CN110565721B - Mechanical arm device for ecologically removing algae mud mixture on channel side slope - Google Patents
Mechanical arm device for ecologically removing algae mud mixture on channel side slope Download PDFInfo
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- CN110565721B CN110565721B CN201910759863.XA CN201910759863A CN110565721B CN 110565721 B CN110565721 B CN 110565721B CN 201910759863 A CN201910759863 A CN 201910759863A CN 110565721 B CN110565721 B CN 110565721B
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- 241000195493 Cryptophyta Species 0.000 title claims abstract description 33
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- 238000004140 cleaning Methods 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000000835 fiber Substances 0.000 claims description 3
- 238000007670 refining Methods 0.000 claims description 3
- 239000010865 sewage Substances 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 12
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- 238000009395 breeding Methods 0.000 description 2
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- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
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- 229910052757 nitrogen Inorganic materials 0.000 description 1
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- 239000001301 oxygen Substances 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Shovels (AREA)
- Soil Working Implements (AREA)
Abstract
The mechanical arm device for ecologically removing the algae mud mixture on the channel side slope comprises a base, a rotary driving mechanism, an upright post, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley; the rear end of the main arm is hinged with the upper end of the upright post, a main arm amplitude-variable hydraulic cylinder positioned at the front side of the upright post is arranged between the main arm and the rotary driving structure, the front end of the main arm is hinged with the rear end of the multistage telescopic arm, a telescopic arm amplitude-variable hydraulic cylinder is arranged between the bottom of the main arm and the last section of bottom of the multistage telescopic arm, the front end of the multistage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, and the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley. The mechanical arm device is flexible to operate, has no secondary pollution to water, has good effect on removing the algae mud mixture on the side slope of the channel, is environment-friendly in the removing process, meets the requirements of ecologically removing the algae mud mixture, and has great significance on guaranteeing the quality of the water body of the channel and the water delivery safety.
Description
Technical Field
The invention relates to a telescopic mechanical arm, in particular to a mechanical arm device for ecologically removing a channel side slope algae mud mixture, which is suitable for channels, rivers, inland lakes, landscape water bodies and other water areas.
Background
At present, along with the acceleration of the social industrialization process, people discharge a large amount of pollutants containing nitrogen and phosphorus into water bodies in production and daily life, and the eutrophication process of slow-flowing water bodies such as lakes, reservoirs and the like is accelerated, so that algae are bred, the ecological balance of the water bodies is seriously damaged, and the safety of the people and other organisms is endangered. In addition, for the major water diversion project adopting the channel mode, a great amount of mud is adhered to the channel side slope besides breeding algae, so as to form an algae mud mixture. Algae breeding and mud deposition on the side slope of the channel seriously affect the quality of water, algae in the water can not only cause fishy smell and greenish and blackish of the water, but also cause the bad smell of most lakes and ponds caused by substances such as hydrogen sulfide, sulfur, ammonia and the like generated by the death of the algae and the lack of oxygen in the water, and dead algae are deposited on the side slope to seriously affect the quality of the water, and more seriously, harmful substances such as algae toxins and the like can be generated, so that the treatment process of water plants along the line is impacted, and the water supply cost is increased. Therefore, the method for cleaning the algae mud mixture on the side slope improves the water body conveying quality, reduces the treatment difficulty of water plants, becomes a technical problem to be solved urgently, and has important ecological and environmental significance.
At present, in the technology for removing algae mud on side slopes at home and abroad, in order to avoid secondary pollution to water quality, a physical removing method is usually adopted, and the method mainly comprises the methods of manual cleaning, mechanical friction cleaning and the like. By adopting manual cleaning, the labor intensity is high, the efficiency is low, a large amount of dirt can be diffused into water, secondary pollution is caused, and algae mud attachments which are submerged in deep water and positioned in a vision blind area cannot be completely removed. The mechanical friction type cleaning mode has wide application and obvious effect, and can directly remove part of algae mud attachments in the water body. However, the existing mechanical clearing device has complex equipment structure, on one hand, when the clearing device works, the sealing problem caused by underwater mechanical transmission exists, and secondary pollution is easy to generate; on the other hand, there is a disadvantage that the algae grown cannot be eradicated, and the efficiency of the working area is low.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the mechanical arm device for ecologically removing the channel side slope algae mud mixture, which is flexible to operate, adapts to different side slope working conditions and has no secondary pollution to water, and the mechanical arm is fixed on an automobile chassis or a working ship, so that the ecological removal of the channel side slope algae mud mixture can be realized.
