CN114892619B - Trash cleaning robot with underwater detection function - Google Patents
Trash cleaning robot with underwater detection function Download PDFInfo
- Publication number
- CN114892619B CN114892619B CN202210540854.3A CN202210540854A CN114892619B CN 114892619 B CN114892619 B CN 114892619B CN 202210540854 A CN202210540854 A CN 202210540854A CN 114892619 B CN114892619 B CN 114892619B
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- China
- Prior art keywords
- plate
- interception
- gear
- top surface
- flexible net
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/0084—Disintegrating by knives or other cutting or tearing members which chop material into fragments specially adapted for disintegrating garbage, waste or sewage
- B02C18/0092—Disintegrating by knives or other cutting or tearing members which chop material into fragments specially adapted for disintegrating garbage, waste or sewage for waste water or for garbage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/02—Disintegrating by knives or other cutting or tearing members which chop material into fragments with reciprocating knives
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- 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
- E02B15/06—Barriers therefor construed for applying processing agents or for collecting pollutants, e.g. absorbent
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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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
Abstract
The invention relates to a sewage disposal robot with an underwater detection function, which comprises two parallel support plates, a fixed table and a detection assembly, wherein the fixed table and the detection assembly are arranged between the two support plates, the detection assembly is positioned at the rear position of the fixed table, two parallel hydraulic cylinders are arranged on the top surface of the fixed table, the bottoms of the hydraulic cylinders penetrate through the top surface of the fixed table and are connected with hydraulic rods, a hanger plate is connected between the bottoms of the two hydraulic rods, a motor case is arranged in the middle of the top of the hanger plate, a gear box is arranged in the middle of the bottom of the hanger plate, interception arms are arranged at two sides of the bottom of the gear box, a driving motor is arranged at one end of the top of each interception arm, and a support arm is connected at one end of the bottom of each interception arm. Can select to intercept or collect river course debris to the service condition of difference, can detect the velocity of flow of water simultaneously in real time, judge the content of river course debris how much, the debris flows out when the effectual debris of avoiding is salvaged simultaneously, can also protect the robot is whole.
Description
Technical Field
The invention relates to a cleaning robot, in particular to a cleaning robot with an underwater detection function, and belongs to the field of environment-friendly robots.
Background
The trash cleaning robot is a device for cleaning trash and sundries on the surface of a water body and below the water body in river channel treatment, can intercept the trash and sundries on the surface of the water body, can salvage the trash and sundries in the water body, and effectively protects the water body environment.
However, the existing trash cleaning robot is not flexible enough when in use, can only singly intercept sundries or salvage sundries, cannot effectively combine the sundries with the trash cleaning robot and the water flow rate, cannot judge the sundries content in the water environment, and therefore the application range is limited.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a sewage disposal robot with an underwater detection function.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a robot of decontaminating with detect function under water, includes two parallel arrangement's support plate and installs fixed station and the detection component between two support plates, the detection component is located the rear position of fixed station, two parallel arrangement's pneumatic cylinders are installed to the top surface of fixed station, and the bottom of pneumatic cylinder runs through the top surface of fixed station and is connected with the hydraulic stem, is connected with the hanger plate between the bottom of two hydraulic stems, installs the motor case in the middle of the top of hanger plate, and installs the gear box in the middle of the bottom of hanger plate is leaned on, the interception arm is all installed to the bottom of gear box by both sides, and the top of interception arm is leaned on one end position to install driving motor, and the bottom one end of interception arm is connected with the support arm.
The utility model discloses a detection subassembly, including installation fence, the both sides of installation fence are respectively with the outside fixed connection of two carrier plates, and install the inside equidistance of fence and install a plurality of guide arms, a plurality of the kickboard has been cup jointed between the outside of guide arm, and the top surface of kickboard and the outside junction of guide arm have cup jointed clean ring, a plurality of velocity of flow sensor main part is installed to the outside of kickboard by the bottom equidistance, and waterproof housing has been cup jointed to the outside of velocity of flow sensor main part, and the bottom of velocity of flow sensor main part is connected with detection probe through the transmission line, a plurality of kicking block is installed to the outside equidistance of kickboard.
