CN107878692B - Lake river grass plant cleaning device - Google Patents
Lake river grass plant cleaning device Download PDFInfo
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- CN107878692B CN107878692B CN201711174777.XA CN201711174777A CN107878692B CN 107878692 B CN107878692 B CN 107878692B CN 201711174777 A CN201711174777 A CN 201711174777A CN 107878692 B CN107878692 B CN 107878692B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 20
- 241000158928 Scolochloa festucacea Species 0.000 title claims abstract description 4
- 238000003306 harvesting Methods 0.000 claims abstract description 47
- 241000196324 Embryophyta Species 0.000 claims abstract description 46
- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 241000251133 Sphyrna tiburo Species 0.000 claims abstract description 22
- 238000005520 cutting process Methods 0.000 claims abstract description 16
- 244000058871 Echinochloa crus-galli Species 0.000 claims abstract description 12
- 235000015225 Panicum colonum Nutrition 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 21
- 244000025254 Cannabis sativa Species 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 2
- 238000009960 carding Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 17
- 238000009434 installation Methods 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 6
- 241001124569 Lycaenidae Species 0.000 description 4
- 241000209140 Triticum Species 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 235000021307 Triticum Nutrition 0.000 description 2
- 230000004323 axial length Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241001113556 Elodea Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009264 composting Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000005416 organic matter Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000010298 pulverizing process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
- A01D43/086—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters and means for collecting, gathering or loading mown material
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Marine Sciences & Fisheries (AREA)
- Harvesting Machines For Root Crops (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a lake river grass plant cleaning device, which comprises: a hull having a bow and a stern and a hold; the harvesting mechanism is positioned at the bow of the ship, and a discharge hole of the harvesting mechanism is supported by the cabin; wherein, harvesting mechanism includes: the tooth-shaped shovel head is arranged at the front head of the harvesting mechanism; the cylindrical rolling cutter is arranged at the rear side of the tooth-shaped shovel head and is used for initially cutting the aquatic weeds combed by the tooth-shaped shovel head and forming the harvesting head together with the tooth-shaped shovel head; the cutter wheel group is positioned at the rear side of the cylindrical rolling cutter and is used for crushing the water grass after initial cutting. According to the invention, the aquatic weeds can be cleaned more effectively based on shoveling and carding.
Description
Technical Field
The invention relates to a device for cleaning grass plants in a river.
Background
Many aquatic plants can grow in the lakes and rivers, so that the ecological system of the lakes and rivers is damaged, and the utilization of the lakes and rivers by people is influenced. At present, the technology for cleaning the aquatic plants is weak, and the corresponding treatment mechanical equipment is lacked, so that the technology mainly stays in a traditional treatment mode, and the aquatic plants are manually salvaged by using a salvage ship.
Chinese patent document CN102874385a discloses a water-raking boat whose basic principle is very similar to that of a combine harvester, except that the movable chassis of the combine harvester is replaced by a hull structure capable of floating, and the harvester head is replaced by a submerged guide nose. The structure is mainly applied to lakes and rivers with relatively flat bottoms, and even though the structure is provided with the guide nose, the guide effect is very limited, so that the structure can only adapt to gentle slopes with very small gradients. In addition, such devices are mainly applied to artificial lakes or rivers of regular shape, have poor adaptability to naturally formed lakes or rivers, are mainly affected by various obstacles, and cannot effectively surmount the obstacles.
Chinese patent document CN105638085a discloses a aquatic weed harvesting system, which is based on a cutting and harvesting method, and the main effect of harvesting is cutting, which means that the cleaned aquatic weed is a part of the plant body of the whole aquatic weed, the growth speed of the aquatic weed is faster than that of the surface plant, and if the aquatic weed cannot remove roots, the aquatic weed can grow on the water surface.
