CN114455038B - Underwater operation robot - Google Patents

Abstract

The invention relates to the field of underwater mechanical equipment, in particular to an underwater operation robot, which comprises a chassis, wherein an emergency rotating mechanism is arranged on a travelling mechanism of the chassis, the emergency rotating mechanism comprises a left reversing valve and a right reversing valve, the travelling motor of the travelling mechanism comprises a left travelling motor and a right travelling motor, a left travelling motor bypass A port and a left travelling motor bypass B port are arranged on the left travelling motor, the left travelling motor bypass A port is connected with the left travelling motor bypass B port through the left reversing valve, a right travelling motor bypass A port and a right travelling motor bypass B port are arranged on the right travelling motor, the right travelling motor bypass A port is connected with the right travelling motor bypass B port through the right reversing valve, a cable bearing connecting mechanism is arranged on the chassis, and a storage basket which can be lifted and laid down is arranged on the chassis.

Description

Underwater operation robot

Technical Field

The invention relates to the field of underwater mechanical equipment, in particular to an underwater operation robot.

Background

The abominable danger of environment under water, people's dive degree of depth is limited, so underwater operation robot has become the important instrument in development ocean, when underwater operation robot leads to the unable walking of robot running gear because communication or valves trouble, the solution has this moment: firstly, on-site maintenance is carried out, secondly, a walking motor of the walking mechanism is detached, braking is manually released, thirdly, the walking mechanism is directly dragged away, and the problems existing in the first solution mode are that maintenance personnel need to dive into underwater operation for on-site maintenance, the underwater maintenance time is long, the problem is difficult to solve for a moment, the requirements on the physical quality and the maintenance capability of the maintenance personnel are high, the maintenance personnel need to be vigilant of the surrounding environment, particularly, the underwater environment of dredging operation is turbid, object and breath are difficult to see, and operation is very inconvenient; the second solution has the problems that the walking motor is underwater, maintenance personnel are required to submerge the walking motor for operation, and the walking motor is inconvenient to dismantle due to more connecting pipelines; the problem that the third kind of solution exists is that directly drag and lead to the running gear's tire or track and submarine ground between frictional force big, it is big to tire or track damage, simultaneously the robot is very heavy, the power that needs to drag is also very big, waste time and energy, and, prior art underwater operation robot is when dragging, hold the cable on the underwater operation robot usually, the cable is usually connected with underwater operation robot's electrical storage bin in one end usually, the other end is connected with control equipment or power supply unit on water, draw underwater operation robot through the cable is hard, the cable atress is big, very easy fracture, there is the potential safety hazard.

In addition, when the existing underwater operation robot carries out dredging operation, silt and sundries are captured by a bucket of a bucket mechanism and are placed in a storage basket, the mechanical arm is large in movement angle, the highest operation height of the mechanical arm is required, the position from which the mechanical arm bucket collects the silt and the sundries to the storage basket is located in the front of the storage basket, so that the silt and the sundries in the front of the storage basket are accumulated, and the silt and the sundries are few at the rear end of the storage basket, so that the space of the storage basket is wasted.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provide the underwater operation robot which has the advantages of ingenious structure, small friction between a crawler and the ground, small cable stress, difficult cable fracture, time and labor saving in dragging, full storage basket, no space waste and high dredging efficiency, wherein a walking motor can be changed into a passive rotating state from a locking state when the robot breaks down.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

an underwater operation robot, includes the chassis, its characterized in that: the chassis is characterized in that an emergency rotating mechanism is arranged on a traveling mechanism of the chassis, the emergency rotating mechanism comprises a left reversing valve and a right reversing valve, the traveling motor of the traveling mechanism comprises a left traveling motor and a right traveling motor, a left traveling motor bypass A port and a left traveling motor bypass B port are arranged on the left traveling motor, the left traveling motor bypass A port is connected with the left traveling motor bypass B port through the left reversing valve, a right traveling motor bypass A port and a right traveling motor bypass B port are arranged on the right traveling motor, the right traveling motor bypass A port is connected with the right traveling motor bypass B port through the right reversing valve, the left reversing valve and the right reversing valve are respectively fixed on a rack of the chassis, so that when a robot fails to travel, the left reversing valve and the right reversing valve are started, hydraulic oil in the left traveling motor flows into the left reversing valve through the left traveling motor bypass A port and then flows back to the left traveling motor bypass B port to form a passage, the left traveling motor can rotate through a towing motor, the right traveling motor bypass A port can rotate through a towing motor, and hydraulic oil can flow back to the right traveling motor through a small towing motor bypass A port, thereby facilitating the towing of the towing motor to rotate.

