CN204703292U - A kind of self adaptation drainage pipe dredging robot - Google Patents

Abstract

The utility model provides an adaptive drainage pipeline dredging robot, which can solve the defects of the existing drainage pipeline dredging robot that the structure is complex and the pipeline structure cannot be self-adapted. It includes a front-end reamer mechanism and a rear-end walking mechanism, and is characterized in that it also includes an adaptive mechanism, the front end of the adaptive mechanism is connected to the reamer mechanism through a universal joint, and the rear end of the adaptive mechanism is installed with a rear-end walking mechanism .

Description

An adaptive drainage pipeline dredging robot

technical field

The utility model relates to the field of robot science and technology, in particular to the field of pipeline dredging robots, in particular to a drainage pipeline dredging robot.

Background technique

Drainage facilities are indispensable in modern cities, and even become an important line of defense to ensure the stable development of the city and the safety of people's lives and property, and the basis for the survival of urban residents. Therefore, problems such as pipe blockage and poor drainage are very likely to cause urban waterlogging and endanger the safety of residents. During the use of pipelines, due to the influence of various factors, various pipeline blockages, pipeline failures and damages will occur. If the pipeline is not detected, repaired and cleaned up in time, accidents may occur and unnecessary losses may be caused. However, the environment where the pipeline is located is often difficult to directly reach or not allow people to directly enter, and it is very difficult to detect and clean. Therefore, one of the most effective methods is to use pipeline robots to realize online detection, maintenance and cleaning in pipelines. However, most existing pipeline dredging robots have complex structures and cannot perform adaptive walking according to the pipeline structure. It is a utility model patent of CN201644462U, which discloses a "new pipeline dredging robot", which has a complex structure; another example is a drainage pipeline dredging robot disclosed by a utility model patent with the announcement number of CN203795580U, which can only be used for diameter size Unchanged pipelines are desilted, and the scope of application is small.

Contents of the invention

The utility model provides an adaptive drainage pipeline dredging robot, which can solve the defects of the existing drainage pipeline dredging robot that the structure is complex and the pipeline structure cannot be self-adapted.

Its technical solution is as follows, which includes a front-end reamer mechanism and a rear-end walking mechanism, and is characterized in that it also includes an adaptive mechanism, the front end of the adaptive mechanism is movably connected to the reamer mechanism through a universal joint, The rear end of the self-adaptive mechanism is installed with the rear end walking mechanism.

Further, the self-adaptive mechanism includes an intermediate shaft and three adaptive wheels, a front sleeve and a rear sleeve are set on the intermediate shaft, and the front sleeve and the intermediate shaft are connected by set screws Locking, the rear sleeve can be axially translated along the intermediate shaft, and the outer peripheral surfaces of the front sleeve and the rear sleeve are equipped with three lugs evenly distributed in the radial direction, and the three lugs of the front sleeve The positions of the plates correspond to the positions of the three ear plates of the rear sleeve, and the three adaptive wheels are respectively connected with the corresponding ear plates of the front sleeve and the rear sleeve through their respective linkage mechanisms;

Further, the link mechanism includes a long link and a short link, one end of the long link is connected to the axle of the adaptive wheel, and the other end of the long link is connected to an ear on the rear sleeve. The plate is rotatably connected, one end of the short connecting rod is rotatably connected to the corresponding ear plate on the front sleeve, and the other end of the short connecting rod is rotatably connected to the middle part of the long connecting rod;

The rear end of the intermediate shaft is provided with a motor mounting seat, the front side of the motor mounting seat is provided with a shell plate, and a spring is sleeved on the part of the intermediate shaft located between the shell plate and the rear sleeve.

Further, the rear-end walking mechanism includes a drive motor and three sets of travel wheels, the drive motor is coaxially installed on the motor mounting seat of the intermediate shaft, and a drive gear is installed on the drive shaft of the drive motor. The three sets of traveling wheels are respectively connected to the driving gear through a three-stage reduction mechanism, and the three sets of traveling wheels are distributed in a circumferential direction of 120 degrees;

The three-stage reduction mechanism includes a spur gear, a first bevel gear, a second bevel gear and a third bevel gear, the spur gear is engaged with the driving gear, and the first bevel gear is mounted on On the first transmission shaft, the first bevel gear and the second bevel gear are installed on both ends of the second transmission shaft respectively, the third bevel gear is installed on the axle of the walking wheel set, the first bevel gear The gear is meshed with the spur gear, and the second bevel gear is meshed with the third bevel gear;

