaft, and the vertical setting of rotating electrical machines 11's main shaft, camera 9 sets up on the camera installing support, rotating electrical machines 11 passes through the wire and is connected with controller 2, control handle through with 2 electric connection of controller can realize controlling rotating electrical machines 11's rotational motion like this, the camera operation of 360 degrees rotations of camera 9 has been realized, the operator just can be random observation robot all around circumstances through the display screen on the control handle, make things convenient for the inside whole circumstances of operating personnel control pipeline.

Preferably, in order to prevent the camera 9 and the controller 2 from being wetted by moisture inside the pipeline and causing malfunction, waterproof covers are respectively arranged outside the camera 9 and the controller 2 to effectively protect the same.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a cleaning robot of municipal pipeline, its characterized in that, includes crawler-type running gear, controller, brake valve lever, clearance arm and nozzle or pick or sucking disc, the controller sets up crawler-type running gear's top, the one end of clearance arm with crawler-type running gear swing joint, nozzle or pick or sucking disc set up on the other end of clearance arm, the controller with connect through the wire between the brake valve lever, the controller is used for control the motion of crawler-type running gear and clearance arm, the nozzle passes through pipeline and external water source intercommunication, or the pick passes through pipeline and external hydraulic oil source or air supply intercommunication, or the sucking disc passes through trachea and external soil pick up car intercommunication.

2. The cleaning robot for the municipal pipeline according to claim 1, wherein the cleaning arm comprises a first cleaning arm, a second cleaning arm, a third cleaning arm, a fourth cleaning arm, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and a first hydraulic motor, the crawler-type traveling mechanism is provided with a first hinged support, and the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the first hydraulic motor are respectively communicated with an external hydraulic oil source through pipelines and are controlled by the controller;

3. The cleaning robot for the municipal pipeline according to claim 2, wherein two ends of the first hydraulic cylinder are hinged to the upper side walls of the first cleaning arm and the second cleaning arm respectively, two ends of the second hydraulic cylinder are hinged to the lower side walls of the third cleaning arm and the fourth cleaning arm respectively, a second hinge seat is arranged on the fourth cleaning arm at a position hinged to the third hydraulic cylinder, the second hinge seat is located on the front side or the rear side of the fourth cleaning arm, and two ends of the third hydraulic cylinder are hinged to the second hinge seat and the crawler-type traveling mechanism respectively.

4. The municipal pipeline cleaning robot according to claim 3, wherein the crawler-type traveling mechanism comprises a frame, crawler wheels, a crawler belt and a second hydraulic motor, the controller is arranged above the frame, the first hinged support is arranged at one end of the frame, two ends of the third hydraulic cylinder are respectively hinged to the second hinged support and the frame, the crawler wheels are respectively arranged at two sides of the frame, the crawler belt is respectively sleeved on the plurality of crawler wheels on the same side of the frame, the second hydraulic motor is arranged on the frame, the second hydraulic motor is used for driving the crawler wheels to rotate, and the second hydraulic motor is controlled by the controller and is communicated with an external hydraulic oil source through a pipeline.

5. A cleaning robot for municipal pipes according to claim 4, characterized in that a camera is arranged on the frame and connected to the controller via a wire.

6. A cleaning robot for municipal pipes according to claim 5, characterized in that the control handle is provided with a display for displaying video information from the camera.

7. The cleaning robot for the municipal pipeline according to claim 5, wherein a camera mounting seat is arranged on the frame, a rotating motor is arranged on the camera mounting seat, a camera mounting bracket is arranged on a main shaft of the rotating motor, the main shaft of the rotating motor is vertically arranged, the camera is arranged on the camera mounting bracket, and the rotating motor is connected with the controller through a wire.

8. A cleaning robot for municipal pipes according to claim 5, characterized in that waterproof covers are respectively arranged outside the camera and the controller.