The chassis is provided with a cable bearing connecting mechanism, the cable bearing connecting mechanism comprises a cable body, a bearing seat, a fixing sleeve, a locking seat, a connecting rope and connecting glue, a cable through groove is arranged in the bearing seat, the fixing sleeve is arranged at one end of the bearing seat, a hinge hole is arranged at the other end of the bearing seat, a cable outlet is arranged on the bearing seat, the cable outlet is communicated with the cable through groove, the locking seat is arranged in the cable through groove, the locking seat is axially provided with locking cable through holes, connecting hole groups are circumferentially arranged on the outer wall of the locking seat at intervals, the connecting hole groups comprise connecting holes axially arranged at intervals, the connecting rope is arranged on the connecting hole groups, the connecting holes are communicated with the locking cable through holes, one end of one connecting rope is arranged in the fixing sleeve, the other end of the cable body sequentially penetrates through each connecting hole of a row of connecting hole groups on the locking seat and then is arranged in the cable through groove, one end of the cable body sequentially penetrates through the locking cable through hole of the locking seat, the cable through groove and the cable outlet of the bearing seat and is connected with an electrical bin of the chassis, the other end of the cable body is fixedly connected with the fixing sleeve through the connecting rope, connecting glue is arranged in the cable through groove, the cable body in the cable through groove is respectively and fixedly connected with the bearing seat, the connecting rope and the locking seat through the connecting glue, the locking seat is fixedly connected with the bearing seat to be beneficial to fixing the cable body on the bearing seat, so that the acting force for dragging the cable body is transferred to the bearing seat, the acting force on the cable body during dragging is reduced, and the cable body and the bearing seat are convenient to install and are tightly connected.

The locking seat is uniformly and radially provided with the convex blocks, the convex blocks radially extend towards the inner side of the locking seat to form the inner convex blocks, and the convex blocks radially extend towards the outer side of the locking seat to form the outer convex blocks, so that the convex blocks can extrude the cable body to realize the fixed connection with the cable body.

The connecting rope is made of Kevlar, and has the advantages of acid and alkali resistance, good corrosion resistance, high structural strength, high wear resistance and high tear resistance.

The annular groove is formed in one end, facing the fixed sleeve, of the bearing seat, the fixed sleeve comprises an upper fixed sleeve and a lower fixed sleeve, the upper fixed sleeve and the lower fixed sleeve respectively comprise a front section of the fixed sleeve and a rear section of the fixed sleeve, the front section of the fixed sleeve is sleeved on the bearing seat and matched with the bearing seat, a baffle table is arranged radially inwards at the front end of the front section of the fixed sleeve, the rear end of the front section of the fixed sleeve is fixedly connected with the rear section of the fixed sleeve, the rear section of the fixed sleeve is fixedly connected with a cable body, the upper fixed sleeve is fixedly connected with the lower fixed sleeve in a buckling mode, and the baffle table is embedded into the annular groove to fixedly connect the upper fixed sleeve and the lower fixed sleeve with the bearing seat.

According to the invention, the end of the fixing sleeve, which is far away from the bearing seat, is provided with the fixing buckle, one end of the fixing buckle is fixedly connected with the fixing sleeve, and the other end of the fixing buckle is fixedly connected with the cable body through the connecting rope, so that the stability of connection between the cable body and the fixing sleeve as well as between the cable body and the bearing seat can be further improved through the buckle.

The fixing sleeve is provided with the buckle limiting groove, the fixing buckle comprises an upper buckle and a lower buckle, the upper buckle and the lower buckle respectively comprise a buckle front section and a buckle rear section, the buckle front section is sleeved on the fixing sleeve and matched with the fixing sleeve, the front end of the buckle front section is radially inwards provided with the limiting block, the rear end of the buckle front section is fixedly connected with the buckle rear section, the buckle rear section is fixedly connected with the cable body, the upper buckle and the lower buckle are buckled and fixedly connected, and the limiting block is arranged in the buckle limiting groove to fixedly connect the upper buckle and the lower buckle with the fixing sleeve.

The upper buckle and the lower buckle are respectively internally provided with the semicircular extrusion rings at intervals, so that the cable body is extruded by the extrusion rings, and the fixing strength of the cable body is improved.

According to the invention, the connecting rope on the locking seat forms a bearing layer, the protective layer is arranged between the bearing layer and the fixed sleeve as well as between the bearing layer and the fixed buckle, the protective layer is sleeved on the bearing layer, the fixed sleeve is fixedly connected with the cable body through the bearing layer and the protective layer, and the fixed buckle is fixedly connected with the cable body through the bearing layer and the protective layer, so that the cable body is protected through the protective layer.

The other end of the bearing seat is provided with the bearing lug seat, the bearing seat is hinged with the bearing lug seat, and the bearing lug seat is provided with the mounting hole, so that the bearing lug seat can be conveniently mounted on underwater equipment through the mounting hole, and the bearing ear seat is convenient to mount and dismount and reliable in connection.

According to the invention, the chassis is provided with the storage basket, the front part below the storage basket is at least provided with one lifting hydraulic cylinder, the rear end of the storage basket is hinged with the frame of the chassis, the front part of the lower end surface of the storage basket is provided with the chute, the cylinder seat of the lifting hydraulic cylinder is fixedly connected with the frame of the chassis, the front end of the extension rod of the lifting hydraulic cylinder is propped against the chute, when the lifting hydraulic cylinder is started, the extension rod of the lifting hydraulic cylinder slides along the chute to lift the front part of the storage basket, so that the lifting hydraulic cylinder is favorable for lifting the storage basket, sludge or garbage at the front part of the storage basket is moved backwards, the storage basket can be filled, and the space is not wasted.

