技术领域technical field
本发明涉及一种管道清洁设备，具体涉及一种管道疏通机器人，属于清洁机械设备技术领域。The invention relates to pipeline cleaning equipment, in particular to a pipeline dredging robot, which belongs to the technical field of cleaning machinery and equipment.
背景技术Background technique
随着人们生活水平的不断提高，城市建设也越来越大，其中管道建设是市政工作的一个主要内容，一座城市的管道铺设量不亚于建筑物的工作量。但是随着管道铺设数量的增加，也暴露出许多的问题，诸如许多管道由于管内污物的存在，很容易发生堵塞状况，因此管道疏通工作耗费了大量的人力物力，而且工作效率很低。因此急需一种能够代替人工来完成管道疏通工作的机械设备，提高工作效率，节省人力物力。With the continuous improvement of people's living standards, urban construction is also increasing. Among them, pipeline construction is a main content of municipal work. The amount of pipeline laying in a city is no less than the workload of buildings. However, with the increase in the number of pipelines, many problems have also been exposed, such as many pipelines are prone to blockage due to the presence of dirt in the pipes, so the dredging of the pipelines consumes a lot of manpower and material resources, and the work efficiency is very low. Therefore be badly in need of a kind of mechanical equipment that can replace artificially to finish pipeline dredging work, improve work efficiency, save manpower and material resources.
发明内容Contents of the invention
针对上述问题，本发明提供一种管道疏通机器人，其采用全部以水压为动力的方式，解决了疏通设备难以适应管道复杂工作环境的难题，实现了高效率、高质量完成管道疏通工作的目的。In view of the above problems, the present invention provides a pipe dredging robot, which uses hydraulic pressure as the power, solves the problem that the dredging equipment is difficult to adapt to the complex working environment of the pipeline, and realizes the purpose of completing the pipeline dredging work with high efficiency and high quality .
本发明采取的技术方案为：一种管道疏通机器人，包括主体、第一环形安装架和第二环形安装架、刀片和刀片齿轮马达、钻头和钻头齿轮马达、六个高压水缸和六个驱动齿轮马达、十二个行走轮，其特征在于：所述的主体为圆柱体框架结构，所述的第一环形安装架和第二环形安装架均为环形圈结构，所述的环形圈直径与主体的圆柱体框架结构直径相同；第一环形安装架固定安装在主体中部，第二环形安装架固定安装在主体顶部，第一环形安装架和第二环形安装架的轴线与主体的轴线方向重合；所述的刀片齿轮马达垂直于主体轴线方向固定安装在第一环形安装架的直径方向上；所述的钻头齿轮马达垂直于主体轴线方向固定安装在第二环形安装架的直径方向上；所述的刀片齿轮马达和钻头齿轮马达结构相同，均设置有安装架、工作进水口和两个工作齿轮，所述的安装架分别安装在第一环形安装架和第二环形安装架上，工作进水口为高压水入口，所述的刀片的主轴与刀片齿轮马达中的工作齿轮轴向固定连接，所述的钻头的主轴与钻头齿轮马达中的工作齿轮轴向固定连接；所述的刀片和钻头的轴线方向与主体的轴线方向相互重合；所述的六个驱动齿轮马达设置有第一铰接架、第二铰接架、两个驱动齿轮、驱动进水口；所述的六个驱动齿轮马达中的三个驱动齿轮马达分别通过第一铰接架铰接安装在主体上，沿主体圆周均匀分布，并位于第一环形安装架下部；另外的三个驱动齿轮马达分别通过第二铰接架铰接安装在主体上，沿主体圆周均匀分布，并位于第二环形安装架下部；所述的六个高压水缸的缸体分别铰接安装在主体上，并位于每个驱动齿轮马达的正上方，每个高压水缸的活塞分别与每个驱动齿轮马达上的第二铰接架铰接在一起；所述的十二个行走轮中每两个分别安装在每个驱动齿轮马达的两侧，并与驱动齿轮马达中的一个驱动齿轮轴向固定连接，行走轮的轴线方向与驱动齿轮的轴线方向相互重合。The technical solution adopted by the present invention is: a pipeline dredging robot, including a main body, a first annular mounting frame and a second annular mounting frame, a blade and a blade gear motor, a drill bit and a drill gear motor, six high-pressure water cylinders and six driving The gear motor and twelve traveling wheels are characterized in that: the main body is a cylindrical frame structure, the first annular mounting frame and the second annular mounting frame are both annular ring structures, and the diameter of the annular ring is the same as The diameter of the cylindrical frame structure of the main body is the same; the first annular mounting frame is fixedly installed in the middle of the main body, the second annular mounting frame is fixedly installed on the top of the main body, and the axes of the first annular mounting frame and the second annular mounting frame coincide with the axial direction of the main body The blade gear motor is fixedly installed on the diameter direction of the first annular mounting frame perpendicular to the axis direction of the main body; the drill bit gear motor is fixedly installed on the diameter direction of the second annular mounting frame perpendicular to the axis direction of the main body; The blade gear motor and the drill bit gear motor have the same structure, and they are all provided with a mounting frame, a working water inlet and two working gears. The water port is a high-pressure water inlet, the main shaft of the blade is axially fixedly connected with the working gear in the blade gear motor, and the main shaft of the drill bit is axially fixedly connected with the working gear in the drill gear motor; the blade and the drill bit The axial direction of the main body coincides with