CN106862196A - Pipe-dredging machine people - Google Patents
Pipe-dredging machine people Download PDFInfo
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- CN106862196A CN106862196A CN201710113390.7A CN201710113390A CN106862196A CN 106862196 A CN106862196 A CN 106862196A CN 201710113390 A CN201710113390 A CN 201710113390A CN 106862196 A CN106862196 A CN 106862196A
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- dredging
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- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 238000002156 mixing Methods 0.000 claims abstract description 4
- 238000012546 transfer Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000010865 sewage Substances 0.000 claims description 4
- 239000003082 abrasive agent Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 claims 1
- 238000013024 troubleshooting Methods 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
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- 230000004888 barrier function Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/06—Disintegrating by knives or other cutting or tearing members which chop material into fragments with rotating knives
- B02C18/14—Disintegrating by knives or other cutting or tearing members which chop material into fragments with rotating knives within horizontal containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipe-dredging machine people, including cutting mechanism, walking mechanism and the obstacle deflector for setting gradually from the front to the back；Wherein, the cutting mechanism is used to blend the obturator in pipeline；The walking mechanism includes to be radially expanded to inner-walls of duct along pipeline contacting, and the road wheel for vertically moving the Robot pipeline；The obstacle deflector is used for the obturator collected after blending and discharges it outside pipeline, robot integrates " detection dredging troubleshooting " function, it is capable of achieving the dredging and cleaning to sewer pipe, without manually entering well work, high degree of automation, security is improve, while being suitable for the dredging operation of different tube diameters pipeline.
Description
Technical field
The present invention relates to Pipeline dredger field, specially a kind of pipe-dredging machine people.
Background technology
Environmental protection is increasingly paid attention to by municipal sector, and the environmental consciousness of people is also increasingly improved.Urban sewage discharge is
Ensure the extremely important ring of environmental sanitation, construction of modern civilized city.However, the desilting work of the urban discharging pipeline of China
Work is also generally in the backward state of manual work, and not only labour intensity is big for this desilting mode, and efficiency is low, meanwhile, in pipeline
The harmful substances such as poison gas, malicious water in rugged environment and pipeline will cause very big harm to operating personnel, during desilting
The casualty accidents such as blast can even occur.Therefore, research and development carry out the clear detection operation of drainage pipeline with robot, are both to build
If being also the eager desire of vast municipal administration, maintenance personal the need for modern city and reinforcement environmental protection.Disliked to improve workman
Bad working environment, the efficiency of raising drainage pipeline cleaning, grinding for some practical automatics is carried out in this application field
Study carefully, long-range Social benefit and economic benefit will be brought.
According to the present situation of the current drainage pipeline desilting of China, conventional dredging method has winch desilting method (also known as mechanical
Desilting method), high-pressure water jet desilting method and water rush desilting method (also known as hydraulic desilting method).Winch desilting method is that China various regions are universal
A kind of method for using.But it is to need to wear bamboo chip, the working environment of underground very severe from a well head to another well head
Very big inconvenience is brought to workman, the health of workman, or even the life that workman can be endangered is endangered.High-pressure water jet desilting method need to be with greatly
Amount clean water, so relatively costly, the national conditions of unsuitable China.
Therefore, for solution problem above, it is necessary to a kind of drain cleaner for integrating " detection-dredging-troubleshooting " function
Device people, is capable of achieving the dredging and cleaning to sewer pipe, and without manually entering well work, high degree of automation improves security,
The dredging operation of different tube diameters pipeline is suitable for simultaneously.
The content of the invention
In view of this, the purpose of the present invention is the defect for overcoming prior art, there is provided a kind of collection " detection-dredging-row
The pipe-dredging machine people that barrier " function is integrated, is capable of achieving the dredging and cleaning to sewer pipe, without manually entering well work,
High degree of automation, improves security, while being suitable for the dredging operation of different tube diameters pipeline.
