CN115780427B - Closed pipeline dredging robot - Google Patents
Closed pipeline dredging robot Download PDFInfo
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- CN115780427B CN115780427B CN202211280714.3A CN202211280714A CN115780427B CN 115780427 B CN115780427 B CN 115780427B CN 202211280714 A CN202211280714 A CN 202211280714A CN 115780427 B CN115780427 B CN 115780427B
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- 230000000670 limiting effect Effects 0.000 claims description 11
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Abstract
The application discloses a closed pipeline dredging robot which comprises a vehicle body component, a camera shooting component and a control component, wherein the vehicle body component comprises a vehicle body, a conveying pipe arranged at the bottom of the vehicle body, an installation cabin arranged on the upper surface of the vehicle body, and the camera shooting component comprises a driving piece arranged on the inner side of the installation cabin, a multidirectional transmission piece arranged on the vehicle body and driven by the driving piece, and a camera arranged on the multidirectional transmission piece. Through setting up the subassembly of making a video recording, in the course of the work, the camera can shoot and transmit the picture of record, makes the staff can know the clearance condition of pipeline and the real-time work condition of desilting robot outside the pipeline, can in time adjust according to actual conditions, promotes the effect of desilting, and at the in-process of shooing, through driving piece and multidirectional driving piece, can drive the multidirectional rotation of camera to the shooting direction of adjustment camera.
Description
Technical Field
The application relates to the technical field of dredging robots, in particular to a closed pipeline dredging robot.
Background
In recent years, urban population of China is continuously increased, sewage pipelines are always in an overload running state, old sewage pipelines are broken and blocked to cause urban waterlogging, life and property safety of citizens is threatened, modern development of cities is hindered, and intelligent cleaning robots for the sewage pipelines can detect and overhaul conditions inside pipelines and dredge the pipelines and clean sludge.
But current desilting robot does not be equipped with image recording structure, and the desilting robot when some inclosed pipeline inboardly carries out silt clearance, and the condition of desilting and the state of robot can't be observed to personnel, first cause the desilting effect unable guarantee, and the second can lead to unable accurate control desilting robot to avoid the obstacle.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The application is provided in view of the problem of observing dredging conditions of the prior closed pipeline dredging robot.
Therefore, the application aims to provide a closed pipeline dredging robot.
In order to solve the technical problems, the application provides the following technical scheme: the device comprises a vehicle body component, a dredging component and a camera shooting component, wherein the vehicle body component comprises a vehicle body, a conveying pipe arranged at the bottom of the vehicle body, and an installation cabin arranged on the upper surface of the vehicle body, the dredging component comprises a front shovel part communicated with the conveying pipe on the vehicle body, a conveying part arranged at the inner side of the conveying pipe, and the camera shooting component comprises a driving piece arranged at the inner side of the installation cabin, a multidirectional transmission piece driven by the driving piece and a camera arranged on the multidirectional transmission piece.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the multidirectional transmission piece comprises a first transmission part and a second transmission part, the first transmission part comprises a supporting seat arranged on the upper surface of the car body, a unidirectional rotating disc arranged on the inner side of the supporting seat and capable of unidirectional rotating, and a first stressed piece arranged on the inner side of the unidirectional rotating disc, the second transmission part comprises a protective cover arranged on the upper surface of the unidirectional rotating disc, a top plate arranged on the upper surface of the protective cover and a second stressed piece arranged on the inner side of the top plate, the first stressed piece is pushed to drive the first transmission part to rotate when the driving piece rotates along a first direction, the second stressed piece is pushed to drive the second transmission part to rotate when the driving piece rotates along a second direction, and the rotating directions of the first direction and the second direction are opposite.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the first stress piece comprises an inner groove arranged on the inner side of the unidirectional rotating disc, a push-back mechanism arranged on the inner side of the inner groove and a stress rod connected with the push-back mechanism, wherein the stress rod comprises a rod body connected with the inner side of the unidirectional rotating disc through a hinge, a rod groove arranged on the rod body and a sliding block connected with the inner side of the rod groove in a sliding manner, the push-back mechanism comprises an inner column arranged on the inner side of the inner groove, a push-back block connected with the outer side of the inner column in a sliding manner, a push-back rod arranged on the push-back block and a reset spring arranged on the outer side of the inner column, the setting position of the reset spring is located between one side, away from the rod body, of the push-back block and the inner side wall of the inner groove, one end of the push-back rod is hinged with the push-back block, the other end of the push-back rod is hinged with the sliding block, the inner side of the unidirectional rotating disc is further provided with a limiting piece, and the limiting piece limits the stress rod to rotate in the direction away from the push-back mechanism.