In order to solve the technical problems, the invention adopts the following technical scheme: the mechanical arm device for ecologically removing the algae mud mixture on the channel side slope comprises a base, a rotary driving mechanism, an upright post, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley;
the rotary driving mechanism is arranged on the base, the lower end of the upright post is fixedly arranged on the rotary driving mechanism, the rear end of the main arm is hinged with the upper end of the upright post, a main arm amplitude hydraulic cylinder positioned on the front side of the upright post is arranged between the main arm and the rotary driving mechanism, the front end of the main arm is hinged with the rear end of the multi-stage telescopic arm, a telescopic arm amplitude hydraulic cylinder is arranged between the bottom of the main arm and the last section of bottom of the multi-stage telescopic arm, the front end of the multi-stage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, and the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley.
The multi-stage telescopic arm comprises a basic arm, a first telescopic arm, a second telescopic arm, a third telescopic arm, a first telescopic hydraulic cylinder, a second telescopic hydraulic cylinder and a third telescopic hydraulic cylinder;
the first telescopic arm is slidably connected inside the basic arm, the second telescopic arm is movably connected inside the first telescopic arm, the third telescopic arm is movably connected inside the second telescopic arm, the front end of the basic arm is provided with a fixed bracket, the front end of the first telescopic arm is provided with a first push-pull bracket, the front end of the second telescopic arm is provided with a second push-pull bracket, the front end of the third telescopic arm is provided with a third push-pull bracket, the front end and the rear end of a cylinder body of the first telescopic hydraulic cylinder are respectively hinged at the tops of the fixed bracket and the rear end of the main arm, and the front end of a telescopic rod of the first telescopic hydraulic cylinder is hinged with the upper part of the first push-pull bracket; the front end and the rear end of the cylinder body of the second telescopic hydraulic cylinder are respectively hinged to the tops of the first push-pull bracket and the fixed bracket, and the front end of the telescopic rod of the second telescopic hydraulic cylinder is hinged to the upper part of the second push-pull bracket; the front end and the rear end of the cylinder body of the third telescopic hydraulic cylinder are respectively hinged to the tops of the second push-pull bracket and the first push-pull bracket, and the front end of the telescopic rod of the third telescopic hydraulic cylinder is hinged to the upper portion of the third push-pull bracket.
The elastic pre-tightening mechanism comprises a guide shaft, a compression spring, a shaft sleeve, a lower supporting rod and a U-shaped plate, wherein the rear end of the guide shaft is hinged to the upper portion of the front side of the third push-pull support, an opening of the U-shaped plate is downward, the left side and the right side of the U-shaped plate are respectively and fixedly connected to the left side and the right side of the upper end of the connecting arm, a baffle is fixedly arranged at the rear end of the guide shaft, a limit adjusting nut is in threaded connection with the front end of the guide shaft, the compression spring and the shaft sleeve are sleeved on the guide shaft, a pin shaft is fixedly arranged on the left side and the right side of the shaft sleeve, the two pin shafts are rotatably connected to the left side and the right side of the U-shaped plate, the front end and the rear end of the compression spring are respectively in pressing fit with the rear end of the shaft sleeve and the baffle, the front end of the lower supporting rod is fixedly connected to the rear side of the upper portion of the connecting arm, and the rear end of the lower supporting rod is hinged to the lower end of the third push-pull support.
The cavitation jet cleaning trolley comprises a shell with an open bottom, a jet pipe is arranged in the shell, a nozzle which sprays downwards is arranged on the jet pipe, universal wheels are arranged at four corners of the lower portion of the shell, a sewage suction port and a high-pressure water port are arranged at the top of the shell, the high-pressure water port is connected with the jet pipe, and palm fiber skirt strips are arranged on the periphery of the lower side edge of the shell, so that a relatively sealed space is formed inside the shell.
The lower rotation of basic arm is provided with the dirt absorbing rubber tube reel, and the winding of dirt absorbing rubber tube is gone up to the dirt absorbing rubber tube reel, and the one end of dirt absorbing rubber tube is connected with the dirt absorbing mouth of cavitation jet cleaning trolley downwards by hollow basic arm, first flexible arm, second flexible arm, the extension of third flexible arm from back forward in proper order, and the other end of dirt absorbing rubber tube is connected with the dirt absorbing pump.
The bottom of the rear side of the base arm is provided with a high-pressure rubber tube reel, a high-pressure rubber tube is wound on the high-pressure rubber tube reel, one end of the high-pressure rubber tube is connected with a high-pressure water interface at the top of the cavitation jet cleaning trolley, and the other end of the high-pressure rubber tube is connected with a high-pressure water pump.
