CN114277917A - Intelligent dredging robot system based on step-by-step pipe network - Google Patents
Intelligent dredging robot system based on step-by-step pipe network Download PDFInfo
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- CN114277917A CN114277917A CN202111558228.9A CN202111558228A CN114277917A CN 114277917 A CN114277917 A CN 114277917A CN 202111558228 A CN202111558228 A CN 202111558228A CN 114277917 A CN114277917 A CN 114277917A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 37
- 238000004891 communication Methods 0.000 claims description 26
- 238000004804 winding Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 12
- 238000004140 cleaning Methods 0.000 abstract description 10
- 238000007689 inspection Methods 0.000 abstract description 10
- 238000000926 separation method Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 239000000203 mixture Substances 0.000 abstract description 3
- 239000010865 sewage Substances 0.000 abstract description 3
- 230000032258 transport Effects 0.000 abstract description 2
- 239000000284 extract Substances 0.000 abstract 1
- 239000007787 solid Substances 0.000 description 11
- 239000010802 sludge Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Abstract
The invention provides an intelligent dredging robot system based on a step-by-step pipe network, and belongs to the technical field of municipal engineering. This based on step-by-step pipe network intelligence desilting robot system includes desilting subassembly and traction assembly. The desilting subassembly includes first power supply box, first relay reel, the second power supply box, the second relay reel, pull data cable before the robot, pull data cable behind the robot, remote monitoring platform, cable fixing device, detect desilting robot and control end, in the use, in whole clearance process, the accessible inhales the muddy water mixture that the silt pump will clear up to the inspection shaft and extracts, carry out mud-water separation through mud-water separation equipment on ground simultaneously, sewage backward flow sewer, silt behind the mud-water separation transports to the appointed place, whole section pipeline desilting operation is accomplished, this desilting robot system can be automatic clear up the silt in the pipeline, the cleaning efficiency to silt in the pipeline has been improved.
Description
Technical Field
The invention relates to the field of municipal engineering, in particular to an intelligent dredging robot system based on a step-by-step pipe network.
Background
The rapid development of the urbanization process leads to more serious clogging of underground pipe networks. According to the traditional pipe network dredging mode, manual well descending operation can not be carried out on pipelines with smaller pipe diameters and blocking objects in the deep parts of the pipelines. In addition, the environment in the pipeline is complex and is full of dangerous gas, and casualties and explosions can occur due to carelessness.
Disclosure of Invention
In order to make up for the defects, the invention provides an intelligent dredging robot system based on a step-by-step pipe network, aiming at improving the problem that manual well descending operation cannot be carried out on pipelines with smaller pipe diameters and silted up objects in the depths of the pipelines. In addition, the environment in the pipeline is complex and is full of dangerous gas, and casualties and explosion problems can occur due to carelessness.
The invention is realized by the following steps:
the invention provides an intelligent dredging robot system based on a step-by-step pipe network.
The desilting component comprises a first power supply box, a first relay reel, a second power supply box, a second relay reel, a robot front traction data cable, a robot rear traction data cable, a remote monitoring platform, a cable fixing device, a detection desilting robot and a control end, wherein the first power supply box, the first relay reel, the second power supply box and the second relay reel are fixed on the ground, and one end of the robot front traction data cable is arranged on the detection desilting robot.
The other end of the robot front traction data cable is wound on the second relay reel, one end of the robot rear traction data cable is arranged on the desilting detection robot, the other end of the robot rear traction data cable is wound on the first relay reel, the robot front traction data cable and the robot rear traction data cable respectively penetrate through different cable fixing devices, the first power supply box is electrically connected with the first relay reel, the second power supply box is electrically connected with the second relay reel, the first relay reel and the second relay reel are connected with the control end in a signal mode, and the control end is connected with the remote monitoring platform in a signal mode.
The traction assembly comprises a hoisting device, a string bag traction rope and a solid silting object collecting string bag, the hoisting device is fixed on the ground, one end of the string bag traction rope is fixedly arranged on the hoisting device, and the other end of the string bag traction rope is fixedly arranged on the solid silting object collecting string bag.
In one embodiment of the present invention, the cable fixing device includes a cable guide mechanism, a first electric cylinder, a second electric cylinder, a third electric cylinder, and a fourth electric cylinder, and the first electric cylinder, the second electric cylinder, the third electric cylinder, and the fourth electric cylinder are all fixed on the cable guide mechanism.