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the second stress piece comprises a movable disc arranged on the inner side of the top plate, a unidirectional stress mechanism connected to the movable disc in a sliding manner and a secondary driving mechanism arranged on the upper surface of the movable disc, a through hole is formed in the movable disc, the unidirectional stress mechanism comprises a lifting column connected to the inner side of the through hole in a sliding manner, a drop-preventing plate arranged on the outer side of the lifting column and above the movable disc, and a push-receiving block arranged at the bottom end of the lifting column and below the movable disc, the secondary driving mechanism comprises a push rod arranged on the upper surface of the protective cover, a transmission column arranged on the push rod and parallel to the movable disc in a rotating manner, and a stand column arranged on the upper surface of the movable disc and rotating along with the movable disc, a first bevel gear is arranged on the transmission column, the first bevel gear is meshed with the second bevel gear, one side of the push-receiving block is a plane, and the other side of the push-receiving block is an inward contracted circular arc surface.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the limiting piece comprises a protruding structure arranged on the inner side of the unidirectional rotating disc and a contact plate arranged on one end of the rod body close to the unidirectional rotating disc, and one side, close to the push-back block, of the contact plate is attached to one side, far away from the push-back block, of the protruding structure when the rod body is perpendicular to the inner side wall of the rotating disc.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the driving piece comprises a driving motor arranged on the inner side of An Zhuangcang and a driving shaft in transmission connection with an output shaft of the driving motor, a first rotating push rod is arranged on the outer side of the driving shaft and at a corresponding position of a stressed rod, a second rotating push rod is arranged on the outer side of the driving shaft and at a corresponding position of the stressed block, the driving motor contacts one side of the stressed rod, which is close to the push-back mechanism, and the second rotating push rod contacts the arc surface of the stressed block when rotating along the first direction, and the driving motor contacts one side of the stressed rod, which is far away from the push-back mechanism, and the second rotating push rod contacts the plane of the stressed block when rotating along the second direction.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the outside of transmission post is provided with the installation pole, the camera sets up on the installation pole.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the front shovel part comprises a shovel body, a first spiral column arranged in the shovel body and a driven bevel gear arranged on the outer side of the first spiral column, the conveying part comprises a second spiral column arranged on the inner side of the conveying pipe and a driving bevel gear arranged on the outer side of one end, close to the first spiral column, of the second spiral column, and the driving bevel gear is meshed with the driven bevel gear.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the inner side of the conveying pipe is provided with a fixing frame, a trepanning is formed in the fixing frame, and the second spiral column is rotatably arranged on the inner side of the trepanning.
As a preferable scheme of the closed pipeline dredging robot, the application comprises the following steps: the two sides of the car body are provided with double wheel sets, and two wheels of the double wheel sets are connected through a crawler belt.
The application has the beneficial effects that: through setting up the subassembly of making a video recording, in the course of the work, the camera can shoot and transmit the picture of record, makes the staff can know the clearance condition of pipeline and the real-time work condition of desilting robot outside the pipeline, can in time adjust according to actual conditions, promotes the effect of desilting, and at the in-process of shooing, through driving piece and multidirectional driving piece, can drive the multidirectional rotation of camera to the shooting direction of adjustment camera.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic diagram of the overall structure of the closed pipeline dredging robot.
Fig. 2 is a schematic structural view of a dredging assembly of the closed pipeline dredging robot.
Fig. 3 is a schematic structural view of an image pickup assembly of the closed pipeline dredging robot.
Fig. 4 is a schematic diagram of an internal structure of an image pickup assembly of the closed pipeline dredging robot.
Fig. 5 is a schematic diagram of a driving member structure of the closed pipeline dredging robot.
Fig. 6 is a schematic structural view of a unidirectional rotating disc of the closed pipeline dredging robot.
Fig. 7 is an exploded schematic view of a second transmission part structure of the closed pipeline dredging robot.
Fig. 8 is an enlarged schematic view of the structure of the closed pipeline dredging robot shown in fig. 6 at a.
Fig. 9 is a schematic view of a partial structure of a first stress part of the closed pipeline dredging robot.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Further, in describing the embodiments of the present application in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Example 1
Referring to fig. 1, 2 and 4, an overall schematic diagram of a closed pipeline dredging robot is provided, as shown in fig. 1, and the closed pipeline dredging robot includes a vehicle body assembly 100, including a vehicle body 101 and a conveying pipe 102 disposed at the bottom of the vehicle body 101, wherein the conveying pipe 102 is used for conveying dirt cleaned in front of the vehicle body 101 to the rear of the vehicle body 101, the vehicle body assembly 100 further includes a mounting cabin 103 disposed on the upper surface of the vehicle body 101, and the mounting cabin 103 is used for mounting a driving member 301 of an image pickup assembly 300.
Referring to fig. 2, the dredging device 200 further includes a dredging device 200, the dredging device 200 includes a front shovel 201 disposed on the vehicle body 101, the front shovel 201 is used for shoveling dirt accumulated on the inner side of the pipeline, the dredging device 200 further includes a conveying portion 202, the conveying portion 202 is disposed on the inner side of the conveying pipe 102, the conveying pipe 102 is communicated with the front shovel 201, and the dirt on the inner side of the front shovel 201 enters the inner side of the conveying pipe 102 and is conveyed to the rear side of the vehicle body 101 by pushing of the conveying portion 202.
