CN112575838B

CN112575838B - A working method of a dredging robot

Info

Publication number: CN112575838B
Application number: CN202011532185.2A
Authority: CN
Inventors: 常留红; 李飘; 袁卓; 章付君; 李晨玉; 石豪杰; 郭洋; 毛聪
Original assignee: Changsha University of Science and Technology
Current assignee: Changsha University of Science and Technology
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2022-02-11
Anticipated expiration: 2040-12-23
Also published as: CN112575838A

Abstract

A working method of a dredging robot, the dredging robot includes a dredging equipment shell, a control part, a monitoring module, a communication module, a power system, and a sewage system; the power system includes a fuselage carrier plate, a hydraulic station, and a hydraulic valve. , oil pipe, crawler motion system, baffle, oil cylinder, hydraulic station is equipped with power motor, oil tank and oil pump; the power motor provides power for the oil pump, and the oil pump sucks the oil in the oil tank and supplies it to the Oil pipeline; wherein the working methods include: real-time monitoring method, traveling dredging method, accumulated silt dredging method, and cleaning method.

Description

Working method of dredging robot

Technical Field

The invention relates to the field of urban pipeline dredging, in particular to a working method of a dredging robot.

Background

The current application fields of dredging equipment are mainly distributed in dredging environments such as dam dredging, circulating water tank dredging, urban underground channel dredging, large-scale pipeline dredging, urban river channel dredging, culverts and the like, the main difficulty of the dredging work is that the operation environment is complex, divers cannot go deep into dangerous zones such as the bottom of the underground channel, and both manual exploration and manual dredging cause great reduction in the work efficiency. For dredging equipment in urban pipe network, due to the fact that municipal pipe network is lack of maintenance all the year round, sludge with the thickness of 0.1-0.7 m is easy to generate, and many old pipelines in urban areas adopt a rain and sewage confluence mode, when the rainfall is large, blockage is easy to cause, and water accumulation in cities is serious. Therefore, the dredging equipment adopting the multifunctional integration type becomes the best choice for completing the work.

More specifically, the disadvantages of the prior art dredging apparatus are as follows:

1. in the dredging equipment in the prior art, adsorbed sludge is transported to a downstream treatment process through a pipeline, however, the sludge pipeline has the requirement of on-off control, so that a valve needs to be arranged on the sludge pipeline, and the valve cannot be supported at all for a flexible pipe; the prior art is inside the valve setting at equipment casing to the solution of this problem, makes equipment casing inside more crowded like this, when having the demand such as change, maintain moreover, the inconvenient problem of dismantling the maintenance with the valve.

2. In the desilting pipeline in the prior art, dead angles exist in important components such as valves after work is finished, and sludge in the dead angles can be deposited and hardened and block the pipeline.

3. The dredging technology in the prior art comprises technologies of purging, cleaning and the like, however, the purging and the cleaning both need extra media, and a large amount of space is occupied by storage of cleaning liquid.

4. The dredging technology in the prior art can only finish single dredging, and the circulating dredging has higher cost and larger occupied space, such as a dredging assembly line.

5. Desilting pipeline under the prior art often is the right angle bending, and the optional slope spigot surface that is provided with, but the setting of spigot surface can not use standard mould, can additionally increase the processing mould cost.

6. For non-flow lines, it is difficult to collect the silt with a single small volume valve or the silt to be removed is placed everywhere.

Disclosure of Invention

In order to overcome the above problems, the present invention proposes a solution to solve the above problems simultaneously.

The technical scheme adopted by the invention for solving the technical problems is as follows: a working method of a dredging robot comprises a dredging equipment shell, a control part, a monitoring module, a communication module, a power system and a sewage discharge system; the power system comprises a machine body support plate, a hydraulic station, a hydraulic valve, an oil pipe, a track motion system, a baffle plate and an oil cylinder, wherein a power motor, an oil tank and an oil pump are arranged in the hydraulic station; the power motor provides power for the oil pump, the oil pump pumps oil in an oil tank out and supplies the oil to the oil pipe, the hydraulic valve controls the on-off of an oil path of the oil pipe, the oil pipe supplies power oil to the crawler movement system, the baffle plate is arranged on the outer side of the crawler movement system, and the machine body support plate is arranged above the crawler movement system;

the working method comprises the following steps: a real-time monitoring method, a traveling dredging method, a piled sludge dredging method and a cleaning method;

the real-time monitoring method comprises the following steps: a guardrail is arranged above the dredging equipment shell, the guardrail surrounds a tool bearing space, the monitoring module is arranged outside the guardrail and is a camera, and the camera transmits acquired information to a remote control end through the communication module;

