Note: Descriptions are shown in the official language in which they were submitted.
COMPLETE STRONG SUPPORTING SINGLE DRIVE TWO-WAY
CRAWLING TYPE PIPELINE CLEANING ROBOT
FIELD OF THE INVENTION
[0001] The present invention relates to the technical field of non-horizontal
pipeline
cleaning robots, and in particular, to a pipeline cleaning robot for realizing
a single
drive two-way crawling in a vertical pipeline having a constant diameter or a
diameter
that has a very small change based on a coordination function of a non-equal
dwell
cam group.
DESCRIPTION OF RELATED ART
[0002] During a pipeline cleaning operation, a crawling type pipeline robot
has a
larger traction capability and terrain adaptability, and is more suitable for
the pipe
cleaning operation. However, most of conventional pipeline robots and pipeline
cleaners have a one-way walking capability and cannot retreat to be retrieved
when
meeting a specific obstacle during a pipeline cleaning process. As a result,
the robots
are stuck in the pipelines. For a conventional two-way crawling type pipeline
cleaning
robot, a single power cannot be used to realize three functions: complete
strong
supporting for pipeline walls, two-way walking, and pipeline cleaning.
Destabilization
may occur due to an insufficient support caused by alternating a front machine
body
and a rear machine bod. This is unfavorable to cleaning of a non-horizontal
pipeline
(typically, a vertical pipeline). Therefore, a single drive two-way crawling
type
pipeline cleaning robot cannot realize a complete strong supporting. Based on
a
coordination function of a non-equal dwell cam group, a complete strong
supporting
single drive two-way crawling type pipeline cleaning robot suitable for a
pipeline
having a constant diameter or a diameter that has a very small change has been
researched and developed. The two-way crawling type pipeline cleaning robot
would
allow non-horizontal pipeline cleaning.
SUMMARY OF THE INVENTION
Technical Problem
[0003] Objective of the present invention: To overcome the defects in the
prior art,
the present invention provides a single drive two-way crawling type pipeline
cleaning
robot that realizes a complete strong support and a two-way crawling in a
non-horizontal pipeline based on a coordination function of a non-equal dwell
cam
Date Recue/Date Received 2020-09-24
group. A continuous traction in pipeline cleaning can be realized and
stability and
reliability of a walking process in a pipeline can be improved.
Technical Solution
[0004] Technical solution: To achieve the foregoing objective, the present
invention
provides the following.
[0005] A single drive two-way crawling type pipeline cleaning robot comprises
a
front machine body assembly, a transmission assembly, and a rear machine body
assembly.
[0006] The transmission assembly is power driven. Through a transmission
function
of a connecting rod mechanism, a gear mechanism and a non-equal dwell cam
mechanism, the front machine body assembly and the rear machine body assembly
provide a continuous supporting function during a radially alternate
contracting and
supporting process (that is, at any moment, at least one of the front machine
body and
the rear machine body is in a strong supporting state), and simultaneously
provide an
axial alternate extension and contraction between the front machine body
assembly
and the rear machine body assembly and a synchronous rotation of dredging
cutters.
Therefore, a two-way crawling, and a pipeline cleaning operation of a robot
along a
non-horizontal pipeline may be provided.
[0007] Preferably, the front machine body assembly comprises a front casing,
dredging cutters, a front frame, front elastic telescopic arms at upper and
lower sides
of the front machine body assembly, and front elastic supporting wheels at
left and
right sides of the front machine body assembly.
[0008] The front casing is sleeved outside the front frame and is fixedly
connected to
the front frame. The dredging cutters are disposed at a front side of the
front frame.
Each of the dredging cutters comprises a turntable, cutter bars uniformly
distributed
around the turntable in a circumferential direction, and dredging blades
fixedly
connected to the cutter bars.
[0009] Each of the front elastic telescopic arms (active) comprises elastic
rubber
mats, a sliding rod, a first pressure spring, a spring limit piece, and
rollers. The elastic
rubber mats are disposed at a top of the sliding rod. The first pressure
spring is
sleeved over the sliding rod, and lower limit of the first pressure spring is
capped
through the spring limit piece at a bottom of the sliding rod. A groove at one
side of
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Date Recue/Date Received 2020-09-24
the sliding rod in communication with a bottom of the front elastic telescopic
arm.