the axial direction of the main body; the six driving gear motors are provided with a first hinged frame, a second hinged frame, two driving gears, and a driving water inlet; The three driving gear motors are respectively hingedly mounted on the main body through the first hinged frame, distributed evenly along the circumference of the main body, and located at the lower part of the first annular mounting frame; the other three driving gear motors are respectively hingedly mounted on the main body through the second hinged frame , evenly distributed along the circumference of the main body, and located at the lower part of the second annular mounting frame; the cylinder bodies of the six high-pressure water cylinders are respectively hingedly mounted on the main body, and are located directly above each driving gear motor, and each high-pressure water cylinder The pistons are respectively hinged with the second articulated frame on each drive gear motor; each two of the twelve road wheels are respectively installed on both sides of each drive gear motor, and are connected with the drive gear motor A driving gear is axially fixedly connected, and the axis direction of the traveling wheel coincides with the axis direction of the driving gear.
进一步的，所述的刀片齿轮马达和钻头齿轮马达的工作进水口、驱动齿轮马达的驱动进水口、高压水缸的有杆腔均通过高压水管与外接高压水泵相连接，每个连接处设置有控制阀，每个控制阀均与控制系统相连接。Further, the working water inlet of the blade gear motor and the drill bit gear motor, the driving water inlet of the driving gear motor, and the rod cavity of the high-pressure water cylinder are all connected to an external high-pressure water pump through a high-pressure water pipe, and each connection is provided with Control valves, each of which is connected to the control system.
进一步的，所述的高压水缸和驱动齿轮马达不限于六个，所述的行走轮不限于十二个，高压水缸和驱动齿轮马达的数量相同，行走轮的数量为高压水缸和驱动齿轮马达数量的两倍。Further, the number of high-pressure water cylinders and driving gear motors is not limited to six, and the number of driving wheels is not limited to twelve. Twice the number of gear motors.
由于本发明采用了上述技术方案，本发明具有以下优点：（1）本发明全部由高水压驱动，不需要电力驱动，从而能够适应管道内部复杂的工作环境；（2）通过设置有高压水缸，在高水压缸的作用下，行走轮可产生较大的压力，贴紧在管道壁面上，从而使本发明可以适应一定范围内管径的管道。Because the present invention adopts the above-mentioned technical solution, the present invention has the following advantages: (1) The present invention is all driven by high water pressure and does not require electric drive, so that it can adapt to the complicated working environment inside the pipeline; Cylinder, under the action of the high water pressure cylinder, the traveling wheel can generate greater pressure and stick to the wall surface of the pipeline, so that the present invention can be adapted to pipelines with a certain range of diameters.
附图说明Description of drawings
图1为本发明的整体装配立体结构示意图。Fig. 1 is a schematic diagram of the overall assembled three-dimensional structure of the present invention.
图2为本发明中主体、第一环形安装架和第二环形安装架的三维立体装配结构示意图。Fig. 2 is a schematic diagram of a three-dimensional assembly structure of the main body, the first annular mounting frame and the second annular mounting frame in the present invention.
图3为本发明中驱动齿轮马达的三维立体结构示意图。Fig. 3 is a schematic diagram of a three-dimensional structure of the driving gear motor in the present invention.
图4为本发明中驱动齿轮马达内部的三维立体结构示意图。Fig. 4 is a schematic diagram of a three-dimensional structure inside the driving gear motor in the present invention.
图5为本发明中钻头齿轮马达的三维立体结构示意图。Fig. 5 is a schematic diagram of a three-dimensional structure of the drill gear motor in the present invention.
图6为本发明中钻头齿轮马达内部的三维立体结构示意图Fig. 6 is a schematic diagram of the three-dimensional structure inside the gear motor of the drill bit in the present invention
附图标号：1-主体；2-第一环形安装架；3-第二环形安装架；4-刀片齿轮马达；5-刀片；6-钻头齿轮马达；7-钻头；8-高压水缸；9-驱动齿轮马达；10-行走轮；601-安装架；602-工作进水口；603-工作齿轮；901-第一铰接架；902-驱动进水口；903-第二铰接架；904-驱动齿轮。Reference numerals: 1-main body; 2-first annular mounting frame; 3-second annular mounting frame; 4-blade gear motor; 5-blade; 6-drill bit gear motor; 7-drill bit; 8-high pressure water cylinder; 9-driving gear motor; 10-traveling wheel; 601-mounting frame; 602-working water inlet; 603-working gear; 901-first hinged frame; 902-driving water inlet; 903-second hinged frame; 904-drive gear.
