阅读说明：本技术 一种新型去污机器人 (Novel decontamination robot ) 是由 徐瑞霞 杨蕴涵 王润鹏 于 2019-12-19 设计创作，主要内容包括：本发明公开了一种新型去污机器人,包括切割机构、旋转机构、粉碎机构、伸缩机构、横向支撑机构、行进机构和控制系统,所述切割机构包括五片刀刃、圆盘底座、固定件一、主轴和旋转电机；所述旋转机构位于切割机构的后侧,通过固定件一与切割机构相连；所述粉碎机构位于旋转机构的后侧,并通过耳板固定在所述切割机构的主轴上；所述伸缩机构通过连接部与前面的粉碎机构相连；所述横向支撑机构固定在行进机构的上方,所述行进机构内部设有控制系统,所述控制系统用以控制切割机构、旋转机构、粉碎机构、伸缩机构、横向支撑机构和行进机构进行相应的操作。该去污机器人可以代替人工将堵塞下水道的淤泥进行切割粉碎清理,实现下水道的疏通工作。(The invention discloses a novel decontamination robot, which comprises a cutting mechanism, a rotating mechanism, a crushing mechanism, a telescopic mechanism, a transverse supporting mechanism, a traveling mechanism and a control system, wherein the cutting mechanism comprises five blades, a disc base, a first fixing part, a main shaft and a rotating motor; the rotating mechanism is positioned at the rear side of the cutting mechanism and is connected with the cutting mechanism through a first fixing piece; the crushing mechanism is positioned at the rear side of the rotating mechanism and is fixed on a main shaft of the cutting mechanism through an ear plate; the telescopic mechanism is connected with the front crushing mechanism through a connecting part; the transverse supporting mechanism is fixed above the travelling mechanism, a control system is arranged in the travelling mechanism and used for controlling the cutting mechanism, the rotating mechanism, the crushing mechanism, the telescopic mechanism, the transverse supporting mechanism and the travelling mechanism to perform corresponding operations. This decontamination robot can replace the manual work to cut the silt that blocks up the sewer and smash the clearance, realizes the mediation work of sewer.)

1. A novel decontamination robot comprises a cutting mechanism, a rotating mechanism, a crushing mechanism, a telescopic mechanism, a transverse supporting mechanism, a traveling mechanism and a control system, and is characterized in that the cutting mechanism comprises five blades, a disc base, a first fixing part, a main shaft and a rotating motor; the rotating mechanism is positioned at the rear side of the cutting mechanism and is connected with the cutting mechanism through a first fixing piece; the crushing mechanism is positioned at the rear side of the rotating mechanism and is fixed on a main shaft of the cutting mechanism through an ear plate; the telescopic mechanism is connected with the front crushing mechanism through a connecting part; the transverse supporting mechanism is fixed above the travelling mechanism, a control system is arranged in the travelling mechanism and used for controlling the cutting mechanism, the rotating mechanism, the crushing mechanism, the telescopic mechanism, the transverse supporting mechanism and the travelling mechanism to perform corresponding operations.

2. The decontamination robot of claim 1, wherein said five blades are fixedly mounted on a disc base, said disc base being riveted to a mount; the first fixing piece is cross-shaped; the first fixing piece is connected with the main shaft through a jackscrew; the main shaft is connected with a rear rotating motor through a coupler; the cutting mechanism drives the cutting edge to rotate under the rotation of the rotating motor to achieve the purpose of cutting.

3. The decontamination robot of claim 1, wherein the rotating mechanism is four circular arc blades, and the top ends of the circular arc blades are provided with barbs; the arc blade is connected with a first fixing part of the cutting mechanism through a hinge.

4. The decontamination robot of claim 1, wherein the shredding mechanism comprises a rubber wheel, a second securing member, a shredding blade, and a bracket; the second fixing piece is of a hollow circular steel structure; the four rubber wheels are symmetrically distributed on the outer surface of the second fixing piece and are in threaded connection with the second fixing piece; the crushing blades are arranged in two groups and are arranged at the upper end and the lower end of the inner side of the fixing piece II in parallel through a transmission shaft; the center of the crushing blade is provided with a through hole, and the crushing blade is fixedly connected to the transmission shaft through a buckle; each group of blades has different sizes and are distributed on the transmission shaft in a staggered manner.

