CN109667305B - Track chassis cutter suction type dredging robot with self-rescue function - Google Patents

Track chassis cutter suction type dredging robot with self-rescue function Download PDF

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Publication number
CN109667305B
CN109667305B CN201811457194.2A CN201811457194A CN109667305B CN 109667305 B CN109667305 B CN 109667305B CN 201811457194 A CN201811457194 A CN 201811457194A CN 109667305 B CN109667305 B CN 109667305B
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CN
China
Prior art keywords
collecting
dredging robot
dredging
cover
platform frame
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Expired - Fee Related
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CN201811457194.2A
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Chinese (zh)
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CN109667305A (en
Inventor
施战军
朱守义
陈典章
谢加权
纪国晋
熊新宇
张思佳
严和君
涂茜敏
邓小磊
向守正
庄浩
高昂
朱学贤
赵峰
王科
陈智海
韩家望
王锦宁
周世杰
杜浩斌
蔡鹏�
容军
刘建魁
许家勤
顾红延
蔡新祥
陈继荣
温世亿
吕玉峰
高森
刘杰
孙义
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CSIC Zhongnan Equipment Co Ltd
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CSIC Zhongnan Equipment Co Ltd
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Priority to CN201811457194.2A priority Critical patent/CN109667305B/en
Publication of CN109667305A publication Critical patent/CN109667305A/en
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Publication of CN109667305B publication Critical patent/CN109667305B/en
Expired - Fee Related legal-status Critical Current
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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8816Mobile land installations
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8816Mobile land installations
    • E02F3/8825Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/905Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/907Measuring or control devices, e.g. control units, detection means or sensors
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92Digging elements, e.g. suction heads
    • E02F3/9212Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92Digging elements, e.g. suction heads
    • E02F3/9212Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • E02F3/9237Suction wheels with axis of rotation in transverse direction of the longitudinal axis of the suction pipe
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/961Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine

Abstract

The invention discloses a crawler chassis suction type dredging robot with a self-rescue function, which can realize underwater harmless continuous movement and rapid dredging and has the self-rescue function. The dredging robot comprises a platform frame, a track chassis arranged on the platform frame, a sludge suction mechanism, a dredging mechanism, an anti-collision guide device, a rescue unit, a control unit and a visual unit. The sludge suction mechanism of the dredging robot adopts two-stage collection and pumping, and has good dredging effect; and the auger is adopted to absorb and collect sludge, so that the disturbance is small, and secondary pollution is not caused. And the first-stage collecting mechanism and the second-stage collecting mechanism can be used jointly or independently to adapt to different use environments, so that the use is more flexible. The anti-collision guide device is arranged, so that the whole dredging robot can be prevented from colliding with a wall in a culvert, and the fixed-track sludge can be cleared and the obstacles can be cleared. The rescue unit is used for assisting the dredging robot to retreat to the shore from the water, so that the use safety of the underwater dredging robot is improved.

Description

Track chassis cutter suction type dredging robot with self-rescue function
Technical Field
The invention relates to a robot, in particular to a dredging robot.
Background
Since the main channel of a plurality of open channels in China is put into operation, the dependence degree of users along the line is gradually deepened, the requirement on the water supply guarantee rate is high, and the desired value of the main channel water delivery of the open channels is uninterrupted water supply in the future operation. However, as with other open channels, these open channel main channels inevitably form large amounts of sludge within the water delivery channels and the drainage structures intersecting them during their operation, affecting the water supply and compromising the safety of the main channels. In order to ensure the safety of uninterrupted water supply and main canal and reduce the secondary pollution in the dredging process, it is necessary to research an underwater dredging robot
By combining the operation requirements and field conditions of the main channel of the open channel, the underwater dredging robot can adapt to different environments such as channel siltation and culvert siltation, has the functions of sludge cleaning and the like, and realizes harmless, continuous, movable and rapid dredging.
Disclosure of Invention
In view of the above, the invention provides a caterpillar chassis hinge-suction type dredging robot with a self-rescue function, which can realize underwater harmless continuous movement and rapid dredging.
