CN216555975U - Self-balancing self-adaptive robot for cleaning underground pipeline - Google Patents

Abstract

The self-balancing self-adaptive robot for cleaning underground pipelines comprises a traveling mechanism which is rotatably connected with a reducing mechanism, the traveling mechanism can drive the reducing mechanism to generate angular displacement so as to realize reducing, the reducing mechanism is abutted against the pipe wall and can move along the pipe wall, a reversing mechanism which is rotatably connected with the traveling mechanism and is used for changing the moving direction, a feeding mechanism which is connected with the reversing mechanism and is used for driving a repairing machine body to reciprocate, a repairing machine body which is connected with the feeding mechanism and is used for driving a grinding mechanism to do reducing movement, a grinding mechanism which is rotatably connected with the repairing machine body and is used for cleaning the pipe wall by rotating and displacing under the driving of the reversing mechanism and the feeding mechanism, and a cutting mechanism which is connected with the repairing machine body and is used for cleaning the pipe wall by rotating under the driving of the repairing machine body.

Description

Self-balancing self-adaptive robot for cleaning underground pipeline

Technical Field

The utility model belongs to the technical field of pipeline cleaning equipment, and particularly relates to a self-balancing self-adaptive robot for cleaning underground pipelines.

Background

With the continuous development of human society, the types and the number of underground pipelines are more and more, and the functions are more and more important, particularly for cities, the urban underground pipeline is one of necessary infrastructures for maintaining normal running of the cities, and the urban underground pipeline is various in types, large in number and complex. These conduits play a role in transferring energy, information and substances.

In recent years, urban underground pipelines constructed in early years leak due to various pipeline defects and diseases, and serious consequences are caused. Aiming at the pipeline diseases, related cleaning and repairing modes are more, but the traditional pipeline cleaning and repairing mode cannot meet the requirement of a huge and complex underground city pipe network, so that a pipeline cleaning and repairing robot needs to be researched and developed and applied, and the pipeline is repaired, maintained and cleaned regularly. However, most of the existing pipeline robots have weak obstacle-crossing capability, cannot adapt to pipelines with different diameters and different pipe shapes well, have small diameter-changing range, cannot work and walk in pipelines with certain gradients very stably, are easy to destabilize in the pipelines with gradually changed diameters, and have poor passing performance in complex pipelines such as bent pipes and the like. The cleaning mode of the existing pipeline robot to the pipeline is single, the cleaning efficiency is low, and the stability is not high.

In conclusion, the stability of the existing pipeline robot is poor during working and walking, the adaptability to the environment and the diameter change of the pipeline is relatively weak, and in order to solve the problems, the self-balancing self-adaptive robot for cleaning the underground pipeline is designed, aims to clean and repair the urban underground pipeline diseases, and has the functions of adapting to different pipe diameters, different pipe shapes, turning and walking in the pipeline.

Disclosure of Invention

The utility model provides a self-balancing self-adaptive robot for cleaning an underground pipeline. The urban underground pipeline cleaning and repairing device aims at realizing the cleaning and repairing of urban underground pipelines, and the specific structural form and the connection mode are as follows:

a self-balancing self-adaptive robot for cleaning underground pipelines comprises a travelling mechanism, a diameter-changing mechanism, a direction-changing mechanism, a feeding mechanism, a repairing machine body, a grinding mechanism and a cutting mechanism;

the traveling mechanism is rotationally connected with the reducing mechanism and can drive the reducing mechanism to generate angular displacement so as to realize reducing;

the diameter-changing mechanism is abutted against the pipe wall and can move along the pipe wall;

the direction changing mechanism is rotationally connected with the travelling mechanism and is used for changing the movement direction;

the feeding mechanism is connected with the turning mechanism and used for driving the repairing machine body to reciprocate;

the repairing machine body is connected with the feeding mechanism and is used for driving the grinding mechanism to do variable-diameter motion;

the grinding mechanism is rotationally connected with the repairing machine body and is used for cleaning the pipe wall by rotating and displacing under the driving of the direction changing mechanism and the feeding mechanism;

and the cutting mechanism is connected with the repairing machine body and is driven by the repairing machine body to rotate to clean the pipe wall.

Furthermore, the walking mechanism comprises a gear placing seat, round holes through which the first lead screw can pass are formed in the gear placing seat, the connecting rod middle support and the walking mechanism end side connecting seat, and bearings with the diameters being matched with those of the first lead screw are mounted in the round holes;

the two sides of the connecting rod middle support are respectively coaxially connected with a walking mechanism end side connecting seat and a gear placing seat through a walking mechanism shell, the lower end of the gear placing seat is connected with a gear box end cover, a lead screw driving motor and a first gear are arranged in a cavity formed by the gear box end cover and the gear placing seat, the head end of the first lead screw is fixedly connected with the first gear, the tail end of the first lead screw penetrates through the gear placing seat and the connecting rod middle support and then is rotatably connected with the walking mechanism end side connecting seat, a first lead screw sliding block and a second lead screw sliding block are respectively connected on the first lead screw on the two sides of the connecting rod middle support, the two traveling mechanism shells are respectively positioned at two sides of the connecting rod middle support, each traveling mechanism shell is uniformly provided with 3 rectangular openings, and the rectangular openings on the two traveling mechanism shells are distributed on the circumferential surface in a state of 60 degrees between two adjacent openings; 3 bosses are uniformly arranged on the gear placing seat, 6 bosses are uniformly arranged on the connecting rod middle support, 3 bosses are uniformly arranged on the side connecting seat of the walking mechanism, 3 bosses are uniformly arranged on the first lead screw slide block, 3 bosses are uniformly arranged on the second lead screw slide block, the bosses on the first lead screw slide block and the second lead screw slide block correspond to the rectangular opening on the shell of the walking mechanism, a rotary driving motor is fixedly connected on the side connecting seat of the walking mechanism, and a motor driving shaft is fixedly connected with the rotary driving motor and extends to the outer side of the side connecting seat of the walking mechanism;

the thread rotating direction of the first lead screw is reversely arranged by taking the connecting rod middle support as a boundary.