The spur gears in the three-stage reduction mechanism of the three groups of traveling mechanisms are distributed at 120 degrees in the circumferential direction and meshed with the driving gear at the same time;

The second transmission shaft includes a shaft sleeve part and a shaft core part, the shaft core part is sleeved in the shaft sleeve part, the second bevel gear is installed on one end of the shaft sleeve part, and the other end of the shaft sleeve part One end is provided with a baffle plate, and an axial blind hole is opened on one side of the baffle plate of the shaft sleeve, and the first bevel gear is installed on one end of the shaft core, and the first bevel gear passes through the shaft core The step surface on the part is axially limited, the other end of the shaft core part is inserted into the blind hole of the shaft sleeve part and can translate in the blind hole, and the outer circumference of the shaft core part is sleeved with a large torque spring, and the two ends of the large moment spring are respectively connected with the step surface on the baffle plate and the shaft core.

Further, the front-end reamer mechanism includes a reamer drive motor and a cylinder, the cylinder is installed on the output shaft of the reamer drive motor, the end of the push rod of the cylinder is installed on the connecting rod bracket, and the reamer The cutter head mechanism includes a reamer support, the reamer support is circular, and the front end of the reamer support is evenly hinged along the circumferential direction to install four reamer blades, and each of the four reamer blades is respectively equipped with a connecting rod. The connecting rod is connected with the connecting rod bracket after passing through the annular reamer bracket;

The rear end surface of the reamer bracket is installed on the front flange, the reamer driving motor is installed on the rear end flange, the front flange and the rear end flange are connected through an external casing, and the reamer drives The motor and the cylinder are located in the casing;

A steel wire fixing flange is arranged on the intermediate shaft, and the rear end flange and the steel wire fixing flange are connected by cable-stayed steel wires.

Compared with the existing dredging robot, the beneficial effect of the utility model is that the self-adaptive mechanism provided by it can adapt to the change of the inner diameter of the pipeline, thereby ensuring reliable and effective dredging operations on the pipeline, and at the same time through the self-adaptive mechanism and The movable connection of the reamer mechanism can ensure the automatic turning and walking of the dredging robot at the turning point of the pipeline, and more ensure the reliable and comprehensive dredging treatment of the pipeline; in addition, the driving motor of the rear-end walking mechanism is directly installed in the middle of the self-adaptive mechanism On the shaft, the center of gravity of the entire dredging robot is moved backward, ensuring the stable running of the rear-end walking mechanism, and further ensuring reliable and effective dredging in the pipeline.

Description of drawings

Fig. 1 is the overall schematic diagram of a kind of self-adaptive drainage pipe dredging robot of the present utility model;

Fig. 2 is a schematic diagram of the assembly structure of an adaptive drainage pipe dredging robot of the present invention;

Fig. 3 is a structural schematic diagram of an adaptive mechanism in an adaptive drainage pipe dredging robot of the present invention;

Fig. 4 is a schematic diagram of the connection transmission structure between the link mechanism 261 of the self-adaptive wheel 221 and the front sleeve 23 and the rear sleeve 24 in the self-adaptive mechanism of the present invention;

Fig. 5 is a schematic diagram of the intermediate axis of the self-adaptive mechanism in a self-adaptive drainage pipe dredging robot of the present invention;

Fig. 6 is a structural schematic diagram of the rear-end walking mechanism in an adaptive drainage pipe dredging robot of the present invention;

Fig. 7 is a schematic diagram of a front-end reamer mechanism in an adaptive drainage pipe dredging robot of the present invention.

Detailed ways

See Fig. 1, a kind of self-adaptive drainage pipe dredging robot of the present utility model comprises front-end reamer mechanism 10, self-adaptive mechanism 20 and rear-end walking mechanism 30, and the front end of self-adaptive mechanism 20 connects with reamer mechanism 10 through universal joint 211 Actively connected, the rear end of the adaptive mechanism 20 is equipped with a rear end walking mechanism 30 . The front end mentioned in this application refers to the side end of the dredging robot in the direction of advancement in the drainage pipe, and the rear end is the side end in the opposite direction to the front end.