According to the invention, the storage frame is arranged between the storage basket and the chassis, the storage groove is formed in the upper end of the storage frame, the storage basket is embedded into the storage groove and connected with the storage frame, the rear end of the storage frame is hinged with the chassis, the front part of the lower end face of the storage frame is provided with the chute, the cylinder seat of the lifting hydraulic cylinder is fixedly connected with the frame of the chassis, the front end of the extension rod of the lifting hydraulic cylinder abuts against the chute, when the lifting hydraulic cylinder is started, the extension rod of the lifting hydraulic cylinder slides along the chute to lift the front part of the storage frame, so that the storage basket is convenient to take away, maintain or replace.

According to the invention, the hydraulic lifting platform is arranged between the material storage frame and the chassis, the lower end of the hydraulic lifting platform is fixedly connected with the frame of the chassis, the front part of the hydraulic lifting platform is provided with the sliding slot hole, the material storage frame is arranged at the upper end of the hydraulic lifting platform, the rear end of the material storage frame is hinged with the hydraulic lifting platform, the lower end of the front part of the material storage frame is abutted against the hydraulic lifting platform, and the extension rod of the lifting hydraulic cylinder penetrates through the sliding slot hole to be abutted against the sliding slot, so that the material storage basket is lifted up after being filled with silt and sundries through the hydraulic lifting platform, and a crane can conveniently take away the silt and sundries.

The left reversing valve and the right reversing valve are two-position two-way reversing valves respectively.

The left reversing valve and the right reversing valve are electromagnetic reversing valves respectively, so that the electromagnetic reversing valve is convenient to adjust and high in response speed.

By adopting the structure, the invention has the advantages of ingenious structure, small friction between the crawler and the ground, small cable stress, difficult fracture of the cable, time and labor saving in dragging, full storage basket, no waste of space, high dredging efficiency and the like, and the walking motor can be changed into a passive rotating state from a locking state when the machine fails.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is an enlarged view of a portion of fig. 1 of the present invention.

Fig. 3 is a side view of the present invention.

FIG. 4 is a schematic view of the storage basket of the present invention.

Fig. 5 is a schematic view of the front portion of the magazine being lifted in the present invention.

Fig. 6 is an enlarged schematic view of a magazine basket of the present invention disposed in a magazine rack.

Fig. 7 is a partial cross-sectional view of fig. 6 of the present invention.

Figure 8 is an enlarged schematic view of the load bearing coupling mechanism of the present invention.

Figure 9 is an enlarged schematic view of the load bearing connection mechanism of the present invention with the cable removed.

FIG. 10 is an enlarged view of the load bearing layer of the present invention.

FIG. 11 is an enlarged view of the upper or lower clasp of the present invention.

Reference numerals: chassis 1, running gear 2, emergency slewing mechanism 3, left switching valve 4, right switching valve 5, left running motor 6, right running motor 7, left running motor bypass a port 8, left running motor bypass B port 9, right running motor bypass a port 10, right running motor bypass B port 11, left running motor a port 12, left running motor B port 13, right running motor a port 14, right running motor B port 15, left switching valve a port 16, left switching valve B port 17, right switching valve a port 18, right switching valve B port 19, storage basket 20, storage rack 21, lifting hydraulic cylinder 22, chute 23, hydraulic lifting platform 24, cable body 30, bearing connection mechanism 31, bearing seat 32, fixing sleeve 33, locking seat 34, bearing layer 35, lug 36, cable groove 37, cable outlet connection hole 38, connection rope 39, upper fixing sleeve 41, lower fixing sleeve 42, front section 43, rear section 44, rear fixing block 44, upper fixing sleeve 44, bearing fixing sleeve 48, limiting block 48, bearing block clamp buckle 48, upper fixing sleeve 48, limiting block 48, and extrusion clamp block 52.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.

An underwater operation robot, comprising a chassis 1, characterized in that: the hydraulic oil dragging device is characterized in that an emergency rotating mechanism 3 is arranged on a traveling mechanism 2 of a chassis 1, the emergency rotating mechanism 3 comprises a left reversing valve 4 and a right reversing valve 5, a traveling motor of the traveling mechanism 2 comprises a left traveling motor 6 and a right traveling motor 7, a left traveling motor bypass A port 8 and a left traveling motor bypass B port 9 are arranged on the left traveling motor 6, the left traveling motor bypass A port 8 is connected with the left traveling motor bypass B port 9 through the left reversing valve 4, a right traveling motor bypass A port 10 and a right traveling motor bypass B port 11 are arranged on the right traveling motor 7, the right traveling motor bypass A port 10 is connected with the right traveling motor bypass B port 11 through the right reversing valve 5, the left reversing valve 4 and the right reversing valve 5 are respectively fixed on a frame of the chassis 1, so that when a robot fails to walk, the left reversing valve and the right reversing valve are started, hydraulic oil in the left traveling motor flows into the left traveling motor bypass B through the left traveling motor bypass A port and then flows back into the left traveling motor B through the right reversing valve, hydraulic oil dragging flow into a small traveling motor bypass B through a small friction passage, hydraulic oil dragging flow passage A can be dragged by the right traveling motor B, and hydraulic oil can flow into a small friction passage, and flow into the right traveling motor bypass B, and flow into a small friction passage.