5. The decontamination robot of claim 4, wherein the bracket is located at a middle position of the second fixing member and is fixed on the main shaft of the cutting mechanism through an ear plate; the bracket comprises a transverse plate and a longitudinal bracket vertical to the transverse plate; the tail end of the longitudinal support is provided with a connecting part which is used for being connected with a telescopic mechanism; the transverse plate and the longitudinal bracket are respectively connected with a steering motor and a crushing motor; and chain wheels are arranged on output shafts of the steering motor and the crushing motor.

6. The decontamination robot of claim 5, wherein a first chain wheel is arranged on each of the upper and lower transmission shafts of the crushing mechanism, and the first chain wheel is connected with a chain wheel of a steering motor through a chain so as to realize the rotation of the crushing mechanism; and a second chain wheel is also arranged on the transmission shaft on the upper surface, and the second chain wheel and a chain wheel of the crushing motor are in chain transmission so as to drive the crushing blade to rotate.

7. The decontamination robot of claim 1, wherein the telescoping mechanism is located at the rear side of the shredding mechanism and comprises a push rod and a push rod motor, the push rod motor is fixed on the transverse support mechanism, one end of the push rod is connected with the push rod motor, and the other end of the push rod is hinged with the connecting part of the shredding mechanism; the telescopic mechanism realizes the forward and reverse rotation of the push rod motor through a control circuit, so that the cutting mechanism, the rotating mechanism and the crushing mechanism can extend forwards and retract.

8. The decontamination robot of claim 1, wherein the lateral support mechanism is located above the travel mechanism, the lateral support mechanism comprises a lateral support motor, a lead screw nut, a fixing member III and a support arm, and the lateral support motor is fixed above the travel mechanism; the transverse supporting motor is connected with the screw rod through a coupler; the screw rod is connected with the screw rod nut; the screw rod nut is fixed on the fixing piece III through a screw; the support arms are fixed on two sides of the third fixing part through hinges with springs; the transmission torque of the transverse support motor transmits the lead screw through the coupler, and the lead screw drives the lead screw nut to extend and retract the support arm under the action of the spring, so that the support of the vehicle body is realized.

9. The decontamination robot of claim 1, wherein the travel mechanism comprises a base, wheels, and a powered motor located within the base, an output shaft of the powered motor being connected to the wheels by keys.

10. The decontamination robot of claim 1, wherein the control system is comprised of a power source, a fuse, a voltage reduction module, a motor drive module, a single-chip minimum system, a wireless communication module; the control system is used for controlling the decontamination robot to perform corresponding operations.

Technical Field

The invention relates to the technical field of pipeline decontamination, in particular to a novel decontamination robot.

Background

Along with the rapid development of urban construction, more and more high-rise buildings are provided, the unsmooth drainage of the buildings directly causes great influence on the life of residents, especially, the smooth passing of large-flow sewage cannot be ensured at all in the drainage peak of cooking, bathing and the like, and the deposited oil sludge always raises the downstream water outlet of the drainage pipeline, so that the drainage flow speed is slow and not before, and the sewer is often blocked. The conventional sewer is cleaned by manpower, the problem cannot be solved by using a traditional bamboo rhizome dredging method, the sewer is always blocked along with the dredging, the blocking is more frequent and more serious, and finally the sewer is likely to be excavated, cleaned or transformed, so that the normal life and production of people are directly influenced, a considerable expense is also paid, and the labor and the time are wasted, and the appearance of the city is damaged. It is also unexpected that as the deposition increases, the concentration of harmful gas and combustible gas in the pipeline increases suddenly, causing air pollution, easily causing explosion, and causing great threat to the life and property safety of people, and the method is a great potential safety hazard and should be paid attention by responsible units. Therefore, the novel decontamination robot is designed to replace manpower to achieve the effect of removing the pipeline sludge, and is very necessary.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a novel decontamination robot which replaces manual work to cut, crush and clean sludge blocking a sewer so as to dredge the sewer.

