CN109797844B - Full-pneumatic pipeline dredging robot based on crank multi-connecting-rod folding wall supporting mechanism - Google Patents
Full-pneumatic pipeline dredging robot based on crank multi-connecting-rod folding wall supporting mechanism Download PDFInfo
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- CN109797844B CN109797844B CN201910124432.6A CN201910124432A CN109797844B CN 109797844 B CN109797844 B CN 109797844B CN 201910124432 A CN201910124432 A CN 201910124432A CN 109797844 B CN109797844 B CN 109797844B
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Abstract
The invention provides a full-pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism. The method mainly comprises the following steps: the multi-connecting-rod crank folding wall supporting mechanism is fixedly arranged on the front mounting disc through screws, a lower supporting wall cylinder in the lower supporting wall system is fixedly arranged on an aluminum profile, and the aluminum profile is mounted on the front mounting disc through screws; the full-pneumatic pipeline dredging robot enters the inside of a drainage pipeline, compressed air enters each air cylinder on the front mounting disc and the rear mounting disc, an upper supporting wall cylinder in the crank multi-connecting-rod folding wall supporting mechanism and a lower supporting wall cylinder in the lower supporting wall system, and the lower supporting wall system and the crank multi-connecting-rod folding wall supporting mechanism jointly act to realize wall supporting stepping walking and dredging operation of the robot in the drainage pipeline. The full-pneumatic pipeline dredging robot can realize wall-supporting stepping walking and dredging operation in pipelines with different diameters.
Description
Technical Field
The invention relates to the technical field of drainage pipeline dredging equipment, in particular to a full-pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism.
Background
The drainage pipeline refers to a system consisting of a pipeline collecting and discharging sewage, wastewater and rainwater and auxiliary facilities thereof, and comprises a main pipeline, branch pipelines and pipelines leading to a treatment plant, and the pipelines are used as drainage pipeline statistics no matter the pipelines are built on a street or in any other place, as long as the pipelines play a drainage role.
The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. The pipeline detection robot suitable for urban drainage pipelines in China needs to detect in the clean and ventilated drainage pipeline, and due to the fact that primary pipeline detection is carried out, the pipeline needs to be cut off and cleaned, time and labor are wasted, and urban functions are affected.
At present, the pipeline desilting robot who is applicable to domestic city drainage pipe among the prior art all need get into drainage pipe from the inspection shaft, because the inspection shaft size is limited, the robot can not be greater than the well head size, but the drainage pipe size is different, and a lot of all are greater than the well head size, consequently, it is a problem that awaits the solution to develop a pipeline robot that can be effectively desilting operation in different diameter pipelines.
Disclosure of Invention
The embodiment of the invention provides a full-pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism, so that wall supporting walking and dredging operation can be effectively carried out in pipelines with different diameters.
In order to achieve the purpose, the invention adopts the following technical scheme.
A full pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism comprises:
the multi-connecting-rod folding wall supporting mechanism comprises a front mounting disc, a rear mounting disc, a crank multi-connecting-rod folding wall supporting mechanism and a lower supporting wall system, wherein the front mounting disc is connected with the rear mounting disc through an air cylinder;
the full-pneumatic pipeline dredging robot enters the inside of a drainage pipeline, compressed air enters the cylinders on the front mounting disc and the rear mounting disc, the upper supporting wall cylinder in the crank multi-connecting-rod folding wall supporting mechanism and the lower supporting wall cylinder in the lower supporting wall system, and the lower supporting wall system and the crank multi-connecting-rod folding wall supporting mechanism jointly act to realize wall supporting walking and dredging operation of the full-pneumatic pipeline dredging robot in the drainage pipeline.
Preferably, the all-pneumatic pipeline dredging robot further comprises a front distributing gate valve, and the front distributing gate valve comprises: preceding gate valve body, gate connecting pin, cylinder connecting block, cylinder connecting plate, cylinder and screw rod, preceding distribution gate valve pass through the bolt with the back mounting disc is connected.
Preferably, the crank multi-connecting-rod folding wall-supporting mechanism comprises an upper wall-supporting cylinder, an upper wall-supporting cylinder hinge pin, an upper wall-supporting cylinder piston rod, a first crank hinge pin, a triangular crank, a connecting rod, a second crank hinge pin, a third crank hinge pin, a crank hinged support, an upper wall-supporting cylinder hinged support, a wall-supporting rod, a wall-supporting plate hinge pin, a wall-supporting plate connecting frame, a wall-supporting rod and crank hinged support pin, and a connecting rod and wall-supporting rod hinge pin;
the wall supporting system comprises a wall supporting cylinder, a wall supporting cylinder connecting block, an aluminum profile, a wall supporting wheel cylinder, a wheel and a wheel mounting sheet.
Preferably, a dredging cylinder is arranged between the lower parts of the front mounting disc and the rear mounting disc, an opening is arranged at the front end of the dredging cylinder, the opening is aligned with a mud inlet arranged at the middle part of the lower part of the front mounting disc, and the dredging cylinder is fixedly connected with the front distributing gate valve and the front mounting disc through bolts; a piston rod of the dredging cylinder at the tail part of the front mounting disc is fixedly connected with the rear mounting disc, and the piston rod of the dredging cylinder is a hollow steel pipe, is also used as a sewage discharge pipeline and is concentric with a sewage discharge port arranged on the rear mounting disc;
a sewage discharge one-way valve is fixedly arranged on the outer side of the sewage discharge port of the rear mounting plate; the blow-off pipe is fixedly connected with the blow-off one-way valve; two telescopic cylinders are symmetrically and uniformly arranged on two sides of the dredging cylinder, and two ends of each telescopic cylinder are respectively connected to the front mounting disc and the rear mounting disc.
Preferably, the first motor-driven reversing valve is fixedly connected to the inner side of the front mounting plate and is opposite to the telescopic cylinder, when the telescopic cylinder is contracted to the bottom, the head of the cylinder body of the telescopic cylinder can touch a button of the first motor-driven reversing valve, so that the first motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed;
the motor-driven reversing valve II is fixedly connected to the inner side of the front mounting plate and above the motor-driven reversing valve I, a steel wire rope is sleeved at the button part of the motor-driven reversing valve II, the other end of the steel wire rope is sleeved on a steel wire rope fixing bolt, the bolt is fixed in a threaded hole in the head of the cylinder body of the telescopic cylinder 2, and when the telescopic cylinder extends to the bottom, the steel wire rope connected with the cylinder body of the telescopic cylinder and the motor-driven reversing valve II is stretched, so that the button of the motor-driven reversing valve II is pulled, and the pneumatic control;
the third motor-driven reversing valve is fixedly connected to the front distributing gate valve, so that when the wall supporting rod on the current mounting disc falls back to the lowest position, a button of the third motor-driven reversing valve is pressed, and the pneumatic control logic of the robot is changed;
and the motorized reversing valve IV is fixedly connected to the upper supporting wall cylinder of the rear mounting disc, and when the supporting wall rod on the rear mounting disc falls back to the lowest position, the triangular crank presses the button of the motorized reversing valve IV, so that the pneumatic control logic of the robot is changed.