The rollers are mounted at a bottom of the groove through a support rod (that
is, the
roller is mounted in an offset manner) and slide along the groove through the
support
rod to adjust a spacing between the rollers and the sliding rod. A bottom of
the front
elastic telescopic arm passes through the front casing and the upper limit of
the first
pressure spring on the sliding rod is capped by the front casing.
[0010] Each of the front elastic supporting wheels (passive) comprises a
telescopic
shaft, a telescopic sleeve sleeved outside the telescopic shaft, and a wheel
disposed at
a top of the telescopic shaft. A second pressure spring connected to a bottom
of the
telescopic shaft is disposed in the telescopic sleeve. A telescopic motion of
the
telescopic shaft and the telescopic sleeve is enabled through the second
pressure
spring, thus providing an elastic adjustment of the length of the front
elastic
supporting wheel, in order to adapt to radial sizes of different pipelines.
The front
elastic supporting wheels are disposed at left and right sides of the front
casing
through the telescopic sleeves.
[0011] Preferably, the rear machine body assembly includes a rear casing, a
rear
frame, rear elastic telescopic arms at upper and lower sides of the rear
machine body
assembly, and rear elastic support wheels at left and right sides of the rear
machine
body assembly. The rear casing is sleeved outside the rear frame, and is
fixedly
connected to the rear frame. Structures of the rear elastic telescopic arms
and the rear
elastic support wheels (including an assembly structure and a connection
relationship
between the assembly structure and the rear casing) are respectively the same
as the
front elastic telescopic arms and the front elastic supporting wheels in the
front
machine body assembly.
[0012] Preferably, the transmission assembly includes a rotation motor, a
cutter
drive assembly, a front drive assembly, a rear drive assembly, and a medium
drive
assembly. The rotation motor is disposed at a front side of the rear frame. A
first spur
gear is sleeved over an output shaft of the rotation motor that passes through
a front
side plate of the rear frame. The first spur gear is attached to a rear side
of the front
side plate of the rear frame.
[0013] The medium drive assembly includes several guide mechanisms, a
transmission mechanism, and a crank connecting rod mechanism connecting the
front
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Date Recue/Date Received 2020-09-24
frame and the rear frame. Each of the guide mechanisms includes a guide rod
disposed on a rear side plate of the front frame and a linear bearing disposed
on the
front side plate of the rear frame. A telescopic connection of the front frame
and the
rear frame is enabled through sliding cooperation of the guide rod and the
linear
bearing.
[0014] The transmission mechanism includes a group of a sliding shaft and a
bearing
sleeve that are configured to cooperate with each other. A strip groove is
disposed on
a side wall of the bearing sleeve. A cylindrical pin is disposed on a side
wall of the
sliding shaft. A synchronous rotation and telescopic sliding of the sliding
shaft and the
bearing sleeve are realized through sliding cooperation of the cylindrical pin
and the
groove. A side of the sliding shaft, which is distal to the bearing sleeve
penetrates
through the rear side plate of the front frame, and two first limit rings are
disposed on
the sliding shaft. The first limit rings are respectively attached to front
and rear sides
of the rear side plate of the front frame. Axial sliding of the sliding shaft
relative to
the rear side plate of the front frame is limited through the two first limit
rings. A side
of the bearing sleeve distal to the sliding shaft penetrates through the front
side plate
of the rear frame. A second limit ring and a second spur gear are disposed on
the
bearing sleeve. The second limit ring is attached to a front side of the front
side plate
of the rear frame, and the second spur gear is attached to a rear side of the
front side
plate of the rear frame. Axial sliding of the bearing sleeve relative to the
front side
plate of the rear frame is limited through the second limit ring and the
second spur
gear. The second spur gear and the first spur gear are engaged to transmit, to
provide
transmission of a rotation speed from the output shaft of the rotation motor
to the
bearing sleeve. A first bevel gear is sleeved over one end of the sliding
shaft which is
distal to the bearing sleeve, and a second bevel gear is sleeved over one end
of the
bearing sleeve which is distal to the sliding shaft.
[0015] The front drive assembly includes a front rotation shaft disposed in
the front
frame, a front non-equal dwell cam group, and a third bevel gear. The front
non-equal
dwell cam group and the third bevel gear are sleeved over the front rotation
shaft. The
third bevel gear and the first bevel gear are engaged for transmission, and
drive the
front rotation shaft and the front non-equal dwell cam group to rotate
synchronously.
The front non-equal dwell cam group includes two identical front non-equal
dwell
cams (that is, a farthest dwell angle and a nearest dwell angle of the cam are
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Date Recue/Date Received 2020-09-24
non-equal). The two front non-equal dwell cams are stacked and dislocated by
1800
.
