CN106436887A - Multi-module automatic butt-joint pipeline dredging robot - Google Patents
Multi-module automatic butt-joint pipeline dredging robot Download PDFInfo
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- CN106436887A CN106436887A CN201611072774.0A CN201611072774A CN106436887A CN 106436887 A CN106436887 A CN 106436887A CN 201611072774 A CN201611072774 A CN 201611072774A CN 106436887 A CN106436887 A CN 106436887A
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- robot
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- modular robot
- cam
- desilting
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
The invention disclosesa multi-module automatic butt-joint pipeline dredging robot. Themulti-module automatic butt-joint pipeline dredging robot comprises a dredging module robot for performing dredging operation along a pipeline, a power-assisted module robot for in butt joint with the dredging module robot to strengthen driving power of the dredging module robot, a dragging module robot and cable putaway device for dragging the dredging module robot and the power-assisted module robot out of the pipeline, and automatic butt joint among the dredging module robot f, the power-assisted module robot and the dragging module robot is achieved through module butt-joint devices and module butt-joint seats. In the module butt-joint seats, rotation of conjugate cams is driven through a servo motor, opening and closing of the front ends of two clamping claws are controlled through the synergistic effect of the conjugate cams, and automatic butt joint of the module butt-joint devices and the module butt-joint seats is achieved. The multi-module automatic butt-joint pipeline dredging robot is simple in structure, stable, reliable, flexible, movable and low in cost, the driving power of the robot can be strengthened, a robot severely breaking down can be dragged, and the adaptability capability of the robot to a complicated pipeline environment is improved.
Description
Technical field
The present invention relates to pipe dredging machine people's technical field, and in particular to one kind can be realized automatically right between multimode
Meet the pipe dredging machine people with portfolio restructuring.
Background technology
In recent years, both at home and abroad to pipe dredging automatization and intelligent operation demand constantly increase.At present, the country is clear
Silt mode is relied primarily on and is accomplished manually, and working environment is complicated severe, high labor intensive, and degree of danger height.Meanwhile, in pipeline
During robot desilting, when the drift for running into fault or be difficult to clean off causes running resistance to increase, there is drive
It is short of power or stuck phenomenon.
Therefore, occur driving the failure condition such as not enough or stuck for robot, those skilled in the art are devoted to out
It is reliable and stable to send out a kind of, the pipe dredging machine people of simple structure and multimode automatic butt, can strengthen the driving of robot
Power or dragging cannot release the robot of fault, so as to improve the maneuverability of the complicated pipeline environment of dredging robot reply, be
The realization of intelligent desilting provides basis.
Content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of multimode automatic butt
Pipe dredging machine people, with simple structure, reliable and stable, cost be relatively low, reconfigurability the features such as, robot can be strengthened
Driving force or the robot of dragging catastrophe failure, improve adaptability of the dredging robot to complicated pipeline environment.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of pipe dredging machine people of multimode automatic butt, including desilting modular robot, power-assist modular robot,
Modules dragged robot and cable winder；
Wherein, the front end of desilting modular robot is provided with desilting cutterhead, carries out desilting along pipeline while for moving
Operation；Power-assist modular robot is used for docking the driving for strengthening that desilting modular robot is moved along pipeline with desilting modular robot
Power, modules dragged robot and cable winder are used for dragging the desilting modular robot being located in pipeline and power-assist modular robot
Go out；Module docking is provided with the back-end central of desilting modular robot, power-assist modular robot and modules dragged robot
Seat, is provided with module docking adapter, is docked by module at the front end center of power-assist modular robot and modules dragged robot
It is automatically right between desilting modular robot, power-assist modular robot and modules dragged robot that device and module butt joint base are realized
Connect；Cable winder is arranged on ground, and the module butt joint base of modules dragged robot rear end is by hawser and cable winder phase
Even.Wherein, power-assist modular robot and modules dragged robot belong to supplementary module robot, can increase as needed and join accordingly
Modular robot simultaneously realizes the automatic butt between multimode.
