CN219137931U

CN219137931U - Underground pipe network underwater intelligent dredging robot

Info

Publication number: CN219137931U
Application number: CN202320115423.2U
Authority: CN
Inventors: 江敏; 陈秉正; 李翀; 李江明; 宋其新
Original assignee: Changsha Institute of Mining Research Co Ltd
Current assignee: Changsha Institute of Mining Research Co Ltd
Priority date: 2023-02-06
Filing date: 2023-02-06
Publication date: 2023-06-06
Anticipated expiration: 2033-02-06

Abstract

The utility model discloses an underwater intelligent dredging robot for an underground pipe network, which comprises a crawler chassis, a body main body and a hinging device, wherein a crawler frame of the crawler chassis is hinged with a chassis frame; the reaming and sucking device comprises a reamer mechanism and a reamer deformation mechanism, wherein the reamer mechanism is symmetrically hinged to the two sides of the reamer deformation mechanism; linear telescopic devices are symmetrically arranged between the two sides of the body main body and the crawler frame, so that the crawler frame can change the angle position relative to the chassis frame; the hinge device can change the up-down position relative to the body. The robot can simultaneously adapt to round and square culverts and can meet the task requirements of continuous dredging operation of pipelines.

Description

Underground pipe network underwater intelligent dredging robot

Technical Field

The utility model belongs to the field of dredging equipment, and particularly relates to an underwater intelligent dredging robot for an underground pipe network.

Background

Underground pipe networks are important infrastructure for ensuring normal operation of cities. Pipeline dredging refers to dredging the pipeline of an underground pipe network, cleaning wastes such as sludge in the pipeline, and keeping the pipeline smooth for a long time so as to prevent waterlogging in cities. The pipeline is not regularly dredged, so that sewage is caused to flow abundantly, the environment is polluted, and the trouble is brought to people living.

With the rapid development of urban pipe networks, various culverts in various structural forms such as round, square and the like appear in the pipeline.

The existing self-propelled dredging device is mainly pushed by a propeller, is towed or is rigidly connected with a double-track driving scheme, is suitable for square box culverts, lacks a track driving device for round pipe culverts, is only suitable for single working conditions or terrains, cannot be simultaneously used in round pipe culverts and square box culverts, and cannot meet the requirement of continuous operation during underground pipe network dredging. Most of the existing dredging tool bits are integrated in a hinging way, and the scheme is a semi-spiral rigid reamer, so that the scheme has the defects of narrow working face, high difficulty in controlling a hinging suction head and the like. The scheme has the defects of poor applicability, poor environment sensing capability, poor controllability, low operation efficiency and the like of the conventional dredging device.

Disclosure of Invention

The utility model mainly aims to provide an underground pipe network underwater intelligent dredging robot which can be simultaneously suitable for round and square culverts and can finish continuous dredging operation of a pipeline.

The underwater intelligent dredging robot for the underground pipe network comprises a crawler chassis, a vehicle body main body and a hinging device, wherein a crawler frame of the crawler chassis is hinged with a chassis frame; the reaming and sucking device comprises a reamer mechanism and a reamer deformation mechanism, wherein the reamer mechanism is symmetrically hinged to the two sides of the reamer deformation mechanism; the reamer mechanism and the reamer deformation mechanism are arranged in the reamer hood, and the reamer mechanism comprises an end face telescopic seat, a universal coupler and a spiral reamer; the reamer deformation mechanism comprises a lifting rail, a lifting oil cylinder and a driving box; linear telescopic devices are symmetrically arranged between the two sides of the vehicle body main body and the crawler frame, so that the crawler frame can change the angle position relative to the chassis frame; the hinge device can change the up-down position relative to the body.

In one embodiment of the robot, the inner side of the end face telescopic seat is fixedly connected with the universal coupler, the other end of the universal coupler is provided with at least two groups of spiral reamers, and the spiral reamers are connected through the universal coupler.

In one embodiment of the robot, the end face telescopic seat comprises a sliding piece, a reamer end shaft, a bearing, a sliding groove, a spring, a pretightening force adjusting nut and an end cover; the sliding piece is a hollow cylinder, and the reamer end shaft is inserted from one end of the sliding piece and is rotatably connected with the sliding piece through a bearing; the sliding piece can slide in the sliding groove, and the sliding groove is fixedly connected with the hinged cover; a dustproof sealing piece is arranged between the bottom of the sliding piece and the sliding groove; the other end of the sliding groove is provided with a pretightening force adjusting nut, a spring is arranged between the sliding piece and the pretightening force adjusting nut, and the spring has a certain pretightening force; the end cover is buckled on the outer side of the hinged cover, and a threaded rod is clamped in the pretightening force adjusting nut on the inner side of the end cover.