Preferably, the hinged support of the upper supporting wall cylinder is a cuboid block, the back of the hinged support is provided with two threaded holes for connecting with the front mounting plate through screws, and the side surface of the hinged support close to the head of the hinged support is provided with a through hole; the upper supporting wall cylinder is a cylinder with a hinge hole on the side surface of the cylinder body, and is hinged with the through hole of the hinge seat of the upper supporting wall cylinder through an upper supporting wall cylinder hinge pin, so that the upper supporting wall cylinder can rotate relative to the hinge seat of the upper supporting wall cylinder by taking the upper supporting wall cylinder hinge pin as a shaft;
the upper portion of crank free bearing is equipped with two slice through-holes: the through hole a is hinged with the head of the supporting wall rod through the supporting wall rod and the hinge pin of the crank hinge base, so that the supporting wall rod can relatively rotate by taking the supporting wall rod and the hinge pin of the crank hinge base as a shaft; the two triangular cranks are attached to two sides of the crank hinged support, and the through holes of the triangular cranks are hinged to the through holes of the crank hinged support through a crank hinged pin III, so that the triangular cranks can rotate relatively;
the head of the piston rod of the wall supporting cylinder is hinged with the through holes at the other ends of the two triangular cranks at two sides through a first crank hinge pin; the inner side of the through hole at the remaining end of the triangular crank is hinged with one end of two connecting rods through a crank hinge pin II, wherein the connecting rods are sheet bodies of which two ends are respectively provided with the through holes; the other end of the connecting rod is hinged to two sides of the supporting wall rod through a connecting rod and a supporting wall rod hinge pin.
Preferably, the wall supporting rod is a cuboid rod piece, two through holes are formed in the center of the side face of the head of the wall supporting rod, the first through hole is hinged with the crank hinged support hinge pin and the crank hinged support through the wall supporting rod, and two sides of the second through hole are respectively connected with the wall supporting rod hinge pin and the connecting rod;
the supporting wall plate connecting frame is a groove-shaped plate, the groove width is matched with the width of the supporting wall rod, the supporting wall plate connecting frame is buckled on the supporting wall rod, through holes are formed in the positions of two side plates of the supporting wall plate connecting frame, the through holes in the two sides of the supporting wall plate connecting frame are hinged with the tail part of the supporting wall rod through a supporting wall plate hinge pin, and the supporting wall plate connecting frame can rotate around the supporting wall rod relatively;
the wall supporting plate is a square arc plate, the arc surface of the wall supporting plate is matched with the curvature of the pipe wall and is used for being in direct contact with a pipeline when the wall is supported, and 4 holes are uniformly distributed in two sides of the middle of the wall supporting plate and are used for being attached to the upper plate surface of the wall supporting plate connecting frame and being connected through threads.
Preferably, the front gate valve body 26 comprises a front flange and a rear flange, wherein 4 threaded holes on the front flange are fixedly connected with corresponding through holes on the front mounting plate, and threaded holes on the rear flange are attached to the dredging cylinder and are connected through threads;
the cylinder connecting plate is a rectangular plate, 4 threaded holes are respectively formed in two sides of the cylinder connecting plate, a through hole is formed in the center of each threaded hole, a piston rod of each cylinder can penetrate through the through hole, and the cylinder bodies of the two cylinders are fixedly connected onto the cylinder connecting plate through screws; the middle part of cylinder connecting plate is equipped with 4 through-holes for pass through nut fixed connection with 4 screw rods 32.
The cylinder connecting block is a cuboid block, two sides of the cuboid block are symmetrically provided with 1 through hole respectively, and the cuboid block is fixedly connected with threads in a piston rod in the cylinder through screws; the middle part of the cylinder connecting block is provided with a through hole which is connected to the gate connecting pin through a bolt and is connected with the gate.
Preferably, the wall supporting cylinder connecting block is a rectangular block, and the side surface of the block is uniformly provided with 4 through holes and 4 threaded holes; the aluminum profile is a profile with a rectangular section and is provided with two through threaded holes; the wall-supporting cylinder connecting block is attached to the aluminum profile and connected with the aluminum profile through a T-shaped nut; the wall supporting cylinder is attached to the wall supporting cylinder connecting block and is fixed to 4 threaded holes of the wall supporting cylinder connecting block through bolts; the wall-supporting wheel cylinder is connected with two threaded holes in the head of the aluminum profile through screws; two threaded holes at the tail part of the aluminum profile are attached to the front mounting disc and connected through screws.
Preferably, the all-pneumatic control system part of the all-pneumatic pipeline dredging robot comprises five gas circuits:
the first gas path is connected to a gas inlet of the first two-position five-way double-gas control valve, a left gas outlet of the first two-position five-way double-gas control valve is divided into two paths, one path is connected to rod cavities of an upper supporting wall cylinder and a lower supporting wall cylinder of the front mounting plate and a rodless cavity of a supporting wall cylinder wheel assembly, and the other path is connected to a rodless cavity of an upper supporting wall cylinder and a lower supporting wall cylinder of the rear mounting plate and a rod cavity of a supporting wall cylinder wheel assembly; the right air outlet is divided into two paths, wherein one path is connected with a rodless cavity of the upper supporting wall cylinder and the lower supporting wall cylinder of the front mounting plate and a rod cavity of the supporting wall cylinder wheel assembly, and the other path is connected with a rodless cavity of the rod cavity supporting wall cylinder wheel assembly of the upper supporting wall cylinder and the lower supporting wall cylinder of the rear mounting plate;
the second air passage is connected to an air inlet of the two-position five-way double-air control valve II, the left outlet of the second air passage is connected to the rod cavities of the two telescopic cylinders, and the right outlet of the second air passage is connected to the rodless cavity of the telescopic cylinder;
the third air path is connected in parallel to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single air control valve I after being connected to the two motor-driven reversing valves I and the motor-driven reversing valve II respectively;
the fourth gas path is connected to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single-gas control valve II respectively after being connected to the two motor-driven reversing valves III and the motor-driven reversing valve IV;
the fifth air passage is connected with the front and back reversing switches and then is connected to the air control reversing ports of the two-position five-way single air control valve I and the two-position five-way single air control valve II in parallel and used for controlling the whole action to move forward and backward; and the left air outlet of the two-position five-way single-air control valve II is connected to the left air control reversing port of the two-position five-way double-air control valve II, and the right air outlet of the two-position five-way double-air control valve II is connected to the right air control reversing port of the two-position five-way double-air control valve II.
