CN109577399A - Have to swing from the crawler body of rescue function and twists suction dredging robot - Google Patents
Have to swing from the crawler body of rescue function and twists suction dredging robot Download PDFInfo
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- CN109577399A CN109577399A CN201811457195.7A CN201811457195A CN109577399A CN 109577399 A CN109577399 A CN 109577399A CN 201811457195 A CN201811457195 A CN 201811457195A CN 109577399 A CN109577399 A CN 109577399A
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- dredging
- dredging robot
- rescue
- crawler body
- robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 241001170716 Garra gotyla Species 0.000 claims abstract description 36
- 238000005086 pumping Methods 0.000 claims abstract description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 239000010802 sludge Substances 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 238000004140 cleaning Methods 0.000 claims description 14
- 238000005286 illumination Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 8
- 239000002245 particle Substances 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000007373 indentation Methods 0.000 claims 5
- 230000000694 effects Effects 0.000 abstract description 3
- 239000004575 stone Substances 0.000 description 9
- 239000004677 Nylon Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 229920001778 nylon Polymers 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 239000013049 sediment Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000008400 supply water Substances 0.000 description 2
- 102000010637 Aquaporins Human genes 0.000 description 1
- 238000013019 agitation Methods 0.000 description 1
- 239000012223 aqueous fraction Substances 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- 238000003756 stirring Methods 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
- E02F3/8825—Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
Abstract
The invention discloses it is a kind of have to swing from the crawler body of rescue function twist suction dredging robot, the dredging robot carries out the collection and pumping of mud in such a way that crawler body walks and swings and twists suction, complete dredging work, dredging effect is good, and realization is innoxious continuously to move quick dredging；And adapt to canal silting and the varying environments such as culvert silts up, and rescue unit is set, it can be improved the security performance of the dredging robot.The dredging robot includes: platform framework and the crawler body being arranged on the platform framework, swing Jiao Xi mechanism, dredging mechanism, pumping mechanism, rescue unit, control unit and visual unit；Walking mechanism of the crawler body as the dredging robot, the Jiao Xi mechanism that swings and dredging mechanism are the execution unit of the dredging robot, the sludge pumping that pumping mechanism is used to inhale twisting sucker head strand to ground；Rescue unit is for assisting the dredging robot to be retracted into bank from underwater.
Description
Technical field
The present invention relates to a kind of robots, and in particular to a kind of dredging robot.
Background technique
Since being put into operation due to the general main canal of domestic many open channels, water user's degree of dependence is gradually deepened along the line, is supplied water
Fraction requires height, and in operation from now on, the desired value of the general main canal water delivery of open channel is uninterruptedly to supply water.However, and other
Open channel is the same, these open channel general main canals are during its operation, unavoidably in canal for water conveyance and the building that drains off floodwaters intersected therewith
It is interior to form a large amount of sediment, it influences to supply water and jeopardize general main canal safety.To guarantee uninterrupted water supply and general main canal safety, and subtract
Secondary pollution during light dredging, it is necessary to study a kind of underwater desilting machine people
In conjunction with open channel general main canal service requirement and field condition, underwater desilting machine people should be able to adapt to canal silting and culvert
The varying environments such as silt up, have sediment cleaning, from functions such as rescues, realizes and innoxious continuously moves quick dredging.
Summary of the invention
In view of this, the present invention provide it is a kind of have to swing from the chassis of rescue function twist suction dredging robot, can
Realize the underwater innoxious quick dredging of continuous moving.
