CN221097927U

CN221097927U - Bionic cleaning device for pipeline

Info

Publication number: CN221097927U
Application number: CN202322571947.5U
Authority: CN
Inventors: 刘府承; 黄诗军; 向富超; 郑宏; 梁磊; 颜琳; 杨林
Original assignee: Sichuan Road and Bridge Group Co Ltd
Current assignee: Sichuan Road and Bridge Group Co Ltd
Priority date: 2023-09-21
Filing date: 2023-09-21
Publication date: 2024-06-07
Anticipated expiration: 2033-09-21

Abstract

The utility model discloses a bionic cleaning device for a pipeline, which comprises a main rod, wherein a plurality of telescopic assemblies are circumferentially distributed on the main rod, the telescopic assemblies are connected with a front supporting ring and a rear supporting ring, and at least three mechanical leg modules are arranged on the front supporting ring and the rear supporting ring. According to the utility model, a group of mechanical leg modules are respectively arranged on the front support ring and the rear support ring by adopting a bionic principle, the distance between the two groups of mechanical leg modules is changed by the telescopic component, so that the forward or backward movement of the robot is realized, specifically, the two groups of mechanical leg modules are alternatively abutted against the inner wall of the pipeline, so that the device can adapt to various pipeline wall conditions, the obstacle crossing capability is improved, the problems that various pipeline walls cannot be adapted and the obstacle crossing capability is insufficient are solved, and the problems of difficult climbing and falling down of the pipeline are solved.

Description

Bionic cleaning device for pipeline

Technical Field

The utility model relates to the field of pipeline cleaning, in particular to a bionic pipeline cleaning device.

Background

The existing pipe diameter robot, the pipe diameter self-adaptive wheel type module comprises two front machine bodies, two rear machine bodies and eight driving wheels driven by a driving motor; the front machine bodies and the rear machine bodies are connected through springs, and a sliding groove and a sliding block are arranged between the front machine bodies, so that the pipe diameter change can be passively adapted. The front machine body is hinged with the rear machine body, and each pipeline robot module is also hinged with the rear machine body so as to assist in realizing the turning function. The prior art is a machine capable of walking along the inner wall of a pipeline, and pipeline detection and maintenance operation is performed under the control of an operator. The working space of the pipeline robot is generally various complex and closed pipelines, including a horizontal straight pipe, bent pipes at various angles, a slope pipe, a reducer pipe joint and the like, and the running distance of the pipeline robot in the working process is also generally longer.

The existing pipeline robot has the following problems: the self-adaptive wheel type module cannot adapt to various pipe wall conditions, and when the self-adaptive wheel type module passes through a concave-convex interface of the inner wall of the pipe, the self-adaptive wheel type module is insufficient in obstacle crossing capability, so that the contact surface of a tire and the pipe wall is insufficient, power transmission cannot be effectively transmitted, and a robot cannot move forwards and even falls off at a vertical bending position of the pipe; the surface friction force of the wheel set is insufficient, so that the power transmission efficiency in the smooth inner wall is low, and a large amount of kinetic energy is wasted; the technology is thin, only pipeline detection operation can be carried out, and the actual conditions such as blockage are met, so that the technology is often dependent on post-treatment, and secondary consumption of cost is caused.

Based on the above situation, a need exists for a bionic cleaning device for a pipeline, which is used for solving the problems that various pipe walls cannot be adapted and the obstacle crossing capability is insufficient.

Disclosure of utility model

The utility model aims at: aiming at the existing pipeline robot, the robot cannot adapt to various pipe walls, has insufficient obstacle crossing capability, cannot move forward and even falls off at a vertical bend of a pipeline; the friction force on the surface of the wheel set is insufficient, and a large amount of kinetic energy is wasted; only can carry out pipeline detection operation, solves the problems that the pipeline can not adapt to various pipe walls and the obstacle crossing capability is insufficient.

