CN113931246A

CN113931246A - Dredging robot and dredging system

Info

Publication number: CN113931246A
Application number: CN202111004901.4A
Authority: CN
Inventors: 尹纪富; 周忠玮; 舒敏骅; 陆寅松; 程书凤; 洪国军; 江帅; 张晴波; 刘若元; 冒小丹; 王费新; 梁鑫
Original assignee: CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
Current assignee: CCCC National Engineering Research Center of Dredging Technology and Equipment Co Ltd
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2022-01-14
Anticipated expiration: 2041-08-30
Also published as: CN113931246B; WO2023030145A1

Abstract

The invention discloses a dredging robot and a dredging system, which comprise a moving chassis, a frame rotatably connected on the moving chassis, a driving device for driving the frame to rotate, a mechanical arm arranged on the frame, a suction pipeline and a reamer structure, wherein the reamer structure comprises: the suction device comprises an outer sleeve, a first flange fixed together with the outer sleeve, a second flange fixed together with the outer sleeve and a mechanical arm, a shaft bushing fixed on the first flange, a motor fixed on the second flange, a rotating shaft sleeved in the shaft bushing in the middle, a bearing bush sleeved between the rotating shaft and the shaft bushing, and a reamer head, wherein an opening is formed in the first flange and used for assembling a suction pipeline, and the reamer head surrounds the outer side of a suction inlet of the suction pipeline. Compared with the prior art, the invention can be used for dredging hard soil, and the reamer head has the advantages of large dredging range, high efficiency and flexible control.

Description

Dredging robot and dredging system

Technical Field

The invention belongs to the field of dredging equipment, and particularly relates to a dredging robot and a dredging system.

Background

Although the traditional dredging ship has strong excavating capacity, long conveying distance and high dredging efficiency, the traditional dredging ship has a huge body size and can hardly enter limited space operation such as box culvert and the like.

In order to solve the dredging problem of box culvert and the like, a dredging robot with a smaller size is produced by transportation, but the prior art mainly adopts a mode that a crawler chassis carries a dredge pump and a packing auger. Some existing dredging robots can only move back and forth and rotate left and right through the crawler belt and cannot rotate locally, so that soft deposited silt just in front of the vehicle body can be cleaned, the dredging width is only a little wider than that of the vehicle body, and the dredging range is small. And some dredging robots are improved on platforms similar to excavators, for example, a dredging platform disclosed in CN208152125U, when dredging, the auger rotates to break the soil and then sucks and outputs the crushed soil slurry, and the robot cannot cut hard soil and the operating water depth is not high. In addition, the cleaning precision is often lower because the auger structure is larger.

In some cases, for example, drainage box culvert which receives industrial waste water and waste residue, domestic sewage and rainwater all the year round, the sludge contains slag, silicate, carbonate and the like, and hard hardened soil is formed. Under water, the hard soil is different from ordinary sludge mainly in that:

1) the hardness of the hard hardened soil is high, and the requirements on the structural strength and the soil breaking capacity of a reamer, a bracket, a swing mechanism and even the whole dredging robot are high;

2) the sludge is easy to form slurry when the soil is broken, the hard soil mainly forms solid suspension with a certain particle size when the soil is broken, and the broken soil in the solid suspension is easy to sink and difficult to pump, so that the removal rate is reduced. Wherein, the stereoplasm soil that waits to clear away is below the reamer, leads to the sunction inlet also can not directly set up in the below of reamer head, otherwise influences the reamer work easily.

In view of the above difference 1, CN201447721U discloses an electric reamer driving device, which is intended to obtain sufficient structural strength of the reamer driving part, but still cannot overcome the problem of hard soil that is difficult to suck after breaking soil. Therefore, the existing dredging robot can not effectively cut hard soil and has low dredging and pumping efficiency.

Disclosure of Invention

In order to overcome the above-mentioned disadvantages of the prior art, it is a first object of the present invention to provide a dredging robot to improve structural strength, effectively cut hard soil, and improve a hard soil removal rate.

