CN218891876U - Tree root cutting operation robot applicable to drainage pipelines with various calibers - Google Patents
Tree root cutting operation robot applicable to drainage pipelines with various calibers Download PDFInfo
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- CN218891876U CN218891876U CN202223363284.XU CN202223363284U CN218891876U CN 218891876 U CN218891876 U CN 218891876U CN 202223363284 U CN202223363284 U CN 202223363284U CN 218891876 U CN218891876 U CN 218891876U
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Abstract
The utility model provides a root cutting operation robot applicable to drainage pipelines with various calibers, which comprises a crawler chassis, a six-axis mechanical arm and a protective cover, wherein the crawler chassis comprises a vehicle body, a crawler mechanism and a crawler angle adjusting device; a laser radar and a camera are arranged in the protective cover; one end of the six-axis mechanical arm is fixedly connected with a reciprocating cutting head; the crawler mechanism comprises a crawler, and a wheel set is arranged in the crawler; a driving mechanism is arranged in the vehicle body and is in transmission connection with a wheel set, and the wheel set is in transmission connection with a crawler belt; the crawler belt angle adjusting device comprises an angle adjusting bolt, an angle adjusting plate, a joint screw, an angle adjusting nut and a dial. The utility model can adjust the angles of the tracks according to different calibers of the drainage pipelines to be operated, and is beneficial to increasing the contact area between the tracks and the pipe wall, thereby being beneficial to improving the movement stability and obstacle surmounting capability, expanding the application range and improving the operation efficiency.
Description
Technical Field
The utility model relates to the technical field of urban construction, in particular to a tree root cutting operation robot applicable to drainage pipelines with various calibers.
Background
After the drainage pipeline is put into use for several years, structural defects such as dislocation, deformation, cracking, dislocation, collapse and the like of different degrees occur in the pipeline due to external load change, corrosion of the inside of the pipeline, pipe and construction quality, poor daily maintenance and the like, and the pipeline below the green belt grows tree roots at the joint and the cracking part of the pipeline to form functional defects. The accumulation of garbage causes the blockage of pipelines, so that sewage overflows the road surface, the daily life of residents is seriously influenced, and even the overflow pollution of surface water bodies is caused. In order to repair the root defect problem in the pipeline, a robot is required to enter the drainage pipeline for operation.
The utility model discloses a current chinese patent of publication No. CN211915575U, it discloses a pipeline cutting robot, relates to pipeline cutting device field, including integrated cable connector, robot body, camera and light module, three degree of freedom arm, bore and cut the work head, bore and cut blade and drive wheel, robot body rear portion is equipped with integrated cable connector, integrated cable connector is through synthesizing cable connection control terminal, install on the robot body camera and light module, install on the robot body both sides the drive wheel, the robot body front portion is through three degree of freedom arm connection is high-speed bore and cut the work head, bore and cut and install on the work head bore and cut the cutter blade and accomplish pipeline and bore and cut.
The inventor considers that the pipeline cutting robot in the prior art is only suitable for pipelines with single caliber, has poor adaptability and low efficiency in performing operation in pipelines with different calibers, and needs to provide a tree root cutting operation robot suitable for drainage pipelines with multiple calibers.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide a tree root cutting operation robot applicable to drainage pipelines with various calibers.
The utility model provides a tree root cutting operation robot applicable to drainage pipelines with various calibers, which comprises the following components: the crawler-type chassis comprises a vehicle body, a crawler mechanism and a crawler angle adjusting device; the protective cover is fixedly connected to the top of the vehicle body, and a laser radar and a camera are arranged in the protective cover; one end of the six-axis mechanical arm is fixedly connected with the top of the vehicle body, and the other end of the six-axis mechanical arm is fixedly connected with a reciprocating cutting head; the crawler mechanism comprises a crawler, a wheel set is arranged in the crawler, a connecting frame is arranged on one side, close to the vehicle body, of the crawler, and a baffle is arranged on one side, far away from the vehicle body, of the crawler; a driving mechanism is arranged in the vehicle body and is in transmission connection with the wheel set, and the wheel set is in transmission connection with the crawler belt; the crawler belt angle adjusting device comprises an angle adjusting bolt, an angle adjusting plate, a joint screw, an angle adjusting nut and a dial; the joint screw is fixedly connected with the vehicle body, and the angle adjusting nut is fixedly connected with the joint screw; one end of the angle adjusting bolt is connected with the angle adjusting nut in a threaded fit manner, and the other end of the angle adjusting bolt is fixedly connected with the angle adjusting plate; the angle adjusting plate is fixedly connected with the connecting frame; the dial is fixedly connected with the vehicle body.