Preferably, the module butt joint base includes cylinder and the locating rod of horizontally set, and fixed along the diametric(al) of cylinder
Position bar is vertically arranged in cylinder；
The module docking adapter includes feedback component, buckling component and turn component, and the feedback component includes to install
Plate, contact plate, ring plate and two equivalently-sized shaft shoulder screws；Two shaft shoulder screws sequentially pass through the two of installing plate and ring plate
End, and on the shaft shoulder screw between installing plate and ring plate, all it is arranged with stage clip；Contact plate is fixed in the top of two shaft shoulder screws,
And on the shaft shoulder screw between contact plate and ring plate, all it is arranged with the axle sleeve being adapted with shaft shoulder screw；
The buckling component includes mounting blocks and two claws being adapted, and mounting blocks through in the middle part of ring plate and pass through two
Support column is fixed on installation front edge of board；Two claws are articulated with mounting blocks front end both sides relatively, be provided with and be available in the middle part of contact plate
The opening that two claws are passed through, leaves the hollow space of clamping position bar between two claws that front end fastens；
The turn component includes a pair of conjugate cam, rotating disk, servomotor and two fixing axles, and servomotor is fixed on
Installing plate rear end；Rotating disk is socketed on the output shaft of servomotor, and is rotated with the output shaft synchronous of servomotor；The conjugation
Cam rotating disk front end is fixed on by the fixing axle of both sides and with rotating disk synchronous axial system, control two by the rotation of conjugate cam
The front end of claw fastens or opens；
The installation front edge of board is provided with contact switch, for detecting rear shifting journey when contact plate and ring plate are squeezed
Degree, that is, judge module docking adapter and the close degree of module butt joint base, and signal is fed back to servomotor, so as to reality
Show the automatic butt of module docking adapter and module butt joint base.
Preferably, the conjugate cam includes that the first cam and the second cam, the first cam and the second cam are respectively provided with
Front and rear sides in mounting blocks；The shape size of the first cam and the second cam is identical, and both antiparallel installations.
The change of two claw front end folding conditions is realized by the synergism of the first cam and the second cam.
Preferably, the quantity of the power-assist modular robot is one or more, can increase as needed and join power-assist module
Robot, so as to strengthen the driving force of robot.
Preferably, on the desilting modular robot, displacement transducer and infrared camera are provided with.
Preferably, it is provided with the desilting modular robot, power-assist modular robot and modules dragged machine long-range
Remote control equipment, and the movement in pipeline is all realized by pedrail mechanism.
Preferably, for the ease of hauling out modular robot, the hawser is by being arranged in pipeline at turning and opening
Multiple fixed pulleys are oriented to.
Beneficial effect：A kind of pipe dredging machine people of multimode automatic butt that the present invention is provided, with respect to existing skill
Art, with advantages below：1st, simple structure, reliable and stable, flexible and cost is relatively low；2nd, can increase as needed and join accordingly
Module simultaneously realizes the automatic butt between multimode, so as to strengthening the driving force of robot or pulling the machine that cannot release fault
People, enhances reconfigurability of the robot in pipeline, improves the maneuverability of the complicated pipeline environment of dredging robot reply,
So as to realize the flexibility and reliability desilting of pipeline.