具体实施方式Detailed ways
下面结合具体实施例对本发明作进一步描述，在此发明的示意性实施例以及说明用来解释本发明，但并不作为对本发明的限定。The present invention will be further described below in conjunction with specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not as a limitation to the present invention.
如图1、图2、图3、图4、图5、图6所示，一种管道疏通机器人，包括主体1、第一环形安装架2和第二环形安装架3、刀片5和刀片齿轮马达4、钻头7和钻头齿轮马达6、六个高压水缸8和六个驱动齿轮马达9、十二个行走轮10，主体1为圆柱体框架结构，第一环形安装架2和第二环形安装架3均为环形圈结构，环形圈直径与主体1的圆柱体框架结构直径相同。第一环形安装架2固定安装在主体1中部，第二环形安装架3固定安装在主体1顶部，第一环形安装架2和第二环形安装架3的轴线与主体1的轴线方向重合。刀片齿轮马达4垂直于主体1轴线方向固定安装在第一环形安装架2的直径方向上。钻头齿轮马达6垂直于主体1轴线方向固定安装在第二环形安装架3的直径方向上。刀片齿轮马达4和钻头齿轮马达6结构相同，均设置有安装架601、工作进水口602和两个工作齿轮603，安装架601分别安装在第一环形安装架2和第二环形安装架3上，工作进水口602为高压水入口，刀片5的主轴与刀片齿轮马达4中的工作齿轮轴向固定连接，钻头7的主轴与钻头齿轮马达6中的工作齿轮603轴向固定连接。刀片5和钻头7的轴线方向与主体1的轴线方向相互重合。六个驱动齿轮马达9设置有第一铰接架901、第二铰接架902、两个驱动齿轮904、驱动进水口902。六个驱动齿轮马达9中的三个驱动齿轮马达9分别通过第一铰接架901铰接安装在主体1上，沿主体1圆周均匀分布，并位于第一环形安装架2下部。另外的三个驱动齿轮马达9分别通过第二铰接架902铰接安装在主体1上，沿主体1圆周均匀分布，并位于第二环形安装架3下部。六个高压水缸8的缸体分别铰接安装在主体1上，并位于每个驱动齿轮马达9的正上方，每个高压水缸8的活塞分别与每个驱动齿轮马达9上的第二铰接架902铰接在一起；所述的十二个行走轮10中每两个分别安装在每个驱动齿轮马达9的两侧，并与驱动齿轮马达9中的一个驱动齿轮904轴向固定连接，行走轮10的轴线方向与驱动齿轮904的轴线方向相互重合。As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a pipe dredging robot includes a main body 1, a first annular mounting frame 2 and a second annular mounting frame 3, a blade 5 and a blade gear Motor 4, drill bit 7 and drill bit gear motor 6, six high-pressure water cylinders 8 and six drive gear motors 9, twelve traveling wheels 10, the main body 1 is a cylindrical frame structure, the first annular mounting frame 2 and the second annular The mounting frames 3 are all annular ring structures, and the diameter of the annular ring is the same as that of the cylindrical frame structure of the main body 1 . The first annular mounting frame 2 is fixedly installed in the middle of the main body 1, and the second annular mounting frame 3 is fixedly mounted on the top of the main body 1. The axes of the first annular mounting frame 2 and the second annular mounting frame 3 coincide with the axial direction of the main body 1. The blade gear motor 4 is fixedly installed on the diameter direction of the first annular mounting frame 2 perpendicular to the axis direction of the main body 1 . The drill bit gear motor 6 is fixedly installed on the diameter direction of the second annular mounting frame 3 perpendicular to the axial direction of the main body 1 . The blade gear motor 4 and the drill bit gear motor 6 have the same structure, and are provided with a mounting frame 601, a working water inlet 602 and two working gears 603, and the mounting frame 601 is installed on the first annular mounting frame 2 and the second annular mounting frame 3 respectively. , the working water inlet 602 is a high-pressure water inlet, the main shaft of the blade 5 is axially fixedly connected with the working gear in the blade gear motor 4, and the main shaft of the drill bit 7 is axially fixedly connected with the working gear 603 in the drill gear motor 6. The axial direction of the blade 5 and the drill bit 7 coincides with the axial direction of the main body 1 . The six driving gear motors 9 are provided with a first hinged frame 901 , a second hinged frame 902 , two driving gears 904 , and a driving water inlet 902 . Three of the six driving gear motors 9 are hingedly mounted on the main body 1 through the first hinged frame 901 , are evenly distributed along the circumference of the main body 1 , and are located at the lower part of the first annular mounting frame 2 . The other three driving gear motors 9 are respectively hingedly mounted on the main body 1 through the second hinged frame 902 , are evenly distributed along the circumference of the main body 1 , and are located at the lower part of the second annular mounting frame 3 . The cylinder bodies of the six high-pressure water cylinders 8 are respectively hingedly mounted on the main body 1, and are located directly above each drive gear motor 9, and the pistons of each high-pressure water cylinder 8 are respectively hinged with the second hinge on each drive gear motor 9. The frame 902 is hinged together; every two of the twelve traveling wheels 10 are installed on both sides of each drive gear motor 9, and are axially fixedly connected with a drive gear 904 in the drive gear motor 9, and travel The axial direction of the wheel 10 and the axial direction of the drive gear 904 coincide with each other.
