CN110130475A - A kind of urban discharging pipeline dredging robot - Google Patents
A kind of urban discharging pipeline dredging robot Download PDFInfo
- Publication number
- CN110130475A CN110130475A CN201910478020.2A CN201910478020A CN110130475A CN 110130475 A CN110130475 A CN 110130475A CN 201910478020 A CN201910478020 A CN 201910478020A CN 110130475 A CN110130475 A CN 110130475A
- Authority
- CN
- China
- Prior art keywords
- chamber
- shaft
- fixedly connected
- wheel
- dredging robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
A kind of urban discharging pipeline dredging robot disclosed by the invention, including car body, power cavity is equipped in the car body, the reserve chamber being located on the left of the power cavity is equipped in the car body, the line shaft extended in the reserve chamber is rotatably connected in the power cavity, the line shaft is connected by power the motor for being fixedly connected on inner wall on the right side of the power cavity, the cross rotating disks being rotatably connected on the line shaft on the left of the motor, circumferential array distribution has on the left of the motor and stretches out four self-reacting devices outside the power resonator end surface far from center one end in the power cavity；When dredging robot encounters barrier or caliber change, multiple groups scraper adapts to environmental change by distance between sliding change, scraper drives the rotation of the first crawler attachment by linkage mechanism, second crawler attachment also can adapt to environmental change by distance between sliding change, to realize the more efficient obstacle detouring of dredging robot and automatic adaptation walking in pipe.
Description
Technical field
The present invention relates to pipe dredging machine people's technical field, specially a kind of urban discharging pipeline dredging robot.
Background technique
Urban discharging pipeline is processing and the job facilities system for excluding municipal sewage and rainwater, and urban discharging pipeline is usual
It is embedded in underground, precipitating, siltation occurs since a large amount of life sundries rubbish and capital construction building site cement bonded sand can be discharged into drainage pipeline,
It is be easy to cause line clogging, progress pipe dredging, dredging be easy to cause sewage to flow excessively, pollute environment and urban waterlogging not in time,
However, environment locating for pipeline is often not easy to directly reach or does not allow people to be directly entered, detection and cleaning difficulty are very
Greatly, more effective method is that pipe dredging work is completed using pipe robot at present, and existing road dredging robot is big
It mostly can not adaptively be walked, can only be worked in the pipeline in specific caliber, applicability is poor, and mesh according to pipeline configuration
The preceding road dredging robot adaptively walked uses wheeled construction substantially, is easy to skid when moving in pipeline, obstacle climbing ability
A kind of equipment that can solve the above problem poor, that the present invention illustrates.
Summary of the invention
Technical problem: existing road dredging robot is adaptively walked mostly, and the current road adaptively walked
Dredging robot uses wheeled construction substantially, is easy to skid when moving in pipeline, obstacle climbing ability is poor.
To solve the above problems, this example devises a kind of urban discharging pipeline dredging robot, a kind of city row of this example
Waterpipe dredging robot, including car body, the car body is interior to be equipped with power cavity, is equipped in the car body and is located at the power cavity left side
The reserve chamber of side, the line shaft extended in the reserve chamber is rotatably connected in the power cavity, and the line shaft power connects
It is connected to the motor for being fixedly connected on inner wall on the right side of the power cavity, is rotatably connected on the line shaft on the left of the motor
Cross rotating disks, circumferential array distribution has on the left of the motor and described in stretching out far from center one end in the power cavity
Four self-reacting devices 1 outside power resonator end surface, the self-reacting device 1 is by being hinged with described cross rotating disks one end
Transmission arm, the travelling arm for being hinged with transmission arm and being slidably connected with the power cavity inner left wall and the cross rotating disks
The torsionspring of left end face connection realizes the function of being applicable in road conditions automatically, and being equipped in the self-reacting device 1 can transmit
The transmission device 2 of the motor power, the self-reacting device 1 are equipped with far from center one end and are passed using the transmission device 2
The mobile driving wheel apparatus 3 of the power drive dredging robot passed, 3 left end of driving wheel apparatus is equipped with obstacle crossing device 4, described
Reserve chamber left end symmetrical centre be equipped with can automatic suitable conduit size Accrete clearing device 5, the Accrete clearing device 5 fills with the obstacle detouring
Setting 4 linkages makes dredging robot crossing obstacle automatically.
Valuably, it is provided with reserve battery in the reserve chamber, when the dredging robot and external power supply cable in operation
Between connection be cut off when, the reserve battery, which provides stand-by power for dredging robot, makes it independently leave operation pipeline.