Possess track chassis hinge-suction type desilting robot of helping function of saving oneself include: the device comprises a platform frame, and a crawler chassis, a sludge suction mechanism, a dredging mechanism, a pumping mechanism, a rescue unit, a control unit and a visual unit which are arranged on the platform frame;
the crawler chassis is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame; the crawler chassis walks under the control of the control unit;
the sludge suction mechanism is arranged at the front end of the platform frame and comprises a primary collecting mechanism and a secondary collecting mechanism; the primary collecting mechanism comprises a collecting cover, a collecting port arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port is connected with the collecting cover, and the other end of the collecting port inclines forwards and downwards to be in contact with the ground; the rear end face of the collecting cover is of a net structure;
the mechanism setting is collected to the second grade is in mechanism rear end is collected to the one-level, includes: a cover body and a packing auger; the packing auger is transversely arranged in the cover body and is driven by a motor B; the opening end of the cover body is butted with the rear end face of the collecting cover in the primary collecting mechanism, a pump suction port connected with a pumping mechanism is arranged in the middle of the rear end face of the cover body, and the pumping mechanism is used for pumping sludge collected by the sludge sucking mechanism; the secondary collecting mechanism is connected with the platform frame through a supporting rod; the motor B and the pumping mechanism are controlled by the control unit;
the desilting mechanism includes: the robot comprises a rotating platform and a mechanical arm arranged on the rotating platform; the rotary platform is arranged on the platform frame through a base and is used for driving the mechanical arm to rotate around the axial direction of the rotary platform within a set angle range, the mechanical arm finishes picking action at a set position under the control of the control unit and puts picked objects into a collecting basket arranged at the top of the platform frame; the rotary platform and the mechanical arm are controlled by the control unit;
the visual unit is used for acquiring an image of the environment where the dredging robot is located in real time and transmitting the image to an upper computer on the ground through a photoelectric composite cable; the control unit receives an instruction of the upper computer and controls the sludge suction mechanism and the sludge cleaning mechanism to work;
the rescue unit is used for assisting the dredging robot to return to the shore from the water, the rescue unit comprises a winch, one end of a rescue rope is wound on the winch, and the other end of the rescue rope is connected with the underwater dredging robot.
Further, when the dredging robot is used in an open channel, the winch is fixed on the bank;
when the dredging robot is used for a culvert penetrating through an open channel, the winch is fixed on a floating bridge, and the floating bridge is connected with a hanging plate hung on a wall surface vertical to a culvert opening through two sets of connecting mechanisms; two sets of connecting mechanisms are arranged in bilateral symmetry, each set of connecting mechanism comprises a long oil cylinder, a short oil cylinder and a chain, one end of each chain is hinged with the corresponding hinged support on the floating bridge, and the other end of each chain is hinged with the corresponding hinged support on the hanging plate; the cylinder body end of the long oil cylinder is hinged with a corresponding hinged support on the floating bridge, and the piston rod end is hinged with a corresponding hinged support on the hanging plate; the winch is fixed on the floating bridge through a pressing plate, the cylinder body end of the short oil cylinder is hinged with a hinged support on the pressing plate, and the piston rod end is hinged with a corresponding hinged support on the hanging plate; and a U-shaped opening is formed in one end, opposite to the hole, of the floating bridge.
Further, still include anticollision guider, anticollision guider is including the symmetry setting is in the anticollision wheelset of the platform frame left and right sides, the anticollision wheelset of every side includes the anticollision wheel that is located same vertical plane more than four, the axis of anticollision wheel is along vertical direction.
Further, the visual unit includes: the system comprises a front sonar, a front lighting camera unit, a rear front lighting/camera unit and a rear lighting/camera unit; the front sonar is arranged in the middle of the front end of the platform frame, the left side and the right side of the front end of the platform frame are respectively provided with a front lighting/shooting unit with a lens facing the front, and the middle of the rear end of the platform frame is respectively provided with a rear front lighting/shooting unit with a lens facing the front and a rear lighting/shooting unit with a lens facing the rear.
Has the advantages that:
(1) the sludge suction mechanism of the dredging robot adopts two-stage collection and pumping to finish dredging work, and the dredging effect is good; and the auger is adopted to absorb and collect sludge, so that the disturbance is small, and secondary pollution is not caused. The primary collecting mechanism and the secondary collecting mechanism can be used jointly or independently to adapt to different use environments, so that the use is more flexible; the underwater dredging robot has a self-rescue function, so that the underwater dredging robot is higher in use safety performance.
(2) Set up desilting mechanism, can realize picking up of great debris such as stone under water and branch before inhaling the silt for it is higher to inhale silt efficiency.
(3) The anti-collision guide device is arranged, so that the whole dredging robot can be prevented from colliding with a wall in a culvert, and the fixed-track sludge can be cleared and the obstacles can be cleared.
(4) The mechanical arm in the dredging mechanism can be matched with tools such as a high-pressure water gun or a shovel scraper blade, and attached organisms such as shells and the like appearing around the inner wall of the culvert are removed.
Drawings
FIG. 1 is a block diagram of the system of the dredging robot;
FIG. 2 is a schematic view of the whole structure of the dredging robot;
FIG. 3 is a schematic structural diagram of the track chassis of the dredging robot;
FIG. 4 is a schematic structural view of the sludge suction mechanism of the dredging robot;
FIGS. 5 and 6 are schematic structural views of a primary collecting mechanism in the sludge suction mechanism;
FIG. 7 is a schematic structural diagram of a secondary collection mechanism in the sludge suction mechanism;
FIG. 8 is a schematic structural diagram of a dredging mechanism;
FIG. 9 is a schematic view of a configuration of a vision unit;
fig. 10 is a side view of an underwater autonomous rescue system;
fig. 11 is a top view of the underwater autonomous rescue system;
fig. 12 is a schematic view of the crash guide.
