CN108413177B

CN108413177B - self-adaptive pipeline dredging robot

Info

Publication number: CN108413177B
Application number: CN201810194463.4A
Authority: CN
Inventors: 姚玉南; 王中兴; 陈清扬; 刘赵男; 向天鸽; 胡钺; 史一凡; 吴锋; 乔梦文
Original assignee: Wuhan University of Technology (WUT)
Current assignee: Wuhan University of Technology (WUT)
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2020-01-31
Anticipated expiration: 2038-03-09
Also published as: CN108413177A

Abstract

The invention relates to an self-adaptive pipeline dredging robot which comprises a shell, a reamer dredging mechanism, a camera and a plurality of traveling devices, wherein the reamer dredging mechanism is arranged on the shell, the camera is arranged on the shell, each traveling device comprises a reducing mechanism, a traveling mechanism and a pressure sensing module, the reducing mechanism is arranged on the shell, the traveling mechanisms are arranged at the output ends of the reducing mechanisms, and the pressure sensing modules are matched with the lifting reducing mechanisms.

Description

self-adaptive pipeline dredging robot

Technical Field

The invention relates to the technical field of robotics, in particular to an self-adaptive pipeline dredging robot.

Background

Drainage facilities are indispensable in modern cities, even become important defense lines for guaranteeing stable development of the cities and safety of lives and properties of people, and are the basis on which urban residents rely for survival. Therefore, the problems of pipeline blockage, unsmooth drainage and the like are very likely to cause urban waterlogging and further endanger the safety of residents. During the use of the pipeline, various pipeline blockages and pipeline faults and damages can be generated due to the influence of various factors. If the pipeline is not detected, maintained and cleaned in time, accidents can be caused, and unnecessary loss is caused. However, municipal drainage pipelines have the following characteristics: deeply burying 3 to 5 meters underground; the pipe diameter is between 200 and 2000 mm; the inclination is usually not more than 0.001; the distance between the two inspection wells is changed within the range of 40-120 m according to different pipe diameters; the pipelines have sewage and sediments, the environment of the pipelines is often not easy to directly reach or not allowed to directly enter, and the detection and cleaning difficulty is high.

Disclosure of Invention

The invention aims to provide self-adaptive pipeline dredging robots to overcome the defects in the prior art.

The technical scheme for solving the technical problems is that the self-adaptive pipeline dredging robots comprise a shell, a reamer dredging mechanism, a camera and a plurality of traveling devices, wherein the reamer dredging mechanism is arranged on the shell, the camera is arranged on the shell, each traveling device comprises a reducing mechanism, a traveling mechanism and a pressure sensing module, the reducing mechanism is arranged on the shell, the traveling mechanism is arranged at the output end of the reducing mechanism, and the pressure sensing module is matched with the lifting type reducing mechanism.

On the basis of the technical scheme, the invention can be further improved as follows.

And , the diameter changing mechanism comprises a lifting diameter changing mechanism and an angle adjusting mechanism, the lifting diameter changing mechanism is arranged on the shell, the angle adjusting mechanism is arranged at the output end of the lifting diameter changing mechanism, and the travelling mechanism is arranged at the output end of the angle adjusting mechanism.

, the lifting type diameter changing mechanism includes a lead screw support seat , a second lead screw support seat, a ball screw, a lead screw nut , a second lead screw nut, a nut seat , a second nut seat and a driving device, the lead screw support seat and the second lead screw support seat are both disposed on the housing, the ball screw is disposed between the lead screw support seat and the second lead screw support seat, the output end of the driving device is connected with the end of the ball screw, the lead screw nut and the second lead screw nut are both disposed on the ball screw, the nut seat 6 and the second nut seat are respectively fixed on the lead screw nut and the second lead screw nut, the nut seat and the second nut seat are both in sliding fit with the housing, the driving device drives the ball screw to rotate in the process that the moving directions of the lead screw nut and the second lead screw nut are opposite, the driving device further includes a lower connecting rod , a second lower connecting rod and a third connecting rod, the lower end of the lower connecting rod and the lower end of the second connecting rod are simultaneously hinged with the nut seat through a hinge, the upper end of the lower connecting rod is connected with the lower connecting rod adjusting mechanism, and the middle of the lower connecting rod mechanism, and the lower connecting rod clamp is connected with the lower connecting rod through the lower connecting rod mechanism, and the lower connecting rod clamp at the middle of the lower connecting rod mechanism, and the.