See Fig. 3, the adaptive mechanism 20 comprises an intermediate shaft 21 and three adaptive wheels 221, 222, 223, the intermediate shaft 21 is covered with a front sleeve 23 and a rear sleeve 24, and between the front sleeve 23 and the intermediate shaft 21 The set screw 25 is used to lock between the front sleeve 23 and the set screw 25 to ensure that neither relative rotation nor axial relative movement occurs between the front sleeve 23 and the set screw 25, and the rear sleeve 24 can be axially translated along the intermediate shaft 21, The front sleeve 23 is evenly distributed with three lugs, respectively 231, 232, and 233; The three lugs 231, 232, 233 are in one-to-one correspondence with the three lug positions 241, 242, 243 of the rear sleeve, and the three adaptive wheels 221, 222, 223 pass through their respective link mechanisms 261, 262, 263 respectively. It is movably connected with the corresponding ear plates of the front sleeve and the rear sleeve;

Next, take the adaptive wheel 221 as an example to specifically describe the connection transmission structure between the link mechanism 261 of the adaptive wheel 221 and the front sleeve 23 and the rear sleeve 24, as shown in Figure 4, the link mechanism 261 includes a long link 2611 With the short connecting rod 2612, one end of the long connecting rod 2611 is connected with the axle of the adaptive wheel 221, the other end of the long connecting rod 2611 is rotatably connected with the ear plate 241 on the rear sleeve 24, and one end of the short connecting rod 2612 is connected with the front sleeve The corresponding lug plate 231 on 23 is rotatably connected, and the other end of short connecting rod 2612 is rotatably connected with the middle part of long connecting rod 2611; The shell plate 28 and the part of the intermediate shaft 21 between the shell plate 28 and the rear sleeve 24 are covered with a spring 29 ; the front end of the intermediate shaft 21 is movably connected with the front end reamer mechanism 10 through a universal joint 211 .

See Fig. 2 and Fig. 6, the rear-end traveling mechanism 30 includes a drive motor 31 and three sets of travel wheel sets 321, 322, 323 (in Fig. 2, the travel wheel set 323 is not marked due to viewing angle), and the drive motor 31 is coaxially installed on On the motor mounting seat 27 of the intermediate shaft 21, the driving gear 33 is installed on the driving shaft 311 of the driving motor 31, and the three groups of walking wheel groups 321, 322, 323 are respectively connected with the driving gear 33 through a three-stage reduction mechanism, and the three groups The walking wheel sets 321, 322, 323 are distributed in a circumferential direction of 120 degrees; among Fig. 1, 19 is the driving motor housing, and the driving motor 31 is installed in the driving motor housing 19; each group of walking wheel sets comprises two walking wheels respectively, The two walking wheels are coaxially connected by a wheel shaft 35, as shown in Fig. 6;

See Figure 6, the three-stage reduction mechanism includes a spur gear 341, a first bevel gear 343, a second bevel gear 344 and a third bevel gear 345, the spur gear 341 is engaged with the driving gear 33, and the first bevel gear 343 is installed on the first transmission shaft 346, and the first bevel gear 343 and the second bevel gear 344 are installed on the two ends of the second transmission shaft 342 respectively, and the third bevel gear 345 is installed on the wheel shaft 35 of the walking wheel set. The bevel gear 343 is meshed with the spur gear 341, and the second bevel gear 344 is meshed with the third bevel gear 345; The driving gear 33 is meshed and connected;

As shown in Figure 6, the second drive shaft 342 includes a shaft sleeve part 3421 and a shaft core part 3422, the second bevel gear 344 is installed on one end of the shaft sleeve part 3421, the other end of the shaft sleeve part 3421 is provided with a baffle 3423, and the shaft sleeve part 3421 There is an axial blind hole on one side of the baffle plate, and the first bevel gear 343 is installed on one end of the shaft core part 3422, and the first bevel gear 343 is axially limited by the step surface 3425 on the shaft core part 3422, and the shaft core part 3422 The other end of the shaft sleeve part 3421 is inserted into the blind hole and can translate in the blind hole. The outer circumference of the shaft core part 3422 is covered with a large torque spring 3424, and the two ends of the large torque spring 3424 are respectively connected to the baffle plate 3423 and the shaft core. The stepped surface 3425 on the part is connected;

When the rear-end traveling mechanism 30 works, the drive motor 31 starts, and the drive shaft 311 rotates to drive the three-stage deceleration mechanism of the three sets of walking wheels to run, and the three sets of driving wheels are driven to rotate and walk through the three-stage deceleration mechanism; the inner diameter of the dredging pipeline becomes smaller , the three traveling wheel sets of the rear-end traveling mechanism 30 are under pressure, and the telescopic second drive shaft 342 is under pressure so that the sleeve part 3421 and the shaft core part 3422 are pressed and move toward each other, and the large moment spring 3424 is deformed under pressure, so that The axial length of the second transmission shaft 342 is reduced to realize the self-adaptive effect of the rear-end walking mechanism; and when the inner diameter of the dredging pipeline becomes larger, the large moment spring 3424 rebounds to push the sleeve part 3421 and the shaft core part 3422 to move back , so that the axial length of the second transmission shaft 342 is elongated, and the adaptive effect of the rear-end traveling mechanism is also realized.