The rollers at bottoms (mounted in an offset manner) of the front elastic
telescopic
arms at upper and lower sides of the front machine body assembly are
respectively
mounted on the two front non-equal dwell cams abutting against each other, to
provide a synchronous radial telescopic adjustment of the two front elastic
telescopic
arms through the two front non-equal dwell cams.
[0016] The rear drive assembly includes a rear rotation shaft disposed in the
rear
frame, a rear non-equal dwell cam group, and a fourth bevel gear. A connection
structure of the rear drive assembly is the same as a connection structure of
the front
drive assembly. The fourth bevel gear and the second bevel gear are engaged
for
transmission, and drive the rear rotation shaft and the rear non-equal dwell
cam group
to rotate synchronously. The rear non-equal dwell cam group includes two
identical
rear non-equal dwell cam. A synchronous radial telescopic adjustment of two
rear
elastic telescopic arms is provided through the two rear non-equal dwell cams.
[0017] The cutter drive assembly includes a fifth bevel gear, a belt
transmission
mechanism, and a cutter rotation shaft. The fifth bevel gear and the third
bevel gear
are engaged for transmission, and drive the cutter rotation shaft to rotate
through the
belt transmission mechanism. The turntable of the dredging cutters is sleeved
over one
side of the cutter rotation shaft that passes through the front side plate of
the front
frame, to provide a synchronous rotation of the dredging cutters.
[0018] The crank connecting rod mechanism includes connecting rods and cranks
disposed on left and right sides of the front frame and the rear frame. The
cranks are
sleeved over the rear rotation shaft that extends to the outside of the rear
frame to
synchronously rotate with the rear rotation shaft. One end of each of the
connecting
rods is hingedly connected to the left or right side plate of the front frame,
and the
other end is hingedly connected to the crank at the same side. An axial
telescopic
adjustment between the front machine body assembly and the rear machine body
assembly is possible through the crank connecting rod mechanism.
[0019] The operation principle of the present invention may be described as
follows.
First, a pipeline robot mounted with a sensor, a camera, and dredging cutters
is placed
in a non-horizontal pipeline manually. A motor is controlled to perform a
positive
rotation. Through a function transmission of a connecting rod mechanism,
gears, and
Date Recue/Date Received 2020-09-24
a non-equal dwell cam mechanism, a front body and a rear body provide a
continuous strong support during an overall radial alternate contracting and
supporting process (that is, at any moment, at least one of the two machine
bodies is
in a strong supporting state). At the same time, the front and rear bodies can
also be
extended and contracted alternately along an axial direction. The dredging
cutters are
rotated while being transmitted by a mechanism. Through coordination and
cooperation of each moving part, a robot can implement a cleaning operation
when
crawling along a pipeline. When a pipeline robot meets a serious obstacle in
the
pipeline and cannot move forward, the motor is controlled to reverse to make
the
robot move backward to exit.
[0020] Preferably, the cutter bars and the dredging blades of the dredging
cutters are
all detachable, to be maintained and replaced easily to save costs.
[0021] Preferably, a first long groove is formed in the support rod, a first
threaded
hole is formed in the same groove, and a fastening bolt passes through the
first long
groove to be fastened with the first threaded hole, so that the support rod is
extended
and contracted along the groove, and the connection is simple and convenient.
[0022] Preferably, a second long groove is formed in a side wall of the
telescopic
sleeve, a second cylindrical pin is disposed on the side wall of the
telescopic shaft,
and telescopic motion of the telescopic shaft along the telescopic sleeve is
limited
through cooperation of the second cylindrical pin and the second long groove,
to
prevent the telescopic shaft from dropping off.
[0023] Preferably, a farthest dwell angle of the front non-equal dwell cams
(identical
with the rear non-equal dwell cams) is not less than 1800, to ensure a full-
process
strong supporting. Since the cams rotate for one circle, that is, 360 , only
when the
farthest dwell angle of the non-equal dwell cam is not less than 180 , a sum
of a
nearest dwell angle, a lift angle, and a return angle is not less than 180 .
In this way, a
continuous strong support can be maintained in a full motion process. In other
words,
as shown in FIG. 14, at any moment, at least one curve of a front machine body
supporting state curve 51 and a rear machine body supporting state curve S2 is
at a
point P1 on a vertical coordinate, and the point P1 represents strong
supporting.