Preferably, nut fixing plates are arranged on two sides of the joint screw, and the angle adjusting nut is tightly connected between the two nut fixing plates.
Preferably, the two angle adjusting plates are symmetrically arranged at two sides of the angle adjusting bolt, and the angle adjusting bolt is fixedly connected with the two angle adjusting plates through an angle adjusting pin; the angle adjusting bolt penetrates through the angle adjusting pin to be in threaded fit connection with the angle adjusting nut.
Preferably, a set of crawler mechanisms is respectively arranged on two sides of the vehicle body, the wheel sets comprise driving wheels, loading wheels and guide wheels, and the driving wheels on one side and the guide wheels on the other side are correspondingly arranged.
Preferably, the two groups of driving mechanisms are arranged corresponding to the two groups of crawler mechanisms, and each driving mechanism comprises a servo motor, a motor driver and a planetary reducer.
Preferably, the output end of the servo motor is fixedly connected with the input end of the planetary reducer, and the output end of the planetary reducer is connected with the driving wheel through a universal coupling; the driving wheel is meshed with the crawler belt.
Preferably, the inner sides of the loading wheel and the guide wheel are fixedly connected with the connecting frame; the outer sides of the driving wheel, the loading wheel and the guide wheel are all fixedly connected with the baffle plate.
Preferably, the baffle is provided with a viewing hole corresponding to the dial; the dial is fixedly connected with a dial adjusting plate.
Preferably, the end part of the vehicle body is provided with a universal hanging ring.
Preferably, an anti-collision plate is arranged on one side, close to the six-axis mechanical arm, of the protective cover, and a groove matched with the anti-collision plate is formed in the top of the vehicle body.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, through the matching of the crawler mechanism and the crawler angle adjusting device, the angle of the crawler can be adjusted according to the caliber difference of the drainage pipeline to be operated, and the contact area between the crawler and the pipe wall is increased, so that the moving stability and obstacle surmounting capability are improved, the application range is enlarged, and the operation efficiency is improved.
2. According to the utility model, through the matching of all parts in the crawler belt angle adjusting device and the threaded matching of the angle adjusting bolt 21 and the angle adjusting nut 26, the angle adjustment is realized by using a simple structure, so that the production cost is reduced, and the application range is enlarged.
3. According to the utility model, the wheel sets are matched with the crawler belt to move, so that the occurrence of rollover and slipping of the robot during movement is reduced, and the operation efficiency is improved.
Drawings
Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the overall structure of a root cutting operation robot mainly embodying the present utility model and suitable for use with a variety of caliber drain pipelines;
FIG. 2 is a schematic view of the overall structure of a crawler chassis embodying the present utility model;
FIG. 3 is a schematic view of the internal structure of a vehicle body according to the present utility model;
FIG. 4 is a schematic view of the internal structure of a crawler mechanism embodying the present utility model;
fig. 5 is a schematic view of the overall structure of a track angle adjusting device according to the present utility model.
Reference numerals:
universal lifting ring 3 of crawler-type chassis 2 of laser radar 1
Six-axis mechanical arm 5 anti-collision plate 6 of reciprocating type cutting head 4
Camera 7 protection casing 8 automobile body 9
The driving wheel 16 is a bogie 17 and a guide wheel 18
Angle adjusting nut 26 dial 27 of joint screw 25
Detailed Description
The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.