Furthermore, the reducing mechanism comprises a first reducing mechanism assembly and a second reducing mechanism assembly, the first reducing mechanism assembly is respectively hinged with the gear placing seat, the first lead screw sliding block and the connecting rod middle support, and the second reducing mechanism assembly is respectively hinged with the connecting rod middle support, the second lead screw sliding block and the walking mechanism end side connecting seat;

the first reducing mechanism assembly and the second reducing mechanism assembly comprise 3 groups of reducing units with the same structure;

the diameter changing unit comprises a first passive connecting rod of the diameter changing unit, and the first passive connecting rod of the diameter changing unit is hinged with the active connecting rod of the diameter changing unit; the first passive connecting rod of reducing unit is articulated with the walking wheel bottom plate, the driven connecting rod of reducing unit second is through articulated with walking wheel bottom plate, walking wheel bottom plate links firmly with walking wheel system shell, walking wheel system shell top is provided with supports auto-lock rubber, the expanding spring base links firmly with walking wheel bottom plate, a spring, expanding spring goes up the base, walking wheel backup pad equal motion registrates on the expanding spring base, the spring is arranged in between expanding spring base and the expanding spring on the base, expanding spring goes up base and walking wheel backup pad fixed connection, expanding spring base top is connected with and is used for walking wheel backup pad spacing circular nut, wheel driving motor links firmly in walking wheel backup pad, a plurality of walking wheels link firmly through wheel shaft coupling and shaft, the shaft passes through the bearing and rotates and connect in walking wheel backup pad, wheel driving motor drives the shaft and rotates.

Furthermore, steering mechanism including rotating the base, the motor drive axle among rotating the base and the running gear links firmly, be provided with the round hole that can supply the transmission shaft to pass on rotating the base, turn motor symmetric distribution is on rotating the base, two cross-shaped coupling head ends all with turn motor output shaft fixed connection, the transmission shaft passes through the bearing and rotates the base and be connected and the transmission shaft both ends link firmly with the cross-shaped coupling respectively, the transmission shaft can rotate under the common drive of both sides turn motor, rotary joint and transmission shaft fixed connection, and both are the cooperation relation with the axle center.

Furthermore, the feeding mechanism comprises a feeding end cover, the feeding end cover is fixedly connected with a rotating joint of the direction changing mechanism, the feeding end cover is fixedly connected with a feeding base, a second gear is arranged in a cavity formed by the feeding end cover and the feeding base, a round hole capable of penetrating through a trapezoidal lead screw and an output shaft of a feeding motor is arranged on the feeding base, the feeding motor is fixedly connected on the feeding base, the output shaft of the feeding motor penetrates through the round hole of the feeding base and then is fixedly connected with the second gear, the feeding motor can drive the second gear to rotate, the head end of the trapezoidal lead screw penetrates through a round hole of the feeding base and is meshed with the second gear, the tail end of the trapezoidal lead screw is fixedly connected with a lead screw guide block, the feeding motor drives the gear to further drive the trapezoidal lead screw to rotate, the lead screw nut is in threaded connection with the trapezoidal lead screw, the sleeve is fixedly connected with the lead screw nut, and the lead screw guide block is coaxially matched with the sleeve, and the lead screw guide block can rotate in the sleeve, the push rod outer barrel is fixedly connected with the feeding base, the telescopic rod guide block is fixedly connected with the push rod outer barrel, grooves capable of installing guide rails are formed in the three components of the feeding base, the lead screw nut and the telescopic rod guide block, two ends of each guide rail are respectively connected into the grooves of the feeding base and the telescopic rod guide block, the middle of each guide rail is connected with the groove in the lead screw nut, and the lead screw nut is guaranteed to only move along the guide rail direction under the driving of the trapezoidal lead screw and cannot rotate.

Furthermore, the repairing machine body comprises a repairing machine body end cover, the repairing machine body end cover is fixedly connected with a sleeve of the feeding mechanism, the repairing machine body end cover is fixedly connected with a repairing machine body base, a repairing machine body motor, a connecting shaft driving motor and a third gear are arranged in a cavity formed by the repairing machine body end cover and the repairing machine body base, a baffle plate is fixedly connected with the repairing machine body base through a repairing machine body shell, a round hole for a connecting shaft of the impact head to penetrate is formed in the baffle plate, a bearing matched with the diameter of the connecting shaft of the impact head is matched in the round hole, a limiting sleeve is fixedly connected with the baffle plate, the head end of the connecting shaft of the impact head is fixedly connected with a coupler, the tail end of a lead screw of the repairing machine body is rotatably connected with the limiting sleeve through the bearing, the coupler is fixedly connected with a rotor of the connecting shaft driving motor, the head end of the lead screw of the repairing machine body is fixedly connected with the third gear, by repairing organism motor drive third gear, and then drive and repair the organism lead screw and rotate, the middle movable support block with repair organism lead screw threaded connection, when repairing the organism lead screw and rotate, can drive middle movable support block reciprocating motion, all be equipped with the lug of 6 equipartitions on repairing organism end cover, middle movable support block and the repairing organism base.

Furthermore, the grinding mechanism comprises 6 grinding units uniformly arranged on the repairing machine body, and each grinding unit is respectively and rotatably connected with the end cover of the repairing machine body, the base of the repairing machine body and the lug on the middle movable supporting block;

the grinding unit comprises a first driven connecting rod of the grinding unit, the first driven connecting rod of the grinding unit and a second driven connecting rod of the grinding unit are hinged to a connecting sheet, a driving connecting rod of a grinding mechanism is hinged to the second driven connecting rod of the grinding unit, the connecting sheet is fixedly connected with a grinding head workbench, a grinding head driving motor is fixedly connected with the grinding head workbench, the grinding head is fixedly connected with a grinding head driving motor through a grinding head connecting shaft, and the grinding head driving motor drives the grinding head connecting shaft to further drive the grinding head to rotate.

Furthermore, the cutting mechanism comprises an impact head coupler, the impact head coupler fixedly connects the connecting shaft with the milling head, the head ends of the 3 groups of chains are uniformly distributed on the milling head, and the trapezoidal scraper is fixedly connected with the outer side end of the chain.