Advantageous Effect
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Date Recue/Date Received 2020-09-24
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[0024] Beneficial effects: compared with the prior art, the complete strong
supporting single drive two-way crawling type pipeline cleaning robot provided
by
the present invention has the following advantages: 1. a power source and a
set of
mechanisms can realize complete strong supporting and two-way crawling in a
vertical pipeline having a constant diameter or a diameter that has a very
small change,
and when the pipeline robot meets a specific obstacle and cannot walk forward,
the
robot can move backward to exit the pipeline, to enhance motor ability of the
pipeline
robot for dealing with a complicated pipeline environment; and 2. a robot body
becomes more compact and portable, the cruising ability of the pipeline robot
is
greatly enhanced, and at the same time, full-process continuous traction can
be
maintained, and therefore, a vertical pipeline having a constant diameter or a
diameter
that has a very small change, that needs to maintain a continuous supporting
force,
can realize full-process strong supporting, and has actual engineering
significance on
comprehensive pipeline cleaning.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] FIG. 1 is a schematic whole structural diagram of an embodiment of the
present invention;
[0026] FIG. 2 is a front view of the embodiment of the present invention;
[0027] FIG. 3 is a schematic diagram of an internal structure of the
embodiment of
the present invention;
[0028] FIG. 4 is a schematic structural diagram of dredging cutters according
to the
embodiment of the present invention;
[0029] FIG. 5 is a schematic structural diagram of an elastic telescopic arm
according to the embodiment of the present invention;
[0030] FIG. 6 is a schematic structural diagram of an elastic supporting wheel
according to the embodiment of the present invention;
[0031] FIG. 7 is a schematic structural diagram of a transmission assembly
according to the embodiment of the present invention;
[0032] FIG. 8 is a top view of the transmission assembly according to the
embodiment of the present invention;
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[0033] FIG. 9 and FIG. 10 are simple diagrams of transmission of a front non-
equal
dwell cam group and a rear non-equal dwell cam group according to the
embodiment
of the present invention;
[0034] FIG. 11 is a simple diagram of motion of a crank connecting rod
mechanism
according to the embodiment of the present invention;
[0035] FIG. 12 is a schematic structural diagram of the transmission mechanism
according to the embodiment of the present invention;
[0036] FIG. 13 is a position diagram of a rotation angle of a rear non-equal
dwell
cam according to the embodiment of the present invention;
[0037] FIG. 14 is a change diagram of the supporting state of the front and
rear
machine bodies along a rotation angle of a cam according to the embodiment of
the
present invention; and
[0038] FIG. 15a to FIG. 15e are flowcharts of motion of a robot along a
pipeline
according to the embodiment of the present invention.
List of reference numerals
1 Front machine body assembly
1-1 Front casing
1-2 Dredging cutters
1-3 Front frame
1-4 Front elastic telescopic arm
1-5 Front elastic supporting wheel
1-2-1 Dredging blade
1-2-2 Cutter bars
1-2-3 Turntable
1-4-1 Elastic rubber mat
1-4-2 Sliding rod
1-4-3 First pressure spring
1-4-4 Spring limit piece
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1-4-5 Roller
1-4-6 Groove
1-4-7 Support rod
1-5-1 Wheel
1-5-2 Telescopic shaft
1-5-3 Telescopic sleeve
2 Transmission assembly
2-1 Cutter rotation shaft
2-2 Belt transmission mechanism
2-3 Front non-equal dwell cam group
2-4 Guide rod
2-5 Linear bearing
2-6 Rotation motor
2-7 First spur gear
2-8 Rear rotation shaft
2-9 Rear non-equal dwell cam group
2-10 Fourth bevel gear
2-11 Crank
2-12 Transmission mechanism
2-13 Connecting rod
2-14 Third bevel gear
2-15 Front rotation shaft
2-16 Fifth bevel gear
2-12-1 First bevel gear
2-12-2 First limit rings
2-12-3 Sliding shaft
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2-12-4 Cylindrical pin
2-12-5 Bearing sleeve
2-12-6 Groove
2-12-7 Second limit ring
2-12-8 Second spur gear
2-12-9 Second bevel gear
3 Rear machine body assembly
3-1 Rear casing
3-2 Rear frame
3-3 Rear elastic telescopic arm
3-4 Rear elastic support wheel
DETAILED DESCRIPTION OF THE INVENTION
[0039] The present invention will be described with reference to the
accompanying
drawings.