Wherein, by taking the self-reacting device 1 of downside as an example, the self-reacting device 1 includes being fixedly connected on described move
On power axis and be located at the cross rotating disks on the left of block plate, the torsionspring left and right ends respectively with the block plate right-hand end
Face and the cross rotating disks left end face are connected, and are equipped with turntable chamber in the cross rotating disks, under the cross rotating disks
It holds and is hinged with the transmission arm being located on the left of the cross rotating disks, transmission arm chamber is equipped in the transmission arm, it is described
Swing arm lower end is hinged with the travelling arm being located on the left of the transmission arm, and travelling arm chamber is equipped in the travelling arm.
It may be preferred that the travelling arm can be along the power cavity inner left wall in when pipe diameter becomes smaller
One Slideslip of the heart, when pipe diameter becomes larger, since the elastic force effect of the torsionspring makes the travelling arm along described dynamic
Power chamber inner left wall adapts to road conditions function to realize to far from one Slideslip of center automatically.
Wherein, by taking the transmission device 2 of downside as an example, the transmission device 2 includes being fixedly connected on the line shaft
Above and it is located at the intracavitary master gear of the turntable, is rotatably connected to left and right on inner wall on the right side of the turntable chamber and extends and extend to the left
Enter the intracavitary gear shaft of the transmission arm, the gear shaft and the transmission arm chamber inner left wall are rotatablely connected, the gear shaft
On be fixedly connected with the gear intracavitary positioned at the turntable, be fixedly connected on the gear shaft intracavitary positioned at the transmission arm
Belt wheel, transmission arm chamber right side inner wall are rotatably connected to left and right and extend and extend into the intracavitary linkage of the travelling arm to the left
Axis, the universal driving shaft is located on the downside of the gear shaft and is rotatablely connected with the travelling arm chamber inner left wall, on the universal driving shaft
It is fixedly connected with and is located at the intracavitary linkage belt wheel of the transmission arm, be connected with transmission between the linkage belt wheel and the belt wheel
Band is fixedly connected with the secondary pulley intracavitary positioned at the travelling arm on the universal driving shaft, and the travelling arm is intracavitary to be rotatably connected to
Positioned at the universal driving shaft downside and the composite shaft of left and right extension, it is fixedly connected with compound belt wheel in the composite shaft, it is described compound
V band is connected between belt wheel and the secondary pulley, the travelling arm is intracavitary to be rotatably connected to positioned at the composite shaft front side and a left side
The bevel gear shaft of right extension, the bevel gear shaft right end extend the travelling arm chamber right end face, consolidate on the bevel gear shaft
Surely it is connected with the V belt wheel intracavitary positioned at the travelling arm, is connected between the V belt wheel and the compound belt wheel positioned at the V
Synchronous belt with right side, the bevel gear shaft are fixedly connected with the bevel pinion outside the travelling arm resonator end surface.
Wherein, by taking the driving wheel apparatus 3 of downside as an example, the driving wheel apparatus 3 includes and the travelling arm downside
The first L-box that end face is fixedly connected, is equipped with the first crawler belt chamber penetrated through up and down in first L-box, and described the
It is rotatably connected to the rotation axis that front and back extends on one crawler belt chamber front inner wall, it is symmetrical that front and back is fixedly connected in the rotation axis
Two power belt wheels are fixedly connected with the cone that connection is engaged with the bevel pinion in the power belt wheel back end surface of front side
Gear, first crawler belt is intracavitary to be rotatably connected to the track wheel shaft that on the left of the rotation axis and front and back extends, the shoe
Pulley shaft extends the first crawler belt chamber front end face, is fixedly connected on the track wheel shaft positioned at the first crawler belt chamber
Interior secondary Athey wheel is connected with the first crawler belt between the pair Athey wheel and the power belt wheel.
Wherein, by taking the obstacle crossing device 4 of downside as an example, the obstacle crossing device 4 includes rotating to connect with the track wheel shaft
The second L-box connect, second L-box is interior to be equipped with the second crawler belt chamber penetrated through up and down, and the track wheel shaft is forward
It is intracavitary and be rotatablely connected with the second crawler belt chamber front inner wall to extend into second crawler belt, it is fixed on the track wheel shaft to connect
It is connected to and is located at the intracavitary Athey wheel of second crawler belt, second crawler belt is intracavitary to be rotatably connected to positioned at the track wheel shaft left side
The obstacle detouring axis that side and front and back extend is fixedly connected with obstacle detouring belt wheel, the obstacle detouring belt wheel and the Athey wheel on the obstacle detouring axis
Between be connected with the second crawler belt, be hinged with obstacle detouring bar in the second crawler belt chamber back end surface.