It is described have swing from the crawler body of rescue function twist suction dredging robot include: platform framework,
And the crawler body being arranged on the platform framework, the Jiao Xi mechanism that swings, dredging mechanism, pumping mechanism, rescue list
Member, control unit and visual unit；
Walking mechanism of the crawler body as the dredging robot is arranged in the platform framework bottom；It is described
Crawler body is walked under the control of described control unit；
The Jiao Xi mechanism that swings is arranged in the platform framework front end, comprising: rotating base, stretches at mounting base
Arm and twisting sucker head；The rotating base is arranged on the platform framework, swings Jiao Xi mechanism in set angle for driving
It swings in degree range；The mounting base is fixed on rotating base, one end of the telescopic arm and the mounting base pin joint,
The other end connects twisting sucker head；The twisting sucker head includes: cover, spiral twisting sucker head and motor B；The cover is bottom opening, left
Right both sides are respectively provided with hollow structure jaggy, and the spiral twisting sucker head is arranged inside the cover, the spiral twisting sucker head
It is rotated under the driving for being fixed on the motor B around vertical direction；The motor B is fixed on the cover；
The pumping mechanism is connected with the suction silt particle pipe that the covering on top is arranged in, and the pumping mechanism is used for will be described
Twisting sucker head twists the sludge pumping inhaled to ground；
The dredging mechanism include mechanical arm and collect basket, it is described swing Jiao Xi mechanism carry out dredging before or dredging
Afterwards, telescopic arm and twisting sucker head are removed from the mounting base, and mechanical arm is installed in the mounting base；The collection basket setting exists
At the top of the platform framework；The mechanical arm completes picking action in setting position in the control of described control unit, and will pick up
Object is taken to be put into the collection basket；The rotating base and mechanical arm are controlled by described control unit；
Image of the visual unit for environment where obtaining dredging robot in real time, and passed by photoelectric compound cable
Transport to the host computer on ground；Described control unit receives the instruction of the host computer, the Jiao Xi mechanism that swings described in control and
Dredging mechanism work；
For assisting the dredging robot to be retracted into bank under water, the rescue unit includes: the rescue unit
Hoist engine and rescue rope, on the hoist engine, the other end is connected the one ends wound of the rescue rope with the dredging robot.
When the dredging robot is used in open channel, the hoist engine is fixed on bank；
When the dredging robot is used in across the culvert of open channel, on the fixed pontoon bridge of the hoist engine, the pontoon bridge is logical
Guo Liangtao bindiny mechanism is connected with the hanging plate hung up on the metope perpendicular to culvert opening；Liang Tao bindiny mechanism bilateral symmetry cloth
It sets, every set bindiny mechanism includes long-cylinder, short oil cylinder and chain, one end of the chain and hinged branch corresponding on the pontoon bridge
Seat is hinged, and the other end and corresponding pivoting support on the hanging plate are hinged；The cylinder body end of the long-cylinder is corresponding on pontoon bridge
Pivoting support is hinged, and tailpiece of the piston rod and pivoting support corresponding on hanging plate are hinged；The hoist engine is fixed on described by pressing plate
On pontoon bridge, the pivoting support in the cylinder body end and pressing plate of the short oil cylinder is hinged, tailpiece of the piston rod hinged branch corresponding on hanging plate
Seat is hinged；One end on the pontoon bridge with respect to hole is provided with U-shaped opening.
Further, dredging robot further include: anticollision guiding device, the anticollision guiding device include being symmetrical arranged
Anticollision wheel group at left and right sides of the platform framework, the anticollision wheel group of every side include four or more and are located in same vertical plane
Anticollision wheel, the axis of the anticollision wheel is along the vertical direction.
The utility model has the advantages that
(1) dredging robot carries out collection and the pump of mud in such a way that crawler body walks and swings and twists suction
It send, completes dredging work, dredging effect is good, and realization is innoxious continuously to move quick dredging；And adapt to canal silting and culvert
The varying environments such as are silted up in hole, and rescue unit is arranged, and can be improved the security performance of the dredging robot.
(2) mud is collected in such a way that the strand that swings is inhaled, high-efficient, disturbance is small, does not cause secondary pollution.
(3) dredging mechanism is set, the pickup compared with bigger material such as underwater stone and branch can be realized before silt dredging mud, so that
Silt dredging is more efficient.
(4) setting anticollision guiding device can not only prevent dredging robot vehicle from breaking the wall in culvert, additionally it is possible to
Realize the cleaning of orbit determination road mud and the removing of obstacle.
(5) mechanical arm in dredging mechanism can be matched with the tools such as giant or shovel scraper plate, remove culvert inner wall
The aufwuches such as the shell that surrounding occurs.
Detailed description of the invention
The system composition block diagram of Fig. 1 dredging robot；
Fig. 2 is the overall structure diagram of the dredging robot；
Fig. 3 is the structural schematic diagram of the dredging robot crawler body；
Fig. 4 is that the dredging robot swings the structural schematic diagram of Jiao Xi mechanism；
Fig. 5 is the structural schematic diagram of the twisting sucker head with motor；
Fig. 6 is the structural schematic diagram that the dredging robot of dredging mechanism is arranged；
Fig. 7 is the structural schematic diagram of visual unit；
Fig. 8 is the side view of rescue unit；
Fig. 9 is the top view of rescue unit；
Figure 10 is the structural schematic diagram of anticollision guiding device.