The utility model has the beneficial effects that:

this pipeline robot wholly adopts components of a whole that can function independently chain link structure, roughly can divide into two parts: the first part is a traveling mechanism and a diameter changing mechanism; the second part comprises a feeding mechanism, a repairing machine body, a grinding mechanism and a cutting mechanism, and the two parts are connected through a turning mechanism. In the first part of design, the reducing mechanism can adapt to different pipe diameters in one operation area through an active reducing mode driven by the connecting rod. Simultaneously, because first reducing mechanism subassembly and second reducing mechanism subassembly are the equipartition state in respective circumferential plane, and it is by spring drive's passive reducing mode to combine it again, can be so that this pipeline robot during work and walking, its self stability is better, and is also better to tubular adaptability. In the second part of design, based on the connection relationship among the mechanisms, the grinding mechanism and the cutting mechanism can realize the simultaneous operation of rotary motion and linear displacement motion, so as to adapt to the cleaning of different pipeline obstacles. Meanwhile, the replaceable grinding mechanism solves the problem that the worn parts of the robot are difficult to replace. In addition, the steering mechanism enables the pipeline robot to be more flexible, can realize the turning action in the pipeline and meets the requirement for cleaning the bent pipe. Meanwhile, based on the structural design and the working mode, the robot can always keep self dynamic balance when working.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view of the traveling mechanism of the present invention.

Fig. 3 is a schematic perspective view of the gear box end cover and the traveling mechanism housing not connected to the traveling mechanism.

Fig. 4 is a partially enlarged view of a portion a in fig. 3.

Fig. 5 is a perspective view of the reducing unit of the present invention.

FIG. 6 is a perspective view of the traveling gear train housing not connected to the diameter varying unit.

Fig. 7 is a partially enlarged view of a portion B in fig. 6.

FIG. 8 is a perspective view of the traveling gear train housing not connected to the diameter varying unit.

Fig. 9 is a partially enlarged view of C in fig. 8.

Fig. 10 is a perspective view of the steering mechanism of the present invention.

Fig. 11 is a perspective view of the feed mechanism of the present invention.

Fig. 12 is a perspective view of the plunger outer barrel not connected to the feed mechanism.

Fig. 13 is a cross-sectional view of the feed mechanism of the present invention.

Fig. 14 is a perspective view of the prosthetic body of the present invention.

Fig. 15 is a schematic perspective view of the repair body base and the repair body cover not connected to the repair body.

Fig. 16 is a partially enlarged view of fig. 15 at D.

Fig. 17 is a perspective view of the grinding unit of the present invention.

Fig. 18 is a perspective view of the cutting mechanism of the present invention.

FIG. 19 is a schematic view of the connection relationship between the reducing mechanism and the traveling mechanism according to the present invention.

Fig. 20 is a schematic view of the connection between the grinding unit and the repairing body according to the present invention.

Detailed Description

Referring to fig. 1 to 20, a self-balancing self-adaptive robot for cleaning underground pipelines comprises a walking mechanism 1, a diameter changing mechanism, a direction changing mechanism 3, a feeding mechanism 4, a repairing machine body 5, a grinding mechanism and a cutting mechanism 7;

the traveling mechanism 1 comprises a gear box end cover 101, a gear placing seat 102, a lead screw driving motor 103, a first gear 104, two first lead screws 105, a first lead screw slider 106, two traveling mechanism shells 107, a connecting rod middle support 108, a traveling mechanism end side connecting seat 109, a rotary driving motor 110, a motor driving shaft 111, a boss 112 and a second lead screw slider 113;

round holes for the first lead screw 105 to pass through are arranged on the gear placing seat 102, the connecting rod middle support 108 and the walking mechanism end side connecting seat 109, bearings with the diameter being matched with that of the first lead screw 105 are arranged in the round holes,

two sides of a connecting rod middle support 108 are respectively coaxially connected with a walking mechanism end side connecting seat 109 and a gear placing seat 102 through walking mechanism shells 107, the lower end of the gear placing seat 102 is connected with a gear box end cover 101, a screw rod driving motor 103 and a first gear 104 are arranged in a cavity formed by the gear box end cover 101 and the gear placing seat 102, the head end of a first screw rod 105 is fixedly connected with the first gear 104, the tail end of the first screw rod 105 penetrates through the gear placing seat 102 and the connecting rod middle support 108 and then is rotatably connected with the walking mechanism end side connecting seat 109, a first screw rod slide block 106 and a second screw rod slide block 113 are respectively connected on the first screw rod 105 at two sides of the connecting rod middle support 108 and can carry out opposite or opposite reciprocating motion under the driving of the first screw rod 105, the two walking mechanism shells 107 are respectively positioned at two sides of the connecting rod middle support 108, each walking mechanism shell 107 is uniformly provided with 3 rectangular openings, 6 rectangular openings are formed, and the rectangular openings on the two traveling mechanism shells 107 are distributed on the circumferential surface in a state of 60 degrees between the two adjacent openings; evenly be equipped with 3 bosss 112 on the gear is placed seat 102, evenly be equipped with 6 bosss 112 on the connecting rod middle support 108, evenly be equipped with 3 bosss 112 on the running gear end side connecting seat 109, evenly be equipped with 3 bosss 112 on the first lead screw slider 106, evenly be equipped with 3 bosss 112 on the second lead screw slider 113, above-mentioned part boss 112 can divide into two sets according to the corresponding relation, and first group is: the bosses 112 on the gear placing seat 102, the first lead screw sliding block 106 and the connecting rod middle support 108 correspond to each other in pairs; the second group is: the bosses 112 on the connecting rod middle support 108, the second lead screw slide block 113 and the traveling mechanism end side connecting seat 109 correspond to each other in pairs; the bosses of the two groups of components are arranged at intervals of 60 degrees in pairs, bosses 112 on the first lead screw slide block 106 and the second lead screw slide block 113 correspond to rectangular openings on a traveling mechanism shell 107, a rotary driving motor 110 is fixedly connected to the traveling mechanism end side connecting seat 109, and a motor driving shaft 111 is fixedly connected with the rotary driving motor 110 and extends to the outer side of the traveling mechanism end side connecting seat 109;