Wherein, the Accrete clearing device 5 includes the sliding axle that with reserve chamber rotation connection and left and right extends, the sliding
Axis extends the reserve chamber left end face, and the sliding axle right end is fixedly connected with the line shaft left end, the sliding axle
On be fixedly connected with the cutterhead of scraping outside the spare resonator end surface, it is described to scrape the swing rod chamber that left and right perforation is equipped in cutterhead, institute
It states the intracavitary circumferential array of swing rod and four sliding cavities that openings are directed away from symmetrical centre is distributed with, slided on the sliding cavity
Dynamic to be connected with scraper sliding block, the scraper sliding block is fixedly connected with scraper far from symmetrical centre one end, cuts with scissors on the scraper sliding block
It is connected to swing rod, is slidably connected on the sliding axle and is located at the slider disc scraped on the right side of cutterhead, the swing rod other end and institute
It states slider disc to be hinged, the obstacle detouring bar other end is hinged with the slider disc and the obstacle detouring bar is located at the swing rod right side
Side is connected with reset spring between the slider disc right end face and the reserve chamber left end face.
It may be preferred that the swing rod changes with pipe diameter and moves through the swing rod, the slider disc drives institute
The movement of obstacle detouring bar is stated, the obstacle crossing device 4 realizes obstacle crossing function so as to link.
The beneficial effects of the present invention are: the present invention is a kind of urban discharging pipeline dredging robot, dredging mechanism therein
Inside there is the multiple groups scraper that can be slided along guide rail, when dredging robot encounters barrier or caliber change, multiple groups scraper passes through cunning
It is dynamic change between distance adapt to environmental change, while the linkage mechanism that slides through of scraper drives the first crawler attachment to symmetrical
At center or far from rotating at symmetrical centre so that dredging robot front clear the jumps or into diameter change pipeline
Interior, on the fixed telescopic device of the second crawler attachment adjacent with the first crawler attachment, the second crawler attachment can also be changed by sliding
Distance adapts to environmental change between change so that dredging robot rear portion can also clear the jumps or into diameter change pipeline
It is interior, to realize the more efficient obstacle detouring of dredging robot and automatic adaptation walking in pipe, while can be effective using caterpillar belt structure
Skidding when avoiding moving in pipeline.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is a kind of overall structure diagram of urban discharging pipeline dredging robot of the invention；
Fig. 2 is the structural schematic diagram in direction " A-A " of Fig. 1；
Fig. 3 is the structural schematic diagram in direction " B-B " of Fig. 1；
Fig. 4 is the structural schematic diagram in direction " C-C " of Fig. 1；
Fig. 5 is the structural schematic diagram in direction " D-D " of Fig. 1；
Fig. 6 is the structure enlargement diagram at " E " of Fig. 1；
Fig. 7 is the structure enlargement diagram at " F " of Fig. 2.
Specific embodiment
Below with reference to Fig. 1-Fig. 7, the present invention is described in detail, for sake of convenience, now provides to hereafter described orientation
As follows: hereafter described front-rear direction up and down is consistent with the front-rear direction up and down of Fig. 1 projection relation itself.
The present invention relates to a kind of urban discharging pipeline dredging robots, are mainly used in urban discharging pipeline dredging, below
Attached drawing of the present invention will be combined, and the present invention will be further described:
A kind of urban discharging pipeline dredging robot of the present invention, including car body 11, the car body 11 is interior to be equipped with power cavity
12, the car body 11 is interior to be equipped with the reserve chamber 66 for being located at 12 left side of power cavity, is rotatably connected to and prolongs in the power cavity 12
The line shaft 13 in the reserve chamber 66 is extended to, the line shaft 13, which has been connected by power, is fixedly connected on 12 right side of power cavity
The motor 14 of inner wall is rotatably connected to the cross rotating disks 38 positioned at 14 left side of motor on the line shaft 13, described dynamic
Circumferential array distribution has positioned at 14 left side of motor and stretches out outside 12 end face of power cavity far from center one end in power chamber 12
Four self-reacting devices 101, the self-reacting device 101 passes through the transmission arm that is hinged with described 38 one end of cross rotating disks
17, with transmission arm 17 be hinged and be slidably connected with 12 inner left wall of power cavity travelling arm 24, with described cross turn
The torsionspring 69 of 38 left end face of disk connection realizes the function of being applicable in road conditions automatically, sets in the self-reacting device 101
There is the transmission device 102 that can transmit 14 power of motor, the self-reacting device 101 is equipped with far from center one end and utilizes institute
The mobile driving wheel apparatus 103 of the power drive dredging robot of the transmitting of transmission device 102 is stated, the driving wheel apparatus 103 is left
End is equipped with obstacle crossing device 104, the 66 left end symmetrical centre of reserve chamber be equipped with can automatic suitable conduit size Accrete clearing device
105, the Accrete clearing device 105 makes dredging robot crossing obstacle automatically with the obstacle crossing device 104 linkage.
Valuably, it is provided with reserve battery 68 in the reserve chamber 66, when the dredging robot and external power supply in operation
When connection between cable is cut off, the reserve battery 68, which provides stand-by power for dredging robot, makes it independently leave operation
Pipeline.