Optionally, the bottom of driving motor is provided with the drive shaft, and the drive shaft runs through the bottom and the support arm swing joint of interception arm, two be connected with the flexible net between support arm and the interception arm bottom surface, a plurality of circular hanging hole has been seted up near the top in the outside of flexible net, and the bottom surface of support arm and interception arm is provided with the couple with hanging hole looks adaptation, and the both ends position of flexible net all is provided with the magnetism and inhale the strip, and the top surface of support arm is provided with the height-increasing strip that is used for increasing its height, and the top surface height of height-increasing strip is leveled with the top surface height of interception arm.
Optionally, two be provided with the baffle subassembly between the front end of support plate leans on the top, the baffle subassembly includes two connecting seats and shielding plate, the both ends of shielding plate are all connected with two connecting seats respectively through the damping pivot, the one end of two connecting seats all is provided with the fixture block, and two connecting seats all are connected with the front end of two support plates respectively through the fixture block, and the spout with fixture block looks adaptation has been seted up to the front end of support plate, the front end of connecting seat is provided with the backing plate, the top surface of support plate is provided with the actuating cylinder, actuating cylinder's drive shaft stretches into in the spout and the top surface fixed connection of fixture block, electric guide rail is installed at the inboard top of shielding plate, and electric guide rail's outside is provided with electric slider, telescopic push rod is installed in electric guide rail's the outside, and telescopic push rod's one end is connected with driving blade, electric guide rail installs the top region between two pneumatic cylinders, the height of shielding plate is greater than the width of flexible net, and the horizontal length of shielding plate is greater than the horizontal length of flexible net.
Optionally, the internally mounted of gear box has the driving gear, and the inside center of driving gear installs the connecting axle, and one side meshing of driving gear is connected with driven gear, and one side meshing that one side was kept away from the driving gear of driven gear is connected with guide gear one, and the opposite side meshing of driving gear is connected with guide gear two.
Optionally, all be connected with the axostylus axostyle in the middle of the inside of guiding gear one and guiding gear two, the axostylus axostyle runs through the bottom of gear box, and guiding gear one and guiding gear two all pass through axostylus axostyle respectively with two interception arms swing joint.
Optionally, a driving motor is installed in the motor box, and a driving shaft of the driving motor penetrates through the top surface of the hanging plate and stretches into the gear box to be connected with the connecting shaft.
Optionally, one of them the top surface of support arm leans on one end position to have the cardboard through bolt fixed mounting, and the butt joint groove has been seted up to the one end inboard of cardboard, and the draw-in groove has all been seted up to the inside top surface and the bottom surface of butt joint groove, and the top surface of another support arm leans on one end position to have the butt joint board through bolt fixed mounting, and the one end of butt joint board is connected with the picture peg, and the joint board is all installed to the top surface and the bottom surface of picture peg.
Optionally, the clamping plate and the butt joint plate are inclined in the same direction, the plugboard is matched with the butt joint groove, and the clamping plate is matched with the clamping groove.
Optionally, the lengths of the two interception arms are equal and inclined towards opposite directions, the lengths of the two support arms are equal and inclined towards the same direction, and the interception arms and the support arms connected with the interception arms are arranged in a V shape.
Optionally, the flexible net comprises four faces, including back, bottom surface and two sides, the bottom surface at two support arms is connected respectively to the both sides face of flexible net, and the back of flexible net is connected between the bottom surface of two interception arms, and the bottom surface of flexible net is connected between its two sides bottoms and back bottom, and the bottom surface of flexible net is provided with a plurality of weight.
The invention has the beneficial effects that:
1. through setting up detection component, when detecting the subassembly and detecting, installation fence bottom submergence, the measuring probe that flow sensor main part bottom was connected through the transmission line stretches into in the water, detect the river course velocity of flow, determine debris content in the river course according to the velocity of flow size that detects, and then can judge the river course debris content fast, when river course water level rises, the kickboard utilizes the buoyancy of kicking block to upwards remove in the guide arm outside, drive its outside installed flow sensor main part upwards remove, and then drive measuring probe upwards remove, make measuring probe can carry out the altitude promotion along with river course water level rise, and can be stable in the middle of the waters all the time, can not appear breaking away from the condition that leads to the velocity of flow to appear, clean ring along with the kickboard altitude rise, upwards remove algae and mud attached to the guide arm surface at the guide arm surface, the cleanness to the guide arm surface has been realized.
