CN216007241U - Pipeline cleaning robot with optimized space size - Google Patents

Pipeline cleaning robot with optimized space size Download PDF

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Publication number
CN216007241U
CN216007241U CN202122158457.3U CN202122158457U CN216007241U CN 216007241 U CN216007241 U CN 216007241U CN 202122158457 U CN202122158457 U CN 202122158457U CN 216007241 U CN216007241 U CN 216007241U
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crushing
walking
module
servo motor
reduction gearbox
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CN202122158457.3U
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Chinese (zh)
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付西光
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Shanghai Jungong Intelligent Technology Co ltd
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Shanghai Jungong Intelligent Technology Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C21/00—Disintegrating plant with or without drying of the material
    • B02C21/02—Transportable disintegrating plant
    • B02C21/026—Transportable disintegrating plant self-propelled
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • E03F9/002—Cleaning sewer pipes by mechanical means
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
    • E03F9/007—Devices providing a flushing surge

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Food Science & Technology (AREA)
  • Disintegrating Or Milling (AREA)
  • Manipulator (AREA)

Abstract

A pipeline cleaning robot with optimized space dimension comprises a robot main body, a traveling mechanism, a crushing mechanism and a servo system, wherein the traveling mechanism is arranged below the robot main body and comprises a left traveling mechanism and a right traveling mechanism; the crushing mechanism is arranged at the front end of the robot main body and comprises a left crushing module and a right crushing module; wherein, the servo system provides the walking power and the crushing power for the walking mechanism and the crushing mechanism respectively. The application provides a pipeline cleaning robot of space dimension optimization, through the servo with current rubbing crusher mechanism servo, running gear servo reform transform into a servo, under the same condition, can reduce its whole length. The method is mainly applied to the environment of underground pipelines with limited environment.