Description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the structural representation of module docking adapter and module butt joint base in the embodiment of the present invention；
Fig. 3 is the structural representation of module docking adapter in the embodiment of the present invention；
Fig. 4 is the fractionation structure chart of each component of module docking adapter in the embodiment of the present invention；
Fig. 5 is the structural representation of feedback component in the embodiment of the present invention；
Fig. 6 is the structural representation of buckling component in the embodiment of the present invention；
Fig. 7 is the structural representation of turn component in the embodiment of the present invention；
Fig. 8 is the structure chart of conjugate cam in the embodiment of the present invention；
Fig. 9 a～Fig. 9 b is the structure chart that in the embodiment of the present invention, conjugate cam control claw front end is opened；
Figure 10 a～Figure 10 b is the structure chart of conjugate cam control claw front end fastening in the embodiment of the present invention；
Figure 11 a～Figure 11 d is the automatic butt schematic diagram of module docking adapter and module butt joint base in the embodiment of the present invention；
Figure 12 is the desilting flow chart of the embodiment of the present invention；
In figure includes：1st, module docking adapter, 11, feedback component, 12, buckling component, 13, turn component, 11-1, shaft shoulder spiral shell
Nail, 11-2, installing plate, 11-3, stage clip, 11-4, ring plate, 11-5, contact plate, 11-6, axle sleeve, 12-1, claw, 12-2, installation
Block, 12-3, support column, 13-1, the first cam, 13-2, the second cam, 13-3, rotating disk, 13-4, servomotor, 13-5, fixation
Axle, 13-6, contact switch；
2nd, module butt joint base, 2-1, locating rod, 2-2, cylinder, 2-3, ring flange, 3, desilting modular robot, 3-1, desilting
Cutterhead, 4, power-assist modular robot, 5, modules dragged robot, 6, cable winder, 7, hawser.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the present invention.
A kind of pipe dredging machine people of multimode automatic butt is illustrated in figure 1, including desilting modular robot 3, is helped
Dynamic modular robot 4, modules dragged robot 5 and cable winder 6；
Wherein, the front end of desilting modular robot 3 is provided with desilting cutterhead 3-1, carries out while for moving along pipeline
Dredging operation；Power-assist modular robot 4 is used for docking enhancing desilting modular robot 3 with desilting modular robot 3 along pipeline shifting
Dynamic driving force, modules dragged robot 5 and cable winder 6 are used for the desilting modular robot 3 being located in pipeline and power-assist
Modular robot 4 is hauled out；At the back-end central of desilting modular robot 3, power-assist modular robot 4 and modules dragged robot 5
Module butt joint base 2 is provided with, at the front end center of power-assist modular robot 4 and modules dragged robot 5, is provided with module
Docking adapter 1, realizes desilting modular robot 3, power-assist modular robot 4 by module docking adapter 1 and module butt joint base 2 and drags
Automatic butt between modular robot 5；Cable winder 6 is arranged on ground, the module docking of 5 rear end of modules dragged robot
Seat 2 is connected with cable winder 6 by hawser 7 and fixed pulley, and hawser 7 is multiple at turning and opening in pipeline by being arranged at
Fixed pulley is oriented to.
As shown in Fig. 2 the module butt joint base 2 includes the cylinder 2-2 of horizontally set and locating rod 2-1, and along cylinder 2-2
Diametric(al) locating rod 2-1 be vertically arranged in cylinder 2-2.
As shown in Fig. 3,4,5, the module docking adapter 1 includes feedback component 11, buckling component 12 and turn component 13, and
The feedback component 11 includes the equivalently-sized shaft shoulder screw 11-1 of installing plate 11-2, contact plate 11-5, ring plate 11-4 and two；
Two shaft shoulder screw 11-1 are sequentially passed through between the two ends of installing plate 11-2 and ring plate 11-4, and installing plate 11-2 and ring plate 11-4
Shaft shoulder screw 11-1 on be all arranged with stage clip 11-3；Contact plate 11-5 is fixed in the top of two shaft shoulder screw 11-1, and connects
The axle sleeve 11-6 that with shaft shoulder screw 11-1 be adapted all is arranged with shaft shoulder screw 11-1 between touch panel 11-5 and ring plate 11-4；
As shown in fig. 6, the buckling component 12 includes the claw 12-1 that mounting blocks 12-2 and two are adapted, mounting blocks
12-2 is fixed on installing plate 11-2 front end through in the middle part of ring plate 11-4 and by two support column 12-3；Two claw 12-1 are relative
Mounting blocks 12-2 front end both sides are articulated with, in the middle part of contact plate 11-5, are provided with the opening for being available for that two claw 12-1 are passed through, front end
The hollow space of clamping position bar 2-1 is left between the two claw 12-1 for fastening；
As shown in fig. 7, the turn component 13 includes a pair of conjugate cam, rotating disk 13-3, servomotor 13-4 and two
Fixing axle 13-5, servomotor 13-4 is fixed on installing plate 11-2 rear end；Rotating disk 13-3 is socketed on the output of servomotor 13-4
On axle, and rotate with the output shaft synchronous of servomotor 13-4；The conjugate cam is fixed on by fixing axle 13-5 of both sides
Rotating disk 13-3 front end and with rotating disk 13-3 synchronous axial system, by conjugate cam rotation control two claw 12-1 front end fasten
Or open；
The installing plate 11-2 front end is provided with contact switch 13-6, for detecting that contact plate 11-5 and ring plate 11-4 be subject to
Signal is simultaneously fed back to servomotor 13-4 by rear shifting degree during extruding, so as to realize module docking adapter 1 with module butt joint base 2
Automatic butt.
