CN209006329U - A kind of full Pneumatic pipe dredging robot voluntarily entering pipe - Google Patents

Abstract

The utility model relates to the full Pneumatic pipe dredging robots that one kind voluntarily enters pipe, including shroud cylinder assembly, hub disk cylinder assembly, telescopic cylinder component and cylinder control piper, the shroud cylinder assembly is connected with the cylinder body inner piston rod front of telescopic cylinder component；The hub disk cylinder assembly is connected with the base rear portion of telescopic cylinder component cylinder body；The shroud cylinder assembly and hub disk cylinder assembly structure are identical and arranged symmetrically；The shroud cylinder assembly and hub disk cylinder assembly include at least two upper support cylinders, two lower support cylinders, two roll wheel assemblies；The cylinder control piper is connected with above-mentioned telescopic cylinder component, upper support cylinder, the control of lower support cylinder respectively.It has many advantages, such as that reasonable in design, easy for operation, maintenance cost is low, automation and intelligentification degree is high, can effectively improve the efficiency of pipe dredging, meets the schedule requirement of pipe dredging work.

Description

A kind of full Pneumatic pipe dredging robot voluntarily entering pipe

Technical field

The utility model relates to drainage pipeline desilting equipment technical fields, more particularly to a kind of full pneumatic tube for voluntarily entering pipe Road dredging robot.

Background technique

Currently, the dredging robot for being suitable for domestic city drainage pipeline requires to enter drainage pipeline from inspection shaft, by The obstruction for ladder of marking time is installed in manhole shaft side wall, the stretching that each cylinder of powered desilting robot has, the retraction having, not In uncontrolled disordered state when inflation, goes into the well be easy to happen interference with the borehole wall at this time；In addition, Cheng Bi step type robot into It cannot be advanced into pipeline certainly after entering inspection shaft bottom, it is also necessary to manually go into the well and be pushed into pipeline and could start to work.The utility model The full Pneumatic pipe dredging robot that can voluntarily enter pipe is devised in response to this problem.

Utility model content

The purpose of this utility model is that: overcome deficiency existing for pipe dredging machine people in the prior art, one kind is provided The full Pneumatic pipe dredging robot for voluntarily entering pipe, with reasonable in design, easy for operation, maintenance cost is low, oneself The advantages that dynamicization intelligence degree is high, can effectively improve the efficiency of pipe dredging, meets the schedule requirement of pipe dredging work.

In order to achieve the above object, the utility model adopts the following technical solution realizes:

A kind of full Pneumatic pipe dredging robot voluntarily entering pipe, the full Pneumatic pipe dredging robot includes shroud gas Cylinder component, hub disk cylinder assembly, telescopic cylinder component and cylinder control piper, the shroud cylinder assembly and telescopic cylinder component Cylinder body inner piston rod front be connected；The hub disk cylinder assembly is connected with the base rear portion of telescopic cylinder component cylinder body； The shroud cylinder assembly and hub disk cylinder assembly structure are identical and arranged symmetrically；The shroud cylinder assembly and hub disk air cylinder group Part includes at least two upper support cylinders, two lower support cylinders, two roll wheel assemblies；The cylinder control piper difference It is connected with above-mentioned telescopic cylinder component, upper support cylinder, the control of lower support cylinder.

As advanced optimizing for above scheme, the roll wheel assembly include wheel cylinder combination link block, wheel cylinder combined cylinders, The cylinder body pedestal of fluctuation wheel, the wheel cylinder combined cylinders is mounted on wheel cylinder component link block by cylinder connecting plate, the wheel One end of the piston rod of cylinder combined cylinders is provided with cylinder supports rubber；The cylinder control piper also with wheel cylinder combined cylinders control System connection.

As advanced optimizing for above scheme, the pipe dredging machine people further includes wireless communication components, the nothing Line communication component includes microcontroller, GPS locator and wireless transmitter, the microcontroller respectively with GPS locator, wireless Transmitter is connected, and the GPS locator is arranged on the wheel cylinder combination link block of the roll wheel assembly；The wireless transmitter It is wirelessly communicated and is connected by the remote monitoring center or intelligent mobile terminal of wireless network and drainage pipeline inspection well.

It is had the following beneficial effects: using the full Pneumatic pipe dredging robot for voluntarily entering pipe of the utility model

(1) reasonable in design, it is easy for operation, by cylinder control piper respectively to telescopic cylinder component, top The advance of pipe dredging machine people can be realized and positioning of advancing in the control of shoring, lower support cylinder, wheel cylinder combined cylinders Etc. functions, complete required for dredging work.

(2) performance is more stable, is controlled using cylinder, can not need using electric energy, and cylinder operation is safer Reliably.

(3) it is cooperated using Pneumatic valve and hand control valve, can ensure entirely to fill under special or fortuitous event The normal operation set, security and stability are higher.