Chinese patent document CN105638085a teaches that a locking mechanism is used to prevent loosening of the cutterhead relative to the drive shaft, ensuring cutting efficiency and mainly avoiding water grass entanglement. In other words, current aquatic weed cutting devices are mainly cutting and aquatic weed winding on the knife should also be avoided, which is a general knowledge of current such devices.
Disclosure of Invention
The invention aims to provide a lake grass plant cleaning device based on shoveling and carding, so that waterweeds can be cleaned more effectively.
According to an embodiment of the present invention, there is provided a lake grass plant cleaning device including:
a hull having a bow and a stern and a hold;
the harvesting mechanism is positioned at the bow of the ship, and a discharge hole of the harvesting mechanism is supported by the cabin;
wherein, harvesting mechanism includes:
the tooth-shaped shovel head is arranged at the front head of the harvesting mechanism;
the cylindrical rolling cutter is arranged at the rear side of the tooth-shaped shovel head and is used for initially cutting the aquatic weeds combed by the tooth-shaped shovel head and forming the harvesting head together with the tooth-shaped shovel head;
the cutter wheel group is positioned at the rear side of the cylindrical rolling cutter and is used for crushing the water grass after initial cutting.
The lake grass plant cleaning device is characterized in that the cylindrical rolling knife is in a spiral structure, and the cylindrical rolling knife is used for conveying water grass based on spiral in the water grass cutting process;
correspondingly, a conveying processing channel is provided at the tail end of the spiral conveying;
the cutter wheel group is positioned in the conveying and processing channel.
Optionally, the conveying processing channel is connected to the middle part of the header in the transverse direction;
correspondingly, the cylindrical rolling knife is provided with two spirals, the conveying directions of the two spirals are opposite, and the conveying relative position is in the middle of the transverse direction of the harvesting head.
Optionally, the cutter wheel group comprises two cutter wheels, and the cutter wheel positioned at the rear is higher than the cutter wheel positioned at the front.
Optionally, the harvesting mechanism is obliquely arranged at the bow upwards, and the rear end of the harvesting mechanism is higher than the front end; the discharge hole is positioned on the upper side of the middle part of the cabin;
correspondingly, a first material conveying device is arranged between the cylindrical rolling cutter and the cutter wheel group;
a second material conveying device is arranged between the cutter wheel group and the discharge hole.
Alternatively, the hold is a closed hold with a hatch cover on the upper part.
Optionally, the front of the hull is warped and configured as a wheeled chassis;
mechanical arms are arranged at the front end and the rear end of the ship body and can downwards extend below the ship body, so that the ship body can be supported by the front mechanical arm and the rear mechanical arm.
Optionally, the mechanical arm includes:
the base is used for installing the mechanical arm on the ship body;
the large arm is arranged on the base through the rotary chassis, and an included angle of 30-45 degrees is formed between the large arm and the vertical surface;
the pitching seat is arranged at the tail end of the big arm through a horizontal rotating shaft;
one end of the small arm is arranged on the pitching seat through the rotary pair;
and the supporting end is arranged at the other end of the forearm.
Optionally, the support end is configured as a support plate.
Optionally, the pitch power portion of the pitch block is configured to:
the large arm is configured as a frame, two rocking bars are arranged at two ends of the large arm, the two rocking bars are connected through a connecting rod to form a four-bar mechanism, one rocking bar is fixedly connected with the pitching seat, and the other rocking bar is configured as a driving element.
According to the embodiment of the invention, the tooth-type shovel head has a carding function on messy aquatic weeds, in the carding process, the aquatic weeds entering the teeth can be bent based on the bottoms of the teeth, the part above the shovel head is affected by the bending, the parts are difficult to slip out, and a weeding force is formed, so that the aquatic weeds can be pulled out by the thrust generated in the advancing process of the ship body, and the aquatic weeds can be effectively cleaned. The carded aquatic weeds are easier to harvest, the aquatic weeds are harvested through the cylindrical rolling cutters, then the aquatic weeds are crushed by the cutter wheel groups, and finally the aquatic weeds are conveyed to the cabin.