100401 As shown in FIG. 1 and FIG. 2, a complete strong supporting single
drive
two-way crawling type pipeline cleaning robot includes a front machine body
assembly 1, a transmission assembly 2, and a rear machine body assembly 3.
[0041] The transmission assembly 2 is driven by one power; through a
transmission
function of a connecting rod mechanism, a gear mechanism and a non-equal dwell
cam mechanism, the front machine body assembly 1 and the rear machine body
assembly 3 realize a continuous strong supporting function during an overall
radial
alternate contracting and supporting process (that is, at any moment, at least
one of
the front machine body and the rear machine body is in a strong supporting
state), and
meanwhile, axial alternate extension and contraction between the front machine
body
assembly 1 and the rear machine body assembly 3 and synchronous rotation of
dredging cutters 1-2 are also realized, to realize full-process strong
supporting,
two-way crawling, and a pipeline cleaning operation of a robot along a non-
horizontal
[0042] As shown in FIG. 3, the front machine body assembly 1 includes a front
CA 03045865 2019-05-10
casing 1-1, the dredging cutters 1-2, a front frame 1-3, front elastic
telescopic arms
1-4 at upper and lower sides, and front elastic supporting wheel 1-5 at left
and right
sides.
[0043] The front casing 1-1 is sleeved outside the front frame 1-3 and is
fixedly
connected to the front frame 1-3; as shown in FIG. 4, the dredging cutters 1-2
are
disposed at a front side of the front frame 1-3, and include a turntable 1-2-
3, cutter
bars 1-2-2 uniformly distributed around the turntable 1-2-3 in a
circumferential
direction, and dredging blades 1-2-1 fixedly connected to the cutter bars 1-2-
2.
[0044] As shown in FIG. 5, each of the front elastic telescopic arms 1-4
includes
elastic rubber mats 1-4-1, a sliding rod 1-4-2, a first pressure spring 1-4-3,
a spring
limit piece 1-4-4, and rollers 1-4-5, and the elastic rubber mats 1-4-1 are
disposed at a
top of the sliding rod 1-4-2; the first pressure spring 1-4-3 is sleeved over
the sliding
rod 1-4-2, and realizes lower limit of the first pressure spring 1-4-3 through
the spring
limit piece 1-4-4 at a bottom of the sliding rod 1-4-2; a groove 1-4-6 in
communication with a bottom is disposed on an outer wall at one side of the
sliding
rod 1-4-2, the rollers 1-4-5 are mounted at a bottom of the groove 1-4-6
through a
support rod 1-4-7, and slide along the groove 1-4-6 through the support rod 1-
4-7 to
be fixed to realize adjustment of a spacing between the rollers 1-4-5 and the
sliding
rod 1-4-2, to adapt to radial sizes of different pipelines; a bottom of the
front elastic
telescopic arm 1-4 passes through the front casing 1-1 and realizes upper
limit of the
first pressure spring 1-4-3 on the sliding rod 1-4-2 through the front casing
1-1.
[0045] As shown in FIG. 6, each of the front elastic supporting wheels 1-5
includes
a telescopic shaft 1-5-2, a telescopic sleeve 1-5-3 sleeved outside the
telescopic shaft
1-5-2, and a wheel 1-5-1 disposed at a top of the telescopic shaft 1-5-2, a
second
pressure spring connected to a bottom of the telescopic shaft 1-5-2 is
disposed in the
telescopic sleeve 1-5-3, telescopic motion of the telescopic shaft 1-5-2 and
the
telescopic sleeve 1-5-3 is realized through the second pressure spring to
adapt to
radial sizes of different pipelines; and the front elastic supporting wheels 1-
5 are
disposed at left and right sides of the front casing 1-1 through the
telescopic sleeves
1 -5-3 .
[0046] In this embodiment, the rear machine body assembly 3 includes a rear
casing
3-1, a rear frame 3-2, rear elastic telescopic arms 3-3 at upper and lower
sides, and
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rear elastic support wheels 3-4 at left and right sides; the rear casing 3-1
is sleeved
outside the rear frame 3-2, and is fixedly connected to the rear frame 3-2;
the
structures of the rear elastic telescopic arms 3-3 and the rear elastic
support wheels
3-4 (including an assembly structure and a connection relationship between the
assembly structure and the rear casing 3-1) are respectively the same as the
front
elastic telescopic arms 1-4 and the front elastic supporting wheels 1-5 in the
front
machine body assembly 1 (the front machine body assembly and the rear machine
body assembly are identical general assemblies).