the rotation direction of the screw thread of the first lead screw 105 is reversely set by taking the connecting rod middle support 108 as a boundary, namely the screw thread on the left side of the connecting rod middle support 108 is rotated to the left, and the screw thread on the right side of the connecting rod middle support 108 is rotated to the right;

the reducing mechanism comprises a first reducing mechanism assembly and a second reducing mechanism assembly, the first reducing mechanism assembly is respectively hinged with the gear placing seat 102, the first lead screw sliding block 106 and the connecting rod middle support 108, and the second reducing mechanism assembly is respectively hinged with the connecting rod middle support 108, the second lead screw sliding block 113 and the walking mechanism end side connecting seat 109;

the first reducing mechanism assembly and the second reducing mechanism assembly respectively comprise 3 groups of reducing units 2 with the same structure;

the reducing unit 2 comprises a walking gear train shell 201, a walking wheel 202, a wheel coupler 203, a walking wheel supporting plate 204, a wheel shaft 205, a bevel gear 207, a wheel driving motor 208, a round nut 209, an expansion spring base 210, an expansion spring upper base 211, a spring 212, a walking wheel base plate 213, a first reducing unit driven connecting rod 214, a second reducing unit driven connecting rod 215, a reducing unit driving connecting rod 216 and a supporting self-locking rubber 217;

the first passive connecting rod 214 of the reducing unit is hinged with the active connecting rod 216 of the reducing unit through a bolt; the first driven connecting rod 214 of the reducing unit is hinged with a walking wheel base plate 213, the second driven connecting rod 215 of the reducing unit is hinged with the walking wheel base plate 213 through bolts, the walking wheel base plate 213 is tightly connected with a walking wheel train shell 201 through bolts, the top of the walking wheel train shell 201 is provided with a supporting self-locking rubber 217 with high friction coefficient, an expansion spring base 210 is tightly connected with the walking wheel base plate 213 through bolts, a spring 212, an expansion spring upper base 211 and a walking wheel supporting plate 204 are movably sleeved on the expansion spring base 210, meanwhile, the spring 212 is arranged between the expansion spring base 210 and the expansion spring upper base 211, the expansion spring upper base 211 is fixedly connected with the walking wheel supporting plate 204, the top of the expansion spring base 210 is connected with a round nut 209, the round nut 209 plays a limiting role on the walking wheel supporting plate 204, and a wheel driving motor 208 is fixedly connected on the walking wheel supporting plate 204, a plurality of road wheels 202 are fixedly connected with a wheel shaft 205 through a wheel coupling 203, the wheel shaft 205 is rotatably connected with a road wheel supporting plate 204 through a bearing, and a wheel driving motor 208 is driven to rotate through a group of orthogonal bevel gears 207;

the direction changing mechanism 3 comprises a rotating base 301, two turning motors 302, two cross couplings 303, a transmission shaft 304 and a rotating joint 305;

the rotating base 301 is fixedly connected with a motor driving shaft 111 in the traveling mechanism 1, a round hole through which a transmission shaft 304 can pass is arranged on the rotating base 301, the turning motors 302 are symmetrically distributed on the rotating base 301, the head ends of the two cross-shaped couplings 303 are fixedly connected with an output shaft of the turning motor 302, the transmission shaft 304 is rotatably connected with the rotating base 301 through bearings, the two ends of the transmission shaft 304 are fixedly connected with the cross-shaped couplings 303 respectively, the transmission shaft 304 can be driven by the turning motors 302 on the two sides to rotate together, and the rotating joint 305 is fixedly connected with the transmission shaft 304 and is in a coaxial matching relation; the rotation of the transmission shaft 304 can drive the rotation joint 305 to rotate;

the feeding mechanism 4 comprises a feeding end cover 401, a feeding base 402, a feeding motor 403, a second gear 404, a trapezoidal lead screw 405, a lead screw nut 406, a sleeve 407, a lead screw guide block 408, a guide rail 409, a telescopic rod guide block 410 and a push rod outer cylinder 411;

the feeding end cover 401 is fixedly connected with a rotating joint 305 of the direction changing mechanism 3 through threads, the feeding end cover 401 is fixedly connected with the feeding base 402 through screws, the second gear 404 is arranged in a cavity formed by the feeding end cover 401 and the feeding base 402, a round hole capable of penetrating through a trapezoidal lead screw 405 and an output shaft of the feeding motor 403 is arranged on the feeding base 402, the feeding motor 403 is fixedly connected on the feeding base 402, the output shaft of the feeding motor 403 penetrates through the round hole of the feeding base 402 and then is fixedly connected with the second gear 404, the feeding motor 403 can drive the second gear 404 to rotate, the head end of the trapezoidal lead screw 405 penetrates through the round hole of the feeding base 402 and is meshed with the second gear 404, the tail end of the trapezoidal lead screw 405 is fixedly connected with a lead screw guide block 408, the feeding motor 403 drives the gear to further drive the trapezoidal lead screw 405 to rotate, the lead screw nut 406 is in threaded connection with the trapezoidal lead screw 405, the sleeve 407 is fixedly connected with the lead screw nut 406, the screw guide block 408 is coaxially matched with the sleeve 407, the screw guide block 408 can rotate in the sleeve 407, the push rod outer cylinder 411 is fixedly connected with the feeding base 402 through threads, the telescopic rod guide block 410 is fixedly connected with the push rod outer cylinder 411 through screws, grooves capable of mounting guide rails 409 are formed in three parts of the feeding base 402, the screw nut 406 and the telescopic rod guide block 410, two ends of each guide rail 409 are respectively connected into the grooves of the feeding base 402 and the telescopic rod guide block 410, and the middle part of each guide rail 409 is connected with the groove in the screw nut 406, so that the screw nut 406 is driven by the trapezoidal screw 405 to only move along the guide rails 409 without rotating;

the repairing machine body 5 comprises a repairing machine body end cover 501, a repairing machine body base 502, a repairing machine body motor 503, a connecting shaft driving motor 504, a third gear 505, a repairing machine body screw 506, a coupler 507, an impact head connecting shaft 508, a repairing machine body shell 509, a limiting sleeve 510, a baffle 511, a bump 512 and an intermediate moving supporting block 513;