, the angle adjusting mechanism comprises an upper connecting rod , an upper connecting rod II, a frame sleeve, a frame 0, a frame II, a spring sleeve , a spring sleeve II and an upper connecting rod III, the frame and the frame II are movably arranged at two ends of the frame sleeve respectively, two ends of the spring sleeve are hinged with the frame and the travelling mechanism respectively, two ends of the spring sleeve II are hinged with the frame II and the travelling mechanism respectively, the upper end of the lower connecting rod III, the lower end of the upper connecting rod and the lower end of the upper connecting rod III are hinged with the frame through hinges simultaneously, the upper end of the upper connecting rod and the upper end of the upper connecting rod III are hinged with the travelling mechanism, the upper end of the lower connecting rod , the upper end of the lower connecting rod II and the lower end of the upper connecting rod II are hinged with the frame II through hinges simultaneously, and the upper end of the upper.

, the pressure sensing module comprises a strain gauge, and the lower connecting rod , the lower connecting rod II and the lower connecting rod III are all provided with the strain gauge.

steps are advanced, running gear includes the inferior valve, the epitheca, drive module, driven module and track, driven module includes the drive wheel and follows the driving wheel, drive module includes driving motor, belt drive mechanism and reduction gear two, the drive wheel sets up between epitheca and inferior valve, the epitheca is detained on the inferior valve, be equipped with four round holes between inferior valve and the epitheca, all be equipped with the bearing in every round hole, drive wheel and belt drive mechanism and two coaxial cooperations of bearing, follow driving wheel and two coaxial cooperations of bearing, driving motor sets up on the inferior valve, the input of reduction gear two is connected with driving motor's output, the output of reduction gear two is connected with the rotation center of drive wheel through belt drive mechanism, the track sets up at the drive wheel and follows between the driving wheel, and the track is around drive wheel and.

, the spring sleeve comprises a sleeve, a rod body and a spring, wherein the end of the rod body is inserted into the sleeve, the spring is arranged in the sleeve, the two ends of the spring respectively abut against the sleeve and the rod body, the end of the sleeve, which is far away from the rod body, is hinged with the frame , and the end of the rod body, which is far away from the sleeve, is hinged with the lower shell.

, the structure of the second spring sleeve is the same as that of the spring sleeve .

, the reamer dredging mechanism comprises a stepping motor, a turntable, a push rod and a dredging reamer, the stepping motor is fixed at the front end of the shell, the turntable is connected with the output end of the stepping motor, the push rod is arranged on the turntable, and the dredging reamer is arranged at the output end of the push rod.

And , the push rod is an electric control push rod.

When the robot is used, firstly, a worker puts down the robot from a wellhead by means of a cable, after the robot reaches a designated position, the robot enables each walking device of the robot to be unfolded through the diameter-changing mechanism to achieve stable support, the walking mechanism enables the robot to stably walk in a pipeline, in the process of advancing, pictures in the pipeline are transmitted to workers on the ground through the camera on the shell, meanwhile, through the pressure sensing module on the robot body, the host machine automatically calculates the pipe diameter size of the position where the robot is located at the moment and the approximate pressure value of the crawler, indexes in the most suitable motion state are simulated according to experiments, the control system automatically adjusts the pipe diameter through the diameter-changing mechanism to adapt to different pipe diameters, the robot is enabled to be always stabilized in the most effective work state (step1), when the robot reaches the most suitable work state, the reamer starts desilting work (step2), and after the desilting work of the pipeline of the part is completed, the step1 is repeated, and the distance is advanced section is repeated at the.

The invention has the beneficial effects that:

1) after the robot is put into the pipeline, the internal image of the pipeline can be collected in real time, so that workers can know the environment of the robot conveniently, and the robot can be adjusted conveniently in time;

2) the pressure sensing module is used for monitoring data, so that the pipe diameter size of the position of the robot at the moment can be conveniently known, the diameter changing mechanism can be conveniently adjusted in real time, the robot can adapt to different pipe diameters, and the robot is always stabilized in the most effective working state;

3) by adopting the reamer dredging mechanism, the working range of the reamer dredging mechanism can be adjusted according to the pipe diameter, and the reliable and comprehensive dredging treatment of a pipeline is ensured.