The technical scheme of the utility model is as follows: the utility model provides a bionical cleaning device of pipeline, includes the mobile jib, circumference distributes on the mobile jib has a plurality of flexible subassemblies, flexible subassembly is connected with preceding support ring and back support ring, all install at least three mechanical leg module on preceding support ring and the back support ring. The existing pipeline robot cannot adapt to various pipe wall conditions, when the concave-convex interface of the inner wall of a pipe is passed, the adaptive wheel type module is insufficient in obstacle crossing capability, so that the contact surface of a tire and the pipe wall cannot be effectively conveyed, the robot cannot move forwards and even fall at a vertical bending position of the pipe.

Furthermore, the specific structure of the mechanical leg module is not limited solely, and one possible scheme is as follows: the mechanical leg module comprises a supporting end connected with a front supporting ring or a rear supporting ring, the supporting end is hinged with a front foot end, a middle foot end is hinged with the front foot end, and a tail foot end is arranged on the middle foot end.

Furthermore, the foot end is connected with a friction pad, so that the friction force between the foot end and the pipe wall is increased, and the problem of kinetic energy waste is avoided.

Furthermore, the driving mode of the mechanical leg module is not limited solely, and one possible scheme is as follows: the mechanical leg module comprises a hydraulic push rod for driving the front end and the middle end of the foot, and the mechanical leg module is firmly supported and then drives the front end and the middle end of the foot to stretch through the transmission of the hydraulic push rod, so that the tail end of the foot generates prestress on the pipeline, and the friction force between the tail end of the foot and the pipe wall is further increased.

Furthermore, the present solution is not limited to the specific structure of the telescopic assembly, and one possible solution is: the telescopic assembly is a hydraulic jack and the jack comprises at least two hydraulic shafts, when the scheme is adopted, the hydraulic jack is light in weight, small in structure and high in safety, and the hydraulic shafts are in redundant configuration, so that the reliability of the telescopic assembly is guaranteed.

Furthermore, the cleaning device is provided with an image transmission device which is used for transmitting road conditions in front of the pipeline in real time, and operators can timely change power output and advancing characteristics according to the transmitted images so as to ensure normal operation of the machine.

Still further, cleaning device's preceding terminal surface demountable installation has conical clearance drill bit, the clearance drill bit is connected with and is used for driving clearance drill bit pivoted motor, when adopting this scheme, works as when image transmission device detects the plug, motor drive clearance drill bit rotates, can in time clear up the plug and smash, and efficient completion clearance work reduces the later stage clearance work in a large number, can clear up the operation when carrying out pipeline detection operation, has avoided pipeline jam earlier stage to judge the situation that difficulty leads to the later stage to open the storehouse only, after concrete placement, in time detects the clearance and can practice thrift the later stage and open the storehouse in a large number and handle the risk, economic efficiency is showing.

Compared with the prior art, the utility model has the beneficial effects that:

1. A group of mechanical leg modules are respectively arranged on the front support ring and the rear support ring by adopting a bionics principle, the distance between the two groups of mechanical leg modules is changed through the telescopic component, so that the advancing or retreating of the robot is realized, specifically, the two groups of mechanical leg modules alternately prop against the inner wall of a pipeline, so that the device can adapt to various pipe wall conditions, improves the obstacle crossing capability, solves the problems that various pipe walls cannot be adapted and the obstacle crossing capability is insufficient, and solves the problems of difficult climbing and falling down of the pipeline;

2. Because the foot end is connected with the friction pad, the friction force between the foot end and the pipe wall is increased, and the problem of kinetic energy waste is solved;

3. Because install image transmission device on the cleaning device, cleaning device's preceding terminal surface demountable installation has conical clearance drill bit, the clearance drill bit is connected with and is used for driving clearance drill bit pivoted motor, works as when image transmission device detects the plug, motor drive clearance drill bit rotates, can in time clear up the plug and stir garrulous, the efficient completion clearance work, can clear up the operation when carrying out pipeline detection operation, a large amount of reduction later stage clearance work, avoided pipeline jam earlier stage judgement difficulty to lead to the situation that later stage can only open the storehouse, after concrete placement, in time detect the clearance can practice thrift later stage a large amount of open storehouse and handle the risk, economic effects is showing.

Drawings

FIG. 1 is a schematic view of a first view overall structure according to an embodiment of the present utility model;

FIG. 2 is a schematic view of the overall structure of a second view angle according to an embodiment of the present utility model;

Fig. 3 is an enlarged view at a in fig. 2.