The chassis 1 is provided with a cable bearing connecting mechanism 31, the cable bearing connecting mechanism 31 comprises a cable body 30, a bearing seat 32, a locking seat 34, a connecting rope 39 and connecting glue, a cable through groove 37 is arranged in the bearing seat 32, one end of the bearing seat 32 is provided with a fixing sleeve 33, the other end of the bearing seat is hinged with a frame of the chassis 1, the bearing seat 32 is provided with a cable outlet 38, the cable outlet 38 is communicated with the cable through groove 37, the cable through groove 37 is internally provided with the locking seat 34, the locking seat 34 is axially provided with a locking cable through hole, the outer wall of the locking seat 34 is circumferentially provided with connecting hole groups at intervals, the connecting hole groups comprise connecting holes 40 axially arranged at intervals, the connecting rope 39 is arranged on the connecting hole groups, the connecting holes 40 are communicated with the locking cable through holes, one end of one connecting rope 39 is arranged in the fixing sleeve 33, the other end of the cable body 30 sequentially penetrates through each connecting hole 40 of the last row of connecting hole groups of the locking seat 34 and then is arranged in the cable through groove 37, one end of the cable body 30 sequentially penetrates through the locking cable through hole of the locking seat 34, the cable through groove 37 and the cable outlet 38 of the bearing seat 32 and is connected with the electrical bin of the chassis 1, the other end of the cable body is fixedly connected with the fixing sleeve 33 through the connecting rope 39, connecting glue is arranged in the cable through groove 37, the cable body 30 positioned in the cable through groove 37 is respectively fixedly connected with the bearing seat 32, the connecting rope 39 and the locking seat 34 through the connecting glue, the locking seat 34 is fixedly connected with the bearing seat 32 so as to be beneficial to fixing the cable body on the bearing seat, the acting force for dragging the cable body is transferred to the bearing seat, the acting force on the cable body during dragging is reduced, the cable body and the bearing seat are convenient to install and are tightly connected

The locking seat 34 is uniformly and radially provided with the convex blocks 36, the convex blocks 36 radially extend towards the inner side of the locking seat 34 to form inner convex blocks, and the convex blocks 36 radially extend towards the outer side of the locking seat 34 to form outer convex blocks, so that the convex blocks can extrude the cable body to realize the fixed connection with the cable body.

The connecting rope 39 is made of Kevlar, and has the advantages of acid and alkali resistance, good corrosion resistance, high structural strength, high wear resistance and high tear resistance.

The end of the bearing seat 32 facing the fixing sleeve 33 is provided with an annular groove, the fixing sleeve 33 comprises an upper fixing sleeve 41 and a lower fixing sleeve 42, the upper fixing sleeve 41 and the lower fixing sleeve 42 respectively comprise a fixing sleeve front section 43 and a fixing sleeve rear section 44, the fixing sleeve front section 43 is sleeved on the bearing seat 32 and matched with the bearing seat 32, the front end of the fixing sleeve front section 43 is radially inwards provided with a baffle table 45, the rear end of the fixing sleeve front section 43 is fixedly connected with the fixing sleeve rear section 44, the fixing sleeve rear section 44 is fixedly connected with the cable body 30, the upper fixing sleeve 41 is fixedly connected with the lower fixing sleeve 42 in a buckling manner, and the baffle table 45 is embedded into the annular groove to fixedly connect the upper fixing sleeve 41 and the lower fixing sleeve 42 with the bearing seat 32, so that the connection is convenient and the installation is reliable.

According to the invention, one end of the fixing sleeve 33, which is far away from the bearing seat 32, is provided with the fixing buckle 46, one end of the fixing buckle 46 is fixedly connected with the fixing sleeve 33, and the other end of the fixing buckle 46 is fixedly connected with the cable body 30 through the connecting rope 39, so that the connection stability of the cable body, the fixing sleeve and the bearing seat can be further improved through the buckle.

The fixing sleeve 33 is provided with a buckle limiting groove, the fixing buckle 46 comprises an upper buckle 47 and a lower buckle 48, the upper buckle 47 and the lower buckle 48 respectively comprise a buckle front section and a buckle rear section, the buckle front section is sleeved on the fixing sleeve 33 and matched with the fixing sleeve 33, a limiting block 49 is arranged in the radial direction of the front end of the buckle front section, the rear end of the buckle front section is fixedly connected with the buckle rear section, the buckle rear section is fixedly connected with the cable body 30, the upper buckle 47 is fixedly connected with the lower buckle 48 in a buckling manner, and the limiting block 49 is arranged in the buckle limiting groove to fixedly connect the upper buckle 47 and the lower buckle 48 with the fixing sleeve 33, so that the connection is convenient and the installation is reliable.

