CN216555976U - Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline - Google Patents
Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline Download PDFInfo
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- CN216555976U CN216555976U CN202220071145.0U CN202220071145U CN216555976U CN 216555976 U CN216555976 U CN 216555976U CN 202220071145 U CN202220071145 U CN 202220071145U CN 216555976 U CN216555976 U CN 216555976U
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Abstract
A but, reducing repair body for self-balancing self-adaptation robot is cleared up to underground piping clearance, including driving the restoration organism that grinding mechanism produced the angle displacement and then realized the reducing motion, grinding mechanism includes a plurality of rotation and connects the grinding unit in the outside of restoration organism footpath, grinding mechanism is used for doing rotary motion and linear displacement motion under the drive of steering mechanism and feed mechanism and clears up the pipe wall, cutting mechanism who is connected with the restoration organism, do rotary motion and clear up the pipe wall under the drive of restoration organism, grinding mechanism and cutting mechanism can realize that rotary motion and linear displacement motion go on simultaneously, adapt to the clearance to different pipeline obstacles with this. Meanwhile, the grinding mechanism which is easy to replace solves the problem that the worn parts of the robot are difficult to replace. Meanwhile, based on the structural design and the working mode, the robot can always keep self dynamic balance when in work.
Description
Technical Field
The utility model belongs to the technical field of pipeline cleaning equipment, and particularly relates to a variable-diameter repairing mechanism for an underground pipeline cleaning self-balancing self-adaptive robot.
Background
With the rapid development of cities, the number of underground pipelines is increased rapidly, and the pipe network condition is more and more complex. Huge cities and rapidly developing society cause great consumption and damage to underground new and old pipe networks. Meanwhile, the cleaning and repairing work of the damaged pipeline becomes more and more important.
At present, the technical method for cleaning and repairing the urban underground pipeline mainly comprises the following steps: hose inversion lining method, spraying method, pipe feeding method and manual cleaning method. Among them, the material used in the spray coating method is a high-solid anticorrosive material. The coating is evenly sprayed on the annular inner wall of the pipeline in a pneumatic pushing mode. How to treat the surface before coating and how to design the structure of the coating material is the key point of this type of process. For process facilities, the most outstanding problem is the joint coating technology in the pipeline, which is not well solved and needs to be further improved. The manual cleaning method can only clean the pipelines with relatively simple conditions in the pipelines, and the manual cleaning is unrealistic for pipelines of different types. The manual cleaning labor amount is large, the labor environment is relatively poor, and the cleaning efficiency is not ideal. For the existing huge urban underground pipeline system, the manual cleaning can not meet the cleaning requirement at all. In summary, the existing pipeline cleaning and repairing technologies have certain limitations, and in the face of increasingly complex pipeline cleaning and repairing work, innovations and breakthroughs in the pipeline cleaning and repairing technology are urgently needed.
In order to solve the problems, the variable-diameter repairing mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline is designed. The method adopts a purely mechanical physical method to carry out strength and structural damage on the obstacles in the pipeline, thereby realizing the cleaning and repairing of the pipeline. The pipe diameter regulator has the characteristics of simple and reliable structure, easy replacement of wear parts, good pipe diameter adaptability and the like. Meanwhile, based on self structural design, when the device is in a working state, self dynamic balance can be realized.
SUMMERY OF THE UTILITY MODEL
The utility model provides a variable-diameter repairing mechanism for an underground pipeline cleaning self-balancing self-adaptive robot. 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:
the variable-diameter repairing mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline comprises a repairing machine body, a grinding mechanism and a cutting mechanism;
the machine body is repaired, and the grinding mechanism can be driven to generate angular displacement so as to realize variable-diameter motion;
the grinding mechanism comprises a plurality of grinding units which are rotatably connected to the outside of the repairing machine body in the radial direction, and is used for cleaning the pipe wall by rotating and linearly displacing under the driving of the turning mechanism and the feeding mechanism;
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;
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 repairing machine body comprises a repairing machine body end cover which 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 limiting sleeve is fixedly connected with the baffle plate, the head end of an impact head connecting shaft is fixedly connected with a coupler, the tail end of the impact head connecting shaft is rotatably connected with the baffle plate through a bearing, the coupler is fixedly connected with a connecting shaft driving motor rotor, the head end of a repairing machine body screw rod is fixedly connected with the third gear, the tail end of the repairing machine body screw rod is rotatably connected with the limiting sleeve, the repairing machine body motor drives the third gear to further drive the repairing machine body screw rod to rotate, a middle moving supporting block is in threaded connection with the repairing machine body screw rod, when the repairing machine body screw rod rotates, the middle movable supporting block can be driven to reciprocate, N uniformly distributed lugs are arranged on the repairing machine body end cover, the middle movable supporting block and the repairing machine body base, N is larger than or equal to 3, N rectangular openings are uniformly formed in the repairing machine body shell, N is larger than or equal to 3, and the lugs on the repairing machine body end cover, the repairing machine body base and the middle movable supporting block correspond to the rectangular openings in the repairing machine body shell one to one.
