CN114635471B - Grab bucket anti-falling type trash cleaning robot - Google Patents
Grab bucket anti-falling type trash cleaning robot Download PDFInfo
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- CN114635471B CN114635471B CN202210477051.8A CN202210477051A CN114635471B CN 114635471 B CN114635471 B CN 114635471B CN 202210477051 A CN202210477051 A CN 202210477051A CN 114635471 B CN114635471 B CN 114635471B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 30
- 239000010813 municipal solid waste Substances 0.000 title claims description 18
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 146
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 241000196324 Embryophyta Species 0.000 abstract description 43
- 238000009434 installation Methods 0.000 abstract 6
- 238000005457 optimization Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 241001113556 Elodea Species 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4135—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted directly on a boom
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Shovels (AREA)
Abstract
The invention relates to the field of river channel cleaning equipment, and particularly discloses a grab bucket anti-falling type dirt cleaning robot which comprises an underframe, wherein a support column is installed at the top of the underframe, a rotating table is installed at the top of the support column, an installation plate is installed at the top of the rotating table, an organism is installed at the top of the installation plate, a first support arm is rotatably installed at one end, far away from the organism, of the top of the installation plate, a first hydraulic oil cylinder is installed at one side, far away from the organism, of the installation plate, one end, far away from the installation plate, of the first hydraulic oil cylinder is hinged to the middle end of the side face of the first support arm, a second support arm is hinged to one end, far away from the installation plate, of the first support arm, and a grab bucket mechanism is installed at one end, far away from the first support arm, of the second support arm. The invention can better clamp and fix the aquatic weeds and the sundries on the grab bucket when in use, and is more convenient when the sundries and the aquatic weeds are thrown in.
Description
Technical Field
The invention relates to the technical field of river channel cleaning equipment, in particular to a grab bucket anti-falling type cleaning robot.
Background
The trash cleaning robot is equipment for intercepting and cleaning sundries in front of a water retaining gate, a water retaining dam and a water inlet of hydroelectric power generation equipment in a water conservancy facility. The in-process of decontaminating relies on the grapple to push down by force, can realize simultaneously that the clearance of filth on the trash rack and the snatching of filth before the trash rack compare in other equipment of decontaminating: the grab arm type trash cleaning robot can effectively improve the trash cleaning effect and the trash cleaning efficiency, and particularly can effectively clean high-strength upstream trash jammed in front of a trash rack of a water taking and discharging port in time.
The grab bucket that the river course debris were snatched to commonly used robot of decontaminating all comprises a plurality of grab tooth, and in order to reduce the resistance when snatching debris, distance between two adjacent grab teeth is far away, when leading to the grab bucket to snatch the debris that finishes and remove to the surface of water, the river that carries in the debris flows to the river course through the extrusion of grab bucket in, and the river in the grab bucket can promote the debris in the grab bucket when flowing, lead to debris to drop once more in the river course, seriously influence the river course efficiency of decontaminating the robot when using, simultaneously the grab bucket when the debris are snatched in the aquatic, aquatic weeds in the river course can be when snatching along with the flow of rivers remove to the grab bucket outside through between two adjacent grab teeth, can not carry out better fixed and centre gripping to the aquatic weeds on the grab tooth when using.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a grab bucket anti-falling type trash cleaning robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a grab bucket prevents falling formula trash cleaning robot, including the chassis, the pillar is installed at the top of chassis, the revolving stage is installed at the top of pillar, the mounting panel is installed at the top of revolving stage, the organism is installed at the top of mounting panel, the one end that the organism was kept away from at the top of mounting panel rotates installs first support arm, one side that the organism was kept away from to the mounting panel is installed first hydraulic cylinder, the one end that the mounting panel was kept away from to first hydraulic cylinder is articulated with the side middle-end of first support arm, the one end that the mounting panel was kept away from to first support arm articulates there is the second support arm, the grab bucket mechanism is installed to the one end that first support arm was kept away from to the second support arm.
Preferably, the grab bucket mechanism includes two fixed plates, and two fixed plates are installed respectively in the one end both sides that first support arm was kept away from to the second support arm, and the standing groove has all been seted up to one side that the second support arm was kept away from to two fixed plates, installs branch on the inner wall of standing groove, rotates on the branch and installs the rotor plate, and the limiting plate is installed to the one end that branch was kept away from to the rotor plate.
