CN106925575A - Complete strong support type list drives two-way crawling formula pipeline cleaning machine people - Google Patents

Complete strong support type list drives two-way crawling formula pipeline cleaning machine people Download PDF

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Publication number
CN106925575A
CN106925575A CN201710328193.7A CN201710328193A CN106925575A CN 106925575 A CN106925575 A CN 106925575A CN 201710328193 A CN201710328193 A CN 201710328193A CN 106925575 A CN106925575 A CN 106925575A
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CN
China
Prior art keywords
cylinder block
forebay
block set
cam
afer bay
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710328193.7A
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Chinese (zh)
Other versions
CN106925575B (en
Inventor
谢奇志
刘送永
江红祥
吴洪状
程诚
李伟
沈刚
唐玮
刘后广
杨建华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology CUMT filed Critical China University of Mining and Technology CUMT
Priority to CN201710328193.7A priority Critical patent/CN106925575B/en
Publication of CN106925575A publication Critical patent/CN106925575A/en
Priority to GB1906128.2A priority patent/GB2569931B/en
Priority to PCT/CN2018/085976 priority patent/WO2018205920A1/en
Priority to AU2018264305A priority patent/AU2018264305B2/en
Priority to CA3045865A priority patent/CA3045865C/en
Application granted granted Critical
Publication of CN106925575B publication Critical patent/CN106925575B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
    • B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/10—Treating the inside of pipes
    • F16L2101/12—Cleaning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)
  • Mutual Connection Of Rods And Tubes (AREA)
  • Harvester Elements (AREA)

Abstract

Two-way crawling formula pipeline cleaning machine people is driven the invention discloses a kind of complete strong support type list, including：The transmission component is by a power drive, and by linkage, gear mechanism and the gearing for stopping cam mechanism such as non-, so that preceding cylinder block set and rear cylinder block set radially alternating contractions with support overall process in realize unremitting strong supporting role, realize that the axial direction between preceding cylinder block set and rear cylinder block set is alternately flexible simultaneously, and the synchronous rotary of desilting cutterhead, support by force so as to the overall process for realizing Robot non-horizontal pipeline, the walking of two-way wriggling and tube wall cleaning operation.The present invention is reliable and stable, compact practicality, realize overall process support and the walking of two-way wriggling by force in the vertical pipeline of isometrical or minimum reducing, the continuous traction free of discontinuities of overall process can be kept, effectively increase the stability and reliability of pipe walking process, the endurance of pipe robot is improve, comprehensively cleaning has engineering significance to pipeline.

Description

Complete strong support type list drives two-way crawling formula pipeline cleaning machine people
Technical field
Cam set is stopped based on non-grade the present invention relates to a kind of non-horizontal pipeline cleaning machine people's technical field, especially one kind Coordinative role, overall process support and single pipe for driving two-way wriggling walking by force are realized in the vertical pipeline of isometrical or minimum reducing Robot is cleared up in road.
Background technology
During pigging operation, creeping motion type pipe robot has bigger driving power and landform adaptability, more suitable Close pipeline cleaning operation.But, existing pigging robot and wiper only have unidirectional locomotor activity mostly, in pipeline cleaning During run into special obstacle thing and cannot retreat recovery, cause robot clamping stagnation in pipe.And for existing two-way wriggling Formula pipeline cleaning machine people, it is difficult to realize supporting the overall process of tube wall by force with power, bidirectional walking and pipeline cleaning three Item function, the gap for especially alternately changing in front and rear body holding state, the phenomenon for the unstability because of underbraced easily occur, So as to be unfavorable for the cleaning of non-horizontal pipeline (most typical such as vertical pipeline) pipeline.Therefore, it is clear for single driving two-way crawling Pipe robot cannot realize the problems such as overall process is supported by force, proceed from reality, and cam set coordinative role is stopped based on non-grade, grind System develops a kind of complete strong support type list suitable for isometrical or minimum reducing and drives two-way crawling formula pipeline cleaning machine people, so that For the realization of non-horizontal pipeline cleaning provides basis.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of complete strong support type list and drive double To crawling formula pipeline cleaning machine people, the coordinative role of cam set is stopped based on non-grade, realize the overall process in non-horizontal pipeline Strong support and the walking of two-way wriggling, so as to realize the free of discontinuities continuous traction in pipeline cleaning, improve pipe walking process Stability and reliability.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of complete strong support type list drives two-way crawling formula pipeline cleaning machine people, including preceding cylinder block set, transmission component and Cylinder block set afterwards；
Wherein, the transmission component is by a power drive, and by linkage, gear mechanism and non-etc. stops cam machine The gearing of structure so that preceding cylinder block set and rear cylinder block set radially alternating contractions with support overall process in realize continuously Disconnected strong supporting role (i.e. any instant, at least one body is in strong holding state in front and rear body), while before realizing Axial direction between cylinder block set and rear cylinder block set is alternately flexible, and desilting cutterhead synchronous rotary, so as to realize robot Along the strong supporting role of the overall process of non-horizontal pipeline, the walking of two-way wriggling and pipeline cleaning operation.