a sleeve 407 of the feeding mechanism 4 is fixedly connected with a repairing machine body end cover 501, the repairing machine body end cover 501 is fixedly connected with a repairing machine body base 502 through screws, a repairing machine body motor 503, a connecting shaft driving motor 504 and a third gear 505 are arranged in a cavity formed by the repairing machine body end cover 501 and the repairing machine body base 502, a baffle 511 is fixedly connected with the repairing machine body base 502 through a repairing machine body shell 509, a round hole for an impact head connecting shaft 508 to pass through is formed in the baffle 511, a bearing with the diameter consistent with that of the impact head connecting shaft 508 is matched in the round hole, a limiting sleeve 510 is fixedly connected with the baffle 511, the head end of the impact head connecting shaft 508 is fixedly connected with a coupler 507, the tail end of the impact head connecting shaft 508 is rotatably connected with the baffle 511 through the bearing, the coupler 507 is fixedly connected with a connecting shaft driving motor 504 rotor, and the head end of a repairing machine body screw 506 is fixedly connected with the third gear 505, the tail end of the repair body screw rod 506 is rotatably connected with a limiting sleeve 510, a repair body motor 503 drives a third gear 505 to further drive the repair body screw rod 506 to rotate, and a middle moving supporting block 513 is in threaded connection with the repair body screw rod 506, so that when the repair body screw rod 506 rotates, the middle moving supporting block 513 is driven to move back and forth, 6 uniformly distributed lugs 512 are arranged on the repair body end cover 501, the middle moving supporting block 513 and the repair body base 502, 6 rectangular openings are uniformly arranged on the repair body shell 509, and the lugs 512 on the repair body end cover 501, the repair body base 502 and the middle moving supporting block 513 correspond to the rectangular openings on the repair body shell 509 one by one;

the grinding mechanism comprises 6 grinding units 6 which are uniformly arranged on the repairing machine body 5, and each grinding unit 6 is respectively and rotatably connected with a repairing machine body end cover 501, a repairing machine body base 502 and a lug 512 on the middle movable supporting block 513;

the grinding unit comprises a first driven connecting rod 601 of the grinding unit, a second driven connecting rod 602 of the grinding unit, a driving connecting rod 603 of the grinding mechanism, a connecting plate 604, a grinding head workbench 605, a grinding head driving motor 606, a grinding head connecting shaft 607 and a grinding head 608;

the first driven connecting rod 601 of the grinding unit and the second driven connecting rod 602 of the grinding unit are hinged with a connecting sheet 604, the driving connecting rod 603 of the grinding mechanism is hinged with the second driven connecting rod 602 of the grinding unit, the connecting sheet 604 is fixedly connected with a grinding head workbench 605, a grinding head driving motor 606 is fixedly connected with the grinding head workbench 605, a grinding head 608 is fixedly connected with the grinding head driving motor 606 through a grinding head connecting shaft 607, and the grinding head driving motor 606 drives the grinding head connecting shaft 607 to further drive the grinding head 608 to rotate;

the cutting mechanism 7 comprises a milling head 701, a chain 702, a trapezoidal scraper 703 and an impact head coupler 704;

the impact head coupler 704 fixedly connects the connecting shaft 508 with the milling head 701, the head ends of the 3 groups of chains 702 are uniformly distributed on the milling head 701, and the trapezoidal scraper 703 is fixedly connected with the outer side end of the chain 702.

Furthermore, the present invention uses gears and screws for transmission, such as the first gear 104 and the first screw 105 in the traveling mechanism; a second gear 404 and a trapezoidal lead screw 405 in the feed mechanism; a third gear 505 in the repair body and a repair body lead screw 506, and the difference should be noted. The differently numbered gears and threaded spindles have to be described in relation to the associated mechanisms.

Furthermore, the internal thread directions of the two screw round holes on the first screw slide 106 and the second screw slide 113 in the traveling mechanism 1 are opposite.

Furthermore, the traveling gear housing 201 is made of metal and is not compressible. Support auto-lock rubber 217 that has the one deck high coefficient of friction bonds at its top, when normal walking, the outer fringe top of walking wheel 202 is higher than the outer fringe top that supports auto-lock rubber 217, and when being in operating condition, the pipe wall acts on walking wheel 202 normal pressure and can lead to walking wheel 202 to be compressed, and then leads to the outer fringe top that supports auto-lock rubber 217 to be higher than the outer fringe top of walking wheel 202, and the pipe wall pastes tightly with support auto-lock rubber 217, produces the counter-force that can balance the barrier and give, thereby realize normal clearance.

Furthermore, the reducing mechanism is hinged to the traveling mechanism 1, the connecting rod middle support 108 is used as a boundary, a first reducing mechanism assembly and a second reducing mechanism assembly are respectively arranged on the left side and the right side of the traveling mechanism, the first reducing mechanism assembly and the second reducing mechanism assembly are respectively provided with 3 groups of reducing units 2 with the same structure, the reducing units 2 are uniformly distributed on the same circumferential plane, and referring to fig. 19, the corresponding relation between each boss and the connecting rod is as follows:

(1) first reducing mechanism assembly on the left side of the connecting rod middle support 108:

boss a, boss d, boss g: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

A boss b, a boss e and a boss i: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

And c, f, k: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

(2) The second reducing mechanism assembly on the right side of the connecting rod middle support 108:

fourthly, boss q, boss m and boss h: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

A boss r, a boss n and a boss j: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

Sixthly, arranging a boss p, a boss o and a boss l: a first passive connecting rod 214 of the reducing unit, a driving connecting rod 216 of the reducing unit and a second passive connecting rod 215 of the reducing unit

Furthermore, the grinding mechanism is movably connected with the repairing machine body 5, and 6 grinding units are uniformly distributed on the same circumferential plane, referring to fig. 20, taking one grinding unit as an example, the corresponding relationship between each bump and the connecting rod is as follows: bump u, bump v, bump w: a first driven link 601 of the grinding unit, a second driven link 602 of the grinding unit, and a driving link 603 of the grinding mechanism.