Wherein: 1-crawler chassis, 4-collecting basket, 5-pumping mechanism, 6-sludge sucking mechanism, 7-sludge removing mechanism, 8-anti-collision guide device, 10-vision system, 11-crawler hub, 12-crawler, 13-motor A, 14-speed reducer, 15-platform frame, 16-first-stage collecting mechanism, 17-second-stage collecting mechanism, 18-supporting shaft hole, 19-middle collecting cover, 20-small collecting cover, 21-rubber wheel A, 22-rubber wheel B, 23-tension spring, 24-collecting port, 25-connecting plate, 26-supporting seat, 27-telescopic oil cylinder, 28-supporting rod, 29-cover body, 30-soft cover, 31-rubber wheel C, 32-motor B, 33-anti-collision wheel, 34-auger, 39-sonar, 40-front lighting camera unit, 41-rear front lighting/camera unit, 42-rear lighting/camera unit, 43-base, 44-swing oil cylinder, 45-mechanical arm, 46-support frame, 47-anti-collision wheel, 48-rotating shaft, 50-desilting robot, 51-hanging plate, 52-long oil cylinder, 53-short oil cylinder, 54-winch, 55-floating bridge and 56-chain.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the embodiment provides a caterpillar chassis cutter-suction type underwater dredging robot with a self-rescue function, which can realize underwater harmless continuous movement and rapid dredging. The dredging robot has two application environments, specifically as follows:
the first method comprises the following steps: the artificial river channel is an open channel and is straight, water flows downwards in a downstream mode, the cross section of the water flow is in an inverted trapezoid shape, and water quality is clear; sometimes, the river channel bridge or the dark hole is crossed. Underwater equipment is required to realize the cleaning of river silt and the removal of obstacles (stones or branches, braided fabrics).
And the second method comprises the following steps: the artificial river channel itself crosses the inverted trapezoid culvert below the open channel and under the open channel, and in the full water state, the water flow cross section is square, which is commonly called as a channel-through culvert, and the river water is turbid. All dimensions (such as tunnel length, inverted trapezoidal slope, slope overlook length, longitudinal slope aspect and all relevant dimensions) within the culvert itself are predicted. Underwater equipment is required to realize the clearing of culvert silt and the clearing of obstacles (stones or branches, braided fabrics).
As shown in fig. 1 and 2, the dredging robot comprises a platform frame 15, a crawler chassis 1, a sludge suction mechanism 6, a dredging mechanism 7, a rescue unit, a pumping mechanism 5, a control unit and a vision unit. Wherein the crawler chassis 1 and the anti-collision guide device form a walking platform system, and the sludge suction mechanism 6 and the sludge cleaning mechanism 7 are execution parts.
As shown in fig. 3, the dredging robot adopts a crawler chassis 1 as a walking mechanism, and the crawler chassis 1 comprises: a track hub 11, a track 12, a motor a13, and a reducer 14; the platform frame 15 is a supporting structure of the whole robot, the top of the platform frame is provided with the collecting basket 4, two ends of the bottom of the platform frame are respectively provided with one track hub 11, the wear-resistant rubber tracks 12 are arranged on the track hubs 11, each track hub 11 corresponds to one motor A13 and serves as a power unit, and the power of the motor A13 is transmitted to the track hubs 11 through the speed reducer 14, so that the power is provided for walking of the desilting machine.
As shown in fig. 6, the sludge suction mechanism 6 is arranged at the front end of the dredging robot and comprises a primary collecting mechanism 16 and a secondary collecting mechanism 17. The structure of one of the primary collection mechanisms 16 is shown in fig. 5 and 6, and includes: the collecting cover consists of a middle collecting cover 19 and small collecting covers 20 arranged at two sides of the middle collecting cover 19, a dustpan-shaped collecting port 24 arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port 24 is connected with the bottom surface of the middle collecting cover 19 through a hinge, and the other end is inclined forwards and downwards to be in contact with the ground. The middle collecting cover 19 is provided with an opening at the front end and a reticular structure at the rear end, the small collecting cover 20 is provided with an opening at the front end, a reticular structure at the rear end and one end connected with the middle collecting cover 19, and the end surface opposite to the middle collecting cover 19 is closed. Roller groups are respectively arranged at the bottom of the collecting cover and the collecting opening 24, and as shown in fig. 6, the roller groups are respectively two soft rubber wheels A21 and two soft rubber wheels B22; during the running process of the dredging robot, the collecting cover and the collecting opening 24 are matched with the ground in a rolling way through the roller group. The rear end (the end opposite to the platform frame 15) of the first-stage collecting mechanism 16 is provided with a rubber connecting plate 25, and two ends of the connecting plate 25 are provided with supporting shaft holes 18 for connecting the second-stage collecting mechanism.