Preferably, a plurality of arc-shaped grabbing teeth are equidistantly arranged on one side, away from the rotating plate, of the limiting plate, a plurality of L-shaped fixed teeth are arranged on opposite surfaces of two adjacent grabbing teeth, and a water storage plate is slidably arranged on one side, away from the fixed plate, of the grabbing teeth.
Preferably, the spout has all been seted up according to length direction in one side that the rotor plate was kept away from to two grabbing teeth that are close to the limiting plate both ends, and the stopper is all installed at one side both ends that the water storage plate is close to grabbing the tooth, and the slider is all installed to the opposite face of two stoppers, and the one end that the stopper was kept away from to two sliders is respectively slidable mounting in two spouts of grabbing on the tooth.
Preferably, a plurality of inlet opening has been seted up at the interior top of water storage plate, and a plurality of apopore has been seted up to the interior bottom equidistance of water storage plate, and the bottom of water storage plate is close to one side of grabbing the tooth and has been seted up the water conservancy diversion slope.
Preferably, first connecting blocks are all installed to the one end both sides that the second support arm is close to the fixed plate, and the one end that the second support arm was kept away from to two first connecting blocks all articulates there is third hydraulic cylinder, and the one end that first connecting block was kept away from to third hydraulic cylinder articulates there is the second connecting block, and the side at two rotor plates is installed respectively to the one end that third hydraulic cylinder was kept away from to two second connecting blocks.
Preferably, the one end top that the mounting panel was kept away from to first support arm articulates there is the second hydraulic cylinder, and the one end that the fixed plate was kept away from to the one end that first support arm was kept away from to the second hydraulic cylinder is articulated with the one end that the second support arm kept away from the fixed plate.
Preferably, two the gusset plate is all installed at one side both ends that the top of fixed plate is close to the second support arm, and the one end side that the second support arm is close to the fixed plate is fixed to the one end of gusset plate.
Preferably, a plurality of screw is installed at the top of gusset plate, and the gusset plate passes through the mounting screw at the top of fixed plate, and the top of fixed plate is run through and has been seted up a plurality of infiltration hole, and electronic round is all installed to the chassis near the position of corner.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the fixed plate and the two rows of grabbing teeth move downwards towards the bottom of the river channel, aquatic weeds floating below the grabbing teeth on the water surface of the river channel can enter between two adjacent grabbing teeth, when the grabbing teeth continuously move towards the bottom of the river channel, the floating aquatic weeds can move upwards between the two adjacent grabbing teeth, the aquatic weeds close to the grabbing teeth enter the fixed teeth along with the upwards movement, the fixed teeth can better fix the aquatic weeds when in use, the impurity grabbing amount of the grabbing teeth is increased, and the efficiency is higher when the river channel is cleaned. When the fixed plate and the grabbing teeth move towards the bottom of the river channel, the movement of the grabbing teeth and the resistance of water flow can enable the aquatic weeds to be better clamped into the fixed teeth, and when the aquatic weeds are clamped into the fixed teeth, leaves or stems of the aquatic weeds cannot move in the fixed teeth, so that the leaves and stems of the aquatic weeds can be better fixed in position.
2. When the fixed plate moves down with grabbing the tooth, the inside that the river can slow get into the water storage plate from inlet opening and apopore, the water storage plate also can be slow moving the one end of grabbing the tooth surface and keeping away from the limiting plate, and the pasture and water that lies in between two adjacent grabbing teeth can carry out effectual slowing down to the speed that moves down of water storage plate, prevents that the water storage plate from moving down the speed too fast. After the grabbing teeth move up to the water surface, the water storage plate moves down through the weight of river water inside the water storage plate, the positions of the bottom ends of the two rows of grabbing teeth which are mutually crossed and the water storage plate clamp and fix the upper end and the lower end of the aquatic plant between the two adjacent grabbing teeth, and the aquatic plant is prevented from falling after moving out of the water surface.
