阅读说明：本技术 一种水利管道清理机器人 (Water conservancy pipeline cleaning robot ) 是由 余爱美 张晓芬 于 2019-11-21 设计创作，主要内容包括：本发明涉及一种水利领域,更具体的说是一种水利管道清理机器人,在水利工程中,通水管路常常会有堵塞的风险,会造成很严重的后果,传统清理设备不能轻松准确的挖开管路的堵塞部位,不能方便的回收清理机器人,本设备解决了上述问题,行走轮会自动根据管路的直径来调整伸出长度,稳定支撑机器人,螺旋桨旋转带动机器人在有水管路中向前推进,当机器人行至堵塞部位,支杆插入堵塞部位中,伞杆形成的锥角变小,便于插入,螺旋桨反转,支杆拔出,伞杆形成的锥角变大,将淤堵物拉出,如此往复完成清理管路堵塞,需要回收机器人时,控制卷筒旋转,卷筒带动拉绳将机器人回收,卷筒转速可调,在不同工作条件下可选择快回收与慢回收,保证机器人安全回收。(The invention relates to the field of water conservancy, in particular to a water conservancy pipeline cleaning robot, in water conservancy projects, a water pipeline often has the risk of blockage, which can cause serious consequences, the traditional cleaning equipment can not easily and accurately dig the blocked part of the pipeline and can not conveniently recover and clean the robot, the equipment solves the problems that a travelling wheel can automatically adjust the extension length according to the diameter of the pipeline, the robot is stably supported, a propeller rotates to drive the robot to forwards advance in the water pipeline, when the robot travels to the blocked part, a support rod is inserted into the blocked part, the cone angle formed by an umbrella rod is reduced, the propeller is convenient to insert, the propeller rotates reversely, the support rod is pulled out, the cone angle formed by the umbrella rod is increased, the blocked object is pulled out, the pipeline blockage is repeatedly cleaned, when the robot needs to be recovered, a winding drum is controlled to rotate, the winding drum drives a pull rope to recover the robot, the rotating speed of the winding drum is adjustable, and quick recovery and slow recovery can be selected under different working conditions, so that safe recovery of the robot is guaranteed.)

1. The utility model provides a water conservancy pipeline cleaning robot, includes clearance assembly (1), walking assembly (2) and retrieves assembly (3), its characterized in that: the cleaning assembly (1) is connected with the walking assembly (2), and the recovery assembly (3) is connected with the cleaning assembly (1).

