阅读说明：本技术 一种基于3d打印技术的地下管道修复机器人 (Underground pipeline repairing robot based on 3D printing technology ) 是由 付西光 于 2021-09-03 设计创作，主要内容包括：一种基于3D打印技术的地下管道修复机器人,包括移动机器人平台、多自由度机器人手臂、高压水切割模块、视觉定位模块、3D打印送料模块；多自由度机器人手臂末端能够拆装所述高压水切割模块或3D打印送料模块；高压水切割模块用于对地下管道破损位置进行切割；3D打印送料模块用于对地下管道破损位置经过切割后进行3D打印快速成型修复；视觉定位模块用于对地下管道破损位置进行切割或修补时对多自由度机器人手臂的运动进行视觉引导。本申请提供一种基于3D打印技术的地下管道修复机器人,实现对地下管道破损位置的快速、非开挖修复,提高了修复效率,降低修复成本,减少对交通压力的影响。(A3D printing technology-based underground pipeline repairing robot comprises a mobile robot platform, a multi-degree-of-freedom robot arm, a high-pressure water cutting module, a visual positioning module and a 3D printing feeding module; the tail end of the multi-degree-of-freedom robot arm can be used for dismounting the high-pressure water cutting module or the 3D printing feeding module; the high-pressure water cutting module is used for cutting the damaged position of the underground pipeline; the 3D printing feeding module is used for cutting the damaged position of the underground pipeline and then performing 3D printing rapid forming repair; the vision positioning module is used for performing vision guidance on the movement of the multi-degree-of-freedom robot arm when cutting or repairing the underground pipeline damage position. The application provides an underground pipeline repairing robot based on 3D printing technology realizes having improved repair efficiency to quick, the non-excavation restoration of underground pipeline damaged position, reduces the cost of restoration, reduces the influence to traffic pressure.)

1. A3D printing technology-based underground pipeline repairing robot is characterized by comprising a mobile robot platform, a multi-degree-of-freedom robot arm, a high-pressure water cutting module, a vision positioning module and a 3D printing and feeding module, wherein the multi-degree-of-freedom robot arm, the high-pressure water cutting module, the vision positioning module and the 3D printing and feeding module can be integrated on the mobile robot platform; the mobile robot platform is connected with an intelligent cleaning system on the ground through a power communication cable, a high-pressure water pipe and a sewage suction pipe;

the tail end of the multi-degree-of-freedom robot arm can be used for dismounting the high-pressure water cutting module or the 3D printing feeding module;

the high-pressure water cutting module is used for cutting the damaged position of the underground pipeline;

the 3D printing feeding module is used for cutting the damaged position of the underground pipeline and then performing 3D printing rapid forming repair;

the vision positioning module is used for performing vision guidance on the movement of the multi-degree-of-freedom robot arm when cutting or repairing the underground pipeline damage position.

2. The underground pipeline rehabilitation robot based on the 3D printing technology as claimed in claim 1, wherein the mobile robot platform is a cylinder structure, two sets of front and rear rotating arms are rotatably installed on the circumference of the mobile robot platform in a manner of extending outwards in a radial direction, the front and rear rotating arms at the same radial position are connected through a connecting arm, and a rolling wheel is rotatably installed at the tail end of each rotating arm.

3. The 3D printing technology-based underground pipeline repairing robot as claimed in claim 1, wherein the multi-degree-of-freedom robot arm is fixedly mounted on the top of the front end of the mobile robot platform, a connecting shaft is arranged at the tail end of the multi-degree-of-freedom robot arm, and the high-pressure water cutting module and the 3D printing feeding module are respectively provided with a connecting port matched with the connecting shaft.

4. The underground pipeline rehabilitation robot based on the 3D printing technology as claimed in claim 1, wherein the high-pressure water cutting module employs a high-pressure water cutting head.

5. The underground pipeline rehabilitation robot based on 3D printing technology as claimed in claim 1, wherein the 3D printing feeding module adopts a 3D printing cutting head.