the sewage discharge system comprises an impeller motor, an internal sewage discharge pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, a packing auger, a butt valve and an external sewage discharge pipe; the impeller motor provides power for the impeller pump, the inner blow-off pipe is connected above the impeller pump, the right side of the impeller pump is connected with one end of the suction pipe, the other end of the suction pipe is connected with the bucket, the packing auger is arranged in the bucket, the hydraulic motor is arranged on the side wall of the bucket, the packing auger is driven by the hydraulic motor to rotate in the bucket, and an inlet channel is arranged in the inner blow-off pipe; the docking valve is arranged on the outer side of the dredging equipment shell and is communicated with the inner sewage discharge pipe and the outer sewage discharge pipe;

the oil pipe oil distribution path is communicated to the oil cylinder and the hydraulic motor, an oil cylinder rod extends out of the oil cylinder, the oil cylinder rod is connected to the outer wall of the bucket, and the oil cylinder rod can drive the bucket to swing;

the advancing dredging method comprises the following steps: the scraper bucket is close to the ground to drive the track motion system to move, meanwhile, the auger is driven to rotate by the hydraulic motor, and the impeller motor provides power to discharge sludge through the sewage suction pipe, the inner sewage discharge pipe and the outer sewage discharge pipe;

the accumulated sludge dredging method comprises the following steps: introducing oil into the oil cylinder, connecting an oil cylinder rod above the bucket, and enabling the oil cylinder rod to contract to drive the bucket to lift up to remove sludge; meanwhile, the hydraulic motor drives the packing auger to rotate, and the impeller motor provides power to discharge sludge through the sewage suction pipe, the inner sewage discharge pipe and the outer sewage discharge pipe;

the butt valve comprises a butt joint block, a bottom plate, a lower valve body, a partition plate, an upper valve body, an upper plate, a mud pushing cylinder, a mud pushing plate, a driving part, a vertical plate, a transverse plate, a mud discharging plate, an opening and closing cylinder, an opening and closing plate, a support rod, an inclined plate, a pin joint part and a mud stacking plate;

the butt joint block is arranged on the dredging equipment shell, the dredging equipment shell is obliquely arranged, the butt joint block is provided with an inclined surface, and the inclined surface is in contact with the dredging equipment shell; a sludge channel is arranged in the butt-joint block and is communicated with the inlet channel in the dredging equipment shell; the sludge channel is vertical to the inlet channel;

the bottom wall of the inlet channel is provided with the supporting rod, the top end of the supporting rod is connected with the inclined plate through the pivoting piece, the mud stacking plate is connected with the right end of the inclined plate, the mud stacking plate is connected with the inclined plate at an angle, and the distance between the left end of the inclined plate and the pivoting piece is smaller than the distance between the right end of the inclined plate and the pivoting piece; during sludge conveying, the sludge stacking plate is close to the bottom wall of the inlet channel;

the upper end of the butt joint block is a horizontal plane, the bottom plate is connected to the upper end of the butt joint block, the lower valve body is connected above the bottom plate, the partition plate is connected above the lower valve body, the upper valve body is connected above the partition plate, the upper plate is connected above the upper valve body, a bottom plate opening is formed in the bottom plate, a partition plate opening is formed in the partition plate, and the diameter of the partition plate opening is smaller than that of the bottom plate opening;

the opening and closing cylinder is arranged on the outer wall of the lower valve body and drives the opening and closing plate penetrating through the outer wall of the lower valve body to open and close the opening of the bottom plate, the mud pushing cylinder is arranged on the outer wall of the upper valve body, a first opening is formed in the left side of the wall of the upper valve body, and a second opening is formed in the right side of the wall of the upper valve body; the driving part is arranged above the upper plate and drives the vertical plate to move up and down, the lower end of the vertical plate is connected with one end of the transverse plate, and the transverse plate can seal the opening of the partition plate;

the vertical plate is provided with a mud pushing opening, and the mud pushing cylinder can drive the mud pushing plate to sequentially penetrate through the first opening, the mud pushing opening and the second opening; the sludge outlet plate is connected to the partition plate below the second opening and extends obliquely downwards to the dredging equipment shell;

the cleaning method comprises the following steps: stopping dredging, enabling the opening and closing plate to be away from the opening of the bottom plate, enabling the transverse plate to move downwards to abut against the inclined plate so as to drive the inclined plate to rotate, enabling the sludge stacking plate to throw accumulated sludge onto the transverse plate when the inclined plate rotates to a horizontal position, and enabling the transverse plate to move upwards to the opening of the partition plate after the transverse plate stops for 10 seconds; the mud pushing plate sequentially penetrates through the first opening, the mud pushing opening and the second opening to push mud in the transverse plate out of the upper valve body, and the mud is guided and discharged through the mud discharging plate.

