CN216195363U

CN216195363U - Intelligent device suitable for complicated pipeline environment desilting

Info

Publication number: CN216195363U
Application number: CN202122306299.1U
Authority: CN
Inventors: 付西光
Original assignee: Shanghai Jungong Intelligent Technology Co ltd
Current assignee: Shanghai Jungong Intelligent Technology Co ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-04-05
Anticipated expiration: 2031-09-23

Abstract

An intelligent device suitable for dredging of a complex pipeline environment comprises a robot main body, a walking mechanism, a crushing mechanism, power and a servo mechanism, wherein the crushing mechanism is arranged at the front end of the robot main body and comprises a left front walking wheel, a right front walking wheel, a left rear walking wheel and a right rear walking wheel; wherein, the power and servo mechanism provides power and servo control for the walking mechanism and the crushing mechanism. The application provides an intelligent device suitable for complicated pipeline environment desilting reforms transform into an intelligent mechanism that compromises good walking and desilting through with current rubbing crusher structure, preceding running gear, realizes walking and desilting of robot under the complicated environment.

Description

Intelligent device suitable for complicated pipeline environment desilting

Technical Field

The utility model relates to a drainage pipeline cleaning robot, in particular to an intelligent device suitable for dredging in a complex pipeline environment.

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. However, the design of the existing pipeline cleaning robot cannot work normally when encountering a complex pipeline environment. Fig. 1 is a schematic diagram of a design framework of a conventional pipe cleaning robot, including: 1 '-the robot body, 4' -the crushing module, 21 '-the front left walking wheel, 22' -the front right walking wheel, 3 '-the rear left walking wheel and 9' -the rear right walking wheel. The biggest design defect of the existing pipeline cleaning robot is as follows: the crushing module is arranged at the foremost end of the whole robot, and the crushing module is not enveloped by the left front travelling wheel and the right front travelling wheel. When meeting the barrier, because the side and the bottom of crushing module do not have crushing ability, are blocked by the barrier easily, make the unable motion of robot to can't accomplish normal desilting work. Meanwhile, when the robot goes into the well, the robot cannot easily enter a horizontal pipeline because the inspection well mouth is uneven.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that exists among the above-mentioned prior art, the application provides an intelligent device suitable for complicated pipeline environment desilting, ensures that under the complex environment condition, the robot still can carry out normal desilting operation.

In order to achieve the technical effects, the specific technical scheme of the utility model is as follows:

an intelligent device suitable for dredging of a complex pipeline environment comprises a robot main body, a walking mechanism, a crushing mechanism, power and a servo mechanism, wherein the crushing mechanism is arranged at the front end of the robot main body and comprises a left front walking wheel, a right front walking wheel, a left rear walking wheel and a right rear walking wheel; wherein, the power and servo mechanism provides power and servo control for the walking mechanism and the crushing mechanism.

Preferably, the crushing mechanism is a double-drum crushing device, a single-drum crushing device or a shield type crushing device.

Preferably, the power and servo mechanism comprises a plurality of power and servo units, wherein the power and servo control of the travelling mechanism and the crushing mechanism can be provided by the common power and servo unit or different power and servo units.

Preferably, the high-pressure water cleaning device further comprises a high-pressure water cleaning module, wherein the high-pressure water cleaning module comprises high-pressure water spray heads arranged on the outer wall of the crushing mechanism above the left front travelling wheel and the right front travelling wheel, and the high-pressure water spray heads are connected with a high-pressure water pipe.

Preferably, the vacuum absorption mechanism further comprises a vacuum absorption module, the vacuum absorption module comprises a vacuum absorption input port arranged at the rear end of the robot main body, one end of the vacuum absorption input port is communicated with the sewage suction pipe, and the other end of the vacuum absorption input port penetrates through the robot main body and extends into the crushing mechanism.

Preferably, the crushing mechanism further comprises a vision module, and the vision module comprises an identification camera arranged at the front end of the top of the crushing mechanism.

Preferably, the system further 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 above-mentioned technical scheme, the intelligent device that is applicable to complicated pipeline environment desilting that this application provided reforms transform through walking wheel, the right front walking wheel, rubbing crusher structure before to a left side, and the combined action solves under the complicated pipeline environment, and intelligent robot is gone into the well, meets key problems such as robot walking and desilting under the barrier condition.

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 general schematic diagram of the prior art;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic diagram of a framework of the present invention;

FIG. 4 is a schematic diagram of the present invention;

wherein, 1', the robot body; 4', a crushing module; 21', left front road wheels; 22', a right front road wheel; 3', a left rear travelling wheel; 9', a right rear travelling wheel; 1. a robot main body; 21. a left front road wheel; 22. a right front road wheel; 3. a left rear road wheel; 4. a crushing mechanism; 5. a high pressure water jet; 7. a power and servo mechanism; 8. a vision module; 9. a right rear road wheel; 11. a floor cleaning system; 12. an inspection well mouth; 13. an underground pipeline; 14. a vacuum adsorption input port; 15. a high pressure water pipe.

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. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present application.