According to embodiment, self-reacting device 101 is described in detail below, with the self-reacting device 101 of downside
For, the self-reacting device 101 includes being fixedly connected on the line shaft 13 and being located at 38 left side of cross rotating disks
Block plate 70,69 left and right ends of torsionspring are respectively and 70 right end face of block plate and the left side of cross rotating disks 38
End face is connected, equipped with turntable chamber 67,38 lower end of cross rotating disks and positioned at the cross in the cross rotating disks 38
The transmission arm 17 in the left side of type turntable 38 is hinged, and is equipped with transmission arm chamber 64 in the transmission arm 17, under the transmission arm 17
It holds and is hinged with the travelling arm 24 for being located at 17 left side of transmission arm, be equipped with travelling arm chamber 65 in the travelling arm 24.
Valuably, when pipe diameter becomes smaller, the travelling arm 24 can be along 12 inner left wall of power cavity to close
One Slideslip of center, when pipe diameter becomes larger, due to the torsionspring 69 elastic force effect make the travelling arm 24 along
12 inner left wall of power cavity adapts to road conditions function to realize to far from one Slideslip of center automatically.
According to embodiment, transmission device 102 is described in detail below, by taking the transmission device 102 of downside as an example,
The transmission device 102 includes the master gear 15 for being fixedly connected on the line shaft 13 and being located in the turntable chamber 67, institute
It states and is rotatably connected to left and right extension on 67 right side inner wall of turntable chamber and extends into the gear shaft 60 in the transmission arm chamber 64 to the left,
The gear shaft 60 is rotatablely connected with 64 inner left wall of transmission arm chamber, is fixedly connected with described in being located on the gear shaft 60
Gear 62 in turntable chamber 67 is fixedly connected with the belt wheel 61 in the transmission arm chamber 64 on the gear shaft 60, described
64 right side inner wall of transmission arm chamber is rotatably connected to left and right and extends and extend into the universal driving shaft 56 in the travelling arm chamber 65, institute to the left
Universal driving shaft 56 is stated to be located at 60 downside of gear shaft and be rotatablely connected with 65 inner left wall of travelling arm chamber, the universal driving shaft 56
On be fixedly connected with the linkage belt wheel 58 in the transmission arm chamber 64, connect between the linkage belt wheel 58 and the belt wheel 61
It is connected to transmission belt 59, the secondary pulley 57 being fixedly connected in the travelling arm chamber 65 on the universal driving shaft 56, the sliding
It is rotatably connected to the composite shaft 42 that positioned at 56 downside of universal driving shaft and left and right extends in arm chamber 65, is fixed in the composite shaft 42
It is connected with compound belt wheel 41, is connected with V band 39 between the compound belt wheel 41 and the secondary pulley 57, in the travelling arm chamber 65
It is rotatably connected to and is located at the bevel gear shaft 23 that 42 front side of composite shaft and left and right extend, 23 right end of bevel gear shaft extends
65 right end face of travelling arm chamber is fixedly connected with the V belt wheel in the travelling arm chamber 65 on the bevel gear shaft 23
46, the synchronous belt 40 positioned at 39 right side of V band, the cone tooth are connected between the V belt wheel 46 and the compound belt wheel 41
Wheel shaft 23 is fixedly connected with the bevel pinion 22 outside 65 end face of travelling arm chamber.
According to embodiment, driving wheel apparatus 103 is described in detail below, with the driving wheel apparatus 103 of downside
For, the driving wheel apparatus 103 includes the first L-box 54 being fixedly connected with the 24 downside end face of travelling arm, and described
It is equipped with the first crawler belt chamber 55 penetrated through up and down in one L-box 54, is rotatablely connected on 55 front inner wall of the first crawler belt chamber
There is the rotation axis 21 of front and back extension, the symmetrical two power belt wheels 19 in front and back are fixedly connected in the rotation axis 21, front side
Be fixedly connected in 19 back end surface of power belt wheel engaged with the bevel pinion 22 connection bevel gear 20, described first
The track wheel shaft 27 that positioned at 21 left side of rotation axis and front and back extends, the track wheel shaft 27 are rotatably connected in crawler belt chamber 55
Extend 55 front end face of the first crawler belt chamber, is fixedly connected on the track wheel shaft 27 positioned at the first crawler belt chamber 55
Interior secondary Athey wheel 53 is connected with the first crawler belt 18 between the pair Athey wheel 53 and the power belt wheel 19.