Drawings

FIG. 1 is a schematic structural diagram of an adaptive pipeline dredging robot according to the present invention;

FIG. 2 is a schematic structural view of the walking device in FIG. 1;

FIG. 3 is a schematic structural view of the travel mechanism of FIG. 2;

FIG. 4 is a schematic structural view of the reamer dredging mechanism of FIG. 1;

FIG. 5 is a schematic structural view of the housing of FIG. 1;

FIG. 6 is a schematic illustration of the spring sleeve of FIG. 2;

fig. 7 is a partial structural schematic diagram of the reducing mechanism.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1, 2, 3, 4, 5, 6 and 7, kinds of self-adaptive pipeline dredging robots comprise a shell 1, a reamer dredging mechanism 2, a camera 3 and a plurality of traveling devices 4, wherein the reamer dredging mechanism 2 is arranged at the front end of the shell 1, the camera 3 is arranged on the shell 1, the camera 3 is preferably arranged at the front end of the shell 1, the number of the traveling devices 4 is preferably three, the traveling devices 4 comprise a reducing mechanism, a traveling mechanism 430 and a pressure sensing module 440, the reducing mechanism is arranged on the shell 1, the traveling mechanism 430 is arranged at the output end of the reducing mechanism, and the pressure sensing module 440 is matched with the lifting reducing mechanism 410.

The casing 1 includes a front cover 110, shell flaps 120 and a rear cover 130, the front cover 110 is cylindrical, the rear cover 130 is cylindrical, the shell flaps 120 are fan-shaped, and the shell flaps 120 are disposed between the front cover 110 and the rear cover 130.

The reamer dredging mechanism 2 comprises a stepping motor, a turntable 220, three push rods 230, three dredging reamers 240 and three cover plates 210, wherein the three push rods 230 are fixed with the turntable 220, the three cover plates 210 cover the three push rods 230 respectively, the three dredging reamers 240 are connected with the output ends of the three push rods 230 respectively, the output ends of the stepping motor are connected with the rotating center of the turntable 220, the stepping motor is fixed on the front cover 110, and the three push rods 230 are all electric push rods, so that the length extension and retraction can be carried out.

The reducing mechanism comprises a lifting reducing mechanism 410 and an angle adjusting mechanism 420, the lifting reducing mechanism 410 is arranged on the shell 1, the angle adjusting mechanism 420 is arranged at the output end of the lifting reducing mechanism 410, and the walking mechanism 430 is arranged at the output end of the angle adjusting mechanism 420.

The lifting reducing mechanism 410 comprises a lead screw supporting seat 411, a second lead screw supporting seat 412, a ball lead screw 413, a lead screw nut 414, a second lead screw nut 415, a nut seat 416, a second nut seat 417, a driving device, a lower connecting rod 418, a second lower connecting rod 419 and a third lower connecting rod 4110.

The housing 1 further comprises a support and a second support 150, the support and the second support 150 are both disposed in the region surrounded by the three shell halves 120, the support 0140 is disposed close to the front cover 110, the second support 150 is disposed close to the rear cover 130, the lead screw support 1411 is disposed on the support 2140, the second lead screw support 412 is disposed on the second support 150, the left end of the ball screw 413 is connected with the lead screw support 3411, the right end of the second lead screw support 412 is connected with the second lead screw support 412, the driving device comprises a lead screw motor 44111 and a speed reducer 54112, the lead screw motor 64111 is fixed in the rear cover 130 through the motor support, the output end of the lead screw motor is connected with the input end of the speed reducer 84112, the output end of the speed reducer 94112 is connected with the right end of the ball screw 413, so that the lead screw motor 4111 drives the speed reducer to rotate, the speed reducer drives the ball 413 to rotate again, the ball 413 to rotate into left and right lead screw sections, wherein the left-handed screw section 411415 is disposed between the ball screw nut 415 and the ball screw nut 415, the ball screw nut 415 disposed on the lead screw 414 and the left-handed screw nut 413, and the ball screw nut 413 are disposed on the lead screw 414, and the lead screw nut of the lead screw 414, and the ball screw nut of the ball screw 414 are disposed opposite ends of the lead screw pair 35nut 120.

The nut seat 416 and the nut seat two 417 are respectively arranged on the feed screw nut 414 and the feed screw nut two 415, the nut seat 416 is clamped between the two shell petals 120, the bearing on the nut seat 416 can be clamped in the sliding groove on the shell petal 120 to slide, so that the sliding fit between the nut seat 416 and the shell 1 is realized, the nut seat two 417 is also clamped between the two shell petals 120, and the bearing on the nut seat two 417 can be clamped in the sliding groove on the shell petal 120 to slide, so that the sliding fit between the nut seat two 417 and the shell 1 is realized.