As shown in Fig. 9 a, 9b, 10a, 10b, the conjugate cam includes the first cam 13-1 and the second cam 13-2, first
Cam 13-1 and the second cam 13-2 are respectively arranged at the front and rear sides of mounting blocks 12-2；First cam 13-1 and the second cam
The shape size of 13-2 is identical, and both antiparallel installations, by the first cam 13-1 and the association of the second cam 13-2
Same-action realizes the change of two claw 12-1 front end folding conditions.
As shown in figure 8, the first cam 13-1 and the second cam 13-2 is overall being formed by rectangle cutting, one pair of which pair
Angle cutting be arc, another be provided with the through hole for passing through for fixing axle 13-5 to diagonal angle, and be provided with the middle part of which for servo electricity
The through hole that machine 13-4 output shaft is passed through；In figure d1 is smaller in size than d2, and polar diameter R (distance at cam edge Shang Diandao center) is from A
When point dextrorotation turn 90 degrees B point, size R is linearly incremented by with corner.
In the present embodiment, the quantity of the power-assist modular robot 4 is one or more, the desilting modular robot 3
On be provided with displacement transducer and infrared camera；The desilting modular robot 3, power-assist modular robot 4 and modules dragged
Remote equipment is provided with machine, and all realizes the movement in pipeline by pedrail mechanism；The module butt joint base 2 leads to
The ring flange 2-3 for crossing cylinder 2-2 bottom is fixed on the rear end of modular robot, and the module docking adapter 1 passes through servomotor 13-
4 front ends for being fixed on modular robot.
The specific embodiment of the present invention is as follows：
As shown in figure 12, the desilting modular robot 3 during use equipped with desilting cutterhead 3-1 is introduced into pipeline, according to displacement
Sensor and infrared camera feedack Remote desilting modular robot 3 along pipe walking while carry out desilting work
Industry；When fault detection module detect desilting modular robot 3 occur in pipeline driving force deficiency when, as needed control one
Individual or multiple power-assist modular robots 4 enter pipeline and 3 automatic butt of desilting modular robot, to strengthen the shifting of Robot pipeline
Dynamic driving force；When fault detection module detect robot because damage or other catastrophe failures and when being unable to normal movement,
Controlling modules dragged robot 5 to enter pipeline and modular robot above carries out automatic butt, starts arrange after docking in advance
All modular robots are hauled out maintenance by cable winder 6 on the ground.The power-assist module and modules dragged it is merely possible to
The conventional supplementary module of multimode automatic butt machine people, naturally it is also possible to need increase other functions module to carry out according to operating mode
Flexible combination, realizes the pipeline synthesis desilting of reconfigurable modular.