Further, the driving part is a cylinder type driving part.

Furthermore, the opening and closing cylinder is positioned on the right side of the outer wall of the lower valve body.

Furthermore, the distance between the left end of the inclined plate and the pivot piece is less than half of the distance between the right end of the inclined plate and the pivot piece.

Further, the height dimension of the lower valve body is larger than that of the upper valve body.

Further, silt flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected with the external sewage discharge pipe.

Further, the length dimension of the sloping plate is smaller than the diameter dimension of the sludge channel.

Further, the length of the transverse plate is smaller than that of the inclined plate.

Further, the height of the strut is less than one-half of the height of the inlet channel.

Further, the silt passageway includes the axis, branch is located the left side of axis.

The invention has the beneficial effects that:

1. to background art's 1 st point, set the shell body of desilting robot into the inclined plane, the inclined plane cooperatees with the inclined plane of butt joint piece, and the upper surface of butt joint piece is the horizontally and is used for bearing the control valve to supportable, detachable, easy to maintain have set up the control valve.

2. To background art's 2 nd point, set up the desilting module in the butt joint piece to clear up the silt of siltation, the open-ended diameter of baffle is less than the open-ended diameter of bottom plate, is less than the diameter of silt passageway with the diameter of guaranteeing the diaphragm.

3. To background's 3 rd point, adopt L shaped plate and desilting module cooperation for the silt that the desilting module bore gets rid of on the L shaped plate, thereby collects silt, need not additionally to use cleaning medium, and the distance of swash plate left end and pin joint piece is less than the distance of swash plate right-hand member and pin joint piece, thereby guarantees the focus at pin joint piece right-hand member.

4. To the 4 th point of the background art, the L-shaped plate is provided with the through hole, and the push rod of the air cylinder can penetrate through the through hole to push out the sludge, so that the structure is more compact, and more functions are realized.

5. To background art's 5 th point, the desilting module includes the swash plate, and silt passageway includes the axis, and branch is located the left side of axis, can additionally design alone and guide the flow, has avoided the demand of non-standardized direction pipeline to extra non-standard mould.

6. Aiming at the 6 th point of the background technology, a collecting tank formed by overlapping a sludge outlet plate, a dredging equipment shell and double inclined planes is adopted, and when automatic equipment operates, sludge is not thrown everywhere under the urban environment.

Note: the foregoing designs are not sequential, each of which provides a distinct and significant advance in the present invention over the prior art.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a structural diagram of a pipeline control device arranged outside a dredging robot.

Fig. 2 is a schematic diagram of the invention for cleaning sludge.

Fig. 3 is a diagram of the working condition of the invention for cleaning sludge.

FIG. 4 is an external view of the dredging robot

FIG. 5 is an internal view of the dredging robot

FIG. 6 is a flow chart of the method of operation of the present invention

In the figures, the reference numerals are as follows:

1. the dredging device comprises a dredging equipment shell 2, a butt joint block 3, a bottom plate 4, a lower valve body 5, a partition plate 6, an upper plate 7, a partition plate opening 8, a mud pushing cylinder 9, a mud pushing plate 10, a driving part 11, a vertical plate 12, a transverse plate 13, a mud discharging plate 14, an opening and closing cylinder 15, an opening and closing plate 16, a bottom plate opening 17, an upper valve body 18, an inlet channel 19, a support rod 20, an inclined plate 21, a pivot joint part 22, a mud stacking plate 23, a camera 24, a mud channel 25, an impeller motor 26, a body support plate 27, an internal drainage pipe 28, an impeller pump 29, a hydraulic valve 30, a sewage suction pipe 31, a hydraulic station 32, an oil cylinder 33, an oil pipe 34, a baffle 35, a crawler motion system 36, a hydraulic motor 37, a bucket 38, an auger 39, a suction system 40, an external drainage pipe 28, a hydraulic pump 29, a hydraulic pump 30, a hydraulic motor and a hydraulic pump