Detailed description of the invention

Fig. 1 is that the utility model embodiment one kind voluntarily enters position of the full Pneumatic pipe dredging robot of pipe in inspection shaft The side schematic view set；

Fig. 2 is that the utility model embodiment one kind voluntarily enters position of the full Pneumatic pipe dredging robot of pipe in inspection shaft The front schematic view set；

Fig. 3 is that the utility model embodiment one kind voluntarily enters the full Pneumatic pipe dredging robot of pipe and takes a step to go in pipeline Walk control flow chart；

Fig. 4 is that the utility model embodiment one kind voluntarily enters the full Pneumatic pipe dredging robot of pipe and (enters in inspection shaft Before managing in semicircle canal) travelling control flow chart of taking a step；

Fig. 5 is the full Pneumatic pipe dredging robot pneumatic system principle that the utility model embodiment one kind voluntarily enters pipe Figure；

Fig. 6 is the full contraction logic of full Pneumatic pipe dredging robot realization that the utility model embodiment one kind voluntarily enters pipe When pneumatic system schematic diagram；Heavy black is gas flow when cylinder shrinking valve 21 and 22 is all opened in figure, at this time all gas Cylinder is retracted to facilitate robot smoothly to enter well.

Fig. 7 is that the utility model embodiment one kind voluntarily enters the full Pneumatic pipe dredging robot realization of pipe when voluntarily entering pipe Pneumatic system schematic diagram；Fig. 7 is that front and back disk upper support cylinder air flue disconnects figure；Heavy black is that cylinder logic kick-off valve 20 is beaten in figure Gas flow when opening, the air flue of the upper support cylinder of front and back disk disconnects at this time.

Fig. 8 is that the utility model embodiment one kind voluntarily enters the full Pneumatic pipe dredging robot realization of pipe when voluntarily entering pipe Pneumatic system schematic diagram；Heavy black is gas flow when taking action the opening of master switch 28 in figure, removes the top branch of front and back disk at this time Outside supportting cylinders retract and remaining stationary, the air flue of remaining cylinders is turned on and operates normally, and realizes and steps in semicircle canal before entering pipe The function that walking is walked.Fig. 8 is that remaining cylinders, which are ventilated, operates normally figure in addition to front and back disk upper cylinder is retracted and remained stationary. By the sequence flow of Fig. 7, Fig. 8, the final movement process for realizing Fig. 4.

Fig. 9 is the wheel cylinder combined mechanism for the full Pneumatic pipe dredging robot that the utility model embodiment one kind voluntarily enters pipe Schematic diagram.

Figure 10 is the wheel cylinder combination machine for the full Pneumatic pipe dredging robot that the utility model embodiment one kind voluntarily enters pipe Structure operation schematic diagram.

It is respectively marked in figure as follows: shroud cylinder assembly F；Hub disk cylinder assembly B；Telescopic cylinder component T；Drainage pipeline inspection Well 1；Mark time 2；The inspection shaft lower part borehole wall 3；Wall cylinder 4 is supportted at the top of robot；Pipe dredging machine people 5；Check well section semicircle canal 6； Lower support cylinder 7；Lower support wheel 8；Upper support cylinder 9；Pipeline section top half 10；Pipeline section lower half portion 11；Wheel Cylinder combines link block 12；Wheel cylinder combined cylinders 13；Fluctuation wheel 14；Cylinder supports rubber 15；Cylinder connecting plate 16；Check well section half Circle canal semi circular surface 17；Shroud controls two-position three way Pneumatic reversal valve 18；Hub disk controls Pneumatic valve 19；Front and back disk upper and lower cylinder is patrolled Kick-off valve 20, whole cylinder shrinking valves 1 are collected, whole cylinder shrinking valves 2 22 walk and open reversal valve 23, air operated reversing valve 24, Shroud 25, hub disk 26, telescoping cylinder 27, master switch 28 of taking action, two-position five-way double gas control valve 29, two-position five-way list Pneumatic valve 30 are single To valve 31, servomotor driven change valve 32, two-position five-way double gas control valve 33, gas source 34.

Specific embodiment

The full Pneumatic pipe dredging robot that 1-10 voluntarily enters pipe to the utility model with reference to the accompanying drawing is made with specifically It is bright.

As shown in Figs. 1-2, a kind of full Pneumatic pipe dredging robot voluntarily entering pipe, the full Pneumatic pipe dredging machine People includes shroud cylinder assembly F, hub disk cylinder assembly B, telescopic cylinder component T and cylinder control piper, the shroud air cylinder group Part is connected with the cylinder body inner piston rod front of telescopic cylinder component；The hub disk cylinder assembly and telescopic cylinder component cylinder body Base rear portion is connected；The shroud cylinder assembly and hub disk cylinder assembly structure are identical and arranged symmetrically；The shroud cylinder Component and hub disk cylinder assembly include 9, two, at least two upper support cylinder, 7, two, lower support cylinder roll wheel assembly；Institute Cylinder control piper is stated to connect with above-mentioned telescopic cylinder component, upper support cylinder, the control of lower support cylinder respectively.