The rotary driving mechanism is connected to the base by adopting a high-strength refining bolt, is a three-in-one hydraulic motor driving mechanism, and directly drives the turbine vortex rod gear transmission device by a low-speed high-torque hydraulic motor, so that the upright post, the main arm, the telescopic arm, the connecting arm and the cavitation jet cleaning trolley realize 360-degree rotation.
By adopting the technical scheme, the base can be fixed on the chassis or the operation ship of the truck, the truck runs along the channel on the road surfaces at the left side and the right side of the channel, and the operation ship runs on the water surface in the channel.
The mechanical arm device is flexible to operate, has no secondary pollution to water, has good effect on removing the algae mud mixture on the side slope of the channel, is environment-friendly in the removing process, meets the requirements of ecologically removing the algae mud mixture, and has great significance on guaranteeing the quality of the water body of the channel and the water delivery safety.
The compression spring of the elastic pre-tightening mechanism always pushes against the shaft sleeve, the pressure drives the lower end of the connecting arm to rotate backwards by taking the hinge point of the rear end of the lower supporting rod and the third push-pull support as a fulcrum, and as the four universal wheels at the bottom of the cavitation jet cleaning trolley are in rolling connection with the side slope, the cavitation jet cleaning trolley can be ensured to be tightly attached to the side slope of the channel with a certain pre-tightening force, and the cavitation jet cleaning trolley has a certain error correction capability on the walking deviation of the truck and the change of the side slope of the channel; when the limiting adjusting nut is in contact with the top of the U-shaped plate, the lower part of the connecting arm is rotated backwards to play a mechanical limiting role, the multistage telescopic arm and the connecting arm are connected in an equivalent rigid mode, and at the moment, the cavitation jet cleaning trolley has the risk of being separated from the channel side slope working surface. The cavitation jet cleaning trolley realizes ecological cleaning of the channel side slope algae mud mixture through an underwater cavitation jet cleaning process; the hydraulic oil source of the hydraulic transmission and control system for driving the hydraulic cylinders and the rotary driving mechanism comes from a hydraulic pump, the hydraulic pump is connected with a power output Port (PTO) of an engine of an automobile chassis or a working ship, the control of actuating mechanisms such as a hydraulic motor and the hydraulic cylinders is realized through a multi-way valve, and the hydraulic transmission and control system realizes the actions such as expansion, amplitude variation, rotation and the like of the multi-stage telescopic arm through the actuating mechanisms such as the hydraulic motor and the hydraulic cylinders so as to meet the requirements of different working ranges.
In addition, a high-definition camera can be arranged at the front end part of the base arm, so that the operation condition of the cavitation jet cleaning trolley is monitored.
Drawings
FIG. 1 is a schematic illustration of the present invention in an operating state;
FIG. 2 is a front view of the present invention in an operative state;
FIG. 3 is a front view of the spring pretensioning mechanism;
fig. 4 is a top view of fig. 3.
Detailed Description
As shown in fig. 1-4, the mechanical arm device for ecologically removing the algae mud mixture on the side slope of the channel comprises a base 1, a rotary driving mechanism 2, a stand column 3, a main arm 4, a multi-stage telescopic arm, a connecting arm 5 and a cavitation jet cleaning trolley 6;
the rotary driving mechanism 2 is arranged on the base 1, the lower end of the upright post 3 is fixedly arranged on the rotary driving mechanism 2, the rear end of the main arm 4 is hinged with the upper end of the upright post 3, a main arm amplitude hydraulic cylinder 7 positioned at the front side of the upright post 3 is arranged between the main arm 4 and the rotary driving mechanism, the front end of the main arm 4 is hinged with the rear end of the multi-stage telescopic arm, a telescopic arm amplitude hydraulic cylinder 8 is arranged between the bottom of the main arm 4 and the last section of bottom of the multi-stage telescopic arm, the front end of the multi-stage telescopic arm is connected with the upper end of the connecting arm 5 through an elastic pre-tightening mechanism 9, and the lower end of the connecting arm 5 is hinged with the top of the cavitation jet cleaning trolley 6.