As shown in fig. 7, the secondary collection mechanism 17 includes: the cover body 29, the telescopic oil cylinder 27, the support frame 28, the motor B32 and the packing auger 34; the cover body 29 is a light iron sheet stainless steel cover with meshes distributed on the surface, which can float freely along with the slope and the horizontal bottom in the culvert and can ensure that the silt entering the secondary collection mechanism can not float to the downstream along with the water flow. The packing auger 34 is transversely arranged in the steel cover body 29, is driven by a motor B32, collects sludge through twisting, a pump suction port is arranged in the middle of the rear end face of the cover body 29 and is used for being connected with the pumping mechanism 5, and sludge stirred by the packing auger 34 enters the rear pumping mechanism 5 through the pump suction port. The packing auger 34 extends out of the cover body 29 at two axial ends and is supported in the supporting shaft holes 18 at two ends of the connecting plate 25 through bearings. Meanwhile, rubber wheels C31 are installed at two ends of the cover body 29, and the rubber wheels C31 are in rolling fit with the ground in the running process of the dredging robot. The front end opening of the cover body 29 is opposite to the rear end of the collecting cover in the first-level collecting mechanism 16, and the second-level collecting mechanism is connected with the platform frame 15 through two groups of supporting rods 28 and telescopic oil cylinders 27, and specifically comprises the following steps: the supporting rod 28 is a bent structure, one end of the supporting rod is connected with the cover body 29, the other end of the supporting rod is connected with a supporting seat 26 fixed on the platform frame 15, the telescopic oil cylinder 27 is arranged below the supporting rod 28, the end of the cylinder body is hinged with the supporting seat 26, and the end of the piston rod is hinged with a supporting lug on the lower surface of the supporting rod 28. When the telescopic hydraulic cylinder 27 normally works, the telescopic hydraulic cylinder 27 is in a free telescopic state, free floating is realized through the telescopic hydraulic cylinder 27, and the effect of vibration reduction can be achieved; during maintenance, the second-stage collecting mechanism is supported by the telescopic oil cylinder 27, so that the packing auger 34 in the second-stage collecting mechanism can be conveniently replaced. In order to prevent the sludge in the cover body 29 from leaking out in the moving process of the dredging robot, a soft cover 30 with the bottom contacting with the ground is arranged at the rear end of the cover body 29.
The secondary collection mechanism 17 can be used in cooperation with the primary collection mechanism 16, or can be used alone (when used alone, the primary collection mechanism 16 can be directly removed). When the secondary collecting mechanism 17 is used alone, the anti-collision rubber wheel 33 is arranged on a support extending outwards in the middle of the rubber wheel C31 and used for preventing the secondary collecting mechanism 17 from directly colliding with a ditch.
The pumping mechanism mainly comprises a submersible motor and a sewage suction pump and is used for pumping sludge from the water to the ground.
The working principle of the sludge suction mechanism 6 is as follows: when stone and branch are more in the channel, 16 and the second grade of collection mechanisms 17 combined use of one-level collection mechanism, 16 rubbish such as stone, branch, braided bag that are arranged in filtering the silt of collecting of one-level collection mechanism make the silt of tiny particle get into the second grade through network structure and collect mechanism 17 in, can prevent 34 winding of auger and pumping mechanism jam through one-level collection mechanism 16. The second-stage collecting mechanism 17 realizes the collection of silt under low-flow-speed water flow, the second-stage collecting mechanism 17 enables the silt to be concentrated to a positive middle circular pump suction port with negative pressure through rotational flow generated by a built-in packing auger 34, the pump suction port is of a cross opening type, large-particle stones are further prevented from entering a sewage suction pump in a pumping mechanism, an impeller of the sewage suction pump is effectively prevented from being damaged, the service life of the sewage suction pump is prolonged indirectly, and the maintenance frequency of equipment is reduced. Wherein, the auger 34 is manufactured by adopting a forward and reverse winding design, so that sludge can be conveniently concentrated to the middle pump suction port. In the design of the driving mechanism (namely the motor B32) of the packing auger 34, the situation that the packing auger is clamped by the stone blocks is also considered, if the packing auger tends to be clamped (namely the rotating torque in a certain direction is increased suddenly), the motor B32 drives the packing auger 34 to rotate reversely immediately to eject the stone blocks, thereby well protecting the packing auger from being clamped.
As shown in fig. 8, the dredging mechanism 7 includes: a base 43, a rotating platform and a robotic arm 45; wherein the base 43 is disposed at a middle position of the front end of the platform frame 15, and the base 43 is a tube base 43, i.e. a pipeline of the pumping mechanism passes through the base 43; arm 45 is five arms, installs on base 43 through rotary platform, and rotary platform adopts swing cylinder 44 in this scheme for drive arm 45 and rotate around vertical direction, realize that arm 45 operates in the different positions of circumference. The mechanical arm 45 is controlled by the control unit to pick up underwater stones and branches, and the rotary platform is responsible for the rotation of the whole mechanical arm 45, so that the stones and the branches in front are picked up, and then the stones and the branches are rotated backwards to the collecting basket 4 arranged on the platform frame 15 and finally are brought back to the ground by the dredging robot; for individual stones which are not easy to pick up, the mechanical arm 45 and the rotary platform can be jointly operated to firstly push the stones to the edge of the culvert, so that the desilting robot can conveniently and quickly desilt the stones.