2. Through setting up flexible net cooperation support arm and interception arm, when only needing to intercept water surface debris, can utilize interception arm cooperation support arm to intercept water surface debris, increase the strip at the top connection of support arm for support arm top height keeps unanimous with the interception arm, can effectually intercept water surface debris.
3. The flexible net is connected with the support arms and the hooks on the bottom surfaces of the interception arms through the circular hanging holes, the flexible net can be disassembled and assembled according to the use requirement, when sundries need to be salvaged, the flexible net can be utilized to salvage, sunk sundries are intercepted by the flexible net, the interception arms and the support arms are intercepted and sink into the flexible net, the included angles of the interception arms and the support arms are adjusted, the distance between the two interception arms is reduced, meanwhile, the end parts of the two support arms are mutually closed, the flexible net is flexible by itself, the two ends of the flexible net are mutually closed along with the closing of the support arms, and meanwhile, the two magnetic attraction strips are mutually adsorbed, so that the two ends of the flexible net are combined to form a surrounding structure, and the condition that the collected sundries fall off during lifting is avoided.
4. Through setting up cardboard cooperation butt joint board, along with the removal of support arm, butt joint board and cardboard are alternately gradually, and the picture peg of butt joint board one end inserts the butt joint inslot of cardboard one end, and the card board card is gone into in the draw-in groove simultaneously, consolidates two support arm junctions, avoids the interval expansion to lead to two magnetism to inhale the condition that the strip loosens to appear between two support arms.
5. Before salvaging river channel sundries, the flexible net shields the front part of the river channel sundries by the aid of the baffle plate assembly before the river channel sundries are closed, the baffle plate is turned over by 90 degrees through the damping rotating shaft, the base plate supports the turned baffle plate, then the driving cylinder drives the clamping block to move downwards in the sliding groove until the baffle plate shields the front part of the flexible net, the front part of the flexible net is shielded, sundries located in the front part of the flexible net during salvaging are prevented from directly penetrating through the flexible net to circulate to other areas of the river channel after being pulled on the flexible net, the setting of the baffle plate can facilitate maintenance of maintenance personnel in time after the large sundries fall on the hydraulic cylinder, the maintenance personnel can stand at the same time, and other structures of the robot are maintained.
6. When not carrying out the operation of drawing in, utilize the baffle subassembly to shelter from the upper portion of pneumatic cylinder, adjust the top to the pneumatic cylinder with the shielding plate, shelter from the back to the top of pneumatic cylinder, avoid river course both sides trees to receive the environmental impact to collapse and smash the condition of damaging the pneumatic cylinder to appear, effectually protect the robot of decontaminating.
7. Through setting up driving blade, salvage in-process, when appearing great debris, utilize electronic slider to remove on electronic guide rail surface, adjust the length of flexible push rod, drive driving blade back-and-forth movement adjustment position, utilize driving blade to cut broken to large-scale debris, the circumstances that is strutted appears when avoiding the existence of large-scale debris to lead to the flexible net to draw in, guarantee flexible net can draw in smoothly.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a rear structural view of the carrier plate in the present invention.
FIG. 3 is a block diagram of a detection assembly according to the present invention.
FIG. 4 is a block diagram of an intercept arm and arm assembly according to the present invention.
Fig. 5 is a block diagram of a flexible web in accordance with the present invention.
Fig. 6 is an internal structural view of the gear case in the present invention.
Fig. 7 is an enlarged view of the area a of fig. 1 in the present invention.
Fig. 8 is an enlarged view of the region B of fig. 1 in the present invention.
Fig. 9 is a side view of a baffle assembly of the present invention.
Fig. 10 is a front view of the shield of the present invention.