The multi-stage telescopic boom comprises a basic boom 10, a first telescopic boom 11, a second telescopic boom 12, a third telescopic boom 13, a first telescopic hydraulic cylinder 14, a second telescopic hydraulic cylinder 15 and a third telescopic hydraulic cylinder 16;
the first telescopic arm 11 is slidably connected inside the basic arm 10, the second telescopic arm 12 is movably connected inside the first telescopic arm 11, the third telescopic arm 13 is movably connected inside the second telescopic arm 12, the front end of the basic arm 10 is provided with a fixed bracket 17, the front end of the first telescopic arm 11 is provided with a first push-pull bracket 18, the front end of the second telescopic arm 12 is provided with a second push-pull bracket 19, the front end of the third telescopic arm 13 is provided with a third push-pull bracket 20, the front end and the rear end of a cylinder body of the first telescopic hydraulic cylinder 14 are respectively hinged at the tops of the fixed bracket 17 and the rear end of the main arm 4, and the front end of a telescopic rod of the first telescopic hydraulic cylinder 14 is hinged with the upper part of the first push-pull bracket 18; the front end and the rear end of the cylinder body of the second telescopic hydraulic cylinder 15 are respectively hinged to the tops of the first push-pull bracket 18 and the fixed bracket 17, and the front end of the telescopic rod of the second telescopic hydraulic cylinder 15 is hinged to the upper part of the second push-pull bracket 19; the front end and the rear end of the cylinder body of the third telescopic hydraulic cylinder 16 are respectively hinged to the tops of the second push-pull bracket 19 and the first push-pull bracket 18, and the front end of the telescopic rod of the third telescopic hydraulic cylinder 16 is hinged to the upper portion of the third push-pull bracket 20.
The elastic pre-tightening mechanism 9 comprises a guide shaft 21, a compression spring 22, a shaft sleeve 27, a lower supporting rod 23 and a U-shaped plate 24, wherein the rear end of the guide shaft 21 is hinged to the upper part of the front side of the third push-pull support 20, the opening of the U-shaped plate 24 faces downwards, the left side and the right side of the U-shaped plate 24 are respectively and fixedly connected to the left side and the right side of the upper end of the connecting arm 5, a baffle 25 is fixedly arranged at the rear end of the guide shaft 21, a limit adjusting nut 32 is connected to the front end of the guide shaft 21 in a threaded manner, the compression spring 22 and the shaft sleeve 27 are sleeved on the guide shaft 21, a pin shaft 26 is fixedly arranged on the left side and the right side of the shaft sleeve 27, the two pin shafts 26 are rotatably connected to the left side and the right side of the U-shaped plate 24, the front end and the rear end of the compression spring 22 are respectively in press fit with the rear end of the shaft sleeve 27 and the baffle 25, the front end of the lower supporting rod 23 is fixedly connected to the rear side of the upper part of the connecting arm 5, and the rear end of the lower supporting rod 23 is hinged to the lower end of the third push-pull support 20.
The cavitation jet cleaning trolley 6 comprises a shell with an open bottom, a jet pipe is arranged in the shell, a nozzle which sprays downwards is arranged on the jet pipe, universal wheels 28 are arranged at four corners of the lower portion of the shell, a sewage suction port and a high-pressure water port are arranged at the top of the shell, the high-pressure water port is connected with the jet pipe, and palm fiber skirt strips are arranged on the periphery of the lower side edge of the shell, so that a relatively sealed space is formed inside the shell.
The lower rotation of basic arm 10 is provided with dirt absorbing rubber tube reel 29, and the winding of dirt absorbing rubber tube is gone up to dirt absorbing rubber tube reel 29, and the one end of dirt absorbing rubber tube is connected with the dirt absorbing mouth of cavitation jet cleaning trolley 6 downwards after stretching out from hollow basic arm 10, first flexible arm 11, second flexible arm 12, third flexible arm 13 in proper order from back to front, and the other end of dirt absorbing rubber tube is connected with the dirt absorbing pump.
The bottom of the rear side of the base arm 10 is provided with a high-pressure rubber tube reel 30, a high-pressure rubber tube is wound on the high-pressure rubber tube reel 30, one end of the high-pressure rubber tube is connected with a high-pressure water interface at the top of the cavitation jet cleaning trolley 6, and the other end of the high-pressure rubber tube is connected with a high-pressure water pump.
The rotary driving mechanism 2 is connected to the base 1 by adopting a high-strength refining bolt, the rotary driving mechanism 2 is a three-in-one hydraulic motor driving mechanism, and the rotary driving mechanism 2 directly drives the turbine worm gear transmission device by a low-speed high-torque hydraulic motor, so that the upright post 3, the main arm 4, the telescopic arm, the connecting arm 5 and the cavitation jet cleaning trolley 6 realize 360-degree rotation.