As shown in fig. 1 and 4, the camera assembly 300 further includes a driving member 301 disposed on the inner side of the An Zhuangcang, a multi-directional transmission member 302 disposed on the vehicle body 101 and driven by the driving member 301, and a camera 303 disposed on the multi-directional transmission member 302, wherein the driving member 301 can drive the camera 303 to rotate in multiple directions through the multi-directional transmission member 302, so that the camera 303 can adjust the shooting direction.
Specifically, the installation cabin 103 is of a downward concave structure integrally formed at the upper top of the vehicle body 101, the driving piece 301 is arranged on the inner side of the concave installation cabin 103, the multidirectional transmission piece 302 is installed at the upper top of the vehicle body 101, and the installation position is located at the top opening of the installation cabin 103, so that the heights of the driving piece 301, the multidirectional transmission piece 302 and the overall structure of the camera 303 are reduced, and the trafficability of the whole device is improved.
The operation process comprises the following steps: in the dredging process of the device, the front shovel part 201 is used for shoveling sludge and sundries existing on the inner side of a pipeline, the sludge and the sundries enter the inner side of the conveying pipe 102 through the connection part of the front shovel part 201 and the conveying pipe 102, after the sundries and the dirt enter the inner side of the conveying pipe 102, the conveying part 202 works to convey the dirt on the inner side of the conveying pipe 102 to the rear of the vehicle body 101, in the process, the camera 303 can shoot and transmit recorded pictures, so that workers can know the cleaning condition of the pipeline and the real-time working condition of a dredging robot outside the pipeline, the dredging effect can be timely adjusted according to actual conditions, the multidirectional rotation of the camera 303 can be driven through the driving piece 301 and the multidirectional transmission piece 302 in the shooting process, and the shooting direction of the camera 303 is adjusted.
Example 2
Referring to fig. 1-8, this embodiment differs from the first embodiment in that: the multidirectional transmission member 302 includes a first transmission portion 302a and a second transmission portion 302b, the driving member 301 includes a driving motor 301a disposed inside the An Zhuangcang 103, and a driving shaft 301b in transmission connection with an output shaft of the driving motor 301a, where a pushing structure is disposed on the driving shaft 301b and corresponding to the first transmission portion 302a and the second transmission portion 302b, and when the driving member 301 rotates in a first direction (hereinafter abbreviated as forward rotation), the driving member 301 pushes the first stress member 302a-3 to drive the first transmission portion 302a to rotate, and when the driving member 301 rotates in a second direction (hereinafter abbreviated as reverse rotation), the driving member 301 pushes the second stress member 302b-3 to drive the second transmission portion 302b to rotate, where the rotation directions of the first direction and the second direction are opposite.
Specifically, the first transmission part 302a includes a supporting seat 302a-1 disposed on the upper surface of the vehicle body 101, a unidirectional rotating disc 302a-2 disposed on the inner side of the supporting seat 302a-1 and a first force receiving member 302a-3 disposed on the inner side of the unidirectional rotating disc 302a-2 to drive the unidirectional rotating disc 302a-2 to rotate, wherein the first force receiving member 302a-3 includes an inner groove 302a-3a disposed on the inner side of the unidirectional rotating disc 302a-2, a push-back mechanism 302a-3b disposed on the inner side of the inner groove 302a-3a and a force receiving rod 302a-3c disposed on the inner side of the unidirectional rotating disc 302a-2 and connected with the push-back mechanism 302a-3b, the unidirectional rotating disc 302a-2 is further disposed on the inner side of the unidirectional rotating disc 302a-2 and is provided with a limiting member 302a-2a, when the driving motor 301a rotates positively, the driving motor 301a drives the driving shaft 301b to rotate positively, the driving shaft 301b rotates positively, the structure corresponding to the force receiving rod 302a-3c on the driving shaft 301b to the driving shaft 302a rotates positively, thereby the unidirectional rotating disc 302a-2a 2 is formed, and the unidirectional rotating motion of the camera 303 is formed, the unidirectional rotating disc 302a is driven positively, and the unidirectional rotation of the camera 303 is formed, and the unidirectional rotation of the camera is achieved, and the axial motion of the camera 303 is achieved.