As shown in Figures 9 and 10, the roll wheel assembly includes wheel cylinder combination link block 12, wheel cylinder combined cylinders 13, fluctuation wheel 14, the cylinder body pedestal of the wheel cylinder combined cylinders is mounted on wheel cylinder component link block by cylinder connecting plate 16, the wheel cylinder One end of the piston rod of combined cylinders is provided with cylinder supports rubber 15；The cylinder control piper also with wheel cylinder combined cylinders control System connection.

The pipe dredging machine people further includes wireless communication components, and the wireless communication components include microcontroller, GPS Locator and wireless transmitter, the microcontroller are connected with GPS locator, wireless transmitter respectively, the GPS locator It is arranged on the wheel cylinder combination link block of the roll wheel assembly；The wireless transmitter passes through wireless network and drainage pipeline inspection The remote monitoring center or intelligent mobile terminal of well wirelessly communicate connection.

Referring to Fig. 1, entered in bottom process in pipe dredging machine people by inspection shaft 1, the upper support cylinder of robot 9, the meeting that lower support cylinder 7 and telescoping cylinder 27 have is stretched out, and is easy to interfere with step 2；Into inspection well section semicircle canal 6 Afterwards, due to being well room at this, upper part is sustainable without tube wall, and existing dredging robot cannot be advanced into pipeline certainly, need to pass through Front and back disk supports wall cylinder and telescoping cylinder cooperates, and takes a step to advance and realizes dredging operation；

Referring to Fig. 3, Fig. 4, the target of atmospheric control is the cylinder movement by dredging robot shown in Fig. 3 in pipeline Process is changed to inlet pipe section motion flow shown in Fig. 4.Original action logic is that wall cylinder 9 and lower part are supportted in the top on hub disk It supports wall cylinder 7 and opens support wall, the top support wall cylinder 9 and lower part support wall cylinder 7 on shroud are closed and shunk, and telescoping cylinder 27 stretches out later.It Top support wall cylinder 9 and lower part support wall cylinder 7 on hub disk are closed and are shunk, and the top support wall cylinder 9 on shroud is beaten with lower part support wall cylinder 7 Support wall is opened, telescoping cylinder 27 is shunk later, and robot is travelled forward；Action logic after change eliminate front and back disk it is all on The action logic of wall cylinder 9 is supportted in portion, and closing contraction state will be always maintained in action, and the action of wall cylinder 7 and telescoping cylinder is supportted in lower part It remains unchanged.

Referring to Fig. 5, for realize Fig. 4 motion flow pneumatic system schematic diagram.34 connection activation master switch 28 of gas source it Afterwards, it is divided into four tunnels, the first via is connected to 29 air inlet of two-position five-way double gas control valve, and left gas outlet is divided into two-way, and one passes through pneumatic The upper support cylinder 9 of shroud 25 and the rod chamber of lower support cylinder 7 are connected to after reversal valve 24, secondly being directly coupled to the upper of hub disk 26 The rodless cavity of portion's shoring 9 and lower support cylinder 7.Right gas outlet is divided into two-way, after one after air operated reversing valve 24 by being connected to The upper support cylinder 9 of disk 26 and the rod chamber of lower support cylinder 7, secondly being directly coupled to upper support cylinder 9 and the lower part of shroud 25 The rodless cavity of shoring 7；Second tunnel is connected to 33 air inlet of two-position five-way double gas control valve, and left outlet is connected to two telescoping cylinders 27 Rod chamber, it is right to export the rodless cavity for being connected to telescoping cylinder 27；

Third road be connected in parallel to be connected respectively to after two air operated reversing valves 32 left and right of two-position five-way double gas control valve 33 into Three air inlets of port and two-position five-way list Pneumatic valve 30；After 4th tunnel is connect with walking reversal valve 23, it is connected to two five The left commutation mouth of logical list Pneumatic valve 30, for controlling the advance and retrogressing entirely taken action.

After gas source 34 is connected to whole cylinder shrinking valves 1, it is connected to air operated reversing valve 24.

After gas source 34 is connected to whole cylinder shrinking valves 2 22, by after check valve 31 respectively and on shroud 25 and hub disk 26 Upper support cylinder 9 and lower support cylinder 7 rod chamber connect.

Gas source 34 is respectively coupled to shroud control two-position three way Pneumatic reversal valve 18 and hub disk after being connected to logic kick-off valve 20 Control the commutation mouth of double three-way control valve 19.

