CN223343420U - Multifunctional dredging maintenance robot for urban underground drainage pipeline - Google Patents
Multifunctional dredging maintenance robot for urban underground drainage pipelineInfo
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- CN223343420U CN223343420U CN202422697934.7U CN202422697934U CN223343420U CN 223343420 U CN223343420 U CN 223343420U CN 202422697934 U CN202422697934 U CN 202422697934U CN 223343420 U CN223343420 U CN 223343420U
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Abstract
本实用新型涉及机械工程技术领域，且公开了一种多功能城市地下排水管道清淤养护机器人，包括自适应履带式行走机构、电气控制系统、升降平台、视觉检测及高压稀释装置和淤泥搅动装置，所述自适应履带式行走机构安装于电气控制系统下端内部，升降平台安装于电气控制系统上表面，视觉检测及高压稀释装置、淤泥搅动装置均安装于升降平台前端，且视觉检测及高压稀释装置位于淤泥搅动装置上方；本实用新型自适应性强，通过自适应履带式行走机构，机器人能够灵活适应不同尺寸和倾斜角度的管道环境；该新型清淤效率高，集成视觉检测、高压稀释和淤泥搅动功能，实现对管道内部淤泥的快速、有效清理。
The utility model relates to the field of mechanical engineering technology, and discloses a multifunctional urban underground drainage pipe dredging and maintenance robot, comprising an adaptive crawler walking mechanism, an electrical control system, a lifting platform, a visual detection and high-pressure dilution device and a sludge stirring device, wherein the adaptive crawler walking mechanism is installed inside the lower end of the electrical control system, the lifting platform is installed on the upper surface of the electrical control system, the visual detection and high-pressure dilution device and the sludge stirring device are both installed at the front end of the lifting platform, and the visual detection and high-pressure dilution device are located above the sludge stirring device; the utility model has strong adaptability, and through the adaptive crawler walking mechanism, the robot can flexibly adapt to pipeline environments of different sizes and inclination angles; the new dredging efficiency is high, and the visual detection, high-pressure dilution and sludge stirring functions are integrated to achieve rapid and effective cleaning of sludge inside the pipeline.
Description
Technical Field
The utility model belongs to the technical field of mechanical engineering, and particularly relates to a multifunctional dredging maintenance robot for an underground drainage pipeline in a city.
Background
The drainage pipeline is used for a long time, so that the sediment of the sludge is caused, the sludge is required to be cleaned timely, if the sewage is not cleaned timely, the sewage is blocked, the reverse flow of a sewage port is caused, and even urban waterlogging disasters are possibly caused, the living environment of residents is greatly influenced, and immeasurable losses are caused.
At present, a small amount of pipeline dredging robots are mostly suitable for small-sized drainage pipelines, the dredging efficiency is low after the small-sized robots enter the pipeline, or the small-sized robots cannot walk in the sludge after being directly and completely sunk into the pipeline, and the large-sized dredging robots cannot enter the drainage pipelines from an inspection wellhead on the ground, so that a large amount of manpower and material resources are wasted when the inspection wellhead is dug, and the daily life of residents is seriously affected. And most of dredging robots at present use a fixed wheel type or crawler type travelling mechanism and a dredging stirring device, so that the suitability of the dredging robot for annular pipelines is poor, and the dredging robot is difficult to adapt to dredging operation in pipelines with different pipe diameters. Along with the continuous increase of the total length of the drainage pipelines in China, the lack of dredging staff and the low dredging efficiency form an unequal relationship with the continuous expansion of market scale. Therefore, the pipeline dredging robot which can be suitable for medium and large pipelines and can enter the pipeline from the inspection wellhead on the ground is researched, and has great significance in protecting the life safety of practitioners, improving the pipeline dredging efficiency and avoiding the pipeline congestion.
Disclosure of utility model
Aiming at the situation, in order to overcome the defects of the prior art, the utility model provides the multifunctional dredging maintenance robot for the urban underground drainage pipeline, which effectively solves the problems raised by the background.
The technical scheme is that the multifunctional urban underground drainage pipeline dredging maintenance robot comprises a self-adaptive crawler-type travelling mechanism, an electrical control system, a lifting platform, a visual detection and high-pressure dilution device and a sludge stirring device, wherein the self-adaptive crawler-type travelling mechanism is arranged in the lower end of the electrical control system, the lifting platform is arranged on the upper surface of the electrical control system, the visual detection and high-pressure dilution device and the sludge stirring device are all arranged at the front end of the lifting platform, and the visual detection and high-pressure dilution device is arranged above the sludge stirring device.