Specifically, the second transmission portion 302b includes a protective cover 302b-1 disposed on an upper surface of the unidirectional rotating disc 302a-2, a top plate 302b-2 disposed on an upper surface of the protective cover 302b-1, and a second force-bearing member 302b-3 disposed inside the top plate 302b-2, where the second force-bearing member 302b-3 includes a movable disc 302b-3a disposed inside the top plate, a unidirectional force-bearing mechanism 302b-3b slidingly connected to the movable disc 302b-3a, and a secondary driving mechanism 302b-3c disposed on an upper surface of the movable disc 302b-3a, when the driving motor 301a is reversed, the driving shaft 301b is reversed, a structure corresponding to the second transmission portion 302b on the driving shaft 301b pushes the unidirectional force-bearing mechanism 302b-3b, and the unidirectional driving mechanism transmits power to the movable disc 302b-3a, so as to drive the movable disc 302b-3a to be reversed, the movable disc 302b-3a to rotate reversely, and the secondary driving mechanism 302b-3c is rotated reversely, so that the secondary driving mechanism 302b-3c drives the camera to adjust a shooting angle.
Further, the force-receiving lever 302a-3c includes a lever body 302a-3c-1 hinged to the inner side of the unidirectional rotating disk 302a-2, a lever groove 302a-3c-2 provided on the lever body 302a-3c-1, and a slide block 302a-3c-3 slidingly coupled to the inner side of the lever groove 302a-3c-2, the push-back mechanism 302a-3b including an inner column 302a-3b-1 provided on the inner side of the inner recess 302a-3a, a push-back block 302a-3b-2 slidingly coupled to the outer side of the inner column 302a-3b-1, a push-back lever 302a-3b-3 provided on the push-back block 302a-3b-2, and a return spring 302a-3b-4 provided on the outer side of the inner column 302a-3b-1, the position of the return spring 302a-3b-4 being located between the side of the push-back block 302a-3b-2 remote from the lever body 302a-3c-1 and the inner side wall of the inner recess 302a-3 a-1, one end of the push-back rod 302a-3b-3 is hinged with the push-back block 302a-3b-2, the other end is hinged with the sliding block 302a-3c-3, when the driving motor 301a rotates forward, the structure corresponding to the first transmission part 302a on the driving shaft 301b contacts the force-receiving rod 302a-3c from the side of the force-receiving rod 302a-3c close to the push-back mechanism 302a-3b, at this time, the force-receiving rod 302a-3c is limited by the limiting piece 302a-2a, one end of the force-receiving rod 302a-3c far from the inner groove 302a-3a cannot deflect in the direction far from the push-back structure, so that the force-receiving rod 302a-3c can transmit power to the unidirectional rotating disc 302a-2, when the driving motor 301a rotates backward, the structure corresponding to the first transmission part 302a on the driving shaft 301b contacts the stress rod 302a-3c from one side of the stress rod 302a-3c far away from the push-back mechanism 302a-3b, after the stress rod 302a-3c receives pressure, one end of the stress rod 302a-3c far away from the inner groove 302a-3a rotates towards the push-back mechanism 302a-3b, the rod body 302a-3c-1 presses the push-back rod 302a-3b-3, the push-back rod 302a-3b-3 pushes the push-back block 302a-3b-2 to move towards the direction far away from the stress rod 302a-3c so as to squeeze the return spring 302a-3b-4, after the stress rod 302a-3c is stressed and rotated, the distance between the stress rod 302a-3c and the driving shaft 301b is increased so as to be gradually separated from contact, at the moment, under the action of the return spring 302a-3c, the return rod 302a-3b-4 pushes the push-back rod 302a-3b-2 and the push-back rod 302a-3b-2, so that the return rod 302a-3 b-302 a is pushed by the return spring 302a-3b-2 is pushed, and the force is driven by the return rod 302a-3b, thereby the forward rotation of the output shaft and the output shaft is driven to rotate synchronously, and the force disc is not driven to rotate, and the force disc is driven to rotate, and the output shaft is driven by the forward rotation of the motor 302a 2.
Further, the unidirectional stress mechanism 302b-3b comprises a lifting column 302b-3b-1 slidingly connected to the inner side of the through hole 302b-3a-1, an anti-falling plate 302b-3b-2 arranged on the outer side of the lifting column 302b-3b-1 and positioned above the movable disc 302b-3a, a push-receiving block 302b-3b-3 arranged at the bottom end of the lifting column 302b-3b-1 and positioned below the movable disc 302b-3a, a secondary driving mechanism 302b-3c comprises a push rod 302b-3c-1 arranged on the upper surface of the protective cover 302b-1, a driving column 302b-3c-2 rotatably arranged on the push rod 302b-3c-1 and parallel to the movable disc 302b-3a, and a stand column 302b-3c-3 arranged on the upper surface of the movable disc 302b-3a and rotated along with the movable disc 302b-3a, the upright post 302b-3c-3 is provided with a first bevel gear 302b-3c-4, the transmission post 302b-3c-2 is provided with a second bevel gear 302b-3c-5, the first bevel gear 302b-3c-4 is meshed with the second bevel gear 302b-3c-5, one side of the pushed block 302b-3b-3 is a plane, the other side of the pushed block 302b-3b-3 is an inward contracted circular arc surface 302b-3b-4, the outer side of the transmission post 302b-3c-2 is provided with a mounting rod 304, a camera 303 is arranged on the mounting rod 304, when the output shaft of the driving motor 301a rotates reversely, the structure corresponding to the second transmission part 302b on the driving shaft 301b rotates to contact the plane part of the pushed block 302b-3b-3, at the moment, the pushed block 302b-3b-3 cannot move, therefore, power is transmitted to the movable disc 302b-3a through the pushed block 302b-3b-3 and the lifting column 302b-3b-1, the movable disc 302b-3a rotates reversely, so that the upright post 302b-3c-3 is driven to rotate reversely, when the upright post 302b-3c-3 rotates reversely, the first bevel gear 302b-3c-4 is driven to rotate reversely, the second bevel gear 302b-3c-5 is driven to rotate, the transmission column 302b-3c-2 is driven to rotate, the camera 303 rotates by taking the transmission column 302b-3c-2 as an axis, the effect of adjusting the shooting angle of the camera 303 is achieved, meanwhile, when the driving motor 301a rotates positively, the structure corresponding to the second transmission part 302b contacts the cambered surface part of the pushed block 302b-3b-3, and when the pushed block 302b-3b-3 receives upward component force, the pushed block 302a moves upwards to separate, so that the movable disc 302b-3a cannot be driven to rotate when the driving motor 301a rotates positively.