In one embodiment of the above robot, the lifting rail is vertically arranged in the middle of the top end of the inner cavity of the hinged cover, and the driving box can slide up and down in the lifting rail through the lifting cylinder; the reamer mechanism is connected to two sides of the driving box.

In one embodiment of the robot, the crawler chassis comprises a chassis frame, a crawler frame, a driving wheel, a thrust wheel, a crawler and a deflection support cylinder; the left side and the right side of the chassis frame are respectively provided with a crawler frame, the front and the rear of the inner side of the crawler frame are respectively provided with a hinging seat, and the chassis frame is respectively hinged with the two crawler frames; the rear sides of the two crawler frames are clamped and connected with driving wheels, and the driving wheels are provided with hydraulic driving motors; the bottom ends of the two crawler frames are respectively provided with two thrust wheels in a front-back arrangement; the crawler belt is sleeved on the crawler belt frame, the inner ring is meshed with the driving wheel, and the supporting wheel runs on the crawler belt; the middle parts of the inner sides of the two crawler frames are provided with hinging seats, and the bottom ends of the deflection support oil cylinders are hinged with the hinging seats.

In one embodiment of the robot, the body main body includes a frame and a cover; semicircular end plates are fixed at the front end and the rear end of the frame; the semi-cylindrical car cover is fixed on the car frame; the frame is fixed at the upper end of the chassis frame through bolts.

In one embodiment of the above robot, the top ends of the deflection support cylinders are respectively hinged to two sides of the frame through hinge bases.

In one embodiment of the robot, a reamer adjusting frame is arranged at the front end of the frame, the reamer adjusting frame is of an H shape, and the bottom end of the reamer adjusting frame is hinged with the frame; two reamer adjusting oil cylinders are hinged between the front end of the chassis frame and two side walls of the reamer adjusting frame.

In one embodiment of the above robot, the reamer is fixed to the reamer holder.

The beneficial effects of the utility model are as follows:

1. the double-hinge variable-position crawler belt driving technology can be well adapted to complex terrains, and can be used in circular culverts, directional culverts and other complex culvert environments.

2. The spiral twisting and cutting chain cutter technology capable of being adjusted in a self-adaptive mode is adopted, the spiral twisting and cutting chain cutter technology can be well adapted to complex terrains, and the spiral twisting and cutting chain cutter technology can be synchronously applied to round pipe culverts and directional pipe culverts.

3. Reamer and caterpillar chassis have higher adaptability, and accessible adjusts self structure adaptation different culverts, and environment perception system has the ability of highly adapting to the complex environment, based on the great working face structure of its reamer, can realize the high-efficient desilting operation of urban sewage pipe network.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the present utility model.

Fig. 2 is a schematic view of the crawler travel mechanism of fig. 1.

Fig. 3 is a schematic view of the structure of the body of fig. 1. (vehicle cover not shown)

Fig. 4 is a schematic view of the hinge assembly of fig. 1. (mud-dividing plate not shown)

Fig. 5 is a schematic side view of the hinge assembly of fig. 4.

Fig. 6 is a schematic elevational view of the hinge assembly of fig. 4.

Fig. 7 is an enlarged cross-sectional schematic view of the reamer mechanism of fig. 6.

Fig. 8 is a schematic diagram of a state of dredging operation performed on a square box culvert in the embodiment.

Fig. 9 is a schematic diagram of a state of dredging operation performed by the circular culvert in the present embodiment.

Detailed Description

As shown in fig. 1, the underwater intelligent dredging robot for the underground pipe network disclosed by the embodiment comprises a crawler chassis 1, a body main body 2 and a hinge device 3, wherein the body main body is connected above the crawler chassis, and the hinge device is connected with the body main body.

As shown in fig. 2, the crawler chassis 1 includes a chassis frame 11, a crawler frame 12, a driving wheel 13, a thrust wheel 14, a crawler 15, and a displacement support cylinder 16.

The left and right sides of the chassis frame 11 are respectively provided with a crawler frame 12, the front and rear sides of the inner side of the crawler frame are respectively provided with a hinging seat, and the chassis frame is respectively hinged with the two crawler frames.