As shown in fig. 1 to 5, the tree root cutting robot applicable to drainage pipelines with various calibers provided by the utility model comprises: the crawler-type chassis 2, the six-axis mechanical arm 5 and the protective cover 8, wherein the crawler-type chassis 2 comprises a vehicle body 9, a crawler mechanism and a crawler angle adjusting device; the protective cover 8 is fixedly connected to the top of the vehicle body 9, and the laser radar 1 and the camera 7 are arranged in the protective cover 8; one end of the six-axis mechanical arm 5 is fixedly connected with the top of the vehicle body 9, and the other end is fixedly connected with the reciprocating cutting head 4; the crawler mechanism comprises a crawler 15, a wheel set is arranged in the crawler 15, a connecting frame 19 is arranged on one side of the crawler 15 close to the vehicle body 9, and a baffle 14 is arranged on one side of the crawler 15 far away from the vehicle body 9; a driving mechanism is arranged in the vehicle body 9 and is in transmission connection with a wheel set, and the wheel set is in transmission connection with a crawler belt 15; the crawler belt angle adjusting device comprises an angle adjusting bolt 21, an angle adjusting plate 22, a joint screw 25, an angle adjusting nut 26 and a dial 27; the joint screw 25 is fixedly connected with the vehicle body 9, and the angle adjusting nut 26 is fixedly connected with the joint screw 25; one end of the angle adjusting bolt 21 is connected with the angle adjusting nut 26 through screw thread fit, and the other end is fastened and connected with the angle adjusting plate 22; the angle adjusting plate 22 is fixedly connected with the connecting frame 19; the dial 27 is fastened to the vehicle body 9.
Crawler mechanisms are respectively arranged on two sides of the crawler chassis 2, and the crawler is a synchronous belt. The inside fixed connection track angle adjusting device of crawler can adjust crawler's angle, guarantees the contact pipe wall of track 15 maximum area for track 15 can steadily remove at the circular arc surface of pipeline, thereby makes crawler-type chassis 2 can be applicable to the drain pipe of different bore.
The nut fixing plates 24 are provided on both sides of the joint screw 25, and both sides of the joint screw 25 are connected to the nut fixing plates 24 by pins. The angle adjusting nut 26 is fastened between the two nut fixing plates 24, both sides of the angle adjusting nut 26 are fixedly connected with the nut fixing plates 24 by welding, and a certain distance is maintained with the joint screw 25.
The two angle adjusting plates 22 are symmetrically arranged at two sides of the angle adjusting bolt 21, and the angle adjusting bolt 21 is fixedly connected with the two angle adjusting plates 22 through an angle adjusting pin 23. The angle adjusting bolt 21 passes through the angle adjusting pin 23 and is in threaded fit connection with the angle adjusting nut 26.
The shutter 14 is provided with a viewing hole corresponding to the dial 27, and the viewing hole is used for viewing the dial 27. The dial 27 is fixedly connected to the dial adjustment plate 20 by a pin.
The angle adjusting bolt 21 extends to the outside of the baffle plate 14, and by rotating the angle adjusting bolt 21, the angle adjusting bolt 21 gradually approaches the joint screw 25 in cooperation with the adjusting nut 26. Because the angle adjusting bolt 21 is tightly connected with the angle adjusting plate 22, the joint screw 25 is tightly connected with the car body 9, so that the angle adjusting plate 22 starts to rotate, and the connecting frame 19 tightly connected with the angle adjusting plate 22 also starts to rotate, thereby driving the crawler mechanism to rotate and form a certain angle with the car body 9.
The two sides of the vehicle body 9 are respectively provided with a set of crawler mechanisms, each crawler mechanism comprises a driving wheel 16, a loading wheel 17 and a guiding wheel 18, and the driving wheel 16 on one side and the guiding wheel 18 on the other side are correspondingly arranged. The inner sides of the loading wheel 17 and the guide wheel 18 are fixedly connected with the connecting frame 19; the outer sides of the driving wheel 16, the loading wheel 17 and the guide wheel 18 are fixedly connected with the baffle plate 14. Preferably, a set of track mechanisms includes a drive wheel 16, a guide wheel 18, and five bogie wheels 17. The driving wheel 16 and the guiding wheel 18 are positioned at two ends of the caterpillar 15, and the five bogie wheels 17 are uniformly distributed on the connecting frame 19, thereby ensuring the moving stability of the caterpillar 15.
The two groups of driving mechanisms are correspondingly arranged with the two groups of crawler mechanisms, and each driving mechanism comprises a servo motor 10, a motor driver 11 and a planetary reducer 12.
The output end of the servo motor 10 is fixedly connected with the input end of the planetary reducer 12, and the output end of the planetary reducer 12 is connected with the driving wheel 16 through the universal coupling 13; the driving wheel 16 is in meshed connection with the crawler belt 15.