Detailed Description

As shown in the figure: a working method of a dredging robot comprises a dredging equipment shell, a control part, a monitoring module, a communication module, a power system and a sewage discharge system; the power system comprises a machine body support plate, a hydraulic station, a hydraulic valve, an oil pipe, a track motion system, a baffle plate and an oil cylinder, wherein a power motor, an oil tank and an oil pump are arranged in the hydraulic station; the power motor provides power for the oil pump, the oil pump pumps oil in an oil tank out and supplies the oil to the oil pipe, the hydraulic valve controls the on-off of an oil path of the oil pipe, the oil pipe supplies power oil to the crawler movement system, the baffle plate is arranged on the outer side of the crawler movement system, and the machine body support plate is arranged above the crawler movement system;

as shown in the figure: the oil pipe oil distribution path is communicated to the oil cylinder and the hydraulic motor, an oil cylinder rod extends out of the oil cylinder, the oil cylinder rod is connected to the outer wall of the bucket, and the oil cylinder rod can drive the bucket to swing;

as shown in the figure: the opening and closing cylinder is arranged on the outer wall of the lower valve body and drives the opening and closing plate penetrating through the outer wall of the lower valve body to open and close the opening of the bottom plate, the mud pushing cylinder is arranged on the outer wall of the upper valve body, a first opening is formed in the left side of the wall of the upper valve body, and a second opening is formed in the right side of the wall of the upper valve body; the driving part is arranged above the upper plate and drives the vertical plate to move up and down, the lower end of the vertical plate is connected with one end of the transverse plate, and the transverse plate can seal the opening of the partition plate;

As shown in the figure: the driving part is a cylinder type driving part. The opening and closing cylinder is positioned on the right side of the outer wall of the lower valve body. The distance between the left end of the inclined plate and the pivoting piece is less than half of the distance between the right end of the inclined plate and the pivoting piece. The height dimension of the lower valve body is larger than that of the upper valve body. The silt flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected with the external sewage discharge pipe. The length dimension of the sloping plate is smaller than the diameter dimension of the sludge channel. The length of diaphragm is less than the length of swash plate. The height of the strut is less than one-half of the height of the inlet channel. The silt passageway includes the axis, branch is located the left side of axis.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A working method of a dredging robot, characterized in that: the dredging robot comprises a dredging equipment shell, a control unit, a monitoring module, a communication module, a power system, a sewage system; the power system includes a fuselage carrier plate , hydraulic station, hydraulic valve, oil pipe, crawler motion system, baffle, oil cylinder, hydraulic station is equipped with power motor, oil tank and oil pump; the power motor provides power for the oil pump, and the oil pump pumps the oil in the oil tank The oil pipe is sucked out and fed into the oil pipe, the hydraulic valve controls the on-off of the oil circuit of the oil pipe, the oil pipe supplies the power oil into the crawler motion system, and the baffle is provided on the outside of the crawler motion system, The fuselage carrier plate is set above the crawler motion system;

The working methods include: real-time monitoring method, traveling dredging method, accumulated silt dredging method, and cleaning method;

The real-time monitoring method includes: a guardrail is arranged above the casing of the dredging equipment, the guardrail encloses a tool carrying space, the monitoring module is arranged on the outer side of the guardrail, and the monitoring module is a camera, and the camera monitors the The collected information is transmitted to the remote control terminal through the communication module;

The sewage system includes an impeller motor, an internal sewage pipe, an impeller pump, a sewage suction pipe, a hydraulic motor, a bucket, an auger, a docking valve, and an external sewage pipe; wherein the impeller motor provides power for the impeller pump, and the The upper part of the impeller pump is connected to the internal sewage pipe, the right side of the impeller pump is connected to one end of the sewage suction pipe, and the other end of the sewage suction pipe is connected to the bucket. The hydraulic motor is arranged on the side wall of the bucket, the hydraulic motor drives the auger to rotate in the bucket, and an inlet channel is arranged in the internal sewage pipe; the docking is arranged on the outside of the dredging equipment shell a valve, the docking valve communicates the internal sewage pipe and the external sewage pipe;

The oil pipe branch is connected to the oil cylinder and the hydraulic motor. An oil cylinder rod extends from the oil cylinder. The oil cylinder rod is connected to the outer wall of the bucket, and the oil cylinder rod can drive the bucket to swing. ;

The traveling dredging method includes: the bucket is close to the ground; the crawler motion system is driven to move, the hydraulic motor drives the auger to rotate, and the impeller motor provides power to pass the sludge through the suction pipe, The internal sewage pipe and the external sewage pipe are discharged;

The method for clearing the accumulated sludge includes: feeding oil into the oil cylinder, the oil cylinder rod is connected above the bucket, and the oil cylinder rod shrinks to drive the bucket to lift up to remove the sludge; at the same time, the hydraulic motor The auger is driven to rotate, and the impeller motor provides power to discharge the sludge through the sewage suction pipe, the internal sewage pipe and the external sewage pipe;