Drawings
FIG. 1 is a schematic structural view of a cleaning device for grass plants in lakes and rivers according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a mechanical arm structure.
Fig. 3 is a schematic top view of a harvesting mechanism.
Fig. 4 is a cross-sectional view A-A of fig. 3.
In the figure: 1. the ship body, the harvesting mechanism, the mechanical arm, the wheels and the screw propeller are arranged in sequence.
21. The shovel comprises a shovel tooth, a shovel head, a cylindrical rolling cutter, a large conveying wheel, a cutter wheel set, a small conveying wheel, a discharge hole, a motor and a shell.
31. Base, 32, rotating chassis, 33, rotating motor, 35, big arm, 36, small arm motor, 37, small arm, 38, wrist, 39, support plate.
341. Wrist reducing mechanism 342, rocker 343, connecting rod 344, rocker.
Detailed Description
Referring to figure 1 of the drawings, the harvesting mechanism 2 is shown with one end at its front or head end and one end at its rear or tail end provided with a propeller 5, according to the general arrangement of the hull structure, subject to its usual direction of travel.
In general, the hull 1 is long in the fore-and-aft direction and wide in the left-and-right direction.
Referring to descriptions 1-4, a cleaning device for plants in the genus hu-river is disclosed, which comprises a hull 1 mainly used as a floating member, and in the embodiment of the present invention, at least part of the space of the cabin is used for constructing a material bin for collecting cut aquatic plants. The hull 1 also serves as a mounting base for the robotic arm 3 as in fig. 1.
For the hull 1, the basic reference frame thereof determines that it has a bow and a stern, and in general, the propulsion means of the hull 1 are arranged at the rear side of the bottom or the underside of the stern, as shown by the propellers 5 in fig. 1, the propellers 5 may be arranged one or a pair.
Generally, for a aquatic weed cleaning device, the aquatic weed has a relatively large water content, and for a lake and river with a great aquatic weed, in order to reduce the unloading times, a cabin needs to have a relatively large volume, so that a relatively large requirement is placed on the power of the propulsion device of the ship body 1. As shown in fig. 1, the ship body 1 is of an amphibious structure, the number of single propellers 5 is not too large, the number of the propellers 5 is two, and the ship body 1 is assembled at the stern with relatively large space, so that the ship body does not occupy useful space, and is beneficial to realizing amphibious ship body 1.
In addition, a cockpit is not required to be arranged on the ship body 1, so that the equipment can be remotely controlled, the remote control working distance is short, the general lakes and rivers are relatively wide, and the electromagnetic environment is not complex.
In some embodiments, a cockpit may be provided that is isolated from or above the storage bin.
The harvesting mechanism 2 is installed at the bow of the hull 1, the harvesting mechanism 2 firstly harvests the aquatic weeds in the lake and river, and properly cuts the aquatic weeds into small sections or pulverizes the aquatic weeds, and then the materials cut into the small sections or pulverizes the aquatic weeds are sent to the cabin. Two factors need to be considered here, namely harvesting and crushing, and conveying. Wherein for transport, unlike conventional harvesters, the harvesting unit 2 cannot constitute a water channel. Of course, even in the case of dry land harvesters, the harvesting mechanism eventually feeds, for example, wheat, into a barn, which is above the ground, by, for example, a screw conveyor. In this connection, the outlet opening of the harvesting unit 2 should be received by the hold, and correspondingly the hold opening should be above the water surface.
As regards the harvesting mechanism, it is basically configured as follows:
for example, in the case of a combine harvester, which is equipped with a toothed shovel head, such as shovel head 22 shown at the left end in fig. 3 and 4, the shovel head is generally provided with a structure with a nose cone for gathering, for example, wheat, which is relatively large in spacing, consistent with the ridge spacing and adjustable.