In an embodiment of the invention, the detection dredging robot comprises a dredging robot body, a pipeline bottom guide wheel, a dredging shovel and a mud turning shovel operation head, wherein the pipeline bottom guide wheel is rotatably arranged on the dredging robot body, and the dredging shovel and the mud turning shovel operation head are both arranged on the dredging robot body.
In an embodiment of the invention, the detection dredging robot further comprises a lifting platform, a pipeline top guide wheel and a camera module, the lifting platform is fixed on the upper surface of the dredging robot body, the pipeline top guide wheel is rotatably arranged on the lifting platform, and the camera module is fixed on the lifting platform.
In one embodiment of the invention, each of the first and second relay reels comprises a positioning module, a control module, a communication module, a winding power module, a power supply system and an operation console, the positioning module and the control module are electrically connected together, the control module and the winding power module are electrically connected together, the winding power module and the power supply system are electrically connected together, the communication module and the operation console are electrically connected together, and the control module and the communication module are electrically connected together.
In an embodiment of the invention, the desilting robot comprises a communication module, a central processing module, a control module and a sensor, the communication module and the central processing module are electrically connected together, the communication module and the control module are electrically connected together, the control module and the sensor are electrically connected together, and the communication modules on the first relay reel and the second relay reel are electrically connected together with the communication module on the desilting robot.
In an embodiment of the invention, the robot front traction data cable and the robot rear traction data cable are both electrically connected with the detection dredging robot.
In one embodiment of the invention, the power supply system is composed of the first power supply box and the second power supply box.
In one embodiment of the invention, the operation console is composed of a display screen, a main board and a remote control device.
The invention has the beneficial effects that: the invention obtains an intelligent dredging robot system based on a step-by-step pipe network through the design, when in use, a cable fixing device is placed in an inspection well, the cable fixing device is expanded at the appointed position of the inspection well to be fixed on the well wall, a front traction data cable of a robot and a rear traction data cable of the robot pass through different cable fixing devices and are bent at the proper position in the pipeline to enter the pipeline, the end parts of the front traction data cable of the robot and the rear traction data cable of the robot are both fixed on a detection dredging robot, the rear traction data cable of the robot is connected with a first relay reel, the front traction data cable of the robot is connected with a second relay reel, the first relay reel and the second relay reel transmit data through wireless communication, the respective rotating directions are automatically coordinated through an algorithm, when the second relay reel rotates to take up, the detection dredging robot is dragged forwards by a front traction data cable of the robot to run, a mud turning shovel operation head on the detection dredging robot can shovel and turn up the silted up objects to facilitate subsequent cleaning, after every small section of the detected dredging robot is moved forwards, a second relay reel rotates to pay off, a first relay reel rotates to take up wires, the robot pulls the data cable backwards to drag the detection dredging robot, simultaneously, an umbrella-shaped dredging shovel on the detection dredging robot is opened to push the rear silted up objects out of the pipeline and drop the rear silted up objects into a solid silted up object collecting net bag, the operation is repeated for many times, all the silted up objects in the pipeline can be lifted away from a well mouth through the solid silted up object collecting net bag, in the whole cleaning process, a mud-water mixture cleaned to an inspection well can be extracted through a suction pump, and simultaneously mud-water separation is carried out on the ground through a mud-water separation device, sewage backward flow sewer, silt behind the mud-water separation transports to appointed place, and whole section pipeline desilting operation is accomplished, and this desilting robot system can be automatic clears up the silt in the pipeline, has improved the cleaning efficiency to silt in the pipeline.
The invention has the beneficial effects that: in order to carry out dredging operation in small pipe diameter and deep pipeline, improve working efficiency and meet the requirement of all-weather manual-free well descending operation, a step-by-step intelligent pipe network robot is adopted to divide sludge in a pipe network, part of clogging objects are cleaned to net bags in an inspection well each time, after enough large solid clogging objects are collected, a wellhead is lifted out by a hoisting device, remote pipe network detection, cleaning, maintenance and other integrated operations can be realized through modular design, meanwhile, operation and pipeline detection data can be transmitted back to a platform through a network in real time, remote command and operation are carried out, the underground pipe network system can be more transparent through the mode, the underground pipe network system has extremely high informatization level, and the urban modern treatment level enters a brand new stage.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic cross-sectional structure diagram of an intelligent dredging robot system based on a step-by-step pipe network according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a dredging assembly according to an embodiment of the present invention;
FIG. 3 is an enlarged view of area A of FIG. 2 according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a draft assembly according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a cable fixing device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a detecting and dredging robot provided by the embodiment of the invention;
fig. 7 is a working principle diagram of the step-by-step pipe network detection dredging robot system according to the embodiment of the invention.