The rear sides of the two crawler frames 12 are clamped and connected with driving wheels 13, and hydraulic driving motors are arranged on the driving wheels.

The bottom ends of the two track frames are respectively provided with two thrust wheels 14 in a front-back arrangement.

The crawler belt 15 is sleeved on the crawler belt frame, the inner ring is meshed with the driving wheel, and the supporting wheel runs on the crawler belt. The crawler belt is provided with crawler teeth with a certain height, and can adapt to the topography of the soft bottom substrate.

The middle part of the inner sides of the two crawler frames 12 is provided with a hinging seat, and the bottom end of the deflection support cylinder 16 is hinged with the hinging seat.

The crawler chassis can adjust the crawler angle through the deflection supporting oil cylinder, so that the ground grabbing capability is ensured, and the crawler chassis is applicable to box type culverts and pipeline culverts with different diameters.

As shown in fig. 3, the body 2 includes a frame 21 and a hood 22. The frame 21 is a rectangular frame, and semicircular end plates are fixed at the front end and the rear end of the frame; a semi-cylindrical vehicle cover 22 is fixed to the vehicle frame.

The frame 21 is fixed on the upper end of the chassis frame 11 through bolts, and the top ends of the two deflection support cylinders 16 are respectively hinged on two sides of the frame through hinge seats. The crawler belt and the crawler frame can be driven to rotate around the chassis frame by controlling the extension and retraction of the deflection supporting oil cylinder.

The front end of the frame is provided with a reamer adjusting bracket 23, the reamer adjusting bracket is H-shaped, and the bottom end of the reamer adjusting bracket is hinged with the frame.

Two reamer adjusting cylinders 24 are hinged between the front end of the chassis frame 11 and two side walls of the reamer adjusting frame 23. The reamer adjusting bracket can be driven to move up and down by controlling the extension and retraction of the reamer adjusting oil cylinder.

As can be seen in connection with fig. 4, 5 and 6, the reaming device 3 comprises a reaming shell 31, a reamer mechanism 32, a reamer deformation mechanism 33, a jet nozzle 34 and a slide sensing mechanism 35.

The hinge cover 31 has a corner with an arc transition and an open front end. Two sides of the rear end of the hinged cover are respectively provided with an overflow hole plate 311, which is beneficial to reducing the running resistance of water passing; the middle of the rear end is an arc-shaped excessive material collecting opening, and the center of the material collecting opening is connected with a conveying hose 312 backwards. The bottom of the rear end of the hinged cover is a flexible mud guard 313 which has certain structural strength and is not damaged due to flexible deformation adaptation when meeting a hard bottom layer.

Two reamer mechanisms 32 are symmetrically arranged at the left end and the right end of the reaming and sucking cover 31, and each reamer mechanism comprises an end face telescopic seat 321, a universal coupler 322 and a spiral reamer 323.

As shown in fig. 7, the end face expansion seat 321 includes a slider, a reamer end shaft, a bearing, a chute, a spring, a preload adjustment nut, and an end cap.

The sliding piece is a hollow cylinder, and the reamer end shaft is inserted from one end of the sliding piece and is rotatably connected with the sliding piece through a bearing. The sliding piece can slide in the sliding groove, and the sliding groove is fixedly connected with the hinged cover; a dustproof sealing piece is arranged between the bottom of the sliding piece and the sliding groove.

The other end of the chute is provided with a pretightening force adjusting nut, a spring is arranged between the sliding piece and the pretightening force adjusting nut, and the spring has a certain pretightening force.

The end cover is buckled on the outer side of the hinged cover, and a threaded rod is clamped in the pretightening force adjusting nut on the inner side of the end cover. Through the rotatory end cover, the displacement of pretightning force adjusting nut, pretightning force of adjusting spring to guarantee reamer mechanism holistic elasticity degree.

The end of the coupler 322 and the end shaft of the reamer end are fastened and fixed through bolts. The other end of the universal coupling is provided with two sets of spiral reamers 323. The spiral reamer is connected through a universal coupling.

The reamer deformation mechanism 33 is arranged in the center of the reaming device, and the spiral reamer tail ends of the two groups of reamer mechanisms are connected to the reamer deformation mechanism.

The reamer deforming mechanism 33 includes a lifting rail 331, a lifting cylinder 332, a driving case 333, a mud dividing plate 334, and a pulley 335.