Front end reamer mechanism 10 comprises reamer head 11, reamer drive motor 13 and cylinder 12, see Fig. 7, cylinder 12 is installed on the output shaft 131 of reamer drive motor 13, reamer head 11 comprises reamer support 111, reamer The knife support 111 is in the shape of a ring, and the front end of the reamer support 111 is evenly hinged along the circumference to install four reamer blades 112, and a connecting rod 113 is installed on each of the four reamer blades 112, and the connecting rod 113 passes through the ring-shaped The reamer bracket 111 is connected with the connecting rod bracket 16 behind;

The rear end face of the reamer bracket 111 is installed on the front flange 114, the reamer driving motor 13 is installed on the rear end flange 132, the front flange 114 and the rear end flange 132 are connected by an external cover 18, and the reamer drives The motor 13 and the cylinder 12 are located in the outer casing 18;

The front end of the intermediate shaft 21 is flexibly connected to the front flange 114 through a universal joint 211; the intermediate shaft 21 is provided with a steel wire fixing flange 210, and the rear end flange 132 and the steel wire fixing flange 210 are connected by a cable-stayed steel wire 17; The four reamer blades 112 of the reamer head 11 are not in contact with the inner wall of the drainage pipe in the closed state (that is, in the non-dredging state), so the reamer head is affected by its own weight and hangs down as a whole under the action of the universal joint 211 damage, and the setting of the cable-stayed steel wire 17 can effectively tighten the front end reamer head mechanism 10 to prevent it from sagging and being damaged in a non-dredging state; in addition, because the cable-stayed steel wire 17 itself has certain torsional performance, the 17 will not affect the twisting of the front end reamer head mechanism 10 and the adaptive mechanism 20 under the action of the universal joint 211 .

The specific action process of the work of the utility model is described in detail below: put the dredging robot of the utility model into the pipeline to be dredged as a whole, start the drive motor 31 of the rear-end walking mechanism 30 and the reamer of the front-end reamer mechanism 10 Drive motor 13, drive motor 31 drives three sets of walking wheel sets 321, 322, 323 to roll forward through three sets of three-stage reduction mechanisms, thereby driving the dredging robot to move forward in the pipeline as a whole, and the action of cylinder 12 makes the push rod of cylinder 12 move forward. Stretch forward so as to push the connecting rod bracket 16 and each connecting rod 113 installed on the connecting rod bracket 16 to eject forward, and each connecting rod 113 pushes each reamer blade 112 to expand when pushing forward, and each reamer When the blade 112 is unfolded, the reamer drive motor 13 acts to drive the cylinder 12 and the reamer head 11 to rotate, thereby realizing the dredging robot moving forward in the pipeline while the reamer head 11 rotates synchronously for dredging; during the pipeline dredging process, when When the pipe diameter changes, the self-adaptive mechanism 20 realizes self-adaptation through the cooperation of its link mechanism and the compression and rebound effect of the spring 29; since the front end reamer mechanism 10 and the self-adaptive mechanism 10 are connected by a universal joint 211 , therefore, adaptive torsion occurs between the front reamer mechanism 10 and the adaptive mechanism 20 under the action of the universal joint 211 at the turning of the pipeline, thereby driving the adaptive mechanism 20 and the rear traveling mechanism 30 to smoothly pass through the turning of the pipeline .