3. Two rows of one end intercrossing that the fixed plate was kept away from to the tooth is grabbed to the tooth, it carries out the centre gripping and upwards promotes to be located two rows of pasture and water of grabbing between the tooth of fixed plate below, it is spacing to two adjacent bottoms of grabbing the pasture and water between the tooth when tooth intercrossing to grab two rows of grabbing teeth, prevent that adjacent two are grabbed the pasture and water between the tooth and the landing appears when grabbing the tooth and moving up, two rows of grabbing teeth are grabbed two rows of pasture and water one end in the tooth and are squeezed each other when intercrossing simultaneously, can fix the one end that two adjacent pasture and water of grabbing between the tooth are located the fixed plate below, can play the effect of fixing once more to the pasture and water. Simultaneously when two rows of grabbing teeth intercross, river water that carries in the debris is discharged and flows to the position of two rows of grabbing teeth through the extrusion, a plurality of fixed tooth and grabbing tooth mutually support the effect that plays the protection network when using, prevent that the less debris of volume and pasture and water from dropping to the river course once more between the tooth through two adjacent grabbing, and two adjacent pasture and water between the tooth of grabbing also can play better stopping and coveing debris, a plurality of fixed tooth can be injectd the crossing angle of two rows of grabbing teeth when using, it is too big to prevent to grab tooth below fixed plate turned angle, lead to two rows of grabbing between the tooth debris because the extrusion excessively drops to the river course from the below both ends of fixed plate.
Drawings
Fig. 1 is a perspective view of a grab bucket anti-falling type cleaning robot provided by the invention;
fig. 2 is a schematic view of a machine body mounting structure of a grab bucket anti-falling type dirt cleaning robot provided by the invention;
fig. 3 is a schematic view of a second support arm mounting structure of the grab bucket anti-falling type dirt cleaning robot provided by the invention;
fig. 4 is a schematic structural view of a fixing plate of the grab bucket falling-proof type dirt cleaning robot provided by the invention;
FIG. 5 is a schematic view of a mounting structure of a rotating plate of the grab bucket anti-falling type dirt cleaning robot provided by the invention;
fig. 6 is a schematic view of a grab tooth mounting structure of the grab bucket anti-falling type dirt cleaning robot provided by the invention;
fig. 7 is a schematic structural view of a grab tooth of the grab bucket anti-falling type dirt cleaning robot provided by the invention;
fig. 8 is a schematic structural view of a water storage plate of the grab bucket falling-prevention type dirt cleaning robot provided by the invention;
fig. 9 is a schematic structural view of a water storage plate bottom plate of the grab bucket falling-prevention type dirt cleaning robot provided by the invention;
fig. 10 is a cross-sectional view of a water storage plate of the grab bucket anti-falling type cleaning robot provided by the invention.
In the figure: 1. a chassis; 2. a rotating table; 3. a pillar; 4. mounting a plate; 5. an electric wheel; 6. a body; 7. a first support arm; 8. a first hydraulic cylinder; 9. a second hydraulic cylinder; 10. a second support arm; 11. a fixing plate; 12. a third hydraulic cylinder; 13. a rotating plate; 14. a first connection block; 15. a second connecting block; 16. a reinforcing plate; 17. a water seepage hole; 18. a limiting plate; 19. a water storage plate; 20. grabbing teeth; 21. a screw; 22. a placement groove; 23. a strut; 24. fixing teeth; 25. a chute; 26. a slider; 27. a limiting block; 28. a water inlet hole; 29. and (7) water outlet holes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-10, a grab bucket anti-falling type trash cleaning robot, including chassis 1, pillar 3 is installed at the top of chassis 1, revolving stage 2 is installed at the top of pillar 3, mounting panel 4 is installed at the top of revolving stage 2, organism 6 is installed at the top of mounting panel 4, the one end that organism 6 was kept away from at the top of mounting panel 4 is rotated and is installed first support arm 7, first hydraulic cylinder 8 is installed to the one side that organism 6 was kept away from to mounting panel 4, the one end that mounting panel 4 was kept away from to first hydraulic cylinder 8 is articulated with the side middle-end of first support arm 7, the one end that mounting panel 4 was kept away from to first support arm 7 articulates there is second support arm 10, grab bucket mechanism is installed to the one end that first support arm 7 was kept away from to second support arm 10.