A kind of pipe-dredging machine people disclosed by the invention, including cutting mechanism, the vehicle with walking machine for setting gradually from the front to the back
Structure and obstacle deflector；Wherein, the cutting mechanism is used to blend the obturator in pipeline；The walking mechanism includes can be along pipeline
Radially expand to inner-walls of duct and contact, and the road wheel for vertically moving the Robot pipeline；The troubleshooting dress
Put the obturator for collecting after blending and discharge it outside pipeline；
Further, the cutting mechanism is included along the axially arranged drill bit of pipeline；The drill bit with can along pipeline radially move
It is dynamic, and can be set around the mode of conduit axis rotation；
Further, the cutting mechanism also includes motor I, motor II, motor III and ball wire rod mechanism I；The motor
The output shaft of I to be connected be used in the drill bit and drives drill bit rotation；The ball wire rod mechanism I is radially arranged along pipeline,
The screw mandrel of ball wire rod mechanism I drives rotation by the motor II, and nut and the motor I of ball wire rod mechanism I interfix；
The motor III is axially arranged for driving ball wire rod mechanism I to be rotated around conduit axis along pipeline；
Further, the road wheel of the walking mechanism is circumferentially uniformly distributed multiple along pipeline, and walking mechanism also includes motor
IV and the reduction gearing mechanism for the power of motor IV to be transferred to the road wheel；The reduction gearing mechanism include with
The central gear of motor IV output shafts drive connection is engaged and along the circumferentially distributed multiple of central gear point with the central gear
Driven wheel of differential and use that moving gear is engaged with the co-axially fixed drive bevel gear of the transfer gear with drive bevel gear
In the transmission belt that power is transmitted between driven wheel of differential and road wheel；
Further, the walking mechanism is also included for driving the multiple road wheel along the pipeline synchronization-moving pipe of radial direction
Footpath adjusting means；The pipe diameter adjusting device is included with the one-to-one multiple multi-connecting-rod mechanism of road wheel and for driving
The ball wire rod mechanism II of multi-connecting-rod mechanism action is stated, the road wheel includes front wheels and rear wheels, and the front-wheel is distinguished with trailing wheel
It is arranged at two hinged ends in multi-connecting-rod mechanism；
Further, the walking mechanism also includes motor V, and the multi-connecting-rod mechanism is quadric chain, the ball wire
The screw mandrel of linkage II is driven by motor V and rotated, and the nut of ball wire rod mechanism II is articulated with one in quadric chain
Connecting rod is acted with driving quadric chain；
Further, the obstacle deflector includes the base of circular arc and is fixed on the baffle plate of base rear end；On the baffle plate
Multiple vias for passing through sewage are distributed with；
Further, the base is made by high-abrasive material；
A kind of pipe-dredging machine people disclosed by the invention is also included for controlling what cutting mechanism and walking mechanism were acted
Control system；The control system includes：Ultrasonic sensor, is arranged on the junction of the cutting mechanism and walking mechanism,
For gathering the distance between robot and tamper；Infrared ray sensor, is arranged on the cutting mechanism with walking mechanism
Junction, for gathering the distance between robot and tamper；Ccd video camera, is arranged on the cutting mechanism and vehicle with walking machine
The junction of structure, distribution and type for recognizing tamper；Motor speed sensor, is arranged on the motor I, for adopting
Collect the rotating speed of the drill bit；Pressure sensor：The obstacle deflector base is arranged on, it is stifled for gather that obstacle deflector carried
Plug thing weight.
The beneficial effects of the invention are as follows：Pipe-dredging machine people of the invention is detected and is perceived in pipeline using sensor
Obstruction species, hardness and distribution, enable whole robot to be walked along longitudinal direction in inner-walls of duct using walking mechanism, using cutting
Cut mechanism to crush the obturator in pipeline, haul out outside pipeline the obturator after crushing using obstacle deflector, therefore, this hair
Bright robot integrates " detection-dredging-troubleshooting " function, can replace manually carrying out the dredging of underground piping, in addition, row
The road wheel for walking mechanism can radially outward open along pipeline, make road wheel reliably inner-walls of duct of the contact in different-diameter
On, the adaptability of pipe-dredging machine people is improved, the present invention works suitable for the sewer line dredging of various calibers, will bring huge
Big social and economic benefit.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is structural representation of the invention；
Fig. 2 is the schematic diagram of cutting mechanism of the invention；
Fig. 3 is the connection diagram of walking mechanism of the invention；
Fig. 4 is the structural representation of obstacle deflector of the invention；
Fig. 5 is the top view of obstacle deflector of the invention.