In the figure: 100-a dredging component; 120-a first power supply box; 130-a first trunked reel; 140-a second power supply box; 150-a second trunked reel; 170-front traction data cable of robot; 180-robot rear traction data cable; 190-a remote monitoring platform; 191-a cable fixing means; 1911-a cable guide mechanism; 1912-first electric cylinder; 1913-a second electric cylinder; 1914-third electric cylinder; 1915-fourth electric cylinder; 192-detecting a dredging robot; 1921-dredging robot body; 1922-pipe bottom guide wheels; 1923-dredging shovel; 1924-a working head of a mud shovel; 1925-a lifting platform; 1926-pipe top guide wheel; 1927-a camera module; 193-control end; 200-a traction assembly; 210-hoisting device; 220-string bag hauling rope; 230-a solid clogging collecting net bag; 310-ground; 320-inspection well.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Examples
Referring to fig. 1-7, the present invention provides a technical solution: an intelligent dredging robot system based on a step-by-step pipe network comprises a dredging component 100 and a traction component 200. The traction assembly 200 is fixed on the dredging assembly 100, and the dredging robot system can automatically clean the sludge in the pipeline, so that the cleaning efficiency of the sludge in the pipeline is improved.
Referring to fig. 1-3 and 5-7, the dredging assembly 100 includes a first power box 120, a first relay reel 130, a second power box 140, a second relay reel 150, a robot front traction data cable 170, a robot rear traction data cable 180, a remote monitoring platform 190, a cable fixing device 191, a desilting detection robot 192 and a control end 193, the first power box 120, the first relay reel 130, the second power box 140 and the second relay reel 150 are all fixed on the ground 310 by bolts, the first relay reel 130 and the second relay reel 150 are all composed of a positioning module, a control module, a communication module, a winding power module, a power supply system and an operation control console, the positioning module and the control module are electrically connected together, the control module and the winding power module are electrically connected together, the winding power module and the power supply system are electrically connected together, the communication module and the operation console are electrically connected together, and the control module and the communication module are electrically connected together, so that the first and second repeater reels 130 and 150 can be controlled conveniently.
The power supply system comprises a first power supply box 120 and a second power supply box 140, the power supply system provides stable power supply for the whole robot system, the operation console comprises a display screen, a mainboard and a remote control device, the operation console can send a control instruction to the detection dredging robot 192 to check various operation data of the detection dredging robot 192, relevant data information and real-time video are displayed on the display screen, the remote control device controls the detection dredging robot 192 to move and adjust the posture, the detection dredging robot 192 comprises a communication module, a central processing module, a control module and a sensor, the communication module is electrically connected with the central processing module, the communication module is electrically connected with the control module, the control module is electrically connected with the sensor, the communication modules on the first relay reel 130 and the second relay reel 150 are electrically connected with the communication module on the detection dredging robot 192, it is convenient to control the detecting and dredging robot 192.
One end of a robot front traction data cable 170 is arranged on the detection dredging robot 192, the detection dredging robot 192 comprises a dredging robot body 1921, a pipeline bottom guide wheel 1922, a dredging shovel 1923 and a mud turning shovel operation head 1924, the pipeline bottom guide wheel 1922 is rotatably arranged on the dredging robot body 1921, the dredging shovel 1923 and the mud turning shovel operation head 1924 are both arranged on the dredging robot body 1921, the mud turning shovel operation head 1924 is used for shoveling and loosening the silted mud when the robot moves forward so as to facilitate subsequent cleaning, the dredging shovel 1923 can be opened when the robot pulls back under the traction of the data cable 180 so as to push the back silted mud 192320 to the inspection well and fall into the solid silted mud collection net 230, the detection dredging robot 192 further comprises a lifting platform 1925, a pipeline top guide wheel 1926 and a camera 1927, the lifting platform 1925 is fixed on the upper surface of the dredging robot body 1921 through bolts, the pipeline top guide wheel 1926 is rotatably arranged on the lifting platform 1925, the camera module 1927 is fixed on the lifting platform 1925 through bolts, and the lifting platform 1925 and the pipeline top guide wheel 1926 ensure that the posture of the dredging robot body 1921 is not easy to change in the pipeline, so that sufficient ground holding force is provided for the dredging robot body 1921.
