CN111975087A - Be used for city underground piping cutting robot - Google Patents

Abstract

The invention discloses a robot for cutting urban underground pipes, comprising a crawling robot and a wire winding mechanism connected with the crawling robot. The crawling robot includes a robot body, a cutting arm, a cylinder motor and a sharpening head, and the tail of the robot body is fixedly connected There are aviation plugs and camera 1, the head of the robot body is provided with a cutting arm, the side wall of the cutting arm is fixedly connected with the camera 2 and the high beam, the surface of the cutting arm is fixedly connected to the cutting camera, and the end of the cutting arm is provided with a rotating connection The cylinder motor, the output end of the cylinder motor is fixedly connected to the sharpening head, and the reeling mechanism includes a wire reel bracket, a cable reel, an air pipe reel, a cable bracket and an air tube bracket. By adopting a crawling robot with a cutting arm to cooperate with the wire winding mechanism, the invention can conveniently use the crawling robot to directly cut and clear the blockage in the pipeline, greatly shorten the construction period, and improve the convenience of pipeline dredging.

Description

A robot for cutting urban underground pipes

technical field

The invention relates to the technical field of pipeline maintenance, in particular to a robot for cutting urban underground pipelines.

Background technique

Pipelines are an important part of urban construction. Electric power, water conservancy, water supply, natural gas and other industries, especially sewage pipelines, use a large number of pipelines. However, many pipelines have been buried for longer than 30-50 years, possibly 50 years. Above, the sewer environment is more complicated. Various reasons such as rainfall or flushing of the street cause branches, irregular stones and other materials to be flushed into the sewer, but these things will not easily flow with the running water and stay inside the pipeline for a long time, which will easily lead to the pipeline. In the event of damage, blockage, pipeline rupture, etc., manual operation cannot be carried out into the pipeline, making the sewer narrow and affecting the external environment and public health.

At present, the traditional pipeline repair technology needs to break the ground, cut the pipeline, coat or replace it, and then restore the ground. However, the surface facilities are damaged during the construction process and the repair cycle is long, and the traffic conditions of the road are affected at the same time. To this end, it is necessary to design a new technical solution to solve it.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a robot for cutting urban underground pipelines, which solves the problems in the prior art that the ground needs to be destroyed and the construction period is long when dredging the pipelines.

In order to achieve the above purpose, the present invention provides the following technical solutions: a robot for urban underground pipeline cutting, including a crawling robot and a wire reeling mechanism connected with the crawling robot, the crawling robot includes a robot body, a cutting arm, a cylinder motor and A sharpening head, the tail of the robot body is fixedly connected with an aviation plug and a camera head, the head of the robot body is provided with a cutting arm, and the side wall of the cutting arm is fixedly connected with a camera head two and a high beam, the The surface of the cutting arm is fixedly connected to the cutting camera, the end of the cutting arm is provided with a cylinder motor that is rotatably connected, and the output end of the cylinder motor is fixedly connected to the sharpening head. A cable reel, a trachea reel, a cable bracket and a trachea bracket, the cable reel and the trachea reel that are rotatably connected are sequentially arranged inside the cable reel bracket from top to bottom, and the cable reel bracket The side wall of the device is provided with a rotatably connected cable bracket and a trachea bracket, and the cable bracket and the trachea bracket are in one-to-one correspondence with the cable reel and the trachea reel respectively. A start button, a jog button, an emergency stop button and a power switch are fixedly connected in sequence from left to right.

As an improvement of the above technical solution, a steering head is provided at the connection between the cutting arm and the robot body, and a rotating assembly is provided at the ends of the cutting arm and the steering head.

As an improvement of the above technical solution, the two sides of the robot body are respectively provided with driving wheels, and the tail of the robot body is fixedly connected with a protection hook.

As an improvement of the above technical solution, a pneumatic motor base is fixedly connected to the outer side of the cutting arm, and the pneumatic motor base is fixedly connected to the cylinder motor.