Preferably, the preceding cylinder block set includes front housing, desilting cutterhead, forebay, the preceding elastic telescopic of upper and lower both sides Arm and the preceding resilient support wheel of the left and right sides；
Wherein, the front housing is sleeved on outside forebay, and affixed with forebay；Before desilting cutterhead is arranged at forebay Side, it includes wheel disc, along the circumferentially uniform knife bar of wheel disc and the desilting blade affixed with knife bar；
The preceding elastic telescopic arm it is (active) include resilient rubbber cushion, sliding bar, the first stage clip, spring retainer piece and Roller, and resilient rubbber cushion is arranged at the top of sliding bar；First compression spring sleeve is mounted on sliding bar, and by sliding bar bottom The spring retainer piece in portion realizes the lower limit of the first stage clip；The groove of connection bottom is provided with the outer wall of sliding bar side, it is described Roller is installed on bottom portion of groove (i.e. roller uses setoff installation) by support bar, and is fixed along the slip of groove by support bar Realize roller and slide the adjustment of distance between tie rods, to adapt to the radial dimension of different pipelines；Wear the bottom of the preceding elastic telescopic arm Front housing is crossed, and the upper limit of the first stage clip on sliding bar is realized by front housing；
Resilient support wheel (passive type) includes telescopic shaft, the telescopic being sheathed on outside telescopic shaft and is arranged at flexible before described The wheel on axle top, and the second stage clip being connected with telescopic shaft bottom is provided with telescopic, realized by the second stage clip flexible The stretching motion of axle and telescopic, so that the elasticity of resilient support wheel length is adjusted before realizing, to adapt to the radial direction of different pipelines Size；Resilient support wheel is arranged at the left and right sides of front housing by telescopic before described.
Preferably, the rear cylinder block set includes back cabinet, afer bay, the rear elastic telescopic arm of upper and lower both sides and left and right The rear resilient support wheel of both sides；Wherein, the back cabinet is sleeved on outside afer bay, and affixed with afer bay；The rear elasticity is stretched The structure (including modular construction and the annexation with back cabinet) of contracting arm and rear resilient support wheel respectively with preceding cylinder block set in Preceding elastic telescopic arm, preceding resilient support wheel it is identical.
Preferably, the transmission component includes electric rotating machine, cutter plate driver component, precursor assemblies, rear-guard component and middle drive Component；Wherein, the electric rotating machine is arranged at afer bay front side, and it to pass through and be arranged with first on the output shaft of afer bay front side board Fitted on rear side of spur gear, and the first spur gear and afer bay front side board；
The middle component that drives includes some guiding mechanisms, transmission mechanism and the crank connecting link machine of connection forebay and afer bay Structure；The guiding mechanism includes the guide post being arranged on forebay back side panel and the linear axis being arranged on afer bay front side board Hold, realize forebay with the flexible connection of afer bay by guide post and being slidably matched for linear bearing；
The transmission mechanism includes one group of sliding axle and bearing holder (housing, cover) being adapted, and length is provided with the side wall of the bearing holder (housing, cover) Be provided with straight pin in bar shaped groove, and the side wall of sliding axle, by straight pin and groove be slidably matched realize sliding axle with The synchronous axial system and telescopic slide of bearing holder (housing, cover)；The sliding axle runs through the back side panel of forebay away from the side of bearing holder (housing, cover), and sliding Two the first spacing rings are provided with moving axis, first spacing ring fits with the front and rear both sides of forebay back side panel respectively, By two the first spacing ring limit slippage axle sliding axially relative to forebay back side panel；The bearing holder (housing, cover) is away from sliding axle Side through the front side board of afer bay, and the second spacing ring and the second spur gear are provided with bearing holder (housing, cover), described second is spacing Fitted on front side of ring and afer bay front side board, fitted on rear side of the second spur gear and afer bay front side board；By the second limit Position ring and the second spur gear limitation bearing holder (housing, cover) sliding axially relative to afer bay front side board, and the second spur gear and the first straight-tooth Wheel engaged transmission, is driven with output shaft to the rotating speed of bearing holder (housing, cover) for realizing electric rotating machine；The sliding axle away from bearing holder (housing, cover) one End is arranged with first bevel gear, and bearing holder (housing, cover) is arranged with second bevel gear away from one end of sliding axle；
The precursor assemblies include being arranged at front rotary shaft in forebay, it is preceding it is non-etc. stop cam set and third hand tap gear, and Preceding non-grade stops cam set and third hand tap gear is sheathed on front rotary shaft；The third hand tap gear and first bevel gear engaged transmission, And drive the synchronous axial system of front rotary shaft and preceding non-grade not cam set；The preceding non-grade stop cam set including two it is identical before Non- grade stops cam (i.e. the far angle of repose and near angle of repose of cam are unequal), and non-grade stops 180 ° of dislocation closed assemblies of cam before two； In the preceding cylinder block set roller of the preceding elastic telescopic arm bottom (setoff installation) of upper and lower both sides respectively with two before non-grade stop Cam is contradicted to be installed, and is stopped cam by non-grade before two and is realized that two synchronous radial expansions of preceding elastic telescopic arm are adjusted；
The rear-guard component include being arranged at rear rotating shaft in afer bay, it is rear it is non-etc. stop cam set and the 4th bevel gear, and The attachment structure of rear-guard component is identical with precursor assemblies；After 4th bevel gear and second bevel gear engaged transmission, and drive Rotating shaft and rear non-grade stop the synchronous axial system of cam set；It is not convex including two identical rear non-grades that the rear non-grade stops cam set Wheel, stops cam and realizes that the synchronous radial expansion of elastic telescopic arm after two is adjusted by non-grade after two；
The cutter plate driver component include the 5th bevel gear, tape handler and cutterhead rotating shaft, the 5th bevel gear with Third hand tap gear engaged transmission, and be sheathed on by rotation of the tape handler with movable knife disc rotating shaft, and the wheel disc of desilting cutterhead Cutterhead rotating shaft passes through the side of forebay front side board, so as to realize the synchronous rotary of desilting cutterhead；
The toggle includes being arranged at the connecting rod and crank of forebay and the afer bay left and right sides, and crank set In the rear rotating shaft extended to outside afer bay and with rear rotating shaft synchronous axial system；One end of the connecting rod is articulated with forebay On left/right side plate, its other end is articulated with the crank of the side, and preceding cylinder block set and rear body are realized by toggle Axial stretching adjustment between component.
