CN117926903A - A pipeline cleaning robot - Google Patents

Abstract

The invention relates to the technical field of pipeline cleaning, in particular to a pipeline cleaning robot, which comprises a dredging mechanism, a connecting device and a travelling mechanism, wherein the dredging mechanism comprises a mechanical dredging mechanism and a cleaning piece, the cleaning piece is arranged at the front end of the connecting device, the mechanical dredging mechanism is arranged at the front end of the cleaning piece, the travelling mechanism is arranged at the outer side of the connecting device, a plurality of water outlets are uniformly distributed on the outer wall of the cleaning piece along the circumferential direction, the connecting device comprises a hollow main shaft, the main shaft is provided with a water inlet, the water outlets are communicated with an inner cavity of the main shaft through a closed waterway, and the direction of the water outlets is inclined backwards; the mechanical dredging mechanism comprises a rotating base, the rotating base is rotationally connected with the cleaning piece, and a cutter head is arranged at the front end of the rotating base. Through setting up the desilting mechanism that has the shower nozzle, make the robot under the prerequisite that has forward power, can utilize high-pressure rivers to carry out the desilting work, high-pressure shower nozzle can also provide rotary power for mechanical desilting mechanism simultaneously, with the omnidirectional removal part miscellaneous dirt of sword.

Description

A pipeline cleaning robot

Technical Field

The present invention relates to the technical field of pipeline cleaning, and more specifically, to a pipeline cleaning robot.

Background technique

The sediment deposition in the underground drainage pipes of highways that have been used for a long time can easily cause the original pipe diameter to become smaller, and the alkaline substances contained in the sewage flowing through the pipes can easily corrode the pipe walls. Pipe cleaning refers to cleaning the sediment and other debris in the pipes to prevent pipe blockage and keep the pipes unobstructed.

Ordinary pipe cleaning robots are difficult to adjust automatically and cannot adapt to pipe cleaning environments of different sizes. In addition, traditional pipe cleaning robots have low cleaning efficiency and poor cleaning effect. Therefore, in the case where the existing technology is difficult to efficiently remove stubborn dirt, it is necessary to design a pipe cleaning robot that is easy to apply to a variety of cleaning environments and has high cleaning efficiency to solve the above problems.

Summary of the invention

In order to overcome the deficiencies in the prior art, a pipeline cleaning robot is provided to solve the deficiencies of the prior pipeline cleaning robots in terms of diameter change, silt removal method, driving method, etc.

In order to solve the above technical problems, the technical solution adopted by the present invention is:

A pipeline cleaning robot comprises a dredging mechanism, a connecting device and a walking mechanism, wherein the dredging mechanism comprises a mechanical dredging mechanism and a cleaning member, wherein the cleaning member is arranged at the front end of the connecting device, the mechanical dredging mechanism is arranged at the front end of the cleaning member, and the walking mechanism is arranged at the outside of the connecting device;

The outer wall of the cleaning part is evenly distributed with a plurality of water outlet holes along the circumferential direction, the connecting device comprises a hollow main shaft, the main shaft is provided with a water inlet, the water outlet holes are connected with the inner cavity of the main shaft through a closed water path, and the direction of the water outlet holes is inclined backward;

The mechanical dredging mechanism includes a rotating base, which is rotatably connected to the cleaning part. A cutter head is arranged at the front end of the rotating base. A plurality of grooves are evenly distributed around the rotating base. A high-pressure nozzle is arranged in each of the grooves. The high-pressure nozzle is arranged along the tangent direction of the rotating base, and the high-pressure nozzle is connected to the inner cavity of the main shaft through a closed water channel.

Preferably, there are four water outlet holes, and each of the four water outlet holes is provided with a nozzle;

A plurality of scraper groups are evenly distributed around the circumference of the rotating base, and the number of the scraper groups is the same as the number of the high-pressure nozzles.