According to embodiment, obstacle crossing device 104 is described in detail below, by taking the obstacle crossing device 104 of downside as an example,
The obstacle crossing device 104 includes the second L-box 49 with the track wheel shaft 27 rotation connection, in second L-box 49
Equipped with the second crawler belt chamber 50 penetrated through up and down, the track wheel shaft 27 extend forwardly in the second crawler belt chamber 50 and with
Second crawler belt chamber, 50 front inner wall is rotatablely connected, and is fixedly connected on the track wheel shaft 27 positioned at the second crawler belt chamber
Athey wheel 26 in 50, is rotatably connected in the second crawler belt chamber 50 positioned at 27 left side of track wheel shaft and front and back extends
Obstacle detouring axis 29 is fixedly connected with obstacle detouring belt wheel 28 on the obstacle detouring axis 29, between the obstacle detouring belt wheel 28 and the Athey wheel 26
It is connected with the second crawler belt 25, is hinged with obstacle detouring bar 30 in 50 back end surface of the second crawler belt chamber.
According to embodiment, Accrete clearing device 105 is described in detail below, the Accrete clearing device 105 include with it is described standby
It is rotatablely connected with chamber 66 and the sliding axle 36 of left and right extension, the sliding axle 36 extends 66 left end face of reserve chamber, institute
It states 36 right end of sliding axle to be fixedly connected with 13 left end of line shaft, be fixedly connected on the sliding axle 36 positioned at described spare
Cutterhead 32 is scraped outside 66 end face of chamber, described scrape is equipped with the swing rod chamber 48 that left and right penetrates through in cutterhead 32, circumferential in the swing rod chamber 48
Array distribution has four sliding cavities 47 that openings are directed away from symmetrical centre, slidably connects and scrapes on the sliding cavity 47
Knife sliding block 33, the scraper sliding block 33 are fixedly connected with scraper 31 far from symmetrical centre one end, hinged on the scraper sliding block 33
There is swing rod 34, slidably connected on the sliding axle 36 and be located at the slider disc 35 for scraping 32 right side of cutterhead, the swing rod 34 is another
One end is hinged with the slider disc 35, and 30 other end of obstacle detouring bar is hinged with the slider disc 35 and the obstacle detouring bar 30
Positioned at 34 right side of swing rod, reset bullet is connected between 66 left end face of 35 right end face of slider disc and the reserve chamber
Spring 37.
Valuably, the swing rod 34 changes with pipe diameter and moves through the swing rod 34,35 band of the slider disc
It moves the obstacle detouring bar 30 to move, so as to link, the obstacle crossing device 104 realizes obstacle crossing function.
It is carried out below in conjunction with use step of the Fig. 1 to Fig. 7 to one of this paper urban discharging pipeline dredging robot detailed
It describes in detail bright:
When beginning, slider disc 35 is contacted with 32 right side inner wall of cutterhead is scraped, and travelling arm 24, swing rod 34 are located remotely from symmetrical centre maximum
Spacing place.
When work, distance is adjusted between each scraper 31 in order to which dredging robot to be put into pipeline, starts motor 14,
Motor 14 drive line shaft 13, sliding axle 36 rotate, line shaft 13 by master gear 15, gear 62, gear shaft 60, belt wheel 61,
Transmission belt 59, linkage belt wheel 58, universal driving shaft 56, secondary pulley 57, V band 39 drive compound belt wheel 41 to rotate, and compound belt wheel 41 passes through
Synchronous belt 40, V belt wheel 46, bevel gear shaft 23 drive bevel pinion 22 to rotate, and bevel pinion 22 is by engaging band with bevel gear 20
Turn moving axis 21 rotates, and rotation axis 21 drives the rotation of the first crawler belt 18 by power belt wheel 19, and the first crawler belt 18 passes through secondary crawler belt
Wheel 53, track wheel shaft 27, Athey wheel 26 drive the second crawler belt 25, obstacle detouring belt wheel 28 to rotate, to realize dredging robot along pipe
Road moves ahead, while the rotation of cutterhead 32 is scraped in the drive of sliding axle 36, so that scraper 31 is driven to rotate the mud struck off in inner wall of the pipe, when
Dredging robot encounters barrier or when pipe diameter becomes smaller, and scraper 31 is driven scraper sliding block 33 to symmetrical centre by external force
Place's sliding, scraper sliding block 33 slide slider disc 35 to the right along sliding axle 36 by swing rod 34, and sliding axle 36 passes through obstacle detouring bar
30 rotate the second L-box 49 to symmetrical centre side, so that dredging robot left part clears the jumps or enters, diameter becomes
In small pipeline, the first L-box 54 is driven travelling arm 24 to movement at symmetrical centre by external force later, so that silt remover
Device people right part can also clear the jumps or the pipeline that becomes smaller into diameter in, when pipe diameter becomes larger, due to sliding axle
36,69 elastic force of torsionspring acts on, so that scraper 31, the first L-box 54 are mobile to separate symmetrical centre side, to realize
Dredging robot crossing obstacle automatically and the automatic pipe diameter that adapts to change.