Unlike wheat plants in the field, for example, the distribution of aquatic weeds is not regular, whereas wheat plants are generally distributed according to regular ridges. In the embodiment of the invention, the teeth on the adopted tooth type shovel head are similar to comb teeth, the density of the teeth is larger, the gap between teeth is controlled within 10cm, and the gap between teeth is larger than 5cm.
The teeth adopt straight teeth, unlike the nose cone structure, so as to avoid excessive water grass from being embedded into the teeth, and therefore, in the process that the shovel head 22 moves along with the ship body 1, due to larger water resistance, when the shovel teeth 21 guide the stems of the water grass into the teeth, the water grass is subjected to forward impulsive force at the bottoms of the teeth, and the rest parts are folded backwards to form a V shape, and larger pulling force is generated, so that the water grass can be pulled up together.
Typically, the aquatic weed has a density less than that of water and, even if the aquatic weed portion below the blade 22 is not received in the hold, it floats on the water surface and can be cleared in the next cleaning.
The combed aquatic weed can be harvested by a cutter at the rear side, and then a cylindrical rolling cutter 23 is additionally arranged at the rear side of the tooth-shaped shovel head, and the axial length of the cylindrical rolling cutter 23 can be larger than or equal to the width of the ship body 1.
In harvesters used on dry land, the width of the harvesting head is typically greater than the width of the harvester chassis, but in preferred embodiments the axial length of the cylindrical rolling blade 23 is preferably less than or equal to the width of the hull 1, and preferably approximately equal to the width of the hull 1.
The inventor considers that the above-water operation is different from the above-ground operation, mainly, the surface shape of water cannot be determined by the underwater topography, the underwater topography cannot be judged from the water surface, even if the water is clear, the water surface can reflect a part of light rays due to a slightly long distance, the vision is affected, and if the travelling speed of the ship body 1 is high, the underwater condition cannot be judged at all. The harvesting heads are generally weaker than the hull 1, and the use of a shorter cylindrical rolling cutter 23, while resulting in a reduced harvesting capacity, is safer to use.
Further, the cylindrical rolling blade 23 disposed at the rear side of the tooth blade further performs initial cutting of the aquatic weed combed by the tooth blade, thereby constituting the harvesting head together with the tooth blade.
The cylindrical rolling cutter 23 mainly tears off the aquatic weeds after combing the cutting teeth 21, only can generate thicker cutting, and further provides a cutter wheel group 25, further processes the materials sent by the cylindrical rolling cutter 23, refines the aquatic weeds, and marks as crushing the aquatic weeds, in fact, the larger the crushing granularity is, the lower the power requirement on the cutter wheel group 25 is, otherwise, the smaller the granularity is, the higher the driving power of the cutter wheel group 25 is required. Here, the required pulverization is only required to achieve a particle size that can be used for composting organic matter, for example, the maximum length of the plant is controlled within 10 cm.
Correspondingly, the cutter wheel group 25 is positioned at the rear side of the cylindrical cutter 23 and is used for receiving the aquatic weed which is initially cut by the cylindrical cutter 23.
In the structure shown in fig. 1, there are also provided the robot arms 3, and two robot arms 3 are assembled on the upper side of the front end of the hull, and since the material of the harvesting mechanism 2 is also fed into the cabin, there is a possibility that interference may occur with the installation of the robot arms 3. It will be appreciated that the robotic arm 3 is only an attachment to the hull 1 and that other structures affecting the mounting of the harvesting mechanism 2 may be referred to as structural arrangements, such as the mounting of light fixtures.
In the preferred embodiment, the rolling cutter of the cylindrical rolling cutter 23 is of a spiral structure, so that the aquatic weed is conveyed to a given position along the spiral conveying direction in the aquatic weed rolling and cutting process, namely, the cylindrical rolling cutter 23 also has the spiral conveying function, thereby reducing the occupied space of the post-processing or conveying device of the cylindrical rolling cutter 23 in the width direction of the ship body 1, and facilitating the installation of other components, such as the mechanical arm 3 or the installation of lamps and the like.