Operation principle of the invention is：First, by manually will be equipped with the pipe machine of sensor, camera and desilting cutterhead Device people inserts non-horizontal pipeline, and then controlled motor is rotated forward, and by linkage, the transmission that gear and non-grade stop cam mechanism is made Strong support free of discontinuities (i.e. any instant, two are realized in the overall process for shrinking with support along radially alternating with so that front and rear body At least one body is in strong holding state in individual body), while front and rear body in the axial direction also can be alternately flexible, and clearly Silt cutterhead is rotated simultaneously by mechanism driving, by the cooperation between each moving component so that Robot pipeline is compacted Implement prune job while dynamic walking.When pipe robot runs into serious hindrance in pipe cannot move ahead, controlled motor is anti- Turn to exit back robot, to take other counter-measures.
Preferably, the knife bar and desilting blade of the desilting cutterhead are detachable, are easy to knife bar and desilting blade Maintenance and replacing, it is cost-effective.
Preferably, the first elongated slot is provided with the support bar, and the first screwed hole is provided with groove, worn by fastening bolt Flexible adjustment of the support bar along groove is realized with the immovable fitting of the first screwed hole after crossing the first elongated slot, is connected simple and convenient.
Preferably, it is provided with the side wall of the telescopic and the second cylinder is provided with the second elongated slot, and the side wall of telescopic shaft Pin, by the cooperation limitation telescopic shaft of the second straight pin and the second elongated slot along the stretching motion of telescopic, prevents telescopic shaft from deviating from.
Preferably, the preceding non-grade stops the far angle of repose of cam (stopping cam with rear non-grade identical) not less than 180 °, So as to ensure that overall process is continuously supported by force.Because 360 ° of cam rotation one week, the far angle of repose for only stopping cam when non-grade is not small In 180 °, near angle of repose, lift angle and backhaul angle sum are just not more than 180 °, then could keep continuous strong in motion overall process Support.In other words, as shown in figure 14, any instant, preceding body holding state curve S1 and rear body holding state curve S2 In at least one curve be that on ordinate P1 points, P1 points represent strong support.
Beneficial effect：The complete strong support type list that the present invention is provided drives two-way crawling formula pipeline cleaning machine people, relative to existing There is technology, with advantages below：1st, by a power source and a set of mechanism, can realize in isometrical or minimum reducing VERTICAL TUBE Overall process support and the walking of two-way wriggling by force in road, when pipeline cleaning runs into failure and special and cannot continue to walk forward, Pipeline can be exited back, the maneuverability of the complicated pipeline environment of pipe robot reply is improve；2nd, robot body is more Densification and lighting, substantially increase the endurance of pipe robot, while overall process can be kept continuously to draw, thus For the isometrical or minimum reducing vertical pipeline for needing to keep continuous support force, achievable overall process is supported by force, to pipeline synthesis Cleaning has engineering significance.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the front view of the embodiment of the present invention；
Fig. 3 is the internal structure schematic diagram of the embodiment of the present invention；
Fig. 4 is the structural representation of desilting cutterhead in the embodiment of the present invention；
Fig. 5 is the structural representation of elastic telescopic arm in the embodiment of the present invention；
Fig. 6 is the structural representation of elastic support wheel in the embodiment of the present invention；
Fig. 7 is the structural representation of transmission component in the embodiment of the present invention；
Fig. 8 is the top view of transmission component in the embodiment of the present invention；
Fig. 9 and Figure 10 are respectively the transmission letters of preceding non-grade not cam set and rear non-grade not cam set in the embodiment of the present invention Figure；
Figure 11 is the kinematic sketch of toggle in the embodiment of the present invention；
Figure 12 is the structural representation of transmission mechanism in the embodiment of the present invention；
Figure 13 is the angle position figure of rear non-grade not cam in the embodiment of the present invention；
Figure 14 be in the embodiment of the present invention front and rear body holding state with cam angle variation diagram；
Figure 15 a~e is the motion flow chart of Robot pipeline in the embodiment of the present invention.