As an improvement of the above technical solution, a cable manual handle is fixedly connected to the central axis of the cable reel, and the cable manual handle protrudes from the outer side of the cable reel bracket.

As an improvement of the above technical solution, a back-and-forth guide rod is provided between the tracheal support and the tracheal reel.

As an improvement of the above technical solution, one end of the cable reel is provided with a servo motor 1, the servo motor 1 is fixedly connected to the wire reel bracket, and the output end of the servo motor 1 and the cable reel pass through chain connection.

As an improvement of the above technical solution, one end of the air pipe reel is provided with a second servo motor, the second servo motor is fixedly connected to the reel bracket, and the output end is connected to the air pipe reel through a chain.

Compared with the prior art, the beneficial effects of the present invention are as follows:

1. In the present invention, by using a crawling robot with a cutting arm to cooperate with the winding mechanism, it is convenient to use the crawling robot to directly cut and clear the blockage in the pipeline, effectively avoiding the damage to the ground and the building facilities on the surface, greatly reducing the impact of the crawling robot. The construction period is shortened and the convenience of pipeline dredging is improved.

2. In the present invention, cameras 1 and 2 are respectively provided at both ends of the robot body, which facilitates the detection of various defect states such as blockage, collapse, dislocation, and cracks in the pipeline when the robot body is moving forward, and at the same time, the robot body can be detected at the same time. Check whether the cable and the trachea are overlapped or rolled when backing back to improve the safety of use.

3. The present invention is provided with a reeling mechanism, which cooperates with the movement of the robot body to retract and unwind, so as to avoid the cables and air pipes being scattered during construction, and improve the convenience of the construction process. The outer side is provided with a cable bracket and a trachea bracket, which is convenient to support the cable and the trachea, and improves the convenience of retracting the cable and the trachea.

Description of drawings

1 is a schematic diagram of the overall structure of the robot for cutting urban underground pipelines according to the present invention;

Fig. 2 is the structural schematic diagram of the winding mechanism according to the present invention;

FIG. 3 is a schematic diagram of the structure of the robot body according to the present invention.

In the picture: crawling robot-1, reeling mechanism-2, robot body-3, cutting arm-4, cylinder motor-5, sharpening head-6, aviation plug-7, camera one-8, camera two-9, High beam-10, cutting camera-11, reel bracket-12, cable reel-13, air hose reel-14, cable bracket-15, air hose bracket-16, start button-17, Jog button-18, emergency stop button-19, power switch-20, steering head-21, rotating assembly-22, drive wheel-23, protection hook-24, air motor seat-25, cable manual handle-26, Back and forth guide rod -27, servo motor one -28, servo motor two -29.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

1-3, the present invention provides a technical solution: a robot for cutting urban underground pipelines, including a crawling robot 1 and a wire winding mechanism 2 connected to the crawling robot 1, the crawling robot 1 includes a robot body 3. The cutting arm 4, the cylinder motor 5 and the sharpening head 6, the tail of the robot body 3 is fixedly connected with an aviation plug 7 and a camera 1 8, and the head of the robot body 3 is provided with a cutting arm 4, and the cutting The side wall of the arm 4 is fixedly connected with the camera 2 9 and the high beam 10, the surface of the cutting arm 4 is fixedly connected with the cutting camera 11, and the end of the cutting arm 4 is provided with a cylinder motor 5 that is rotatably connected. The output end of the motor 5 is fixedly connected to the sharpening head 6 , and the reeling mechanism 2 includes a reel support 12 , a cable reel 13 , a gas tube reel 14 , a cable bracket 15 and a gas tube bracket 16 . The inside of the reel bracket 12 is sequentially provided with a rotatably connected cable reel 13 and an air pipe reel 14 from top to bottom, and the side wall of the reel bracket 12 is provided with a rotatably connected cable bracket 15 and an air pipe. Bracket 16, the cable bracket 15 and the trachea bracket 16 are in one-to-one correspondence with the cable reel 13 and the trachea reel 14, and the surface of the reel bracket 12 is fixedly connected in sequence from left to right. Start button 17 , jog button 18 , emergency stop button 19 and power switch 20 .