As a technical optimization scheme of the invention, the grab bucket mechanism comprises two fixed plates 11, the two fixed plates 11 are respectively arranged at two sides of one end, far away from the first support arm 7, of the second support arm 10, placing grooves 22 are respectively arranged at one sides, far away from the second support arm 10, of the two fixed plates 11, a support rod 23 is arranged on the inner wall of each placing groove 22, a rotating plate 13 is rotatably arranged on each support rod 23, a limit plate 18 is arranged at one end, far away from the support rod 23, of each rotating plate 13, when grabbing and placing grabbed sundries, the rotating plates 13 are disconnected from the fixed plates 11 due to river water corrosion or high force of a third hydraulic cylinder 12, the grabbing teeth 20 move downwards through self weight, the limit plates 18 are located below the fixed plates 11, the rotating plates 13 can be pulled timely through the third hydraulic cylinder 12, one ends, far away from the side limit plates 18, of the rotating plates 13 are abutted to the bottoms of the fixed plates 11, the grabbing teeth 20 can still grab the sundries when the limit plates 18 are abutted to the fixed plates 11, the grabbing teeth 20 can prevent the sundries from falling or falling down or the sundries from falling when the sundries are placed, the grabbing is better clamped.
As a technical optimization scheme of the invention, a plurality of arc-shaped grabbing teeth 20 are equidistantly arranged on one side of the limiting plate 18 away from the rotating plate 13, a plurality of L-shaped fixed teeth 24 are respectively arranged on opposite surfaces of two adjacent grabbing teeth 20, a water storage plate 19 is slidably arranged on one side of the grabbing teeth 20 away from the fixing plate 11, and when the fixed teeth 24 grab sundries at the bottom of a river channel, sundries and aquatic weeds on the water surface of the river channel can be clamped into the fixed teeth 24 when the grabbing teeth 20 move downwards towards the bottom of the river channel, so that the aquatic weeds between two adjacent grabbing teeth 20 are prevented from falling into the river channel again along with the flow of water when the grabbing teeth 20 move downwards.
As a technical optimization scheme of the invention, sliding grooves 25 are formed in the length direction of one sides, away from the rotating plate 13, of the two grabbing teeth 20 close to the two ends of the limiting plate 18, sliding blocks 27 are arranged at the two ends of one side, close to the grabbing teeth 20, of the water storage plate 19, sliding blocks 26 are arranged on opposite surfaces of the two limiting blocks 27, one ends, away from the limiting blocks 27, of the two sliding blocks 26 are respectively arranged in the sliding grooves 25 in the two grabbing teeth 20 in a sliding mode, the limiting blocks 27 and the sliding blocks 26 can drive the water storage plate 19 to slide up and down through buoyancy of water and gravity of water in the water storage plate 19 when the water storage plate 19 is used, meanwhile, stability of the water storage plate 19 during moving can be improved, and the water storage plate 19 is prevented from inclining during moving.
As a technical optimization scheme of the invention, a plurality of water inlet holes 28 are formed in the inner top of a water storage plate 19, a plurality of water outlet holes 29 are formed in the inner bottom of the water storage plate 19 at equal intervals, a flow guiding slope is formed in one side, close to a grabbing tooth 20, of the bottom of the water storage plate 19, the water storage plate 19 is made of a floating plate, when sundries in a river channel are clamped, the water storage plate 19 rises through buoyancy of water, river water can enter the inside of the water storage plate 19 through the water outlet holes 29, when the water storage plate 19 completely enters the water, the river water simultaneously enters the inside of the next water storage plate 19 through the water inlet holes 28 and the water outlet holes 29, when the sundries are placed on the ground, the water storage plate 19 can move downwards through the weight of the water inside the water storage plate, water plants clamped between the adjacent grabbing teeth 20 are pushed to move, the water plants are prevented from being clamped on the grabbing teeth 20 and cannot move out, meanwhile, the water in the grabbing plate 19 flows to the surfaces of the grabbing teeth 20 through the water outlet holes 29, silt on the surfaces of the grabbing teeth is cleaned, and the sundries in the river channel can be better grabbed next time conveniently.
As a technical optimization scheme of the invention, two sides of one end of the second support arm 10 close to the fixed plate 11 are respectively provided with a first connecting block 14, one ends of the two first connecting blocks 14 far away from the second support arm 10 are respectively hinged with a third hydraulic oil cylinder 12, one end of the third hydraulic oil cylinder 12 far away from the first connecting blocks 14 is hinged with a second connecting block 15, one ends of the two second connecting blocks 15 far away from the third hydraulic oil cylinder 12 are respectively arranged on the side surfaces of the two rotating plates 13, and when the device is used, the third hydraulic oil cylinder 12 can drive the grabbing teeth 20 on the two limiting plates 18 to rotate by taking the supporting rod 23 as a center, so that sundries in a river channel can be grabbed and placed.