Preferably, the running mechanism comprises a crawler, a moving platform, a direct current driving motor, an axial fixing device, a fixed bearing seat, a swinging mechanism, swinging fixed bearings, a waterproof motor box, fish eye supporting rods and a supporting shaft, wherein the supporting shaft is arranged on the moving platform through a fixed bearing seat, the swinging mechanism is arranged on the supporting shaft through the axial fixing device, the swinging fixed bearings are arranged on the swinging mechanism, the crawler is arranged on the inner side of the swinging fixed bearings, the driving motor is arranged on the side wall of the crawler, the waterproof motor box is sleeved outside the driving motor, and the fish eye supporting rods are arranged between the swinging fixed bearings and used for manually adjusting swinging angles.
Preferably, the electrical control system comprises an operation platform, a packaging box and a sleeve, wherein the packaging box is arranged at the upper end of the operation platform, electrical control system hardware is packaged in the packaging box, the sleeve is connected to the lower end of the operation platform, and the moving platform is connected with the sleeve.
Preferably, the lifting platform comprises a motor packaging box, a driving connecting rod, a hydraulic telescopic rod, a driven connecting rod, a suspension pendulum fixing device and a fixing panel, wherein the motor packaging box is arranged at the upper end of the operating platform, the motor packaging box is located at one side of the packaging box, a double-shaft motor is arranged in the motor packaging box, two output ends of the double-shaft motor are all extended to the driving connecting rod connected with the outside of the motor packaging box, the other end of the driving connecting rod is rotationally connected with the suspension pendulum fixing device, the two ends of one side of the driving connecting rod, far away from the driving connecting rod, of the suspension pendulum fixing device are rotationally connected with the driven connecting rod, the other end of the driven connecting rod is rotationally connected with the side end of the motor packaging box, the hydraulic telescopic rod is rotationally arranged at the upper end of the operating platform, the other end of the hydraulic telescopic rod is rotationally connected with the side wall of the suspension pendulum fixing device, and the fixing panel is arranged at the front end of the suspension pendulum fixing device.
Preferably, the visual inspection and high-pressure dilution device comprises a visible light camera, a fixing plate, a connecting hole, a light source and a high-pressure jet water gun, wherein the visible light camera is arranged at the center of the lower part of the fixing plate, the light source and the high-pressure jet water gun are arranged on the upper part of the fixing plate, and the light source is higher than the mounting position of the high-pressure jet water gun.
Preferably, the silt stirring device comprises two desilting discs, a supporting device, cutting teeth and a hub motor, wherein the two desilting discs are symmetrically arranged on two sides of the supporting device, the cutting teeth are arranged on the outer circumference of the desilting discs, and the hub motor is arranged on the inner side of the supporting device.
Compared with the prior art, the utility model has the beneficial effects that:
1. the self-adaptive crawler type walking mechanism has strong self-adaptability, and the robot can flexibly adapt to pipeline environments with different sizes and inclined angles;
2. The novel dredging device has high dredging efficiency, integrates vision detection, high-pressure dilution and sludge stirring functions, and realizes quick and effective cleaning of sludge in a pipeline;
3. the novel operation is simple and convenient, the integration level of the electrical control system is high, and the remote monitoring and the operation are convenient;
4. The novel safe and reliable adopts a waterproof motor box and a stable mechanical design, and ensures the stable operation of the robot in a humid and complex environment.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model.
In the drawings:
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic structural view of the adaptive crawler running mechanism of the present utility model;
FIG. 3 is a schematic diagram of the electrical control system of the present utility model;
FIG. 4 is a schematic view of a lifting platform according to the present utility model;
FIG. 5 is a schematic view of a visual inspection and high pressure dilution device according to the utility model;
FIG. 6 is a schematic view showing the construction of the sludge stirring device of the present utility model;
The self-adaptive crawler-type travelling mechanism comprises 1.1 parts of crawler, 1.2 parts of moving platform, 1.3 parts of direct current driving motor, 1.4 parts of axial fixing device, 1.5 parts of fixed bearing seat, 1.6 parts of swinging mechanism, 1.7 parts of swinging fixed bearing, 1.8 parts of waterproof motor box, 1.9 parts of fish eye supporting rod, 1.10 parts of supporting shaft, 2 parts of electric control system, 2.1 parts of operating platform, 2.2 parts of packaging box, 2.3 parts of sleeve, 3 parts of lifting platform, 3.1 parts of motor packaging box, 3.2 parts of driving connecting rod, 3.3 parts of hydraulic telescopic rod, 3.4 parts of driven connecting rod, 3.5 parts of swinging fixed device, 3.6 parts of fixed panel, 4 parts of visual inspection and high-pressure diluting device, 4.1 parts of visible light camera, 4.2 parts of fixed plate, 4.3 parts of connecting hole, 4.4 parts of light source, 4.5 parts of high-pressure jet, 5 parts of sludge stirring device, 5.1 parts of dredging motor, 5.2 parts of driving disc, 3.3 parts of hydraulic drive, 3.3 parts of hydraulic telescopic rod, 3.4 parts of driven connecting rod, 3.5 parts of water gun and 5.5 parts of hub.