The invention also provides a dredging system, which adopts the dredging robot to improve the dredging range and precision, and simultaneously adopts a mode of separating a hydraulic station from the robot to reduce the size and weight of the robot and simplify the structure of the robot.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a desilting robot, including the motion chassis, the frame that can link to on the motion chassis rotatably, be used for driving the frame pivoted drive arrangement, locate the arm on the frame, suction pipeline and reamer structure, reamer structure includes: the outer sleeve, with the first flange that outer sleeve one end is fixed together, with the outer sleeve other end with the second flange that the arm is fixed together, be fixed in the bushing block on the first flange, be fixed in motor on the second flange, the middle part cover is in the pivot in the bushing block, the axle bush between pivot and the bushing block is located to the cover to and reamer head, wherein:

the reamer head comprises a plurality of cutter arms, one ends of the cutter arms are fixed together, and cutter teeth are arranged on the outer side walls of the cutter arms;

the output shaft of the motor is in transmission connection with one end of the rotating shaft and is positioned in the outer sleeve, the other end of the rotating shaft extends into the reamer head and is fixed with the reamer head together,

the first flange is provided with an opening for assembling a suction pipeline, and the reamer head surrounds the outer side of a suction inlet of the suction pipeline.

Preferably, a plurality of reinforcing plates are fixedly connected to the outer wall of the shaft bushing, and the reinforcing plates abut against the inner wall of the outer sleeve.

Further, the side wall of the outer sleeve is provided with an opening, and the suction pipeline penetrates out of the opening and is fixed with the outer sleeve.

Further, the output shaft of the motor is connected with the rotating shaft through an elastic coupling.

Furthermore, the inner wall of the shaft bushing is provided with a limiting part, the rotating shaft is sleeved with a first gland, the first gland and the shaft bushing are fixed together, the limiting part and the first gland limit the two ends of the bearing bush, and sealing assemblies are preferably arranged between the first gland and the shaft bushing as well as between the first gland and the rotating shaft.

Preferably, still the cover is equipped with the pressure cover in the pivot, the outside air pocket of pressing the cover has a seal bush, and seal bush with the shaft bushing is together fixed, be equipped with first spacing step in the pivot, be equipped with the spacing step of second on the inner wall of shaft bushing, the cover still is equipped with the bearing between shaft bushing and the pivot, wherein:

the inner side ends of the sealing bush and the pressing sleeve face one side of the bearing for limiting, and the first limiting step and the second limiting step limit the other side of the bearing;

the pressure sleeve is limited in the axial direction and cannot slide along the rotating shaft;

preferably, the bearing is a deep groove ball bearing.

Further, a sealing assembly is arranged between the sealing bush and the pressing sleeve as well as between the sealing bush and the shaft bush, preferably, an annular groove is arranged at the inner edge of the end face of the outer side of the sealing bush and is used for accommodating the sealing assembly arranged between the sealing bush and the pressing sleeve, and the sealing assembly is framework sealing; and a second gland used for blocking the outer side of the framework seal is also fixed on the seal bushing.

A desilting system, includes drive and control platform and above-mentioned desilting robot on water, wherein:

the rotary motion of the mechanical arm is driven by an oil cylinder;

the driving device for driving the frame to rotate is a hydraulic motor;

the motion chassis is provided with a hydraulic motor and is driven to move by hydraulic pressure;

the motor in the reamer structure is preferably a hydraulic motor, and the output rotating speed of the motor is lower than 200 r/min;

the water driving and controlling platform is provided with a hydraulic station, the hydraulic station is connected with an oil cylinder used for driving the mechanical arm, a hydraulic motor used for driving the frame to rotate, a hydraulic motor used for driving the walking chassis and a hydraulic motor in the reamer structure through hydraulic oil pipes, and hydraulic oil and hydraulic driving force are provided.

Furthermore, the mechanical arm is connected to one side end of the frame, a protective cover is arranged on the other side end of the frame, a sealing box used for containing the hydraulic valve group and an underwater dredge pump are further arranged in the protective cover, the underwater dredge pump is connected between a dredge pipe used for conveying dredge slurry and the suction pipeline, and the other end of the dredge pipe is arranged at a discharge position.

Furthermore, a high-pressure flushing port is further arranged on the reamer structure and used for assisting in soil breaking; the mechanical arm is of a double-arm structure.