The driving mechanism is controlled to work through the control system, the planetary reducer 12 is driven to work through the servo motor 10, the driving wheel 16 is driven to rotate, the driving wheel 16 and the caterpillar 15 are meshed for transmission, and therefore the working robot starts to move. With the cooperation of the guide wheels 18, the movement direction of the work robot can be effectively controlled. Under the cooperation of the bogie wheels 17, the moving stability and obstacle surmounting capability can be effectively improved, and the robot is effectively prevented from turning over and slipping during moving.
The end of the car body 9 is provided with a universal hanging ring 3. Preferably, the front and rear ends of the car body 9 are provided with universal hanging rings 3, so that a rope can be conveniently hung on the universal hanging rings 3 from any side, and a robot can be hung down in a well and enter a drainage pipeline.
One side of the protective cover 8, which is close to the six-axis mechanical arm 5, is provided with an anti-collision plate 6, and the top of the vehicle body 9 is provided with a groove matched with the anti-collision plate 6.
The specific operation steps of the application are as follows: firstly, two angle adjusting bolts 21 are rotated simultaneously, the angle of the caterpillar band 15 is adjusted to a target angle, in the adjusting process, the specific value of the current adjusting angle of the caterpillar band 15 is observed through an observation hole on the baffle plate 14, then the pose of the six-axis mechanical arm 5 is adjusted to the minimum pose, finally, a rope is hung on the universal hanging ring 3, and the robot is hung down in the well and enters a drainage pipeline.
According to the application, the crawler belt 15 can be adjusted to a corresponding angle according to the caliber difference of the drainage pipeline to be operated, the contact area between the crawler belt 15 and the pipe wall is increased, the moving stability and the obstacle surmounting capacity are improved, and the occurrence of rollover and slipping of the robot during moving is effectively reduced. The tree root defect repairing device is reasonable in structural design, suitable for repairing tree root defects of the drainage pipeline with the caliber of 600mm to 1200mm, capable of reducing labor intensity of underground operators, guaranteeing safety and improving operation efficiency.
Principle of operation
By rotating the angle adjusting bolt 21, the angle adjusting bolt 21 gradually approaches the joint screw 25 in cooperation with the adjusting nut 26. Because the angle adjusting bolt 21 is tightly connected with the angle adjusting plate 22, the joint screw 25 is tightly connected with the car body 9, so that the angle adjusting plate 22 starts to rotate, and the connecting frame 19 tightly connected with the angle adjusting plate 22 also starts to rotate, thereby driving the crawler mechanism to rotate and form a certain angle with the car body 9. In the adjusting process, the specific numerical value of the current adjusting angle of the caterpillar band 15 is observed through the observation hole on the baffle plate 14, then the pose of the six-axis mechanical arm 5 is adjusted to the minimum pose, finally the rope is hung on the universal hanging ring 3, and the robot is hung in the well and enters the drainage pipeline. The driving mechanism is controlled to work through the control system, the planetary reducer 12 is driven to work through the servo motor 10, the driving wheel 16 is driven to rotate, the driving wheel 16 and the caterpillar 15 are meshed for transmission, and therefore the working robot starts to move. With the cooperation of the guide wheels 18, the movement direction of the work robot can be effectively controlled. Under the cooperation of the bogie wheels 17, the moving stability and obstacle surmounting capability can be effectively improved, and the robot is effectively prevented from turning over and slipping during moving.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the utility model. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. Be suitable for multiple bore drainage pipe's root cutting operation robot, a serial communication port includes: the crawler-type chassis (2), a six-axis mechanical arm (5) and a protective cover (8), wherein the crawler-type chassis (2) comprises a vehicle body (9), a crawler mechanism and a crawler angle adjusting device;
the protective cover (8) is fixedly connected to the top of the vehicle body (9), and a laser radar (1) and a camera (7) are arranged in the protective cover (8);
one end of the six-axis mechanical arm (5) is fixedly connected with the top of the vehicle body (9), and the other end of the six-axis mechanical arm is fixedly connected with a reciprocating cutting head (4);
the crawler mechanism comprises a crawler (15), a wheel set is arranged in the crawler (15), a connecting frame (19) is arranged on one side, close to the vehicle body (9), of the crawler (15), and a baffle (14) is arranged on one side, far away from the vehicle body (9), of the crawler (15);
a driving mechanism is arranged in the vehicle body (9), the driving mechanism is in transmission connection with the wheel set, and the wheel set is in transmission connection with the crawler belt (15);
the crawler belt angle adjusting device comprises an angle adjusting bolt (21), an angle adjusting plate (22), a joint screw (25), an angle adjusting nut (26) and a dial (27);
the joint screw (25) is fixedly connected with the vehicle body (9), and the angle adjusting nut (26) is fixedly connected with the joint screw (25);
one end of the angle adjusting bolt (21) is connected with the angle adjusting nut (26) in a threaded fit manner, and the other end of the angle adjusting bolt is fixedly connected with the angle adjusting plate (22);
the angle adjusting plate (22) is fixedly connected with the connecting frame (19);
the dial (27) is fixedly connected with the vehicle body (9).