In order to achieve the purpose, the invention provides the following technical scheme:

a novel decontamination robot comprises a cutting mechanism, a rotating mechanism, a crushing mechanism, a telescopic mechanism, a transverse supporting mechanism, a traveling mechanism and a control system, wherein the cutting mechanism comprises five blades, a disc base, a first fixing piece, a main shaft and a rotating motor; the rotating mechanism is positioned at the rear side of the cutting mechanism and is connected with the cutting mechanism through a first fixing piece; the crushing mechanism is positioned at the rear side of the rotating mechanism and is fixed on a main shaft of the cutting mechanism through an ear plate; the telescopic mechanism is connected with the front crushing mechanism through a connecting part; the transverse supporting mechanism is fixed above the travelling mechanism, a control system is arranged in the travelling mechanism and used for controlling the cutting mechanism, the rotating mechanism, the crushing mechanism, the telescopic mechanism, the transverse supporting mechanism and the travelling mechanism to perform corresponding operations.

Furthermore, the five blades are fixedly arranged on a disc base, and the disc base is riveted with the fixing piece I; the first fixing piece is cross-shaped; the first fixing piece is connected with the main shaft through a jackscrew; the main shaft is connected with a rear rotating motor through a coupler; the cutting mechanism drives the cutting edge to rotate under the rotation of the rotating motor to realize the purpose of cutting;

furthermore, the rotating mechanism is provided with four arc blades, and the top ends of the arc blades are provided with barbs; the arc blade is connected with a first fixing part of the cutting mechanism through a hinge;

further, the crushing mechanism comprises a rubber wheel, a second fixing piece, a crushing blade and a bracket; the second fixing piece is of a hollow circular steel structure; the four rubber wheels are symmetrically distributed on the outer surface of the second fixing piece and are in threaded connection with the second fixing piece; the crushing blades are arranged in two groups and are arranged at the upper end and the lower end of the inner side of the fixing piece II in parallel through a transmission shaft; the center of the crushing blade is provided with a through hole, and the crushing blade is fixedly connected to the transmission shaft through a buckle; each group of blades has different sizes and are distributed on the transmission shaft in a staggered manner.

Furthermore, the bracket is positioned in the middle of the second fixing part and is fixed on the main shaft of the cutting mechanism through an ear plate; the bracket comprises a transverse plate and a longitudinal bracket vertical to the transverse plate; the tail end of the longitudinal support is provided with a connecting part which is used for being connected with a telescopic mechanism; the transverse plate and the longitudinal bracket are respectively connected with a steering motor and a crushing motor; and chain wheels are arranged on output shafts of the steering motor and the crushing motor.

Furthermore, chain wheels I are arranged on an upper transmission shaft and a lower transmission shaft of the crushing mechanism and connected with chain wheels of a steering motor through chains to realize rotation of the crushing mechanism; and a second chain wheel is also arranged on the transmission shaft on the upper surface, and the second chain wheel and a chain wheel of the crushing motor are in chain transmission so as to drive the crushing blade to rotate.

Furthermore, the telescopic mechanism is positioned at the rear side of the crushing mechanism and comprises a push rod and a push rod motor, the push rod motor is fixed on the transverse supporting mechanism, one end of the push rod is connected with the push rod motor, and the other end of the push rod is hinged with the connecting part of the crushing mechanism; the telescopic mechanism realizes the forward and reverse rotation of the push rod motor through a control circuit, so that the cutting mechanism, the rotating mechanism and the crushing mechanism can extend forwards and retract.

Furthermore, the transverse supporting mechanism is positioned above the travelling mechanism and comprises a transverse supporting motor, a screw rod nut, a fixing piece III and a support arm, and the transverse supporting motor is fixed above the travelling mechanism; the transverse supporting motor is connected with the screw rod through a coupler; the screw rod is connected with the screw rod nut; the screw rod nut is fixed on the fixing piece III through a screw; the support arms are fixed on two sides of the third fixing part through hinges with springs; the transmission torque of the transverse support motor transmits the lead screw through the coupler, and the lead screw drives the lead screw nut to extend and retract the support arm under the action of the spring, so that the support of the vehicle body is realized.