The upper buckle 47 and the lower buckle 48 are respectively provided with the semicircular extrusion rings 53 at intervals, so that the cable body is extruded by the extrusion rings, and the fixing strength of the cable body is improved.

According to the invention, the connecting rope 39 on the locking seat 34 forms a bearing layer 35, a protective layer 51 is arranged between the bearing layer 35 and the fixed sleeve 33 and between the fixed buckle 46 and the fixed sleeve 33, the protective layer 51 is sleeved on the bearing layer 35, the fixed sleeve 33 is fixedly connected with the cable body 30 through the bearing layer 35 and the protective layer 51, and the fixed buckle 46 is fixedly connected with the cable body 30 through the bearing layer 35 and the protective layer 51, so that the cable body is protected through the protective layer.

The bearing ear seat 52 is arranged at the other end of the bearing seat 32, the bearing seat 32 is hinged with the bearing ear seat 52, and the bearing ear seat 52 is provided with the mounting hole, so that the bearing ear seat can be conveniently mounted on underwater equipment through the mounting hole, and the bearing ear seat is convenient to mount and dismount and reliable in connection.

According to the invention, the chassis 1 is provided with the storage basket 20, the front part below the storage basket 20 is at least provided with one lifting hydraulic cylinder 22, the rear end of the storage basket 20 is hinged with the frame of the chassis 1, the front part of the lower end face of the storage basket 20 is provided with the sliding groove 23, the cylinder seat of the lifting hydraulic cylinder 22 is fixedly connected with the frame of the chassis 1, the front end of the extension rod of the lifting hydraulic cylinder 22 is abutted against the sliding groove 23, when the lifting hydraulic cylinder 22 is started, the extension rod of the lifting hydraulic cylinder 22 slides along the sliding groove 23 to lift the front part of the storage basket 20, so that the storage basket is lifted by the lifting hydraulic cylinder, sludge or garbage in the front part of the storage basket is moved backwards, the storage basket can be filled, and space is not wasted.

According to the invention, a storage frame 21 is arranged between a storage basket 20 and a chassis 1, a storage groove is arranged at the upper end of the storage frame 21, the storage basket 20 is embedded into the storage groove and connected with the storage frame 21, at least one lifting hydraulic cylinder 22 is arranged at the front part below the storage frame 21, the rear end of the storage frame 21 is hinged with a frame of the chassis 1, a chute 23 is arranged at the front part of the lower end face of the storage frame 21, a cylinder seat of the lifting hydraulic cylinder 22 is fixedly connected with the frame of the chassis 1, the front end of an extension rod of the lifting hydraulic cylinder 22 abuts against the chute 23, when the lifting hydraulic cylinder 22 is started, the extension rod of the lifting hydraulic cylinder 22 slides along the chute 23 to lift the front part of the storage frame 21, so that the storage basket is convenient to take away, maintain or replace.

According to the invention, the hydraulic lifting platform 24 is arranged between the material storage frame 21 and the chassis 1, the lower end of the hydraulic lifting platform 24 is fixedly connected with the frame of the chassis 1, the front part of the hydraulic lifting platform 24 is provided with a sliding slot hole, the material storage frame 21 is arranged at the upper end of the hydraulic lifting platform 24, the rear end of the material storage frame 21 is hinged with the hydraulic lifting platform 24, the lower end of the front part of the material storage frame 21 is abutted against the hydraulic lifting platform 24, and the extension rod of the lifting hydraulic cylinder 22 penetrates through the sliding slot hole to be abutted against the sliding slot 23, so that the material storage basket is lifted up after being filled with silt and sundries through the hydraulic lifting platform, and a crane can take away conveniently.

The left reversing valve 4 and the right reversing valve 5 are two-position two-way reversing valves respectively.

The left reversing valve 4 and the right reversing valve 5 are electromagnetic reversing valves respectively, so that the electromagnetic reversing valve is convenient to adjust and high in response speed.

When in use, as shown in the attached drawings 1 and 2, the underwater operation robot is exemplified by a dredging robot, the chassis 1 of the robot adopts the prior art, the chassis 1 is provided with a control system, a bucket mechanism and a traveling mechanism 2, the bucket mechanism, the traveling mechanism 2, a left reversing valve and a right reversing valve are controlled by the control system, the control system is connected with an overwater control box through cables, generally, a left traveling motor A port 12 and a left traveling motor B port 13 are arranged on a left traveling motor 6, a right traveling motor A port 14 and a right traveling motor B port 15 are arranged on a right traveling motor 7, the A port and the B port are respectively an oil outlet and an oil inlet, the left traveling motor A port 12 and the left traveling motor B port 13 on the left traveling motor 6 and the right traveling motor A port 14 and the right traveling motor B port 15 on the right traveling motor 7 are respectively connected with a control element of a hydraulic system through pipelines, A control element in a hydraulic system conveys hydraulic oil to a left walking motor 6 and a right walking motor 7, so that a left walking motor A port 12 and a left walking motor B port 13 form a loop, a right walking motor A port 14 and a right walking motor B port 15 form a loop, walking of a walking mechanism 2 is realized, when the robot is in a braking state, in order to keep the parking posture of the robot under the condition of power cut, a balance valve can be respectively arranged on the left walking motor 6 and the right walking motor 7 to keep the posture, the balance valve is connected with the hydraulic system, when the robot cannot walk due to communication or valve group fault, at the moment, the walking motor is in a locking state and cannot rotate, direct dragging or maintenance personnel obviously have great difficulty in maintenance, because the dredging environment is poor and unclear, the dredging robot is large in volume, heavy and the dredging operation surface is easy to adhere to the walking mechanism, further increases the weight of the dredging robot, has large dragging friction and large required power, consumes time and labor,