2. The water conservancy pipeline cleaning robot of claim 1, characterized in that: the cleaning assembly (1) comprises a cleaning shell (1-1), an end cover (1-2), a motor I (1-3), a motor I shaft (1-4), a propeller (1-5), a partition plate (1-6), a spring I (1-7), a sliding plate (1-8), a support rod (1-9), a support lug (1-10), an umbrella rod (1-11), an elastic sheet (1-12), a control rod (1-13), a forceps handle I (1-14), a forceps handle II (1-15), a forceps shaft (1-16), a magnet (1-17), a shifting block (1-18), a sliding block (1-19), a sliding shell (1-20), a limiting hole (1-21), a sliding disc (1-22), a limiting block I (1-23), a limiting block sliding groove (1-23), The cleaning device comprises limiting blocks (1-24), limiting block sliding grooves II (1-25), springs II (1-26), reversing switches (1-27), wiring shells (1-28), springs III (1-29), connecting rods (1-30), forward rotation switches (1-31) and push springs (1-32), a cleaning shell (1-1) is connected with end covers (1-2), the cleaning shell (1-1) is connected with partition plates (1-6), the partition plates (1-6) are connected with motors I (1-3), the motors I (1-3) are connected with shafts (1-4) of the motors I, the shafts (1-4) of the motors I are rotatably connected with the end covers (1-2), the shafts (1-4) of the motors I are connected with propellers (1-5), two ends of the springs I (1-7) are respectively connected with the partition plates (1-6), The sliding plates (1-8) are connected, the spring I (1-7) is in a compressed state, the supporting rod (1-9) is connected with the sliding plates (1-8), the supporting lug (1-10) is connected with the supporting rod (1-9), the supporting lug (1-10) is hinged with the umbrella rod (1-11), two ends of the elastic sheet (1-12) are respectively connected with the umbrella rod (1-11) and the supporting rod (1-9), the elastic sheet (1-12) is in a normal state, the control rod (1-13) is connected with the sliding plate (1-8), the control rod (1-13) is positioned between the forceps handle I (1-14) and the forceps handle II (1-15), the forceps handle I (1-14) and the forceps handle II (1-15) are both rotatably connected with the forceps shaft (1-16), the forceps shaft (1-16) is connected with the partition plate (1-6), the magnet (1-17) is connected with the pliers handle II (1-15), the two shifting blocks (1-18) are respectively connected with the pliers handle I (1-14) and the pliers handle II (1-15), the sliding block (1-19) is connected with the sliding shell (1-20) in a sliding way, the sliding shell (1-20) is connected with the partition plate (1-6), the two limit holes (1-21) are positioned on the sliding shell (1-20), the sliding block (1-19) is connected with the sliding disk (1-22), the sliding disk (1-22) is connected with the sliding shell (1-20) in a sliding way, the two limit block sliding chutes I (1-23) are positioned on the sliding disk (1-22), the two ends of the two push springs (1-32) are respectively connected with the two limit blocks (1-24) and the two limit block sliding chutes I (1-23), two limit blocks (1-24) are respectively connected with two limit block sliding chutes I (1-23) in a sliding manner, two limit blocks (1-24) are respectively connected with two limit block sliding chutes II (1-25) in a sliding manner, the two limit block sliding chutes II (1-25) are respectively positioned on a sliding shell (1-20), two ends of a spring II (1-26) are respectively connected with a partition plate (1-6) and a sliding disc (1-22), the spring II (1-26) is in a compression state, a reverse switch (1-27), a connecting rod (1-30) and a forward switch (1-31) are respectively connected with a wiring shell (1-28) in a sliding manner, the reverse switch (1-27) is connected with the connecting rod (1-30), and the connecting rod (1-30) is connected with the forward switch (1-31), the reverse rotation switch (1-27) and the forward rotation switch (1-31) are connected with the motor I (1-3) in parallel, the motor I (1-3) is connected with the starting switch in series, the wiring shell (1-28) is connected with the partition board (1-6), the spring III (1-29) is located in the wiring shell (1-28), and the spring III (1-29) is in a compressed state.

3. The water conservancy pipeline cleaning robot of claim 1, characterized in that: the walking assembly (2) comprises walking lugs (2-1), an inclined plate (2-2), an inclined plate chute (2-3), a walking wheel shaft (2-4), walking wheels (2-5), a walking wheel shaft bracket (2-6), a bracket sliding plate (2-7), a sliding plate sliding rail (2-8) and a spring IV (2-9), wherein the walking lugs (2-1) are connected with the cleaning shell (1-1), the inclined plate (2-2) is hinged with the walking lugs (2-1), the inclined plate chute (2-3) is positioned on the inclined plate (2-2), the walking wheel shaft (2-4) is in sliding connection with the inclined plate chute (2-3), the walking wheels (2-5) are in rotating connection with the walking wheel shaft (2-4), the walking wheel shaft bracket (2-6) is in rotating connection with the walking wheel shaft (2-4), a walking wheel shaft support (2-6) is connected with a support sliding plate (2-7), the support sliding plate (2-7) is connected with a sliding plate sliding rail (2-8) in a sliding mode, the sliding plate sliding rail (2-8) is connected with a cleaning shell (1-1), a spring IV (2-9) is located in the sliding plate sliding rail (2-8), two ends of the spring IV (2-9) are respectively connected with the sliding plate sliding rail (2-8) and the support sliding plate (2-7), and the spring IV (2-9) is in a compressed state.