According to the technical scheme provided by the embodiment of the invention, the full-pneumatic pipeline dredging robot based on the wall-supporting connecting rod mechanism provided by the embodiment of the invention can realize wall-supporting stepping walking and dredging operation in pipelines with different diameters.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of an all-pneumatic pipeline dredging robot based on a crank multi-link folding wall-supporting mechanism according to an embodiment of the invention;
FIG. 2 is a side view of an all-pneumatic pipeline dredging robot based on a crank multi-link folding wall supporting mechanism according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a crank multi-link folding wall supporting mechanism of an all-pneumatic pipeline dredging robot based on the crank multi-link folding wall supporting mechanism according to an embodiment of the invention;
FIG. 4 is a cross-sectional side view of a crank multi-link folding wall supporting mechanism of an all-pneumatic pipeline dredging robot based on the crank multi-link folding wall supporting mechanism according to an embodiment of the invention;
FIG. 5 is a working state diagram of the crank multi-link folding wall supporting mechanism of the all-pneumatic pipeline dredging robot based on the crank multi-link folding wall supporting mechanism according to the embodiment of the invention;
FIG. 6 is a schematic structural diagram of a front distributing gate valve of the full-pneumatic pipeline dredging robot based on the crank multi-link folding wall supporting mechanism according to the embodiment of the invention;
FIG. 7 is a front view of a front distributing gate valve of the full pneumatic pipeline dredging robot based on the crank multi-link folding wall supporting mechanism according to the embodiment of the invention;
FIG. 8 is an overall structure diagram of a lower supporting wall cylinder of the full pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding supporting wall mechanism according to the embodiment of the invention;
FIG. 9 is a diagram of the working state of the lower supporting wall cylinder of the full pneumatic pipeline dredging robot based on the crank multi-link folding supporting wall mechanism according to the embodiment of the invention;
FIG. 10 is a schematic diagram of an all-pneumatic control system of an all-pneumatic pipeline dredging robot based on a crank multi-link folding wall supporting mechanism according to an embodiment of the invention;
FIG. 11 is a schematic structural diagram of a crank hinged support of the full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall-supporting mechanism according to the embodiment of the invention;
the respective symbols in the figure are as follows:
a dredging cylinder 1; a telescopic cylinder 2; a crank multi-connecting-rod folding wall-supporting mechanism 3; a front mounting plate 4; a front distributing gate valve 5; an upper support wall cylinder 6; an upper prop wall cylinder hinge pin 7; an upper supporting wall cylinder piston rod 8; a first crank hinge pin 9; a triangular crank 10; a connecting rod 11; a second crank hinge pin 12; a third crank hinge pin 13; a crank hinge support 14; an upper supporting wall cylinder hinged support 15; a spacer bar 16; a spreader plate 17; a rear mounting plate 18; a bulkhead hinge pin 19; a stay plate connecting bracket 20; a first pipe wall 21; a second pipe wall 22; a tube wall III 23; a bulkhead rod and crank hinge base hinge pin 24; a connecting rod and spacer rod hinge pin 25; a front gate valve body 26; a shutter 27; a shutter connecting pin 28; a cylinder connecting block 29; a cylinder connecting plate 30; a cylinder 31; a screw 32; a lower supporting wall cylinder 33; a wall-supporting cylinder connecting block 34; an aluminum profile 35; a wall-supporting wheel cylinder 36; a wheel 37; a wheel mounting piece 38; a wall supporting cylinder wheel assembly 39; a first motor-driven reversing valve 40; a second motor-driven reversing valve 41; a third motorized reversing valve 42; motorized reversing valve four 43; a motion switch 44; a front and rear changeover switch 45; a two-position five-way single pneumatic control valve I46; a two-position five-way double pneumatic control valve I47; a two-position five-way double pneumatic control valve II 48; a two-position five-way single pneumatic control valve II 49; a gas source 50; a dredging cylinder piston rod 51; a steel cord 52; a wire rope fixing bolt 53; a blowdown check valve 54; a blow-off pipe 55; a lower buttress system 56.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
The embodiment of the invention provides a full-pneumatic pipeline dredging robot based on a wall supporting connecting rod mechanism, which can be unfolded after entering a pipeline and can realize wall supporting stepping walking and dredging operation in pipelines with different diameters.
The embodiment of the invention designs an overall structure diagram of a full-pneumatic control pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism, which is shown in figure 1, and a side view is shown in figure 2. Comprises a dredging cylinder 1; a telescopic cylinder 2; a crank multi-connecting-rod folding wall-supporting mechanism 3; a front mounting plate 4; a front distributing gate valve 5; an upper support wall cylinder 6; an upper prop wall cylinder hinge pin 7; an upper supporting wall cylinder piston rod 8; a first crank hinge pin 9; a triangular crank 10; a connecting rod 11; a second crank hinge pin 12; a third crank hinge pin 13; a crank hinge support 14; an upper supporting wall cylinder hinged support 15; a spacer bar 16; a spreader plate 17; a rear mounting plate 18; a bulkhead hinge pin 19; a stay plate connecting bracket 20; a first pipe wall 21; a second pipe wall 22; a tube wall III 23; a bulkhead rod and crank hinge base hinge pin 24; a connecting rod and spacer rod hinge pin 25; a front gate valve body 26; a shutter 27; a shutter connecting pin 28; a cylinder connecting block 29; a cylinder connecting plate 30; a cylinder 31; a screw 32; a lower supporting wall cylinder 33; a wall-supporting cylinder connecting block 34; an aluminum profile 35; a wall-supporting wheel cylinder 36; a wheel 37; a wheel mounting piece 38; a wall supporting cylinder wheel assembly 39; a first motor-driven reversing valve 40; a second motor-driven reversing valve 41; a third motorized reversing valve 42; motorized reversing valve four 43; a motion switch 44; a front and rear changeover switch 45; a two-position five-way single pneumatic control valve I46; a two-position five-way double pneumatic control valve I47; a two-position five-way double pneumatic control valve II 48; a two-position five-way single pneumatic control valve II 49; a gas source 50; a dredging cylinder piston rod 51; a blowdown check valve 52; a steel cord 52; a wire rope fixing bolt 53; a blowdown check valve 54; a blow-off pipe 55; a lower buttress system 56.
The full pneumatic control pipeline dredging robot mainly comprises: preceding mounting disc, back mounting disc, the folding wall mechanism that props of many connecting rods of crank and prop the wall system down, preceding mounting disc with the back mounting disc passes through the cylinder and connects, the folding wall mechanism that props of many connecting rods of crank sets up in the front on the mounting disc through the fix with screw, prop wall jar fixed mounting down in the wall system on the aluminium alloy, the aluminium alloy that will install the wall jar that props down passes through the fix with screw and installs on the preceding mounting disc.