As a technical optimization scheme of the invention, the top of one end, far away from the mounting plate 4, of the first support arm 7 is hinged with the second hydraulic cylinder 9, one end, far away from the first support arm 7, of the second hydraulic cylinder 9 is hinged with one end, far away from the fixed plate 11, of the second support arm 10, and a worker can adjust the positions of the second support arm 10 and the grabbing teeth 20 through the second hydraulic cylinder 9, so that the grabbing teeth 20 can grab sundries in a river from an appointed position conveniently.
As a technical optimization scheme of the invention, reinforcing plates 16 are respectively arranged at two ends of one side of the tops of two fixing plates 11 close to the second support arm 10, one end of each reinforcing plate 16 is fixed at the side of one end of the second support arm 10 close to the fixing plate 11, a plurality of screws 21 are arranged at the tops of the reinforcing plates 16, the reinforcing plates 16 are arranged at the tops of the fixing plates 11 through the screws 21, a plurality of water seepage holes 17 are formed in the tops of the fixing plates 11 in a penetrating manner, electric wheels 5 are respectively arranged at positions of the underframe 1 close to corners, when the fixing device is used, the second support arm 10 is fixedly arranged with the two fixing plates 11 through the reinforcing plates 16, when the fixing device is used, the fixing effect of the two fixing plates 11 is better, the stability when the grabbing teeth 20 grab sundries in a river channel is improved, when the grabbing teeth 20 grab the sundries in the river channel downwards, river water can flow upwards through the water seepage holes 17, when the grabbing teeth 20 are used, the resistance of the grabbing teeth 20 downwards moving can be reduced, and meanwhile, the sundries below the fixing plates 11 are prevented from moving along with the fixing plates when the grabbing teeth 20 downwards move towards two ends of the fixing plates 11.
When the multifunctional electric river channel grabbing device is used, the electric wheels 5 move in the designated moving track, a worker remotely operates the electric wheels 5 to enable the underframe 1 and the machine body 6 to move to designated positions, and the first hydraulic cylinder 8 and the second hydraulic cylinder 9 drive the two fixing plates 11 and the grabbing teeth 20 to move downwards towards the bottom of the river channel. When the grabbing teeth 20 and the fixed plate 11 move to above the water surface of the river, the third hydraulic cylinder 12 pulls the rotating plate 13, so that the rotating plate 13 rotates around the supporting rod 23, and when the rotating plate 13 rotates, the two limiting plates 18 and the grabbing teeth 20 on the limiting plates can be driven to rotate upwards from the side face of the fixed plate 11.
After two rows of grabbing teeth 20 below the fixed plate 11 overturn, the second support arm 10 continues to drive the fixed plate 11 and the two rows of grabbing teeth 20 to move downwards to the bottom of the river channel, and simultaneously the two rows of grabbing teeth 20 insert into the water surface when moving downwards, and the float aquatic weeds located below the grabbing teeth 20 on the water surface of the river channel can enter between two adjacent grabbing teeth 20, and when the grabbing teeth 20 continuously move towards the bottom of the river channel, the float aquatic weeds can move upwards between the two adjacent grabbing teeth 20, and along with the movement of the aquatic weeds, the aquatic weeds located between the two adjacent grabbing teeth 20 can be mutually extruded, so that the aquatic weeds close to the grabbing teeth 20 enter the inside of the fixed teeth 24 along with moving upwards. When the aquatic weeds clamped in the fixed teeth 24 are enough, the rest aquatic weeds positioned between the two adjacent grabbing teeth 20 move upwards continuously, pass through the space between the two adjacent fixed teeth 24 and move towards the limiting plate 18, and are clamped in the rest fixed teeth 24 along with the movement of the aquatic weeds and the downward movement of the grabbing teeth 20 again. A plurality of leaves and stems can grow on common aquatic weeds, when the fixing plate 11 and the grabbing teeth 20 move towards the bottom of a river channel, the aquatic weeds can be better clamped into the fixing teeth 24 due to the movement of the grabbing teeth 20 and the resistance of water flow, and when the aquatic weeds are clamped into the fixing teeth 24, the leaves or stems of the aquatic weeds cannot move in the fixing teeth 24, so that the leaves and stems of the aquatic weeds can play a better role in fixing the aquatic weeds.