Wherein: 1- crawler body, 4- collect basket, 5- pumping mechanism, 6- swing Jiao Xi mechanism, 7- dredging mechanism, 8-
Anticollision guiding device, 9- platform framework, 10- visual unit, 11- crawler belt wheel hub, 12- crawler belt, 13- motor A, 14- speed reducer,
16- supporting mechanism, 17- rotating base, 18- mounting base, 19- support cylinder, 20- telescopic arm, 21- twisting sucker head, 22- cover, 23-
Before spiral twisting sucker head, 24- inhale silt particle pipe, 25- motor B, 26- idler wheel, 27- collection basket, 33- anticollision wheel, the preposition sonar of 39-, 40-
It is anti-to set illumination/camera unit, 46- support frame, 47- after illuminating camera unit, 41- postposition front lit/camera unit, 42- postposition
Hit wheel, 48- rotary shaft, 50- dredging robot, 51- hanging plate, 52- long-cylinder, 53- short oil cylinder, 54- hoist engine, 55- pontoon bridge,
56- chain.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.
Embodiment 1:
There is provided in the present embodiment it is a kind of have to swing from the crawler body of rescue function twist suction dredging robot, energy
It is enough to realize the underwater innoxious quick dredging of continuous moving.
There are two types of application environments for the dredging robot, specific as follows:
The first: sloot is open channel, straight, water flow goes downstream, and water flow section is inverted trapezoidal, and water quality is more clear
It is clear；Also to pass through the horizontal bridge in river or dark hole when individual.It is required that underwater equipment can not by the bunding on river both sides or
Bridge pier is broken, and can not break the four sides wall of culvert, and underwater equipment is needed to realize cleaning and the obstacle (stone of riverway sludge
Or branch, braided fabric) removing.
Second: sloot itself is to cross below open channel, and the inverted trapezoidal culvert under open channel, and is full water shape
Under state, water flow section is square, commonly referred to as wears canal culvert, and river water is muddy.Wear all size (such as holes of canal culvert therein
Length, the inverted trapezoidal gradient, gradient plan-viewed length, longitudinal slope face complexion and all relative dimensions) precognition.It is required that underwater equipment can not will fall
Trapezoidal culvert four sides wall is broken, and underwater equipment is needed to realize cleaning and the obstacle (stone or branch, braided fabric) of culvert mud
Removing.
As depicted in figs. 1 and 2, which includes: platform framework 9, rescue unit and is arranged in platform framework 9
On crawler body 1, the Jiao Xi mechanism 6 that swings, dredging mechanism 7, pumping mechanism, control unit and visual unit.Wherein carry out
It is the travelling platform of the dredging robot with chassis 1, the Jiao Xi mechanism 6 that swings and dredging mechanism 7 are holding for dredging robot
Row part.
As shown in figure 3, the dredging robot is used as walking mechanism using crawler body 1, crawler body 1 includes: Athey wheel
Hub 11, crawler belt 12, motor A13 and speed reducer 14；Platform framework 9 is the support construction of entire robot, and top is provided with receipts
Collect basket 4, bottom both ends are respectively arranged a crawler belt wheel hub 11, abrasive rubber crawler belt 12, each Athey wheel is arranged on crawler belt wheel hub 11
The corresponding motor A13 of hub 11 is transferred to crawler belt wheel hub 11 by speed reducer 14 as power unit, the power of motor A13, from
And the walking for dredging machine provides power.
The dredging robot is using the 6 silt dredging mud of Jiao Xi mechanism that swings, as shown in figure 4, the Jiao Xi mechanism 6 that swings is set
It sets in 9 front end center position of platform framework, comprising: rotating base 17, mounting base 18, support cylinder 19, telescopic arm 20 and with horse
The twisting sucker head 21 reached.9 front end center position of table frame is provided with support, rotating base 17 is mounted on the support, rotates bottom
For driving the Jiao Xi mechanism 6 that swings to rotate within the scope of set angle, realization swings seat 17；18 one end of mounting base is solid
It being scheduled on rotating base 17, the other end is connect with one end of telescopic arm 20 by pin shaft, and telescopic arm 20 can be rotated around the pin shaft,
Realization is swung up and down.The other end of telescopic arm 20 connects twisting sucker head 21.The cylinder body end of support cylinder 19 is fixed in mounting base 18,
Tailpiece of the piston rod is connected with telescopic arm 20, and when the Jiao Xi mechanism that swings works normally, support cylinder 19 is in free extension state,
Free floating is realized by support cylinder 19, can achieve the effect that vibration damping；When maintenance, by support cylinder 19 by twisting sucker head 21
It props, replacement twisting sucker head 21 easy to repair.