Further, a processing channel is provided at the end of the screw conveyor for conveying the material to the hold.
Correspondingly, the cutter wheel set 25 is located in the conveying process channel.
In some embodiments, the cylindrical rolling cutter 23 is of a single helical configuration, and assuming a single helical configuration in the configuration shown in fig. 3, the material will eventually pool at one end of the cylindrical rolling cutter 23, and thus the corresponding conveying process path will need to be offset at the corresponding end, as is common in some small harvesters, except that they achieve concentration of material based on necking.
The single screw configuration is disadvantageous for symmetrical arrangement of other components, such as the two arms 3 shown in fig. 1 at the bow of the hull 1, and offset of the conveying process channels, and also for accumulation and dispersion of material in the hold. In a preferred embodiment, the conveying process channel is therefore connected in the middle of the header in the transverse direction.
Correspondingly, the cylindrical winding blade 23 is configured as two spirals, the directions of rotation of which are opposite, so that it is configured on the same axis, and the conveying directions of the two spirals are necessarily opposite.
And the length of two spirals is the same, and the helical lead is the same to can carry the material to the horizontal middle part of header, corresponding transport processing passageway just can set up in the front middle part of hull 1, and reduce the influence to the installation of other parts on the hull 1.
Further, as shown in fig. 4, the cutter wheel group 25 includes two cutter wheels, and the rear cutter wheel is higher than the front cutter wheel for lifting the material step by step.
Fig. 4 shows the harvesting mechanism 2 horizontally arranged, and as shown in fig. 1, the harvesting mechanism 2 is obliquely arranged on the ship body 1 and is mainly used for conveying materials upwards and adapting to the inlet height of the cabin.
Correspondingly, the harvesting mechanism 2 is obliquely arranged at the bow, and the rear end of the harvesting mechanism 2 is higher than the front end; the discharge port 27 is located at the upper side of the middle part of the cabin.
Correspondingly, a first material conveying device is arranged between the cylindrical rolling cutter 23 and the cutter wheel group 25;
a second material conveying device is arranged between the cutter wheel group 25 and the discharge hole 27.
The first and second material transfer devices are used mainly to adjust the length of the conveyor path so that the discharge opening 27 can be lifted to a desired height with a relatively low inclination of the conveyor path.
With respect to the first material conveying device and the second material conveying device, in the structure shown in fig. 4, the large conveying wheel 24 and the small conveying wheel 26 are mainly used for conveying, and the conveying of the conveying wheel type conveying device is not easy to cause congestion.
In some embodiments, the conveying belt can be used for conveying, and congestion is not easy to generate.
As far as possible, the screw conveying mechanism is not adopted, and materials with relatively large water content are easy to cause congestion of the screw conveying mechanism.
For the cabin on the ship body 1, the cabin can be open air or covered, and in the structure shown in fig. 1, the mechanical arm 3 is also arranged at the front and back of the cabin, so that the relatively closed cabin is beneficial to providing a larger installation area.
Furthermore, when a hold is provided, the relatively closed hold is advantageous for avoiding direct entry of water, since the hull 1 may act as an amphibious chassis, having a certain up-slope or down-slope angle.
In the structure shown in fig. 1, it is visible that the front of the hull 1 is warped and the hull 1 is provided with wheels 4, whereas the ring is configured as a wheeled chassis; the simple wheel chassis is not always capable of enabling the hull 1 to climb up the embankment, and the reason is that the bottom of the lake and the river can be softer, and the contact force between the wheels 4 and the ground is relieved although the buoyancy is provided, but the contact force is small, so that the friction force is insufficient to drive the hull 1 to move forward. A further problem is that the bank or barrier may have a certain height and may not pass over the bank or barrier despite the warping of the front of the hull 1.