Specific embodiment
Fig. 1 is structural representation of the invention, as illustrated, a kind of pipe-dredging machine people of the present embodiment, including by
Cutting mechanism 1, walking mechanism 2 and the obstacle deflector 3 set gradually after forward direction；Wherein, the cutting mechanism 1 is used to blend pipeline
Interior obturator；The walking mechanism 2 includes to be radially expanded to inner-walls of duct along pipeline contacting, and for making the machine
The road wheel that people vertically moves along pipeline；The obstacle deflector 3 is used for the obturator collected after blending and discharges it outside pipeline；
Pipe-dredging machine people of the invention is utilized using the obstruction species in sensor detection and perception pipeline, hardness and distribution
Walking mechanism 2 enables whole robot to be walked along longitudinal direction in inner-walls of duct, using cutting mechanism 1 by the obturator powder in pipeline
It is broken, the obturator after crushing is hauled out outside pipeline using obstacle deflector 3, therefore, robot collection of the invention " detects-dredging-
Troubleshooting " function is integrated, and can replace manually carrying out the dredging of underground piping, in addition, the road wheel of walking mechanism 2 can be along pipe
Road radially outward opens, and road wheel is reliably contacted on the inner-walls of duct of different-diameter, improves pipe-dredging machine people's
Adaptability, the present invention works suitable for the sewer line dredging of various calibers, will bring huge social and economic benefit.
In the present embodiment, the cutting mechanism 1 is included along the axially arranged drill bit 5 of pipeline；The drill bit 5 is with can be along pipeline
Move radially, and the mode that can be rotated around conduit axis is set, drill bit 5 is by the movement along pipeline radial direction and around conduit axis
Rotating (namely circumferentially mobile along pipeline) allows it to move to any point in the cross section of pipeline, coordinates walking mechanism
2, along the longitudinal movement of pipeline, allow drill bit 5 to move to optional position in pipeline inner space, can effectively crush
Block in the obturator of optional position in pipeline.
In the present embodiment, the cutting mechanism 1 also includes motor I6, motor II4, motor III10 and ball wire rod mechanism
I；The output shaft of the motor I6 to be connected be used in the drill bit 5 and drives the rotation of drill bit 5；The ball wire rod mechanism I edges
Pipeline is radially arranged, and the screw mandrel 8 of ball wire rod mechanism I drives rotation, the nut 7 of ball wire rod mechanism I by the motor II4
Interfixed with motor I6；The motor III10 is axially arranged for driving ball wire rod mechanism I to turn around conduit axis along pipeline
Dynamic, robot can drive the rotation of drill bit 5 to crush the obturator in pipeline by motor I6, motor I6 and drill bit 5 it
Between realize being connected by shaft coupling, ball wire rod mechanism I is radially arranged along pipeline, and the screw mandrel of ball wire rod mechanism I passes through
Shaft coupling is connected with the output shaft of motor II4, and the support of motor I6 is fixed on the nut 7 of ball wire rod mechanism I, passes through
The rotation of motor II4, can be such that motor I6 and the entirety of drill bit 5 is radially moved back and forth along pipeline, and motor III10 is co-axially located at pipe
In road, the output shaft of motor III10 is connected in the screw rod bracket 9 of ball wire rod mechanism I by shaft coupling, by motor
III10 can drive ball wire rod mechanism I, motor I6, motor II4 and drill bit 5 overall around pipeline axially (motor III10 outputs
The axis of axle) rotate, therefore, the present embodiment can control the rotation of drill bit 5 by motor I6, and drill bit 5 is controlled by motor II4
Along pipeline radial translation, control drill bit 5 circumferentially mobile along pipeline in pipeline by motor III10, enable drill bit 5 according to resistance
The position of plug thing moves to the position being adapted in pipeline.