4. The water conservancy pipeline cleaning robot of claim 1, characterized in that: the recovery assembly (3) comprises a recovery support (3-1), a ball groove connecting frame (3-2), a spherical rotating block (3-3), a pull rope (3-4), a bottom plate (3-5), a motor II (3-6), a motor II shaft (3-7), a transmission case (3-8), a gear I (3-9), a gear II (3-10), a speed change shaft (3-11), a speed change shaft sliding groove (3-12), a gear III (3-13), a sleeve (3-14), a gear IV (3-15), a semi-ball groove (3-16), a pushing handle (3-17), a pushing handle sliding groove (3-18), a pushing handle limiting block (3-19), a frame (3-20), a semi-ball (3-21), a chain wheel I (3-22), A chain (3-23), a chain wheel II (3-24), a drum shaft (3-25), a drum (3-26) and a drum shaft support (3-27), wherein the recovery support (3-1) is connected with the end cover (1-2), the ball groove connecting frame (3-2) is connected with the recovery support (3-1), the ball groove connecting frame (3-2) is rotationally connected with the spherical rotating block (3-3), the spherical rotating block (3-3) is connected with a pull rope (3-4), the pull rope (3-4) is connected with the drum (3-26), the bottom plate (3-5) is connected with a motor II (3-6), the motor II (3-6) is connected with a motor II shaft (3-7), the motor II shaft (3-7) is rotationally connected with a transmission case (3-8), the transmission case (3-8) is connected with the bottom plate (3-5), the motor II shaft (3-7) is connected with the gear I (3-9) and the gear II (3-10), the speed change shaft (3-11) is rotationally connected with the transmission case (3-8), the speed change shaft sliding groove (3-12) is positioned on the speed change shaft (3-11), the gear III (3-13) and the gear IV (3-15) are respectively connected with two ends of the sleeve (3-14), the gear III (3-13) and the gear IV (3-15) are both in sliding connection with the speed change shaft sliding groove (3-12), the hemispherical groove (3-16) is positioned on the sleeve (3-14), the sleeve (3-14) is not in contact with the speed change shaft (3-11), the two pushing hands (3-17) are respectively connected with the two pushing hand limiting blocks (3-19), two pushing hands (3-17) and two pushing hand limiting blocks (3-19) are respectively connected with the two pushing hand sliding grooves (3-18) in a sliding manner, the two pushing hand sliding grooves (3-18) are positioned on the transmission case (3-8), the two pushing hands (3-17) are respectively connected with the two ends of a frame (3-20), the frame (3-20) is connected with two hemispheres (3-21), the two hemispheres (3-21) are contacted with the hemispherical grooves (3-16), a speed change shaft (3-11) is connected with a chain wheel I (3-22), the chain wheel I (3-22), a chain (3-23) and a chain wheel II (3-24) are connected with a chain wheel chain, the chain wheel II (3-24) is connected with a reel shaft (3-25), the reel shaft (3-25) is rotatably connected with the two reel shaft supports (3-27), two reel shaft supports (3-27) are connected to the base plate (3-5), and the reel shafts (3-25) are connected to the reels (3-26).

Technical Field

The invention relates to the field of water conservancy, in particular to a water conservancy pipeline cleaning robot.

Background

In hydraulic engineering, a water pipeline often has the risk of blockage, so that serious consequences can be caused, the traditional cleaning equipment cannot easily and accurately dig the blocked part of the pipeline, and a robot cannot be conveniently recovered and cleaned, so that the equipment solves the problems.

Disclosure of Invention

The purpose of the invention is realized by the following technical scheme:

the utility model provides a water conservancy pipeline clearance robot, includes clearance assembly, walking assembly and retrieves the assembly, the clearance assembly be connected with the walking assembly, retrieve the assembly and be connected with the clearance assembly.

As a further optimization of the technical scheme, the water conservancy pipeline cleaning robot comprises a cleaning shell, an end cover, a motor I shaft, a propeller, a partition plate, a spring I, a sliding plate, a support rod, a support lug, an umbrella rod, a spring piece, a control rod, a pliers handle I, a pliers handle II, a pliers shaft, a magnet, a shifting block, a sliding shell, a limiting hole, a sliding disc, a limiting block sliding groove I, a limiting block sliding groove II, a spring II, a reverse switch, a wiring shell, a spring III, a connecting rod, a forward switch and a push spring, wherein the cleaning shell is connected with the end cover, the cleaning shell is connected with the partition plate, the partition plate is connected with the motor I shaft, the motor I shaft is rotatably connected with the end cover, the motor I shaft is connected with the propeller, two ends of the spring I are respectively connected with the partition plate and the sliding plate, the spring I is in a, the support rod is connected with the sliding plate, the support lug is connected with the support rod, the support lug is hinged with the umbrella rod, two ends of the elastic piece are respectively connected with the umbrella rod and the support rod, the elastic piece is in a normal state, the control rod is connected with the sliding plate, the control rod is positioned between the forceps handle I and the forceps handle II, the forceps handle I and the forceps handle II are both in rotating connection with the forceps shaft, the forceps shaft is connected with the partition plate, the magnet is connected with the forceps handle II, the two shifting blocks are respectively connected with the forceps handle I and the forceps handle II, the slide block is in sliding connection with the slide shell, the slide shell is connected with the partition plate, the two limiting holes are both positioned on the slide shell, the slide block is connected with the slide disc, the slide disc is in sliding connection with the slide shell, the two limiting block chutes I are both positioned on the slide disc, two ends of the two push springs are respectively connected, two stoppers respectively with two II sliding connection of stopper spout, two stopper spout II all are located the slip shell, II both ends of spring respectively with the baffle, the sliding tray is connected, spring II is in compression state, the reversal switch, the connecting rod, the corotation switch all with walk line shell sliding connection, the reversal switch is connected with the connecting rod, the connecting rod is connected with the corotation switch, the reversal switch, the corotation switch is parallelly connected with I of motor, starting switch is established ties to I of motor, it is connected with the baffle to walk the line shell, spring III is located walks the line shell, spring III is in compression state.