Claims (10)

1. An adaptive drainage pipe dredging robot, which comprises a front end reamer mechanism and a rear end walking mechanism, is characterized in that: it also includes an adaptive mechanism, and the front end of the adaptive mechanism and the reamer mechanism pass through ten thousand The knuckle is movably connected, and the rear end of the self-adaptive mechanism is installed with the rear end walking mechanism. 2. A self-adaptive drainage pipe dredging robot according to claim 1, characterized in that: said self-adaptive mechanism comprises an intermediate shaft and three adaptive wheels, and said intermediate shaft is fitted with a front sleeve and a rear sleeve, and the front sleeve and the intermediate shaft are locked by set screws, the rear sleeve can axially translate along the intermediate shaft, and the outer peripheral surfaces of the front sleeve are radially uniform Three lugs are arranged on the cloth, and three lugs are evenly distributed in the radial direction on the outer peripheral surface of the rear sleeve. The positions of the three lugs of the front sleeve correspond to the positions of the three lugs of the rear sleeve. The three adaptive wheels are movably connected with the corresponding lug plates of the front sleeve and the rear sleeve through respective link mechanisms. 3. A self-adaptive drainage pipe dredging robot according to claim 2, characterized in that: the linkage mechanism includes a long link and a short link, and one end of the long link is connected to the end of the adaptive wheel. The other end of the long connecting rod is rotatably connected to an ear plate on the rear sleeve, and one end of the short connecting rod is rotatably connected to the corresponding ear plate on the front sleeve. The other end of the connecting rod is rotatably connected with the middle part of the long connecting rod. 4. A kind of self-adaptive drainage pipeline dredging robot according to claim 3, is characterized in that: the rear end of described intermediate shaft is provided with motor mount, and the front side of described motor mount is provided with shell plate, and described A spring is sleeved on the part of the intermediate shaft located between the shell plate and the rear sleeve. 5. A self-adaptive drainage pipe dredging robot according to claim 2, characterized in that: the rear-end walking mechanism includes a driving motor and three sets of walking wheels, and the driving motor is coaxially installed in the middle On the motor mounting seat of the shaft, a drive gear is installed on the drive shaft of the drive motor, and the three sets of road wheels are respectively connected to the drive gear through a three-stage reduction mechanism, and the three sets of road wheels are in the form of Circumferential 120 degree distribution arrangement. 6. An adaptive drainage pipe dredging robot according to claim 5, characterized in that: the three-stage reduction mechanism includes a spur gear, a first bevel gear, a second bevel gear and a third bevel gear, The spur gear is meshed with the driving gear, the first bevel gear is installed on the first transmission shaft, the first bevel gear and the second bevel gear are respectively installed at both ends of the second transmission shaft, The third bevel gear is installed on the wheel shaft of the walking wheel set, the first bevel gear is meshed with the spur gear, and the second bevel gear is meshed with the third bevel gear. The spur gears in the three-stage reduction mechanism of the three sets of traveling mechanisms are distributed at 120 degrees in the circumferential direction and meshed with the driving gear at the same time. 7. An adaptive drainage pipe dredging robot according to claim 6, characterized in that: the second transmission shaft includes a shaft sleeve and a shaft core, and the shaft core is sleeved in the shaft sleeve , the second bevel gear is installed on one end of the sleeve part, the other end of the sleeve part is provided with a baffle plate, and an axial blind hole is opened on one side of the baffle plate of the sleeve part, and the shaft One end of the core is installed with the first bevel gear, and the first bevel gear is axially limited by the step surface on the shaft core, and the other end of the shaft core is inserted into the shaft sleeve In the blind hole and capable of translating in the blind hole, a large moment spring is set on the outer circumference of the shaft core, and the two ends of the large moment spring are respectively connected to the baffle plate and the stepped surface of the shaft core . 8. A self-adaptive drainage pipe dredging robot according to claim 2, characterized in that: the front-end reamer mechanism includes a reamer drive motor and a cylinder, and the cylinder is installed on the output of the reamer drive motor On the shaft, the universal joint is installed at the end of the push rod of the cylinder, the universal joint is equipped with a connecting rod bracket through screws, and the reamer head mechanism includes a reamer bracket, and the reamer bracket is round Ring shape, the front end of the reamer bracket is evenly hinged along the circumference to install four reamer blades, and a connecting rod is installed on each of the four reamer blades, and the connecting rod passes through the ring-shaped reamer After the bracket is connected with the connecting rod bracket. 9. An adaptive drainage pipe dredging robot according to claim 8, characterized in that: the rear end surface of the reamer bracket is installed on the front flange, and the reamer drive motor is installed on the rear flange , the front flange and the rear flange are connected through an external casing, and the reamer driving motor and the cylinder are located in the casing. 10. A self-adaptive drainage pipe dredging robot according to claim 9, characterized in that: the intermediate shaft is provided with a steel wire fixing flange, and the rear end flange and the steel wire fixing flange are connected by an inclined Pull wire connection.