Figure includes：1st, preceding cylinder block set, 1-1, front housing, 1-2, desilting cutterhead, 1-3, forebay, 1-4, preceding elasticity are stretched Contracting arm, 1-5, preceding resilient support wheel, 1-2-1, desilting blade, 1-2--2, knife bar, 1-2-3, wheel disc, 1-4-1, resilient rubbber cushion, 1-4-2, sliding bar, 1-4-3, the first stage clip, 1-4-4, spring retainer piece, 1-4-5, roller, 1-4-6, groove, 1-4-7, support Bar, 1-5-1, wheel, 1-5-2, telescopic shaft, 1-5-3, telescopic,
2nd, transmission component, 2-1, cutterhead rotating shaft, 2-2, tape handler, 2-3, it is preceding it is non-etc. stop cam set, 2-4, guide post, 2-5, linear bearing, 2-6, electric rotating machine, 2-7, the first spur gear, 2-8, rear rotating shaft, 2-9, it is rear it is non-etc. stop cam set, 2-10, 4th bevel gear, 2-11, crank, 2-12, transmission mechanism, 2-13, connecting rod, 2-14, third hand tap gear, 2-15, front rotary shaft, 2- 16th, the 5th bevel gear, 2-12-1, first bevel gear, 2-12-2, the first spacing ring, 2-12-3, sliding axle, 2-12-4, cylinder Pin, 2-12-5, bearing holder (housing, cover), 2-12-6, groove, 2-12-7, the second spacing ring, 2-12-8, the second spur gear, 2-12-9, second Bevel gear,
3rd, rear cylinder block set, 3-1, back cabinet, 3-2, afer bay, 3-3, rear elastic telescopic arm, 3-4, rear resilient support wheel.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, 2 for complete strong support type list drives two-way crawling formula pipeline cleaning machine people, including preceding cylinder block set 1, Transmission component 2 and rear cylinder block set 3；
Wherein, the transmission component 2 is by a power drive, and by linkage, gear mechanism and non-etc. stops cam The gearing of mechanism so that preceding cylinder block set 1 and rear cylinder block set 3 radially alternating contractions and realization in the overall process of support Unremitting strong supporting role (i.e. any instant, at least one body is in strong holding state in front and rear body), while real Existing axial direction between preceding cylinder block set 1 and rear cylinder block set 3 is alternately flexible, and desilting cutterhead 1-2 synchronous rotary so that in fact The strong supporting role of overall process, the walking of two-way wriggling and the pipeline cleaning operation of existing Robot non-horizontal pipeline.
As shown in figure 3, the preceding cylinder block set 1 includes front housing 1-1, desilting cutterhead 1-2, forebay 1-3, upper and lower both sides Preceding elastic telescopic arm 1-4 and the left and right sides preceding resilient support wheel 1-5；
Wherein, the front housing 1-1 is sleeved on outside forebay 1-3, and affixed with forebay 1-3；As shown in figure 4, desilting Cutterhead 1-2 is arranged at forebay 1-3 front sides, it includes wheel disc 1-2-3, along wheel disc 1-2-3 circumferentially uniform knife bar 1-2-2 and The desilting blade 1-2-1 affixed with knife bar 1-2-2；
As shown in figure 5, the preceding elastic telescopic arm 1-4 includes resilient rubbber cushion 1-4-1, sliding bar 1-4-2, the first stage clip 1-4-3, spring retainer piece 1-4-4 and roller 1-4-5, and resilient rubbber cushion 1-4-1 is arranged at the top of sliding bar 1-4-2； The first stage clip 1-4-3 is sleeved on sliding bar 1-4-2, and the spring retainer piece 1-4-4 realities for passing through sliding bar 1-4-2 bottoms The lower limit of existing first stage clip 1-4-3；The groove 1-4-6 of connection bottom, the rolling are provided with the outer wall of sliding bar 1-4-2 sides Sub- 1-4-5 is installed on groove 1-4-6 bottoms by support bar 1-4-7, and by support bar 1-4-7 along groove 1-4-6 slip The adjustment of roller 1-4-5 and sliding bar 1-4-2 spacing is realized in fixation, to adapt to the radial dimension of different pipelines；Elasticity before described The bottom of telescopic arm 1-4 passes through front housing 1-1, and realizes the upper first stage clip 1-4-3's of sliding bar 1-4-2 by front housing 1-1 Upper limit；
As shown in fig. 6, resilient support wheel 1-5 includes telescopic shaft 1-5-2, is sheathed on stretching outside telescopic shaft 1-5-2 before described Contracting covers 1-5-3 and is arranged at the wheel 1-5-1 on telescopic shaft 1-5-2 tops, and is provided with telescopic 1-5-3 and telescopic shaft 1-5- The second connected stage clip of 2 bottoms, the stretching motion of telescopic shaft 1-5-2 and telescopic 1-5-3 is realized by the second stage clip, to adapt to The radial dimension of different pipelines；Resilient support wheel 1-5 is arranged at the left and right two of front housing 1-1 by telescopic 1-5-3 before described Side.
In the present embodiment, the rear cylinder block set 3 includes that back cabinet 3-1, afer bay 3-2, the rear elasticity of upper and lower both sides are stretched The contracting arm 3-3 and rear resilient support wheel 3-4 of the left and right sides；Wherein, the back cabinet 3-1 is sleeved on outside afer bay 3-2, and with Afer bay 3-2 is affixed；The rear elastic telescopic arm 3-3 and rear resilient support wheel 3-4 structure (including modular construction and with rear machine The annexation of shell 3-1) it is identical (front and rear with the preceding elastic telescopic arm 1-4 in preceding cylinder block set 1, preceding resilient support wheel 1-5 respectively It is identical general purpose module).