Further, a first rotating push rod 301c is disposed on the outer side of the driving shaft 301b and at a corresponding position of the force receiving rod 302a-3c, a second rotating push rod 301d is disposed on the outer side of the driving shaft 301b and at a corresponding position of the force receiving block 302b-3b-3, when the driving motor 301a rotates forward, the first rotating push rod 301c contacts one side of the force receiving rod 302a-3c near the push back mechanism 302a-3b and the second rotating push rod 301d contacts the circular arc surface 302b-3b-4 of the force receiving block 302b-3b-3, when the driving motor 301a rotates backward, the first rotating push rod 301c contacts one side of the force receiving rod 302a-3c far away from the push back mechanism 302a-3b and the second rotating push rod 301d contacts the plane of the force receiving block 302b-3b, so that when the driving motor 301a rotates forward, the unidirectional rotating disc 302a-2 rotates and the movable disc 302b-3a does not rotate, when the driving motor 301a rotates backward, the unidirectional rotating disc 302a-2 does not rotate and the movable disc 302b-3a rotates, thereby the motor 301a can independently adjust the shooting angle.
Further, the limiting member 302a-2a includes a protrusion 302a-2a-1 disposed on the inner side of the unidirectional rotating disc 302a-2 and a contact plate 302a-2a-2 disposed on one end of the rod body 302a-3c-1 near the unidirectional rotating disc 302a-2, wherein when the rod body 302a-3c-1 is perpendicular to the inner side wall of the rotating disc, one side of the contact plate 302a-2a-2 near the push-back block 302a-3b-2 is abutted with one side of the protrusion 302a-2a-1 far from the push-back block 302a-3b-2, and when the first rotating push rod 301c pushes the force rod 302a-3c from one side of the force rod 302a-3c near the push-back mechanism 302a-3b, the force rod 302a-3c limits the rotation of the force rod 302a-3c due to the contact plate 302a-2a-1 being abutted by the protrusion 302a-2 a-1.
Further, a damper or a damping ring is arranged at the joint of the unidirectional rotating disc 302a-2 and the supporting seat 302a-1 and the joint of the movable disc 302b-3a and the top plate 302b-2, so that the friction force of the joint is increased, the positioning stability can be enhanced after adjustment is finished, the friction of the joint is increased, the problem that the unidirectional rotating disc 302a-2 rotates when the driving motor 301a reversely rotates to bear the force of the force rod 302a-3c is avoided, and the problem that the movable disc 302b-3a rotates when the pushing block 302b-3b-3 is stressed when the driving motor 301a is transmitting is avoided.
Further, a damper or a damping ring is also arranged at the joint of the driving column 302b-3c-2 and the ejector rod 302b-3c-1, so that the problem that the driving column 302b-3c-2 rotates due to the dead weight of the camera 303 is avoided, a central hole 302b-2a is arranged at the inner side of the top plate 302b-2, a limit circular groove 302b-2b is formed in the inner side wall of the central hole 302b-2a, a movable disc 302b-3a is rotatably arranged at the inner side of the 302b-2b, a sliding groove is formed in the inner side wall of the rod groove 302a-3c-2, a clamping block is arranged on the side wall of the sliding block 302a-3c-3, and the clamping block is slidingly connected to the inner side of the sliding groove and is used for avoiding the problem that the sliding block 302a-3c-3 is separated from the inner side of the rod groove 302a-3 c-2.
The rest of the structure is the same as in embodiment 1.