Compared with the prior art, the invention has the beneficial effects that:

1. the dredging robot carrying the reamer structure has a large dredging range and can be used for dredging hard soil. In addition, a reamer structure with a compact structure is adopted, and enough radial width can be reserved for arranging the suction inlet. In addition, the reamer is beneficial to the miniaturization of the whole size of the reamer.

2. The distance between the suction inlet and the ground breaking position of the reamer head can be set smaller, and the clearing efficiency is higher.

3. One end of the shaft bushing and the rotating shaft are rotatably nested through the bearing bush, the other end of the shaft bushing is rotatably nested through the roller bearing, the structure of one end, connected with the reamer head, of the shaft structure is more compact, the occupied space of the shaft structure is reduced, friction can be reduced, and the structural support effect is improved.

4. The hydraulic driving device and the hydraulic station are arranged separately, so that the structure of the dredging robot is simplified, the risk of underwater fault is reduced, the weight of the dredging robot is reduced, the dredging robot can be lightened and miniaturized structurally, and the dredging robot is easy to adapt to narrow operation space.

5. The dredging robot is more stable in structure and better in balance, and the anti-overturning capacity is improved.

6. The frame and the mechanical arm jointly form a six-degree-of-freedom structure, so that the reamer head can feed in the vertical, left-right and front-back directions as required, the obstacle is flexibly avoided, and meanwhile, the dredging working range is large. Other advantages can also be seen in the contents of the examples.

Drawings

Fig. 1 is a schematic side view of the dredging robot of the embodiment.

Fig. 2 is a schematic view of a reamer configuration of an embodiment, shown in partial section.

Fig. 3 is a schematic view of an axial structure of the reamer structure of the embodiment, showing a partial section.

Fig. 4 is a schematic cross-sectional view of the shaft bushing and the first flange in the embodiment, showing the reinforcing plate.

Fig. 5 is a schematic view of a rotating shaft in the embodiment.

Fig. 6 is a schematic front view of the shaft bushing and the first flange in the embodiment, in which a reinforcing plate is shown in dashed lines on the rear side of the first flange.

FIG. 7 is a schematic view of a dredging system of an embodiment.

Fig. 8 is a schematic view of the dredging robot of the embodiment when breaking the ground.

Description of the figure numbers:

10. the robot comprises a moving chassis, a frame 20, a mechanical arm 30, a mechanical arm 31, a first arm 32, a second arm 33, a cylinder 40, a suction pipeline 41 and a suction inlet.

50. A reamer structure; 510. the rotating shaft, 511, the pressing sleeve and 512, the first limiting step; 520. the shaft bushing comprises a shaft bushing block 521, a first flange 522, an opening 523, a limiting part 524, a second limiting step 525 and a reinforcing plate; 530. a bearing bush, 531, a first gland; 540. the bearing, 541, the seal bush, 542, the groove on the seal bush, 543, the framework seal, 544, the second gland; 550. reamer head 551, arm 552, tooth; 560. motor 561, second flange 562, elastic coupling; 570. outer sleeve 571, hole is opened.

60. The winch comprises an overwater driving and control platform, 610 hydraulic stations, 611 hydraulic oil pipes, 620 underwater dredge pumps, 621 dredge pipes, 630 protective covers, 640 sealing boxes and 650 oil pipes and dredge pipes.

70. Hard soil body.

Detailed Description

The invention is further described below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in fig. 1, the dredging robot of the present embodiment comprises a moving chassis 10, a frame 20 pivotably coupled to the moving chassis 10, a driving device (not shown) for driving the frame 20 to rotate, a robot arm 30 provided on the frame 20, a suction duct 40, and a reamer structure 50.

The moving chassis 10 is used for realizing basic motions such as whole forward, backward and turning, and in the embodiment, the moving chassis 10 is preferably a crawler chassis.

The mechanical arm 30 includes a first arm 31 having one end rotatably connected to the frame 20 and a second arm 32 having one end rotatably connected to the first arm 31, and the other end of the second arm 32 is used for connecting to the reamer structure 50. Wherein, a cylinder 33 is connected between the first arm 31 and the frame 20, and a rotary motion pair is formed between the first arm 31 and the frame 20 under the driving of the cylinder 33; an oil cylinder 33 is also connected between the second arm 32 and the first arm 31, thereby forming a rotary motion pair.