The full-pneumatic pipeline dredging robot enters the inside of a drainage pipeline, compressed air enters the cylinders on the front mounting disc and the rear mounting disc, the upper supporting wall cylinder in the crank multi-connecting-rod folding wall supporting mechanism and the lower supporting wall cylinder in the lower supporting wall system, and the lower supporting wall system and the crank multi-connecting-rod folding wall supporting mechanism jointly act to realize wall supporting walking and dredging operation of the full-pneumatic pipeline dredging robot in the drainage pipeline.
The structure of the crank multi-link folding wall supporting mechanism 3 is schematically shown in fig. 3, the side sectional view is shown in fig. 4, and the working state is shown in fig. 5. The crank multi-connecting-rod folding wall supporting mechanism 3 comprises an upper wall supporting cylinder 6, an upper wall supporting cylinder hinge pin 7, an upper wall supporting cylinder piston rod 8, a first crank hinge pin 9, a triangular crank 10, a connecting rod 11, a second crank hinge pin 12, a third crank hinge pin 13, a crank hinge base 14, an upper wall supporting cylinder hinge base 15, a wall supporting rod 16, a wall supporting plate 17, a wall supporting plate hinge pin 19, a wall supporting plate connecting frame 20, a wall supporting rod and crank hinge base hinge pin 24 and a connecting rod and wall supporting rod hinge pin 25.
The front distributing gate valve 5 is composed of a front gate valve body 26, a gate 27, a gate connecting pin 28, a cylinder connecting block 29, a cylinder connecting plate 30, a cylinder 31 and a screw 32.
The lower supporting wall system 56 is composed of the lower supporting wall cylinder 33, the supporting wall cylinder connecting block 34, the aluminum profile 35, the supporting wall wheel cylinder 36, the wheel 37 and the wheel mounting sheet. The lower supporting wall system 56 and the crank multi-connecting-rod folding supporting wall mechanism 3 work together to achieve the effect of supporting the wall.
Referring to fig. 1 and 2, the full-pneumatic control pipeline dredging robot based on the crank multi-connecting-rod folding wall-supporting mechanism consists of a front mounting plate 4, a rear mounting plate 18, a mechanism on the mounting plates and a cylinder fixedly connected between the two plates; the front mounting disc 4 is a sector disc body with a narrow upper part and a wide lower part, the narrow upper part of the front mounting disc is provided with 5 round holes, and the whole crank multi-connecting-rod folding wall-supporting mechanism 3 is fixedly connected on the round holes of the front mounting disc 4 through screws; the lower supporting wall cylinder 33 is fixed on the side edge of the aluminum profile 35, the supporting wall cylinder wheel assembly 39 is fixedly installed on the head portion of the aluminum profile 35, and the tail portion of the aluminum profile, on which the cylinder body is installed, is symmetrically installed on two sides of the lower portion of the front installation disc 4 through screws.
The rear mounting plate 18 is the same as the front mounting plate 4 in shape, and the parts mounted on the outer side of the rear mounting plate are similar to those on the front mounting plate 4; the middle parts of the lower parts of the front mounting plate 4 and the rear mounting plate 18 are provided with a dredging cylinder 1, the front end of the dredging cylinder 1 is provided with an opening, the opening is aligned with a mud inlet arranged at the middle part of the lower part of the front mounting plate 4, and the front mounting plate is fixedly connected with the front distributing gate valve 5 and the front mounting plate 4 through bolts; a dredging cylinder piston rod 51 at the tail part of the front mounting disc is fixedly connected with the rear mounting disc 18 and is concentric with a sewage discharge outlet arranged on the rear mounting disc 18; a sewage discharge one-way valve 52 is fixedly arranged on the outer side of the sewage discharge outlet of the rear mounting disc 18; the sewage discharge pipe 53 is fixedly connected with the sewage discharge one-way valve 52; two telescopic cylinders 2 are symmetrically and uniformly arranged on two sides of the dredging cylinder 1, and two ends of the two telescopic cylinders are respectively connected to the front mounting disc 4 and the rear mounting disc 18.
The first motor-driven reversing valve 40 is fixedly connected to the inner side of the front mounting plate 4 and is opposite to the telescopic cylinder 2. When the telescopic cylinder 2 is contracted to the bottom, the head of the cylinder body of the telescopic cylinder 2 touches the button of the first motor-driven reversing valve 40, so that the first motor-driven reversing valve 40 is switched on, and the pneumatic control logic of the robot is changed.
The second motor-driven reversing valve 41 is fixedly connected to the inner side of the front mounting plate 4 and above the first motor-driven reversing valve 40. The button part of the second motor-driven reversing valve 41 is sleeved with a steel wire rope 52, and the other end of the steel wire rope 52 is fixed in a threaded hole in the head of the cylinder body of the telescopic cylinder 2 through a steel wire rope fixing bolt 53. When the telescopic cylinder 2 extends to the bottom, the steel wire rope 53 connected with the cylinder body of the telescopic cylinder 2 and the second motor-driven reversing valve 41 is stretched, so that the button of the second motor-driven reversing valve 41 is pulled, and the pneumatic control logic of the robot is changed.
The motorized reversing valve III 42 is fixedly connected to the front distributing gate valve 5, so that when the supporting wall rod 16 on the front mounting plate 4 falls back to the lowest position, a button of the motorized reversing valve III 42 can be just pressed, and the pneumatic control logic of the robot is changed.
The motor-driven reversing valve four 43 is fixedly connected to the upper supporting wall cylinder 6 of the rear mounting plate 18, and when the supporting wall rod 16 falls back to the lowest position, the triangular crank 10 can just press the button of the motor-driven reversing valve four 43, so that the pneumatic control logic of the robot is changed.
See fig. 3, 4, 5
The upper supporting wall cylinder hinged support 15 is a cuboid block, the back of the upper supporting wall cylinder hinged support is provided with two threaded holes for being connected with the front mounting plate 4 through screws, and the side surface of the upper supporting wall cylinder hinged support close to the head is provided with a through hole; the upper supporting wall cylinder 6 is a cylinder with a hinge hole on the side surface of the cylinder body, and the upper supporting wall cylinder 6 is hinged with the through hole of the upper supporting wall cylinder hinged support 15 through an upper supporting wall cylinder hinge pin 7, so that the upper supporting wall cylinder 6 can rotate relative to the upper supporting wall cylinder hinged support 15 by taking the upper supporting wall cylinder hinge pin 7 as a shaft.
Fig. 11 is a schematic structural diagram of a crank hinged support 14 of an all-pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism according to an embodiment of the invention. The crank hinged support 14 is composed of two parts, the lower part is a concave block, and the bottom of the crank hinged support is provided with three threaded holes for connecting with the front mounting plate 4 through screws; the upper part is provided with two sheet-shaped through holes: the through hole a is hinged with the head of the supporting wall rod 16 through the supporting wall rod and the crank hinge base hinge pin 24, so that the supporting wall rod 16 can rotate relative to the shaft of the supporting wall rod and the crank hinge base hinge pin 24; the two triangular cranks 10 are attached to two sides of the crank hinged support 14, and the through holes of the triangular cranks 10 are hinged to the through holes b of the crank hinged support 14 through the crank hinged pins III 13, so that the triangular cranks can rotate relatively. The triangular crank 10 is a sheet body with through holes at three corners.