The operation process comprises the following steps: in the use process of the robot, when the shooting area of the camera 303 needs to be adjusted, the driving motor 301a rotates positively, the first rotating push rod 301c contacts the stressed rod 302a-3c from one side of the stressed rod 302a-3c, which is close to the push-back mechanism 302a-3b, at this time, the stressed rod 302a-3c is limited by the limiting piece 302a-2a, one end, which is far away from the inner groove 302a-3a, of the stressed rod cannot deflect in a direction far away from the push-back structure, the stressed rod 302a-3c transmits power to the unidirectional rotating disc 302a-2, the unidirectional rotating disc 302a-2 rotates along with the driving motor to adjust the shooting area of the camera 303, at this time, the second rotating push rod 301d contacts the cambered surface part of the pushed block 302b-3b-3 during rotation, and the pushed block 302b-3b-3 is subjected to upward component force, moves upwards to disengage, so that the driving motor 301a cannot rotate the movable disc 302b-3a during forward rotation;
when the shooting angle of the camera 303 needs to be adjusted, the driving motor 301a is reversed, the second rotating push rod 301d contacts the plane part of the pushed block 302b-3b-3 when rotating, at this time, the pushed block 302b-3b-3 cannot move, so that power is transmitted to the movable disc 302b-3a through the pushed block 302b-3b-3 and the lifting column 302b-3b-1, the movable disc 302b-3a rotates reversely, thereby driving the upright column 302b-3c-3 to rotate reversely, when the upright column 302b-3c-3 rotates reversely, the first bevel gear 302b-3c-4 is driven to rotate reversely, the second bevel gear 302b-3c-5 is driven to rotate, the driving column 302b-3c-2 is driven to rotate, the camera 303 rotates around the driving column 302b-3c-2, thereby achieving the effect of adjusting the shooting angle of the camera 303, at this time, when the first rotating push rod 301c rotates reversely, the side of the force-receiving rod 302a-3c away from the push-back mechanism 302a-3b contacts the force-receiving rod 302a-3c, at this time, after the force-receiving rod 302a-3c receives pressure, one end of the force-receiving rod, which is away from the inner groove 302a-3a, rotates in the direction of the push-back mechanism 302a-3b, the rod body 302a-3c-1 presses the push-back rod 302a-3b-3, the push-back rod 302a-3b-3 pushes the push-back block 302a-3b-2 to move in the direction away from the force-receiving rod 302a-3c so as to squeeze the return spring 302a-3b-4, after the force-receiving rod 302a-3c rotates under force, the distance between the force-receiving rod 302a-3c and the driving shaft 301b increases, thereby slowly separating from contact, so that unidirectional rotating disk 302a-2 cannot follow the rotation.
Example 3
Referring to fig. 1 and 9, this embodiment differs from the above embodiment in that: the front shovel 201 comprises a shovel body 201a, a first spiral column 201b arranged in the shovel body 201a and a driven bevel gear 201c arranged on the outer side of the first spiral column 201b, wherein the driven bevel gear 201c is arranged at the central position of the first spiral column 201b, the first spiral column 201b is divided into two spiral parts, the spiral directions of the two spiral parts face the middle part, and when the first spiral column 201b rotates, dirt and sundries in the shovel body 201a step by step are pushed to the joint of the conveying pipe 102 and the shovel body 201a through the two spiral parts and enter the inner side of the conveying pipe 102 through the joint.
Specifically, the conveying section 202 includes a second spiral column 202a disposed inside the conveying pipe 102 and a drive bevel gear 202b disposed outside one end of the second spiral column 202a near the first spiral column 201b, the drive bevel gear 202b is engaged with the driven bevel gear 201c, when the second spiral column 202a rotates, the first spiral column 201b can be driven to rotate by the drive bevel gear 202b, and after the first spiral column 201b conveys sludge and impurities to the inside of the conveying pipe 102, the sludge and impurities are pushed by the rotation of the second spiral column 202a, so that the sludge and impurities are discharged to the rear side of the vehicle body 101 through the conveying pipe 102.
Further, a fixing frame 202c is provided on the inner side of the conveying pipe 102, a trepanning is provided on the fixing frame 202c, the second screw column 202a is rotatably provided on the inner side of the trepanning, wherein two fixing frames 202c are provided, and the installation positions of the two fixing frames 202c are divided into two ends of the inner side of the conveying pipe 102, so as to play a role in supporting the second screw column 202 a.
Further, two sides of the vehicle body 101 are provided with double wheel sets 101a, two wheels of the double wheel sets 101a are connected through a crawler 101b, and the grip force and friction force during rotation of the double wheel sets 101a are increased through the crawler 101b, so that the slipping problem in the advancing process of the vehicle body 101 is effectively avoided.
The rest of the structure is the same as in embodiment 2.
The operation process comprises the following steps: in the process of cleaning the sludge, the front shovel part 201 shovels the sludge to the inner side of the front shovel part, the two spiral parts push dirt and sundries step by step in the shovel body 201a to the joint of the conveying pipe 102 and the shovel body 201a, and enter the inner side of the conveying pipe 102 through the joint, and the second spiral column 202a rotates to push the sludge and the sundries, so that the sludge and the sundries are discharged to the rear side of the vehicle body 101 through the conveying pipe 102.