During construction, when the frame 20 rotates, the mechanical arm 30 is driven to rotate, so that the reamer structure 50 arranged at the hand of the mechanical arm 30 can move in a large range. The rotation of the robotic arm 30 may also be adjusted to adjust the working range of the reamer structure 50. It is understood that the structure of the robot arm 30 is not limited to the dual arm and cylinder drive, and other existing structures may be substituted, and other driving devices may be used, and the present invention is not limited thereto.

When the mechanical arm 30 rotates around the moving chassis 10 for dredging hard soil with high hardness, the acting force required to be exerted on the soil is large, and for this reason, the driving device for driving the frame 20 to rotate is preferably a liquid motor to output stable and sufficient torque in the embodiment.

For the prior art, for example, the common sludge removing device is easy to form slurry after the common sludge is mixed with water liquid, has high viscosity coefficient, and is difficult to settle under the stirring action of devices such as a reamer, and the like, so that the corresponding suction inlet is formed by a pipeline opening positioned outside the reamer, and the suction inlet is relatively far away from the reamer and is narrow, and the normal suction is not influenced. However, the crushed soil particles formed after the hard soil is crushed are not easy to form slurry with a high enough viscosity coefficient, so that the structure that the suction port is separated from the reamer head and the distance is far cannot be suitable for the working condition of the hard soil.

In addition, when the reamer breaks the soil, some hard soil is not directly broken into loose particles but irregular soil blocks in irregular shapes such as blocks, sheets and the like, and if the suction port is too far and narrow, the pipeline suction conveying can hardly be realized.

In order to solve the above problem, referring to fig. 2, in the present embodiment, the reamer structure 50 includes: the robot arm comprises an outer sleeve 570, a first flange 521 fixed with one end of the outer sleeve 570, a second flange 561 fixed between the other end of the outer sleeve 570 and the second arm 32 of the robot arm 30 and connecting the two, a shaft bushing 520 fixed on the first flange 521, a motor 560 fixed on the second flange 561, a rotating shaft 510 with the middle part sleeved in the shaft bushing 520, a bearing bush 530 sleeved between the rotating shaft 510 and the shaft bushing 520, and a reamer head 550.

The reamer head 550 comprises a plurality of cutter arms 551, and cutter teeth 552 are arranged on the outer side walls of the cutter arms 551. One ends of the cutter arms 551 are fixed together, and the other ends of the cutter arms 551 are in a semi-embracing posture to form an umbrella-shaped structure.

The second flange 561 is sleeved outside the main body of the motor 560, and the output shaft of the motor 560 extends into the outer sleeve 570. The first flange 521 is sleeved outside the shaft bushing 520, so that most of the shaft bushing 520 is also located inside the outer sleeve 570, and one end of the rotating shaft 510 extends out of the shaft bushing 520 and is in transmission connection with the output shaft of the motor 560.

The other end of the shaft 510 extends into the reamer head 550 and is fixed with the reamer head 550. In this case, the first flange 521 is located just inside the reamer head 550, the first flange 521 is provided with an opening 522, and one end of the suction duct 40 is disposed at the opening 522 or connected to the opening 522 such that the reamer head 550 surrounds the outside of the suction port 41 of the suction duct 40.

For the rotary shaft 510, in its radial direction, the diameter of the rotary shaft 510 is not excessively small in order to maintain strength. For the reamer head 550, the structure thereof cannot be directly increased in size based on the existing reamer head, and the oversized reamer head 550 has a disadvantage of low flexibility in construction, which determines that the whole reamer head 550 cannot be too large.

Therefore, there is a certain limit between the diameter of the rotating shaft 510 and the size of the reamer head 550. Referring to fig. 6, the opening 522 may be allowed to open a maximum width D1 that is constant with the sum of the outer diameter D2 of the bushing 520 given the same overall reamer size. If other existing structures are adopted, the size of the rotary sleeve structure between the shaft bushing 520 and the rotary shaft 510 is large, the occupied space is increased, the outer diameter D2 of the shaft bushing 520 needs to be increased, the maximum allowable opening width D1 of the opening 522 is reduced, and at this time, if the width D1 of the opening 522 needs to be increased, the overall size of the reamer needs to be increased, and the operation flexibility of the reamer is reduced.