The structure of twisting sucker head 21 with motor is as shown in Figure 5, comprising: cover 22, spiral twisting sucker head 23, inhale silt particle pipe 24,
Motor 25 and idler wheel 26.Cover 22 is bottom opening, and the right and left is respectively provided with hollow cylindrical structure jaggy, inside cover 22
Spiral twisting sucker head 23 is set, and spiral twisting sucker head 23 is rotated by the driving of motor 25 for being fixed on 22 top of cover around vertical direction.Cover
22 bottom of body is peripherally disposed there are four idler wheel 26, so that twisting sucker head 21 is swung when twisting silt dredging mud and rolls on ground
It is dynamic, reduce frictional resistance.
Pumping mechanism mainly by submersible motor and soil pick-up pump group at, for realizing mud under water to the pumping on ground, if
The suction silt particle pipe 24 at 22 top of cover is set to be connected by pipeline with pumping mechanism.
The working principle for the Jiao Xi mechanism that swings are as follows: the twisting sucker head 21 for being provided with cover 22 is responsible for agitation and collects to become silted up
Mud, is provided with the pipeline (i.e. suction silt particle pipe 24) of suction mud at the top of cover 22, twisting sucker head 21 stir after sludge by inhaling mud
Sandpipe 24 enters the pumping mechanism that is arranged on platform framework 9, by pumping mechanism by sludge pumping to ground.
Due in addition to mud, can also there is stone and branch in culvert, on a left side for the dredging robot front-end platform frame
Right two sides, which are additionally provided with, collects basket 27, collects 27 front opening of basket, during dredging robot moves ahead, collects basket 27 such as dustpan
Equally collect stone and branch；After the mud of equal culverts is collected and pumped, collects 27 front opening of basket and raise up, avoid stone
Basket is skidded off with branch, stone and branch are directly taken back into ground by collecting basket 27.
After the Jiao Xi mechanism 6 that swings completes the dredging of channel, the Jiao Xi mechanism 6 that can will swing is removed, and is being pacified
It fills and dredging mechanism 7 is installed on seat 18, then carry out the pickup of ratchel to channel.As shown in fig. 6, dredging mechanism 7 is five shaft mechanicals
One end of arm, five shaft mechanical arms is connected with mounting base 18, drives mechanical arm to rotate around vertical direction by rotating base 17, realizes
Mechanical arm is operated in circumferential different location.Mechanical arm realizes the pickup of underwater stone and branch under the control of the control unit, rotation
Turn the rotation that pedestal 17 is responsible for entire mechanical arm, to be rotated back to and be arranged in platform after the stone and branch in front of picking up
4 the inside of collection basket on frame 9, finally brings back to ground by dredging robot.
As shown in fig. 7, visual unit includes: the preposition sonar 39 being mounted on platform framework 9, preposition illumination camera unit
40, illumination/camera unit 42 after postposition front lit/camera unit 41 and postposition.Wherein preposition sonar 39 is arranged in platform framework 9
Front center, the preposition illumination that a camera lens towards front is each side arranged that 4 front end of basket is collected on platform framework 9 are taken the photograph
As unit 40, postposition front lit/camera unit 41 and postposition is respectively set in the middle position that 4 rear end of basket is collected on platform framework 9
Illumination/camera unit 42 afterwards, wherein postposition front lit/camera unit 41 camera lens is towards front, illumination/camera unit after postposition
42 camera lens is towards rear.It is used to acquire underwater image by illumination/camera unit and pass through sound in visual unit
The image outline that detection of receiving obtains, the host computer on ground is transferred to by the photoelectric compound cable of underwater desilting machine people's tail end,
Be displayed on the screen by the multi-panel monitor displaying of host computer, convenient for ground staff according to the control stick of image operation control host computer and
Data processing system, which combines to issue to slave computer (i.e. the control unit of dredging robot), to be instructed, and dredging robot is instructed to hold under water
Row mechanism (swing Jiao Xi mechanism and dredging mechanism) work.