In view of this, the mechanical arms 3 are provided at the front and rear ends of the hull 1, and the mechanical arms 3 can be lowered to below the hull 1, so that the hull can be supported by the front and rear mechanical arms 3.
The robot arm 3 has a plurality of degrees of freedom, and after the hull is supported, the hull 1 is moved forward a small distance by the swing of the joints and arms of the robot arm, thereby climbing up a dike or obstacle, and then moves through a wheel type structure.
Further, as shown in fig. 2 above, the mechanical arm 3 includes:
the base 31 is used for installing the mechanical arm 3 on the ship body 1, the base 31 is installed on the ship body 1, the influence of water can be reduced, and the base 31 belongs to an installation part of a basic component, a transmission or power cable penetrating base body for the mechanical arm 3, so that water entering is avoided as much as possible.
Furthermore, a large arm 35 is mounted on the base 31, and the large arm 35 is mounted on the base 31 through a rotary chassis, such as the rotary chassis 32 shown in fig. 2, so that the large arm obtains a rotational degree of freedom, and the large arm 35 forms an included angle of 30-45 degrees with the vertical plane, so that the mechanical arm 3 can be suspended outside the hull 1, and interference can be effectively avoided.
Meanwhile, the large arm 35 is relatively heavy in load, and is inclined instead of giving a swinging degree of freedom, so that the overall rigidity is high, and the reliability of the overall structure is relatively good.
The tail end of the big arm is provided with a pitching seat which is arranged at the tail end of the big arm 35 through a horizontal rotating shaft, so that the pitching seat is additionally provided with a mechanism for driving the pitching seat, the pitching of the pitching seat can be realized, the small arm 37 can be enabled to be capable of downwards detecting to form a support, and the ship body 1 is in a water and grass cleaning state when in an upward or forward state.
Under the supporting condition, the pitching angle of the pitching seat can lead the ship body 1 to move forwards by a certain distance, the distance is limited by the pitching angle range of the pitching seat, the front end of the ship body 1 is generally sent to a dyke, for example, the excavator can see the climbing flat car, the ground is supported by the mechanical arm of the excavator, the chassis is leaned forward, and the chassis obtains a climbing force by pushing the mechanical arm. Three robotic arms 3 may better perform this function.
In addition, the small arm 37 is endowed with a rotation function, namely one end of the small arm is arranged on the pitching seat through a rotation pair, and the small arm is driven to rotate around the axis of the small arm through the small arm motor 36, so that the small arm is suitable for different working conditions.
In view of the general soft texture of the water, for example, a support end is provided at the end of the arm 37 to accommodate this condition.
By support end is meant a support for adapting to the respective conditions, it is evident that a relatively large contact area is usually required for conditions with a soft texture, and therefore a relatively large support area is required for the support end under such conditions, e.g. spherical or planar, and concave surfaces.
In some embodiments, the support end is configured as a support plate 39, providing planar support.
Further, as described above, since the large arm 35 has only the rotational degrees of freedom and the small arm 37 has two rotational degrees of freedom, but these three degrees of freedom do not allow the support plate 39 to be in a proper support state, in other words, if a relatively large support area is desired, the plate surface needs to be attached to the object to be supported, and therefore, in the structure shown in fig. 2, a wrist 38 is further provided so that the support plate 39 is still well supported when the support angle of the small arm 37 is changed.
With respect to the wrist 38, a separate drive is not required, in that the support plate 39 is provided with a certain adaptation, it being understood that if a plate is placed on the ground, it will tend to lie flat against the ground, in which case the wrist 38 is given a range of angles in which the support plate 39 can be adapted to lie against the ground.
The axis to which the rotation angle of the wrist 38 is adapted needs to be parallel to the axis of the pitch block.
The rotation angle range is generally controlled within 15 degrees.
The control of the rotation angle can be achieved by mechanical constraints, such as a rotating shaft arranged in a V-shaped groove, and the groove walls form constraints.