Further, the grinding heads 608 of the grinding unit 6 are rotated in the clockwise and counterclockwise directions alternately during operation, each grinding head 608 rotates in the opposite direction to the two adjacent grinding heads 608 around, and the total number of the grinding heads 608 is 6, and the even number of the grinding heads 608 can balance the torsional force generated to the machine body during rotation. Meanwhile, the reaction torque generated by the barrier on each grinding head 608 is also alternated, so that self-balance can be realized. The axial counter-force generated by the cleaned obstacle on the grinding head can be balanced by the feeding force provided by the feeding mechanism.

Further, the direct components of the pipeline robot for treating the pipeline defect disease are the trapezoidal scraper 703, the milling head 701 and the grinding head 608, and the work of the three in the pipeline hole is balanced with each other. The motor transmits power through a power element to drive the chain 702, the trapezoidal scraper 703 and the milling head 701 to rotate at a high speed, so that a great torsional moment is generated on the whole repairing mechanism, and at the moment, the walking mechanism 1 enables the walking mechanism not to rotate in a radial plane and the whole pipeline robot not to generate axial displacement through the connecting rod and the supporting self-locking rubber 217. During normal work, whole running gear 1 is direct fixed completely to make whole pipeline robot can not take place axial displacement and unstability disturbance in the pipeline, wholly be in balanced state, but when cutting mechanism 7's chain 702, trapezoidal scraper 703 and cutter head 701 high-speed gyration, can produce the torsional moment of very big folk prescription, at this moment restore organism 5 and its grinding mechanism and can take place the counter-rotation, thereby realize the self-balance of whole pipeline robot.

The working principle and the using process of the utility model are as follows:

this pipeline robot wholly adopts components of a whole that can function independently chain link structure, and above-mentioned each mechanism roughly can be divided into two parts: the first part is a travelling mechanism 1 and a reducing mechanism; the second part is a feeding mechanism 4, a repairing machine body 5, a grinding mechanism and a cutting mechanism 7, and the two parts are connected through a turning mechanism 3, so that the pipeline robot has certain turning capability on the premise of having feeding capability. The main working mode is as follows:

diameter changing mode

Based on the connection mode between the diameter-changing mechanism and the traveling mechanism 1, when the first lead screw 105 is driven by the lead screw driving motor 103 to rotate, the first lead screw block 106 and the second lead screw block 113 symmetrically distributed at both sides of the connecting rod middle support 108 are far away from or close to the connecting rod middle support 108 at the same time, and the moving speeds are consistent, thereby driving the first passive connecting rod 214, the active connecting rod 216 and the second passive connecting rod 215 of the reducing unit 2 to expand or contract, further realizing the diameter change, except the active diameter change mode, when in work, the positive pressure of the pipe wall acting on the walking wheel 202 can cause the walking wheel 202 to be compressed, thereby leading the top of the outer edge of the supporting self-locking rubber 217 to be higher than that of the travelling wheel 202, under the action of the pipe wall, the supporting self-locking rubber 217 is continuously compressed, so that the supporting self-locking rubber 217 is tightly attached to the pipe wall. Meanwhile, as the traveling wheels 202 are compressed, the pressure is transmitted through the traveling wheel support plate 204, and then the springs 212 are compressed, thereby realizing a passive diameter-changing mode of the diameter-changing mechanism. Through the combination of above-mentioned two kinds of reducing modes for this pipeline robot both can adapt to the pipeline of certain diameter scope, also can adapt to the small change that brings for the pipeline by barrier and scaling thing simultaneously, increases the mechanism flexibility, improves the robot ability of crossing obstacles. In addition, it should be further explained that the grinding mechanism is movably connected with the repairing machine body 5, and the diameter changing can be realized during working, and the diameter changing mode is similar to that of the diameter changing mechanism, but only the active diameter changing mode driven by the connecting rod is adopted, and the passive diameter changing mode is not adopted.

Direction changing mode

The rotating base 301 in the direction changing mechanism 3 is fixedly connected with the motor driving shaft 111 in the traveling mechanism 1, the motor driving shaft 111 is fixedly connected with the rotating driving motor 110, and based on the connection relationship of the mechanisms, the rotating driving motor 110 drives the direction changing mechanism 3, the feeding mechanism 4, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to rotate for 360 degrees on the same circumferential plane; meanwhile, the turning motor 302 drives the feeding mechanism 4, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to swing for 180 degrees on the same circumferential plane; the two movement modes are combined, so that the turning action of the device in the pipeline can be realized.

Feeding mode

The trapezoidal screw 405 in the feeding mechanism 4 is driven by the feeding motor 403 to rotate, and further drives the screw nut 406 and the sleeve 407 to move, and based on the connection relationship of the above mechanisms, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 will move forward or backward under the push of the sleeve 407.

Pipeline cleaning mode

The connecting shaft driving motor 504 in the repairing machine body 5 drives the milling head 701 to rotate at a high speed through the connecting shaft 508, and under the feeding force provided by the feeding mechanism 4, the milling head performs forward cutting and drilling to cut and crush the front obstacle. The rotating chain 702 is thrown and spread outwards under the action of centrifugal force, and drives the trapezoidal scraper 703 at the end of the chain 702 to impact and crush obstacles in the pipeline while rotating at high speed in space. In addition, when pipelines with different inner diameters are cleaned or the chain scraper 703 is worn to a certain degree and needs to be replaced, the rotating chain 702 and the trapezoidal scraper 703 can be replaced as required, and the pipe diameter adaptability and the disassembly convenience are high.

When the self-balancing self-adaptive robot for cleaning urban underground pipelines works, firstly, a travelling mechanism 1 drives a reducing mechanism to move to a specified position, a rotary driving motor 110 of the travelling mechanism 1 drives a direction changing mechanism 3 to rotate through a motor driving shaft 111, and further drives a feeding mechanism 4, a repairing machine body 5, a grinding mechanism and a cutting mechanism 7 to rotate for 360 degrees, at the moment, a sleeve 407 of the feeding mechanism 4 extends out to drive the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 to move forwards, the repairing machine body 5, the grinding mechanism and the cutting mechanism 7 are in rotary motion and linear displacement motion simultaneously during working, after the sleeve 407 extends out in place, the rotary driving motor 110 of the travelling mechanism 1 does not drive the direction changing mechanism 3 to rotate any more, at the moment, the sleeve 407 contracts, and after the sleeve 407 contracts in place, a wheel driving motor 208 of a reducing unit 2 drives a travelling wheel 202 to move for a certain distance in a pipe wall, the above steps are repeated again.