Further improved, as shown in FIG. 3 , a steering head 21 is provided at the connection between the cutting arm 4 and the robot body 3 , and a rotating assembly 22 is provided at the end of the cutting arm 4 and the steering head 21 . There is a steering head 21 between the cutting arm 4 and the machine body, which is convenient for the axial rotation of the cutting arm 4, and the rotating assembly 22 is arranged between the cutting arm 4 and the steering head 21, which facilitates the radial rotation of the cutting arm 4 and improves the cutting performance. Flexibility of arm 4 rotation.

For further improvement, as shown in FIG. 3 , the two sides of the robot body 3 are respectively provided with driving wheels 23 , and the tail of the robot body 3 is fixedly connected with a protective hook 24 . The wheel 23 facilitates the movement of the robot body 3 in the pipeline, and the safety hook 24 is fixedly connected to the tail of the robot body 3 to improve the safety of the robot during operation.

Further improved, as shown in FIG. 3 , a pneumatic motor seat 25 is fixedly connected to the outer side of the cutting arm 4 , and the pneumatic motor seat 25 is fixedly connected to the cylinder motor 5 . The pneumatic motor base 25 connected with the motor 5 is convenient to drive the cylinder motor 5 to rotate, and is convenient for cutting construction.

Further improved, as shown in FIG. 2 , a cable manual handle 26 is fixedly connected to the central axis of the cable reel 13 , and the cable manual handle 26 protrudes from the outside of the cable reel bracket 12 . A cable manual handle 26 is fixedly connected to the shaft end of the cable reel 13 to facilitate manual retraction and adjustment of the cable.

Further improved, as shown in FIG. 2, a back-and-forth guide rod 27 is provided between the trachea support and the trachea reel 14, which is convenient to move the trachea back and forth when retracting and deflating the trachea, so as to make the trachea evenly wound on the trachea reel. s surface.

Further improved, as shown in FIG. 2 , one end of the cable reel 13 is provided with a servo motor 1 28, the servo motor 1 28 is fixedly connected to the spool bracket 12, and the output end of the servo motor 1 28 is connected to the spool bracket 12. The cable reels 13 are connected by a chain, and the cable reel 13 is automatically driven to retract and unwind the cable by a servo motor 1 28 connected by a chain at one end of the cable reel 13 .

Specifically, as shown in FIG. 2 , one end of the air pipe reel 14 is provided with a second servo motor 29 , the second servo motor 29 is fixedly connected to the reel bracket 12 and the output end is connected to the air pipe reel 14 through a chain For connection, the second side of the trachea reel 14 is provided with a chain-connected servo motor 29, which facilitates automatic driving of the trachea to retract and unwind, and the operation is more convenient.

In the present invention, by using the crawling robot 1 with the cutting arm 4 to cooperate with the winding mechanism 2, it is convenient to use the crawling robot 1 to directly cut and clear the blockage in the pipeline, and effectively avoid damage to the ground and the building facilities on the surface. , greatly shorten the construction period and improve the convenience of pipeline dredging.

When the present invention is in use, the air plug 7 is used to connect the cable with the crawling robot 1, the trachea is connected to the pneumatic motor base 25 and the cylinder motor 5 respectively, the crawling robot 1 is put into the blocked pipeline, and the robot body 3 The driving wheels 23 on both sides drive the robot body 3 to move in the pipeline, and connect the cable with the controller. The crawling robot 1 uses the camera 1 8, the camera 2 9 and the cutting camera 11 to collect the picture through the cable to transmit to the controller. And it is displayed on the screen on the surface of the controller, which is convenient for the staff to control the movement of the crawling robot 1 in the pipeline. The staff uses the start button 17, the jog button 18, the emergency stop button 19 and the power switch 20 on the surface of the reel bracket 12 to line up The rotation state of the cable reel 13 and the trachea reel 14 is controlled and adjusted. When the crawling robot 1 moves to the blockage, the cutting arm 4 rotates to an appropriate angle, and the cylinder motor 5 drives the sharpening head 6 to rotate, thereby Cut the blockage to complete the dredging work in the pipeline.