When the fixed plate 11 and the grabbing teeth 20 move downwards in water, the fixed plate 11 can push water below the fixed plate 11 to flow to two ends of the fixed plate 11, and a part of the flowing water can flow to the upper part of the fixed plate 11 through the water seepage holes 17 on the fixed plate 11, so that the water quantity of river water below the fixed plate 11 flowing to two ends of the fixed plate 11 is reduced, the waterweeds below the fixed plate 11 are prevented from flowing along with the flowing water, and the part of the flowing river water above the fixed plate 11 through the water seepage holes 17 can reserve the waterweeds below the fixed plate 11 to a greater extent, so that the grabbing teeth 20 grab more sundries, and meanwhile, the resistance of the fixed plate 11 and the grabbing teeth 20 moving downwards in the river water can be slowed down to a greater extent, and the grabbing teeth 20 are more convenient to grab the sundries in a river channel.
When the fixed plate 11 and the grabbing teeth 20 move downwards, the bottom ends of the water storage plates 19 on the side surfaces of the grabbing teeth 20 can be in contact with the water surface, the water storage plates 19 are made of floating plates, so that the buoyancy of river water can push the water storage plates 19 to move towards the direction of the limiting plate 18 on the surface of the grabbing teeth 20 when the grabbing teeth 20 move downwards, the sliding blocks 26 on the side surfaces of the limiting blocks 27 on the two ends of the water storage plates 19 can slide in the sliding grooves 25 on the side surfaces of the grabbing teeth 20, the water storage plates 19 are enabled to be more stable when moving, meanwhile, the two limiting blocks 27 can play a good stabilizing effect on the water storage plates 19 when the water storage plates 19 move, and the water storage plates 19 are prevented from being inclined when moving. When the fixing plate 11 and the grabbing teeth 20 completely enter the river water, the river water slowly enters the inside of the water storage plate 19 from the water inlet hole 28 and the water outlet hole 29, and then the river water inside the water storage plate 19 increases, the water storage plate 19 also slowly moves towards one end far away from the limiting plate 18 on the surface of the grabbing teeth 20, and when the waterweeds between two adjacent grabbing teeth 20 can effectively slow down the downward moving speed of the water storage plate 19, the downward moving speed of the water storage plate 19 is prevented from being too high.
When the two rows of grabbing teeth 20 move downwards to the bottom of the river channel, the third hydraulic cylinder 12 pushes the rotating plate 13, the rotating plate 13 drives the two rows of grabbing teeth 20 to rotate towards the lower part of the fixed plate 11 through the limiting plate 18, the two rows of grabbing teeth 20 can grab and clamp sundries at the bottom of the river channel when rotating, one ends of the two rows of grabbing teeth 20 far away from the fixed plate 11 are mutually crossed, aquatic plants between the two rows of grabbing teeth 20 below the fixed plate 11 are clamped and pushed upwards, the bottoms of the aquatic plants between two adjacent grabbing teeth 20 can be limited when the two rows of grabbing teeth 20 are mutually crossed, the aquatic plants between two adjacent grabbing teeth 20 are prevented from sliding off when the grabbing teeth 20 move upwards, meanwhile, one ends of the aquatic plants between the two adjacent grabbing teeth 20 below the fixed plate 11 can be fixed when the two rows of grabbing teeth 20 are mutually crossed, and the effect of fixing the aquatic plants again can be achieved. Meanwhile, sundries between the two rows of grabbing teeth 20 can be squeezed when the two rows of grabbing teeth 20 are crossed with each other, river water in the sundries can be discharged and flow to the positions of the two rows of grabbing teeth 20 through squeezing, when the novel river water collecting device is used, the fixed teeth 24 and the grabbing teeth 20 are matched with each other to play a role of a protective net, the sundries and aquatic weeds with small volumes are prevented from falling into a river channel again through the space between the two adjacent grabbing teeth 20, the aquatic weeds between the two adjacent grabbing teeth 20 can well block and cover the sundries, when the novel river water collecting device is used, the crossing angle of the two rows of grabbing teeth 20 can be limited through the fixed teeth 24, the phenomenon that the grabbing teeth 20 rotate to the lower portion of the fixing plate 11 at an overlarge angle is avoided, and the sundries between the two rows of grabbing teeth 20 fall into the river channel from the two ends of the lower portion of the fixing plate 11 due to excessive squeezing is caused.