The beneficial effects of the present invention are: the present invention is a kind of urban discharging pipeline dredging robot, dredging mechanism therein
Inside there is the multiple groups scraper that can be slided along guide rail, when dredging robot encounters barrier or caliber change, multiple groups scraper passes through cunning
It is dynamic change between distance adapt to environmental change, while the linkage mechanism that slides through of scraper drives the first crawler attachment to symmetrical
At center or far from rotating at symmetrical centre so that dredging robot front clear the jumps or into diameter change pipeline
Interior, on the fixed telescopic device of the second crawler attachment adjacent with the first crawler attachment, the second crawler attachment can also be changed by sliding
Distance adapts to environmental change between change so that dredging robot rear portion can also clear the jumps or into diameter change pipeline
It is interior, to realize the more efficient obstacle detouring of dredging robot and automatic adaptation walking in pipe, while can be effective using caterpillar belt structure
Skidding when avoiding moving in pipeline.
In the above manner, those skilled in the art can be made within the scope of the invention according to operating mode it is various
Change.
Claims (9)
1. a kind of urban discharging pipeline dredging robot, including car body, the car body is interior to be equipped with power cavity, it is equipped in the car body
Reserve chamber on the left of the power cavity is rotatably connected to the line shaft extended in the reserve chamber in the power cavity,
The line shaft is connected by power the motor for being fixedly connected on inner wall on the right side of the power cavity, is rotatably connected on the line shaft
Cross rotating disks on the left of the motor, circumferential array distribution has on the left of the motor and separate in the power cavity
Four self-reacting devices outside the power resonator end surface are stretched out in center one end；
The self-reacting device be hinged by the transmission arm that is hinged with described cross rotating disks one end, with transmission arm and with institute
State the travelling arm that power cavity inner left wall is slidably connected, the torsionspring reality connecting with the cross rotating disks left end face
Now be applicable in the functions of road conditions automatically, be equipped with the transmission device that can transmit the motor power in the self-reacting device, it is described oneself
Adaptive device is equipped with the driving mobile using the power drive dredging robot of transmission device transmitting far from center one end
Wheel apparatus, the driving wheel apparatus left end are equipped with obstacle crossing device, and reserve chamber left end symmetrical centre is equipped with can be applicable in pipe automatically
The Accrete clearing device of road size, the Accrete clearing device and obstacle crossing device linkage make dredging robot crossing obstacle automatically.
2. a kind of urban discharging pipeline dredging robot as described in claim 1, it is characterised in that: setting in the reserve chamber
There is reserve battery, when the connection between the dredging robot in operation and external power supply cable is cut off, the reserve battery
There is provided stand-by power for dredging robot makes it independently leave operation pipeline.
3. a kind of urban discharging pipeline dredging robot as described in claim 1, it is characterised in that: with the described adaptive of downside
For answering device, the self-reacting device includes being fixedly connected on the line shaft and being located on the left of the cross rotating disks
Block plate, the torsionspring left and right ends are connected with the block plate right end face and the cross rotating disks left end face respectively
It connects, turntable chamber, the cross rotating disks lower end and the institute being located on the left of the cross rotating disks is equipped in the cross rotating disks
It states transmission arm to be hinged, equipped with transmission arm chamber, the transmission arm lower end and on the left of the transmission arm in the transmission arm
The travelling arm is hinged, and travelling arm chamber is equipped in the travelling arm.
4. a kind of urban discharging pipeline dredging robot as claimed in claim 3, it is characterised in that: when pipe diameter becomes smaller
When, the travelling arm can along the power cavity inner left wall to close to one Slideslip of center, when pipe diameter becomes larger, due to
The elastic force effect of the torsionspring makes the travelling arm along the power cavity inner left wall to far from one Slideslip of center, from
And realize automatic adaptation road conditions function.