As shown in fig. 9, the visual unit includes: a front sonar 39, a front illumination camera unit 40, a rear front illumination/camera unit 41, and a rear illumination/camera unit 42 mounted on the platform frame 15. The front sonar 39 is arranged in the middle of the front end of the platform frame 15, the left and right sides of the front end of the collecting basket 4 on the platform frame 15 are respectively provided with a front illuminating and shooting unit 40 with a lens facing forwards, the middle position of the rear end of the collecting basket 4 on the platform frame 15 is respectively provided with a rear front illuminating/shooting unit 41 and a rear illuminating/shooting unit 42, the lens of the rear front illuminating/shooting unit 41 faces forwards, and the lens of the rear illuminating/shooting unit 42 faces backwards. The visual unit is used for transmitting underwater images collected by the lighting/camera unit and image outlines obtained by sonar detection to an upper computer on the ground through a photoelectric composite cable at the tail end of the underwater dredging robot, and the images are displayed on a screen through a multi-screen display of the upper computer, so that ground personnel can conveniently control a control lever of the upper computer and a data processing system to jointly send an instruction to the lower computer (namely a control unit of the dredging robot) according to the images to guide an underwater execution mechanism (a sludge suction mechanism and a dredging mechanism) of the dredging robot to work.
The control unit is a lower computer arranged on the platform frame, the lower computer is matched with an upper computer on the ground to realize the control of the dredging robot, the control unit comprises a hydraulic control unit and an electric control unit, the hydraulic control unit is used for controlling a hydraulic part on the dredging robot, in the scheme, a motor A13 in the crawler chassis 1 and a motor B32 in the secondary collecting mechanism 17 are hydraulic motors, and a five-axis mechanical arm also adopts a hydraulic power source, so that the crawler chassis 1, the packing auger 34, the five-axis mechanical arm, the telescopic oil cylinder 27, the swing oil cylinder 44 and the pumping mechanism are all controlled by the hydraulic control unit; electronic components on the dredging robot are controlled by the electric control unit.
Because the service environment people of the underwater dredging robot can not enter the underwater dredging robot, an underwater autonomous rescue unit is added for improving the safety performance of the underwater dredging robot.
When the underwater dredging robot is used in an open channel: the rescue unit only comprises a winch 54, the winch 54 is directly fixed on the shore, one end of a nylon rope capable of bearing 10 tons is wound on the winch 54, and the other end of the nylon rope is connected with the underwater dredging robot 50. Under normal conditions, the nylon rope floats on the water surface and is not loaded; when an emergency occurs, such as the water flow in the open channel exceeds 1m/s, which affects the operation of the underwater dredging robot 50 or the dredging robot 50 has a fault, the nylon rope is recovered through the winch 54, so that the dredging robot 50 is dragged, and particularly when the dredging robot 50 is returned to the bank from a straight river, the dragging of the winch 54 is provided, so that the dredging robot 50 can be prevented from slipping when backing up, and can climb to the bank quickly and conveniently.
When the underwater dredging robot is used in a culvert passing through an open channel: an underwater autonomous rescue unit as shown in fig. 10 and 11 is added, and the rescue unit comprises: the device comprises a hanging plate 51, two long oil cylinders 52, two short oil cylinders 53, a winch 54, a floating bridge 55 and two chains 56. The rescue unit is installed through pontoon 55, specifically is: firstly, pumping full water at the culvert mouth to a semi-water state, putting down the floating bridge 55, placing the hanging plate 51 on the wall surface vertical to the hole because the wall surface of the hole can not be damaged, and fixing the floating bridge 55 through the hanging plate 51. The link plate 51 is welded with hinged supports (six in total) for connecting the oil cylinders and the hinged chains 56, and the floating bridge 55 is provided with four hinged supports for connecting the two long oil cylinders 52 and the two chains 56. One long oil cylinder 52, one short oil cylinder 53 and one chain 56 are provided with one set of connecting mechanisms, wherein the two sets of connecting mechanisms are arranged in a left-right symmetrical mode to ensure that the surface of the floating bridge is horizontal; the connecting position of the chain 56 on the floating bridge 55 is closest to the culvert opening, and the connecting position of the long oil cylinder 52 is farthest from the culvert opening; the link position of the chain 56 on the link plate 51 is located at the lowermost position, and the link position of the long cylinder 52 is located at the uppermost position. The installation process of the rescue unit comprises the following steps: firstly, two chains 56 are used for connecting the hanging plate 51 and the floating bridge 55; then, two long oil cylinders 52 are used for connecting the hanging plate 51 and the floating bridge 55 and are fixed by bolts (the cylinder body end of the long oil cylinder 52 is hinged with a hinged support on the floating bridge 55, and the piston rod end is hinged with a hinged support on the hanging plate 51). Then, a winch 54 is placed on the pontoon 55, and one end of a nylon rope capable of carrying 10 tons is wound around the winch 54, and the other end is connected to the dredging robot 50. The winch 54 is fixed on the floating bridge 55 through a pressure plate, two hinged supports are installed on the pressure plate, the hanging plate 51 and the pressure plate are connected through two short oil cylinders 53 and fixed through bolts (the cylinder body end of each short oil cylinder 53 is hinged with the hinged support on the pressure plate, and the piston rod end is hinged with the hinged support on the hanging plate 51). Therefore, a fixed floating bridge surface is arranged at the opening of the culvert, and the floating bridge 55 is provided with a U-shaped opening at one end opposite to the opening, so that the dredging robot 50 can be conveniently lifted when backing to the opening.