In the present embodiment, the road wheel of the walking mechanism 2 is circumferentially uniformly distributed three groups along pipeline, and walking mechanism 2 is also wrapped
Include motor IV15 and the reduction gearing mechanism for the power of motor IV15 to be transferred to the road wheel；The deceleration transmission
Mechanism includes that the central gear being connected with motor IV15 output shafts is engaged and along central gear circumference with the central gear
Three transfer gears 13 of distribution are engaged with the co-axially fixed drive bevel gear of the transfer gear 13 with drive bevel gear
Driven wheel of differential and the transmission belt 18 for transmitting power between driven wheel of differential and road wheel；Robot is provided with least
Three groups closely can be pressed on inner-walls of duct along the circumferentially equally distributed road wheel of pipeline, and every group of road wheel, it is ensured that whole
Robot can reliably walk in pipeline, and in the present embodiment, motor III10 and motor IV15 are coaxially disposed and are also secured to
On fuselage, the output shaft of motor IV15 connects a central gear by shaft coupling, and central gear is circumferentially distributed three transfer teeth
13 (quantity of transfer gear 13 is identical with the group number of road wheel) of wheel, the power of motor IV15 is assigned to three by central gear
On transfer gear 13, be transferred to power on a driving pulley by bevel gear pair 17 by each transfer gear 13, same on road wheel
Axle is fixed with a driven pulley, and the power of driving pulley is transferred to driven pulley and drives road wheel to rotate to make by driving belt
Robot pipeline is longitudinally walked.
In the present embodiment, the walking mechanism 2 is also included for driving the multiple road wheel to be moved along pipeline is radially synchronous
Dynamic pipe diameter adjusting device；The pipe diameter adjusting device includes three quadric chains one-to-one with road wheel and is used for
Drive the ball wire rod mechanism II21 of quadric chain action, the road wheel includes front-wheel 12 and trailing wheel 16, it is described before
Wheel 12 is respectively arranged at two hinged ends in quadric chain with trailing wheel 16, and in the present embodiment, lanar four rod mechanism is located at
In the longitudinal section of pipeline, it includes first connecting rod 14, second connecting rod 11 and third connecting rod 20, and the inner of first connecting rod 14 is articulated with machine
On the fuselage of device people, second connecting rod 11 is hinged between the outer end of first connecting rod 14 and the outer end of third connecting rod 20, in third connecting rod 20
End is hinged on the nut of ball wire rod mechanism II21, and ball wire rod mechanism II21 is axially arranged along pipeline, and its screw mandrel is by electricity
Machine V19 is driven, and motor V19 is fixed on machine human organism, therefore can drive quadric chain third connecting rod by motor V19
20 the inners are moved along pipeline axial reciprocating, the front-wheel 12 and trailing wheel 16 that are hinged on the two ends of second connecting rod 11 is moved radially along pipeline
And it is resisted against inner-walls of duct.
In the present embodiment, the obstacle deflector 3 includes the base 24 of circular arc and is fixed on the baffle plate 23 of the rear end of base 24；
Multiple vias 22 for passing through sewage are distributed with the baffle plate 23, obturator flows to obstacle deflector after being crushed by drill bit 5
3, and stopped by the baffle plate 23 of obstacle deflector 3, obturator is collected on base 24, base 24 and the tube wall of arc are mutually fitted
Should, the via 22 on baffle plate 23 can reduce resistance when obstacle deflector 3 is moved, and three hanging holes 25 are distributed with base 24, lead to
Cross pull bar to be connected with walking mechanism 2, improve the stability of its movement.
In the present embodiment, the base 24 is made by rubber, so that with certain wearability, in addition, rubber is flexible
Shape can guarantee that it adapts to different internal diameter of the pipeline.