为了更好的实现本发明的控制功能，刀片齿轮马达4和钻头齿轮马达6的工作进水口602、驱动齿轮马达9的驱动进水口902、高压水缸8的有杆腔均通过高压水管与外接高压水泵相连接，每个连接处设置有控制阀，每个控制阀均与控制系统相连接。In order to better realize the control function of the present invention, the working water inlet 602 of the blade gear motor 4 and the drill bit gear motor 6, the driving water inlet 902 of the driving gear motor 9, and the rod cavity of the high-pressure water cylinder 8 are all connected to the external connection through the high-pressure water pipe. The high-pressure water pumps are connected with each other, and each connection is provided with a control valve, and each control valve is connected with the control system.
为了满足不同工作环境和管道大小的要求，高压水缸8和驱动齿轮马达9不限于六个，所述的行走轮10不限于十二个，高压水缸8和驱动齿轮马达9的数量相同，行走轮10的数量为高压水缸8和驱动齿轮马达9数量的两倍。In order to meet the requirements of different working environments and pipeline sizes, the high-pressure water cylinder 8 and the driving gear motor 9 are not limited to six, and the number of the traveling wheels 10 is not limited to twelve, and the number of the high-pressure water cylinder 8 and the driving gear motor 9 is the same. The quantity of road wheels 10 is double of the quantity of high-pressure water cylinder 8 and driving gear motor 9 .
本发明的工作原理为：本发明在使用时，首先根据进行疏通管道的大小，通过控制高压水缸8来调整本发明的整体大小，同时在高压水的作用下，行走轮10紧贴在管道内部；在驱动齿轮马达9的驱动下，行走轮10可以实现自由行走；同时控制开启钻头齿轮马达6，钻头7可实现高速旋转；当有体积较大的污物时，刀片5在刀片齿轮马达4的驱动下，高速旋转可将污物粉碎，并从本发明内部排出。本发明可以实现循环高效率、高质量完成管道疏通工作的目的。The working principle of the present invention is: when the present invention is in use, first according to the size of the dredging pipeline, the overall size of the present invention is adjusted by controlling the high-pressure water cylinder 8, and at the same time, under the action of high-pressure water, the traveling wheel 10 is close to the pipeline. Inside; driven by the driving gear motor 9, the traveling wheel 10 can realize free walking; at the same time, the drill bit gear motor 6 is controlled to be turned on, and the drill bit 7 can realize high-speed rotation; Driven by 4, the high-speed rotation can crush the dirt and discharge it from the inside of the invention. The invention can realize the purpose of completing the pipeline dredging work with high cycle efficiency and high quality.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510539376.4ACN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510539376.4ACN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
| Publication Number | Publication Date |
|---|---|
| CN105156836Atrue CN105156836A (en) | 2015-12-16 |
| CN105156836B CN105156836B (en) | 2017-05-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510539376.4AExpired - Fee RelatedCN105156836B (en) | 2015-08-30 | 2015-08-30 | Pipeline dredging robot |
| Country | Link |
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| CN (1) | CN105156836B (en) |
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| CB03 | Change of inventor or designer information | Inventor after:WenRen Sheng Inventor before:Xu Hongen Inventor before:Xu Jinpeng Inventor before:Xing Pengda | |
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| TA01 | Transfer of patent application right | Effective date of registration:20170331 Address after:315000 Zhejiang Province, Ningbo high tech Zone Juxian Road No. 587 No. 15 No. 2 4-1-1 Applicant after:NINGBO WEIKE SHUANGCHUANG INVESTMENT CO.,LTD. Address before:054999 Xingtai City, Hebei province Linxi County Lu Xiang Yao Village No. 101 Applicant before:Xu Jinpeng | |
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