Example 2:
as shown in fig. 12, in order to prevent the whole underwater dredging robot from crashing the wall in the culvert, an anti-collision guide device is arranged on the platform frame 15: set up the anticollision wheelset in the platform frame 15 left and right sides including the symmetry, the rubber tyer group of every side includes four anticollision wheels 47 that are the rectangular distribution in vertical face, and vertical direction is followed to the axis of anticollision wheel 47, and concrete mounting means does: one end of the supporting frame 46 is connected with the platform frame 15, the other end is connected with the rotating shaft 48 through a bearing, and the anti-collision wheel 47 is sleeved outside the rotating shaft through a bearing. The anti-collision guide device has the main function of preventing the whole underwater dredging robot from colliding with the wall in the culvert when the crawler chassis deviates; meanwhile, when the dredging robot advances, one side or two sides of the dredging robot can be tightly attached to the wall surface of the culvert and can run along the wall, so that the fixed-track sludge is cleared and the obstacles are cleared. If to the culvert of 3 meters, supposing to design the automobile body 1.5 meters wide, can directly respectively design the anticollision guider both sides for 0.7 meters wide, from this, underwater desilting robot can directly rely on each four rubber tyers on both sides to move ahead along the culvert, realizes the clearance of fixed track silt and the clearance of obstacle. For the culvert which is more than 3 meters and less than or equal to 6 meters, the four rubber wheels on one side can be attached to the wall and run along the wall, after the desilting of a certain distance is finished, the four rubber wheels on the other side are also attached to the wall and run along the wall, and the desilting of the other half of the certain distance is finished. Therefore, the fixed-distance dredging work of the culvert can be finished through twice passing in and out of the culvert.
Example 3:
on the basis of the above embodiments 1 and 2, in the sludge suction mechanism 6, two tension springs 23 are arranged in parallel between the middle collection cover 19 and the collection port 24, one end of each tension spring 23 is connected with a tension spring support on the inner bottom surface of the middle collection cover 19, the other end of each tension spring 23 is connected with a tension spring support on the surface of the collection port 24, and in the sludge collection process of the sludge suction mechanism 6, the collection port 24 is opened under the action of external force (in the scheme, a five-axis mechanical arm 45 in the sludge removal mechanism applies downward acting force to support plates arranged on the left side and the right side of the collection port 24), and at the moment, the tension springs 23 are in an elongated state; after the sludge suction mechanism 6 finishes collecting work, external force is removed (the five-axis mechanical arm 45 is loosened), the collecting port 24 is closed under the action of the tension spring 23, and sludge in the collecting cover can be prevented from leaking.
Example 4:
on the basis of the above embodiment 1-embodiment 3, a cleaning system is added, and the cleaning system comprises a mechanical arm 45, a high-pressure water gun bound on the mechanical arm 45, and a high-pressure cleaning pump arranged on the ground and connected with the high-pressure water gun through a water pipe.
The function of the washing system is as follows:
(1) because current culvert all has the inner chamfering, the desilting robot hardly constructs with desilting with its clean up completely, when accomplishing the main desilting work in culvert back, ties up high-pressure squirt on five arms 45, realizes washing the clearance to the silt of the inner chamfering department in the both sides about the culvert, washes its central authorities to the culvert, then the second grade of rethread desilting robot's silt suction mechanism 6 is collected and the pump sending, with remaining silt pump send to in the culvert among the mud-water separation equipment on ground.
(2) When the inner wall of the culvert is attached with the shellfish, because the adhesive force is not strong, the two side surfaces and the top of the culvert can directly wash and clean the shellfish attachments in a high-pressure water gun washing mode, and then the sludge suction mechanism 6 of the dredging robot is used for secondary collection and pumping of sludge and shells to finish the dredging work in the culvert.
(3) The dredging robot has two purposes, namely being used in a channel and a culvert, so that after the dredging robot is used in the culvert, the dredging robot is flushed by a high-pressure water gun and then is conveyed to an open channel for sludge collection and pumping.