After the two rows of grabbing teeth 20 grab sundries, the fixed plate 11 and the two rows of grabbing teeth 20 are driven to move upwards through the first hydraulic oil cylinder 8 and the second hydraulic oil cylinder 9, after the grabbing teeth 20 move upwards above the water surface, the water storage plate 19 can also move out of the water surface, the water storage plate 19 moves downwards through the weight of river water inside the water storage plate, the water storage plate 19 and the grabbing teeth 20 are matched with each other, one end, away from the fixed plate 11, of the aquatic weeds between two adjacent grabbing teeth 20 is pushed downwards through the mutual intersection of the two rows of grabbing teeth 20, the bottom ends of the two rows of grabbing teeth 20 are located at the upper end and the lower end, intersected with the water storage plate 19, of the aquatic weeds between the two adjacent grabbing teeth 20, the upper end and the lower end of the aquatic weeds between the two adjacent grabbing teeth 20 are clamped and fixed, and the situation that the aquatic weeds fall off after moving out of the water surface is prevented.
When snatching debris when appearing rotor plate 13 and fixed plate 11 because the promotion dynamics of third hydraulic cylinder 12 is great when being connected the disconnection to debris, limiting plate 18 moves down to the below of fixed plate 11 through the weight of grabbing tooth 20, third hydraulic cylinder 12 pulling rotor plate 13 this moment, make rotor plate 13 move to in the standing groove 22, pulling limiting plate 18 shifts up when rotor plate 13 moves simultaneously, the top both ends of limiting plate 18 all are through the bottom butt of dragging and fixed plate 11 of third hydraulic cylinder 12, when the top of limiting plate 18 and the bottom butt of fixed plate 11, grab tooth 20 alright still can carry out the centre gripping of certain weight and position fixing to two rows of debris of grabbing between the tooth 20.
After grabbing tooth 20 and driving the pasture and water and remove to appointed place the region, third hydraulic cylinder 12 pulls rotor plate 13, make two rows of grabbing tooth 20 rotate to the both sides of fixed plate 11, and the pasture and water that lies in between two rows of grabbing tooth 20 alright drop to the appointed region on ground, water storage plate 19 moves down simultaneously, and promote the pasture and water between two adjacent grabbing tooth 20 and move down, and drop to ground, and water storage plate 19 when moving down and promote the pasture and water, the inside river water of water storage plate 19 flows out through apopore 29, and flow to the surface of grabbing tooth 20 through the water conservancy diversion slope of water storage plate 19 bottom, the inside river water that flows out of water storage plate 19 can clear up the silt on grabbing tooth 20 surface when using, be convenient for the debris is grabbed and is used next time.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides a grab bucket anti-falling type robot cleaner, including chassis (1), a serial communication port, pillar (3) are installed at the top of chassis (1), revolving stage (2) are installed at the top of pillar (3), mounting panel (4) are installed at the top of revolving stage (2), organism (6) are installed at the top of mounting panel (4), the one end that organism (6) were kept away from at the top of mounting panel (4) is rotated and is installed first support arm (7), one side that organism (6) were kept away from in mounting panel (4) is installed first hydraulic cylinder (8), the one end that mounting panel (4) were kept away from in first hydraulic cylinder (8) is articulated with the side middle-end of first support arm (7), the one end that mounting panel (4) were kept away from in first support arm (7) is articulated to first support arm (7) has second support arm (10), the one end that first support arm (7) were kept away from in second support arm (10) is installed grab bucket mechanism;
the grab bucket mechanism comprises two fixing plates (11), the two fixing plates (11) are respectively installed on two sides of one end, away from the first support arm (7), of the second support arm (10), placing grooves (22) are formed in one sides, away from the second support arm (10), of the two fixing plates (11), supporting rods (23) are installed on the inner walls of the placing grooves (22), rotating plates (13) are installed on the supporting rods (23) in a rotating mode, and limiting plates (18) are installed at one ends, away from the supporting rods (23), of the rotating plates (13);
a plurality of arc-shaped grabbing teeth (20) are equidistantly arranged on one side, away from the rotating plate (13), of the limiting plate (18), a plurality of L-shaped fixed teeth (24) are arranged on opposite surfaces of two adjacent grabbing teeth (20), and a water storage plate (19) is slidably arranged on one side, away from the fixed plate (11), of the grabbing teeth (20).