the present invention solves this problem by providing an emergency turning mechanism 3, which, in particular,

a left walking motor bypass A port 8 and a left walking motor bypass B port 9 are arranged on a left walking motor 6, a right walking motor bypass A port 10 and a right walking motor bypass B port 11 are arranged on a right walking motor 7, a left reversing valve 4 and a right reversing valve 5 are arranged on a chassis 1, a left reversing valve A port 16 and a left reversing valve B port 17 are arranged on the left reversing valve 4, the left walking motor bypass A port 8 is connected with the left reversing valve A port 16 through a connecting pipeline, the left walking motor bypass B port 9 is connected with the left reversing valve B port 17 through a connecting pipeline,

the right reversing valve 5 is provided with a right reversing valve A port 18 and a right reversing valve B port 19, a right walking motor bypass A port 10 is connected with the right reversing valve A port 18 through a connecting pipeline, a right walking motor bypass B port 11 is connected with the right reversing valve B port 19 through a connecting pipeline,

when the robot is in a normal parking state, the left reversing valve 4 and the right reversing valve 5 are both de-energized, the left walking motor 6 and the left reversing valve 4 are in a disconnected state, the right walking motor 7 and the right reversing valve 5 are in a disconnected state, the left walking motor 6 and the right walking motor 7 are respectively controlled by a hydraulic element of a hydraulic system, and the parking posture of the robot is kept through a balance valve;

when the robot breaks down, hydraulic oil in a hydraulic system cannot flow into the left walking motor 6 and the right walking motor 7 through the control element, the left walking motor 6 and the right walking motor 7 are in a locking state, at the moment, the control system controls the left reversing valve 4 and the right reversing valve 5, and the left reversing valve 4 and the right reversing valve 5 are respectively electrified, so that the hydraulic oil in the left walking motor 6 flows through the left walking motor bypass A port 8, the connecting pipeline, the left reversing valve A port 16, the left reversing valve B port 17 and the connecting pipeline and then returns to the left walking motor bypass B port 9 to form a passage, the rotation of the left walking motor 6 is realized, the hydraulic oil in the right walking motor 7 flows through the right walking motor bypass A port 10, the connecting pipeline, the right reversing valve A port 18, the right reversing valve B port 19 and the connecting pipeline and then returns to the right walking motor B port 11 to form a passage, the rotation of the right walking motor 7 is realized, the left walking motor 6 and the right walking motor 7 rotate when the robot is towed, the left walking motor 6 and the right walking motor 7 can rotate, the crawler belt can be rotated, the maintenance efficiency is improved, and the efficiency is improved.

As shown in fig. 8-11, for convenience of description, the cable body 30 of the present invention can be divided into three segments, where the cable body 30 has no bearing layer 35 or protective layer 51 on the surface, and is called a first segment cable, where the cable body 30 has the bearing layer 35 on the surface, and is called a second segment cable, where the cable body 30 has the bearing layer 35 or protective layer 51 on the surface, and is called a third segment cable, where the first segment cable is obtained by removing the bearing layer 35 or protective layer 51 from the third segment cable, and the second segment cable is obtained by removing the protective layer 51 from the first segment cable, the bearing layer 35 is composed of a plurality of connecting ropes 39, the connecting ropes 39 are circumferentially distributed and coated on the cable body 30, each connecting rope 39 of the bearing layer 35 on the second segment cable sequentially passes through each connecting hole 40 on one group of connecting holes 40 and then is placed in the cable through-groove 37 and fixed by a connecting glue, and the protective layer 51 is arranged outside the bearing layer 35 on the third segment cable, the protective layer 51 covers the bearing layer 35, the protective layer 51 is extruded by the extruding rings 53 on the upper buckle 47 and the lower buckle 48, the bearing layer 35 is fixedly connected with the cable body 30, when in installation, a first section of cable and a second section of cable are inserted into the cable through groove 37 of the bearing seat 32, the first section of cable penetrates out of the cable through groove 37, the cable outlet 38 is arranged outside the bearing seat 32 and can be used for installing a plug, the locking seat 34 on the second section of cable is fixedly connected with the bearing seat 32 through screws, the upper fixing sleeve 41 and the lower fixing sleeve 42 are buckled and fixed on the bearing seat 32 and a third section of cable, the left end of the upper fixing sleeve 41 and the left end of the lower fixing sleeve 42 can be abutted against the right end of the locking seat 34, the upper buckle 47 and the lower buckle 48 are buckled and fixed on the fixing sleeve 33 and the third section of cable, finally, connecting glue is injected into the cable through groove 37 from the cable outlet 38, the first section of cable arranged in the cable through groove 37 is fixed with the bearing seat 32, meanwhile, the connecting glue flows into the connecting hole 40, the second section of cable is fixedly connected with the locking seat 34 and the bearing seat 32, as shown in fig. 9, the bearing seat 32 is hinged with the bearing lug seat 52 through a pin shaft, two ends of the pin shaft are limited and fixed through nuts, the bearing lug seat 52 is fixedly installed on the underwater operation robot through bolts and nuts during use, a plug can be installed on the first section of cable, the third section of cable can be used for connecting water control equipment or power supply equipment, the plug of the first section of cable is connected with an electric cabin of the underwater operation robot, when the underwater operation robot needs to be dragged, the robot releases braking, or the left reversing valve 4 and the right reversing valve 5 are respectively powered, the third section of cable can be dragged, the first section of cable is fixedly connected with the bearing seat 32, acting force can be transmitted to the bearing seat 32, so that the cable is not lost during dragging, after use or when the cable needs to be replaced, the nut on the pin shaft is rotated, the pin shaft is pulled down, the plug of the first section of cable is separated from the bearing seat 32 and the underwater operation, the underwater operation is convenient and labor-saving for dismounting.