In the figure: 1. a carrier plate; 2. a detection assembly; 3. a fixed table; 4. a hydraulic cylinder; 5. a hydraulic rod; 6. a hanger plate; 7. a motor case; 8. a gear box; 9. an interception arm; 10. a drive motor; 11. a support arm; 12. installing a fence; 13. a guide rod; 14. a floating plate; 15. a cleaning ring; 16. a floating block; 17. a flow rate sensor body; 18. a detection probe; 19. a flexible web; 20. a magnetic strip; 21. height increasing strips; 22. a drive gear; 23. a connecting shaft; 24. a driven gear; 25. a first guide gear; 26. a second guide gear; 27. a clamping plate; 28. a butt joint groove; 29. a clamping groove; 30. an abutting plate; 31. inserting plate; 32. a clamping plate; 33. a baffle assembly; 34. a connecting seat; 35. a shielding plate; 36. damping the rotating shaft; 37. a backing plate; 38. a clamping block; 39. an electric guide rail; 40. an electric slide block; 41. a telescopic push rod; 42. the blade is driven.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, a cleaning robot with an underwater detection function comprises two parallel carrier plates 1, a fixed table 3 and a detection assembly 2, wherein the fixed table 3 and the detection assembly 2 are installed between the two carrier plates 1, the detection assembly 2 is located at the rear position of the fixed table 3, two parallel hydraulic cylinders 4 are installed on the top surface of the fixed table 3, the bottoms of the hydraulic cylinders 4 penetrate through the top surface of the fixed table 3 to be connected with hydraulic rods 5, a hanger plate 6 is connected between the bottom ends of the two hydraulic rods 5, a motor box 7 is installed in the middle of the top of the hanger plate 6, a gear box 8 is installed near the middle of the bottom of the hanger plate 6, interception arms 9 are installed on two sides of the bottom of the gear box 8, a driving motor 10 is installed on one end of the top of the interception arms 9, support arms 11 are connected to the bottom ends of the interception arms 9, and the support arms 11 are matched with the support arms 11 to intercept sundries on the surface of a water area.
The detection component 2 comprises an installation fence 12, two sides of the installation fence 12 are fixedly connected with the outer sides of two carrier plates 1 respectively, a plurality of guide rods 13 are installed at equal intervals in the installation fence 12, a floating plate 14 is sleeved between the outer parts of the plurality of guide rods 13, a cleaning ring 15 is sleeved at the joint of the top surface of the floating plate 14 and the outer parts of the guide rods 13, a plurality of flow velocity sensor main bodies 17 are installed at equal intervals on the outer sides of the floating plate 14 by the bottoms, a waterproof shell is sleeved at the outer sides of the flow velocity sensor main bodies 17, detection probes 18 are connected at the bottoms of the flow velocity sensor main bodies 17 through transmission lines, a plurality of floating blocks 16 are installed at equal intervals on the outer sides of the floating plate 14, and the floating blocks 16 are arranged to facilitate the elevation of the floating plate 14 when the water level rises.
As a technical optimization scheme of the invention, a driving shaft is arranged at the bottom of a driving motor 10, the driving shaft penetrates through the bottom end of an interception arm 9 and is movably connected with a support arm 11, the driving motor 10 drives the driving shaft to rotate, the included angle between the support arm 11 and the interception arm 9 is adjusted, a flexible net 19 is connected between the two support arms 11 and the bottom surface of the interception arm 9, a plurality of circular hanging holes are formed in the outer side of the flexible net 19 near the top, hooks matched with the hanging holes are formed in the bottom surfaces of the support arm 11 and the interception arm 9, magnetic attraction strips 20 are arranged at the two ends of the flexible net 19, the top surface of the support arm 11 is provided with heightening strips 21 for increasing the height of the heightening strips 21, the height of the top surface of the heightening strips 21 is equal to the height of the top surface of the interception arm 9, and the heightening strips 21 are arranged to be convenient for being matched with the interception arm 9 to intercept sundries on the water surface.
As a technical optimization scheme of the invention, a baffle plate assembly 33 is arranged between the front ends of two carrier plates 1 near the top, the baffle plate assembly comprises two connecting seats 34 and a baffle plate 35, both ends of the baffle plate 35 are respectively connected with the two connecting seats 34 through damping rotating shafts 36, clamping blocks 38 are arranged at one ends of the two connecting seats 34, the two connecting seats 34 are respectively connected with the front ends of the two carrier plates 1 through the clamping blocks 38, the front ends of the carrier plates 1 are provided with sliding grooves matched with the clamping blocks 38, the front ends of the connecting seats 34 are provided with backing plates 37, the top surface of the carrier plates 1 is provided with driving cylinders, driving shafts of the driving cylinders extend into the sliding grooves and are fixedly connected with the top surfaces of the clamping blocks 38, electric guide rails 39 are arranged at the inner tops of the baffle plate 35, electric sliding blocks 40 are respectively arranged at the outer sides of the electric sliding blocks 40, driving blades 42 are respectively connected with one ends of the electric sliding blocks 41, the electric guide rails 39 are respectively arranged in the upper areas between the two hydraulic cylinders 4, the height of the baffle plate 35 is larger than the width of a flexible screen 19, the horizontal screen 19 is longer than the flexible screen 19, the horizontal screen 35 is longer than the flexible screen 19, and the flexible screen 19 can be ensured, and the flexible screen 19 can be protected.