In this embodiment, the direction shown in the drawing is taken as a reference direction, the right end of the shaft bushing 520 is rotatably nested with the rotating shaft 510 through the bearing bush 530, the nested structure has high structural strength, occupies a very small space, reserves a relatively large space for opening the opening 522, and can flexibly set the width and size of the opening 522. The shaft structure of the present embodiment enables provision of the larger-sized opening 522 for a given size of the rotating shaft 510 and the reamer head 550, as compared with a socket structure using, for example, a ball bearing.

Preferably, the suction inlet 41 of the suction duct 40 extends into the reamer head 550, and the ratio of the width D1 of the opening 522 to the outer diameter D2 of the shaft bushing 520 can reach 0.65 at maximum when the dimensions of the reamer head 550 and the rotating shaft 510 are given, and the width of the suction inlet 41 and the width of the opening 522 are the same in the radial direction of the rotating shaft 510.

Alternatively, if the suction opening 41 of the suction duct 40 does not extend into the reamer head 550 under tolerable conditions, and the reamer head 550 is only close to and partially surrounds one side of the suction opening 41, the opening 522 of the first flange 521 can be wider, and the width of the corresponding suction opening 41 can also be wider, and the ratio of the width D1 of the opening 522 to the outer diameter D2 of the shaft bushing 520 can reach 0.75 at most. At this time, one ends of the plurality of arms 551 of the reamer head 550 are fixed together and the other ends are fixed together by an annular plate member, and the annular plate member of the reamer head 550 may be caught at the middle of the opening 522.

Therefore, the shaft structure effectively improves the space utilization rate, and has a compact structure and more flexible application. The overall size of the reamer can be kept unchanged according to different requirements, only the first flange 521 needs to be adjusted to obtain the required size of the opening 522, and other components can be unified in specification, so that the cost is reduced.

In operation, reamer head 550 presses on the hard soil, rotates the hack, and simultaneously, the rotation of reamer head 550 also can play the effect of stirring for smaller hack particles below a certain particle size are mixed with water flow. Under the action of the suction water flow and the rotating stirring action of the reamer head 550, the special-shaped soil blocks are further crushed, pass through the gap between the cutter arms 551 of the reamer head 550 and are sucked away from the suction port of the suction pipeline 40.

Furthermore, an opening 571 is formed in the sidewall of the outer sleeve 570, one end of the suction duct 40 is disposed at the opening 522 to form the suction port 41, and the other end of the suction duct 40 penetrates through the opening 571 to be connected with a suction device. A hemispherical grid (not shown) is disposed at the suction inlet 41 of the suction duct 40, and is used as a filtering device for filtering the crushed soil with larger particle size to prevent blockage.

Further, an output shaft of the motor 560 is connected to the rotating shaft 510 through an elastic coupling 562, and the motor 560 is preferably a hydraulic motor. Preferably, the output speed of the motor 560 is less than 200r/min to avoid the addition of a gearbox.

Referring to fig. 3 to 5, further, a limiting portion 523 is disposed on an inner wall of the shaft bushing 520, a first pressing cover 531 is sleeved on the rotating shaft 510, and the first pressing cover 531 is fixed to the shaft bushing 520. Two end faces of the bearing 530 are located between the limiting portion 523 and the first gland 531, and the bearing 530 may be close to the limiting portion 523 and the first gland 531, or may have a small gap. With reference to the direction shown in the figure, the limiting portion 523 limits the left end of the bearing bush 530, and the first gland 531 limits the right end of the bearing bush 530, so as to prevent the bearing bush 530 from sliding arbitrarily along the axial direction of the rotating shaft 510.

When the lubricating oil is filled between the shaft bushing 520 and the rotating shaft 510, a sealing ring is further provided between the first gland 531 and the shaft bushing 520, and a sealing ring is further provided between the first gland 531 and the rotating shaft 510, in order to prevent the lubricating oil from leaking from the first gland 531. Meanwhile, when the underwater work is performed, the sealing ring can prevent water from permeating from the first gland 531.