The lower end of the lower connecting rod 418 and the lower end of the second lower connecting rod 419 are hinged to the nut seat 416 through hinges, the lower connecting rod 418 and the second lower connecting rod 419 are respectively located on two sides of the nut seat 416, the upper end of the lower connecting rod 418 and the upper end of the second lower connecting rod 419 are hinged to the angle adjusting mechanism 420 through hinges, the lower end of the third lower connecting rod 4110 is hinged to the second nut seat 417 through hinges, the upper end of the third lower connecting rod 4110 is connected to the angle adjusting mechanism 420 through hinges, the third lower connecting rod 4110 is sandwiched between the lower connecting rod 418 and the second lower connecting rod 419, and the middle portion of the third lower connecting rod 4110, the middle portion of the second lower connecting rod 418 and the middle portion of the second lower connecting rod 419 are hinged to each other through hinges.

The angle adjusting mechanism 420 comprises an upper connecting rod 421, an upper connecting rod II 422, a frame sleeve 423, a frame 424, a frame II 425, two spring sleeves 426, two spring sleeves II 427 and an upper connecting rod III 428, wherein the frame 424 and the frame II 425 are Y-shaped.

The left end of the frame is inserted into the left end of the frame 423, and the end of the frame 424 inserted into the frame 423 can move in the frame 423, the upper end of the lower link three 4110, the lower end of the upper link 1421, the lower end of the upper link three 428 and the right end of the frame 2424 are hinged through a hinge, the lower ends of the two spring sleeves 3426 are hinged to the right end of the frame 4424 through a hinge, two spring sleeves 5426 are respectively arranged on both sides of the frame , the right end of the frame two 425 is inserted into the right end of the frame 423, and the end of the frame two 425 inserted into the frame 423 is movable in the frame 423, the upper end of the lower link , the upper end of the lower link two 419, the lower end of the upper link two 422, the right end of the frame two 425 is hinged through a hinge, the upper end of the upper link is hinged to the walking mechanism 430, the upper end of the upper link three link 422 is hinged to the frame 430 through a hinge, the upper link 430, the upper link 422 is hinged to the upper end of the spring sleeve 426, the same length as the upper end of the lower link sleeve 430, the spring sleeve 426 is mounted sleeve 426, the balanced sleeve 430, the balanced sleeve barrel 426 is mounted by the same distance equal distance as the hinge, the length of the mounted sleeve barrel 426, the mounted sleeve barrel 426 and mounted sleeve.

The spring sleeve 426 comprises a sleeve 4261, a rod 4262 and a spring 4263, wherein the end of the rod 4262 is inserted into the sleeve 4261, the spring 4263 is arranged in the sleeve 4261, two ends of the spring 4263 respectively abut against the sleeve 4261 and the rod 4262, the end of the sleeve 4261 far away from the rod 4262 is hinged with the frame 424, the end of the rod 4262 far away from the sleeve 4261 is hinged with the traveling mechanism 430, the spring sleeve two 427 and the spring sleeve 426 are of the same structure, the pressure sensing module 440 comprises a strain gauge, the lower connecting rod 418, the lower connecting rod two 419 and the lower connecting rod three 4110 are respectively provided with the strain gauge, the strain gauge is attached to the lower connecting rod 418 419, the lower connecting rod two 419 or the lower connecting rod three 4110, the deformation of the strain gauge when the rod is stressed is measured, and finally the pressure sensing module 440 transmits the data sensed by the strain gauge to a host.

The traveling mechanism 430 comprises a lower shell 431, an upper shell 432, a driving module, a driven module and a crawler 433, wherein the upper end of the upper link II 422, the upper end of the upper link III 428, the upper end of the upper link 421, the upper end of the spring sleeve 426 and the upper end of the spring sleeve II 427 are respectively hinged with the lower shell 431 through hinges.

The driven module comprises a driving wheel 434 and a driven wheel 435, the driving module comprises a driving motor 436, a belt transmission mechanism 437 and a second speed reducer 438, the driving wheel 434 is arranged between an upper shell 432 and a lower shell 431, the upper shell 432 is buckled on the lower shell 431, four round holes are formed between the lower shell 431 and the upper shell 432, a bearing is arranged in each round hole, the driving wheel 434 and the belt transmission mechanism 437 are coaxially matched with the two bearings, the driven wheel 435 is coaxially matched with the two bearings, the driving motor 436 is arranged on the lower shell 431, the input end of the second speed reducer 438 is connected with the output end of the driving motor 436, the output end of the second speed reducer 438 is connected with the rotation center of the driving wheel 434 through the belt transmission mechanism 437, when the driving motor 436 is started, the driving wheel 434 can be driven to rotate, a track 433 is arranged between the driving wheel 434 and the driven wheel 435, and the track 433 simultaneously surrounds the driving wheel 434 and the driven wheel 435, the traveling mechanism 430 further comprises a long sealing rubber.