The base 1 of the invention can be fixed on a chassis of a truck or a working ship, the truck is adopted to travel along a channel on the road surfaces at the left side and the right side of the channel, and the working ship travels on the water surface in the channel.
The mechanical arm device is flexible to operate, has no secondary pollution to water, has good effect on removing the algae mud mixture on the channel side slope 31, is environment-friendly in the removing process, meets the requirements of ecologically removing the algae mud mixture, and has great significance on guaranteeing the quality of the channel water and the water delivery safety.
The compression spring 22 of the elastic pre-tightening mechanism 9 always pushes against the shaft sleeve 27, the pressure drives the connecting arm 5 to rotate backwards by taking the hinge point of the rear end of the lower supporting rod 23 of the U-shaped plate 24 and the third push-pull bracket 20 as a fulcrum, and as the four universal wheels 28 at the bottom of the cavitation jet cleaning trolley 6 are in rolling connection with the side slope, the cavitation jet cleaning trolley 6 can be ensured to be tightly attached to the channel side slope 31 with a certain pre-tightening force, and the device has a certain error correction capability on the walking deviation of a truck and the gradient change of the channel side slope 31; when the limiting adjusting nut 32 is in jacking contact with the top of the U-shaped plate 24, a mechanical limiting effect is achieved on the backward rotation of the lower part of the connecting arm 5, the multistage telescopic arm and the connecting arm 5 are in rigid connection, and at the moment, the cavitation jet cleaning trolley has the risk of being separated from the working surface of the channel side slope 31. The cavitation jet cleaning trolley 6 realizes ecological cleaning of the algae mud mixture of the channel side slope 31 through an underwater cavitation jet cleaning process; the hydraulic oil source of the hydraulic transmission and control system for driving the hydraulic cylinders and the rotary driving mechanism 2 is from a hydraulic pump, the hydraulic pump is connected with a power output Port (PTO) of an engine of an automobile chassis or a working ship, the control of actuating mechanisms such as a hydraulic motor and the hydraulic cylinders is realized through a multi-way valve, and the hydraulic transmission and control system realizes the actions such as the expansion, the amplitude change, the rotation and the like of the multi-stage telescopic arm through the actuating mechanisms such as the hydraulic motor and the hydraulic cylinders so as to meet the requirements of different working ranges.
In addition, a high-definition camera can be arranged at the front end part of the base arm 10, so that the operation condition of the cavitation jet cleaning trolley 6 can be monitored.
The hydraulic transmission and control system related in the invention is the prior conventional technology, and the specific structure and principle are not repeated.
The present embodiment is not limited in any way by the shape, material, structure, etc. of the present invention, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention are all included in the scope of protection of the technical solution of the present invention.
Claims (4)
1. A arm device for ecologically clear away channel side slope algae mud mixture, its characterized in that: the device comprises a base, a rotary driving mechanism, an upright post, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley;
the rotary driving mechanism is arranged on the base, the lower end of the upright post is fixedly arranged on the rotary driving mechanism, the rear end of the main arm is hinged with the upper end of the upright post, a main arm amplitude hydraulic cylinder positioned at the front side of the upright post is arranged between the main arm and the rotary driving structure, the front end of the main arm is hinged with the rear end of the multi-stage telescopic arm, a telescopic arm amplitude hydraulic cylinder is arranged between the bottom of the main arm and the last section of bottom of the multi-stage telescopic arm, the front end of the multi-stage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, and the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley;
the multi-stage telescopic arm comprises a basic arm, a first telescopic arm, a second telescopic arm, a third telescopic arm, a first telescopic hydraulic cylinder, a second telescopic hydraulic cylinder and a third telescopic hydraulic cylinder;