Control unit includes hydraulic control unit and electronic control unit, and hydraulic control unit is for controlling the dredging robot
Hydraulic part, in the present solution, the motor B25 in motor A13, twisting sucker head 21 in crawler body 1 is hydraulic motor, five axis
Mechanical arm also uses hydraulic power supply, and crawler body 1, twisting sucker head 21, five shaft mechanical arms, support cylinder 19 and pump are inhaled as a result,
Mechanism is controlled by hydraulic control unit；Electronic component on dredging robot is controlled by electronic control unit.
Since the use environment people of dredging robot usually cannot be introduced into, for the security performance for improving the dredging robot,
Increase rescue unit.
When dredging robot is used in open channel: rescue unit only includes hoist engine 54, and hoist engine 54 is directly fixed on bank
Side can carry the one ends wound of 10 tons of nylon rope on hoist engine 54, and the other end is connected with dredging robot 50.Positive reason
Under condition, nylon rope floats on the water surface, not loaded；It is more than 1m/s when water flow in emergency case such as open channel occurs, influences dredging
When the work of robot 50 or 50 failure of dredging robot, nylon rope is recycled by hoist engine 54, so that dredging robot 50 is pulled,
When especially dredging robot 50 retracts bank from straight river, there is the towing of hoist engine 54, dredging robot can be prevented
50 skid when falling back, more quick and convenient disembarkation of oneself creeping.
When dredging robot is used in the culvert of open channel: increasing rescue unit as shown in Figure 7 and Figure 8, at this time
Rescue unit includes: the long-cylinder 52, two of hanging plate 51, two short oil cylinder 53, hoist engine 54, pontoon bridge 55 and two chains 56.It rescues
Unit is helped to be mounted at culvert opening by pontoon bridge 55, specifically: the full water of culvert opening is extracted into half water state first, is put down
Pontoon bridge 55 places hanging plate 51 due to that can not destroy hole metope on the metope perpendicular to hole, fixed floating by hanging plate 51
Bridge 55.Welding is for connecting the pivoting support (totally six) of oil cylinder and hinged chain 56 on hanging plate 51, while pacifying on pontoon bridge 55
There are four pivoting supports for dress, are respectively used to two long-cylinders 52 of connection and two chains 56.One long-cylinder, 52, short oil cylinders
53 and 56 a set of bindiny mechanisms of a chain, wherein Liang Tao bindiny mechanism is symmetrically arranged, to guarantee pontoon bridge surface level；
And on pontoon bridge 55 chain 56 connection position it is nearest from culvert opening, the connection position of long-cylinder 52 is farthest from culvert opening；Hanging plate 51
The connection position of upper chain 56 is located at bottom, and the connection position of long-cylinder 52 is located at the top.The installation process of rescue unit are as follows: first
First, hanging plate 51 and pontoon bridge 55 are linked with two chains 56；Then, hanging plate 51 and pontoon bridge 55 are connected with two long-cylinders 52, be used in combination
Bolt fixes that (cylinder body end of long-cylinder 52 and the pivoting support on pontoon bridge 55 are hinged, the hinged branch on tailpiece of the piston rod and hanging plate 51
Seat is hinged).Then hoist engine 54 is placed on pontoon bridge 55, can carry the one ends wound of 10 tons of nylon rope in hoist engine 54
On, the other end is connected with dredging robot 50.Hoist engine 54 is fixed on pontoon bridge 55 by pressing plate, and two are installed on pressing plate hingedly
Support connects hanging plate 51 and pressing plate with two short oil cylinders 53, and fixes the (hinge in the cylinder body end and pressing plate of short oil cylinder 53 with bolt
Connect that support is hinged, the pivoting support on tailpiece of the piston rod and hanging plate 51 is hinged).Thus culvert opening be provided with one it is fixed floating
Dynamic bridge floor, and the pontoon bridge 55 is provided with U-shaped opening in the one end at opposite hole, returns back to hole convenient for dredging robot 50
When, facilitate lifting.
It also can use rescue unit simultaneously and realize that (positioning refers to dredging robot to the underwater positioning of dredging robot
With a distance from open channel or duct entrance), specifically: the nylon rope that makes to be connected with dredging robot 50 has certain tensile force, clearly
In 50 traveling process of silt robot, nylon rope is pulled, is provided with scale on nylon rope, by the length for calculating the nylon rope released
Dredging robot is calculated with a distance from open channel or duct entrance, is achieved in the positioning of underwater desilting machine people.