[0047] As shown in FIG. 7 and FIG. 8, the transmission assembly 2 includes a
rotation motor 2-6, a cutter drive assembly, a front drive assembly, a rear
drive
assembly, and a medium drive assembly.
[0048] The rotation motor 2-6 is disposed at a front side of the rear frame 3-
2, a first
spur gear 2-7 is sleeved over an output shaft of the rotation motor that
passes through
a front side plate of the rear frame 3-2, and the first spur gear 2-7 is
attached to a rear
side of the front side plate of the rear frame 3-2.
[0049] The medium drive assembly includes several guide mechanisms, a
transmission mechanism 2-12, and a crank connecting rod mechanism connecting
the
front frame 1-3 and the rear frame 3-2; each of the guide mechanisms includes
a guide
rod 2-4 disposed on a rear side plate of the front frame 1-3 and a linear
bearing 2-5
disposed on the front side plate of the rear frame 3-2, and telescopic
connection of the
front frame 1-3 and the rear frame 3-2 is realized through sliding cooperation
of the
guide rod 2-4 and the linear bearing 2-5.
[0050] As shown in FIG. 12, the transmission mechanisms 2-12 includes a group
consisting of a sliding shaft 2-12-3 and a bearing sleeve 2-12-5 that are
adaptive to
each other, a strip groove 2-12-6 is disposed on a side wall of the bearing
sleeve
2-12-5, a cylindrical pin 2-12-4 is disposed on a side wall of the sliding
shaft 2-12-3,
and synchronous rotation and telescopic sliding of the sliding shaft 2-12-3
and the
bearing sleeve 2-12-5 are realized through sliding cooperation of the
cylindrical pin
2-12-4 and the groove 2-12-6; one side of the sliding shaft 2-12-3 away from
the
bearing sleeve 2-12-5 penetrates through the rear side plate of the front
frame 1-3, and
two first limit rings 2-12-2 are disposed on the sliding shaft 2-12-3, the
first limit
rings 2-12-2 are respectively attached to front and rear sides of the rear
side plate of
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the front frame 1-3, and axial sliding of the sliding shaft 2-12-3 relative to
the rear
side plate of the front frame 1-3 is limited through the two first limit rings
2-12-2; one
side of the bearing sleeve 2-12-5 away from the sliding shaft 2-12-3
penetrates
through the front side plate of the rear frame 3-2, a second limit ring 2-12-7
and a
second spur gear 2-12-8 are disposed on the bearing sleeve 2-12-5, the second
limit
ring 2-12-7 is attached to a front side of the front side plate of the rear
frame 3-2, and
the second spur gear 2-12-8 is attached to a rear side of the front side plate
of the rear
frame 3-2; axial sliding of the bearing sleeve 2-12-5 relative to the front
side plate of
the rear frame 3-2 is limited through the second limit ring 2-12-7 and the
second spur
gear 2-12-8, and the second spur gear 2-12-8 and the first spur gear 2-7 are
engaged
for transmission, to realize transmission of a rotation speed from the output
shaft of
the rotation motor 2-6 to the bearing sleeve 2-12-5; and a first bevel gear 2-
12-1 is
sleeved over one end of the sliding shaft 2-12-3 away from the bearing sleeve
2-12-5,
and a second bevel gear 2-12-9 is sleeved over one end of the bearing sleeve 2-
12-5
away from the sliding shaft 2-12-3.
[0051] The front drive assembly includes a front rotation shaft 2-15 disposed
in the
front frame 1-3, a front non-equal dwell cam group 2-3, and a third bevel gear
2-14,
and the front non-equal dwell cam group 2-3 and the third bevel gear 2-14 are
sleeved
over the front rotation shaft 2-15; the third bevel gear 2-14 and the first
bevel gear
2-12-1 are engaged for transmission, and drive the front rotation shaft 2-15
and the
front non-equal dwell cam group 2-3 to rotate synchronously; as shown in FIG.
9, the
front non-equal dwell cam group 2-3 includes two identical front non-equal
dwell
cams 2-3a and 2-3b, and the two front non-equal dwell cams are stacked and
dislocated by 1800; the rollers 1-4-5 at bottoms of the front elastic
telescopic arms
1-4a and I-4b at upper and lower sides of the front machine body assembly I
are
respectively mounted on the two front non-equal dwell cams 2-3a and 203b
abutting
against each other, to realize synchronous radial telescopic adjustment of the
two front
elastic telescopic arms 1-4 through the two front non-equal dwell cams.