Preferably, the connecting device further comprises a first connecting sleeve, a second connecting sleeve and a fixing member, wherein the first connecting sleeve and the second connecting sleeve are symmetrically arranged and are respectively slidably connected to the main shaft, and a spring is sleeved on the main shaft, and both ends of the spring are respectively fixedly connected to the first connecting sleeve and the second connecting sleeve;

The fixing part is arranged on a side of the main shaft close to the cleaning part, the cleaning part is fixedly connected to the fixing part, the walking mechanism includes a first walking mechanism and a second walking mechanism, the second walking mechanism is arranged between the fixing part and the second connecting sleeve, and the first walking mechanism is arranged between an end of the main shaft away from the cleaning part and the first connecting sleeve.

Preferably, the first connecting sleeve and the second connecting sleeve are both uniformly provided with first welding plates along the circumferential direction, and the fixing member and the main shaft are both uniformly provided with second welding plates along the circumferential direction;

The first walking mechanism and the second walking mechanism have the same structure, and both include walking wheels, a long connecting rod and a short connecting rod. The walking wheels are rotatably arranged at the outer end of the long connecting rod, and the outer end of the short connecting rod is hinged to the middle of the long connecting rod.

The inner end of the long connecting rod of the first walking mechanism is hinged to the first welding plate on the first connecting sleeve, and the inner end of the short connecting rod of the first walking mechanism is hinged to the second welding plate on the main shaft; the inner end of the long connecting rod of the second walking mechanism is hinged to the first welding plate on the second connecting sleeve, and the inner end of the short connecting rod of the second walking mechanism is hinged to the second welding plate on the fixing part.

Preferably, a main high-pressure water outlet is provided in the middle of the front end of the rotating base, and the main high-pressure water outlet is communicated with the inner cavity of the main shaft.

Preferably, the cutter head is detachably connected to the front end of the rotating base, the cutter head is serrated, and the maximum rotation trajectory of the cutter head is greater than the maximum rotation trajectory of the rotating base.

Preferably, four of the first walking mechanisms and four of the second walking mechanisms are provided respectively.

Preferably, four scraper groups are provided, each of which includes two scrapers, and the scrapers are obliquely arranged on the outer wall of the rotating base.

Preferably, a bearing is provided between the cleaning member and the mechanical dredging mechanism.

Preferably, the water inlet is arranged at the rear end of the main shaft, and the water inlet is connected to a high-pressure water pipe.

Compared with the prior art, the present invention has the following beneficial effects:

In the present invention, by providing a dredging mechanism with a nozzle, the robot can use high-pressure water flow to perform dredging work while having forward power. At the same time, the high-pressure nozzle can also provide rotational power for the mechanical dredging mechanism, so that the mechanical dredging mechanism can rotate relative to the cleaning part, and use a knife to remove part of the debris in all directions, thereby improving the dredging efficiency and the quality of scale cleaning. At the same time, it can also avoid exposure of personnel to dangerous environments and improve work safety.

In the present invention, by providing a variable-diameter walking mechanism, the robot can enter pipes with different diameters to perform dredging work, and has a wider scope of application.

BRIEF DESCRIPTION OF THE DRAWINGS

The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of the overall structure of the present invention;

FIG2 is a schematic diagram of the side structure of the present invention;

FIG3 is a front view of the structure of the present invention;

FIG4 is a schematic diagram of the structure of the dredging mechanism of the present invention;

FIG. 5 is a schematic diagram of the present invention when adapting to the compression of a small pipeline structure.

FIG. 6 is a schematic diagram showing the connection between the mechanical desilting mechanism and the cleaning element of the present invention.

In the figure: 1-mechanical dredging mechanism; 2-cleaning part; 3-first walking mechanism; 4-second walking mechanism; 5-main shaft; 6-first connecting sleeve; 7-second connecting sleeve; 8-fixing part; 9-dredging mechanism; 10-walking mechanism; 11-connecting device; 12-cutter head; 13-rotating base; 14-scraper; 15-walking wheel; 16-long connecting rod; 17-short connecting rod; 18-water outlet; 19-nozzle; 20-spring; 21-bolt; 22-nut; 23-first welding plate; 24-second welding plate; 25-main high-pressure water outlet; 26-groove; 27-high-pressure nozzle; 28-bearing; 29-sealing structure.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As shown in Figures 1 to 6, a pipeline cleaning robot includes a dredging mechanism 9, a connecting device 11 and a walking mechanism 10. The dredging mechanism 9 is arranged at the front end of the connecting device 11 and is used to clean the pipeline. The walking mechanism 10 is arranged on the outside of the connecting device 11. The pipeline cleaning robot is enabled to walk along the wall in the pipeline through the walking mechanism 10.