The head of a piston rod 8 of the wall supporting cylinder is hinged with through holes at the other ends of two triangular cranks 10 at two sides through a first crank hinge pin 9; the inner side of the through hole at the remaining end of the triangular crank 10 is hinged with one end of two connecting rods 11 through a crank hinge pin II 12, wherein the connecting rods 11 are sheet bodies with through holes at two ends respectively; the other end of the connecting rod 11 is hinged on both sides of the stay bar 16 through a connecting rod and stay bar hinge pin 25.
The spacer bar 16 is a rectangular parallelepiped bar having a square cross section. Two through holes are arranged at the center of the side surface of the head part, the first through hole is hinged with a crank hinged support 14 through a supporting wall rod and a crank hinged support hinge pin 24, and the second through hole is hinged with the connecting rods 11 at the two sides through supporting wall rod hinge pins 25 respectively.
The wall supporting plate connecting frame 20 is a groove-shaped plate, the groove width is matched with the width of the wall supporting rod 16, the wall supporting plate connecting frame 20 is buckled on the wall supporting rod 16, through holes are formed in the positions of two side plates of the wall supporting plate connecting frame, the through holes in the two sides of the wall supporting plate connecting frame are hinged with the tail portion of the wall supporting rod 16 through a wall supporting plate hinge pin 19, and therefore the wall supporting plate connecting frame 20 can rotate around the wall supporting rod 16 relatively. The face is equipped with 4 screw holes on propping wallboard link 20.
The wall bracing plate 17 is a square arc plate, the arc surface of which matches the curvature of the pipe wall and is used for directly contacting with the pipeline when bracing the wall. And 4 holes are uniformly distributed on two sides of the middle of the support wall plate, and are used for being attached to the upper plate surface of the support wall plate connecting frame 20 and connected through threads.
Fig. 6 is a schematic structural diagram of a front distributing gate valve 26 of an all-pneumatic pipeline dredging robot based on a crank multi-link folding wall supporting mechanism according to an embodiment of the invention, and fig. 7 is a front view of the front distributing gate valve 26. See fig. 6, 7. The front gate valve body 26 is divided into a front flange and a rear flange, wherein 4 threaded holes in the front flange are fixedly connected with corresponding through holes in the front mounting plate 4, and threaded holes in the rear flange are attached to the dredging cylinder 1 and are connected through threads. The 4 screws 32 are fixed to the front gate valve body 26 by nuts.
The cylinder connecting plate 30 is a rectangular plate, 4 threaded holes are respectively formed in two sides of the rectangular plate, a through hole is formed in the center of each threaded hole, a piston rod of each cylinder 31 can penetrate through the through hole, and the cylinder bodies of the two cylinders 31 are fixedly connected to the cylinder connecting plate 30 through screws; the middle part of the cylinder connecting plate 30 is provided with 4 through holes for fixedly connecting with 4 screws 32 through nuts.
The cylinder connecting block 29 is a cuboid block, two sides of which are symmetrically provided with 1 through hole respectively, and is fixedly connected with the threads in the piston rod of the cylinder 31 through screws; a through hole is formed at the middle thereof, and is connected to the gate connecting pin 28 and the gate 27 by a bolt.
Fig. 8 is an overall structural diagram of a lower supporting wall cylinder system 56 of the all-pneumatic pipeline dredging robot based on the crank multi-link folding supporting wall mechanism according to the embodiment of the invention, and fig. 9 is a working state diagram of the lower supporting wall cylinder system 56. See fig. 8, 9. The wall-supporting cylinder connecting block 34 is a rectangular block, and 4 through holes and 4 threaded holes are uniformly formed in the side surface of the block; the aluminum profile 35 is a profile with a rectangular section and is provided with two threaded holes which penetrate through the profile; the wall-supporting cylinder connecting block 34 is attached to the aluminum profile 35 and connected through a T-shaped nut; the lower support wall cylinder 33 is attached to the support wall cylinder connecting block 34 and is fixed on 4 threaded holes of the support wall cylinder connecting block 34 through bolts; the wall-supporting wheel cylinder 36 is connected with two threaded holes in the head of the aluminum profile 35 through screws; two screw holes of aluminium alloy 35 afterbody and preceding mounting disc 4 laminating and pass through screw connection.
The wheel mounting piece 38 is a right-angle thin plate, and a through hole is formed in the center of each of the two surfaces. The through hole at the upper part is connected with the thread in the piston rod of the wall-supporting wheel cylinder 36 through a bolt. The through holes in the side thereof are connected to the wheel 37 by bolts. The wheel 37 is thus mounted on the piston rod of the wall-supporting wheel cylinder 36 via the wheel mounting piece 38, and combined to form a wall-supporting wheel-cylinder combination 39.
Fig. 10 is a schematic diagram of an all-pneumatic control system of the all-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism in the embodiment of the invention. Referring to fig. 10, after the air source 50 is connected to the action master switch 44, the air source is divided into five air paths, the first air path is connected to an air inlet of a two-position five-way double pneumatic control valve one 47, and a left air outlet of the two-position five-way double pneumatic control valve one 47 is divided into two paths, wherein one path is connected to rod chambers of the upper supporting wall cylinder 6 and the lower supporting wall cylinder 33 of the front mounting plate 4 and a rodless chamber of the supporting wall cylinder wheel assembly 39, and the other path is connected to a rodless chamber of the upper supporting wall cylinder 6 and the lower supporting wall cylinder 33 of the rear mounting plate 18 and a rod chamber of the supporting wall cylinder wheel assembly 39. The right air outlet is divided into two paths, wherein one path is connected with the rodless cavity of the upper supporting wall cylinder 6 and the lower supporting wall cylinder 33 of the front mounting plate 4 and the rod cavity of the supporting wall cylinder wheel assembly 39, and the other path is connected with the rodless cavity of the upper supporting wall cylinder 9 of the rear mounting plate 18 and the rod cavity of the supporting wall cylinder wheel assembly 39 of the lower supporting wall cylinder 7.
The second air passage is connected to an air inlet of a two-position five-way double-air control valve II 48, the left outlet of the second air passage is connected to the rod cavities of the two telescopic cylinders 2, and the right outlet of the second air passage is connected to the rodless cavity of the telescopic cylinder 2.
And the third air passage is connected in parallel to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single-air control valve I46 after being connected to the two motor-driven reversing valves I40 and the motor-driven reversing valve II 41 respectively.