As a further optimization of the technical scheme, the water conservancy pipeline cleaning robot comprises a walking lug, an inclined plate chute, a walking wheel shaft, a walking wheel shaft bracket, a support sliding plate, a sliding plate sliding rail and a spring iv, wherein the walking lug is connected with a cleaning shell, the inclined plate is hinged with the walking lug, the inclined plate chute is positioned on the inclined plate, the walking wheel shaft is slidably connected with the inclined plate chute, the walking wheel is rotatably connected with the walking wheel shaft, the walking wheel shaft bracket is connected with the support sliding plate, the support sliding plate is slidably connected with the sliding plate sliding rail, the sliding plate sliding rail is connected with the cleaning shell, the spring iv is positioned in the sliding plate sliding rail, two ends of the spring iv are respectively connected with the sliding plate sliding rail and the support.

As a further optimization of the technical scheme, the water conservancy pipeline cleaning robot comprises a recovery support, a spherical groove connecting frame, a spherical rotating block, a pull rope, a bottom plate, a motor II shaft, a transmission case, a gear I, a gear II, a speed change shaft sliding groove, a gear III, a sleeve, a gear IV, a hemispherical groove, a pushing handle sliding groove, a pushing handle limiting block, a frame, a hemisphere, a chain wheel I, a chain wheel II, a winding drum shaft, a winding drum and a winding drum shaft support, wherein the recovery support is connected with an end cover, the spherical groove connecting frame is connected with the recovery support, the spherical rotating block is connected with the pull rope, the pull rope is connected with the winding drum, the bottom plate is connected with the motor II, the motor II is connected with the motor II shaft, the motor II shaft is connected with the transmission case in a rotating manner, the transmission case is connected with the bottom plate, the motor II shaft is connected, The gear II is connected, the speed change shaft is rotationally connected with the transmission case, the speed change shaft chute is positioned on the speed change shaft, the gear III and the gear IV are respectively connected with two ends of the sleeve, the gear III and the gear IV are both connected with the speed change shaft chute in a sliding way, the hemispherical groove is positioned on the sleeve, the sleeve is not contacted with the speed change shaft, the two push handles are respectively connected with the two push handle limiting blocks and the two push handles, two pushing hands stoppers respectively with two pushing hands spout sliding connection, two pushing hands spouts all are located the transmission case, two pushing hands are connected with the frame both ends respectively, the frame is connected with two hemispheres, two hemispheres contact with the hemisphere groove, the variable speed axle is connected with sprocket I, the chain, II sprocket chain of sprocket are connected, sprocket II is connected with the reel axle, the reel axle rotates with two reel axle supports to be connected, two reel axle supports all are connected with the bottom plate, the reel axle is connected with the reel.

The water conservancy pipeline cleaning robot has the beneficial effects that: put into the pipeline with the robot along the swash plate, the walking wheel can be automatic adjusts extension length according to the diameter of pipeline, the stable support robot, open the screw, the screw is rotatory to drive the robot and impels forward in having water pipeline, when the robot moves to the jam position, branch inserts in the jam position, the cone angle that the umbrella pole formed diminishes, be convenient for insert, insert deepest back when branch, the screw reversal, branch is extracted, the cone angle grow that the umbrella pole formed, will silt up stifled thing and pull out, accomplish the clearance pipeline jam so reciprocal, when needing to retrieve the robot, the control reel is rotatory, the reel drives the stay cord and retrieves the robot, the reel rotational speed is adjustable, can select fast recovery and retrieve slowly under different operating conditions, guarantee the safe recovery of robot.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a first general structural diagram of the present invention;

FIG. 2 is a second overall structural schematic of the present invention;

FIG. 3 is a first schematic view of the cleaning assembly 1 according to the present invention;

FIG. 4 is a schematic structural diagram II of the cleaning assembly 1 of the present invention;