As a technical optimization scheme of the invention, a driving gear 22 is arranged in the gear box 8, a connecting shaft 23 is arranged in the center of the inside of the driving gear 22, one side of the driving gear 22 is connected with a driven gear 24 in a meshed manner, one side of the driven gear 24, which is far away from the driving gear 22, is connected with a first guide gear 25 in a meshed manner, and the other side of the driving gear 22 is connected with a second guide gear 26 in a meshed manner.
As a technical optimization scheme of the invention, shaft rods are connected between the interiors of the first guide gear 25 and the second guide gear 26, the shaft rods penetrate through the bottom end of the gear box 8, and the first guide gear 25 and the second guide gear 26 are respectively and movably connected with the two interception arms 9 through the shaft rods.
As a technical optimization scheme of the invention, a driving motor is arranged in the motor box 7, and a driving shaft of the driving motor penetrates through the top surface of the hanger plate 6 and stretches into the gear box 8 to be connected with the connecting shaft 23.
As a technical optimization scheme of the invention, a clamping plate 27 is fixedly arranged on the top surface of one support arm 11 near one end of the support arm through bolts, a butt joint groove 28 is formed in the inner side of one end of the clamping plate 27, clamping grooves 29 are formed in the inner top surface and the bottom surface of the butt joint groove 28, a butt joint plate 30 is fixedly arranged on the top surface of the other support arm 11 near one end of the support arm through bolts, a plugboard 31 is connected to one end of the butt joint plate 30, clamping plates 32 are arranged on the top surface and the bottom surface of the plugboard 31, and after the two support arms 11 are close to each other, the plugboard 31 can be matched with the clamping plate 27 to connect the two support arms 11.
As a technical optimization scheme of the invention, the clamping plate 27 and the abutting plate 30 are inclined in the same direction, the inserting plate 31 is matched with the abutting groove 28, the clamping plate 32 is matched with the clamping groove 29, the inserting plate 31 can be clamped into the abutting groove 28, and the clamping plate 32 is clamped into the clamping groove 29, so that abutting is realized.
As a technical optimization scheme of the invention, the lengths of the two interception arms 9 are equal and incline towards opposite directions, the lengths of the two support arms 11 are equal and incline towards the same direction, and the interception arms 9 and the support arms 11 connected with the interception arms are arranged in a V shape.
As a technical optimization scheme of the invention, the flexible net 19 consists of four surfaces, including a back surface, a bottom surface and two side surfaces, wherein the two side surfaces of the flexible net 19 are respectively connected to the bottom surfaces of the two support arms 11, the back surface of the flexible net 19 is connected between the bottom surfaces of the two interception arms 9, the bottom surface of the flexible net 19 is connected between the bottom parts of the two side surfaces and the bottom parts of the back surface, the bottom surface of the flexible net 19 is provided with a plurality of weight increasing blocks, and the weight increasing blocks are arranged to facilitate the expansion of the flexible net 19.
When the invention is used, the trash cleaning robot is firstly arranged in a gate area corresponding to a river channel, two carrier plates 1 are arranged on two sides of the corresponding river channel, the detection assembly 2 is positioned in the river channel water area, the hydraulic rod 5 is driven to extend by the two hydraulic cylinders 4 at the top of the fixed table 3, the hanging plate 6 is driven to descend, and the interception arm 9 and the support arm 11 are driven to approach to the water surface area.
When the detection component 2 detects, the bottom of the installation fence 12 is immersed in water, the bottom of the flow rate sensor main body 17 extends into the water through the detection probe 18 connected with the transmission line, the flow rate of the river channel is detected, the content of sundries in the river channel is judged according to the detected flow rate, when the detected flow rate value deviates from a conventional value, the effect of the sundries in the river channel on the flow rate is proved, the greater the difference value is, the more sundries in the river channel are, and at the moment, the sundries in the river channel need to be cleaned.