As shown in Figure 7,8, the transmission component 2 includes electric rotating machine 2-6, cutter plate driver component, precursor assemblies, rear-guard group Part and middle drive component；
Wherein, the electric rotating machine 2-6 is arranged at afer bay 3-2 front sides, and it passes through the output shaft of afer bay 3-2 front side boards On be arranged with the first spur gear 2-7, and fitted on rear side of the first spur gear 2-7 and afer bay 3-2 front side boards；
It is described it is middle drive component include some guiding mechanisms of connection forebay 1-3 and afer bay 3-2, transmission mechanism 2-12 and Toggle；The guiding mechanism includes the guide post 2-4 being arranged on forebay 1-3 back side panels and is arranged at afer bay Linear bearing 2-5 on 3-2 front side boards, by guide post 2-4 and linear bearing 2-5 be slidably matched realize forebay 1-3 with The flexible connection of afer bay 3-2；
As shown in figure 12, the transmission mechanism 2-12 includes one group of sliding axle 2-12-3 and bearing holder (housing, cover) 2-12- being adapted 5, strip groove 2-12-6 is provided with the side wall of the bearing holder (housing, cover) 2-12-5, and be provided with the side wall of sliding axle 2-12-3 Straight pin 2-12-4, sliding axle 2-12-3 and bearing holder (housing, cover) 2- is realized by being slidably matched for straight pin 2-12-4 and groove 2-12-6 The synchronous axial system and telescopic slide of 12-5；The sliding axle 2-12-3 runs through forebay 1-3 away from the side of bearing holder (housing, cover) 2-12-5 Back side panel, and two the first spacing ring 2-12-2 are provided with sliding axle 2-12-3, the first spacing ring 2-12-2 difference Front and rear both sides with forebay 1-3 back side panels fit, by two the first spacing ring 2-12-2 limit slippage axle 2-12-3 phases For sliding axially for forebay 1-3 back side panels；The bearing holder (housing, cover) 2-12-5 runs through rear machine away from the side of sliding axle 2-12-3 The second spacing ring 2-12-7 and the second spur gear 2-12-8, described are provided with the front side board of frame 3-2, and bearing holder (housing, cover) 2-12-5 Fitted on front side of two spacing ring 2-12-7 and afer bay 3-2 front side boards, the second spur gear 2-12-8 and afer bay 3-2 front side boards Rear side fit；Bearing holder (housing, cover) 2-12-5 is limited relative to rear machine by the second spacing ring 2-12-7 and the second spur gear 2-12-8 Frame 3-2 front side boards slide axially, and the second spur gear 2-12-8 and the first spur gear 2-7 engaged transmissions, to realize electric rotating The output shaft of machine 2-6 to the rotating speed of bearing holder (housing, cover) 2-12-5 is driven；The one end of the sliding axle 2-12-3 away from bearing holder (housing, cover) 2-12-5 First bevel gear 2-12-1 is arranged with, and bearing holder (housing, cover) 2-12-5 is arranged with second bevel gear 2- away from one end of sliding axle 2-12-3 12-9；
The precursor assemblies include being arranged at front rotary shaft 2-15 in forebay 1-3, preceding non-etc. stop cam set 2-3 and the 3rd Bevel gear 2-14, and preceding non-grade stops cam set 2-3 and third hand tap gear 2-14 is sheathed on front rotary shaft 2-15；The triconodont Wheel 2-14 and first bevel gear 2-12-1 engaged transmissions, and drive front rotary shaft 2-15 and the not synchronization of cam set 2-3 of preceding non-grade to turn It is dynamic；As shown in figure 9, the preceding non-grade stops cam set 2-3 includes two identical preceding non-grade not cam 2-3a, 2-3b, and Non- grade stops 180 ° of dislocation closed assemblies of cam before two；Preceding elastic telescopic the arm 1-4a, 1-4b of upper and lower both sides in the preceding cylinder block set 1 The roller 1-4-5 of bottom respectively with two before non-grade stop cam 2-3a, 2-3b is contradicted and installed, and cam reality is stopped by non-grade before two The synchronous radial expansion adjustment of existing two preceding elastic telescopic arm 1-4；
The rear-guard component includes being arranged at rear rotating shaft 2-8 in afer bay 3-2, rear non-etc. stops cam set 2-9 and the 4th Bevel gear 2-10, and the attachment structure of rear-guard component is identical with precursor assemblies (front and rear is identical general purpose module)；It is described Rotating shaft 2-8 and rear non-grade stop cam set 2-9's after 4th bevel gear 2-10 and second bevel gear 2-12-9 engaged transmissions, and drive Synchronous axial system；As shown in Figure 10, the rear non-grade stops cam set 2-9 includes two identical rear non-grade not cam 2-9a, 2-9b, the synchronous radial expansion for stopping elastic telescopic arm 3-3a, 3-3b after cam realizes two by non-grade after two is adjusted；It is described Transmission mechanism 2-12 when rotating, by the engaged transmission of bevel gear set, while driving the precursor assemblies and rear-guard component Reverse constant velocity rotation so that preceding non-grade stops cam set 2-3 and rear non-grade not cam set 2-9 also makees reverse constant velocity rotation.
The cutter plate driver component includes the 5th bevel gear 2-16, tape handler 2-2 and cutterhead rotating shaft 2-1, described the Five bevel gear 2-16 and third hand tap gear 2-14 engaged transmissions, and the turning with movable knife disc rotating shaft 2-1 by tape handler 2-2 It is dynamic, and the wheel disc 1-2-3 of desilting cutterhead 1-2 is sheathed on cutterhead rotating shaft 2-1 through the side of forebay 1-3 front side boards, so that real The synchronous rotary of existing desilting cutterhead 1-2；
As shown in figure 11, the toggle includes being arranged at the company of forebay 1-3 and the afer bay 3-2 left and right sides Bar 2-13 and crank 2-11, and crank 2-11 be sheathed on the rear rotating shaft 2-8 extended to outside afer bay 3-2 and with rear rotating shaft 2-8 Synchronous axial system；One end of the connecting rod 2-13 is articulated with the left/right side plate of forebay 1-3, and its other end is articulated with the side On crank 2-11, realize that the axial stretching between preceding cylinder block set 1 and rear cylinder block set 3 is adjusted by toggle.