As shown in figure 11, module docking adapter 1 with the automatic docking process of module butt joint base 2 is：First, as Figure 11 a, 11b
Shown, module docking adapter 1 moves forward the module pair near the modular robot rear end that is docked with the modular robot of docking
Joint chair 2, is contacted with the outer face of cylinder 2-2 and mutually extrudes up to contact plate 11-5, now contact plate 11-5 and ring plate 11-4
Start compression spring to be moved rearwards by, so that ring plate 11-4 is constantly reduced with the distance of contact switch 13-6；
As shown in Figure 11 c, 11d, when ring plate 11-4 enters the detection range of contact switch 13-6, the module machine of docking
People stops moving forward, and now two jaw 12-1 are remained on and entered into locating rod 2-1 both sides in cylinder 2-2；Meanwhile,
Servomotor 13-4 drives conjugate cam dextrorotation to turn 90 degrees after receiving signal, due to the synergism of conjugate cam, makes two
The front end of individual jaw 12-1 is changed into buckling state from open mode, therefore locating rod 2-1 is clamped between two jaw 12-1
In hollow space, so as to complete this docking.Docking operation between all functional module robots of the present invention can be above-mentioned
Mode is carried out.
The above is only the preferred embodiment of the present invention, it should be pointed out that：Ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. the pipe dredging machine people of a kind of multimode automatic butt, it is characterised in that including desilting modular robot (3), help
Dynamic modular robot (4), modules dragged robot (5) and cable winder (6)；
Wherein, the front end of desilting modular robot (3) is provided with desilting cutterhead (3-1), carries out while for moving along pipeline
Dredging operation；Power-assist modular robot (4) is used for docking enhancing desilting modular robot (3) edge with desilting modular robot (3)
The driving force of pipeline movement, modules dragged robot (5) and cable winder (6) are used for the desilting module machine that will be located in pipeline
People (3) and power-assist modular robot (4) are hauled out；Desilting modular robot (3), power-assist modular robot (4) and modules dragged machine
Module butt joint base (2), power-assist modular robot (4) and modules dragged robot (5) is provided with the back-end central of device people (5)
Front end center at be provided with module docking adapter (1), desilting mould is realized by module docking adapter (1) and module butt joint base (2)
Automatic butt between block robot (3), power-assist modular robot (4) and modules dragged robot (5)；Cable winder (6) sets
It is placed on ground, and the module butt joint base (2) of modules dragged robot (5) rear end is by hawser (7) and cable winder (6) phase
Even.
2. a kind of pipe dredging machine people of multimode automatic butt according to claim 1, it is characterised in that the mould
Block butt joint base (2) includes the cylinder (2-2) of horizontally set and locating rod (2-1), and the radial positioning bar (2- along cylinder (2-2)
1) it is vertically arranged in cylinder (2-2)；
Described module docking adapter (1) includes feedback component (11), buckling component (12) and turn component (13), and the feedback group
Part (11) includes the equivalently-sized shaft shoulder screw (11-1) of installing plate (11-2), contact plate (11-5), ring plate (11-4) and two；
Two shaft shoulder screws (11-1) sequentially pass through the two ends of installing plate (11-2) and ring plate (11-4), and installing plate (11-2) and ring plate
(11-4) on the shaft shoulder screw (11-1) between, stage clip (11-3) is all arranged with；Contact plate (11-5) is fixed in two shaft shoulder screws
(11-1) all it is arranged with and shaft shoulder spiral shell on the shaft shoulder screw (11-1) between top, and contact plate (11-5) and ring plate (11-4)
The axle sleeve (11-6) that nail (11-1) is adapted；
Described buckling component (12) include mounting blocks (12-2) and two claws being adapted (12-1), and mounting blocks (12-2) are passed through
Installing plate (11-2) front end is fixed in the middle part of ring plate (11-4) and by two support columns (12-3)；Two claws (12-1) are relative
Mounting blocks (12-2) front end both sides are articulated with, in the middle part of contact plate (11-5), are provided with opening of being available for that two claws (12-1) pass through
Mouthful, the hollow space of clamping position bar (2-1) is left between two claws (12-1) that front end fastens；
Described turn component (13) include a pair of conjugate cam, rotating disk (13-3), servomotor (13-4) and two fixing axles
(13-5), servomotor (13-4) is fixed on installing plate (11-2) rear end；Rotating disk (13-3) is socketed on servomotor (13-4)
On output shaft, and rotate with the output shaft synchronous of servomotor (13-4)；Fixing axle (13- of the conjugate cam by both sides
5) be fixed on rotating disk (13-3) front end and with rotating disk (13-3) synchronous axial system, two claws are controlled by the rotation of conjugate cam
(12-1) front end fastens or opens；
Installing plate (11-2) front end is provided with contact switch (13-6), for detecting contact plate (11-5) and ring plate (11-4)
Signal is simultaneously fed back to servomotor (13-4) by rear shifting degree when being squeezed, and is realized module docking adapter (1) and is docked with module
The automatic butt of seat (2).