While the basic principles and main features and advantages of the present invention have been shown and described above, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but without departing from the spirit or essential aspects of the present invention. In the case of the characteristic features, the present invention can be implemented in other specific forms. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (8)

1. A robot for cutting urban underground pipes, comprising a crawling robot (1) and a reeling mechanism (2) connected with the crawling robot (1), characterized in that: the crawling robot (1) comprises a robot body ( 3), a cutting arm (4), a cylinder motor (5) and a sharpening head (6), the tail of the robot body (3) is fixedly connected with an air plug (7) and a camera head (8), the robot body The head of (3) is provided with a cutting arm (4), the side wall of the cutting arm (4) is fixedly connected with two cameras (9) and a high beam (10), and the surface of the cutting arm (4) is fixed A cutting camera (11) is connected, the end of the cutting arm (4) is provided with a cylinder motor (5) that is rotatably connected, and the output end of the cylinder motor (5) is fixedly connected to the sharpening head (6). The wire mechanism (2) comprises a wire reel bracket (12), a cable reel (13), a gas tube reel (14), a cable bracket (15) and a gas tube bracket (16), the wire reel bracket (16) The inside of (12) is sequentially provided with a rotatably connected cable reel (13) and a trachea reel (14) from top to bottom, and the side wall of the spool bracket (12) is provided with a rotatably connected cable A bracket (15) and a trachea bracket (16), the cable bracket (15) and the trachea bracket (16) are in one-to-one correspondence with the cable reel (13) and the trachea reel (14) respectively A start button (17), a jog button (18), an emergency stop button (19) and a power switch (20) are fixedly connected to the surface of the wire reel bracket (12) sequentially from left to right. 2. A robot for urban underground pipeline cutting according to claim 1, characterized in that: a steering head (21) is provided at the connection between the cutting arm (4) and the robot body (3), and the cutting arm (4) is provided with a steering head (21). The ends of the arm (4) and the steering head (21) are provided with a rotating assembly (22). 3. A robot for urban underground pipeline cutting according to claim 1, characterized in that: the two sides of the robot body (3) are respectively provided with driving wheels (23), and the The tail is fixedly connected with a protective pull hook (24). 4. A robot for urban underground pipeline cutting according to claim 1, characterized in that: a pneumatic motor seat (25) is fixedly connected to the outer side of the cutting arm (4), and the pneumatic motor seat (25) It is fixedly connected to the cylinder motor (5). 5 . The robot for cutting urban underground pipelines according to claim 1 , wherein a cable manual handle ( 26 ) is fixedly connected to the central axis of the cable reel ( 13 ). 6 . The cable manual handle (26) protrudes out of the outer side of the wire reel bracket (12). 6 . The robot for cutting urban underground pipelines according to claim 1 , wherein a back-and-forth guide rod ( 27 ) is arranged between the trachea support and the trachea reel ( 14 ). 7 . 7. A robot for cutting urban underground pipelines according to claim 1, characterized in that: one end of the cable reel (13) is provided with a servo motor one (28), and the servo motor one ( 28) It is fixedly connected to the wire reel bracket (12), and the output end of the first servo motor (28) and the cable reel (13) are connected by a chain. 8. A robot for cutting urban underground pipelines according to claim 1, characterized in that: one end of the trachea reel (14) is provided with a second servo motor (29), and the second servo motor (29) ) is fixedly connected to the reel bracket (12) and the output end is connected to the trachea reel (14) through a chain.

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