The pipe-dredging machine people of the present embodiment also includes the control for controlling cutting mechanism 1 and the action of walking mechanism 2
System；The control system includes：Ultrasonic sensor, is arranged on the junction of the cutting mechanism 1 and walking mechanism 2, uses
In the distance between collection robot and tamper；Infrared ray sensor, is arranged on the cutting mechanism 1 with walking mechanism 2
Junction, for gathering the distance between robot and tamper；Ccd video camera, is arranged on the cutting mechanism 1 and vehicle with walking machine
The junction of structure 2, distribution and type for recognizing tamper；Motor speed sensor, is arranged on the motor I6, is used for
Gather the rotating speed of the drill bit 5；Pressure sensor：The base 24 of the obstacle deflector 3 is arranged on, for gathering the institute of obstacle deflector 3
The tamper weight of carrying, controller, for receiving ultrasonic sensor, infrared ray sensor, ccd video camera, motor speed
The signal of sensor and pressure sensor, and controlled motor I6, motor II4, motor III10, motor IV15 and motor V19 works
Make, the sonic sensor and infrared ray sensor of the present embodiment are used cooperatively, using multisensor data fusion theory comprehensive two
Person's advantage, obtains more accurate range information, and infrared ray sensor is used cooperatively with ultrasonic sensor, obtains and believes close to feel
Breath, ccd video camera is used to perceive the distribution of tamper and the identification of tamper type, makes robot that there is tactile (hardness) to feel
Know system, vision (distribution) sensory perceptual system, close to (distance) sensory perceptual system is felt, environment carries out multi-modal perception to external world, according to outer
Boundary's environment adjusts itself behavior, and enhancing robot uses reliability, improves dredging efficiency.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this
In the middle of the right of invention.
Claims (9)
1. a kind of pipe-dredging machine people, it is characterised in that：Including set gradually from the front to the back cutting mechanism, walking mechanism and
Obstacle deflector；
The cutting mechanism is used to blend the obturator in pipeline；
The walking mechanism includes to be radially expanded to inner-walls of duct along pipeline contacting, and for making the Robot pipeline
The road wheel for vertically moving；
The obstacle deflector is used for the obturator collected after blending and discharges it outside pipeline.
2. pipe-dredging machine people according to claim 1, it is characterised in that：The cutting mechanism is included along pipeline axial direction
The drill bit of setting；The drill bit along pipeline can move radially, and the mode that can be rotated around conduit axis is set.
3. pipe-dredging machine people according to claim 2, it is characterised in that：The cutting mechanism also includes motor I, electricity
Machine II, motor III and ball wire rod mechanism I；The output shaft of the motor I to be connected and be used to drive drill bit certainly in the drill bit
Turn；The ball wire rod mechanism I is radially arranged along pipeline, and the screw mandrel of ball wire rod mechanism I drives rotation by the motor II,
The nut of ball wire rod mechanism I interfixes with motor I；The motor III is axially arranged for driving ball screw along pipeline
Mechanism I is rotated around conduit axis.
4. pipe-dredging machine people according to claim 3, it is characterised in that：The road wheel of the walking mechanism is along pipeline
Circumferentially it is uniformly distributed multigroup, walking mechanism also includes motor IV and for the power of motor IV to be transferred into the road wheel
Reduction gearing mechanism；The reduction gearing mechanism includes the central gear being connected with motor IV output shafts and the center
Gear is engaged and along the circumferentially distributed multiple transfer gears of central gear and the co-axially fixed active conical tooth of the transfer gear
The driven wheel of differential that wheel is engaged with drive bevel gear and the transmission for transmitting power between driven wheel of differential and road wheel
Band.
5. pipe-dredging machine people according to claim 4, it is characterised in that：The walking mechanism is also included for driving
The multiple road wheel is along the pipeline synchronization-moving pipe diameter adjusting device of radial direction；The pipe diameter adjusting device includes and road wheel one
One corresponding multiple multi-connecting-rod mechanisms and the ball wire rod mechanism II for driving the multi-connecting-rod mechanism action, the walking
Wheel includes front wheels and rear wheels, and the front-wheel is respectively arranged at two hinged ends in multi-connecting-rod mechanism with trailing wheel.