The other end of the robot front traction data cable 170 is wound on the second relay reel 150, one end of the robot rear traction data cable 180 is arranged on the desilting robot 192, the other end of the robot rear traction data cable 180 is wound on the first relay reel 130, the robot front traction data cable 170 and the robot rear traction data cable 180 are both electrically connected with the desilting robot 192, the robot front traction data cable 170 and the robot rear traction data cable 180 are convenient for transmitting pipeline information and robot self-running state data to the first relay reel 130 and the second relay reel 150, the robot front traction data cable 170 and the robot rear traction data cable 180 respectively pass through different cable fixing devices 191, and the cable fixing devices 191 comprise a cable guide mechanism 1911, a first electric cylinder 1912, a second electric cylinder 1913, Third and fourth electric cylinders 1914 and 1915, first electric cylinder 1912, second electric cylinder 1913, third electric cylinder 1914 and fourth electric cylinder 1915 are all fixed on cable guide mechanism 1911 through bolts, the piston rod ends of first electric cylinder 1912, second electric cylinder 1913, third electric cylinder 1914 and fourth electric cylinder 1915 are fixed in manhole 320 firmly by pressing the inner wall of manhole 320, first power supply box 120 and first relay reel 130 are connected together, second power supply box 140 and second relay reel 150 are connected together, first relay reel 130 and second relay reel 150 are connected with control end 193, and control end 193 is connected with remote monitoring platform 190.
Referring to fig. 1 and 4, the traction assembly 200 includes a hoisting device 210, a string bag traction rope 220 and a solid clogging object collecting string bag 230, the hoisting device 210 is fixed on the ground 310 by bolts, one end of the string bag traction rope 220 is fixedly disposed on the hoisting device 210 by bolts, and the other end of the string bag traction rope 220 is fixedly disposed on the solid clogging object collecting string bag 230 by bolts.
Specifically, this theory of operation based on step-by-step pipe network intelligence desilting robot system: when the device is used, the cable fixing device 191 is placed in the inspection well 320, the cable fixing device 191 is spread at the designated position of the inspection well 320 to be fixed on the well wall, the robot front traction data cable 170 and the robot rear traction data cable 180 penetrate through different cable fixing devices 191 to be bent at the proper position in the pipeline to enter the pipeline, the end parts of the robot front traction data cable 170 and the robot rear traction data cable 180 are both fixed on the desilting detection robot 192, the robot rear traction data cable 180 is connected with the first relay reel 130, the robot front traction data cable 170 is connected with the second relay reel 150, the first relay reel 130 and the second relay reel 150 transmit data with each other through wireless communication and automatically coordinate the respective rotating directions through an algorithm, when the second relay reel 150 rotates and takes up the wires, the desilting detection robot 192 is dragged to move forwards by the robot front traction data cable 170, in the process, the mud shovel operation head on the detection dredging robot 192 shovels and loosens silt, so that subsequent cleaning is facilitated, after every small section of the detection dredging robot 192 advances, the second relay reel 150 rotates to pay off, the first relay reel 130 rotates to take up the line, the robot pulls the detection dredging robot 192 backwards by the data cable 180, simultaneously the umbrella-shaped dredging shovel on the detection dredging robot 192 opens, the rear silt is pushed out of the pipeline and falls into the solid silt collecting net bag 230, the operation is repeated for a plurality of times, the silt in the pipeline can be completely lifted away from a well mouth through the solid silt collecting net bag 230, in the whole cleaning process, a mud-water mixture cleaned to the inspection well 320 can be extracted by the suction pump, meanwhile, mud-water separation is carried out on the ground through mud-water separation equipment, sewage flows back, silt after mud-water separation is conveyed to a designated place, the whole section of pipeline dredging operation is completed, and the dredging robot system can automatically clean the sludge in the pipeline, so that the cleaning efficiency of the sludge in the pipeline is improved.
It should be noted that the specific model specifications of the first power supply box 120, the first relay reel 130, the second power supply box 140, the second relay reel 150, the robot front traction data cable 170, the robot rear traction data cable 180, the remote monitoring platform 190, the cable fixing device 191, the detected dredging robot 192, the control end 193 and the hoisting device 210 need to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art in the field, so detailed description is omitted.