It is important to note that the construction and arrangement of the application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of present application. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present applications. Therefore, the application is not limited to the specific embodiments, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Furthermore, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those not associated with the best mode presently contemplated for carrying out the application, or those not associated with practicing the application).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, which is intended to be covered in the scope of the claims of the present application.
Claims (5)
1. A closed pipeline dredging robot is characterized in that: comprising the steps of (a) a step of,
a vehicle body assembly (100) comprising a vehicle body (101), a conveying pipe (102) arranged at the bottom of the vehicle body (101), and An Zhuangcang (103) arranged on the upper surface of the vehicle body (101);
a dredging assembly (200) comprising a front shovel part (201) which is arranged on the vehicle body (101) and communicated with the conveying pipe (102) and a conveying part (202) which is arranged on the inner side of the conveying pipe (102); the method comprises the steps of,
the camera shooting assembly (300) comprises a driving piece (301) arranged on the inner side of the installation cabin (103), a multidirectional transmission piece (302) arranged on the vehicle body (101) and driven by the driving piece (301), and a camera (303) arranged on the multidirectional transmission piece (302);
the multidirectional transmission member (302) comprises a first transmission portion (302 a) and a second transmission portion (302 b), the first transmission portion (302 a) comprises a supporting seat (302 a-1) arranged on the upper surface of the vehicle body (101), a unidirectional rotation disc (302 a-2) arranged on the inner side of the supporting seat (302 a-1) and unidirectional rotation, and a first stress member (302 a-3) arranged on the inner side of the unidirectional rotation disc (302 a-2), the second transmission portion (302 b) comprises a protective cover (302 b-1) arranged on the upper surface of the unidirectional rotation disc (302 a-2), a top plate (302 b-2) arranged on the upper surface of the protective cover (302 b-1) and a second stress member (302 b-3) arranged on the inner side of the top plate (302 b-2);
the driving piece (301) pushes the first stressed piece (302 a-3) to drive the unidirectional rotating disc (302 a-2) when rotating along a first direction, and pushes the second stressed piece (302 b-3) to drive the second transmission part (302 b) to rotate when rotating along a second direction, wherein the rotating directions of the first direction and the second direction are opposite;
the first stress piece (302 a-3) comprises an inner groove (302 a-3 a) arranged on the inner side of the unidirectional rotating disc (302 a-2), a push-back mechanism (302 a-3 b) arranged on the inner side of the inner groove (302 a-3 a) and a stress rod (302 a-3 c) arranged on the inner side of the unidirectional rotating disc (302 a-2) and connected with the push-back mechanism (302 a-3 b), the stress rod (302 a-3 c) comprises a rod body (302 a-3 c-1) connected on the inner side of the unidirectional rotating disc (302 a-2) through a hinge, a rod groove (302 a-3 c-2) arranged on the rod body (302 a-3 c-1) and a sliding block (302 a-3 c-3) connected on the inner side of the rod groove (302 a-3 c-2), the push-back mechanism (302 a-3 b) comprises an inner column (302 a-3 b) arranged on the inner side of the inner groove (302 a-3 a), a sliding block (302 a-3 b) connected on the inner side of the rod body (302 a-3 b) and a sliding block (302 a-3 b) arranged on the outer side of the push rod (1-3 b) and the push rod (1-3 b) arranged on the outer side of the push rod (1-3 b-1), the arrangement position of the return spring (302 a-3 b-4) is located between one side, far away from the rod body (302 a-3 c-1), of the push-back block (302 a-3 b-2) and the inner side wall of the inner groove (302 a-3 a), one end of the push-back rod (302 a-3 b-3) is hinged with the push-back block (302 a-3 b-2), the other end of the push-back rod is hinged with the sliding block (302 a-3 c-3), a limiting piece (302 a-2 a) is further arranged on the inner side of the unidirectional rotating disc (302 a-2), and the limiting piece (302 a-2 a) limits the stressed rod (302 a-3 c) to rotate in the direction far away from the push-back mechanism (302 a-3 b);