[0052] The rear drive assembly includes a rear rotation shaft 2-8 disposed in
the rear
frame 3-2, a rear non-equal dwell cam group 2-9, and a fourth bevel gear 2-10,
and a
connection structure of the rear drive assembly is the same as a connection
structure
of the front drive assembly (the front drive assembly and the rear drive
assembly are
identical general assemblies); the fourth bevel gear 2-10 and the second bevel
gear
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2-12-9 are engaged for transmission, and drive the rear rotation shaft 2-8 and
the rear
non-equal dwell cam group 2-9 to rotate synchronously; as shown in FIG. 10,
the rear
non-equal dwell cam group 2-9 includes two identical rear non-equal dwell cams
2-9a
and 2-9b, and synchronous radial telescopic adjustment of two rear elastic
telescopic
arms 3-3a and 3-3b is realized through the two rear non-equal dwell cams; and
when
the transmission mechanism 2-12 is rotating, the bevel gear set is engaged for
transmission, to drive the front drive assembly and the rear drive assembly to
rotate at
a constant speed in opposite directions, so that the front non-equal dwell cam
group
2-3 and the rear non-equal dwell cam group 2-9 are also rotating at a constant
speed in
opposite directions.
[0053] The cutter drive assembly includes a fifth bevel gear 2-16, a belt
transmission
mechanism 2-2, and a cutter rotation shaft 2-1, the fifth bevel gear 2-16 and
the third
bevel gear 2-14 are engaged for transmission, and drive the cutter rotation
shaft 2-1 to
rotate through the belt transmission mechanism 2-2, and the turntable 1-2-3 of
the
dredging cutters 1-2 is sleeved over one side of the cutter rotation shaft 2-1
that passes
through the front side plate of the front frame 1-3, to realize synchronous
rotation of
the dredging cutters 1-2.
[0054] As shown in FIG. 11, the crank connecting rod mechanism includes
connecting rods 2-13 and cranks 2-11 disposed on left and right sides of the
front
frame 1-3 and the rear frame 3-2, and the cranks 2-11 are sleeved over the
rear
rotation shaft 2-8 that extends to the outside of the rear frame 3-2 to
synchronously
rotate with the rear rotation shaft 2-8; one end of each of the connecting
rods 2-13 is
hingedly connected to a left/right side plate of the front frame 1-3, the
other end is
hingedly connected to the crank 2-11 at the same side, and axial telescopic
adjustment
between the front machine body assembly 1 and the rear machine body assembly 3
is
realized through the crank connecting rod mechanism.
[0055] In this embodiment, the cutter bars 1-2-2 and the dredging blades 1-2-1
of the
dredging cutters 1-2 are all detachable; a first long groove is formed in the
support rod
1-4-7, a first threaded hole is formed in the groove 1-4-6, and a fastening
bolt passes
through the first long groove to be fastened with the first threaded hole, so
that the
support rod 1-4-7 is extended and contracted along the groove 1-4-6.
[0056] In this embodiment, a second long groove is formed in a side wall of
the
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telescopic sleeve 1-5-3, a second cylindrical pin is disposed on the side wall
of the
telescopic shaft 1-5-2, and telescopic motion of the telescopic shaft 1-5-2
along the
telescopic sleeve 1-5-3 is limited through cooperation of the second
cylindrical pin
and the second long groove.
[0057] In this embodiment, farthest dwell angles of the non-equal dwell cams 2-
3a,
2-3b, 2-9a, and 2-9b are 180 and nearest dwell angles are 144 , and a push
angle and
a return angle are both 18 . Since the farthest dwell angle of the non-equal
dwell cam
is 180 , during a full motion process, at least one of a front machine body
and a rear
machine body is in a strong supporting state. Therefore, when moving in a
vertical
pipeline, the front machine body and the rear machine body may not be
destabilized
due to insufficient support in a process of supporting a pipeline wall
alternately.
Furthermore, under a precondition that a size of a basic circle is constant
and an
allowed narrow force angle is not exceeded, since the farthest dwell angle of
a
non-equal dwell cam is required to be not less than 180 in the present
invention,
when the nearest dwell angle is constant, a radial variation range of the non-
equal
dwell cam relative to an equal dwell cam becomes small, and therefore, the
present
invention is only suitable to move in a pipeline having a diameter that has a
small
change or a constant diameter. Specifically, the present invention only
requires that a
value of a farthest dwell angle of a non-equal dwell cam is not less than 180
, and
implementation of the present invention is not limited to the specific angle.