When the river course water level rises, because the kickboard 14 cup joints with the inboard guide arm 13 of installation fence 12, the kickboard 14 utilizes the buoyancy of kickboard 16 to upwards remove in guide arm 13 outside, drive the flow rate sensor main part 17 that its outside was installed and upwards remove, and then drive detection probe 18 and upwards remove, make detection probe 18 can carry out the altitude promotion along with the river course water level is risen, and can be stable in the middle of the waters all the time, can not appear breaking away from with the water and lead to the condition that the velocity of flow can not detect to appear, waterproof casing has been cup jointed to the outside of flow rate sensor main part 17 can effectively avoid its water to advance to lead to damaging, simultaneously, clean ring 15 along with the high rising of kickboard 14, upwards remove on guide arm 13 surface, effectually detach algae and mud that adheres to on guide arm 13 surface, realized the cleanness to guide arm 13 surface.
When only need intercept river course surface debris, utilize motor case 7 internally mounted's driving motor to drive connecting axle 23 rotation, drive driven gear 24 forward or reverse rotation by driving gear 22, drive guide gear one 25 rotation simultaneously, driven gear 24 rotates and drive guide gear two 26 rotation, make guide gear one 25 and guide gear two 26 keep opposite direction rotation, and then control two interception arms 9 draw close each other or keep away from each other, thereby adjust the contained angle between two interception arms 9, adjust the regulation of interception area to the waters width, simultaneously utilize driving motor 10 to drive the rotation of support arm 11, adjust the contained angle between every support arm 11 and the interception arm 9 that it is connected, expand the interception area of interception arm 9, connect at the top of support arm 11 and increase strip 21, make support arm 11 top height and interception arm 9 keep unanimous, support arm 11 can't intercept debris when avoiding having the difference in height.
Before salvaging the sundries in the river channel, the front part of the flexible net 19 is shielded by the baffle plate assembly 33, the baffle plate 35 is turned over by 90 degrees through the damping rotating shaft 36, and then the clamping block 38 is driven by the driving cylinder to move downwards in the sliding groove until the baffle plate 35 shields the front part of the flexible net 19, after shielding the front part area of the flexible net 19, the sundries in the front part of the flexible net during salvaging are prevented from directly passing through the lower part of the flexible net 19 and flowing to other areas of the river channel after being pulled up by the flexible net 19.
When sundries are salvaged, the flexible net 19 is only required to be connected with the interception arm 9 and the support arm 11, the support arm 11 and the hooks on the bottom surface of the interception arm 9 are fixed with the operation hanging buckle on the surface of the flexible net 19, after the hanging plate 6 is lowered in height, the flexible net 19 is sunk below the water surface, the interception arm 9 and the support arm 11 intercept sundries in the water area, meanwhile, the sunk sundries are intercepted by the flexible net 19, after the sundries are intercepted to a certain extent, the hanging plate 6 is lifted by the hydraulic rod 5 to drive the flexible net 19 to rise from the water, sundries intercepted by the interception arm 9 and the support arm 11 are directly sunk into the flexible net 19, the included angles of the interception arm 9 and the support arm 11 are adjusted, the distance between the two interception arms 9 is reduced, meanwhile, the end parts of the two support arms 11 are mutually closed, the flexible net 19 is mutually flexible along with the closing of the support arm 11, and simultaneously, the two magnetic suction strips 20 are mutually adsorbed, so that the two ends of the flexible net 19 are combined, and then a surrounding structure is formed, and the condition that the collected sundries drop during lifting is avoided.
In the salvaging process, when larger sundries appear, the electric sliding block 40 is utilized to move on the surface of the electric guide rail 39, the length of the telescopic push rod 41 is adjusted, the driving blade 42 is driven to move back and forth to adjust the position, the driving blade 42 is utilized to cut and crush the large sundries, the situation that the flexible net 19 is spread when the large sundries are folded is avoided, the flexible net 19 can be folded smoothly, after the cutting work is completed, the telescopic push rod 41 is shortened, the position of the driving blade 42 cannot collide with the position of the flexible net 19 up and down, and the flexible net 19 can be lifted smoothly.