Further, the advancing mechanism comprises a base, wheels and a power motor, wherein the power motor is positioned in the base, and an output shaft of the power motor is connected with the rubber wheel through a key.

Furthermore, the control system consists of a power supply, a fuse, a voltage reduction module, a motor driving module, a single chip microcomputer minimum system and a wireless communication module; the control system is used for controlling the decontamination robot to perform corresponding operations.

The invention has the beneficial effects that:

(1) according to the decontamination robot provided by the invention, the control system is placed at the bottom of the vehicle body and is sealed with the motor by using the PP plastic plate, so that the control system can resist a high-temperature environment, the impact resistance is high, and the phenomenon of short circuit caused by water entering a circuit is effectively prevented.

(2) The cutting mechanism can easily cut the sludge and transport the sludge backwards, the crushing mechanism crushes impurities in the sludge to prevent damage to a rear structure, the crushed sludge can not be coagulated into blocks again, and the rotating mechanism can be unfolded by utilizing a rotating centrifugal force, is more attached to a pipe wall and cleans residues;

(3) after the transverse supporting mechanism is transversely unfolded, the decontamination robot can be supported on the inner wall of the pipeline, so that the stability of the equipment is provided; the steering motor drives the chain wheel to match with chain transmission, so that the equipment can turn in the pipeline, and the practicability is higher;

(4) the wireless communication module in the control system can be directly communicated with digital products with Bluetooth functions, such as mobile phones, computers, tablets and the like, can support remote operation, and is simple to operate and convenient to use.

Drawings

The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which:

fig. 1 is a schematic view of the overall structure of the decontamination robot of the present invention.

Fig. 2 is a schematic structural view of the cutting mechanism.

Fig. 3 is a schematic view of the structure of the rotating mechanism (in operation).

Fig. 4 is a schematic structural view of the rotating mechanism (at rest).

Fig. 5 is a schematic view of the structure of the crushing mechanism.

Fig. 6 is a perspective view of the crushing mechanism.

Fig. 7 is a schematic view of the connection of the telescoping mechanism.

Fig. 8 is a schematic structural view of the lateral support mechanism.

Fig. 9 is a perspective view of the lateral support mechanism.

Fig. 10 is a schematic structural view of the travel mechanism.

Fig. 11 is an electrical control schematic of the decontamination robot of the present invention.

In the figure: 1-cutting mechanism, 1-1-blade, 1-2-disc base, 1-3-fixed part I, 1-4-main shaft, 1-5-rotating motor, 2-rotating mechanism, 2-1-arc blade and 2-2-folding; 3-crushing mechanism, 3-1-rubber wheel, 3-2-fixing part two, 3-3-crushing blade, 3-4-chain wheel one, 3-5-chain wheel two, 3-6-crushing motor, 3-7-steering motor, 3-8-bracket, 3-9-lug plate, 4-telescoping mechanism, 4-1-push rod, 4-2-push rod motor, 5-transverse supporting mechanism, 5-1-transverse supporting motor, 5-2-support arm, 5-3-screw nut, 5-4-hinge, 5-5-fixing part three, 6-advancing mechanism, 6-1-wheel and 6-2-base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the embodiment of the invention, a novel decontamination robot has a structure shown in fig. 1, and comprises a cutting mechanism 1, a rotating mechanism 2, a crushing mechanism 3, a telescopic mechanism 4, a transverse supporting mechanism 5, a traveling mechanism 6 and a control system, wherein the cutting mechanism 1 comprises five blades 1-1, a disc base 1-2, a fixing piece 1-3, a main shaft 1-4 and a rotating motor 1-5; the rotating mechanism 2 is positioned at the rear side of the cutting mechanism 1 and is connected with the cutting mechanism 1 through a fixing piece I1-3; the crushing mechanism 3 is positioned at the rear side of the rotating mechanism 2 and is fixed on the main shafts 1-4 of the cutting mechanism 1 through ear plates 3-9; the telescopic mechanism 4 is connected with the front crushing mechanism 3 through a connecting part; the transverse supporting mechanism 5 is fixed above the advancing mechanism 6, a control system is arranged in the advancing mechanism 6 and used for controlling the cutting mechanism 1, the rotating mechanism 2, the crushing mechanism 3, the telescopic mechanism 4, the transverse supporting mechanism 5 and the advancing mechanism 6 to perform corresponding operations.

