The invention relates to the technical field of intelligent robots, in particular to a dredging and detecting pipeline intelligent robot suitable for urban drainage pipelines, which comprises a synchronous reducing device, a cleaning device, a smashing device and a detecting device. Wherein the detection device comprises a laser radar, a depth camera and a millimeter wave radar. The sweeping device is located on the front portion of the overall structure, the millimeter wave radar is installed at the front end of the center of a shell of the sweeping device, the synchronous reducing device is located on the rear half portion of the overall structure, and the smashing device is installed on the synchronous reducing device through a long connecting rod. The waterproof shell is installed on the front half section of the synchronous reducing device, the tail shell is installed on the rear half section of the synchronous reducing device, the depth camera is installed on the waterproof shell, the laser radar is installed at the tail end of the center of the tail shell, and the propeller is installed on the tail shell and located below the laser radar. The depth camera and the millimeter-wave radar detect the condition in front of the pipeline for the robot trolley, and the laser radar detects the condition of the inner wall of the pipeline and confirms the pipeline. The synchronous reducing device serves as a main body of the device and provides an installation base body for the device, power is transmitted through gear meshing and screw and thread sleeve meshing, the synchronous reducing capacity of crawler wheels, auxiliary wheels and a smashing device of the robot is achieved, meanwhile, the crawler wheels and the auxiliary wheels serve as a part of the synchronous reducing device, supporting force is provided for a trolley in a pipeline, and the conveying efficiency is improved. And meanwhile, three crawler wheels internally provided with motors and a propeller at the tail part provide advancing power for the trolley robot together. Connecting grooves in the crawler wheels are all through grooves formed by combining concentric small semicircles and large semicircles, four supporting leg connecting shafts are all shafts formed by combining concentric three-quarter small circles and one-quarter large circles, the four supporting leg connecting shafts and the supporting rods are integrated, and the crawler wheels can have certain degree-of-freedom redundancy through the installation and combination mode. The obstacle crossing ability can be well achieved under the complex pipeline road condition. Power of a reducing motor in the cleaning device is transmitted to a telescopic coulter through a gear, a bevel gear set and a screw barrel, and the reducing function can be achieved. The cleaning device changes the diameter according to the pipe diameter detected by the laser radar, and the function of scraping off sludge attached to the wall of the pipeline is achieved. The smashing device is composed of a motor and a coulter set and mainly achieves the function of smashing sludge at the bottom of the pipeline and scraped off by the sweeping device.

    本发明涉及智能机器人技术领域,具体的说是一种适用于城市排水管道的清淤检测管道智能机器人,包括包括同步变径装置、清扫装置、搅碎装置和检测装置。其中检测装置包括激光雷达、深度相机和毫米波雷达。清扫装置位于整体结构的前部,毫米波雷达安装在清扫装置外壳中心前端,同步变径装置位于整体结构的后半部分,所述搅碎装置通过一根长连杆安装在同步变径装置上。同步变径装置的前半段安装防水外壳,同步变径装置的后半段安装尾部外壳,深度相机安装防水外壳上,激光雷达安装在尾部外壳中心末端位置,所述螺旋桨安装在尾部外壳上,位于激光雷达下方。深度相机和毫米波雷达为本机器人小车检测管道前方状况,激光雷达检测管道内壁状况和确认管道管。同步变径装置作为本装置的主体为本装置提供安装基体,通过齿轮啮合和螺杆螺套啮合传递动力,实现机器人履带轮、辅助轮及搅碎装置同步变径的能力,同时履带轮和辅助轮作为同步变径装置的一部分,为小车在管道里提供支撑力,产生摩擦力,保持平衡,同时三个内部安装电机的履带轮和尾部的螺旋桨一起为小车机器人提供前进的动力。履带轮内部连接槽均为同心的小半圆与大半圆的结合形成的通槽,四条支腿连接轴均为同心的四分之三小圆与四分之一大圆的结合组成的轴且与各个支撑杆为一体,该安装组合方式可让履带轮具有一定的自由度冗余,可以在复杂的管道路况下很好的实现越障能力。清扫装置内部变径电机的动力通过齿轮和锥齿轮组以及螺杆螺套传递给伸缩犁刀,自身可实现变径功能。清扫装置根据激光雷达检测出的管径大小进行变径,实现将管道壁附着的淤泥刮落的功能。搅碎装置由电机和犁刀组组成,主要实现将管道底部和清扫装置刮落的淤泥搅碎的功能。


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    Titel :

    Pipeline desilting detection intelligent robot suitable for urban drainage pipeline


    Weitere Titelangaben:

    一种适用于城市排水管道的管道清淤检测智能机器人


    Beteiligte:
    YANG HONGTAO (Autor:in) / JIANG XIXIANG (Autor:in) / QIN PENGFEI (Autor:in) / SHEN MEI (Autor:in) / HU WANGJIE (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    F16L PIPES , Rohre / B08B Reinigen allgemein , CLEANING IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein



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