Referring to Fig. 9, Figure 10, link block 12, wheel cylinder combined cylinders 13, fluctuation wheel 14, cylinder supports rubber wheel cylinder are combined 15 composition wheel cylinder assemblys, when wheel cylinder combined cylinders 13 stretch out, the support of cylinder supports rubber 15 checks well section semicircle canal semicircle Face 17 disengages fluctuation wheel 14 with well section semicircle canal semi circular surface 17 is checked.

The present invention voluntarily enters the full Pneumatic pipe dredging robot overall work process summary of pipe:

In conjunction with shown in Fig. 7-8 figure, when opening whole cylinder shrinking valves 1, compressed air passes through whole cylinders Shrinking valve 1 drives the commutation of former and later two air operated reversing valves 24 to disconnect, and has cut off shroud, cylinder and telescopic cylinder on hub disk Logical relation, prevent entirely shrink carry out gas replenishment process in gas backstreaming；Whole cylinder shrinking valves 2 22 are opened again, and compressed gas is logical Enter the rod chamber that wall cylinder 9, lower part support wall cylinder 7, telescoping cylinder 27 are supportted in the top on the disk of front and back after crossing check valve 31, makes these cylinders It is fully retracted into, entire gas circuit is carried out according to pneumatic diagram shown in Fig. 6.Enter inspection shaft in this way convenient for robot, avoids interference with.Work as machine Device people can smoothly enter into after inspection shaft 1 falls on and check well section semicircle canal 6, close whole cylinder shrinking valves 1 and whole cylinders respectively Shrinking valve 2 22 restores reset condition.When opening manual two position three way directional control valve 20, compressed gas drives shroud to control two-position three way Pneumatic reversal valve 18 and hub disk control Pneumatic valve 19 commutate, to disconnect shroud 25, the lower support cylinder 7 on hub disk 26 and top Connection between shoring 9, entire gas circuit are carried out according to pneumatic diagram shown in Fig. 7.Action master switch 28, all cylinders are opened at this time It will be run according to flow chart shown in Fig. 4, robot upper part shoring 9 does not stretch out, the lower support cylinder 7 on the disk of front and back and flexible gas 27 alternating movement of cylinder, lower cylinder support rubber 15 alternately to contact with fluctuation wheel 14 and check well section semicircle canal semi circular surface 17, realize Walk in checking well section semicircle canal semi circular surface 17, to be advanced into pipeline certainly, entire gas circuit according to pneumatic diagram shown in Fig. 8 into Row.Into after pipeline, manual two position three way directional control valve 20 is disconnected, opening action master switch 28 can normally advance, and realize dredging Work；Walking reversal valve 23 is opened, robot can realize backward movement.

This reality can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art With novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and saying herein Bright General Principle is applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to this In embodiment, those skilled in the art's announcement according to the present utility model, do not depart from that the utility model scope made changes Into and modification should all be within the protection scope of the utility model.

Claims (3)

1. the full Pneumatic pipe dredging robot that one kind voluntarily enters pipe, it is characterised in that: the full Pneumatic pipe dredging robot Including shroud cylinder assembly (F), hub disk cylinder assembly (B), telescopic cylinder component (T) and cylinder control piper, the shroud gas Cylinder component is connected with the cylinder body inner piston rod front of telescopic cylinder component；The hub disk cylinder assembly and telescopic cylinder component cylinder The base rear portion of body is connected；The shroud cylinder assembly and hub disk cylinder assembly structure are identical and arranged symmetrically；The shroud Cylinder assembly and hub disk cylinder assembly include at least two upper support cylinders (9), two lower support cylinders (7), two rollings Wheel assembly (8)；The cylinder control piper connects with above-mentioned telescopic cylinder component, upper support cylinder, the control of lower support cylinder respectively It connects.

2. the full Pneumatic pipe dredging robot that one kind according to claim 1 voluntarily enters pipe, it is characterised in that: the rolling Wheel assembly includes wheel cylinder combination link block (12), wheel cylinder combined cylinders (13), fluctuation wheel (14), the cylinder of the wheel cylinder combined cylinders Body pedestal is mounted on wheel cylinder component link block by cylinder connecting plate (16), one end of the piston rod of the wheel cylinder combined cylinders It is provided with cylinder supports rubber (15)；The cylinder control piper is also controlled with wheel cylinder combined cylinders and is connected.

3. the full Pneumatic pipe dredging robot that one kind according to claim 2 voluntarily enters pipe, it is characterised in that: the pipe Road dredging robot further includes wireless communication components, and the wireless communication components include microcontroller, GPS locator and wireless hair Emitter, the microcontroller are connected with GPS locator, wireless transmitter respectively, and the GPS locator is arranged in the idler wheel On the wheel cylinder combination link block of component；In long-range monitoring of the wireless transmitter by wireless network and drainage pipeline inspection well The heart or intelligent mobile terminal wireless communication connection.