Preferably, the rotating shaft 510 is further sleeved with a pressing sleeve 511, a sealing bushing 541 is sleeved outside the pressing sleeve 511 in a hollow manner, and the sealing bushing 541 and the shaft bushing 520 are fixed together.

Further, a bearing 540 is disposed between the shaft bushing 520 and the rotating shaft 510, and referring to the direction shown in fig. 1, the right end of the rotating shaft 510 extends out of the shaft bushing 520 by a suitable distance for fixing with the reamer head 550, the bearing bush 530 is disposed between the right portion of the shaft bushing 520 and the rotating shaft 510, and the bearing 540 is disposed between the left portion of the shaft bushing 520 and the rotating shaft 510.

Be equipped with first spacing step 512 on the pivot 510, be equipped with the spacing step 524 of second on the inner wall of bushing 520, wherein:

the inner ends of the sealing bush 541 and the pressing sleeve 511 are stopped against one side of the bearing 540, and the first and second stopping

steps

512, 524 are stopped against the other side of the bearing 540.

Preferably, the bearing 540 is a roller bearing such as a deep groove ball bearing, the sealing bushing 541 and the second limit step 524 are correspondingly clamped on two sides of an outer ring of the bearing 540, and the pressing sleeve 511 and the first limit step 512 are correspondingly clamped on two sides of an inner ring of the bearing 540. With such an arrangement, one end of the shaft bushing 520 is rotatably nested with the bearing bush 530, and the other end of the shaft bushing is rotatably nested with the rotating shaft 510 through the roller bearing, so that the structure of the right part of the shaft structure is more compact, and the occupied space of the shaft structure is reduced. Compared with the mode of only using the bearing bush, the friction can be reduced, and the structural support effect can be improved.

Under the limiting action of the bearing 540, the pressing sleeve 511 cannot slide rightwards along the rotating shaft 510, and when the left end of the rotating shaft 510 is connected with a motor, the pressing sleeve 511 is only pushed rightwards, so that the pressing sleeve 511 can be prevented from sliding leftwards along the rotating shaft 510. In addition, the axial limit of the pressing sleeve 511 can also be realized between the pressing sleeve 511 and the rotating shaft 510 through other limit structures, which is not limited in the present invention.

Further, a sealing ring is disposed between the sealing bush 541 and the shaft bush 520. Preferably, an annular groove 542 is formed in the inner edge of the outer end surface of the seal bushing 541, and a skeleton seal 543 is arranged in the groove 542; a second gland 544 for blocking the outer side of the frame seal 543 is further fixed to the seal bushing 541.

Referring to fig. 6, the opening 22 is preferably a circular arc-shaped hole with a special shape to further increase its cross section.

Preferably, a plurality of reinforcing plates 525 are fixedly connected to the outer wall of the shaft bushing 520. The outer edge of the reinforcement plate 525 abuts against the inner wall of the outer sleeve 570, and thus against the outer side of the shaft bushing 520 and the inner side of the outer sleeve 570 in the radial direction of the shaft bushing 520. In addition, the outer diameter of one end of the shaft bushing 520 is larger, so that a step is formed on the outer wall of the middle portion of the shaft bushing 520, and the reinforcing plate 525 abuts between the step on the outer wall of the middle portion of the shaft bushing 520 and the first flange 521 in the axial direction of the shaft bushing 520.

Example 2

Referring to fig. 7, the dredging system of the present embodiment comprises an above-water driving and controlling platform 61 and the dredging robot of the above embodiment 1, wherein:

the rotary motion of the mechanical arm 30 is driven by an oil cylinder 33;

the driving device for driving the frame 20 to rotate is a hydraulic motor, and provides a large torque for the rotation of the reamer head 550 on the mechanical arm 30 around the moving chassis 10; the reamer head 550 cuts down to break the ground when pressed down, and the reamer head 550 horizontally cuts the ground in left and right rotation directions when rotated around the moving chassis 10.