In addition, a sealing structure is arranged between the driving wheel 434 and the lower shell 431 and the upper shell 432, the sealing structure is composed of a dynamic sealing cover , a double-layer O-shaped rubber ring , an O-shaped elastic ring and an O-shaped dynamic sealing ring , the double-layer O-shaped rubber ring 2 is installed at a circular sliding groove of the lower shell 431, a dynamic sealing cover is coaxially connected with a bearing, the O-shaped elastic ring and the O-shaped elastic ring 5 are installed inside the dynamic sealing cover , the O-shaped dynamic sealing ring is in contact with a shaft of the belt transmission mechanism 437, static sealing is realized through the double-layer O-shaped rubber ring , dynamic sealing is realized through the O-shaped dynamic sealing ring , the O-shaped elastic ring provides elastic force for the O-shaped dynamic sealing ring , and the dynamic sealing effect is enhanced.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

The self-adaptive pipeline dredging robot is characterized by comprising a shell (1), a reamer dredging mechanism (2), a camera (3) and a plurality of walking devices (4), wherein the reamer dredging mechanism (2) is arranged on the shell (1), the camera (3) is arranged on the shell (1), the walking devices (4) comprise a reducing mechanism, a walking mechanism (430) and a pressure sensing module (440), the reducing mechanism is arranged on the shell (1), the walking mechanism (430) is arranged at the output end of the reducing mechanism, the reducing mechanism comprises a reducing mechanism (410) and an angle adjusting mechanism (420), the reducing mechanism (410) is arranged on the shell (1), the angle adjusting mechanism (420) is arranged at the output end of the reducing mechanism (410), the lifting type connecting rod mechanism (410) is arranged at the output end of the upper lead screw nut (415), the lifting type connecting rod mechanism (413) is arranged at the upper end of a lower lead screw rod base (420), the lower lead screw nut (420) and a lower lead screw nut (420), the lower lead screw nut (420) is arranged at the lower end of a lower lead screw base (420) and a lower lead screw base (420), the lead screw nut (420) and a lower connecting rod base (420) through a lead screw nut (420) and a lead screw nut (420) which are respectively, (2), (2.
2. The adaptive pipeline dredging robot of claim 1, wherein the pressure sensing module (440) comprises a strain gauge, and the lower link (418), the second lower link (419) and the third lower link (4110) are all provided with a strain gauge.
3. kind of self-adaptive pipeline dredging robot as claimed in claim 1, wherein the walking mechanism (430) comprises a lower casing (431), an upper casing (432), a driving module, a driven module and a track (433), the driven module comprises a driving wheel (434) and a driven wheel (435), the driving module comprises a driving motor (436), a belt transmission mechanism (437) and a reducer II (438), the driving wheel (434) is arranged between the upper casing (432) and the lower casing (431), the upper casing (432)

Detain on inferior valve (431), be equipped with four round holes between inferior valve (431) and epitheca (432), all be equipped with the bearing in every round hole, drive wheel (434) and belt drive mechanism (437) and two coaxial cooperations of bearing, follow driving wheel (435) and two coaxial cooperations of bearing, driving motor (436) set up on inferior valve (431), the input of two (438) reduction gears is connected with driving motor (436)'s output, the output of two (438) reduction gears is connected with the rotation center of drive wheel (434) through belt drive mechanism (437), track (433) set up between drive wheel (434) and follow driving wheel (435), and track (433) are around drive wheel (434) and follow driving wheel (435) simultaneously.
4. A robot according to claim 3, wherein the spring sleeve (426) comprises a sleeve (4261), a rod (4262) and a spring (4263), the end of the rod (4262) is inserted in the sleeve (4261), the spring (4263) is arranged in the sleeve (4261), the two ends of the spring (4263) respectively abut against the sleeve (4261) and the rod (4262), the end of the sleeve (4261) far away from the rod (4262) is hinged with the frame (424), and the end of the rod (4262) far away from the sleeve 4261 is hinged with the lower shell (431).
5. The adaptive pipeline dredging robot of claim 4, wherein the structure of the spring sleeve II (427) is the same as the structure of the spring sleeve (426).
6. The adaptive pipeline dredging robot as claimed in , wherein the reamer dredging mechanism (2) comprises a stepping motor, a turntable (220), a push rod (230) and a dredging reamer (240), the stepping motor is fixed at the front end of the housing (1), the turntable (220) is connected with the output end of the stepping motor, the push rod (230) is arranged on the turntable (220), and the dredging reamer (240) is arranged at the output end of the push rod (230).
7. The adaptive pipeline dredging robot of claim 6, wherein the push rod (230) is an electrically controlled push rod.