Example 5:
on the basis of the embodiments 1 to 3, the adhering force is not strong and the diameter is between 10 and 60 millimeters because the attached shell organisms appear around the inner wall of the culvert in partial areas at present. Aiming at the special sludge, a scraping system is derived from the underwater dredging robot, specifically, a scraping plate is installed at the tail end of a five-axis mechanical arm 45 of the dredging robot, a rotating platform under the five-axis mechanical arm 45 rotates, so that the five-axis mechanical arm 45 is perpendicular to the side wall of the culvert, through the scraping plate installed at the front end of the five-axis mechanical arm, the scraping of attachments such as shells and the like on the inner walls of two sides of the culvert is realized through the forward extension of the five-axis mechanical arm 45, and finally, the sludge and the shells are collected and pumped secondarily through a sludge suction mechanism 6 of the dredging robot, so that the dredging work in the culvert is completed. The shell creatures on the top end of the culvert still need to be washed by the high-pressure water gun in the embodiment 3, the shell attached creatures are washed down, and then the cleaning is carried out by the dredging robot.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (8)

1. Possess and save oneself and rescue track chassis cutter-suction type desilting robot of function, its characterized in that: the method comprises the following steps: the device comprises a platform frame (15), and a crawler chassis (1), a sludge suction mechanism (6), a dredging mechanism (7), a pumping mechanism (5), a rescue unit, a control unit and a vision unit which are arranged on the platform frame (15);
the crawler chassis (1) is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame (15); the crawler chassis (1) walks under the control of the control unit;
the sludge suction mechanism (6) is arranged at the front end of the platform frame (15) and comprises a primary collection mechanism (16) and a secondary collection mechanism (17); the primary collecting mechanism (16) comprises a collecting cover, a collecting port (24) arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port (24) is connected with the collecting cover, and the other end of the collecting port is inclined forwards and downwards to be in contact with the ground; the rear end face of the collecting cover is of a net structure; the collecting cover comprises a middle collecting cover (19) and small collecting covers (20) arranged at two sides of the middle collecting cover (19); the front end of the middle collecting cover (19) is open, and the rear end surface of the middle collecting cover is of a net structure; the front end opening and the rear end surface of the small collecting cover (20) and one end connected with the middle collecting cover (19) are of a net structure, and the end surface opposite to the middle collecting cover (19) is closed;
the second grade collection mechanism (17) is arranged at the rear end of the first grade collection mechanism (16), and comprises: a cover body (29) and an auger (34); the cover body (29) is a light iron sheet stainless steel cover with meshes distributed on the surface; the packing auger (34) is transversely arranged in the cover body (29) and is driven by a motor B (32); the opening end of the cover body (29) is butted with the rear end face of the collecting cover in the primary collecting mechanism (16), a pump suction port used for being connected with a pumping mechanism (5) is arranged in the middle of the rear end face of the cover body (29), and the pumping mechanism (5) is used for pumping sludge collected by the sludge sucking mechanism (6); the secondary collection mechanism (17) is connected with the platform frame (15) through a support rod (28); the motor B (32) and the pumping mechanism (5) are controlled by the control unit;
the dredging mechanism (7) comprises: a rotary platform and a robotic arm (45) mounted on the rotary platform; the rotary platform is arranged on a platform frame (15) through a base (43), the rotary platform is used for driving the mechanical arm (45) to rotate around the axial direction of the rotary platform within a set angle range, the mechanical arm (45) finishes picking action at a set position under the control of the control unit, and picked objects are placed into a collecting basket (4) arranged at the top of the platform frame (15); the rotary platform and the mechanical arm (45) are controlled by the control unit;
the visual unit is used for acquiring an image of the environment where the dredging robot is located in real time and transmitting the image to an upper computer on the ground through a photoelectric composite cable; the control unit receives an instruction of the upper computer and controls the sludge suction mechanism (6) and the dredging mechanism (7) to work;
the rescue unit is used for assisting the dredging robot to retreat to the shore from the water, and comprises a winch (54), one end of a rescue rope is wound on the winch (54), and the other end of the rescue rope is connected with the underwater dredging robot (50);
when the dredging robot (50) is used in an open channel, the winch (54) is fixed on the shore;
when the dredging robot (50) is used for a culvert penetrating through an open channel, the winch (54) is fixed on a floating bridge (55), and the floating bridge (55) is connected with a hanging plate (51) hung on a wall surface vertical to a culvert opening through two sets of connecting mechanisms; the two sets of connecting mechanisms are arranged in bilateral symmetry, each set of connecting mechanism comprises a long oil cylinder (52), a short oil cylinder (53) and a chain (56), one end of each chain (56) is hinged with a corresponding hinged support on the floating bridge (55), and the other end of each chain (56) is hinged with a corresponding hinged support on the hanging plate (51); the cylinder body end of the long oil cylinder (52) is hinged with a corresponding hinged support on the floating bridge (55), and the piston rod end is hinged with a corresponding hinged support on the hanging plate (51); the winch (54) is fixed on the floating bridge (55) through a pressure plate, the cylinder body end of the short oil cylinder (53) is hinged with a hinged support on the pressure plate, and the piston rod end is hinged with a corresponding hinged support on the hanging plate (51); one end of the floating bridge (55) opposite to the hole is provided with a U-shaped opening;
the anti-collision guide device comprises anti-collision wheel sets symmetrically arranged on the left side and the right side of the platform frame (15), each anti-collision wheel set comprises more than four anti-collision wheels (47) positioned in the same vertical plane, and the axis of each anti-collision wheel (47) is along the vertical direction; when the fixed track is needed to clean up silt and obstacles, the anti-collision wheels (47) on one side or two sides of the dredging robot are tightly attached to the wall surface of the culvert to run along the wall edge when the dredging robot runs.
2. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: the visual unit includes: a front sonar (39), a front illumination camera unit (40), a rear front illumination/camera unit (41) and a rear illumination/camera unit (42); the front sonar system is characterized in that the front sonar (39) is arranged in the middle of the front end of the platform frame (15), the left side and the right side of the front end of the platform frame (15) are respectively provided with a front illumination/camera shooting unit (40) with a lens facing the front, and the middle position of the rear end of the platform frame (15) is respectively provided with a rear front illumination/camera shooting unit (41) with a lens facing the front and a rear illumination/camera shooting unit (42) with a lens facing the rear.
3. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: the crawler chassis (1) comprises: a track hub (11), a track (12) and a motor A (13); the two ends of the bottom of the platform frame (15) are respectively provided with a crawler belt hub (11), a rubber crawler belt (12) is arranged on each crawler belt hub (11), and each crawler belt hub (11) corresponds to one motor A (13) to serve as a power unit.
4. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: in the second-stage collecting mechanism, the cover body (29) is connected with the platform frame (15) through a connecting mechanism consisting of more than one group of support rods (28) and telescopic oil cylinders (27), and the method specifically comprises the following steps: the supporting rod (28) is of a bent structure, one end of the supporting rod is connected with the cover body (29), the other end of the supporting rod is connected with a supporting seat (26) fixed on the platform frame (15), the telescopic oil cylinder (27) is arranged below the supporting rod (28), the end of the cylinder body is hinged with the supporting seat (26), and the end of the piston rod is hinged with a supporting lug on the lower surface of the supporting rod (28); when the sludge suction mechanism (6) works normally, the telescopic oil cylinder (27) is in a free telescopic state; when the packing auger (34) needs to be replaced, the telescopic oil cylinder (27) extends to support the secondary collecting mechanism (17).
5. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: connect high-pressure squirt on arm (45), high-pressure squirt leads to pipe and links to each other with the high-pressure cleaning pump on ground, forms cleaning system for the clearance of washing that goes on silt and wall attachment.
6. The self-rescue track-driven cutter-suction type dredging robot as claimed in claim 1, characterized in that: and a scraping plate is arranged at the tail end of the mechanical arm (45) to form a scraping system for scraping the side wall attachments.
7. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: in the sludge suction mechanism (6), the collection port (24) is connected with the collection cover through a hinge, more than one tension spring (23) is arranged between the collection cover and the collection port (24) in parallel, one end of each tension spring (23) is connected with a tension spring support on the inner bottom surface of the collection cover, and the other end of each tension spring (23) is connected with a tension spring support on the surface of the collection port (24); in the process of collecting the sludge by the sludge suction mechanism (6), the collection port (24) is in an open state under the action of external force, and the tension spring (23) is in an elongated state; inhale silt mechanism (6) work after, remove external force, collect mouth (24) and be in under extension spring (23) restoring force effect closed, close collect cover front end opening.
8. The track chassis cutter-suction type dredging robot with the self-rescue function as claimed in claim 1, characterized in that: the secondary collecting mechanism (17) can be matched with the primary collecting mechanism (16) for use, and can also be used independently; when the secondary collection mechanism (17) is used independently, the primary collection mechanism (16) is removed, and rollers are arranged at two ends of the cover body (29).
CN201811457194.2A 2018-11-30 2018-11-30 Track chassis cutter suction type dredging robot with self-rescue function Expired - Fee Related CN109667305B (en)

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CN110258689B (en) * 2019-07-18 2024-04-30 山东未来机器人有限公司 Gantry type cutter suction machine
CN110905027B (en) * 2019-11-28 2021-11-09 哈尔滨工程大学 Dredging robot for underwater dredging operation
CN112937811B (en) * 2021-04-06 2023-02-03 上海交通大学 Crawler-type cleans intelligent robot of discarded object under water
CN114211469A (en) * 2021-12-16 2022-03-22 上海交通大学三亚崖州湾深海科技研究院 Seabed cleaning robot
CN116657690B (en) * 2023-07-21 2023-10-31 深之蓝海洋科技股份有限公司 Underwater adsorbate cleaning device and robot

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CN203583652U (en) * 2013-12-06 2014-05-07 河北联合大学 Detachable mud sucking device of automatic dredging robot
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