The moving chassis is provided with a hydraulic motor and travels by hydraulic drive (not shown in the figures);

the motor 560 in the reamer structure 50 is preferably a hydraulic motor, and the output rotating speed of the motor 560 is lower than 200 r/min;

the above-water driving and controlling platform 61 is provided with a hydraulic station 610, and the hydraulic station 610 is connected with the oil cylinder 33 for driving the mechanical arm 30, the hydraulic motor for driving the frame 20 to rotate, the hydraulic motor for walking the chassis and the hydraulic motor 260 in the reamer structure 50 through a hydraulic oil pipe 611, and provides hydraulic oil and hydraulic driving force.

In this embodiment, hydraulic drive device and hydraulic pressure station separation setting have simplified the structure of desilting robot on the one hand, reduce the risk of breaking down under water, and on the other hand can alleviate the weight of desilting robot, make it can be light in structure, miniaturized, adapt to narrow operating space easily.

In addition, the frame 20 is further provided with an underwater dredge pump 620 connected between a dredge pipe 621 for pumping the dredge slurry and the suction pipe 40, and the other end of the dredge pipe 621 is disposed at a discharge position. Preferably, the underwater dredge pump 620 is a conventional pump driven by hydraulic pressure, wherein the component providing the driving is also a hydraulic motor, and therefore, the hydraulic motor is also connected with the hydraulic station 610 and is driven by the hydraulic oil and the hydraulic pressure.

Further, the mechanical arm 30 is connected to the left end of the frame 20, a protective cover 630 is disposed on the right end of the frame 20, and a sealing box 640 for accommodating a hydraulic valve set (not shown) is disposed in the protective cover 630, and the hydraulic valve set is used for being connected to a hydraulic oil pipe of the hydraulic station and controlling the magnitude and direction of hydraulic flow of a corresponding pipe, that is, the movement amplitude and the movement direction of a corresponding motion. The hydraulic valve group is an existing product, and therefore specific structures of the hydraulic valve group are not described in detail. So set up for desilting robot is structurally more stable, and the equilibrium is better, and then has improved antidumping ability. Preferably, the underwater dredge pump 620 is also provided in the shield 630.

Further, a high-pressure flushing port (not shown) is further arranged on the reamer head 550, and a high-pressure water beam sprayed by the high-pressure flushing port during working is used for assisting in soil breaking.

The hydraulic oil pipe 611 and the mud pipe 621 are bound together, and further, the overwater driving and controlling platform 61 further comprises an oil pipe and mud pipe retracting winch 650 which retracts and retracts the hydraulic oil pipe 611 and the mud pipe 621 synchronously according to the water depth and the creeping distance of the dredging robot.

The dredging robot travels through the moving chassis 10, the reamer head 550 continuously rotates, and the working process is as follows with reference to fig. 7:

firstly, the mechanical arm 30 acts to feed the reamer head 550 downwards for a certain step length, and part of the reamer head penetrates into the surface layer of the hard soil body 70; in the process that the whole mechanical arm 30 and the frame 20 rotate clockwise in the horizontal direction, the reamer head 550 feeds a certain angle beta to complete surface layer soil breaking with a certain radian of engineering quantity;

then, the mechanical arm 30 acts to feed the reamer head 550 downwards for a certain step length, at this time, the whole mechanical arm 30 and the frame 20 rotate anticlockwise in the horizontal direction, and the reamer head 550 feeds back for a certain angle beta along with the rotation, so that the ground breaking of the lower layer of the surface layer with a certain radian engineering quantity is completed;

the above steps are repeated with reference to the path of the reamer head 550 shown by arrow C in fig. 8 to realize the dredging of one section layer, and then with reference to the advancing direction of the robot shown by arrow B in fig. 8, the robot arm 30 can be actuated to realize the forward feeding, and the moving base 10 can also be actuated to move the whole robot forward to carry out the dredging of the next section layer.

Taking hard clay with a cohesive force of 100kPa as an example, the reamer head 550 can generate a horizontal soil resistance of 13kN at most during cutting, and taking a maximum working radius of about 2.5m as an example, the required maximum turning moment is 32.5 kNm. The driving device for driving the frame 20 to rotate according to the present embodiment is a hydraulic motor, and provides sufficient output torque. The high-pressure flushing port sprays high-pressure water columns towards the outer side of the reamer head 550 synchronously, so that the effects of breaking soil and flushing the reamer are achieved, meanwhile, large special-shaped soil blocks cut by the reamer head 550 can be scattered into smaller soil blocks or particles, and pipeline conveying is facilitated.