Reference numerals:

1. a main rod; 2. a telescoping assembly; 3. a front support ring; 4. a rear support ring; 5. a mechanical leg module; 6. cleaning a drill bit; 7. a bundling line;

21. a hydraulic shaft;

51. a support end; 52. the forefoot; 53. midfoot end; 54. foot end.

Detailed Description

It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The features and capabilities of the present utility model are described in further detail below in connection with examples.

Examples:

Referring to fig. 1, a bionic cleaning device for a pipeline includes a main rod 1, a plurality of telescopic components 2 are circumferentially distributed on the main rod 1, the telescopic components 2 are connected with a front support ring 3 and a rear support ring 4, and at least three mechanical leg modules 5 are installed on the front support ring 3 and the rear support ring 4. The existing pipeline robot cannot adapt to various pipe wall conditions, when the concave-convex interface of the inner wall of a pipe is passed, the adaptive wheel type module is insufficient in obstacle crossing capability, so that the contact surface of a tire and the pipe wall cannot be effectively conveyed, the robot cannot move forwards and even fall at a vertical bending position of the pipe, in the scheme, a group of mechanical leg modules 5 are respectively arranged on a front supporting ring 3 and a rear supporting ring 4 by adopting a bionic principle, the distance between the two groups of mechanical leg modules 5 is changed through a telescopic component 2, the advancing or retreating of the robot is realized, specifically, the inner wall of the pipe is alternately abutted to the two groups of mechanical leg modules 5, various pipe wall conditions can be adapted, the obstacle crossing capability is improved, the problem that the tire cannot adapt to various pipe walls and the obstacle crossing capability is insufficient is solved, and the problems of climbing difficulty and vehicle turning and falling of the pipe are solved.

Referring to fig. 3, the present solution does not limit the specific structure of the mechanical leg module 5, one possible solution is: the mechanical leg module 5 comprises a support end 51 connected with the front support ring 3 or the rear support ring 4, the support end 51 is hinged with a foot front end 52, the foot front end 52 is hinged with a foot middle end 53, and the foot middle end 53 is provided with a foot tail end 54.

The foot end 54 is connected with a friction pad, increases the friction between the foot end 54 and the pipe wall, and solves the problem of kinetic energy waste.

The driving mode of the mechanical leg module 5 is not limited solely in this scheme, and one possible scheme is as follows: the mechanical leg module 5 comprises a hydraulic push rod for driving the front foot end 52 and the middle foot end 53, and the mechanical leg module 5 is firmly supported and then drives the front foot end 52 and the middle foot end 53 to stretch through the transmission of the hydraulic push rod, so that the tail foot end 54 generates prestress on a pipeline, and the friction force between the tail foot end 54 and the pipe wall is further increased.

Referring to fig. 1 and 2, the present solution does not limit the specific structure of the telescopic assembly 2 solely, one possible solution being: the telescopic assembly 2 is a hydraulic jack and the jack comprises at least two hydraulic shafts 21, when the scheme is adopted, the hydraulic jack is light in weight, small in structure and high in safety, and the hydraulic shafts 21 are in redundant configuration, so that the reliability of the telescopic assembly 2 is guaranteed.

The cleaning device is provided with an image transmission device which is used for transmitting road conditions in front of the pipeline in real time, and operators can timely change power output and advancing characteristics according to the transmitted images so as to ensure normal operation of the machine.

Referring to fig. 1, the conical cleaning drill bit 6 is detachably mounted on the front end face of the cleaning device, the cleaning drill bit 6 is connected with a motor for driving the cleaning drill bit 6 to rotate, when the image transmission device detects a blockage, the motor drives the cleaning drill bit 6 to rotate, the blockage can be effectively cleaned and smashed in time, the cleaning work is efficiently completed, the later cleaning work is greatly reduced, the situation that the later stage can only be opened due to difficult judgment in the earlier stage of pipeline blockage is avoided, after concrete pouring, the risk of the later stage of large amount of opening is saved due to timely detection and cleaning, and the economic effect is remarkable.