6. The underground pipeline rehabilitation robot based on 3D printing technology as claimed in any one of claims 1 to 5, further comprising a vacuum sewage suction input port also integrated on the mobile robot platform, the vacuum sewage suction input port being in communication with a sewage suction pipe.

7. The underground pipeline rehabilitation robot based on the 3D printing technology as claimed in claim 1, wherein the vision positioning module adopts a monocular camera or a binocular camera.

Technical Field

The invention relates to an underground pipeline repairing technology, in particular to an underground pipeline repairing robot based on a 3D printing technology.

Background

At present, the development of urban underground drainage pipelines in China gradually enters the maintenance and management era from the construction era, the defects of the underground pipelines are prone to leakage, breakage, dislocation and the like, the manual repair is mainly carried out by adopting an excavation method, the damage and construction influence is large, the cost is too high, and the traditional excavation repair construction mode is gradually eliminated.

The trenchless repairing technology is helpful to prolong the service life of urban underground pipeline facilities, saves the excavation cost, has small construction influence and short repairing time, and is gradually accepted and accepted by the market. Common underground pipeline non-excavation restoration can be divided into a soil body grouting method, a collar method, a local lining, a field curing lining, a short pipe and duct piece lining, a traction lining and the like according to the technology, and the non-excavation restoration methods have long time and low efficiency.

Currently, 3D printing technology is rapidly developing. The 3D printing rapid forming technology is applied to trenchless rapid repair of underground pipelines and is a main trend of current development.

Disclosure of Invention

In order to solve the problem that exists among the above-mentioned prior art, this application provides an underground pipeline repair robot based on 3D printing technique, realizes repairing quick, the non-excavation of underground pipeline damaged position, has improved repair efficiency, reduces the cost of restoration, reduces the influence to traffic pressure.

In order to achieve the technical effects, the specific technical scheme of the invention is as follows:

A3D printing technology-based underground pipeline repairing robot comprises a mobile robot platform, a multi-degree-of-freedom robot arm, a high-pressure water cutting module, a visual positioning module and a 3D printing and feeding module, wherein the multi-degree-of-freedom robot arm, the high-pressure water cutting module, the visual positioning module and the 3D printing and feeding module can be integrated on the mobile robot platform; the mobile robot platform is connected with an intelligent cleaning system on the ground through a power communication cable, a high-pressure water pipe and a sewage suction pipe;

the tail end of the multi-degree-of-freedom robot arm can be used for dismounting the high-pressure water cutting module or the 3D printing feeding module;

the high-pressure water cutting module is used for cutting the damaged position of the underground pipeline;

the 3D printing feeding module is used for cutting the damaged position of the underground pipeline and then performing 3D printing rapid forming repair;

the vision positioning module is used for performing vision guidance on the movement of the multi-degree-of-freedom robot arm when cutting or repairing the underground pipeline damage position.

Furthermore, the mobile robot platform is of a barrel structure, a front group of rotating arms and a rear group of rotating arms are rotatably installed on the periphery of the mobile robot platform along the outward extension of the radial direction, the front rotating arm and the rear rotating arm which are located at the same radial position are connected through a connecting arm, and the tail end of each rotating arm is rotatably provided with a rolling wheel.

Furthermore, the multi-degree-of-freedom robot arm is fixedly installed at the top of the front end of the mobile robot platform, a connecting shaft is arranged at the tail end of the multi-degree-of-freedom robot arm, and connecting ports matched with the connecting shaft are arranged on the high-pressure water cutting module and the 3D printing and feeding module.

Further, the high-pressure water cutting module adopts a high-pressure water cutting head.

Further, the 3D printing feeding module adopts a 3D printing cutting head.

Further, the vacuum sewage suction device also comprises a vacuum sewage suction input port which is also integrated on the mobile robot platform, and the vacuum sewage suction input port is communicated with a sewage suction pipe.

Further, the visual positioning module adopts a monocular camera or a binocular camera.