FIG. 5 is a schematic view of the cleaning assembly 1 of the present invention;

FIG. 6 is a partial cross-sectional view of the cleaning assembly 1 of the present invention;

FIG. 7 is a fourth schematic structural view of the cleaning assembly 1 of the present invention;

FIG. 8 is a partially enlarged view of the first cleaning assembly 1 of the present invention;

FIG. 9 is a schematic view of the cleaning assembly 1 of the present invention;

FIG. 10 is a partial sectional view of the cleaning assembly 1 of the present invention;

FIG. 11 is a second enlarged partial schematic view of the cleaning assembly 1 of the present invention;

FIG. 12 is a sixth schematic view of the cleaning assembly 1 of the present invention;

FIG. 13 is a first schematic structural view of the walking assembly 2 of the present invention;

FIG. 14 is a partial cross-sectional view of the running assembly 2 of the present invention;

FIG. 15 is a schematic structural view of the walking assembly 2 of the present invention;

FIG. 16 is a schematic structural view III of the walking assembly 2 of the present invention;

FIG. 17 is a first schematic view of the recycling assembly 3 of the present invention;

FIG. 18 is a partial cross-sectional view of the recovery assembly 3 of the present invention;

FIG. 19 is a second schematic structural view of the recovery assembly 3 of the present invention;

FIG. 20 is a third schematic structural view of the recovery assembly 3 of the present invention;

FIG. 21 is a fourth schematic structural view of the recovery assembly 3 of the present invention;

FIG. 22 is a partial sectional view of the recovery assembly 3 of the present invention;

FIG. 23 is a partial sectional view III of the recovery assembly 3 of the present invention;

in the figure: cleaning the assembly 1; cleaning the shell 1-1; end caps 1-2; 1-3 of a motor; 1-4 shafts of a motor I; 1-5 of a propeller; 1-6 of a partition board; 1-7 of a spring; 1-8 of a sliding plate; 1-9 of a strut; 1-10 of a support lug; 1-11 parts of umbrella rod; 1-12 of spring pieces; control levers 1-13; pliers handles I1-14; pliers handles II 1-15; 1-16 parts of a plier shaft; 1-17 of magnet; 1-18 of a shifting block; 1-19 of a slide block; 1-20 of a sliding shell; 1-21 parts of limiting holes; a slider tray 1-22; limiting block chutes I1-23; 1-24 parts of a limiting block; a limiting block sliding groove II 1-25; springs II 1-26; reverse switches 1-27; routing shells 1-28; springs III 1-29; 1-30 of a connecting rod; a forward rotation switch 1-31; push springs 1-32; a walking assembly 2; 2-1 of a walking lug; an inclined plate 2-2; 2-3 of inclined plate chutes; 2-4 parts of a walking wheel shaft; 2-5 of a traveling wheel; a traveling wheel shaft support 2-6; 2-7 of a bracket sliding plate; 2-8 parts of a sliding plate sliding rail; 2-9 parts of a spring; a recovery assembly 3; recovering the bracket 3-1; a ball groove connecting frame 3-2; 3-3 of a spherical rotating block; 3-4 of a pull rope; 3-5 of a bottom plate; 3-6 of a motor; 3-7 of a motor II shaft; 3-8 parts of a transmission case; 3-9 parts of a gear I; 3-10 parts of a gear II; a shift shaft 3-11; shift shaft chutes 3-12; gears III 3-13; 3-14 of a sleeve; 3-15 parts of a gear IV; 3-16 parts of hemispherical groove; 3-17 of a push handle; 3-18 parts of a push handle chute; 3-19 parts of a push handle limiting block; 3-20 parts of a frame; hemispheres 3-21; 3-22 of a chain wheel; 3-23 parts of a chain; chain wheels II 3-24; reel shafts 3-25; 3-26 of a winding drum; spool shaft holders 3-27.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The fixed connection in the device is realized by fixing in modes of welding, thread fixing and the like, and different fixing modes are used in combination with different use environments; the rotary connection means that the bearing is arranged on the shaft in a drying mode, a spring retainer ring groove is formed in the shaft or the shaft hole, and the elastic retainer ring is clamped in the retainer ring groove to achieve axial fixation of the bearing and achieve rotation; the sliding connection refers to the connection through the sliding of the sliding block in the sliding groove or the guide rail; the hinge joint is a movable connection mode on connecting parts such as a hinge, a pin shaft, a short shaft and the like; the required sealing positions are sealed by sealing rings or O-shaped rings.