Embodiment 2:
On the basis of above-described embodiment 1, to prevent dredging robot vehicle from breaking the wall in culvert, in platform frame 9
On be provided with anticollision guiding device, as shown in Figure 10, anticollision guiding device: including being symmetricly set on the left and right sides of platform framework 9
Rubber tire group, the rubber tire group of every side include four in vertical plane in distributed rectangular rubber wheel as anticollision wheel 47, anticollision wheel
47 axis along the vertical direction, specific mounting means are as follows: one end of support frame 46 is connected with platform framework 9, and the other end passes through axis
Hold and be connected with rotary shaft 48, anticollision wheel 47 by bearing holder (housing, cover) be mounted in outside rotary shaft 48.
The main function of anticollision guiding device is can to prevent underwater desilting machine people's vehicle when 1 sideslip of crawler body
Break the wall in culvert；Dredging robot can be travelled with side or two abutting culvert metopes along wall side when advancing simultaneously,
Realize the cleaning of orbit determination road mud and the removing of obstacle.Such as it is directed to 3 meters of culvert, it is assumed that design is 1.5 meters of vehicle body wide, can be direct
Anticollision guiding device both sides are respectively designed as 0.7 meter wide, underwater desilting machine people can directly rely on each four of both sides as a result,
Rubber tire moves ahead along culvert, realizes the cleaning of orbit determination road mud and the removing of obstacle.For being greater than 3 meters of culverts for being less than or equal to 6 meters
Hole can allow four rubber tires on one side to paste wall, travel along wall side, after the dredging for completing set a distance, then allow the four of other one side
A rubber tire also pastes wall and travels along wall side, completes the dredging of the set a distance of other half.From there through disengaging culvert twice, just
It can complete the set a distance dredging work of culvert.
Embodiment 3:
On the basis of above-described embodiment 1 and embodiment 2, increase cleaning system, the cleaning system includes mechanical arm, ties up
It ties up giant on the robotic arm and the high pressure cleaning pump that ground is connected with giant by water pipe is set.
The function of cleaning system is as follows:
(1) since existing culvert all has inner chamfer, dredging robot be difficult it is with dredging mechanism that it is completely clear clean, when
After completing the main dredging work of culvert, the bondage giant on five shaft mechanical arms is realized to culvert the right and left inner chamfer
The flushing cleaning for locating mud, is flushed to the center of culvert, then passes through the Jiao Xi mechanism that swings of dredging robot again
It is collected, is pumped by pumping mechanism, by sludge pumping remaining in culvert into the mud and water separating equipment on ground.
(2) when culvert inner wall is attached with the testacean biochron, since adhesive force is not strong, culvert two sides and top can be with
After testacean attachment is directly rinsed cleaning in such a way that giant rinses, then swinging by dredging robot
Jiao Xi mechanism is collected, and is pumped by pumping mechanism, and the dredging work in culvert is completed.
(3) it since dredging robot is dual-use, i.e., uses in channel, is used in culvert again, therefore, when clear
Silt robot is in culvert after use, after carrying out bath cleaning to dredging robot by giant, then in open channel
Carry out the collection and pumping of mud.