the first telescopic arm is slidably connected inside the basic arm, the second telescopic arm is movably connected inside the first telescopic arm, the third telescopic arm is movably connected inside the second telescopic arm, the front end of the basic arm is provided with a fixed bracket, the front end of the first telescopic arm is provided with a first push-pull bracket, the front end of the second telescopic arm is provided with a second push-pull bracket, the front end of the third telescopic arm is provided with a third push-pull bracket, the front end and the rear end of a cylinder body of the first telescopic hydraulic cylinder are respectively hinged at the tops of the fixed bracket and the rear end of the main arm, and the front end of a telescopic rod of the first telescopic hydraulic cylinder is hinged with the upper part of the first push-pull bracket; the front end and the rear end of the cylinder body of the second telescopic hydraulic cylinder are respectively hinged to the tops of the first push-pull bracket and the fixed bracket, and the front end of the telescopic rod of the second telescopic hydraulic cylinder is hinged to the upper part of the second push-pull bracket; the front end and the rear end of the cylinder body of the third telescopic hydraulic cylinder are respectively hinged to the tops of the second push-pull bracket and the first push-pull bracket, and the front end of the telescopic rod of the third telescopic hydraulic cylinder is hinged to the upper part of the third push-pull bracket;
the elastic pre-tightening mechanism comprises a guide shaft, a compression spring, a shaft sleeve, a lower supporting rod and a U-shaped plate, wherein the rear end of the guide shaft is hinged to the upper part of the front side of the third push-pull support, the opening of the U-shaped plate is downward, the left side and the right side of the U-shaped plate are respectively and fixedly connected to the left side and the right side of the upper end of the connecting arm, a baffle is fixedly arranged at the rear end of the guide shaft, a limit adjusting nut is in threaded connection with the front end of the guide shaft, the compression spring and the shaft sleeve are sleeved on the guide shaft, a pin shaft is fixedly arranged at the left side and the right side of the shaft sleeve, the two pin shafts are rotatably connected to the left side and the right side of the U-shaped plate, the front end and the rear end of the compression spring are respectively in pressing fit with the rear end of the shaft sleeve and the baffle, the front end of the lower supporting rod is fixedly connected with the rear side of the upper part of the connecting arm, and the rear end of the lower supporting rod is hinged to the lower end of the third push-pull support;
the cavitation jet cleaning trolley comprises a shell with an open bottom, a jet pipe is arranged in the shell, a nozzle which sprays downwards is arranged on the jet pipe, universal wheels are arranged at four corners of the lower portion of the shell, a sewage suction port and a high-pressure water port are arranged at the top of the shell, the high-pressure water port is connected with the jet pipe, and palm fiber skirt strips are arranged on the periphery of the lower side edge of the shell, so that a relatively sealed space is formed inside the shell.
2. The robotic arm assembly for ecologically removing a channel side slope algae mud mixture of claim 1, wherein: the lower rotation of basic arm is provided with the dirt absorbing rubber tube reel, and the winding of dirt absorbing rubber tube is gone up to the dirt absorbing rubber tube reel, and the one end of dirt absorbing rubber tube is connected with the dirt absorbing mouth of cavitation jet cleaning trolley downwards by hollow basic arm, first flexible arm, second flexible arm, the extension of third flexible arm from back forward in proper order, and the other end of dirt absorbing rubber tube is connected with the dirt absorbing pump.
3. The robotic arm assembly for ecologically removing a channel side slope algae mud mixture of claim 1, wherein: the bottom of the rear side of the base arm is provided with a high-pressure rubber tube reel, a high-pressure rubber tube is wound on the high-pressure rubber tube reel, one end of the high-pressure rubber tube is connected with a high-pressure water interface at the top of the cavitation jet cleaning trolley, and the other end of the high-pressure rubber tube is connected with a high-pressure water pump.
4. The robotic arm assembly for ecologically removing a channel side slope algae mud mixture of claim 1, wherein: the rotary driving mechanism is connected to the base by adopting a high-strength refining bolt, is a three-in-one hydraulic motor driving mechanism, and directly drives the turbine vortex rod gear transmission device by a low-speed high-torque hydraulic motor, so that the upright post, the main arm, the telescopic arm, the connecting arm and the cavitation jet cleaning trolley realize 360-degree rotation.
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Address after: 450006 No. 29, Huaihe Road, Zhongyuan District, Henan, Zhengzhou Applicant after: Huanghe Machinery Co.,Ltd. Address before: 450006 No. 29, Huaihe Road, Zhongyuan District, Henan, Zhengzhou Applicant before: YELLOW RIVER MACHINERY FACTORY, YELLOW RIVER CONSERVANCY COMMISSION |
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Inventor after: Shi Huimin Inventor after: Wang Liaoyuan Inventor after: Kong Degang Inventor after: Zhang Wei Inventor after: Li Bin Inventor after: Han Xinmin Inventor after: Zhang Meng Inventor after: Shi Xiaohui Inventor after: Qi Wei Inventor before: Shi Huimin Inventor before: Kong Degang Inventor before: Zhang Wei Inventor before: Li Bin Inventor before: Han Xinmin Inventor before: Zhang Meng Inventor before: Shi Xiaohui Inventor before: Qi Wei |
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