In the structure shown in fig. 2, the pitch power portion of the pitch block is configured to:
the large arm 35 is configured as a frame, two rockers (rocker 342, rocker 344) are provided at both ends of the large arm 35, the two rockers are connected by a link 343 to form a four-bar mechanism, one rocker 344 is fixedly connected with the pitch seat, and the other rocker 342 is configured as a driving member.
The four bar mechanism is a crank rocker mechanism, wherein the crank is rocker 344, so that the small arm obtains a relatively large rotation angle range, and the flexibility is improved.
Claims (10)
1. A lake grass plant cleaning device, characterized by comprising:
a hull having a bow and a stern and a hold;
the harvesting mechanism is positioned at the bow of the ship, and a discharge hole of the harvesting mechanism is supported by the cabin;
wherein, harvesting mechanism includes:
the tooth-shaped shovel head is arranged at the front head of the harvesting mechanism; the teeth of the tooth type shovel head are straight teeth, and the gap between the teeth is more than 5cm and less than 10cm;
the cylindrical rolling cutter is arranged at the rear side of the tooth-shaped shovel head and is used for initially cutting the aquatic weeds combed by the tooth-shaped shovel head and forming the harvesting head together with the tooth-shaped shovel head;
the cutter wheel group is positioned at the rear side of the cylindrical rolling cutter and is used for crushing the water grass after initial cutting.
2. The hu grass plant cleaning device according to claim 1, wherein the winding blade of the cylindrical winding blade is of a spiral structure and is used for conveying water grass based on spiral in the process of cutting the water grass;
correspondingly, a conveying processing channel is provided at the tail end of the spiral conveying;
the cutter wheel group is positioned in the conveying and processing channel.
3. The hu river grass plant cleaning device according to claim 2, wherein the conveying processing channel is connected to the middle part of the harvesting head in the transverse direction;
correspondingly, the cylindrical rolling knife is provided with two spirals, the conveying directions of the two spirals are opposite, and the conveying relative position is in the middle of the transverse direction of the harvesting head.
4. A cleaning device for lake grass plants according to any one of claims 1 to 3, wherein the cutter wheel group comprises two cutter wheels, and the rear cutter wheel is higher than the front cutter wheel.
5. The hu-river grass plant cleaning device according to claim 1, wherein the harvesting mechanism is arranged obliquely upwards at the bow, and the rear end of the harvesting mechanism is higher than the front end; the discharge hole is positioned on the upper side of the middle part of the cabin;
correspondingly, a first material conveying device is arranged between the cylindrical rolling cutter and the cutter wheel group;
a second material conveying device is arranged between the cutter wheel group and the discharge hole.
6. The cleaning device for grass plants in lakes and rivers according to claim 1, 4 or 5, characterized in that the cabin is a closed cabin having a hatch cover at an upper portion.
7. The hu-river grass plant cleaning device of claim 1, wherein the front portion of the hull is warped and configured as a wheeled chassis;
mechanical arms are arranged at the front end and the rear end of the ship body and can downwards extend below the ship body, so that the ship body can be supported by the front mechanical arm and the rear mechanical arm.
8. The device of claim 7, wherein the robotic arm comprises:
the base is used for installing the mechanical arm on the ship body;
the large arm is arranged on the base through the rotary chassis, and an included angle of 30-45 degrees is formed between the large arm and the vertical surface;
the pitching seat is arranged at the tail end of the big arm through a horizontal rotating shaft;
one end of the small arm is arranged on the pitching seat through the rotary pair;
and the supporting end is arranged at the other end of the forearm.