5. a kind of urban discharging pipeline dredging robot as claimed in claim 1 or 3, it is characterised in that: described in downside
For transmission device, the transmission device includes being fixedly connected on the line shaft and being located at the intracavitary main tooth of the turntable
It takes turns, is rotatably connected to left and right on inner wall on the right side of the turntable chamber and extends and extend into the left the intracavitary gear shaft of the transmission arm,
The gear shaft and the transmission arm chamber inner left wall are rotatablely connected, and are fixedly connected on the gear shaft positioned at the turntable chamber
Interior gear is fixedly connected with the belt wheel intracavitary positioned at the transmission arm on the gear shaft；
Inner wall is rotatably connected to left and right extension and extends into the intracavitary universal driving shaft of the travelling arm to the left on the right side of the transmission arm chamber,
The universal driving shaft is located on the downside of the gear shaft and is rotatablely connected with the travelling arm chamber inner left wall, fixed on the universal driving shaft
It is connected with and is located at the intracavitary linkage belt wheel of the transmission arm, be connected with transmission belt between the linkage belt wheel and the belt wheel, institute
It states and is fixedly connected with the secondary pulley intracavitary positioned at the travelling arm on universal driving shaft, the travelling arm is intracavitary to be rotatably connected to positioned at institute
State the composite shaft that on the downside of universal driving shaft and left and right extends, be fixedly connected with compound belt wheel in the composite shaft, the compound belt wheel with
V band is connected between the secondary pulley；
The travelling arm is intracavitary to be rotatably connected to the bevel gear shaft that on front side of the composite shaft and left and right extends, the bevel gear
Axis right end extends the travelling arm chamber right end face, is fixedly connected on the bevel gear shaft intracavitary positioned at the travelling arm
V belt wheel, is connected with the synchronous belt positioned at the V with right side between the V belt wheel and the compound belt wheel, the bevel gear shaft is solid
Surely the bevel pinion being connected with outside the travelling arm resonator end surface.
6. a kind of urban discharging pipeline dredging robot as claimed in claim 1 or 5, it is characterised in that: described in downside
For driving wheel apparatus, the driving wheel apparatus includes and the first L-box that end face is fixedly connected on the downside of the travelling arm, institute
The the first crawler belt chamber for being equipped in the first L-box and penetrating through up and down is stated, is rotatably connected on the first crawler belt chamber front inner wall
The rotation axis that front and back extends is fixedly connected with the symmetrical two power belt wheels in front and back, the power of front side in the rotation axis
The bevel gear that connection is engaged with the bevel pinion is fixedly connected in belt wheel back end surface, the intracavitary rotation of the first crawler belt connects
It is connected to the track wheel shaft for being located at that on the left of the rotation axis and front and back extends, before the track wheel shaft extends the first crawler belt chamber
Side end face, is fixedly connected with the secondary Athey wheel intracavitary positioned at first crawler belt on the track wheel shaft, the pair Athey wheel with
The first crawler belt is connected between the power belt wheel.
7. a kind of urban discharging pipeline dredging robot as described in claim 1 or 6, it is characterised in that: described in downside
For obstacle crossing device, the obstacle crossing device includes the second L-box with track wheel shaft rotation connection, second crawler belt
Be equipped with the second crawler belt chamber penetrated through up and down in case, the track wheel shaft extend forwardly to second crawler belt it is intracavitary and with institute
The rotation connection of the second crawler belt chamber front inner wall is stated, is fixedly connected with the shoe intracavitary positioned at second crawler belt on the track wheel shaft
Belt wheel, the intracavitary obstacle detouring axis being rotatably connected to positioned at the track wheel shaft left side and front and back extension of second crawler belt are described to get over
It is fixedly connected with obstacle detouring belt wheel on barrier axis, is connected with the second crawler belt between the obstacle detouring belt wheel and the Athey wheel, described second
Obstacle detouring bar is hinged in crawler belt chamber back end surface.
8. a kind of urban discharging pipeline dredging robot as claimed in claim 1 or 7, it is characterised in that: the Accrete clearing device
Including the sliding axle being rotatablely connected with the reserve chamber and left and right extends, the sliding axle extends the reserve chamber left-hand end
Face, the sliding axle right end are fixedly connected with the line shaft left end, are fixedly connected on the sliding axle positioned at described spare
Cutterhead is scraped outside resonator end surface, described to scrape the swing rod chamber that left and right perforation is equipped in cutterhead, the intracavitary circumferential array of swing rod is distributed with
Openings are directed away from four sliding cavities at symmetrical centre, slidably connect scraper sliding block on the sliding cavity, described to scrape
Knife sliding block is fixedly connected with scraper far from symmetrical centre one end, and swing rod is hinged on the scraper sliding block, is slided on the sliding axle
Dynamic be connected with is located at the slider disc scraped on the right side of cutterhead, and the swing rod other end is hinged with the slider disc, the obstacle detouring
The bar other end and the slider disc are hinged and the obstacle detouring bar is located on the right side of the swing rod, the slider disc right end face and institute
It states and is connected with reset spring between reserve chamber left end face.