The invention aims to overcome the defects in the existing repairing method and discloses a 3D printing technology-based underground pipeline repairing robot, which is different from the traditional method in that: (1) the invention discloses a 3D printing technology-based underground pipeline repairing robot, which comprises two stages: the first stage, the repairing robot is used for cutting and finishing the damaged position of the underground pipeline; and in the second stage, the repairing robot is used for carrying out 3D printing rapid forming repairing on the position. (2) The trenchless restoration of the invention relies on a mobile robot platform and a multi-degree-of-freedom robot arm. (3) The mobile robot platform is connected with an intelligent cleaning system on the ground through a sewage suction pipe, a power communication cable and a high-pressure water pipe. Thus, the muddy water mixture in the underground pipeline is cleaned during cutting. (4) Cutting and repairing are both positioned by a visual positioning system on the repairing robot.

The invention is realized by the following steps:

through the auxiliary module that goes into the well in the ground part of intelligent cleaning system, will have this repair robot of cutting function and get into underground piping through the inspection shaft mouth. The repairing robot reaches a position to be repaired, the high-pressure water cutting head cuts and arranges the damaged position of the underground pipeline under the guidance of the visual positioning module through the multi-degree-of-freedom robot arm, and when the arrangement is finished. The repairing robot returns to the ground.

After the multi-degree-of-freedom robot arm returns to the ground, the high-pressure water cutting module at the tail end of the multi-degree-of-freedom robot arm is quickly detached, and the 3D printing feeding module is quickly replaced at the tail end of the multi-degree-of-freedom robot arm. Then, the repairing robot enters the underground pipeline through the inspection well mouth again through the underground auxiliary module in the ground part of the intelligent cleaning system. The repairing robot reaches the position just cut and sorted. Through the multi-degree-of-freedom robot arm, 3D printing is carried out on the damaged position of the underground pipeline to be quickly repaired under the guidance of the vision positioning module. And when the repair is finished, the repair robot returns to the ground.

Underground pipeline restoration robot based on 3D printing technique adopts robot technique, intelligent vision technique, 3D to print quick forming technique, realizes quick, the non-excavation restoration to underground pipeline damaged position, has improved repair efficiency, reduces the cost of restoration, reduces the influence to traffic pressure.

Drawings

The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments.

FIG. 1 is a general framework of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic diagram of the distribution of the present invention in conjunction with an intelligent cleaning system;

FIG. 4 is a schematic view of a multi-degree of freedom robot arm in the present invention;

FIG. 5 is a schematic diagram of a high pressure water cutting module of the present invention;

FIG. 6 is a schematic view of a 3D printing feeding module according to the present invention;

FIG. 7 is a schematic view of a visual alignment module according to the present invention;

wherein, 1, moving a robot platform; 11. a rotating arm; 12. a connecting arm; 13. a rolling wheel; 14. a pull ring; 2. a multi-degree-of-freedom robot arm; 21. a connecting shaft; 3. a high-pressure water cutting module; 4. a visual positioning module; 5. the 3D printing feeding module; 6. an intelligent cleaning system; 7. an inspection well mouth; 8. an underground pipeline; 9. a connection port; 10. a vacuum soil pick-up input port.

Detailed Description

In order to make the objects, technical solutions and advantages of the present embodiments more clear, the technical solutions in the present embodiments will be described clearly and completely below with reference to the accompanying drawings in the present embodiments, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present application.

In the description of the present invention, it is to be understood that the terms "upper end", "lower end", "trailing end", "left and right", "up and down", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Examples