In the present embodiment, the knife bar 1-2-2 and desilting blade 1-2-1 of the desilting cutterhead 1-2 are detachable；It is described It is provided with support bar 1-4-7 and the first screwed hole is provided with the first elongated slot, and groove 1-4-6, by fastening bolt through the first length Flexible adjustment of the support bar 1-4-7 along groove 1-4-6 is realized after groove with the immovable fitting of the first screwed hole.
In the present embodiment, it is provided with the second elongated slot, and the side wall of telescopic shaft 1-5-2 on the side wall of the telescopic 1-5-3 The second straight pin is provided with, by the cooperation limitation telescopic shaft 1-5-2 of the second straight pin and the second elongated slot along telescopic 1-5-3's Stretching motion.
In the present embodiment, the far angle of repose that the non-grade stops cam 2-3a, 2-3b, 2-9a, 2-9b takes 180 °, and it closely stops Angle is 144 °, and rise angle and backhaul angle are 18 °.Because the far angle of repose for using non-grade to stop cam is 180 °, so in motion In overall process, at least one is in strong holding state in preceding body or rear body.Therefore, it is preceding when being moved in vertical pipeline Afterwards body can alternately support tube wall during, will not because of underbraced unstability.Additionally, in basic circle size necessarily and not On the premise of more than allowable pressure angle, because the non-grade of application claims stops the far angle of repose of cam not less than 180 °, so when near Angle of repose one is regularly so that it is smaller thus of the invention only applicable relative to radial variations scope for stopping cam is waited that non-grade stops cam In the motion in small reducing and equal diameter pipe.Special instruction, as long as the non-grade of application claims stops the far angle of repose of cam Numerical value is sought not less than 180 °, so the present invention implements not limited to this special angle.
Specific embodiment of the invention is as follows：
Pipe robot walking process, as shown in Figure 13,14,15a~e.Stop the corner of cam according to rear non-grade in Figure 13 Change in location, S1 and S2 in Figure 14 represent the radial support state of preceding body and rear body respectively.For sake of convenience, by machine People is divided into three parts, is respectively preceding body B1 (radial expansion), and middle body B2 (axial stretching) and rear body B3 (radially stretch Contracting).Meanwhile, the retracted position of each several part is divided into three kinds by extension degree, it is respectively to stretch entirely, middle, full reduced state.Its In, radially full reduced state does not play a supportive role to tube wall, and radial direction intermediateness plays weak supporting role to tube wall, radially stretches shape entirely State plays strong supporting role to tube wall.Pipe robot walking process is specifically described as follows：
The first step, crank 2-11 rotates clockwise 0 °.As shown in fig. 15 a, hinge hole now on crank 2-11 is in No. 1 Position.As shown in Figure 14, radially to stretch state entirely, middle body B2 is the full reduced state in axial direction to preceding body B1, and rear body B3 is radially complete Stretch state.
Second step, crank 2-11 rotates clockwise 90 °.As illustrated in fig. 15b, hinge hole now on crank 2-11 is in 2 Number position.As shown in Figure 14, preceding body B1 is the full reduced state of radial direction, and middle body B2 is axial intermediateness, and rear body B3 is for radially Stretch state entirely.
3rd step, crank 2-11 rotates clockwise 180 °.As shown in fig. 15 c, hinge hole now on crank 2-11 is in 3 Number position.As shown in Figure 14, radially to stretch state entirely, axially to stretch state entirely, rear body B3 is for radially for middle body B2 for preceding body B1 Stretch state entirely.
4th step, crank 2-11 rotates clockwise 270 °.As shown in Figure 15 d, now the hinge hole on crank 2-11 is in 4 Number position.As shown in Figure 14, radially to stretch state entirely, middle body B2 is axis intermediateness to preceding body B1, and rear body B3 is for radially Full reduced state.
5th step, crank 2-11 rotates clockwise 360 °.As shown in Figure 15 e, the hinge hole now on crank 2-11 returns to 1 Number position.As shown in Figure 14, radially to stretch state entirely, middle body B2 is the full reduced state in axial direction to preceding body B1, and rear body B3 is for radially Stretch state entirely.
By observing the graticule (A-F) in Figure 15 a~e, can clearly observe the pipe robot along pipeline to the left Crawling, and overall process realizes strong support walking free of discontinuities.
The present invention stops cam mechanism combination, i.e., one power and a set of mechanism by linkage, gear drive and non-grade Realize the radial contraction of body and expansion before and after robot, and front and rear body spacing scaling, so as to realize vertical pipeline Support and the positive and negative two-way creeping motion type walking by force of interior overall process, while realizing pipeline cleaning during walking, strengthens pipeline The stability and reliability of pipeline cleaning operation.
The present invention stops the coordinative role of cam set based on non-grade, is realized in front and rear body holding state replaces change procedure Continuous traction free of discontinuities and overall process are supported by force.So, the present invention is applicable not only to the non-horizontal pipeline cleaning of minimum reducing (such as Vertical pipeline), the horizontal pipe of minimum reducing is applied equally to, to pipeline, comprehensively cleaning has engineering significance.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of 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 (8)

1. a kind of complete strong support type list drives two-way crawling formula pipeline cleaning machine people, it is characterised in that including preceding cylinder block set (1), transmission component (2) and rear cylinder block set (3)；
Wherein, the transmission component (2) is by a power drive, and by linkage, gear mechanism and non-etc. stops cam machine The gearing of structure so that radially alternating contractions are real with the overall process of support for preceding cylinder block set (1) and rear cylinder block set (3) Existing unremitting strong supporting role, while the axial stretching between preceding cylinder block set (1) and rear cylinder block set (3) is realized, and The synchronous rotary of desilting cutterhead (1-2), supports by force so as to the overall process for realizing Robot non-horizontal pipeline, two-way wriggling is walked With pipeline cleaning operation.