9. The device of claim 8, wherein the support end is configured as a support plate.
10. The device of claim 8, wherein the pitch power portion of the pitch stand is configured to:
the large arm is configured as a frame, two rocking bars are arranged at two ends of the large arm, the two rocking bars are connected through a connecting rod to form a four-bar mechanism, one rocking bar is fixedly connected with the pitching seat, and the other rocking bar is configured as a driving element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174777.XA CN107878692B (en) | 2017-11-22 | 2017-11-22 | Lake river grass plant cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174777.XA CN107878692B (en) | 2017-11-22 | 2017-11-22 | Lake river grass plant cleaning device |
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| CN107878692A CN107878692A (en) | 2018-04-06 |
| CN107878692B true CN107878692B (en) | 2023-11-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112478079B (en) * | 2020-12-04 | 2022-03-22 | 济南森峰激光科技股份有限公司 | Underwater laser cleaning device for ship |
| CN113417260A (en) * | 2021-06-04 | 2021-09-21 | 长兴悍将环保机械制造有限公司 | Spiral conveying float grass cleaning equipment |
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| CN202193185U (en) * | 2011-08-01 | 2012-04-18 | 华中农业大学 | Small-sized float grass cutting and collecting boat |
| CN202931787U (en) * | 2012-11-13 | 2013-05-15 | 河海大学常州校区 | Cutting device for floating debris cleaning boat |
| CN103448879A (en) * | 2013-09-02 | 2013-12-18 | 苏州张扬能源科技有限公司 | Solar-powered comprehensive watercourse treatment device |
| CN103650762A (en) * | 2013-11-29 | 2014-03-26 | 张家港市飞驰机械制造有限公司 | Scissors disconnecting device of aquatic plant harvesting system and aquatic plant harvesting ship with scissors disconnecting device |
| CN104372816A (en) * | 2014-11-17 | 2015-02-25 | 浙江机电职业技术学院 | Multifunctional riverway cleaning machine |
| CN204452859U (en) * | 2015-02-04 | 2015-07-08 | 青州市拓新机械设备有限公司 | Powerful weed cutting ship |
| CN104831697A (en) * | 2015-05-13 | 2015-08-12 | 广西梧州运龙港船机械制造有限公司 | Ship for removing aquatic plants in riverways |
| CN105052384A (en) * | 2015-08-12 | 2015-11-18 | 洛阳理工学院 | Water plant reaping and harvesting ship |
| CN207550438U (en) * | 2017-11-22 | 2018-06-29 | 济南大学 | Lake river straw or like vegetable cleaning plant |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9060464B2 (en) * | 2012-09-07 | 2015-06-23 | Liquid Waste Technology, Llc | Method and apparatus for dredging and removing aquatic vegetation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202193185U (en) * | 2011-08-01 | 2012-04-18 | 华中农业大学 | Small-sized float grass cutting and collecting boat |
| CN202931787U (en) * | 2012-11-13 | 2013-05-15 | 河海大学常州校区 | Cutting device for floating debris cleaning boat |
| CN103448879A (en) * | 2013-09-02 | 2013-12-18 | 苏州张扬能源科技有限公司 | Solar-powered comprehensive watercourse treatment device |
| CN103650762A (en) * | 2013-11-29 | 2014-03-26 | 张家港市飞驰机械制造有限公司 | Scissors disconnecting device of aquatic plant harvesting system and aquatic plant harvesting ship with scissors disconnecting device |
| CN104372816A (en) * | 2014-11-17 | 2015-02-25 | 浙江机电职业技术学院 | Multifunctional riverway cleaning machine |
| CN204452859U (en) * | 2015-02-04 | 2015-07-08 | 青州市拓新机械设备有限公司 | Powerful weed cutting ship |
| CN104831697A (en) * | 2015-05-13 | 2015-08-12 | 广西梧州运龙港船机械制造有限公司 | Ship for removing aquatic plants in riverways |
| CN105052384A (en) * | 2015-08-12 | 2015-11-18 | 洛阳理工学院 | Water plant reaping and harvesting ship |
| CN207550438U (en) * | 2017-11-22 | 2018-06-29 | 济南大学 | Lake river straw or like vegetable cleaning plant |
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| CN107878692A (en) | 2018-04-06 |
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