3. the pipe dredging machine people of a kind of multimode automatic butt according to claim 2, it is characterised in that described common
Yoke cam includes that the first cam (13-1) and the second cam (13-2), the first cam (13-1) and the second cam (13-2) are set respectively
It is placed in the front and rear sides of mounting blocks (12-2)；First cam (13-1) is identical with the shape size of the second cam (13-2),
And both antiparallel installations.
4. the pipe dredging machine people of a kind of multimode automatic butt according to claim 1, it is characterised in that described help
The quantity of dynamic modular robot (4) is one or more.
5. the pipe dredging machine people of a kind of multimode automatic butt according to claim 1, it is characterised in that described clear
Silt modular robot is provided with displacement transducer and infrared camera on (3).
6. the pipe dredging machine people of a kind of multimode automatic butt according to claim 1, it is characterised in that described clear
Remote equipment is provided with silt modular robot (3), power-assist modular robot (4) and modules dragged machine, and all leads to
Cross pedrail mechanism and realize the movement in pipeline.
7. a kind of pipe dredging machine people of multimode automatic butt according to claim 1, it is characterised in that the cable
Rope (7) is oriented to by being arranged at the multiple fixed pulleys in pipeline at turning and opening.
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| CN201611072774.0A CN106436887B (en) | 2016-11-29 | 2016-11-29 | A kind of pipe dredging machine people of multimode automatic butt |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611072774.0A CN106436887B (en) | 2016-11-29 | 2016-11-29 | A kind of pipe dredging machine people of multimode automatic butt |
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| CN106436887B CN106436887B (en) | 2019-04-30 |
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Cited By (10)
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| CN108150759A (en) * | 2018-01-26 | 2018-06-12 | 中铁西安勘察设计研究院有限责任公司 | The modularization assembling apparatus of cleaning is measured and conserved for piping lane internal distortions |
| CN108223969A (en) * | 2017-12-18 | 2018-06-29 | 中国矿业大学 | The double cable driving steering mechanism of pipe robot and control method |
| CN108644532A (en) * | 2018-05-25 | 2018-10-12 | 武汉理工大学 | A kind of self-adaptive pipe dredging machine people |
| CN110507249A (en) * | 2019-08-30 | 2019-11-29 | 海尔优家智能科技（北京）有限公司 | A kind of combination of clean robot and clean method |
| CN110847337A (en) * | 2019-11-24 | 2020-02-28 | 江西佰嘉实业有限公司 | Underground pipeline dredging device |
| CN111119823A (en) * | 2019-12-04 | 2020-05-08 | 太原理工大学 | Pipeline robot for coal bed heating and coal powder removing |
| CN111119822A (en) * | 2019-12-04 | 2020-05-08 | 太原理工大学 | Coal bed heating and coal dust removing method |
| CN111140213A (en) * | 2019-12-03 | 2020-05-12 | 太原理工大学 | Heating method special for coal bed gas thermal recovery |
| CN113358276A (en) * | 2021-05-24 | 2021-09-07 | 山东中自仪测控技术有限公司 | Flange formula pressure instrument presss from both sides tight sealing device fast |
| CN114714323A (en) * | 2022-04-18 | 2022-07-08 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modular robot |
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