Description

Pipeline cleaning robot with optimized space size
Technical Field
The utility model relates to a drainage pipe cleaning robot, concretely relates to pipeline cleaning robot of space dimension optimization.
Background
Urban drainage pipelines are urban 'blood vessels', bear the important task of collecting and conveying urban sewage and rainwater, and are important components of urban water environments. At present, the traditional cleaning method for the drainage pipeline mainly adopts manpower as main part, and the garbage at the inspection well mouth is periodically and manually fished, so that the following serious problems are caused due to the fact that the cleaning is not in place: 1) the clogging inside the drainage pipeline is serious, and the drainage function is reduced; 2) the aging and leakage of the drainage pipeline are frequent, and the service life is far lower than the design life; 3) under some special conditions, the divers enter the drainage pipeline to clean the interior of the drainage pipeline, the efficiency is low, and safety accidents occur frequently.
With the development of science and technology, the pipeline cleaning robot is adopted to enter a drainage pipeline for cleaning, and the development direction is the main development direction. Fig. 1 is a schematic diagram of a framework of a pipe cleaning robot, generally including: 1 '-robot main part, 2' -crushing mechanism, running gear, wherein crushing mechanism includes: the crushing mechanism comprises a 21 ' -crushing mechanism servo system, a 22 ' -left crushing module and a 23 ' -right crushing module, wherein the left crushing module and the right crushing module are arranged at the front end of the crushing mechanism servo system side by side and provide crushing power for the left crushing module and the right crushing module, and the left crushing module and the right crushing module generally adopt a roller structure; the running gear includes: 31 ' -left running gear, 32 ' -right running gear, 33 ' -running gear servo system, the left running gear, right running gear obtain the walking power through the running gear servo system that sets up on the main part of the robot. The walking mechanism is arranged below the robot main body, the whole robot moves in the drainage pipeline by the walking mechanism, and the crushing module is arranged at the front end of the robot main body and is used for crushing various dirt and blockages in the drainage pipeline during moving.
The pipeline cleaning robot enters a drainage pipeline for operation and can enter an underground horizontal pipeline only through a ground inspection well shaft. The inspection well mouth on the ground, especially some small-diameter pipelines, have smaller diameters, but the existing pipeline cleaning robot has various structures, and the final overall length is usually longer according to the current industrial manufacturing level, so that the robot can not enter some small-diameter drainage pipelines to operate, or the robot is limited by various spaces during operation in the drainage pipelines, and the cleaning process is seriously influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the prior art, the application provides a pipeline cleaning robot with optimized space size, and the whole length of the pipeline cleaning robot can be reduced under the same condition.
In order to realize the technical effect, the utility model discloses a concrete technical scheme as follows:
a pipeline cleaning robot with optimized space dimension comprises a robot main body, a traveling mechanism, a crushing mechanism and a servo system, wherein the traveling mechanism is arranged below the robot main body and comprises a left traveling mechanism and a right traveling mechanism; the crushing mechanism is arranged at the front end of the robot main body and comprises a left crushing module and a right crushing module; wherein, the servo system provides the walking power and the crushing power for the walking mechanism and the crushing mechanism respectively.
Furthermore, the servo system is one set or two sets of servo motor mechanisms.
Furthermore, the servo system is a set of servo motor mechanism and comprises a servo motor, a drive control module and a reduction gearbox, the servo motor and the drive control module are connected with the reduction gearbox, an output shaft of the reduction gearbox provides walking power for the walking mechanism through a walking transmission mechanism, and meanwhile crushing power is provided for the crushing mechanism through a crushing transmission mechanism.
Furthermore, the servo system is two sets of servo motor mechanisms and comprises a left servo motor and drive control module, a left reduction gearbox, a right servo motor and drive control module and a right reduction gearbox, wherein the left servo motor and drive control module are connected with the left reduction gearbox, the right servo motor and drive control module are connected with the right reduction gearbox, an output shaft of the left reduction gearbox provides walking power for the left walking mechanism through a left walking transmission mechanism, and meanwhile provides crushing power for the left crushing module through a left crushing transmission mechanism; the output shaft of the right reduction gearbox provides walking power to the right walking mechanism through the right walking transmission mechanism, and provides crushing power to the right crushing module through the right crushing transmission mechanism.
Furthermore, the high-pressure water cleaning device further comprises a high-pressure water cleaning module, wherein the high-pressure water cleaning module comprises a high-pressure water spray head arranged on the outer side surface of the crushing mechanism, and the high-pressure water spray head is connected with a high-pressure water pipe.
Further, still include the vacuum adsorption module, the vacuum adsorption module is including setting up in the vacuum adsorption input port of robot main part rear end, and this vacuum adsorption input port one end and soil pick-up pipe intercommunication, the other end pass the robot main part and extend to in the rubbing crusher constructs. The mud-water mixture crushed by the crushing mechanism can be directly sucked into the sewage suction pipe through the vacuum adsorption input port.
Further, the sewage treatment device also comprises a ground cleaning system, and the ground cleaning system is connected with the high-pressure water pipe and the sewage suction pipe.
According to the technical scheme, the pipeline cleaning robot provided by the application is characterized in that the existing crushing mechanism servo system and the existing walking mechanism servo system are transformed into only one servo system, the one servo system provides walking power and crushing power for the walking mechanism and the crushing mechanism respectively, the original crushing mechanism servo system is omitted, the overall length of the pipeline cleaning robot can be reduced under the same condition, and the overall length of the pipeline cleaning robot can be shortened by more than 40% after the pipeline cleaning robot is improved by the company.
Drawings
The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.
FIG. 1 is a schematic diagram of a prior art frame;
FIG. 2 is an overall view of the present invention;
FIG. 3 is a schematic diagram of a frame of the present invention;
fig. 4 is a schematic view of another embodiment of the present invention;
FIG. 5 is a schematic view of the present invention;
wherein, 1', a robot main body; 2', a crushing mechanism; 21', a grinding mechanism servo system; 22', a left crushing module; 23', a right crushing module; 31', a left travelling mechanism; 32', a right travel mechanism; 33', a traveling mechanism servo system; 1. a robot main body; 2. a traveling mechanism; 21. a left travel mechanism; 211. a left front wheel; 212. a left rear wheel; 22. a right travel mechanism; 221. a right front wheel; 222. a right rear wheel; 3. a crushing mechanism; 31. a left crushing module; 32. a right crushing module; 4. a servo system; 41a, a servo motor and a drive control module; 42a, a reduction gearbox; 43a, a walking transmission mechanism; 44a, a crushing transmission mechanism; 41b, a left servo motor and a drive control module; 42b, a left reduction box; 43b, a left walking transmission mechanism; 44b, a left crushing transmission mechanism; 41c, a right servo motor and a drive control module; 42c, a right reduction gearbox; 43c, a right travel transmission mechanism; 44c, a right crushing transmission mechanism; 5. a high pressure water jet; 6. a high pressure water pipe; 7. a vacuum adsorption input port; 8. a floor cleaning system; 9. an inspection well mouth; 10. an underground pipeline.