Referring to fig. 2, five blades 1-1 are fixedly arranged on a disc base 1-2, and the disc base 1-2 is riveted with a first fixing piece 1-3; the first fixing piece 1-3 is in a cross shape; the fixing piece I1-3 is connected with the main shaft 1-4 through a jackscrew; the main shaft 1-4 is connected with a rear rotating motor 1-5 through a coupler; the cutting mechanism 1 drives the blade 1-1 to rotate under the rotation of the rotating motor 1-5 to realize the purpose of cutting;

referring to fig. 3 and 4, the rotating mechanism 2 is four arc blades 2-1, and the top ends of the arc blades 2-1 are provided with barbs; the arc blade 2-1 is connected with a fixing piece I1-3 of the cutting mechanism 1 through a hinge 2-2;

referring to fig. 5 and 6, the crushing mechanism 3 comprises a rubber wheel 3-1, a fixing piece two 3-2, a crushing blade 3-3 and a bracket 3-8; the second fixing piece 3-2 is a hollow circular steel structure; the four rubber wheels 3-1 are symmetrically distributed on the outer surface of the second fixing piece 3-2 and are in threaded connection with the second fixing piece 3-2; the crushing blades 3-3 are arranged in two groups and are arranged at the upper end and the lower end of the inner side of the fixing part II 3-2 in parallel through a transmission shaft; the center of the crushing blade 3-3 is provided with a through hole, and the crushing blade 3-3 is fixedly connected to the transmission shaft through a buckle; each group of blades are different in size and distributed on the transmission shaft in a staggered manner; the bracket 3-8 is positioned in the middle of the second fixing part 3-2 and is fixed on the main shaft 1-4 of the cutting mechanism 1 through the ear plate 3-9; the brackets 3 to 8 comprise transverse plates and longitudinal brackets perpendicular to the transverse plates; the tail end of the longitudinal support is provided with a connecting part which is used for being connected with the telescopic mechanism 4; the transverse plate and the longitudinal bracket are respectively connected with a steering motor 3-7 and a crushing motor 3-6; chain wheels are arranged on output shafts of the steering motor 3-7 and the crushing motor 3-6.

The upper transmission shaft and the lower transmission shaft of the crushing mechanism 3 are respectively provided with a chain wheel I3-4, and the chain wheels I3-4 are connected with chain wheels of a steering motor 3-7 through chains to realize the rotation of the crushing mechanism; wherein, the transmission shaft on the upper part is also provided with a chain wheel II 3-5, the chain wheel II 3-5 and the chain wheel of the crushing motor 3-6 are driven by a chain, and then the crushing blade 3-3 is driven to rotate.

The telescopic mechanism 4 is positioned at the rear side of the crushing mechanism 3 and comprises a push rod 4-1 and a push rod motor 4-2, as shown in figure 7, the push rod motor 4-2 is fixed on the transverse supporting mechanism 5, one end of the push rod 4-1 is connected with the push rod motor 4-2, and the other end of the push rod 4-1 is hinged with the connecting part of the crushing mechanism 3; the telescopic mechanism 4 realizes the forward and reverse rotation of the push rod motor 4-2 through a control circuit, thereby realizing the forward extension and retraction of the cutting mechanism 1, the rotating mechanism 2 and the crushing mechanism 3;

the lateral support mechanism 5 is located above the travel mechanism 6. Referring to fig. 8 and 9, the transverse supporting mechanism 5 comprises a transverse supporting motor 5-1, a screw rod nut 5-3, a fixing piece III 5-5 and a support arm 5-2, wherein the transverse supporting motor 5-1 is fixed above the traveling mechanism 6; the transverse supporting motor 5-1 is connected with the screw rod through a coupler; the screw rod is connected with a screw rod nut 5-3; the feed screw nut 5-3 is fixed on the fixing piece III 5-5 through a screw; the support arms are fixed on two sides of the fixing piece III 5-5 through hinges with springs; the transmission torque of the transverse support motor 5-1 is transmitted to the screw rod through the coupler, the screw rod drives the screw rod nut 5-3 to extend and retract the support arm 5-2 under the action of the spring, and therefore supporting of the equipment is achieved.