The connecting device 11 includes a first connecting sleeve 6, a second connecting sleeve 7, a fixing part 8 and a hollow main shaft 5. The first connecting sleeve 6 and the second connecting sleeve 7 are symmetrically arranged and are respectively slidably connected to the main shaft 5. A spring 20 is sleeved on the main shaft 5. The two ends of the spring 20 are respectively fixedly connected to the first connecting sleeve 6 and the second connecting sleeve 7. The fixing part 8 is arranged on the side of the main shaft 5 close to the cleaning part 2. A second walking mechanism 4 is arranged between the fixing part 8 and the second connecting sleeve 7. A first walking mechanism 3 is arranged between the end of the main shaft 5 away from the cleaning part 2 and the first connecting sleeve 6. The first walking mechanism 3 and the second walking mechanism 4 have the same structure, and four of the first walking mechanism 3 and the second walking mechanism 4 are arranged.

The first connecting sleeve 6 and the second connecting sleeve 7 are both uniformly provided with first welding plates 23 along the circumferential direction, the fixing member 8 and the end of the main shaft 5 away from the dredging mechanism 9 are both uniformly provided with second welding plates 24 along the circumferential direction, the first traveling mechanism 3 and the second traveling mechanism 4 both include traveling wheels 15, long connecting rods 16 and short connecting rods 17, the traveling wheels 15 are rotatably arranged at the outer end of the long connecting rod 16, and the outer end of the short connecting rod 17 is hinged to the middle of the long connecting rod 16. The inner end of the long connecting rod 16 of the first traveling mechanism 3 is hinged to the first welding plate 23 on the first connecting sleeve 6, and the inner end of the short connecting rod 17 of the first traveling mechanism 3 is hinged to the second welding plate 24 on the main shaft 5; the inner end of the long connecting rod 16 of the second traveling mechanism 4 is hinged to the first welding plate 23 on the second connecting sleeve 7, and the inner end of the short connecting rod 17 of the second traveling mechanism 4 is hinged to the second welding plate 24 on the fixing member 8. Bolts 21 can be used as hinge shafts between the connecting rods and the welding plates, and a nut 22 is threadedly connected to one end of the bolt 21.

The spring 20 applies force to the first connecting sleeve 6 and the second connecting sleeve 7 so that the inner ends of the long connecting rod 16 and the short connecting rod 17 are relatively close to each other, thereby making the traveling wheel 15 adapt to different pipe diameters and be supported outwardly on the pipe wall.

The desilting mechanism 9 includes a mechanical desilting mechanism 1 and a cleaning member 2, wherein the cleaning member 2 is fixedly connected to the front end of the fixing member 8, and the mechanical desilting mechanism 1 is arranged at the front end of the cleaning member 2. A bearing 28 and a sealing structure 29 are arranged between the cleaning member 2 and the mechanical desilting mechanism 1, and the bearing 28 can be axially positioned by a shaft end retaining ring and a bearing end cover. The outer wall of the cleaning member 2 is evenly distributed with a plurality of water outlet holes 18 along the circumference, and the water outlet holes 18 are connected to the inner cavity of the main shaft 5 through a closed waterway. The rear end of the main shaft 5 is provided with a water inlet connected to the inner cavity, and the water inlet is connected to a high-pressure water pipe for water supply. The direction of the water outlet hole 18 is inclined backward, and the power for the pipeline cleaning robot to move forward is provided by spraying high-pressure water backward, and the robot can move forward with the cooperation of the walking mechanism 10. Preferably, there are four water outlet holes 18, and each of the four water outlet holes is provided with a nozzle 19, which can clean the dirt on the pipe wall while providing power. The nozzle 19 is placed in the water outlet 18, which can prevent the silt from blocking the nozzle 19 and thus affecting the silt removal work.