2. complete strong support type list according to claim 1 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute State preceding cylinder block set (1) including front housing (1-1), desilting cutterhead (1-2), forebay (1-3), upper and lower both sides preceding elastic telescopic Arm (1-4) and the preceding resilient support wheel (1-5) of the left and right sides；
Wherein, the front housing (1-1) is sleeved on forebay (1-3) outward, and affixed with forebay (1-3)；Desilting cutterhead (1-2) Be arranged at forebay (1-3) front side, it include wheel disc (1-2-3), along the circumferential uniform knife bar (1-2-2) of wheel disc (1-2-3) with And the desilting blade (1-2-1) affixed with knife bar (1-2-2)；
The preceding elastic telescopic arm (1-4) include resilient rubbber cushion (1-4-1), sliding bar (1-4-2), the first stage clip (1-4-3), Spring retainer piece (1-4-4) and roller (1-4-5), and resilient rubbber cushion (1-4-1) is arranged at the top of sliding bar (1-4-2) End；First stage clip (1-4-3) is sleeved on sliding bar (1-4-2), and by the spring retainer of sliding bar (1-4-2) bottom Piece (1-4-4) realizes the lower limit of the first stage clip (1-4-3)；Connection bottom is provided with the outer wall of sliding bar (1-4-2) side Groove (1-4-6), the roller (1-4-5) is installed on groove (1-4-6) bottom by support bar (1-4-7), and by support Bar (1-4-7) fixes the adjustment for realizing roller (1-4-5) and sliding bar (1-4-2) spacing along the slip of groove (1-4-6)；It is described The bottom of preceding elastic telescopic arm (1-4) passes through front housing (1-1), and realizes on sliding bar (1-4-2) the by front housing (1-1) The upper limit of one stage clip (1-4-3)；
Resilient support wheel (1-5) includes telescopic shaft (1-5-2), is sheathed on telescopic shaft (1-5-2) telescopic (1-5- outward before described 3) and it is arranged in the wheel (1-5-1) on telescopic shaft (1-5-2) top, and telescopic (1-5-3) and is provided with and telescopic shaft (1-5- 2) the second connected stage clip of bottom, the stretching motion of telescopic shaft (1-5-2) and telescopic (1-5-3) is realized by the second stage clip； Resilient support wheel (1-5) is arranged at the left and right sides of front housing (1-1) by telescopic (1-5-3) before described.
3. complete strong support type list according to claim 2 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute Stating rear cylinder block set (3) includes back cabinet (3-1), afer bay (3-2), the rear elastic telescopic arm (3-3) of upper and lower both sides and a left side The rear resilient support wheel (3-4) of right both sides；Wherein, the back cabinet (3-1) is sleeved on afer bay (3-2) outward, and and afer bay (3-2) is affixed；The structure of the rear elastic telescopic arm (3-3) and rear resilient support wheel (3-4) respectively with preceding cylinder block set (1) in Preceding elastic telescopic arm (1-4), it is preceding resilient support wheel (1-5) it is identical.
4. complete strong support type list according to claim 3 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute Stating transmission component (2) includes electric rotating machine (2-6), cutter plate driver component, precursor assemblies, rear-guard component and middle drive component；Wherein, The electric rotating machine (2-6) is arranged at afer bay (3-2) front side, and it passes through and is arranged on the output shaft of afer bay (3-2) front side board There is the first spur gear (2-7), and fitted on rear side of the first spur gear (2-7) and afer bay (3-2) front side board；
The middle component that drives includes some guiding mechanisms, the transmission mechanism (2-12) of connection forebay (1-3) and afer bay (3-2) And toggle；The guiding mechanism includes the guide post (2-4) being arranged on forebay (1-3) back side panel and is arranged at Linear bearing (2-5) on afer bay (3-2) front side board, by guide post (2-4) and the reality that is slidably matched of linear bearing (2-5) The flexible connection of existing forebay (1-3) and afer bay (3-2)；
The transmission mechanism (2-12) includes one group of sliding axle being adapted (2-12-3) and bearing holder (housing, cover) (2-12-5), the bearing It is provided with strip groove (2-12-6), and the side wall of sliding axle (2-12-3) on the side wall for covering (2-12-5) and is provided with cylinder Pin (2-12-4), sliding axle (2-12-3) and bearing are realized by straight pin (2-12-4) and being slidably matched for groove (2-12-6) Cover the synchronous axial system and telescopic slide of (2-12-5)；The sliding axle (2-12-3) is run through away from the side of bearing holder (housing, cover) (2-12-5) Two the first spacing rings (2-12-2), first limit are provided with the back side panel of forebay (1-3), and sliding axle (2-12-3) Front and rear both sides of position ring (2-12-2) respectively with forebay (1-3) back side panel fit, by two the first spacing ring (2-12- 2) limit slippage axle (2-12-3) sliding axially relative to forebay (1-3) back side panel；The bearing holder (housing, cover) (2-12-5) away from The front side board of afer bay (3-2) is run through in the side of sliding axle (2-12-3), and it is spacing to be provided with second on bearing holder (housing, cover) (2-12-5) Before ring (2-12-7) and the second spur gear (2-12-8), second spacing ring (2-12-7) and afer bay (3-2) front side board Side fits, and is fitted on rear side of the second spur gear (2-12-8) and afer bay (3-2) front side board；By the second spacing ring (2- 12-7) and the second spur gear (2-12-8) limitation bearing holder (housing, cover) (2-12-5) sliding axially relative to afer bay (3-2) front side board, And second spur gear (2-12-8) and the first spur gear (2-7) engaged transmission；The sliding axle (2-12-3) is away from bearing holder (housing, cover) (2- One end 12-5) is arranged with first bevel gear (2-12-1), and bearing holder (housing, cover) (2-12-5) away from one end of sliding axle (2-12-3) It is arranged with second bevel gear (2-12-9)；