After the end parts of the two support arms 11 are close, along with the movement of the support arms 11, the butt joint plate 30 and the clamping plate 27 are gradually crossed, the insertion plate 31 at one end of the butt joint plate 30 is inserted into the butt joint groove 28 at one end of the clamping plate 27, meanwhile, the clamping plate 32 is clamped into the clamping groove 29, the joint of the two support arms 11 is reinforced, and the situation that the two magnetic attraction strips 20 are loosened due to the expansion of the distance between the two support arms 11 is avoided.
When not carrying out the operation of drawing in, utilize baffle subassembly 33 to shelter from the upper portion of pneumatic cylinder 4, adjust the top to pneumatic cylinder 4 with shielding plate 35, shelter from the back to the top of pneumatic cylinder 4, avoid river course both sides trees to receive the environmental impact to collapse and smash the condition of damaging pneumatic cylinder 4 to appear, effectually protect the robot of decontaminating.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. The utility model provides a robot decontaminates with under water detection function, includes two parallel arrangement's carrier plate (1) and installs fixed station (3) and detection subassembly (2) between two carrier plates (1), detection subassembly (2) are located the rear position of fixed station (3), a serial communication port, two parallel arrangement's pneumatic cylinders (4) are installed to the top surface of fixed station (3), and the bottom of pneumatic cylinder (4) runs through the top surface of fixed station (3) and is connected with hydraulic stem (5), is connected with hanger plate (6) between the bottom of two hydraulic stems (5), installs motor case (7) in the middle of the top of hanger plate (6), and installs gear box (8) in the middle of the bottom of hanger plate (6), the bottom of gear box (8) is all installed on both sides and is leaned on one end position to install driving motor (10) in the top of interception arm (9), and the bottom one end of interception arm (9) is connected with support arm (11);
the detection assembly (2) comprises a mounting fence (12), two sides of the mounting fence (12) are fixedly connected with the outer sides of the two carrier plates (1) respectively, a plurality of guide rods (13) are mounted in the mounting fence (12) at equal intervals, a floating plate (14) is sleeved between the outer parts of the guide rods (13), a cleaning ring (15) is sleeved at the joint of the top surface of the floating plate (14) and the outer parts of the guide rods (13), a plurality of flow velocity sensor main bodies (17) are mounted at the outer sides of the floating plate (14) at equal intervals near the bottom, a waterproof shell is sleeved at the outer sides of the flow velocity sensor main bodies (17), detection probes (18) are connected at the bottom of the flow velocity sensor main bodies (17) through transmission lines, and a plurality of floating blocks (16) are mounted at the outer sides of the floating plate (14) at equal intervals;
the bottom of the driving motor (10) is provided with a driving shaft, the driving shaft penetrates through the bottom end of the interception arm (9) and is movably connected with the support arms (11), a flexible net (19) is connected between the two support arms (11) and the bottom surface of the interception arm (9), a plurality of round hanging holes are formed in the outer side of the flexible net (19) near the top, hooks matched with the hanging holes are formed in the bottom surfaces of the support arms (11) and the interception arm (9), magnetic attraction strips (20) are arranged at two end positions of the flexible net (19), an heightening strip (21) for increasing the height of the support arms is arranged on the top surface of the support arms (11), and the height of the heightening strip (21) is equal to the height of the top surface of the interception arm (9);
a driving motor is arranged in the motor box (7), and a driving shaft of the driving motor penetrates through the top surface of the hanging plate (6) and stretches into the gear box (8) to be connected with the connecting shaft (23);
the flexible net (19) comprises four surfaces, including back, bottom surface and two sides, the bottom surface at two support arms (11) is connected respectively to the both sides face of flexible net (19), and the back of flexible net (19) is connected between the bottom surface of two interception arms (9), and the bottom surface of flexible net (19) is connected between its two side bottoms and back bottom, and the bottom surface of flexible net (19) is provided with a plurality of weight-increasing piece.