Furthermore, the grinding mechanism comprises N grinding units which are uniformly arranged on the repairing machine body, wherein N is more than or equal to 3, 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.
Furthermore, the cutting mechanism comprises a milling head, a chain, a trapezoidal scraper and 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 chain are uniformly distributed on the milling head, and the trapezoidal scraper is fixedly connected with the outer side end of the chain.
Furthermore, the trapezoidal scraping plate, the milling head and the grinding head have mutually balanced torsional moments in the pipeline hole.
Furthermore, when the grinding heads of the grinding unit work, the rotation directions of the grinding heads are alternately changed in a clockwise and anticlockwise mode, and the rotation direction of each grinding head is opposite to that of the grinding head adjacent to the periphery; the grinding heads are even in number, the even grinding heads can balance the torsional force generated on the machine body during rotation, meanwhile, the reaction torque generated by the barriers on each grinding head is also alternated, self-balance can be realized, and the axial reaction force generated by the cleaned barriers on the grinding heads can be balanced through the feeding force provided by the feeding mechanism.
The utility model has the beneficial effects that:
the grinding mechanism and the cutting mechanism can realize the simultaneous operation of rotary motion and linear displacement motion, thereby being suitable for cleaning different pipeline obstacles. N (N is more than or equal to 3) grinding units are uniformly distributed on the same annular plane and hinged with the repairing machine body, and diameter-changing actions can be completed under the driving of the repairing machine body so as to realize the cleaning and repairing of pipelines with different pipe diameters. In addition, the grinding mechanism easy to replace solves the problem that the worn parts of the robot are difficult to replace. 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 schematic view of the structure of the present invention connected to a robot.
Fig. 2 is a schematic view of the overall structure of the present invention.
Fig. 3 is a perspective view of the prosthetic body of the present invention.
Fig. 4 is a schematic perspective view of the base of the repairing body and the outer shell of the repairing body not connected to the repairing body.
Fig. 5 is a partially enlarged view of fig. 4 at D.
Fig. 6 is a perspective view of the grinding unit of the present invention.
Fig. 7 is a perspective view of the cutting mechanism of the present invention.
FIG. 8 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 8, the variable diameter repairing mechanism for the self-balancing self-adaptive robot for cleaning the underground pipeline includes a repairing body 5, a grinding mechanism and a cutting mechanism 7;
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 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. 7, 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.
Furthermore, referring to fig. 5, the number of the repair body motors 503 and the repair body screws 506 is 2, the thread turning directions of the two repair body screws 506 are opposite, and the two repair body motors 503 drive the two repair body screws 506 respectively, so that the rotation directions of the two repair body screws 506 are opposite, the torque generated by the rotation of the screws is eliminated, and the torque self-balance of the mechanism is realized.
The working principle and the using process of the utility model are as follows:
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 the pipelines with different inner diameters are cleaned or the chain scraper 703 is abraded to a certain degree and needs to be replaced, the rotating chain 702 and the trapezoidal scraper 703 which are suitable can be replaced according to needs, and meanwhile, the pipelines with different inner diameters can be cleaned through the reducing action of the grinding mechanism and the replacement of the chains 702 with different lengths, and the pipe diameter scraper has strong pipe diameter adaptability and disassembly convenience.
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 of the travelling mechanism 1 drives a steering mechanism 3 to rotate through a motor driving shaft, 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 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 work in a rotary motion and a linear displacement motion simultaneously, after the sleeve extends in place, the rotary driving motor of the travelling mechanism 1 does not drive the steering mechanism 3 to rotate, at the moment, the sleeve contracts, and after the sleeve contracts in place, a wheel driving motor of a reducing unit 2 drives travelling wheels to move for a certain distance in a pipe wall, the above steps are repeated again.