When the robot is used, as shown in the attached drawings 3, 6 and 7, the storage basket 20 is arranged in the storage frame 21, the lower end face of the storage frame 21 is leaned against the hydraulic lifting platform 24, the front end of the extension rod of the lifting hydraulic cylinder 22 is propped against the chute 23, as shown in the attached drawings 4, the robot shovels sludge and sundries by a bucket of a bucket mechanism, the mechanical arm lifts the bucket to the position above the storage basket 20, pours the sludge and the sundries into the storage basket 20, can see that the sludge and the sundries are all placed at the front part of the storage basket 20, and after the sludge and the sundries are poured, the mechanical arm drives the bucket to fall down, the lifting hydraulic cylinder 22 is started, lifting hydraulic cylinders 22 lift the front part of the storage basket 20 upwards, as shown in figure 5, so that sludge and sundries move backwards, after the sludge and the sundries move backwards, the lifting hydraulic cylinders 22 retract, the storage basket 20 returns to the original position under the action of gravity, the operation is repeated, the sludge and the sundries are placed in the storage basket 20 by bucket shoveling, the lifting hydraulic cylinders 22 lift the storage basket 20 so that the sludge and the sundries in the storage basket 20 are fully stacked at the front part and the rear part of the storage basket 20, the storage basket 20 is placed in a storage tank of a storage rack 21 for limiting and fixing, after the storage basket 20 is fully filled, the storage basket 20 can be lifted by a hydraulic lifting platform 24, lifting holes are formed in the storage basket 20, the storage basket 20 can be lifted by a crane, after the sludge and the sundries in the storage basket 20 are poured, the storage basket 20 is lifted back and placed on the storage rack, the steps are repeated, and the dredging operation is continued, the invention has simple structure, the front part of the storage basket 20 can be lifted by the lifting hydraulic cylinders 22, the silt and the sundries can move backwards, so that the storage basket 20 can be fully piled with the silt and the sundries, no space is wasted, the dredging efficiency is high, and the energy is indirectly saved.

By adopting the structure, the invention has the advantages of ingenious structure, small friction between the crawler and the ground, small cable stress, difficult cable fracture, time and labor saving in dragging, full storage basket, no space waste, high dredging efficiency and the like, and the walking motor can be changed from a locking state to a passive rotating state when the machine fails.

Claims (10)

1. An underwater operation robot comprising a chassis (1), characterized in that: be equipped with emergent slewing mechanism (3) on running gear (2) of chassis (1), emergent slewing mechanism (3) are including left reversing valve (4) and right reversing valve (5), the walking motor of running gear (2) is including left walking motor (6) and right walking motor (7), be equipped with left walking motor bypass A mouth (8) and left walking motor bypass B mouth (9) on left walking motor (6), left side walking motor bypass A mouth (8) are connected with left walking motor bypass B mouth (9) through left reversing valve (4), be equipped with right walking motor bypass A mouth (10) and right walking motor bypass B mouth (11) on right walking motor (7), right side walking motor bypass A mouth (10) are connected with right walking motor B mouth (11) through right reversing valve (5), left side reversing valve (4) and right reversing valve (5) are fixed respectively in the frame of chassis (1).