6. pipe-dredging machine people according to claim 5, it is characterised in that：The walking mechanism also includes motor V, institute
Multi-connecting-rod mechanism is stated for quadric chain, the screw mandrel of the ball wire rod mechanism II is driven by motor V and rotated, ball screw machine
The connecting rod that the nut of structure II is articulated with quadric chain is to drive quadric chain to act.
7. pipe-dredging machine people according to claim 6, it is characterised in that：The obstacle deflector includes the bottom of circular arc
Seat and the baffle plate for being fixed on base rear end；Multiple vias for passing through sewage are distributed with the baffle plate.
8. pipe-dredging machine people according to claim 7, it is characterised in that：The base is made by high-abrasive material.
9. pipe-dredging machine people according to claim 8, it is characterised in that：Also include for controlling cutting mechanism and row
Walk the control system of mechanism action；The control system includes：
Ultrasonic sensor, is arranged on the junction of the cutting mechanism and walking mechanism, for gathering robot and tamper
The distance between；
Infrared ray sensor, is arranged on the junction of the cutting mechanism and walking mechanism, for gathering robot and tamper
The distance between；
Ccd video camera, is arranged on the junction of the cutting mechanism and walking mechanism, distribution and class for recognizing tamper
Type；
Motor speed sensor, is arranged on the motor I, the rotating speed for gathering the drill bit；
Pressure sensor：The obstacle deflector base is arranged on, for gathering the tamper weight that obstacle deflector is carried.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710113390.7A CN106862196A (en) | 2017-02-28 | 2017-02-28 | Pipe-dredging machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710113390.7A CN106862196A (en) | 2017-02-28 | 2017-02-28 | Pipe-dredging machine people |
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| CN106862196A true CN106862196A (en) | 2017-06-20 |
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| CN201710113390.7A Pending CN106862196A (en) | 2017-02-28 | 2017-02-28 | Pipe-dredging machine people |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107755372A (en) * | 2017-11-17 | 2018-03-06 | 孟庆仕 | A kind of Domestic pipeline dredging machine device people |
| CN108204038A (en) * | 2018-03-22 | 2018-06-26 | 安阳市国龙机械有限公司 | A kind of large-sized launching drain cleaner |
| CN108798776A (en) * | 2018-06-04 | 2018-11-13 | 中建路桥集团有限公司 | A kind of tunneling drain deicer supervised using internet |
| CN109465257A (en) * | 2018-11-28 | 2019-03-15 | 吴寒蕊 | A kind of pipe dredging machine people |
| CN109731863A (en) * | 2019-02-25 | 2019-05-10 | 洛阳耐锐机械设备有限公司 | A kind of pipe detection and dredging robot |
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| CN110260162A (en) * | 2019-06-18 | 2019-09-20 | 合肥市枫林环保有限公司 | A kind of medical sewage line clogging detection dredger and detection dredging method |
| CN110455527A (en) * | 2019-09-12 | 2019-11-15 | 清华大学 | Sit-astride quality detecting system for shield machine sealing ring |
| CN110485543A (en) * | 2019-09-02 | 2019-11-22 | 华育昌(肇庆)智能科技研究有限公司 | Subsoil drain is removed contamination vehicle |
| CN110656696A (en) * | 2019-09-24 | 2020-01-07 | 深圳市海腾建设工程有限公司 | Detection and dredging method of drainage pipeline, pipeline robot and medium |
| CN110802087A (en) * | 2019-10-17 | 2020-02-18 | 辉县市银茂数控设备有限公司 | On-line cleaning device for crude oil pipeline of oil field |
| CN110925522A (en) * | 2019-11-01 | 2020-03-27 | 安徽工程大学 | Automatic pipeline cleaning machine |
| CN110966041A (en) * | 2019-11-29 | 2020-04-07 | 长安大学 | Small-pipe-diameter tunnel drainage blind pipe intelligent dredging robot |
| CN111203773A (en) * | 2020-01-15 | 2020-05-29 | 广东博智林机器人有限公司 | Polishing execution device |
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| CN113374985A (en) * | 2021-06-02 | 2021-09-10 | 厦门吾桑贸易有限公司 | Pipeline exploration vehicle |
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Application publication date: 20170620 |