Claims (7)
1. A but, reducing repair body for self-balancing self-adaptation robot is cleared up to underground piping, its characterized in that: comprises a repairing machine body (5), a grinding mechanism and a cutting mechanism (7);
the repairing machine body (5) can drive the grinding mechanism to generate angular displacement so as to realize variable-diameter motion;
the grinding mechanism comprises a plurality of grinding units (6) which are rotatably connected to the radial outer side of the repairing machine body (5), and is used for cleaning the pipe wall by rotating and linearly 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;
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.
2. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning 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 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 limiting sleeve (510) is fixedly connected with the baffle (511), the head end of an impact head connecting shaft (508) is fixedly connected with a shaft coupling (507), the tail end of the impact head connecting shaft (508) is rotatably connected with the baffle (511) through a bearing, the shaft coupling (507) is fixedly connected with a connecting shaft driving motor (504) rotor, the head end of a repairing machine body lead screw (506) is fixedly connected with the third gear (505), the tail end of the repairing lead screw (506) is rotatably connected with the limiting sleeve (510), the third gear (505) is driven by a repairing machine body motor (503) to further drive a repairing machine body screw rod (506) to rotate, the middle moving supporting block (513) is in threaded connection with the repairing machine body screw rod (506), when the repairing machine body screw rod (506) rotates, the middle moving supporting block (513) can be driven to reciprocate, N uniformly distributed convex blocks (512) are arranged on the repairing machine body end cover (501), the middle moving supporting block (513) and the repairing machine body base (502), N is larger than or equal to 3, and the convex blocks (512) on the repairing machine body end cover (501), the repairing machine body base (502) and the middle moving supporting block (513) are in one-to-one correspondence with the rectangular openings on the repairing machine body base (509).
3. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning according to claim 1, characterized in that: the grinding mechanism comprises N grinding units (6) which are uniformly arranged on a repairing machine body (5), wherein N is more than or equal to 3, 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 moving supporting block (513).
4. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning according to claim 1, characterized in that: the cutting mechanism (7) comprises a milling head (701), a chain (702), a trapezoidal scraper (703) and an impact head coupling (704);
the impact head coupler (704) fixedly connects 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 the trapezoidal scraper (703) is fixedly connected with the outer side end of the chains (702).
5. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning according to claim 4, wherein: the trapezoidal scraper (703), the milling head (701) and the grinding head (608) have mutually balanced torsional moments in the pipeline hole.
6. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning according to claim 1, characterized in that: when the grinding heads (608) of the grinding unit (6) work, the rotation directions of the grinding heads (608) are alternately changed in a clockwise and anticlockwise mode, and the rotation direction of each grinding head (608) is opposite to that of the grinding head (608) adjacent to the periphery; the grinding heads (608) are even in number, the even grinding heads (608) can balance the torsional force generated on the machine body during rotation, meanwhile, the reaction torque generated by the barriers on each grinding head (608) is also changed alternately, self-balance can be achieved, and the axial reaction force generated by the cleaned barriers on the grinding heads can be balanced through the feeding force provided by the feeding mechanism.
7. The variable-diameter repairing mechanism for the self-balancing self-adaptive robot for underground pipeline cleaning according to claim 2, characterized in that: the number of the repair machine body motors (503) and the repair machine body screws (506) is 2, the thread turning directions of the two repair machine body screws (506) are opposite, and the two repair machine body motors (503) respectively drive the two repair machine body screws (506), so that the rotating directions of the two repair machine body screws (506) are opposite, the torque generated by the rotation of the screws is eliminated, and the torque self-balance of the mechanism is realized.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220071145.0U CN216555976U (en) | 2022-01-12 | 2022-01-12 | Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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| CN202220071145.0U CN216555976U (en) | 2022-01-12 | 2022-01-12 | Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114165677A (en) * | 2022-01-12 | 2022-03-11 | 吉林大学 | Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
| CN118543611A (en) * | 2024-07-24 | 2024-08-27 | 湖南长缆智能科技有限公司 | Pipeline cleaning system |
-
2022
- 2022-01-12 CN CN202220071145.0U patent/CN216555976U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114165677A (en) * | 2022-01-12 | 2022-03-11 | 吉林大学 | Diameter-variable repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
| CN114165677B (en) * | 2022-01-12 | 2024-06-25 | 吉林大学 | Variable diameter repairing mechanism for self-balancing self-adaptive robot for cleaning underground pipeline |
| CN118543611A (en) * | 2024-07-24 | 2024-08-27 | 湖南长缆智能科技有限公司 | Pipeline cleaning system |
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