2. The tree root cutting robot applicable to the multi-caliber drainage pipeline as claimed in claim 1, wherein nut fixing plates (24) are arranged on two sides of the joint screw (25), and the angle adjusting nut (26) is tightly connected between the two nut fixing plates (24).
3. The root cutting robot applicable to the multi-caliber drainage pipeline as claimed in claim 1, wherein two angle adjusting plates (22) are symmetrically arranged on two sides of the angle adjusting bolt (21), and the angle adjusting bolt (21) is fixedly connected with the two angle adjusting plates (22) through an angle adjusting pin (23);
the angle adjusting bolt (21) penetrates through the angle adjusting pin (23) to be in threaded fit connection with the angle adjusting nut (26).
4. The root cutting robot applicable to the multi-caliber drainage pipelines according to claim 1, wherein a group of crawler mechanisms is respectively arranged on two sides of the vehicle body (9), each wheel group comprises a driving wheel (16), a loading wheel (17) and a guide wheel (18), and the driving wheel (16) on one side is correspondingly arranged with the guide wheel (18) on the other side.
5. The tree root cutting robot applicable to the multi-caliber drainage pipeline as claimed in claim 4, wherein two groups of driving mechanisms are arranged corresponding to two groups of crawler mechanisms, and each driving mechanism comprises a servo motor (10), a motor driver (11) and a planetary reducer (12).
6. The tree root cutting operation robot applicable to the drainage pipelines with various calibers according to claim 5, wherein the output end of the servo motor (10) is fixedly connected with the input end of the planetary reducer (12), and the output end of the planetary reducer (12) is connected with the driving wheel (16) through a universal coupling (13);
the driving wheel (16) is meshed with the crawler belt (15).
7. The root cutting robot applicable to the multi-caliber drainage pipeline as claimed in claim 4, wherein the insides of the loading wheel (17) and the guide wheel (18) are fixedly connected with the connecting frame (19);
the outer sides of the driving wheel (16), the loading wheel (17) and the guide wheel (18) are all fixedly connected with the baffle plate (14).
8. The root cutting robot applicable to the drainage pipelines with various calibers as set forth in claim 1, wherein the baffle (14) is provided with a viewing hole corresponding to the dial (27);
the dial (27) is fixedly connected with a dial adjusting plate (20).
9. The tree root cutting operation robot applicable to the multi-caliber drainage pipelines according to claim 1 is characterized in that the end part of the vehicle body (9) is provided with a universal hanging ring (3).
10. The tree root cutting operation robot applicable to the multi-caliber drainage pipelines according to claim 1, wherein an anti-collision plate (6) is arranged on one side, close to the six-axis mechanical arm (5), of the protective cover (8), and a groove matched with the anti-collision plate (6) is formed in the top of the vehicle body (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223363284.XU CN218891876U (en) | 2022-12-14 | 2022-12-14 | Tree root cutting operation robot applicable to drainage pipelines with various calibers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223363284.XU CN218891876U (en) | 2022-12-14 | 2022-12-14 | Tree root cutting operation robot applicable to drainage pipelines with various calibers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218891876U true CN218891876U (en) | 2023-04-21 |
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ID=85999101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223363284.XU Active CN218891876U (en) | 2022-12-14 | 2022-12-14 | Tree root cutting operation robot applicable to drainage pipelines with various calibers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218891876U (en) |
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2022
- 2022-12-14 CN CN202223363284.XU patent/CN218891876U/en active Active
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