2. A robot for underwater operation according to claim 1, characterized in that: the cable bearing and connecting mechanism (31) is arranged on the chassis (1), the cable bearing and connecting mechanism (31) comprises a cable body (30), a bearing seat (32), a fixing sleeve (33), a locking seat (34), a connecting rope (39) and connecting glue, a cable through groove (37) is formed in the bearing seat (32), one end of the bearing seat (32) is provided with the fixing sleeve (33), the other end of the bearing seat is hinged with the frame of the chassis (1), a cable outlet (38) is formed in the bearing seat (32), the cable outlet (38) is communicated with the cable through groove (37), the locking seat (34) is internally provided with the locking seat (34), the locking seat (34) is axially provided with a locking cable through hole, the outer wall of the locking seat (34) is circumferentially provided with a connecting hole group, the connecting hole group comprises a connecting hole group (40) arranged along the axial interval, the connecting rope (39) is arranged on the connecting hole group, the connecting hole (40) is communicated with the locking cable through hole, one end of one connecting rope (39) is arranged in the fixing sleeve (33), the other end of the locking seat (34) sequentially penetrates through the connecting hole (40) of each connecting hole group and then is arranged in the connecting hole (37), the cable through groove (37), the locking seat (37) and the other end of the locking seat (30) sequentially penetrates through the cable outlet (32), be connected with the electrical storage room of chassis (1), the other end is through connecting rope (39) and fixed cover (33) fixed connection, be equipped with in cable poling (37) and connect gluey, be located cable body (30) in cable poling (37) through connecting gluey respectively with bearing seat (32), be connected rope (39), locking seat (34) fixed connection, locking seat (34) and bearing seat (32) fixed connection.

3. A robot for underwater operation according to claim 2, characterized in that: the locking seat (34) is radially and uniformly provided with lugs (36), the lugs (36) radially extend towards the inner side of the locking seat (34) to form inner lugs, and the lugs (36) radially extend towards the outer side of the locking seat (34) to form outer lugs.

4. An underwater operation robot according to claim 2 or 3, characterized in that: bearing seat (32) are equipped with the annular groove towards the one end of fixed cover (33), fixed cover (33) are including fixed cover (41) and lower fixed cover (42), go up fixed cover (41) and fixed cover (42) down and include fixed cover anterior segment (43) and fixed cover back end (44) respectively, fixed cover anterior segment (43) cover cooperatees with bearing seat (32) on bearing seat (32), and fixed cover anterior segment (43) front end radial inwards is equipped with and keeps off platform (45), fixed cover anterior segment (43) rear end and fixed cover back end (44) fixed connection, fixed cover back end (44) and cable body (30) fixed connection, goes up fixed cover (41) and fixed cover (42) lock fixed connection down, keeps off fixed cover (41), fixed cover (42) and bearing seat (32) fixed connection down in platform (45) embedding annular groove.

5. A robot for underwater operation according to claim 2 or 3, characterized in that: the one end that bearing seat (32) was kept away from in fixed cover (33) is equipped with fixed buckle (46), fixed buckle (46) one end and fixed cover (33) fixed connection, the other end is through connecting rope (39) and cable body (30) fixed connection.

6. An underwater operation robot as claimed in claim 5, wherein: be equipped with the buckle spacing groove on fixed cover (33), fixed buckle (46) are including buckle (47) and lower buckle (48), it includes buckle anterior segment and buckle back end respectively with lower buckle (48) to go up buckle (47), the buckle anterior segment cover cooperatees with fixed cover (33) on fixed cover (33), and buckle anterior segment front end radial inwards is equipped with stopper (49), buckle anterior segment rear end and buckle back end fixed connection, buckle back end and cable body (30) fixed connection go up buckle (47) and lower buckle (48) lock fixed connection, and buckle spacing inslot will be gone up buckle (47), lower buckle (48) and fixed cover (33) fixed connection are arranged in to stopper (49).

7. An underwater operation robot as claimed in claim 6, characterized in that: semicircular extrusion rings (53) are arranged in the upper buckle (47) and the lower buckle (48) at intervals respectively.

8. An underwater operation robot according to claim 1 or 2 or 3 or 6 or 7, characterized in that: be equipped with storage basket (20) on chassis (1), storage basket (20) below front portion is equipped with one at least and lifts pneumatic cylinder (22), storage basket (20) lower terminal surface front portion is equipped with spout (23), storage basket (20) rear end is articulated with the frame on chassis (1), the frame fixed connection of the cylinder seat and chassis (1) of lifting pneumatic cylinder (22), the extension bar front end of lifting pneumatic cylinder (22) supports on spout (23).

9. An underwater operation robot as claimed in claim 8, wherein: be equipped with storage frame (21) between storage basket (20) and chassis (1), storage frame (21) upper end is equipped with the stock chest, be connected with storage frame (21) in storage basket (20) embedding stock chest, storage frame (21) rear end is articulated with the frame of chassis (1), terminal surface front portion is equipped with spout (23) under storage frame (21), the extension bar front end of lifting hydraulic cylinder (22) supports on spout (23).

10. A robot for underwater operation according to claim 9, characterized in that: be equipped with hydraulic pressure lift platform (24) between storage frame (21) and chassis (1), the frame fixed connection of hydraulic pressure lift platform (24) lower extreme and chassis (1), hydraulic pressure lift platform (24) front portion is equipped with the slotted hole, hydraulic pressure lift platform (24) upper end is arranged in storage frame (21), and storage frame (21) rear end is articulated with hydraulic pressure lift platform (24), and the anterior lower extreme of storage frame (21) offsets with hydraulic pressure lift platform (24) and leans on, the extension bar of lifting hydraulic cylinder (22) passes the slotted hole and offsets with spout (23) and leans on.

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