The mechanical arm 30 is a double-arm structure, and after dredging of one section layer is completed, the reamer head 550 can be fed forwards in the direction shown by an arrow B in the figure through the action of the mechanical arm 30, and the reamer head 550 can also be fed forwards through the whole forward movement of the robot, so that the next section layer in front is dredged layer by layer from top to bottom.

Considering the rotation of the frame 20, the robot is constructed to have six degrees of freedom along with the robot arm 30, and the robot is very flexible in overall operation and can feed in the up-down, left-right, and front-rear directions as desired. The device can flexibly avoid obstacles such as columns in the box culvert.

The embodiments of the present invention are merely illustrative, and not restrictive, of the scope of the claims, and other substantially equivalent alternatives may occur to those skilled in the art and are within the scope of the present invention.

Claims

1. A dredging robot is characterized by comprising a motion chassis, a frame which is rotatablely connected to the motion chassis, a driving device for driving the frame to rotate, a mechanical arm arranged on the frame, a suction pipeline and a reamer structure;

the reamer structure includes: the outer sleeve, with the first flange that outer sleeve one end is fixed together, with the outer sleeve other end with the second flange that the arm is fixed together, be fixed in the bushing block on the first flange, be fixed in motor on the second flange, the middle part cover is in the pivot in the bushing block, the axle bush between pivot and the bushing block is located to the cover to and reamer head, wherein:

the reamer head comprises a plurality of cutter arms with one ends fixed together, cutter teeth are arranged on the outer side walls of the cutter arms,

2. The desilting robot as recited in claim 1, wherein a plurality of reinforcing plates are fixedly attached to an outer wall of the shaft bushing, and the reinforcing plates abut against an inner wall of the outer sleeve.

3. The desilting robot of claim 1, wherein the outer sleeve has an opening in a sidewall thereof, the suction line extending through the opening and being secured to the outer sleeve.

4. The desilting robot as recited in claim 1, wherein the output shaft of the motor is coupled to the shaft by an elastic coupling.

5. The dredging robot of claim 1, wherein the inner wall of the shaft bushing is provided with a limiting part, the rotating shaft is sleeved with a first pressing cover, and the first pressing cover is fixed with the shaft bushing, wherein the limiting part and the first pressing cover limit two ends of the bearing bush, and a sealing assembly is preferably arranged between the first pressing cover and the shaft bushing as well as between the first pressing cover and the rotating shaft.

6. The dredging robot of claim 5, wherein the rotating shaft is further sleeved with a pressing sleeve, a sealing bushing is sleeved outside the pressing sleeve in a hollow manner and fixed with the shaft bushing, the rotating shaft is provided with a first limiting step, the inner wall of the shaft bushing is provided with a second limiting step, and a bearing is further sleeved between the shaft bushing and the rotating shaft, wherein:

preferably, the bearing is a deep groove ball bearing.

7. The dredging robot of claim 6, wherein a sealing assembly is arranged between the sealing bushing and the pressing sleeve and between the sealing bushing and the shaft bushing, preferably, an annular groove is arranged at the inner edge of the outer end face of the sealing bushing for accommodating the sealing assembly arranged between the sealing bushing and the pressing sleeve, and the sealing assembly is a skeleton seal; and a second gland used for blocking the outer side of the framework seal is also fixed on the seal bushing.

8. A dredging system, characterized in comprising an above-water drive and control platform and a dredging robot according to any one of claims 1-7, wherein:

the rotary motion of the mechanical arm is driven by an oil cylinder;

the driving device for driving the frame to rotate is a hydraulic motor;

9. The dredging system of claim 8, wherein the mechanical arm is connected to one end of the frame, the other end of the frame is provided with a protective cover, the protective cover is internally provided with a sealing box for accommodating the hydraulic valve group and an underwater dredge pump, the underwater dredge pump is connected between a dredge pipe for conveying dredge slurry and the suction pipeline, and the other end of the dredge pipe is arranged at a discharge position.

10. The dredging system of claim 8, wherein the reamer is further provided with a high pressure flushing port, and the mechanical arm is of a double-arm structure.