Detailed Description
The technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present utility model are within the scope of protection of the present utility model.
In a first embodiment, as shown in fig. 1 to 6, the utility model comprises a self-adaptive crawler running mechanism 1, an electric control system 2, a lifting platform 3, a visual detection and high-pressure dilution device 4 and a sludge stirring device 5, wherein the self-adaptive crawler running mechanism 1 is arranged in the lower end of the electric control system 2, the lifting platform 3 is arranged on the upper surface of the electric control system 2, the visual detection and high-pressure dilution device 4 and the sludge stirring device 5 are all arranged at the front end of the lifting platform 3, and the visual detection and high-pressure dilution device 4 is positioned above the sludge stirring device 5.
Specifically, the running mechanism 1 comprises a crawler belt 1.1, a moving platform 1.2, a direct current driving motor 1.3, an axial fixing device 1.4, a fixed bearing seat 1.5, a swinging mechanism 1.6, a swinging fixed bearing 1.7, a waterproof motor box 1.8, a fish-eye supporting rod 1.9 and a supporting shaft 1.10, wherein the supporting shaft 1.10 is arranged on the moving platform 1.2 through the fixed bearing seat 1.5, the swinging mechanism 1.6 is arranged on the supporting shaft 1.10 through the axial fixing device 1.4, the swinging fixed bearing 1.7 is arranged on the swinging mechanism 1.6, the crawler belt 1.1 is arranged on the inner side of the swinging fixed bearing 1.7, the driving motor 1.3 is arranged on the side wall of the crawler belt 1.1, the waterproof motor box 1.8 is sleeved outside the driving motor 1.3, and the fish-eye supporting rod 1.9 is arranged between the swinging fixed bearing 1.7 for manually adjusting the swinging angle;
When the robot gets into inside the pipeline, self-adaptation crawler-type running gear 1 passes through the adjustment of swing mechanism 1.6 and axial fixing device 1.4, makes track 1.1 can closely laminate the pipeline inner wall, ensures the stable walking of robot in the pipeline, and direct current driving motor 1.3 drives track 1.1 and rotates, produces the power of advancing, waterproof motor box 1.8 protection driving motor 1.3 avoid the influence of humid environment.
Specifically, the electrical control system 2 comprises an operation platform 2.1, a packaging box 2.2 and a sleeve 2.3, wherein the packaging box 2.2 is arranged at the upper end of the operation platform 2.1, electrical control system hardware is packaged in the packaging box 2.2, the sleeve 2.3 is connected to the lower end of the operation platform 2.1, and the mobile platform 1.2 is connected with the sleeve 2.3;
The electric control system 2 is responsible for power supply, signal transmission and program control of the whole robot, the operation platform 2.1 provides an installation platform of the whole device, and the electric control system hardware, including a controller, a power supply module, a communication module and the like, is packaged inside the packaging box 2.2, and is convenient for providing man-machine interaction, and is convenient for operating personnel to remotely monitor and operate the robot.