The power supply and the principle of the first power supply box 120, the first relay reel 130, the second power supply box 140, the second relay reel 150, the robot front traction data cable 170, the robot rear traction data cable 180, the remote monitoring platform 190, the cable fixing device 191, the desilting robot 192, the control terminal 193 and the lifting device 210 are clear to those skilled in the art and will not be described in detail herein.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. Based on step-by-step pipe network intelligence desilting robot system, its characterized in that includes
The dredging component (100) comprises a first power supply box (120), a first relay reel (130), a second power supply box (140), a second relay reel (150), a robot front traction data cable (170), a robot rear traction data cable (180), a remote monitoring platform (190), a cable fixing device (191), a detection dredging robot (192) and a control end (193), wherein the first power supply box (120), the first relay reel (130), the second power supply box (140) and the second relay reel (150) are all fixed on the ground (310), and one end of the robot front traction data cable (170) is arranged on the detection dredging robot (192);
the other end of the robot front traction data cable (170) is wound on the second relay reel (150), one end of the robot rear traction data cable (180) is arranged on the silt detection robot (192), the other end of the robot rear traction data cable (180) is wound on the first relay reel (130), the robot front traction data cable (170) and the robot rear traction data cable (180) respectively pass through different cable fixing devices (191), the first power supply box (120) and the first relay reel (130) are electrically connected together, the second power supply box (140) and the second relay reel (150) are electrically connected together, and the first relay reel (130) and the second relay reel (150) are both in signal connection with the control end (193), the control end (193) is in signal connection with the remote monitoring platform (190);
traction assembly (200), traction assembly (200) includes hoist device (210), string bag haulage rope (220) and solid-state silt thing collection string bag (230), hoist device (210) are fixed on ground (310), the one end of string bag haulage rope (220) is fixed to be set up on hoist device (210), the other end of string bag haulage rope (220) is fixed to be set up on solid-state silt thing collection string bag (230).
2. The intelligent dredging robot system based on the step-by-step pipe network is characterized in that the cable fixing device (191) comprises a cable guide mechanism (1911), a first electric cylinder (1912), a second electric cylinder (1913), a third electric cylinder (1914) and a fourth electric cylinder (1915), and the first electric cylinder (1912), the second electric cylinder (1913), the third electric cylinder (1914) and the fourth electric cylinder (1915) are all fixed on the cable guide mechanism (1911).
3. The stepping-based pipe network intelligent dredging robot system according to claim 1, wherein the detection dredging robot (192) comprises a dredging robot body (1921), a pipe bottom guide wheel (1922), a dredging shovel (1923) and a mud shovel working head (1924), the pipe bottom guide wheel (1922) is rotatably arranged on the dredging robot body (1921), and the dredging shovel (1923) and the mud shovel working head (1924) are both arranged on the dredging robot body (1921).
4. The intelligent dredging robot system based on the step-by-step pipe network as claimed in claim 3, wherein the detection dredging robot (192) further comprises a lifting platform (1925), a pipe top guide wheel (1926) and a camera module (1927), the lifting platform (1925) is fixed on the upper surface of the dredging robot body (1921), the pipe top guide wheel (1926) is rotatably arranged on the lifting platform (1925), and the camera module (1927) is fixed on the lifting platform (1925).
5. The intelligent dredging robot system based on the stepped pipe network is characterized in that the first relay reel (130) and the second relay reel (150) are both composed of a positioning module, a control module, a communication module, a winding power module, a power supply system and an operation console, the positioning module is electrically connected with the control module, the control module is electrically connected with the winding power module, the winding power module is electrically connected with the power supply system, the communication module is electrically connected with the operation console, and the control module is electrically connected with the communication module.
6. The stepping-based pipe network intelligent dredging robot system according to claim 5, wherein the detection dredging robot (192) is composed of a communication module, a central processing module, a control module and a sensor, the communication module and the central processing module are electrically connected together, the communication module and the control module are electrically connected together, the control module and the sensor are electrically connected together, and the communication modules on the first relay reel (130) and the second relay reel (150) are electrically connected together with the communication module on the detection dredging robot (192).
7. The stepping-based pipe network intelligent dredging robot system according to claim 1, wherein the robot front traction data cable (170) and the robot rear traction data cable (180) are electrically connected with the detection dredging robot (192).
8. The stepping-based pipe network intelligent dredging robot system according to claim 5, wherein the power supply system is composed of the first power supply box (120) and the second power supply box (140).
9. The stepping-based pipe network intelligent dredging robot system according to claim 5, wherein the operation console is composed of a display screen, a main board and a remote control device.
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| CN202111558228.9A CN114277917A (en) | 2021-12-17 | 2021-12-17 | Intelligent dredging robot system based on step-by-step pipe network |
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| CN202111558228.9A CN114277917A (en) | 2021-12-17 | 2021-12-17 | Intelligent dredging robot system based on step-by-step pipe network |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114837291A (en) * | 2022-04-28 | 2022-08-02 | 浙江上鑫生态建设有限公司 | Municipal pipeline dredging and detecting integrated construction method |
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