The fourth air path is connected to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single-air control valve II 49 respectively after being connected to the two motor-driven reversing valves III 42 and the motor-driven reversing valve IV 43.
And a fifth air passage is connected with the front and rear reversing switches 45 and then is connected to air control reversing ports of the two-position five-way single-air control valve I46 and the two-position five-way single-air control valve II 49 in parallel and used for controlling the whole action to move forwards and backwards. The left air outlet of the two-position five-way single-air control valve I46 is connected to the left air control reversing port of the two-position five-way double-air control valve I47, and the right air outlet is connected to the right air control reversing port of the two-position five-way double-air control valve I47; the left air outlet of the two-position five-way single-air control valve II 49 is connected to the left air control reversing port of the two-position five-way double-air control valve II 48, and the right air outlet of the two-position five-way double-air control valve II 48 is connected to the right air control reversing port of the two-position five-way double-air control valve II 48.
The embodiment of the invention provides a brief description of the whole working process of a full pneumatic pipeline dredging robot based on a crank multi-connecting-rod folding wall supporting mechanism, which comprises the following steps:
when the gas source 50 generates compressed gas with sufficient pressure and the action switch 44 is opened, the compressed gas passes through the two-position five-way double pneumatic control valve I47 and then is divided into two paths from the left gas outlet. The first way reaches each cylinder on the front mounting plate 4: at the moment, a rodless cavity of the upper supporting wall cylinder 6 is inflated and extends out, a piston rod 8 of the upper supporting wall cylinder drives a triangular crank 10 to rotate clockwise around a crank hinge pin III 13 through a crank hinge pin I9, the triangular crank 10 rotates and drives a connecting rod 11 through a crank hinge pin II 12, the connecting rod 11 is hinged with a supporting wall rod through a connecting rod and a supporting wall rod pin 25, so that the supporting wall rod 16 rotates clockwise around a supporting wall rod and a crank hinge seat hinge pin 24 to descend, and the whole supporting wall rod 16 and the supporting wall plate 17 are lowered to the lowest and are not contacted with the wall of the pipe; the rodless cavity of the lower supporting wall cylinder 33 is inflated and contracted, and is separated from the pipeline and is not supported any more; the wall-supporting cylinder wheel assembly 39 has a rod cavity which is inflated and extended, and the wheel is contacted with the pipeline to act; the rod cavity of the cylinder 31 on the front distributing gate valve 5 is inflated and contracted, so that the gate 27 is opened, and the dredging cylinder is communicated with the sludge. The second way reaches the respective cylinders on the rear mounting plate 18: at the moment, a rod cavity of the upper supporting wall cylinder 5 is inflated to enable the cylinder to contract, a piston rod 8 of the upper supporting wall cylinder drives a triangular crank 10 to rotate anticlockwise around a crank hinge pin III 13 through a crank hinge pin I9, the triangular crank 10 rotates to drive a connecting rod 11 through a crank hinge pin II 12, the connecting rod 11 is hinged with a supporting wall rod through a connecting rod and a supporting wall rod hinge pin 25, so that the supporting wall rod 16 is driven to rotate anticlockwise around a supporting wall rod and a crank hinge seat hinge pin 24 to ascend, and the supporting wall plate 17 and a supporting wall plate connecting frame 20 rotate around a supporting wall plate hinge pin 19 and can be tightly pressed to a pipe wall I21; the lower wall-supporting cylinder 33 has its rod cavity inflated to extend, and the wall-supporting cylinder wheel assembly 39 has its rod cavity not inflated to retract, so that the wheel is no longer in contact with the pipeline.
The above process is carried out to achieve the state that the crank multi-connecting-rod folding wall supporting mechanism 3 and the lower supporting wall cylinder 33 on the front mounting plate 4 are retracted, and the state that the crank multi-connecting-rod folding wall supporting mechanism 3 and the lower supporting wall cylinder 33 on the rear mounting plate 18 are extended out of the supporting wall. When the wall supporting rod 16 on the front mounting disc 4 falls to the lowest position, the wall supporting rod touches the third motor-driven reversing valve 42, the third motor-driven reversing valve 42 is switched on, the air path reaches the left air-controlled reversing port of the second two-position five-way double air-controlled valve 48, the total air inflow reaches the rod cavities of the two telescopic cylinders 2 through the left air outlet of the second two-position five-way double air-controlled valve 48, so that the telescopic cylinders 2 extend out, the front half part of the whole robot is driven to move forwards, and sludge can be sucked into the dredging cylinder 1 from the opened gate 27. When the telescopic cylinder 2 extends to the bottom, the telescopic cylinder can touch the second motor-driven reversing valve 41, the second motor-driven reversing valve 41 is communicated, the air path reaches the right air control reversing port of the first two-position five-way double-air control valve 47 through the second motor-driven reversing valve 41, and the air outlet of the first two-position five-way double-air control valve 47 is reversed. At this time, the total intake air will flow out from the right air outlet of the two-position five-way double-air control valve I47, so that the logics of the cylinders on the front disc and the rear disc are opposite: the crank multi-connecting-rod folding wall-supporting mechanism 3 on the front mounting plate 4 and the lower wall-supporting cylinder 33 extend out to reach a wall-supporting state; the rodless cavity of the cylinder 31 on the front distributing gate valve 5 is inflated and extended out, so that the gate 27 is closed, and the desilting cylinder is closed; the crank multi-connecting-rod folding wall-supporting mechanism 3 on the rear mounting plate 18 and the lower wall-supporting cylinder 33 are contracted and do not support the wall any more. When the wall supporting rod 16 on the rear mounting disc 18 falls to the lowest, the wall supporting rod touches the motor-driven reversing valve IV 43, the motor-driven reversing valve IV 43 is switched on, the air path reaches the right air control reversing port of the two-position five-way double-air control valve II 48, and the total air inlet reaches the rodless cavities of the two telescopic cylinders 2 through the right air outlet of the two-position five-way double-air control valve II 48, so that the telescopic cylinders 2 are contracted, and the rear half part of the whole rear robot is driven to move forwards. Meanwhile, the closed dredging cylinder 1 is compressed to enable sludge in the cylinder to be pressurized to open the sewage one-way valve 54 and discharge the sludge into the sewage discharge pipe 55, and the robot can pump the sludge in the underground pipeline to the ground through the sewage discharge pipe 55. The whole body of the robot travels and the sludge is sucked and discharged in a reciprocating way. When the front and back reversing switch 45 is turned on, the whole action logic above the robot is opposite, so that the robot can retreat in the pipeline.
When the rod cavity of the upper supporting wall cylinder 6 is inflated to enable the cylinder to contract and drive the supporting wall rod 16 to tightly press the pipe wall I21, the wall supporting action can be completed in the pipeline with the smaller diameter, and then the robot can walk and desilt; if the pipe diameter of the pipeline is increased, the wall supporting rod 16 continuously rises to contact with the second pipe wall 22 to be tightly propped, and the pipeline with the larger diameter can work; the pipe rises to a high position, contacts the pipe wall III 23 and is tightly propped, and the pipe can work in a pipeline with a larger diameter. Therefore, the full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod wall supporting mechanism driven by the air cylinder can be suitable for pipelines with different diameters.