Referring to fig. 10, the traveling mechanism 6 comprises a base 6-2, wheels 6-1 and a power motor, wherein the power motor is located inside the base, and an output shaft of the power motor is connected with the wheels 6-1 through keys. Wherein the wheels 6-1 are large-sized rubber wheels which can increase the friction with the pipe wall, thereby realizing the advance of the machine. The electrical control principle of the decontamination robot is shown in fig. 11.

The control system consists of a power supply, a fuse, a voltage reduction module, a motor driving module, a single chip microcomputer minimum system and a wireless communication module; the control system is used for controlling the decontamination robot to perform corresponding operations.

Wherein, the power: the 12V polymer lithium battery pack has a short-circuit protection function, and when the short-circuit protection is generated outside and the output is stopped, the short circuit and the load are relieved, the battery pack can automatically recover to output; provides a good energy reserve for the equipment.

A fuse: the fuse of the 5-20 glass fuse tube is adopted, the glass tube body is made of transparent glass fiber reinforced plastics, the internal fuse wire can be clearly seen, the fuse wire is easy to observe after being damaged, and the copper caps at two ends are made of brass materials with good chrome plating and electric conduction.

A voltage reduction module: adopt LM2596S direct current adjustable step-down module, because the singlechip needs the power supply of 5V power, through the module step-down, provide a stable 5V power for the minimum system of singlechip, make equipment normal operating.

A motor driving module: the direct current motor driving module with double H bridges is adopted, two direct current motors can be driven simultaneously, signals can be connected with PWM externally, the speed regulation of the motors is realized, the size is small, a large part of space is saved, the direct current motor driving module can work for a long time, the service life is long, and the direct current motor driving module is not easy to damage.

The minimum system of the single chip microcomputer: a51-singlechip minimum system module is adopted to support various types of chips, parts are designed in a built-in mode, and space is saved.

A wireless communication module: by adopting the HC-05 master-slave integrated Bluetooth module, the module can be directly communicated with digital products with Bluetooth functions, such as mobile phones, computers, tablets and the like, and has the advantages of simple operation and convenient use.

When the decontamination robot provided by the invention works, the transverse supporting mechanism 5 is started firstly to support the robot on the inner wall of a pipeline, then the cutting mechanism 1, the rotating mechanism 2 and the crushing mechanism 3 are started simultaneously to start working, the telescopic mechanism 4 drives the three mechanisms to advance forwards, the cutting mechanism 1 can easily cut sludge and transport the sludge backwards in the advancing process, then the crushing mechanism 3 crushes sundries (plastic bags, wooden sticks and the like) in the sludge to prevent damage to the rear structure, and simultaneously the crushed sludge can not be coagulated into blocks again, and the rotating mechanism 2 at the rear part of the cutting mechanism 1 can be unfolded by using the rotating centrifugal force to be more attached to the pipe wall to clean residues. After the telescopic mechanism 4 reaches the extreme position, sundries in front of the vehicle body are basically cleaned up, then the transverse supporting mechanism 5 retracts the supporting arm 5-2, the equipment is separated from the pipe wall, the telescopic mechanism 4 and the advancing mechanism 6 work simultaneously, the telescopic mechanism 4 achieves a retracting function, in addition, the advancing mechanism 6 drives the vehicle body to advance, the equipment can be used for keeping the front end still, the vehicle body advances to be close to the front end of the equipment to be cleaned up on the next step, and therefore the circulation work is achieved, the advancing of the equipment is achieved, and the cleaning of the pipeline is also achieved. The decontamination robot can also drive a chain wheel I3-4 to match with chain transmission to realize the turning of equipment in the pipeline by controlling a steering motor 3-7. The decontamination robot provided by the invention can dredge the blocked urban pipeline at a high speed and clean more than 80% of impurities in the pipeline.

The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes or modifications without departing from the spirit and scope of the present invention. Those skilled in the art, having the benefit of this disclosure and the benefit of this written description, will appreciate that other embodiments can be devised which do not depart from the specific details disclosed herein.