9. a kind of urban discharging pipeline dredging robot as claimed in claim 8, it is characterised in that: the swing rod is straight with pipeline
Diameter changes and moves through the swing rod, the slider disc drives the obstacle detouring bar movement, so as to the obstacle detouring dress that links
Set realization obstacle crossing function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478020.2A CN110130475A (en) | 2019-06-03 | 2019-06-03 | A kind of urban discharging pipeline dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478020.2A CN110130475A (en) | 2019-06-03 | 2019-06-03 | A kind of urban discharging pipeline dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110130475A true CN110130475A (en) | 2019-08-16 |
Family
ID=67579808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910478020.2A Withdrawn CN110130475A (en) | 2019-06-03 | 2019-06-03 | A kind of urban discharging pipeline dredging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110130475A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112609812A (en) * | 2021-01-05 | 2021-04-06 | 南京景上行科技有限公司 | Sewage pipeline inner wall cleaning trolley based on lifting rope traction |
| CN112726807A (en) * | 2021-01-20 | 2021-04-30 | 龙岩学院 | Tunnel drain pipe desilting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200471030Y1 (en) * | 2012-02-07 | 2014-01-27 | 한국라이텍개발(주) | The pipe diameter recovery device |
| CN203795580U (en) * | 2014-03-10 | 2014-08-27 | 徐州中矿安信科技有限公司 | Dredging robot used for drainage pipe |
| CN107859160A (en) * | 2017-11-13 | 2018-03-30 | 陈飞龙 | A kind of urban water conservancy pipe dredging device |
| CN108374483A (en) * | 2018-05-02 | 2018-08-07 | 沈阳建筑大学 | A kind of hybrid propulsion formula self-adapting pipe dredging robot and method |
| CN108709047A (en) * | 2018-06-14 | 2018-10-26 | 温岭市浩达电器有限公司 | A kind of pipe robot mode of progression suitable for municipal sewage webmaster |
-
2019
- 2019-06-03 CN CN201910478020.2A patent/CN110130475A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200471030Y1 (en) * | 2012-02-07 | 2014-01-27 | 한국라이텍개발(주) | The pipe diameter recovery device |
| CN203795580U (en) * | 2014-03-10 | 2014-08-27 | 徐州中矿安信科技有限公司 | Dredging robot used for drainage pipe |
| CN107859160A (en) * | 2017-11-13 | 2018-03-30 | 陈飞龙 | A kind of urban water conservancy pipe dredging device |
| CN108374483A (en) * | 2018-05-02 | 2018-08-07 | 沈阳建筑大学 | A kind of hybrid propulsion formula self-adapting pipe dredging robot and method |
| CN108709047A (en) * | 2018-06-14 | 2018-10-26 | 温岭市浩达电器有限公司 | A kind of pipe robot mode of progression suitable for municipal sewage webmaster |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112609812A (en) * | 2021-01-05 | 2021-04-06 | 南京景上行科技有限公司 | Sewage pipeline inner wall cleaning trolley based on lifting rope traction |
| CN112726807A (en) * | 2021-01-20 | 2021-04-30 | 龙岩学院 | Tunnel drain pipe desilting robot |
| CN112726807B (en) * | 2021-01-20 | 2022-12-27 | 龙岩学院 | Dredging robot for tunnel drain pipe |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210263354U (en) | Desilting robot for urban pipelines | |
| CN110130475A (en) | A kind of urban discharging pipeline dredging robot | |
| CN109577402A (en) | Crawler body front end, which swings, twists suction dredging robot | |
| CN206562661U (en) | Rinse the desilting equipment for twisting the drainage pipeline for scraping dual-use function | |
| CN210164037U (en) | Miniature track robot for removing obstacles and dredging pipelines | |
| CN113914451B (en) | Anti-blocking dredging system for municipal road engineering and construction method thereof | |
| CN206360072U (en) | A kind of municipal sewer pipe dredging machine device people | |
| CN218060687U (en) | Pipeline dredging robot | |
| CN109763532B (en) | Dam flood discharge tunnel underwater dredging system | |
| KR101645931B1 (en) | A snow flating device | |
| CN109577400B (en) | Cutter-suction type dredging robot with crawler chassis | |
| CN209354145U (en) | For high hydraulic pressure, the super big diameter mud water balance shield machine of broken formation | |
| CN208219738U (en) | A kind of high-efficient dredging machine that building building water conservancy construction uses | |
| CN114718179B (en) | Municipal pipeline cleaning and polishing robot | |
| CN109577399A (en) | Have to swing from the crawler body of rescue function and twists suction dredging robot | |
| CN215759262U (en) | Chain type ditcher applied to urban and rural pipeline laying | |
| CN115341511A (en) | Channel digging and building integrated forming machine | |
| CN210658484U (en) | Underground movable excavator | |
| CN114319571A (en) | Well mediation equipment for city construction | |
| CN209760330U (en) | Cutter-suction type dredging robot with crawler chassis | |
| CN112483118A (en) | Free-section hard rock excavating equipment | |
| CN113047359A (en) | A portable irrigation canals and ditches excavating gear for moving people engineering construction | |
| CN112854428A (en) | Cutter head dredging device | |
| CN104674935A (en) | Method for improvement of miniature sewer dredging vehicle | |
| CN214695392U (en) | Deicing blade of land leveler |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190816 |
|
| WW01 | Invention patent application withdrawn after publication |