The docking valve includes a docking block, a bottom plate, a lower valve body, a partition plate, an upper valve body, an upper plate, a mud pushing cylinder, a mud pushing plate, a driving part, a vertical plate, a horizontal plate, a mud discharge plate, an opening and closing cylinder, a Closed plate, strut, inclined plate, pivot piece, mud stacking plate;

Wherein the docking block is arranged on the dredging equipment shell, the dredging equipment shell is inclined, the docking block is provided with an inclined surface, and the inclined surface contacts the dredging equipment shell; a sludge channel is arranged in the docking block, and the sludge The channel is communicated with the inlet channel in the shell of the dredging equipment; the silt channel and the inlet channel are perpendicular to each other;

The support rod is provided on the bottom wall of the inlet channel, the top end of the support rod is connected to the inclined plate through the pivot piece, the mud stacking plate is connected to the right end of the inclined plate, and the mud stacking plate is connected to the right end of the inclined plate. It is connected at an angle with the inclined plate, and the distance between the left end of the inclined plate and the pivot piece is smaller than the distance between the right end of the inclined plate and the pivot piece; during the sludge conveying process, the mud stacking plate is close to the the bottom wall of the entryway;

The upper end of the docking block is a horizontal plane, the bottom plate is connected to the upper end of the docking block, the lower valve body is connected above the bottom plate, the partition plate is connected above the lower valve body, and the upper valve is connected above the partition plate The upper valve body is connected to the upper plate, the bottom plate is provided with a bottom plate opening, the partition plate is provided with a partition plate opening, and the diameter of the partition plate opening is smaller than the diameter of the bottom plate opening;

The outer wall of the lower valve is provided with an opening and closing cylinder, and the opening and closing cylinder drives the opening and closing plate passing through the outer wall of the lower valve to open and close the opening of the bottom plate, and the outer wall of the upper valve is provided with the mud pushing cylinder. The left side of the upper valve body wall is provided with a first opening, and the right side is provided with a second opening; the upper part of the upper plate is provided with the driving part, and the driving part drives the vertical plate to move up and down, so The lower end of the vertical plate is connected to one end of the horizontal plate, and the horizontal plate can close the opening of the partition plate;

The vertical plate is provided with a mud pushing port, and the mud pushing cylinder can drive the mud pushing plate to pass through the first opening, the mud pushing port and the second opening in sequence; The mud discharge plate is connected below the hole and on the partition, and the mud discharge plate extends obliquely downward to the shell of the dredging equipment;

The cleaning method includes: stopping the dredging work, the opening and closing plate leaving the opening of the bottom plate, the horizontal plate moving down to abut the inclined plate so as to drive the inclined plate to rotate, and the inclined plate rotating to In the horizontal position, the mud stacking plate throws the accumulated sludge onto the horizontal plate, and after the horizontal plate is stagnant for 10 seconds, the horizontal plate moves upward to the opening of the partition plate; The mud in the horizontal plate is pushed out of the upper valve body through the first opening, the mud pushing port and the second opening, and is guided and discharged through the mud discharge plate.

2 . The working method of a dredging robot according to claim 1 , wherein the driving part is a cylinder-type driving part. 3 .

3 . The working method of a dredging robot according to claim 1 , wherein the opening and closing cylinder is located on the right side of the outer wall of the lower valve. 4 .

4 . The working method of a dredging robot according to claim 1 , wherein the distance between the left end of the inclined plate and the pivot member is less than two times the distance between the right end of the inclined plate and the pivot member. 5 . one part.

5 . The working method of a dredging robot according to claim 1 , wherein the height dimension of the lower valve body is greater than the height dimension of the upper valve body. 6 .

6 . The working method of a dredging robot according to claim 1 , wherein the sludge flows out from the opening on the left side of the lower valve body, and the opening on the left side is externally connected to the external sewage pipe. 7 .

7 . The working method of a dredging robot according to claim 1 , wherein the length dimension of the inclined plate is smaller than the diameter dimension of the silt channel. 8 .

8 . The working method of a dredging robot according to claim 7 , wherein the length of the horizontal plate is smaller than the length of the inclined plate. 9 .

9 . The working method of a dredging robot according to claim 1 , wherein the height of the support rod is less than half of the height of the entrance channel. 10 .

10 . The working method of a dredging robot according to claim 1 , wherein the silt channel comprises a central axis, and the support rod is located on the left side of the central axis. 11 .