The mechanical dredging mechanism 1 includes a rotating base 13, which is rotatably connected to the cleaning part 2. A cutter head 12 is arranged at the front end of the rotating base 13. A plurality of grooves 26 are evenly distributed circumferentially on the rotating base 13. A high-pressure nozzle 27 is arranged in each groove 26. The high-pressure nozzle 27 is arranged tangentially along the rotating base 13. The high-pressure nozzle 27 is connected to the inner cavity of the main shaft 5 through a closed water channel. The rotating base 13 is rotated by spraying water through the high-pressure nozzle, and then the cutter head 12 is driven to rotate, so as to clean the dirt at the front end. Preferably, the cutter head 12 is detachably connected to the front end of the rotating base 13. The cutter head 12 is serrated. The maximum rotation trajectory of the cutter head 12 is greater than the maximum rotation trajectory of the rotating base 13. The rotating base 13 is hollow to prevent the cleaned sludge from accumulating forward into the inside of the pipeline, thereby causing difficulty in the robot's advancement.

In order to enhance the cleaning effect on the pipe wall, a plurality of scraper groups are evenly distributed around the rotating base 13, and the number of the scraper groups is the same as the number of the high-pressure nozzles 27. The pipe wall is cleaned by the rotating scraper groups. Preferably, four scraper groups are provided, each scraper group includes two scrapers 14, and the scrapers 14 are obliquely arranged on the outer wall of the rotating base 13.

A main high-pressure water outlet 25 is provided in the middle of the front end of the rotating base 13. The main high-pressure water outlet 25 is connected to the inner cavity of the main shaft 5. The main high-pressure water outlet 25 can break the dirt in front of the pipeline to reduce the obstacles to the robot's advancement.

Working principle: the externally connected high-pressure water pump provides high-pressure water flow for the device of the present invention. The high-pressure water flow on the cleaning part 2 is ejected onto the pipe wall, which can knock down the dirt and provide the robot with forward power. The high-pressure water flow ejected from the main high-pressure water outlet 25 can break up the silt in front of the robot. A bearing is arranged between the rotating base 13 and the cleaning part 2, which can enable the mechanical dredging mechanism 1 to rotate relative to the cleaning part 2. The high-pressure water ejected from the high-pressure nozzle 27 on the rotating base 13 hits the pipe wall, which can provide the mechanical dredging mechanism 1 with rotational power. The cutter head 12 and the scraper 14 can clean part of the dirt on the pipe wall, reduce the cleaning burden for the cleaning part 2, and make the cleaning more efficient. The walking mechanism 10 has a variable diameter effect by virtue of the double-link mechanism, which can enable the robot to enter different pipe diameters to work.

Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims (10)

1. A pipeline cleaning robot which is characterized in that: the device comprises a dredging mechanism (9), a connecting device (11) and a travelling mechanism (10), wherein the dredging mechanism (9) comprises a mechanical dredging mechanism (1) and a cleaning piece (2), the cleaning piece (2) is arranged at the front end of the connecting device (11), the mechanical dredging mechanism (1) is arranged at the front end of the cleaning piece (2), and the travelling mechanism (10) is arranged at the outer side of the connecting device (11);

The outer wall of the cleaning piece (2) is uniformly provided with a plurality of water outlet holes (18) along the circumferential direction, the connecting device (11) comprises a hollow main shaft (5), the main shaft (5) is provided with a water inlet, the water outlet holes (18) are communicated with the inner cavity of the main shaft (5) through a closed waterway, and the direction of the water outlet holes (18) is inclined backwards;

The mechanical dredging mechanism (1) comprises a rotating base (13), the rotating base (13) is rotationally connected with a cleaning piece (2), a cutter head (12) is arranged at the front end of the rotating base (13), a plurality of grooves (26) are uniformly distributed in the circumferential direction of the rotating base (13), high-pressure spray heads (27) are arranged in the grooves (26), the high-pressure spray heads (27) are arranged along the tangential direction of the rotating base (13), and the high-pressure spray heads (27) are communicated with the inner cavity of the main shaft (5) through a closed waterway.