Specifically, the lifting platform 3 comprises a motor packaging box 3.1, a driving connecting rod 3.2, a hydraulic telescopic rod 3.3, a driven connecting rod 3.4, a suspension fixing device 3.5 and a fixing panel 3.6, wherein the motor packaging box 3.1 is arranged at the upper end of the operating platform 2.1, the motor packaging box 3.1 is positioned at one side of the packaging box 2.2, a double-shaft motor is arranged in the motor packaging box 3.1, two output ends of the double-shaft motor extend to the outside of the motor packaging box 3.1 and are connected with the driving connecting rod 3.2, the other end of the driving connecting rod 3.2 is rotationally connected with the suspension fixing device 3.5, two ends of one side of the suspension fixing device 3.5, far away from the driving connecting rod 3.2, are rotationally connected with the driven connecting rod 3.4, the other end of the driven connecting rod 3.4 is rotationally connected with the side end of the motor packaging box 3.1, the hydraulic telescopic rod 3.3 is rotationally arranged at the upper end of the operating platform 2.1, the other end of the hydraulic telescopic rod 3.3 is rotationally connected with the side wall of the suspension fixing device 3.5, and the fixing panel 3.6 is arranged at the front end of the suspension fixing device 3.5;
The lifting platform 3 drives the driving connecting rod 3.2 and the driven connecting rod 3.4 to move cooperatively through a double-shaft motor in the motor packaging box 3.1, so that the visual detection and the up-and-down lifting of the high-pressure diluting device 4 and the silt stirring device 5 are realized, wherein the driving connecting rod 3.2 and the driven connecting rod 3.4 form a stable parallelogram mechanism, the visual detection and the high-pressure diluting device 4 are ensured to be accurately adjustable within the height range of 0-30cm, and the hydraulic telescopic rod 3.3 is used for assisting the inclination angle of the adjusting device so as to adapt to pipeline dredging requirements of different depths.
Specifically, the visual inspection and high-pressure dilution device 4 comprises a visible light camera 4.1, a fixed plate 4.2, a connecting hole 4.3, a light source 4.4 and a high-pressure jet water gun 4.5, wherein the visible light camera 4.1 is arranged in the center of the lower part of the fixed plate 4.2, the light source 4.4 and the high-pressure jet water gun 4.5 are both arranged on the upper part of the fixed plate 4.2, and the light source 4.4 is higher than the installation position of the high-pressure jet water gun 4.5;
The inside image of pipeline is caught in real time to visible light camera 4.1, transmits to electric control system 2 and handles and analyze, and light source 4.4 provides the illumination, ensures that the inside condition of pipeline can be clearly caught to the camera, and high-pressure jet water gun 4.5 utilizes high-pressure rivers to carry out preliminary dilution to the silt in the pipeline, is convenient for follow-up stirring and clearance.
Specifically, the sludge stirring device 5 comprises two dredging discs 5.1, a supporting device 5.2, cutting teeth 5.3 and a hub motor 5.4, wherein the two dredging discs 5.1 are symmetrically arranged on two sides of the supporting device 5.2, the cutting teeth 5.3 are arranged on the outer circumference of the dredging discs 5.1, and the hub motor 5.4 is arranged on the inner side of the supporting device 5.2;
The hub motor 5.4 drives the dredging disc 5.1 to rotate, and the cutting teeth 5.3 outside the dredging disc 5.1 cut and stir the sludge attached to the inner wall of the pipeline, so that larger particles in the pipeline can be efficiently chopped, and simultaneously the sludge is stirred, and in the stirring process, the sludge is gradually crushed and loosened, so that the follow-up high-pressure water flow flushing and collecting are facilitated.
The operation principle is that an operator starts a robot through an electric control system 2, a self-adaptive crawler type travelling mechanism 1 adjusts a crawler 1.1 to enable the robot to stably enter the pipeline, a lifting platform 3 adjusts the heights and the inclination angles of a visual detection and high-pressure diluting device 4 and a sludge stirring device 5 according to the depth of the pipeline, the visual detection and high-pressure diluting device 4 starts to work, a visible light camera 4.1 captures images of the interior of the pipeline, a light source 4.4 provides illumination, a high-pressure jet water gun 4.5 primarily dilutes sludge, a sludge stirring device 5 is started, a dredging disc 5.1 and cutting teeth 5.3 cut and stir the sludge, and the stirred sludge is flushed to the bottom of the pipeline by high-pressure water flow, so that the sludge is convenient to collect and process later.
In conclusion, the multifunctional urban underground drainage pipeline dredging maintenance robot realizes efficient and safe dredging maintenance of the inside of the drainage pipeline through the integrated design.
Claims (6)
1. The multifunctional urban underground drainage pipeline dredging maintenance robot comprises a self-adaptive crawler-type travelling mechanism (1), an electric control system (2), a lifting platform (3), a visual detection and high-pressure dilution device (4) and a sludge stirring device (5), and is characterized in that the self-adaptive crawler-type travelling mechanism (1) is arranged inside the lower end of the electric control system (2), the lifting platform (3) is arranged on the upper surface of the electric control system (2), the visual detection and high-pressure dilution device (4) and the sludge stirring device (5) are arranged at the front end of the lifting platform (3), and the visual detection and high-pressure dilution device (4) is arranged above the sludge stirring device (5).