Detailed Description
In order to make the objects, technical solutions and advantages of the present embodiments more clear, the technical solutions in the present embodiments will be described clearly and completely below with reference to the accompanying drawings in the present embodiments, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.
In the description of the present invention, it should be understood that the terms "left", "right", "front", "up-down", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; 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.
Example one
Referring to fig. 2 and 3, the pipeline cleaning robot with optimized space dimension comprises a robot main body 1, a traveling mechanism 2, a crushing mechanism 3 and a servo system 4, wherein the traveling mechanism 2 is arranged below the robot main body 1 and comprises a left traveling mechanism 21 and a right traveling mechanism 22; the crushing mechanism 3 is arranged at the front end of the robot main body 1 and comprises a left crushing module 31 and a right crushing module 32; wherein, the servo system 4 provides the walking power and the crushing power for the walking mechanism and the crushing mechanism respectively at the same time.
The servo system 4 is a set of servo motor mechanism, and includes a servo motor and drive control module 41a and a reduction gearbox 42a, the servo motor and drive control module 41a is connected with the reduction gearbox 42a, the servo motor and drive control module and the reduction gearbox are all existing products, and the specific connection mode of the servo motor and drive control module and the reduction gearbox is the prior art of the mechanical industry, and is not detailed here.
The output shaft of the reduction gearbox 42a provides walking power for the walking mechanism 2 through the walking transmission mechanism 43a, and provides crushing power for the crushing mechanism 3 through the crushing transmission mechanism 44a, and the specific content is that the power of the output shaft of the reduction gearbox 42a is divided into two parts, one part is transmitted to the crushing mechanism 3, the crushing transmission mechanism 44a adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, multiple connecting rods, worm gears and the like, the existing mechanical transmission structures are not limited, and the other part transmits the power to the left front wheel 211 and the right front wheel 221 in the walking mechanism 2 through the walking transmission mechanism (also adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, worm gears and the like). The left front wheel 211 transmits power to the left rear wheel 212 via a conventional structure such as a chain or a crawler. The right front wheel 221 transmits power to the right rear wheel 222 via a conventional structure such as a chain or a crawler. The related wheels are driving wheels.
The pipeline cleaning robot further comprises a high-pressure water cleaning module and a vacuum adsorption module, the high-pressure water cleaning module comprises a high-pressure water spray head 5 arranged on the outer side surface of the crushing mechanism, and the high-pressure water spray head 5 is connected with a high-pressure water pipe 6. The vacuum adsorption module comprises a vacuum adsorption input port 7 arranged at the rear end of the robot main body 1, one end of the vacuum adsorption input port 7 is communicated with the sewage suction pipe, and the other end of the vacuum adsorption input port passes through the robot main body and extends into the crushing mechanism. The high-pressure water pipe and the sewage suction pipe are connected with a ground cleaning system 8.
Referring to fig. 5, a work flow of the present pipe cleaning robot is as follows:
1. the pipeline cleaning robot is put into an inspection well opening 9 of an underground pipeline by using a well descending auxiliary module in a ground cleaning system 8;
2. the pipeline cleaning robot runs autonomously and enters an underground pipeline 10;
3. the sewage suction pipe, the high-pressure water pipe and the communication power cable are arranged on the pipeline cleaning robot. When the pipeline cleaning robot walks in an underground pipeline, the pipeline cleaning robot simultaneously pulls the sewage suction pipe, the communication power cable and the high-pressure water pipe to move;
5. when entering the underground pipeline 10, the crushing mechanism 3 and the high-pressure water spray head 5 are started to work. Crushing the sediment in the underground pipeline 10 and washing the underground pipeline;
6. the crushed mud-water mixture enters the sewage suction pipe through the vacuum adsorption input port 7 of the sewage suction pipe in real time under the vacuum adsorption effect of the ground cleaning system. The mud-water mixture moves in the sewage suction pipe and finally reaches a ground cleaning system for treatment.
Example two
Referring to fig. 2 and 4, the pipeline cleaning robot with optimized space dimension comprises a robot main body 1, a traveling mechanism 2, a crushing mechanism 3 and a servo system 4, wherein the traveling mechanism 2 is arranged below the robot main body 1 and comprises a left traveling mechanism 21 and a right traveling mechanism 22; the crushing mechanism 3 is arranged at the front end of the robot main body 1 and comprises a left crushing module 31 and a right crushing module 32; wherein, the servo system 4 provides the walking power and the crushing power for the walking mechanism and the crushing mechanism respectively at the same time.
The servo system 4 is two sets of servo motor mechanisms, and comprises a left servo motor and drive control module 41b, a left reduction gearbox 42b, a right servo motor and drive control module 41c and a right reduction gearbox 42c, wherein the left servo motor and drive control module is connected with the left reduction gearbox, the right servo motor and drive control module is connected with the right reduction gearbox, the left servo motor and drive control module, the left reduction gearbox, the right servo motor and drive control module and the right reduction gearbox are all existing products, and the specific connection mode of the left servo motor and drive control module with the left reduction gearbox and the specific connection mode of the right servo motor and drive control module with the right reduction gearbox are the prior art in the mechanical industry, and are not detailed herein.
The output shaft of the left reduction box 42b provides walking power for the left walking mechanism 21 through a left walking transmission mechanism 43b, and provides crushing power for the left crushing module 31 through a left crushing transmission mechanism 44 b; the output shaft of the right reduction gearbox 42c provides the traveling power to the right traveling mechanism 22 through the right traveling transmission mechanism 43c, and simultaneously provides the crushing power to the right crushing module 32 through the right crushing transmission mechanism 44 c. The specific content is that the power of the output shaft of the left reduction box 42b is divided into two parts, one part is transmitted to the left crushing module 31, the left crushing transmission mechanism 44b adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, multi-connecting rods, worm gears and the like, without limitation, and the other part transmits the power to the left front wheel 211 in the left walking mechanism through the left walking transmission mechanism 43b (also adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, worm gears and the like). The left front wheel 211 transmits power to the left rear wheel 212 via a conventional structure such as a chain or a crawler. The power of the output shaft of the right reduction box 42c is divided into two parts, one part is transmitted to the right crushing module 32, the right crushing transmission mechanism 44c adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, multi-connecting rods, worm gears and the like, and the other part transmits the power to the right front wheel 221 in the right walking mechanism through the right walking transmission mechanism 43c (also adopts the existing mechanical transmission structures such as gears, chains, synchronous belts, worm gears and the like). The right front wheel 221 transmits power to the right rear wheel 222 via a conventional structure such as a chain or a crawler. The related wheels are driving wheels.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.