2. A pipeline cleaning robot as claimed in claim 1, wherein: the four water outlets are provided with spray heads (19);

a plurality of scraper groups are uniformly distributed on the circumference of the rotating base (13), and the number of the scraper groups is the same as that of the high-pressure spray heads (27).

3. A pipeline cleaning robot as claimed in claim 1, wherein: the connecting device (11) further comprises a first connecting sleeve (6), a second connecting sleeve (7) and a fixing piece (8), wherein the first connecting sleeve (6) and the second connecting sleeve (7) are symmetrically arranged and are respectively connected with the main shaft (5) in a sliding mode, a spring (20) is sleeved on the main shaft (5), and two ends of the spring (20) are respectively fixedly connected with the first connecting sleeve (6) and the second connecting sleeve (7);

the utility model discloses a cleaning device, including main shaft (5), cleaning piece (2), mounting (8), running gear (10), mounting (8) set up in main shaft (5) one side that is close to cleaning piece (2), cleaning piece (2) and mounting (8) fixed connection, running gear (10) are including first running gear (3) and second running gear (4), are provided with second running gear (4) between mounting (8) and second adapter sleeve (7), and one end that cleaning piece (2) was kept away from to main shaft (5) is provided with first running gear (3) between first adapter sleeve (6).

4. A pipe cleaning robot according to claim 3, wherein: the first connecting sleeve (6) and the second connecting sleeve (7) are uniformly distributed with first welding plates (23) along the circumferential direction, and the fixing piece (8) and the main shaft (5) are uniformly distributed with second welding plates (24) along the circumferential direction;

The first travelling mechanism (3) and the second travelling mechanism (4) have the same structure and comprise travelling wheels (15), long connecting rods (16) and short connecting rods (17), the travelling wheels (15) are rotatably arranged at the outer end parts of the long connecting rods (16), and the outer end parts of the short connecting rods (17) are hinged with the middle parts of the long connecting rods (16);

The inner end part of a long connecting rod (16) of the first travelling mechanism (3) is hinged with a first welding plate (23) on the first connecting sleeve (6), and the inner end part of a short connecting rod (17) of the first travelling mechanism (3) is hinged with a second welding plate (24) on the main shaft (5); the inner end part of a long connecting rod (16) of the second travelling mechanism (4) is hinged with a first welding plate (23) on the second connecting sleeve (7), and the inner end part of a short connecting rod (17) of the second travelling mechanism (4) is hinged with a second welding plate (24) on the fixing piece (8).

5. A pipeline cleaning robot as claimed in claim 1, wherein: the middle part of the front end of the rotating base (13) is provided with a main high-pressure water outlet (25), and the main high-pressure water outlet (25) is communicated with the inner cavity of the main shaft (5).

6. A pipeline cleaning robot as claimed in claim 1, wherein: the cutter head (12) is detachably connected to the front end of the rotating base (13), the cutter head (12) is in a zigzag shape, and the maximum rotation track of the cutter head (12) is larger than that of the rotating base (13).

7. A pipeline cleaning robot as claimed in claim 1, wherein: the first travelling mechanism (3) and the second travelling mechanism (4) are respectively provided with four.

8. A pipeline cleaning robot as claimed in claim 2, wherein: the scraper group is provided with four groups, and every group scraper group all includes two scraper (14), and scraper (14) slope sets up on the outer wall of swivel base (13).

9. A pipeline cleaning robot as claimed in claim 1, wherein: a bearing (28) is arranged between the cleaning piece (2) and the mechanical dredging mechanism (1).

10. A pipeline cleaning robot as claimed in claim 1, wherein: the water inlet is arranged at the rear end of the main shaft (5), and the water inlet is connected with a high-pressure water pipe.