In summary, the all-pneumatic pipeline dredging robot based on the wall-supporting link mechanism provided by the embodiment of the invention can realize wall-supporting stepping walking and dredging operation in pipelines with different diameters.
The full-pneumatic pipeline dredging robot based on the wall supporting connecting rod mechanism is small in size in a contraction state of the mechanism, and can enter a drainage pipeline through a well cover on a road surface. After the robot enters the pipeline, the robot can move forwards or backwards under the driving of air pressure, and the support arm mechanism swings to adapt to support wall surfaces with different pipeline diameters, so that the robot is matched with the movement of the robot to discharge sludge in a drainage pipeline to the ground from a wellhead of an inspection well, and the dredging operation is reliably completed in the pipeline. This technical solution enables a robot to work in pipes of different diameters.
Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, they are described in relative terms, as long as they are described in partial descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of ordinary skill in the art will understand that: the components in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be correspondingly changed in one or more devices different from the embodiments. The components of the above embodiments may be combined into one component, or may be further divided into a plurality of sub-components.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a full pneumatic pipeline desilting robot based on folding wall mechanism that props of many connecting rods of crank, its characterized in that includes:
the multi-connecting-rod folding wall supporting mechanism comprises a front mounting disc, a rear mounting disc, a crank multi-connecting-rod folding wall supporting mechanism and a lower supporting wall system, wherein the front mounting disc is connected with the rear mounting disc through an air cylinder;
the full pneumatic pipeline dredging robot enters the inside of a drainage pipeline, compressed air enters each cylinder on the front mounting disc and the rear mounting disc, and the wall-supporting stepping walking and dredging operation of the full pneumatic pipeline dredging robot in the drainage pipeline is realized under the combined action of the lower wall-supporting system and the crank multi-connecting-rod folding wall-supporting mechanism;
full pneumatic pipeline desilting machine people still includes the gate valve that flows that joins in marriage before, the gate valve that flows before includes: the front distributing gate valve is connected with the front mounting disc through a bolt;
the crank multi-connecting-rod folding wall supporting mechanism comprises an upper wall supporting cylinder, an upper wall supporting cylinder hinge pin, an upper wall supporting cylinder piston rod, a first crank hinge pin, a triangular crank, a connecting rod, a second crank hinge pin, a third crank hinge pin, a crank hinge base, an upper wall supporting cylinder hinge base, a wall supporting rod, a wall supporting plate hinge pin, a wall supporting plate connecting frame, a wall supporting rod and crank hinge base hinge pin and a connecting rod and wall supporting rod hinge pin;
the wall supporting system comprises a wall supporting cylinder, a wall supporting cylinder connecting block, an aluminum profile, a wall supporting wheel cylinder, a wheel and a wheel mounting sheet.
2. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism is characterized in that a dredging cylinder is mounted in the middle of the lower portions of the front mounting plate and the rear mounting plate, an opening is formed in the front end of the dredging cylinder and is aligned with a mud inlet formed in the middle of the lower portion of the front mounting plate, and the dredging cylinder is fixedly connected with the front distributing gate valve and the front mounting plate through bolts; a piston rod of the dredging cylinder at the tail part of the front mounting disc is fixedly connected with the rear mounting disc, and the piston rod of the dredging cylinder is a hollow steel pipe, is also used as a sewage discharge pipeline and is concentric with a sewage discharge port arranged on the rear mounting disc;
a sewage discharge one-way valve is fixedly arranged on the outer side of the sewage discharge port of the rear mounting plate; the blow-off pipe is fixedly connected with the blow-off one-way valve; two telescopic cylinders are symmetrically and uniformly arranged on two sides of the dredging cylinder, and two ends of each telescopic cylinder are respectively connected to the front mounting disc and the rear mounting disc.
3. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism is characterized in that a first motor-driven reversing valve is fixedly connected to the inner side of the front mounting plate and is opposite to the telescopic cylinder, when the telescopic cylinder is contracted to the bottom, the head of the cylinder body of the telescopic cylinder can touch a button of the first motor-driven reversing valve, so that the first motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed;
the motor-driven reversing valve II is fixedly connected to the inner side of the front mounting plate and above the motor-driven reversing valve I, a steel wire rope is sleeved at the button part of the motor-driven reversing valve II, the other end of the steel wire rope is sleeved on a steel wire rope fixing bolt, the bolt is fixed in a threaded hole in the head of the telescopic cylinder body, and when the telescopic cylinder extends to the bottom, the steel wire rope connected with the telescopic cylinder body and the motor-driven reversing valve II is stretched, so that the button of the motor-driven reversing valve II is pulled, and the pneumatic control logic of the robot is changed;
the third motor-driven reversing valve is fixedly connected to the front distributing gate valve, so that when the wall supporting rod on the current mounting disc falls back to the lowest position, a button of the third motor-driven reversing valve is pressed, and the pneumatic control logic of the robot is changed;
and the motorized reversing valve IV is fixedly connected to the upper supporting wall cylinder of the rear mounting disc, and when the supporting wall rod on the rear mounting disc falls back to the lowest position, the triangular crank presses the button of the motorized reversing valve IV, so that the pneumatic control logic of the robot is changed.
4. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism is characterized in that the upper supporting wall cylinder hinged support is a cuboid block, the back of the upper supporting wall cylinder hinged support is provided with two threaded holes for being connected with the front mounting plate through screws, and the side surface of the upper supporting wall cylinder hinged support is provided with a through hole close to the head; the upper supporting wall cylinder is a cylinder with a hinge hole on the side surface of the cylinder body, and is hinged with the through hole of the hinge seat of the upper supporting wall cylinder through an upper supporting wall cylinder hinge pin, so that the upper supporting wall cylinder can rotate relative to the hinge seat of the upper supporting wall cylinder by taking the upper supporting wall cylinder hinge pin as a shaft;
the upper portion of crank free bearing is equipped with two slice through-holes: the through hole a is hinged with the head of the supporting wall rod through the supporting wall rod and the hinge pin of the crank hinge base, so that the supporting wall rod can relatively rotate by taking the supporting wall rod and the hinge pin of the crank hinge base as a shaft; the two triangular cranks are attached to two sides of the crank hinged support, and the through holes of the triangular cranks are hinged to the through holes of the crank hinged support through a crank hinged pin III, so that the triangular cranks can rotate relatively;
the head of the piston rod of the wall supporting cylinder is hinged with the through holes at the other ends of the two triangular cranks at two sides through a first crank hinge pin; the inner side of the through hole at the remaining end of the triangular crank is hinged with one end of two connecting rods through a crank hinge pin II, wherein the connecting rods are sheet bodies of which two ends are respectively provided with the through holes; the other end of the connecting rod is hinged to two sides of the supporting wall rod through a connecting rod and a supporting wall rod hinge pin.
5. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism as claimed in claim 4, wherein the wall supporting rod is a cuboid rod piece, two through holes are formed in the center of the side face of the head of the wall supporting rod, the first through hole is hinged with the crank hinged support hinge pin and the crank hinged support through the wall supporting rod, and two sides of the second through hole are respectively connected with the connecting rod, the crank hinged support hinge pin and the connecting rod;
the supporting wall plate connecting frame is a groove-shaped plate, the groove width is matched with the width of the supporting wall rod, the supporting wall plate connecting frame is buckled on the supporting wall rod, through holes are formed in the positions of two side plates of the supporting wall plate connecting frame, the through holes in the two sides of the supporting wall plate connecting frame are hinged with the tail part of the supporting wall rod through a supporting wall plate hinge pin, and the supporting wall plate connecting frame can rotate around the supporting wall rod relatively;
the wall supporting plate is a square arc plate, the arc surface of the wall supporting plate is matched with the curvature of the pipe wall and is used for being in direct contact with a pipeline when the wall is supported, and 4 holes are uniformly distributed in two sides of the middle of the wall supporting plate and are used for being attached to the upper plate surface of the wall supporting plate connecting frame and being connected through threads.
6. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism is characterized in that the front gate valve body comprises a front flange and a rear flange, wherein 4 threaded holes in the front flange are fixedly connected with corresponding through holes in the front mounting plate, and threaded holes in the rear flange are attached to the dredging cylinder and are connected through threads;
the cylinder connecting plate is a rectangular plate, 4 threaded holes are respectively formed in two sides of the cylinder connecting plate, a through hole is formed in the center of each threaded hole, a piston rod of each cylinder can penetrate through the through hole, and the cylinder bodies of the two cylinders are fixedly connected onto the cylinder connecting plate through screws; the middle part of the cylinder connecting plate is provided with 4 through holes which are used for being fixedly connected with 4 screw rods through nuts;
the cylinder connecting block is a cuboid block, two sides of the cuboid block are symmetrically provided with 1 through hole respectively, and the cuboid block is fixedly connected with threads in a piston rod in the cylinder through screws; the middle part of the cylinder connecting block is provided with a through hole which is connected to the gate connecting pin through a bolt and is connected with the gate.
7. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism is characterized in that the wall supporting cylinder connecting block is a rectangular block, and the side surface of the block is uniformly provided with 4 through holes and 4 threaded holes; the aluminum profile is a profile with a rectangular section and is provided with two through threaded holes; the wall-supporting cylinder connecting block is attached to the aluminum profile and connected with the aluminum profile through a T-shaped nut; the wall supporting cylinder is attached to the wall supporting cylinder connecting block and is fixed to 4 threaded holes of the wall supporting cylinder connecting block through bolts; the wall-supporting wheel cylinder is connected with two threaded holes in the head of the aluminum profile through screws; two threaded holes at the tail part of the aluminum profile are attached to the front mounting disc and connected through screws.
8. The full-pneumatic pipeline dredging robot based on the crank multi-connecting-rod folding wall supporting mechanism as claimed in claim 7, wherein the full-pneumatic control system part of the full-pneumatic pipeline dredging robot comprises five air paths:
the first gas path is connected to a gas inlet of the first two-position five-way double-gas control valve, a left gas outlet of the first two-position five-way double-gas control valve is divided into two paths, one path is connected to rod cavities of an upper supporting wall cylinder and a lower supporting wall cylinder of the front mounting plate and a rodless cavity of a supporting wall cylinder wheel assembly, and the other path is connected to a rodless cavity of an upper supporting wall cylinder and a lower supporting wall cylinder of the rear mounting plate and a rod cavity of a supporting wall cylinder wheel assembly; the right air outlet is divided into two paths, wherein one path is connected with a rodless cavity of the upper supporting wall cylinder and the lower supporting wall cylinder of the front mounting plate and a rod cavity of the supporting wall cylinder wheel assembly, and the other path is connected with a rodless cavity of the rod cavity supporting wall cylinder wheel assembly of the upper supporting wall cylinder and the lower supporting wall cylinder of the rear mounting plate;
the second air passage is connected to an air inlet of the two-position five-way double-air control valve II, the left outlet of the second air passage is connected to the rod cavities of the two telescopic cylinders, and the right outlet of the second air passage is connected to the rodless cavity of the telescopic cylinder;
the third air path is connected in parallel to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single air control valve I after being connected to the two motor-driven reversing valves I and the motor-driven reversing valve II respectively;
the fourth gas path is connected to the left air inlet, the right air inlet and the middle air inlet of the two-position five-way single-gas control valve II respectively after being connected to the two motor-driven reversing valves III and the motor-driven reversing valve IV;
the fifth air passage is connected with the front and back reversing switches and then is connected to the air control reversing ports of the two-position five-way single air control valve I and the two-position five-way single air control valve II in parallel and used for controlling the whole action to move forward and backward; and the left air outlet of the two-position five-way single-air control valve II is connected to the left air control reversing port of the two-position five-way double-air control valve II, and the right air outlet of the two-position five-way double-air control valve II is connected to the right air control reversing port of the two-position five-way double-air control valve II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910124432.6A CN109797844B (en) | 2019-02-19 | 2019-02-19 | Full-pneumatic pipeline dredging robot based on crank multi-connecting-rod folding wall supporting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910124432.6A CN109797844B (en) | 2019-02-19 | 2019-02-19 | Full-pneumatic pipeline dredging robot based on crank multi-connecting-rod folding wall supporting mechanism |
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| CN109797844A CN109797844A (en) | 2019-05-24 |
| CN109797844B true CN109797844B (en) | 2020-04-21 |
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| CN201910124432.6A Expired - Fee Related CN109797844B (en) | 2019-02-19 | 2019-02-19 | Full-pneumatic pipeline dredging robot based on crank multi-connecting-rod folding wall supporting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08164373A (en) * | 1994-12-12 | 1996-06-25 | Giken Kogyo Kk | Automatic moving device in pipe |
| CN205276458U (en) * | 2015-11-16 | 2016-06-01 | 北京建筑大学 | Air -operated controller drainage pipe sediment removal device |
| CN207988129U (en) * | 2018-03-23 | 2018-10-19 | 北京城市排水集团有限责任公司 | Pneumatic type pose automatic deviation correction pipe dredging device |
| CN109235628B (en) * | 2018-09-18 | 2023-09-12 | 北京城市排水集团有限责任公司 | Pipeline dredging robot based on wall supporting and connecting rod mechanism and use method thereof |
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