The lifting rail 331 is vertically arranged in the middle of the top end of the inner cavity of the hinged cover, and the driving box 333 can slide up and down in the lifting rail through the lifting oil cylinder 332. The front end of the driving box is provided with a mud dividing plate 334, and the bottom end is provided with a pulley 335. The spiral reamer ends of the two groups of reamer mechanisms are connected to the two sides of the driving box.

The mud dividing plate divides the front sediment to reamer and suction at two sides, so that the running resistance is reduced.

The jet nozzle 34 may generate a high pressure water jet that automatically washes out sludge and adhesive from the reamer mechanism.

The two groups of slide plate sensing mechanisms 35 are arranged at two ends of the hinged cover. The slide sensing mechanism includes a slide plate 351, a displacement sensor 352, and a pressure sensor 353.

The sliding plate 351 is connected with two ends of the hinged cover through springs, and pressure sensors 353 are arranged on the springs; a displacement sensor 352 is provided between the spring and the hinged cover.

Device monitoring hank is inhaled device bottom silt intensity such as through displacement sensor, pressure sensor and spring, and automatic adjustment hank is inhaled device height, reduces hank and is inhaled device bottoming probability, promotes substrate adaptability, ensures the desilting effect.

The hinging device 3 controls the lifting oil cylinder to descend through the driving box, so that the position of one side of the adjacent reamer mechanism descends, the reamer mechanism is driven to flexibly deform, and an arc reamer chain is formed, so that the device is applicable to arc dredging terrains.

When the driving box drives the reamer to descend at the center, the sliding piece of the end face telescopic seat slides outwards and has a certain tensile force, so that the lengthening of the reamer chain is compensated and the normal operation of the reamer mechanism is kept; when the driving box drives the reamer to retract at the center, the sliding piece of the end face telescopic seat recovers and maintains the tensile force, the compensation reamer chain shortens and the reamer mechanism is kept to work normally.

The flexible swing of the reamer mechanisms at two sides is realized through the lifting of the driving box, so that the capability of adapting to terrains and substrates is achieved, and the flexible swing can be limited to adapt to box culverts or pipe culvert operation surfaces.

The main body of the vehicle body is also provided with a camera tripod head 25, a front view sonar 26, a front view lamp 27, a range finding radar 28, a hanging ring 29 and the like.

The camera head 25, the front view sonar 26 and the front view lamp 27 are fastened at the front end of the car cover 22 through bolts and brackets; the range finding radar 28 is arranged on one side of the vehicle cover; the 4 hanging rings 29 are uniformly distributed and fastened on the top of the vehicle body through threaded connection.

The camera head 25 and the headlight 27 can identify the water surface environment of the culvert or the environment in water with higher visibility. The camera head 25 can rotate 180 degrees, the monitoring range can cover all directions in front of the dredging robot, and the front view lamp 27 provides a light source for the camera head; the foresight sonar 26 obtains the surrounding environment condition by utilizing the sound wave signals in the water environment; the sounding radar 28 obtains the wall surface conditions of culverts at two sides of the dredging robot by using acoustic signals in the underwater environment, obtains the distance between the wall of the dredging robot and the wall of the dredging robot, and ensures that the robot does not collide with the wall of the dredging robot. The device senses the complex environment of the culvert through a sensor testing method, and the safety of the device is ensured.

The 4 hanging rings 29 are uniformly distributed and connected with the body of the vehicle in a threaded mode and are used as hanging points for hanging the whole dredging robot.

The specific application method of the robot is as follows:

1. the assembly device comprises: the crawler chassis, the vehicle body main body and the cutter suction device are connected and assembled in advance.

2. Square box culvert dredging: placing the preassembled device into a square box culvert, and starting the preassembled device; the cutter suction device is driven by the crawler chassis to perform dredging operation.

3. The device is deformed: when the device runs into a circular pipe culvert, the device can be subjected to dredging operation only by deformation; the crawler frame of the crawler chassis is driven by the deflection supporting oil cylinder to encircle the chassis frame so as to adapt to a circular pipe culvert; the reamer deforming mechanism of the reamer sucking device drives the reamer mechanism to deform into an arc shape.

4. Circular pipe culvert dredging: when the device is deformed, dredging operation can be performed in the circular pipe culvert; and if the square box culvert is required to be operated again in the follow-up process, carrying out reverse deformation.