Preferably, the cleaning device is provided with a laser ranging and diverging device, the laser ranging and diverging device is used for timely positioning a hard object, and cost is saved for accurate guidance and accurate positioning for subsequent construction.

The working principle of the embodiment is as follows:

The embodiment is placed in a pipeline, the mechanical leg module 5 on the front support ring 3 stretches to tightly prop against the inner wall of the pipeline, the mechanical leg module 5 on the rear support ring 4 is folded, the hydraulic shaft 21 of the telescopic assembly 2 is retracted to enable the main rod to advance to the pipeline for a preset distance, the mechanical leg module 5 on the rear support ring 4 stretches to tightly prop against the inner wall of the pipeline, the mechanical leg module 5 on the front support ring 3 is folded, the hydraulic shaft 21 of the telescopic assembly 2 stretches to enable the main rod to advance to the pipeline for a preset distance, and the steps are repeated until the pipeline is retracted after detection and cleaning are completed; when the image transmission device detects the blockage, the motor drives the cleaning drill bit 6 to rotate, and the blockage is cleaned and smashed in time.

This scheme is bionical mechanical leg module 5 through optimizing wheeled module, has solved wheeled module and has met the unable defect that moves ahead even drop of complicated pipe wall condition, when meetting complicated pipe wall, through the soft friction pad that end 54 set up of foot, has not only increased the frictional force with the pipe wall, has still promoted the adaptability to various pipe walls greatly because of friction pad takes place different deformation under different pipe walls. The high-efficiency kinetic energy transmission way of the hydraulic push rod shortens the kinetic energy transmission path, optimizes the transmission way, greatly reduces the transmission kinetic energy loss and better accords with the green development concept.

In order to solve the problem of the prior pipeline robot technology thinness, the device front end is provided with a laser ranging device and an image transmission device, the device front end is provided with a replaceable spiral cleaning drill bit 6, various conditions which are easy to generate due to the fact that the prestress pipeline is attached to the device front end are effectively solved, the image transmission device is convenient for the real-time transmission of the road conditions in front, an operator can timely change power output and advancing characteristics according to the transmitted images to ensure the normal operation of the machine, when the device is in contact with the blockage, the cleaning drill bit 6 can effectively clean and smash the blockage timely, cleaning work is effectively completed, and cleaning work can be carried out while pipeline detection work is carried out in a large number of later stages.

According to the embodiment, through the design of the optimizing device, a related system is additionally arranged, and the situation that the type of the prestress tensioning pipeline is complex, and the pipeline can only be opened in the early stage of the pipeline blockage and the later stage of the pipeline blockage. After concrete pouring, the risk of a large amount of warehouse opening and disposal in the later stage can be saved by timely detecting and cleaning, and the economic effect is obvious.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The bionic cleaning device for the pipeline is characterized by comprising a main rod (1), wherein a plurality of telescopic assemblies (2) are circumferentially distributed on the main rod (1), the telescopic assemblies (2) are connected with a front supporting ring (3) and a rear supporting ring (4), and at least three mechanical leg modules (5) are respectively arranged on the front supporting ring (3) and the rear supporting ring (4); the mechanical leg module (5) comprises a support end (51) connected with the front support ring (3) or the rear support ring (4), the support end (51) is hinged with a front foot end (52), the front foot end (52) is hinged with a middle foot end (53), and the middle foot end (53) is provided with a tail foot end (54).

2. A pipe bionic cleaning apparatus according to claim 1, wherein the foot end (54) is connected with a friction pad.

3. A pipe bionic cleaning apparatus according to claim 1, wherein the mechanical leg module (5) comprises a hydraulic ram for driving a forefoot (52) and a midfoot (53).

4. A device according to claim 1, characterized in that the telescopic assembly (2) is a hydraulic jack and the jack comprises at least two hydraulic shafts (21).

5. The bionic cleaning device for a pipeline according to claim 1, wherein the cleaning device is provided with an image transmission device.

6. The bionic cleaning device for the pipeline according to claim 5, wherein a conical cleaning drill bit (6) is detachably mounted on the front end face of the cleaning device, and the cleaning drill bit (6) is connected with a motor for driving the cleaning drill bit (6) to rotate.