Embodiment 4:
On the basis of above-described embodiment 1 and embodiment 2, since the culvert inner wall surrounding of current some areas is adhered to
Shell biology, adhesive force is not strong, and diameter is between 10-60 millimeters.For this special sediment, underwater desilting machine people spreads out
It bears shovel and scrapes system, specifically, the end installation shovel scraper plate of the five shaft mechanical arms in dredging robot, is existed by five shaft mechanical arms
It is rotated under the drive of rotating base 17, so that the side wall of the vertical culvert of five shaft mechanical arms, by being mounted on the shovel scraper plate of its front end,
The shovel of the attachments such as the shell of culvert two sides inner wall is scraped by the extension realization of five shaft mechanical arms again, finally by dredging machine
The Jiao Xi mechanism that swings of people carries out mud and shell is collected, and is pumped by pumping mechanism, completes the dredging in culvert
Work.The shell biology on culvert top still needs the flushing by 3 high-pressure gun of above-described embodiment, by shell aufwuch
Flushing is got off, then is cleared up by dredging robot.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
- Suction dredging robot is twisted 1. having and swinging from the crawler body of rescue function, it is characterised in that: includes: platform frame Frame (9) and the crawler body (1) being arranged on the platform framework (9), the Jiao Xi mechanism that swings (6), dredging mechanism (7), pumping mechanism (5), rescue unit, control unit and visual unit；Walking mechanism of the crawler body (1) as the dredging robot is arranged in the platform framework (9) bottom；Institute Crawler body (1) is stated to walk under the control of described control unit；Described swing Jiao Xi mechanism (6) are arranged in the platform framework (9) front end, comprising: rotating base (17), mounting base (18), telescopic arm (20) and twisting sucker head (21)；The rotating base (17) is arranged on the platform framework (9), for driving The Jiao Xi mechanism that swings (6) swings within the scope of set angle；The mounting base (18) is fixed on rotating base (17) On, one end of the telescopic arm (20) and the mounting base (18) pin joint, the other end connect twisting sucker head (21)；The twisting sucker head It (21) include: cover (22), spiral twisting sucker head (23) and motor B (25)；The cover (22) is bottom opening, and the right and left is equal Hollow structure jaggy is set, and spiral twisting sucker head (23) setting is internal in the cover (22), the spiral twisting sucker head (23) it is rotated under the driving for being fixed on the motor B (25) around vertical direction；The motor B (25) is fixed on the cover (22) on；The pumping mechanism (5) is connected with the suction silt particle pipe (24) being arranged at the top of the cover (22), the pumping mechanism (5) For the twisting sucker head (21) to be twisted the sludge pumping inhaled to ground；The dredging mechanism (7) includes mechanical arm and collects basket (4), before Jiao Xi mechanism (6) progress dredging that swings Or after dredging, telescopic arm (20) and twisting sucker head (21) are removed from the mounting base (18), is installed on the mounting base (18) Mechanical arm；Collection basket (4) setting is at the top of the platform framework (9)；Control of the mechanical arm in described control unit Picking action is completed in setting position, and is put into object is picked up in the collection basket (4)；The rotating base (17) and mechanical arm It is controlled by described control unit；Image of the visual unit for environment where obtaining dredging robot in real time, and be transmitted to by photoelectric compound cable The host computer on ground；Described control unit receives the instruction of the host computer, the Jiao Xi mechanism that swings described in control (6) and clear Silt mechanism (7) work；For the rescue unit for assisting the dredging robot to be retracted into bank under water, the rescue unit includes: elevator Machine (54) and rescue rope, the one ends wound of the rescue rope is on the hoist engine (54), the other end and the dredging robot It is connected.
- 2. have to swing from the crawler body of rescue function as described in claim 1 and twists suction dredging robot, it is special Sign is:When the dredging robot is used in open channel, the hoist engine (54) is fixed on bank；It is described floating on the hoist engine (54) fixed pontoon bridge (55) when the dredging robot is used in across the culvert of open channel Bridge (55) is connected by Liang Tao bindiny mechanism with the hanging plate (51) hung up on the metope perpendicular to culvert opening；Two sets of connection machines Structure is symmetrically arranged, and every set bindiny mechanism includes long-cylinder (52), short oil cylinder (53) and chain (56), the chain (56) One end and corresponding pivoting support on the pontoon bridge (55) are hinged, and the other end is cut with scissors with pivoting support corresponding on the hanging plate (51) It connects；The cylinder body end of the long-cylinder (52) and corresponding pivoting support on pontoon bridge (55) are hinged, on tailpiece of the piston rod and hanging plate (51) Corresponding pivoting support is hinged；The hoist engine (54) is fixed on the pontoon bridge (55) by pressing plate, the short oil cylinder (53) Cylinder body end and pressing plate on pivoting support it is hinged, tailpiece of the piston rod and corresponding pivoting support on hanging plate (51) are hinged；Described One end on pontoon bridge (55) with respect to hole is provided with U-shaped opening.
- 3. have to swing from the crawler body of rescue function as described in claim 1 and twists suction dredging robot, it is special Sign is: further including anticollision guiding device, the anticollision guiding device includes being symmetricly set on the platform framework (9) left and right two The anticollision wheel group of side, the anticollision wheel group of every side include four or more the anticollision wheels (47) being located in same vertical plane, the anticollision Take turns the axis of (47) along the vertical direction.