2. The multifunctional urban underground drainage pipeline dredging maintenance robot according to claim 1, wherein the travelling mechanism (1) comprises a crawler belt (1.1), a moving platform (1.2), a direct current driving motor (1.3), an axial fixing device (1.4), a fixed bearing seat (1.5), a swinging mechanism (1.6), a swinging fixed bearing (1.7), a waterproof motor box (1.8), a fish eye supporting rod (1.9) and a supporting shaft (1.10), the supporting shaft (1.10) is arranged on the moving platform (1.2) through a fixed bearing seat (1.5), the swinging mechanism (1.6) is arranged on the supporting shaft (1.10) through an axial fixing device (1.4), the swinging fixed bearing (1.7) is arranged on the swinging mechanism (1.6), the crawler belt (1.1) is arranged on the inner side of the swinging fixed bearing (1.7), the driving motor (1.3) is arranged on the side wall of the crawler belt (1.1), the waterproof motor box (1.8) is sleeved on the motor (1.3), and the driving motor box (1.8) is arranged on the outer side of the swinging fixed bearing (1.7) for manual adjustment.
3. The multifunctional urban underground drainage pipeline dredging maintenance robot according to claim 1, wherein the electrical control system (2) comprises an operation platform (2.1), a packaging box (2.2) and a sleeve (2.3), the packaging box (2.2) is arranged at the upper end of the operation platform (2.1), electrical control system hardware is packaged in the packaging box (2.2), the sleeve (2.3) is connected to the lower end of the operation platform (2.1), and the mobile platform (1.2) is connected with the sleeve (2.3).
4. The multifunctional urban underground drainage pipeline dredging maintenance robot according to claim 1, wherein the lifting platform (3) comprises a motor packaging box (3.1), a driving connecting rod (3.2), a hydraulic telescopic rod (3.3), a driven connecting rod (3.4), a hanging fixing device (3.5) and a fixing panel (3.6), the motor packaging box (3.1) is arranged at the upper end of the operating platform (2.1), the motor packaging box (3.1) is positioned at one side of the packaging box (2.2), a double-shaft motor is arranged in the motor packaging box (3.1), two output ends of the double-shaft motor are all extended to the outer portion of the motor packaging box (3.1) and are connected with a driving connecting rod (3.2), two ends of one side of the driving connecting rod (3.2) are all rotationally connected with the hanging fixing device (3.5), the other ends of one side of the hanging fixing device (3.5) far away from the driving connecting rod (3.2) are rotationally connected with the driven connecting rod (3.4), the other ends of the driven connecting rod (3.4) are rotationally connected with one side of the motor packaging box (3.1), the other end of the hanging fixing device (3.1) is rotationally connected with the hydraulic telescopic rod (3.5), and the other end of the hanging fixing device (3.5) is rotationally fixed on the side wall (3.5).
5. The multifunctional urban underground drainage pipeline dredging maintenance robot according to claim 1, wherein the visual inspection and high-pressure dilution device (4) comprises a visible light camera (4.1), a fixing plate (4.2), a connecting hole (4.3), a light source (4.4) and a high-pressure jet water gun (4.5), the visible light camera (4.1) is arranged in the center of the lower part of the fixing plate (4.2), the light source (4.4) and the high-pressure jet water gun (4.5) are arranged on the upper part of the fixing plate (4.2), and the light source (4.4) is higher than the installation position of the high-pressure jet water gun (4.5).
6. The multifunctional urban underground drainage pipeline dredging maintenance robot according to claim 1, wherein the sludge stirring device (5) comprises two dredging discs (5.1), a supporting device (5.2), cutting teeth (5.3) and a hub motor (5.4), the two dredging discs (5.1) are symmetrically arranged on two sides of the supporting device (5.2), the cutting teeth (5.3) are arranged on the outer circumference of the dredging discs (5.1), and the hub motor (5.4) is arranged on the inner side of the supporting device (5.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202422697934.7U CN223343420U (en) | 2024-11-06 | 2024-11-06 | Multifunctional dredging maintenance robot for urban underground drainage pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202422697934.7U CN223343420U (en) | 2024-11-06 | 2024-11-06 | Multifunctional dredging maintenance robot for urban underground drainage pipeline |
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| CN223343420U true CN223343420U (en) | 2025-09-16 |
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| CN202422697934.7U Active CN223343420U (en) | 2024-11-06 | 2024-11-06 | Multifunctional dredging maintenance robot for urban underground drainage pipeline |
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