The robot has the advantages that:

Claims

1. The utility model provides an intelligent desilting robot under water of underground pipe network, includes caterpillar base plate, automobile body main part and hinge device, its characterized in that:

the crawler frame of the crawler chassis is hinged with the chassis frame;

the reaming and sucking device comprises a reamer mechanism and a reamer deformation mechanism, wherein the reamer mechanism is symmetrically hinged to the two sides of the reamer deformation mechanism; the reamer mechanism and the reamer deformation mechanism are arranged in the reamer hood, and the reamer mechanism comprises an end face telescopic seat, a universal coupler and a spiral reamer; the reamer deformation mechanism comprises a lifting rail, a lifting oil cylinder and a driving box;

linear telescopic devices are symmetrically arranged between the two sides of the vehicle body main body and the crawler frame, so that the crawler frame can change the angle position relative to the chassis frame;

the hinge device can change the up-down position relative to the body.

2. The underground pipe network underwater intelligent dredging robot as claimed in claim 1, wherein: the inner side of the end face telescopic seat is fixedly connected with the universal coupler, at least two groups of spiral reamers are arranged at the other end of the universal coupler, and the spiral reamers are connected through the universal coupler.

3. The underground pipe network underwater intelligent dredging robot as claimed in claim 2, wherein: the end face telescopic seat comprises a sliding piece, a reamer end shaft, a bearing, a chute, a spring, a pretightening force adjusting nut and an end cover;

the sliding piece is a hollow cylinder, and the reamer end shaft is inserted from one end of the sliding piece and is rotatably connected with the sliding piece through a bearing; the sliding piece can slide in the sliding groove, and the sliding groove is fixedly connected with the hinged cover; a dustproof sealing piece is arranged between the bottom of the sliding piece and the sliding groove; the other end of the sliding groove is provided with a pretightening force adjusting nut, a spring is arranged between the sliding piece and the pretightening force adjusting nut, and the spring has a certain pretightening force; the end cover is buckled on the outer side of the hinged cover, and a threaded rod is clamped in the pretightening force adjusting nut on the inner side of the end cover.

4. The underground pipe network underwater intelligent dredging robot as claimed in claim 3, wherein: the lifting rail is vertically arranged in the middle of the top end of the inner cavity of the hinged cover, and the driving box can slide up and down in the lifting rail through the lifting oil cylinder; the reamer mechanism is connected to two sides of the driving box.

5. The underground pipe network underwater intelligent dredging robot of claim 4, wherein: the crawler chassis comprises a chassis frame, a crawler frame, a driving wheel, a thrust wheel, a crawler and a deflection supporting oil cylinder;

the left side and the right side of the chassis frame are respectively provided with a crawler frame, the front and the rear of the inner side of the crawler frame are respectively provided with a hinging seat, and the chassis frame is respectively hinged with the two crawler frames; the rear sides of the two crawler frames are clamped and connected with driving wheels, and the driving wheels are provided with hydraulic driving motors; the bottom ends of the two crawler frames are respectively provided with two thrust wheels in a front-back arrangement; the crawler belt is sleeved on the crawler belt frame, the inner ring is meshed with the driving wheel, and the supporting wheel runs on the crawler belt; the middle parts of the inner sides of the two crawler frames are provided with hinging seats, and the bottom ends of the deflection support oil cylinders are hinged with the hinging seats.

6. The underground pipe network underwater intelligent dredging robot of claim 5, wherein: the vehicle body main body comprises a vehicle frame and a vehicle cover; semicircular end plates are fixed at the front end and the rear end of the frame; the semi-cylindrical car cover is fixed on the car frame; the frame is fixed at the upper end of the chassis frame through bolts.

7. The underground pipe network underwater intelligent dredging robot as claimed in claim 6, wherein: the top ends of the deflection support oil cylinders are respectively connected with two sides of the frame in a hinged mode through hinge seats.

8. The underground pipe network underwater intelligent dredging robot of claim 7, wherein: the front end of the frame is provided with a reamer adjusting bracket, the reamer adjusting bracket is H-shaped, and the bottom end of the reamer adjusting bracket is hinged with the frame; two reamer adjusting oil cylinders are hinged between the front end of the chassis frame and two side walls of the reamer adjusting frame.

9. The underground pipe network underwater intelligent dredging robot of claim 8, wherein: the reaming and sucking device is fixedly connected with the reamer adjusting frame.