- 4. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, It is characterized by: the visual unit includes: preposition sonar (39), preposition illumination ,/camera unit (40), postposition front lit/is taken the photograph As illumination/camera unit (42) behind unit (41) and postposition；Wherein the preposition sonar (39) is arranged in platform framework (9) front end Middle part, front end is each side arranged preposition illumination/camera shooting list of the camera lens towards front on the platform framework (9) First (40), are respectively set postposition front lit/camera shooting list of the camera lens towards front in the middle position of the platform framework (9) rear end First (41) and camera lens are towards illumination/camera unit (42) after the postposition at rear.
- 5. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, It is characterized by: being provided with scale on the rescue rope, the rescue rope being connected with the dredging robot has tensile force, institute It states in dredging robot traveling process, the length of the rescue rope of release is calculated by the scale on the rescue rope, thus The dredging robot is obtained at a distance from entrance.
- 6. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, Basket (27) are collected it is characterized by: being provided at left and right sides of the platform framework (9).
- 7. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, It is characterized by: the Jiao Xi mechanism (6) that swings further includes support cylinder (19), the cylinder body end of the support cylinder (19) It is fixed on the mounting base (18), tailpiece of the piston rod is connected with the telescopic arm (20), the Jiao Xi mechanism work that swings When, the support cylinder (19) is in free extension state.
- 8. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, It is characterized by: the indentation, there of cover (22) the right and left is provided with door to be opened/closed in the twisting sucker head (21), twists and inhale During head (21) swings and twists silt dredging mud, when the twisting sucker head (21) is swung to the left, the door of left side indentation, there is opened, right The door of side indentation, there is closed；When the twisting sucker head (21) is swung to the right, the door of right side indentation, there is opened, the door of left side indentation, there It closes.
- 9. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging robot, It is characterized by: connecting giant on the mechanical arm (45), the giant is clear by the high pressure on water pipe and ground It washes pump to be connected, forms cleaning system, cleared up for the flushing to mud and the progress of metope attachment.
- 10. it is as claimed in claim 1,2 or 3 have to swing from the crawler body of rescue function twist suction dredging machine People, it is characterised in that: in the end of the mechanical arm (45) installation shovel scraper plate, form shovel and scrape system, scrape side wall attachment for shoveling Object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457195.7A CN109577399B (en) | 2018-11-30 | 2018-11-30 | Crawler chassis left-right swinging cutter-suction type dredging robot with self-rescue function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457195.7A CN109577399B (en) | 2018-11-30 | 2018-11-30 | Crawler chassis left-right swinging cutter-suction type dredging robot with self-rescue function |
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| Publication Number | Publication Date |
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| CN109577399A true CN109577399A (en) | 2019-04-05 |
| CN109577399B CN109577399B (en) | 2021-04-23 |
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| CN201811457195.7A Expired - Fee Related CN109577399B (en) | 2018-11-30 | 2018-11-30 | Crawler chassis left-right swinging cutter-suction type dredging robot with self-rescue function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115674211A (en) * | 2021-07-27 | 2023-02-03 | 宝鸡宝石特种车辆有限责任公司 | Drilling mud tank cleaning robot |
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| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN206070458U (en) * | 2016-09-21 | 2017-04-05 | 西南交通大学 | A kind of subway tunnel garbage cleaning vehicle with secondary settlement structure |
| CN106948395A (en) * | 2017-05-11 | 2017-07-14 | 福建（泉州）哈工大工程技术研究院 | A kind of negative pressure transportation formula dredging robot |
| CN206529818U (en) * | 2016-12-28 | 2017-09-29 | 北京恒通国盛环境管理有限公司 | It is a kind of to be used for the boat form dredging robot of box culvert in large size and lake dredging up |
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2018
- 2018-11-30 CN CN201811457195.7A patent/CN109577399B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN206070458U (en) * | 2016-09-21 | 2017-04-05 | 西南交通大学 | A kind of subway tunnel garbage cleaning vehicle with secondary settlement structure |
| CN206529818U (en) * | 2016-12-28 | 2017-09-29 | 北京恒通国盛环境管理有限公司 | It is a kind of to be used for the boat form dredging robot of box culvert in large size and lake dredging up |
| CN106948395A (en) * | 2017-05-11 | 2017-07-14 | 福建（泉州）哈工大工程技术研究院 | A kind of negative pressure transportation formula dredging robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115674211A (en) * | 2021-07-27 | 2023-02-03 | 宝鸡宝石特种车辆有限责任公司 | Drilling mud tank cleaning robot |
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| CN109577399B (en) | 2021-04-23 |
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