[0058] A specific implementation of the present invention is specifically
described
as follows.
[0059] A crawling process of a pipeline robot is shown in FIG. 13 and FIG. 14,
and
15a-15e. According to a change of a position of a rotation angle of a rear non-
equal
dwell cam in FIG. 13, Si and S2 in FIG. 14 respectively represent radial
supporting
states of the front machine body and the rear machine body. To describe
conveniently,
a robot is divided into three parts, that is, a front machine body BI (radial
extension
and contraction), a medium machine body B2 (axial extension and contraction),
and a
rear machine body B3 (radial extension and contraction). Meanwhile, extension
and
contraction states of each part are classified as three types according to an
extension
degree, that is, a full extension state, a medium state, and a full
contraction state. A
pipeline wall is not supported in a full radial extension state, is supported
weakly in a
medium radial state, and is supported strongly in a full radial extension
state. A
CA 03045865 2019-05-10
walking process of a pipeline robot is specifically described as follows.
[0060] Step 1: A crank 2-11 rotates by 0 in a clockwise direction. As shown
in FIG.
15a, at this time, a hinged hole on the crank 2-11 is at position I. It can be
known
from FIG. 14 that, the front machine body BI is in the full radial extension
state, the
medium machine body B2 is in a full axial contraction state, and the rear
machine
body B3 is a full radial extension state.
100611 Step 2: the crank 2-11 rotates by 90 in a clockwise direction. As
shown in
FIG. 15b, at this time, the hinged hole on the crank 2-11 is at position 2. It
can be
known from FIG. 14 that, the front machine body Bl is in the full radial
contraction
state, the medium machine body B2 is in a medium axial state, and the rear
machine
body B3 is in the full radial extension state.
[0062] Step 3: the crank 2-11 rotates by 180 in a clockwise direction. As
shown in
FIG. 15c, at this time, the hinged hole on the crank 2-11 is at position 3. It
can be
known from FIG. 14 that, the front machine body B1 is in the full radial
extension
state, the medium machine body B2 is in a full axial extension state, and the
rear
machine body B3 is a full radial extension state.
[0063] Step 4: the crank 2-11 rotates by 270 in a clockwise direction. As
shown in
FIG. 15d, at this time, the hinged hole on the crank 2-11 is at position 4. It
can be
known from FIG. 14 that, the front machine bocly B1 is in the full radial
extension
state, the medium machine body 132 is in the medium axial state, and the rear
machine
body B3 is a full radial contraction state.
[0064] Step 5: the crank 2-11 rotates by 360 in a clockwise direction. As
shown in
FIG. 15e, at this time, the hinged hole on the crank 2-11 returns to position
1. It can
be known from FIG. 14 that, the front machine body B1 is in the full radial
extension
state, the medium machine body B2 is in a full axial contraction state, and
the rear
machine body B3 is a full radial extension state.
[0065] Through markings (A-F) in FIG. 15a to FIG. 15e, it can be clearly seen
that,
the pipeline robot crawls to the left along the pipeline and realizes
continuous strong
supporting crawling in a full process.
[0066] The present invention, through a combination of a connecting rod
mechanism,
gear transmission, and a non-equal dwell cam mechanism, that is, a power
source and
a set of mechanisms, realizes radial contraction and extension of a front
machine body
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and a rear machine body of a robot, and extension and shortening of a spacing
between the front machine body and the rear machine body, to realize full
process
strong supporting and two-way crawling in a vertical pipeline, and at the same
time,
realize pipeline cleaning during a walking process, and enhance stability and
reliability of a pipeline cleaning operation.
100671 Based on coordination of the non-equal dwell cam group, the present
invention realizes continuous traction and full-process strong supporting in a
process
of alternate changes of supporting states of the front machine body and the
rear
machine body. Therefore, the present invention is not only suitable to
cleaning of a
non-horizontal pipeline (for example, a vertical pipe) having a diameter that
has a
very small change, but also suitable to a horizontal pipeline having a
diameter that has
a very small change, and has actual engineering significance on comprehensive
pipeline cleaning.
100681 Only preferred embodiments of the present invention are described as
above.
It should be indicated that, a person of ordinary skill in the art can make
several
improvements and modifications without departing from the principle of the
present
application, and the improvements and modifications fall in the protection
scope of
the present invention.
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