2. The robot cleaner with underwater detection function according to claim 1, wherein a baffle assembly (33) is arranged between the front ends of the two carrier plates (1) close to the top, the baffle assembly (33) comprises two connecting seats (34) and a shielding plate (35), both ends of the shielding plate (35) are respectively connected with the two connecting seats (34) through damping rotating shafts (36), one ends of the two connecting seats (34) are respectively provided with a clamping block (38), the two connecting seats (34) are respectively connected with the front ends of the two carrier plates (1) through the clamping blocks (38), the front ends of the carrier plates (1) are provided with sliding grooves matched with the clamping blocks (38), the front end of the connecting seat (34) is provided with a backing plate (37), the top surface of the carrier plate (1) is provided with a driving cylinder, a driving shaft of the driving cylinder extends into the sliding groove and is fixedly connected with the top surface of the clamping block (38), an electric guide rail (39) is arranged at the top of the inner side of the shielding plate (35), an electric sliding block (40) is arranged at the outer side of the electric guide rail (39), a telescopic push rod (41) is arranged at the outer side of the electric sliding block (40), one end of the telescopic push rod (41) is connected with a driving blade (42), the electric guide rail (39) is arranged in the upper area between the two hydraulic cylinders (4), the height of the shielding plate (35) is larger than the width of the flexible net (19), and the horizontal length of the shielding plate (35) is larger than the horizontal length of the flexible net (19).
3. The robot cleaner with the underwater detection function according to claim 1, wherein a driving gear (22) is installed in the gear box (8), a connecting shaft (23) is installed in the center of the inside of the driving gear (22), one side of the driving gear (22) is connected with a driven gear (24) in a meshed manner, one side of the driven gear (24) away from the driving gear (22) is connected with a first guide gear (25) in a meshed manner, and the other side of the driving gear (22) is connected with a second guide gear (26) in a meshed manner.
4. A cleaning robot with underwater detection function according to claim 3, characterized in that the middle of the inside of the first guide gear (25) and the second guide gear (26) is connected with a shaft rod, the shaft rod penetrates through the bottom end of the gear box (8), and the first guide gear (25) and the second guide gear (26) are respectively and movably connected with the two interception arms (9) through the shaft rod.
5. The robot cleaner with the underwater detection function according to claim 1, wherein a clamping plate (27) is fixedly mounted on the top surface of one of the support arms (11) at one end through bolts, a butt joint groove (28) is formed in the inner side of one end of the clamping plate (27), clamping grooves (29) are formed in the inner top surface and the bottom surface of the butt joint groove (28), a butt joint plate (30) is fixedly mounted on the top surface of the other support arm (11) at one end through bolts, a plugboard (31) is connected to one end of the butt joint plate (30), and clamping plates (32) are mounted on the top surface and the bottom surface of the plugboard (31).
6. The robot with underwater detection function according to claim 5, wherein the clamping plate (27) and the abutting plate (30) are inclined in the same direction, the insertion plate (31) is matched with the abutting groove (28), and the clamping plate (32) is matched with the clamping groove (29).
7. A cleaning robot with underwater detection function according to claim 1, characterized in that the two interception arms (9) are equal in length and inclined in opposite directions, the two arms (11) are equal in length and inclined in the same direction, and the interception arms (9) are arranged in V-shape with the arms (11) to which they are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210540854.3A CN114892619B (en) | 2022-05-17 | 2022-05-17 | Trash cleaning robot with underwater detection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210540854.3A CN114892619B (en) | 2022-05-17 | 2022-05-17 | Trash cleaning robot with underwater detection function |
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| CN114892619A CN114892619A (en) | 2022-08-12 |
| CN114892619B true CN114892619B (en) | 2023-07-28 |
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| CN115748625B (en) * | 2022-11-22 | 2023-06-09 | 松辽水资源保护科学研究所 | Be used for water conservancy construction sewage impurity primary interception equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109555094B (en) * | 2018-12-24 | 2023-08-29 | 浙江大学 | River channel garbage collection device and method thereof |
| CN209585000U (en) * | 2018-12-24 | 2019-11-05 | 浙江大学 | Riverway waste collection device |
| CN211478362U (en) * | 2019-09-12 | 2020-09-11 | 山东海慧环境科技有限公司 | Intelligent current meter |
| CN110904931B (en) * | 2019-11-19 | 2021-04-27 | 江苏科技大学 | Water surface garbage fishing device |
| CN112554158A (en) * | 2020-12-11 | 2021-03-26 | 广州船舶及海洋工程设计研究院（中国船舶工业集团公司第六0五研究院） | Automatic recovery system and recovery method for water surface garbage |
| CN214143609U (en) * | 2020-12-31 | 2021-09-07 | 广东立行环境设计有限公司 | Novel trash rack |
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