Claims (10)

1. The utility model provides an underground piping clearance self-balancing self-adaptation robot which characterized in that: comprises a traveling mechanism (1), a diameter changing mechanism, a direction changing mechanism (3), a feeding mechanism (4), a repairing machine body (5), a grinding mechanism and a cutting mechanism (7);

the travelling mechanism (1) is rotationally connected with the reducing mechanism, and the travelling mechanism (1) can drive the reducing mechanism to generate angular displacement so as to realize reducing;

the diameter-changing mechanism is abutted against the pipe wall and can move along the pipe wall;

the direction changing mechanism (3) is rotationally connected with the traveling mechanism (1) and is used for changing the moving direction;

the feeding mechanism (4) is connected with the direction changing mechanism (3) and is used for driving the repairing machine body (5) to reciprocate;

the repairing machine body (5) is connected with the feeding mechanism (4) and is used for driving the grinding mechanism to do variable-diameter motion;

the grinding mechanism is rotationally connected with the repairing machine body (5) and is used for cleaning the pipe wall by rotating and displacing under the driving of the direction changing mechanism (3) and the feeding mechanism (4);

the cutting mechanism (7) is connected with the repairing machine body (5) and is driven by the repairing machine body (5) to rotate to clean the pipe wall.

2. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the walking mechanism (1) comprises a gear placing seat (102), round holes for a first lead screw (105) to pass through are formed in the gear placing seat (102), a connecting rod middle support (108) and a walking mechanism end side connecting seat (109), and bearings with the diameters being matched with those of the first lead screw (105) are mounted in the round holes;

two sides of a connecting rod middle support (108) are respectively and coaxially connected with a walking mechanism end side connecting seat (109) and a gear placing seat (102) through a walking mechanism shell (107), the lower end of the gear placing seat (102) is connected with a gear box end cover (101), a screw rod driving motor (103) and a first gear (104) are arranged in a cavity formed by the gear box end cover (101) and the gear placing seat (102), the head end of a first screw rod (105) is fixedly connected with the first gear (104), the tail end of the first screw rod (105) penetrates through the gear placing seat (102) and the connecting rod middle support (108) and then is rotatably connected with the walking mechanism end side connecting seat (109), a first screw rod sliding block (106) and a second screw rod sliding block (113) are respectively connected on the first screw rods (105) on two sides of the connecting rod middle support (108) and can carry out relative or opposite reciprocating motion under the driving of the first screw rod (105), the two traveling mechanism shells (107) are respectively positioned at two sides of the connecting rod middle support (108), each traveling mechanism shell (107) is uniformly provided with 3 rectangular openings, and the rectangular openings on the two traveling mechanism shells (107) are distributed on the circumferential surface in a state of 60 degrees between the two adjacent openings; 3 bosses (112) are uniformly arranged on the gear placing seat (102), 6 bosses (112) are uniformly arranged on the connecting rod intermediate support (108), 3 bosses (112) are uniformly arranged on the walking mechanism end side connecting seat (109), 3 bosses (112) are uniformly arranged on the first lead screw sliding block (106), 3 bosses (112) are uniformly arranged on the second lead screw sliding block (113), the bosses (112) on the first lead screw sliding block (106) and the second lead screw sliding block (113) correspond to rectangular openings on the walking mechanism shell (107), a rotary driving motor (110) is fixedly connected onto the walking mechanism end side connecting seat (109), and a motor driving shaft (111) is fixedly connected with the rotary driving motor (110) and extends to the outer side of the walking mechanism end side connecting seat (109);

the thread rotating direction of the first lead screw (105) is reversely arranged by taking the connecting rod middle support (108) as a boundary.

3. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the reducing mechanism comprises a first reducing mechanism assembly and a second reducing mechanism assembly, the first reducing mechanism assembly is hinged with the gear placing seat (102), the first lead screw sliding block (106) and the connecting rod middle support (108) respectively, and the second reducing mechanism assembly is hinged with the connecting rod middle support (108), the second lead screw sliding block (113) and the walking mechanism end side connecting seat (109) respectively;

the first reducing mechanism assembly and the second reducing mechanism assembly respectively comprise 3 groups of reducing units (2) with the same structure;

the diameter changing unit (2) comprises a first diameter changing unit passive connecting rod (214), and the first diameter changing unit passive connecting rod (214) is hinged with a diameter changing unit driving connecting rod (216); a first driven connecting rod (214) of the reducing unit is hinged with a walking wheel base plate (213), a second driven connecting rod (215) of the reducing unit is hinged with the walking wheel base plate (213), the walking wheel base plate (213) is fixedly connected with a walking wheel train shell (201), the top of the walking wheel train shell (201) is provided with a supporting self-locking rubber (217), an expansion spring base (210) is fixedly connected with the walking wheel base plate (213), a spring (212), an expansion spring upper base (211) and a walking wheel supporting plate (204) are movably sleeved on the expansion spring base (210), the spring (212) is arranged between the expansion spring base (210) and the expansion spring upper base (211), the expansion spring upper base (211) is fixedly connected with the walking wheel supporting plate (204), the top of the expansion spring base (210) is connected with a round nut (209) for limiting the walking wheel supporting plate (204), a wheel driving motor (208) is fixedly connected on the walking wheel supporting plate (204), a plurality of road wheels (202) are fixedly connected with wheel shafts (205) through wheel couplings (203), the wheel shafts (205) are rotatably connected to road wheel supporting plates (204) through bearings, and wheel driving motors (208) drive the wheel shafts (205) to rotate.

4. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: turning mechanism (3) including rotating base (301), motor drive axle (111) in rotating base (301) and running gear (1) link firmly, it can supply transmission shaft (304) to pass to be provided with on rotating base (301) the round hole, turn motor (302) symmetric distribution is on rotating base (301), two cross coupling (303) head ends all with turn motor (302) output shaft fixed connection, transmission shaft (304) rotate with rotating base (301) through the bearing and are connected and transmission shaft (304) both ends link firmly with cross coupling (303) respectively, transmission shaft (304) can rotate under the common drive of both sides turn motor (302), rotating joint (305) and transmission shaft (304) fixed connection, and both are the fit relation with the axle center.

5. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the feeding mechanism (4) comprises a feeding end cover (401), the feeding end cover (401) is fixedly connected with a rotating joint (305) of the direction changing mechanism (3), the feeding end cover (401) is fixedly connected with a feeding base (402), a second gear (404) is arranged in a cavity formed by the feeding end cover (401) and the feeding base (402), a circular hole capable of penetrating through a trapezoidal screw (405) and an output shaft of a feeding motor (403) is formed in the feeding base (402), the feeding motor (403) is fixedly connected to the feeding base (402), the output shaft of the feeding motor (403) penetrates through the circular hole of the feeding base (402) and then is fixedly connected with the second gear (404), the feeding motor (403) can drive the second gear (404) to rotate, the head end of the trapezoidal screw (405) penetrates through the circular shape of the feeding base (402) and is meshed with the second gear (404) to be connected, and the tail end of the trapezoidal screw (405) is fixedly connected with a screw guide block (408), a feeding motor (403) drives a gear to drive a trapezoidal lead screw (405) to rotate, a lead screw nut (406) is in threaded connection with the trapezoidal lead screw (405), a sleeve (407) is fixedly connected with the lead screw nut (406), a lead screw guide block (408) is coaxially matched with the sleeve (407), the lead screw guide block (408) can rotate in the sleeve (407), a push rod outer barrel (411) is fixedly connected with a feeding base (402), a telescopic rod guide block (410) is fixedly connected with a push rod outer barrel (411), three parts of the feeding base (402), the lead screw nut (406) and the telescopic rod guide block (410) are respectively provided with a groove capable of mounting a guide rail (409), two ends of the guide rail (409) are respectively connected in the grooves of the feeding base (402) and the telescopic rod guide block (410), the middle part of the guide rail (409) is connected with the groove on the lead screw nut (406), and the lead screw nut (406) is driven by the trapezoidal lead screw (405), only moves along the direction of the guide rail (409) and does not rotate.

6. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the repairing machine body (5) comprises a repairing machine body end cover (501), the repairing machine body end cover (501) is fixedly connected with a sleeve (407) of the feeding mechanism (4), the repairing machine body end cover (501) is fixedly connected with a repairing machine body base (502), a repairing machine body motor (503), a connecting shaft driving motor (504) and a third gear (505) are arranged in a cavity formed by the repairing machine body end cover (501) and the repairing machine body base (502), a baffle (511) is fixedly connected with the repairing machine body base (502) through a repairing machine body shell (509), a round hole through which an impact head connecting shaft (508) can penetrate is formed in the baffle (511), a bearing which is matched with the diameter of the impact head connecting shaft (508) is matched in the round hole, a limiting sleeve (510) is fixedly connected with the baffle (511), the head end of the impact head connecting shaft (508) is fixedly connected with a coupler (507), and the tail end of the impact head connecting shaft (508) is rotatably connected with the baffle (511) through the bearing, shaft coupling (507) and connecting axle driving motor (504) rotor fixed connection, restore organism lead screw (506) head end and third gear (505) fixed connection, restore organism lead screw (506) end and stop collar (510) and rotate and be connected, drive third gear (505) by restoring organism motor (503), and then drive and restore organism lead screw (506) and rotate, middle removal supporting shoe (513) and restoring organism lead screw (506) threaded connection, when restoring organism lead screw (506) and rotating, can drive middle removal supporting shoe (513) reciprocating motion, restore organism end cover (501), all be equipped with lug (512) of 6 equipartitions on middle removal supporting shoe (513) and restoring organism base (502).

7. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the grinding mechanism comprises 6 grinding units (6) which are uniformly arranged on a repairing machine body (5), and each grinding unit (6) is respectively and rotatably connected with a repairing machine body end cover (501), a repairing machine body base (502) and a lug (512) on an intermediate movable supporting block (513);

the grinding unit comprises a first driven connecting rod (601) of the grinding unit, the first driven connecting rod (601) of the grinding unit and a second driven connecting rod (602) of the grinding unit are hinged to a connecting sheet (604), a driving connecting rod (603) of the grinding mechanism is hinged to the second driven connecting rod (602) of the grinding unit, the connecting sheet (604) is fixedly connected with a grinding head workbench (605), a grinding head driving motor (606) is fixedly connected with the grinding head workbench (605), a grinding head (608) is fixedly connected with the grinding head driving motor (606) through a grinding head connecting shaft (607), the grinding head driving motor (606) drives a grinding head connecting shaft (607), and then the grinding head (608) is driven to rotate.

8. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 1, characterized in that: the cutting mechanism (7) comprises an impact head coupler (704), the impact head coupler (704) is used for fixedly connecting the connecting shaft (508) with the milling head (701), the head ends of at least 2 groups of chains (702) are uniformly distributed on the milling head (701) and are fixedly connected with the milling head (701), and the trapezoidal scraper (703) is fixedly connected with the outer side end of the chain (702).

9. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 3, characterized in that: when the walking wheel is in a normal walking state, the top of the outer edge of the walking wheel (202) is higher than that of the outer edge of the supporting self-locking rubber (217), when the walking wheel is in a working state, the walking wheel (202) is compressed due to the fact that the pipe wall acts on the positive pressure of the walking wheel (202), the top of the outer edge of the supporting self-locking rubber (217) is higher than that of the walking wheel (202), the pipe wall is tightly attached to the supporting self-locking rubber (217), and counter force capable of balancing the obstacle is generated.

10. The self-balancing self-adaptive robot for cleaning underground pipelines according to claim 7, characterized in that: when the grinding heads (608) of the grinding unit (6) work, the rotation directions of the grinding heads alternate in a clockwise and anticlockwise mode, and the rotation direction of each grinding head (608) is opposite to that of the two grinding heads (608) adjacent to the periphery.

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