Referring to fig. 1 to 7, the present invention is a 3D printing technology-based underground pipeline rehabilitation robot, which includes a mobile robot platform 1, a multi-degree-of-freedom robot arm 2, a high pressure water cutting module 3, a vision positioning module 4, and a 3D printing feeding module 5. The mobile robot platform 1 is of a cylinder structure, a front group of rotating arms 11 and a rear group of rotating arms 11 are installed on the whole body in a manner of extending outwards along the radial direction, the front rotating arm 11 and the rear rotating arm 11 which are located at the same radial position are connected through a connecting arm 12, the tail end of each rotating arm 11 is rotatably provided with a rolling wheel 13, the top of the front end of the mobile robot platform 1 is fixedly provided with the multi-degree-of-freedom robot arm 2, the tail end of the multi-degree-of-freedom robot arm 2 is provided with a connecting shaft 21, and the high-pressure water cutting module 3 and the 3D printing and feeding module 5 are both provided with a connecting port 9 matched with the connecting shaft 21, so that the tail end of the multi-degree-of freedom robot arm 2 can be quickly disassembled and assembled from the high-pressure water cutting module 3 or the 3D printing and feeding module 5; the visual positioning module 4 is installed at the top of the middle part of the mobile robot platform 1. The mobile robot platform adopts a structure of a rotating arm and a rolling wheel, and can adapt to underground pipelines with different pipe diameters through the difference of the connecting positions of a connecting arm and the rotating arm. The front end of the mobile robot platform 1 is also provided with a pull ring 14. The center of the mobile robot platform coincides with the center of the underground pipeline. The mobile robot platform 1 is connected with an intelligent cleaning system 6 on the ground through a sewage suction pipe, a power communication cable and a high-pressure water pipe. Wherein the power communication cable supplies power for the mobile robot platform to realize the intelligent cleaning system 6 on ground and the communication of mobile robot platform 1, realize the collaborative work, the soil pick-up pipe is linked together through the vacuum soil pick-up input port 10 with the mobile robot platform rear end and can be with the muddy water mixture sanitization when the underground piping cutting. The high-pressure water pipe is mainly used for providing high-pressure water for cutting and tidying the damaged position of the underground pipeline.

The multi-degree-of-freedom robot arm 2 is integrated on the mobile robot platform 1, and has 4 degrees of freedom and 4 or more degrees of freedom. The multi-degree-of-freedom robot arm 2 can reach any surface inside the underground pipeline. At 2 terminal ends of multi freedom robot arm, can install high pressure water cutting head and 3D and print the cutting head fast and realize quick replacement. The high-pressure water cutting head is used for cutting and tidying the damaged position in the underground pipeline; the 3D printing cutting head is used for trenchless rapid forming repair of underground pipelines.

The visual positioning module 4 is composed of a monocular camera or a binocular camera. The vision positioning module 4 can guide the multi-degree-of-freedom robot arm 2 to reach any position of the inner wall of the underground pipeline.

Referring to fig. 3, the workflow of the underground pipeline repairing robot based on the 3D printing technology is as follows:

1. a high-pressure water cutting module 3 is arranged on the repairing robot;

2. the repairing robot enters an underground pipeline 8 through an inspection well opening 7 by utilizing a well descending auxiliary module in the ground part;

3. the repairing robot reaches a specified repairing position;

4. and under the guidance of the visual positioning module 4, cutting and arranging the damaged position of the underground pipeline by using a high-pressure water cutting head. The intelligent cleaning system 6 on the ground cleans the underground pipeline through a sewage suction pipe;

5. after cutting and finishing, the repairing robot returns to the ground;

6. on the repairing robot, the high-pressure water cutting module 3 is disassembled, and the 3D printing feeding module 5 is installed;

7. the repairing robot enters an underground pipeline 8 through the inspection well mouth 7 again by utilizing a well descending auxiliary module in the ground part;

8. the repairing robot arrives at the designated repairing position again;

9. 3D printing rapid forming repair is carried out on the damaged position of the underground pipeline under the guidance of the visual positioning module 4;

10. and after the repair is finished, the repair robot returns to the ground.

This underground pipeline restoration robot based on 3D printing technique uses intelligent robot technique, intelligent sensor technique, real-time control technique, and intelligent adsorption technique, intelligent vision technique have realized that underground pipeline non-excavation rapid prototyping restores, have greatly improved restoration efficiency, have reduced the cost of restoration, have reduced the influence to traffic pressure.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.