2. The grab bucket anti-falling type trash cleaning robot according to claim 1, characterized in that sliding grooves (25) are formed in the sides, away from the rotating plate (13), of the two grabbing teeth (20) close to the two ends of the limiting plate (18) in the length direction, limiting blocks (27) are installed at the two ends of the side, close to the grabbing teeth (20), of the water storage plate (19), sliding blocks (26) are installed on the opposite surfaces of the two limiting blocks (27), and one ends, away from the limiting blocks (27), of the two sliding blocks (26) are installed in the sliding grooves (25) in the two grabbing teeth (20) in a sliding mode respectively.
3. The grab bucket anti-falling type trash cleaning robot as claimed in claim 2, wherein a plurality of water inlet holes (28) are formed in the inner top of the water storage plate (19), a plurality of water outlet holes (29) are formed in the inner bottom of the water storage plate (19) at equal intervals, and a flow guide slope is formed in one side, close to the grabbing teeth (20), of the bottom of the water storage plate (19).
4. The grab bucket anti-falling type trash cleaning robot as claimed in claim 3, wherein first connecting blocks (14) are mounted on two sides of one end, close to the fixing plate (11), of the second support arm (10), one ends, far away from the second support arm (10), of the two first connecting blocks (14) are hinged to third hydraulic oil cylinders (12), one ends, far away from the first connecting blocks (14), of the third hydraulic oil cylinders (12) are hinged to second connecting blocks (15), and one ends, far away from the third hydraulic oil cylinders (12), of the two second connecting blocks (15) are mounted on the side faces of the two rotating plates (13) respectively.
5. The grab bucket anti-falling type trash cleaning robot is characterized in that the top of one end, away from the mounting plate (4), of the first support arm (7) is hinged to a second hydraulic cylinder (9), and one end, away from the first support arm (7), of the second hydraulic cylinder (9) is hinged to one end, away from the fixing plate (11), of the second support arm (10).
6. The grab bucket anti-falling type trash cleaning robot as claimed in claim 5, wherein reinforcing plates (16) are mounted at two ends of one side of the tops of the two fixing plates (11) close to the second support arm (10), and one end of each reinforcing plate (16) is fixed to the side surface of one end of the second support arm (10) close to the fixing plate (11).
7. The grab bucket anti-falling type dirt cleaning robot as claimed in claim 6, wherein a plurality of screws (21) are mounted at the top of the reinforcing plate (16), the reinforcing plate (16) is mounted at the top of the fixing plate (11) through the screws (21), a plurality of water seepage holes (17) are formed in the top of the fixing plate (11) in a penetrating manner, and electric wheels (5) are mounted at positions, close to corners, of the underframe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477051.8A CN114635471B (en) | 2022-05-02 | 2022-05-02 | Grab bucket anti-falling type trash cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210477051.8A CN114635471B (en) | 2022-05-02 | 2022-05-02 | Grab bucket anti-falling type trash cleaning robot |
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| Publication Number | Publication Date |
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| CN114635471A CN114635471A (en) | 2022-06-17 |
| CN114635471B true CN114635471B (en) | 2023-03-28 |
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| CN202210477051.8A Active CN114635471B (en) | 2022-05-02 | 2022-05-02 | Grab bucket anti-falling type trash cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101240554B (en) * | 2002-09-02 | 2011-02-09 | 株式会社小松制作所 | Vibration damping device |
| CN201660913U (en) * | 2010-04-23 | 2010-12-01 | 济南星火技术发展有限公司 | Material clamping fork of loader |
| CN207331790U (en) * | 2017-08-31 | 2018-05-08 | 广东广达建设集团有限公司 | A kind of grab excavator |
| CN110512683B (en) * | 2019-09-16 | 2024-02-06 | 山东未来机器人有限公司 | Underwater grab type grid auger dredging robot |
| CN216194582U (en) * | 2021-09-24 | 2022-04-05 | 安徽省六安恒源机械有限公司 | Energy-saving hydraulic servo control's grab arm formula robot of decontaminating |
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