In the description of the present invention, it is to be understood that the terms "left", "right", "front", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element 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 stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Examples

Referring to fig. 2 and 3, an intelligent device suitable for dredging complex pipeline environment comprises: the robot comprises a robot main body 1, a left front walking wheel 21, a right front walking wheel 22, a left rear walking wheel 3, a right rear walking wheel 9, a crushing mechanism 4, a high-pressure water nozzle 5, a power and servo mechanism 7, a vision module 8, a vacuum adsorption input port 14 and a high-pressure water pipe 15.

Referring to fig. 3, the crushing mechanism 4 is enveloped between the front left road wheel 21 and the front right road wheel 22, and the foremost end of the crushing mechanism 4 does not exceed the foremost ends of the front left road wheel 21 and the front right road wheel 22.

Referring to fig. 2, the power and servo control of the front left road wheel 21, the front right road wheel 22, the rear left road wheel 3, the rear right road wheel 9 and the crushing mechanism 4 is provided by the power and servo mechanism 7, which may be a common power and servo unit therein or separate power and servo units. This is the prior art in the industry and is not described in detail herein.

Referring to fig. 2, the vision module 8 is mainly used for identifying and judging a working environment when the robot works, and the technology is the prior art of the industry and is not described in detail here.

Wherein, this intelligent device still includes high pressure water cleaning module, vacuum adsorption module, and high pressure water cleaning module is including setting up the high pressure water shower nozzle 5 on the rubbing crusher outer wall of the position of left front walking wheel 21 and right front walking wheel 22 top, and this high pressure water shower nozzle connects high pressure water pipe 15.

The vacuum adsorption module comprises a vacuum adsorption input port 14 arranged at the rear end of the robot main body 1, one end of the vacuum adsorption input port 14 is communicated with the sewage suction pipe, and the other end of the vacuum adsorption input port passes through the robot main body 1 and extends into the crushing mechanism 4. The high-pressure water pipe and the sewage suction pipe are connected with the ground cleaning system 11.

Referring to fig. 4, a work flow of the present intelligent device is as follows:

1. the intelligent device is placed into an inspection well mouth 12 of an underground pipeline by using a well descending auxiliary module in a ground cleaning system 11;

2. the intelligent device operates autonomously and enters an underground pipeline 13;

3. the sewage suction pipe, the high-pressure water pipe and the communication power cable are installed on the intelligent device. When the intelligent device walks in an underground pipeline, the intelligent device simultaneously pulls the sewage suction pipe, the communication power cable and the high-pressure water pipe to move;

4. when entering the underground pipeline 13, the crushing mechanism 4 and the high-pressure water spray head 5 are started to work, so that the sediments in the underground pipeline 13 are crushed, and the underground pipeline is washed;

5. the crushed mud-water mixture enters the sewage suction pipe through the vacuum adsorption input port 14 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.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the utility model and are not intended to be limiting. For a person skilled in the art to which the utility model pertains, several simple deductions, modifications or substitutions may be made according to the idea of the utility model.

Claims

1. The intelligent device is characterized by comprising a robot main body, a walking mechanism, a crushing mechanism, power and a servo mechanism, wherein the crushing mechanism is arranged at the front end of the robot main body and comprises a left front walking wheel, a right front walking wheel, a left rear walking wheel and a right rear walking wheel, the left front walking wheel and the right front walking wheel are rotatably arranged at two sides of the crushing mechanism, the foremost end of the crushing mechanism is not more than the foremost ends of the left front walking wheel and the right front walking wheel, and the left rear walking wheel and the right rear walking wheel are rotatably arranged at two sides of the robot main body; wherein, the power and servo mechanism provides power and servo control for the walking mechanism and the crushing mechanism.

2. The intelligent device for dredging complex pipeline environment as claimed in claim 1, wherein the crushing mechanism is a double-drum type crushing device, a single-drum type crushing device or a shield type crushing device.

3. The intelligent device for dredging complex pipeline environments as claimed in claim 1, wherein the power and servo mechanism comprises a plurality of power and servo units, wherein the power and servo control of the walking mechanism and the crushing mechanism are provided by a common power and servo unit or different power and servo units.

4. The intelligent device suitable for dredging in the complex pipeline environment as claimed in 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 wall of the crushing mechanism at a position above the front left traveling wheel and the front right traveling wheel, and the high pressure water nozzle is connected with the high pressure water pipe.

5. The intelligent device for dredging complex pipeline environment as claimed in claim 4, further comprising a vacuum adsorption module, wherein the vacuum adsorption module comprises a vacuum adsorption input port arranged at the rear end of the robot main body, one end of the vacuum adsorption input port is communicated with the sewage suction pipe, and the other end of the vacuum adsorption input port penetrates through the robot main body and extends into the crushing mechanism.

6. The intelligent device suitable for dredging complex pipeline environment as claimed in claim 1, further comprising a vision module, wherein the vision module comprises an identification camera arranged at the front end of the top of the crushing mechanism.

7. The intelligent device suitable for dredging complex pipeline environment as claimed in claim 5, further comprising a ground cleaning system, wherein the ground cleaning system is connected with the high-pressure water pipe and the sewage suction pipe.