Claims (7)

1. A pipeline cleaning robot with optimized space dimension is characterized by comprising a robot main body, a traveling mechanism, a crushing mechanism and a servo system, wherein the traveling mechanism is arranged below the robot main body and comprises a left traveling mechanism and a right traveling mechanism; the crushing mechanism is arranged at the front end of the robot main body and comprises a left crushing module and a right crushing module; wherein, the servo system provides the walking power and the crushing power for the walking mechanism and the crushing mechanism respectively.
2. The space-size-optimized pipe cleaning robot according to claim 1, wherein the servo system is one set or two sets of servo motor mechanisms.
3. The pipeline cleaning robot with the optimized space size as claimed in claim 2, wherein the servo system is a set of servo motor mechanism, which comprises a servo motor and drive control module, and a reduction gearbox, the servo motor and drive control module is connected with the reduction gearbox, an output shaft of the reduction gearbox provides walking power for the walking mechanism through the walking transmission mechanism, and provides crushing power for the crushing mechanism through the crushing transmission mechanism.
4. The pipeline cleaning robot with the optimized space dimension as claimed in claim 2, wherein the servo system is two sets of servo motor mechanisms, which comprise a left servo motor and drive control module, a left reduction gearbox, a right servo motor and drive control module, and a right reduction gearbox, the left servo motor and drive control module is connected with the left reduction gearbox, the right servo motor and drive control module is connected with the right reduction gearbox, an output shaft of the left reduction gearbox provides walking power for the left walking mechanism through a left walking transmission mechanism, and provides crushing power for the left crushing module through a left crushing transmission mechanism; the output shaft of the right reduction gearbox provides walking power to the right walking mechanism through the right walking transmission mechanism, and provides crushing power to the right crushing module through the right crushing transmission mechanism.
5. The space-size-optimized pipe cleaning robot according to claim 1, further comprising a high-pressure water cleaning module, wherein the high-pressure water cleaning module comprises a high-pressure water nozzle arranged on the outer side surface of the crushing mechanism, and the high-pressure water nozzle is connected with a high-pressure water pipe.
6. The space-size-optimized pipe cleaning robot according to claim 5, further comprising a vacuum suction module, wherein the vacuum suction module comprises a vacuum suction input port provided at a rear end of the robot body, one end of the vacuum suction input port is communicated with the sewage suction pipe, and the other end of the vacuum suction input port penetrates through the robot body and extends into the crushing mechanism.
7. The space-size-optimized pipe cleaning robot according to claim 6, further comprising a floor cleaning system connected to the high-pressure water pipe and the sewage suction pipe.
CN202122158457.3U 2021-04-27 2021-09-08 Pipeline cleaning robot with optimized space size Active CN216007241U (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202110457169.XA CN113152651A (en) 2021-04-27 2021-04-27 Pipeline cleaning robot with optimized space size
CN202120878038 2021-04-27
CN2021208780384 2021-04-27
CN202110457169X 2021-04-27

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CN202111047707.4A Pending CN113684917A (en) 2021-04-27 2021-09-08 Pipeline cleaning robot with optimized space size

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