the second stress piece (302 b-3) comprises a movable disc (302 b-3 a) arranged on the inner side of the top plate (302 b-2), a unidirectional stress mechanism (302 b-3 b) connected to the outer side of the movable disc (302 b-3 a) in a sliding manner, and a secondary driving mechanism (302 b-3 c) arranged on the upper surface of the movable disc (302 b-3 a), a through hole (302 b-3 a-1) is formed in the movable disc (302 b-3 a), the unidirectional stress mechanism (302 b-3 b) comprises a lifting column (302 b-3 b-1) connected to the inner side of the through hole (302 b-3 a-1) in a sliding manner, a drop-proof plate (302 b-3 b-2) arranged on the outer side of the lifting column (302 b-3 b-1) and positioned above the movable disc (302 b-3 a), a push block (302 b-3b-3 c) arranged at the bottom end of the lifting column (302 b-3 b-1) and positioned below the movable disc (302 b-3 a), and the unidirectional stress mechanism (302 b-3 b) comprises a push rod (302 b-3 c) arranged on the upper surface of the top plate (302 b-3 c) The device comprises a driving column (302 b-3 c-2) which is arranged on a push rod (302 b-3 c-1) and is parallel to a movable disc (302 b-3 a), and a stand column (302 b-3 c-3) which is arranged on the upper surface of the movable disc (302 b-3 a) and rotates along with the movable disc (302 b-3 a), wherein a first bevel gear (302 b-3 c-4) is arranged on the stand column (302 b-3 c-3), a second bevel gear (302 b-3 c-5) is arranged on the driving column (302 b-3 c-2), the first bevel gear (302 b-3 c-4) is meshed with the second bevel gear (302 b-3 c-5), one side of the pushed block (302 b-3 b-3) is a plane, and the other side of the pushed block (302 b-3 b-3) is an inward contracted arc surface (302 b-3 b-4);
the limiting piece (302 a-2 a) comprises a protruding structure (302 a-2 a-1) arranged on the inner side of the unidirectional rotating disc (302 a-2) and a contact plate (302 a-2 a-2) arranged on one end, close to the unidirectional rotating disc (302 a-2), of the rod body (302 a-3 c-1), wherein when the rod body (302 a-3 c-1) is perpendicular to the inner side wall of the rotating disc, one side, close to the push-back block (302 a-3 b-2), of the contact plate (302 a-2 a-2) is attached to one side, far away from the push-back block (302 a-3 b-2), of the protruding structure (302 a-2 a-1);
the driving piece (301) comprises a driving motor (301 a) arranged on the inner side of the An Zhuangcang (103) and a driving shaft (301 b) in transmission connection with an output shaft of the driving motor (301 a), a first rotating push rod (301 c) is arranged on the outer side of the driving shaft (301 b) and at a corresponding position of a stress rod (302 a-3 c), and a second rotating push rod (301 d) is arranged on the outer side of the driving shaft (301 b) and at a corresponding position of a pushed block (302 b-3 b-3);
the driving motor (301 a) rotates along a first direction, the first rotating push rod (301 c) contacts one side of the stressed rod (302 a-3 c) close to the push-back mechanism (302 a-3 b), the second rotating push rod (301 d) contacts the arc surface (302 b-3 b-4) of the pushed block (302 b-3 b-3), and the first rotating push rod (301 c) contacts one side of the stressed rod (302 a-3 c) away from the push-back mechanism (302 a-3 b) and the second rotating push rod (301 d) contacts the plane of the pushed block (302 b-3 b-3) when the driving motor (301 a) rotates along a second direction.
2. The closed type pipeline dredging robot as recited in claim 1, wherein: the outside of transmission post (302 b-3 c-2) is provided with installation pole (304), camera (303) set up on installation pole (304).
3. Closed pipeline dredging robot according to any one of claims 1 or 2, characterized in that: the front shovel part (201) comprises a shovel body (201 a), a first spiral column (201 b) arranged in the shovel body (201 a) and a driven bevel gear (201 c) arranged on the outer side of the first spiral column (201 b), the conveying part (202) comprises a second spiral column (202 a) arranged on the inner side of the conveying pipe (102) and a driving bevel gear (202 b) arranged on the outer side of one end, close to the first spiral column (201 b), of the second spiral column (202 a), and the driving bevel gear (202 b) is meshed with the driven bevel gear (201 c).
4. A closed type pipeline dredging robot as claimed in claim 3, wherein: the inner side of the conveying pipe (102) is provided with a fixing frame (202 c), a trepanning is formed in the fixing frame (202 c), and the second spiral column (202 a) is rotatably arranged on the inner side of the trepanning.
5. The closed type pipeline dredging robot as recited in claim 4, wherein: two sides of the vehicle body (101) are provided with double wheel sets (101 a), and two wheels in the double wheel sets (101 a) are connected through a crawler belt (101 b).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211280714.3A CN115780427B (en) | 2022-10-19 | 2022-10-19 | Closed pipeline dredging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211280714.3A CN115780427B (en) | 2022-10-19 | 2022-10-19 | Closed pipeline dredging robot |
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| CN115780427B true CN115780427B (en) | 2023-08-29 |
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| JP3051437U (en) * | 1997-10-03 | 1998-08-25 | 柏 齡 徐 | Automatic washing machine for high-rise building outer walls |
| CN104815827A (en) * | 2015-04-13 | 2015-08-05 | 长沙智汛通环保科技有限公司 | Drainage pipe network dredging robot and dredging method thereof |
| CN213223626U (en) * | 2020-08-31 | 2021-05-18 | 上海浦东新区公路建设发展有限公司 | Underground pipeline blowdown robot |
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