The precursor assemblies include being arranged at front rotary shaft (2-15) in forebay (1-3), preceding non-etc. stop cam set (2-3) and the Third hand tap gear (2-14), and preceding non-grade stops cam set (2-3) and third hand tap gear (2-14) is sheathed on front rotary shaft (2-15)；Institute Third hand tap gear (2-14) and first bevel gear (2-12-1) engaged transmission are stated, and drives front rotary shaft (2-15) and preceding non-grade not convex The synchronous axial system of wheel group (2-3)；The preceding non-grade is stopped cam set (2-3) and stops cam including two identical preceding non-grades, and Non- grade stops 180 ° of dislocation closed assemblies of cam before two；Preceding elastic telescopic arm (1-4) bottom of upper and lower both sides in the preceding cylinder block set (1) The roller (1-4-5) in portion respectively with two before non-grade stop cam and contradict and install, stopped before cam realizes two by non-grade before two The synchronous radial expansion adjustment of elastic telescopic arm (1-4)；
The rear-guard component includes being arranged at rear rotating shaft (2-8) in afer bay (3-2), rear non-etc. stops cam set (2-9) and the Four bevel gears (2-10), and the attachment structure of rear-guard component is identical with precursor assemblies；4th bevel gear (2-10) and second Rotating shaft (2-8) and rear non-grade stop the synchronous axial system of cam set (2-9) after bevel gear (2-12-9) engaged transmission, and drive；It is described Non- grade is stopped cam set (2-9) and stops cam including two identical rear non-grades afterwards, is stopped cam by non-grade after two and is realized two The synchronous radial expansion adjustment of individual rear elastic telescopic arm (3-3)；
The cutter plate driver component includes the 5th bevel gear (2-16), tape handler (2-2) and cutterhead rotating shaft (2-1), described 5th bevel gear (2-16) and third hand tap gear (2-14) engaged transmission, and by tape handler (2-2) band movable knife disc rotating shaft The rotation of (2-1), and the wheel disc (1-2-3) of desilting cutterhead (1-2) is sheathed on cutterhead rotating shaft (2-1) through before forebay (1-3) The side of side plate；
The toggle include being arranged at the connecting rod (2-13) of forebay (1-3) and afer bay (3-2) left and right sides and Crank (2-11), and crank (2-11) be sheathed on extend in afer bay (3-2) rear rotating shaft (2-8) outward and with rear rotating shaft (2- 8) synchronous axial system；One end of the connecting rod (2-13) is articulated with the left/right side plate of forebay (1-3), and its other end is articulated with On the crank (2-11) of the side, the axial direction between preceding cylinder block set (1) and rear cylinder block set (3) is realized by toggle Flexible adjustment.
5. complete strong support type list according to claim 4 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute State desilting cutterhead (1-2) knife bar (1-2-2) and desilting blade (1-2-1) be it is detachable.
6. complete strong support type list according to claim 4 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute State and the first elongated slot is provided with support bar (1-4-7), and the first screwed hole is provided with groove (1-4-6), passed through by fastening bolt Flexible adjustment of the support bar (1-4-7) along groove (1-4-6) is realized after first elongated slot with the immovable fitting of the first screwed hole.
7. complete strong support type list according to claim 4 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that stretch It is provided with the second elongated slot, and the side wall of telescopic shaft (1-5-2) on the side wall of contracting set (1-5-3) and is provided with the second straight pin, is passed through The cooperation of the second straight pin and the second elongated slot limits stretching motion of the telescopic shaft (1-5-2) along telescopic (1-5-3).
8. complete strong support type list according to claim 4 drives two-way crawling formula pipeline cleaning machine people, it is characterised in that institute The far angle of repose for stating preceding non-grade not cam is not less than 180 °.
CN201710328193.7A 2017-05-11 2017-05-11 Complete strong support type list drives two-way crawling formula pipeline cleaning machine people Expired - Fee Related CN106925575B (en)

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GB1906128.2A GB2569931B (en) 2017-05-11 2018-05-08 Complete strong supporting single drive two-way crawling type pipeline cleaning robot
PCT/CN2018/085976 WO2018205920A1 (en) 2017-05-11 2018-05-08 Complete strong supporting single drive two-way crawling type pipeline cleaning robot
AU2018264305A AU2018264305B2 (en) 2017-05-11 2018-05-08 Complete strong supporting single drive two-way crawling type pipeline cleaning robot
CA3045865A CA3045865C (en) 2017-05-11 2018-05-08 Complete strong supporting single drive two-way crawling type pipeline cleaning robot

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