CN118007781B - Amphibious multistage dredging robot for urban sewage disposal canal - Google Patents
Amphibious multistage dredging robot for urban sewage disposal canal Download PDFInfo
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- CN118007781B CN118007781B CN202410411625.0A CN202410411625A CN118007781B CN 118007781 B CN118007781 B CN 118007781B CN 202410411625 A CN202410411625 A CN 202410411625A CN 118007781 B CN118007781 B CN 118007781B
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- cleaning
- robot body
- frame
- cavity
- side wall
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- 239000010865 sewage Substances 0.000 title claims abstract description 82
- 238000004140 cleaning Methods 0.000 claims abstract description 263
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 239000010802 sludge Substances 0.000 claims abstract description 56
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 104
- 238000003860 storage Methods 0.000 claims description 42
- 239000003381 stabilizer Substances 0.000 claims description 27
- 238000005520 cutting process Methods 0.000 claims description 20
- 239000007921 spray Substances 0.000 claims description 19
- 230000000087 stabilizing effect Effects 0.000 claims description 14
- 238000007790 scraping Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000011086 high cleaning Methods 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 20
- 238000000034 method Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 238000007667 floating Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
-
- 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
- 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
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
-
- 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
- E02F5/287—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with jet nozzles
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/007—Devices providing a flushing surge
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the technical field of dredging equipment of drainage systems, and particularly relates to an amphibious multi-section dredging robot for an urban sewage disposal canal. An amphibious multistage dredging robot for urban sewage channels comprises a first robot body and a second robot body, wherein the first robot body is connected with the second robot body through a universal joint, one side, far away from the end part of the universal joint, of the first robot body is provided with a dredging mechanism, one lower part of the first robot body is provided with a moving mechanism, one side, far away from the end part of the universal joint, of the second robot body is provided with a cleaning mechanism, and the bottom and the side wall of the second robot body are respectively provided with a bottom wall cleaning mechanism and a side wall cleaning mechanism. The invention can clean the sludge in the sewage drain, clean the surface of the sewage drain after cleaning, further clean dead angle positions which are not cleaned in place, prevent residues, and clean the surface of the sewage drain after cleaning at the same time, thereby having high cleaning efficiency.
Description
Technical Field
The invention belongs to the technical field of dredging equipment of drainage systems, and particularly relates to an amphibious multi-section dredging robot for an urban sewage disposal canal.
Background
With the further acceleration of urban construction, the construction of an underground drainage system is correspondingly increased by urban capacity expansion. Maintenance work of the drainage system is also important while constructing. The drainage system comprises a drainage pipe network, a canal box, a pump station and the like. The cleaning of the canal box is particularly important, and the blocking effect of the canal box is serious.
At present, the urban sewage drain is basically cleaned through mechanical equipment, and although the conventional dredging robot can clean the sewage drain, the cleaned sludge and the like cannot be discharged, dead angle positions cannot be cleaned, and the surface of the sewage drain after cleaning is cleaned.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the amphibious multi-section dredging robot for the urban sewage channels, which is used for cleaning sludge in the sewage channels through a dredging mechanism, wherein a bottom wall cleaning mechanism and a side wall cleaning mechanism are used for cleaning the bottom wall and the side walls of the sewage channels, and a cleaning mechanism is used for cleaning the surfaces of the cleaned sewage channels, so that the sludge in the sewage channels can be cleaned, the surfaces of the cleaned sewage channels are cleaned, dead angle positions which are not cleaned in place are further cleaned, residues are prevented, and meanwhile, the surfaces of the cleaned sewage channels are cleaned with high cleaning efficiency.
The technical scheme of the invention is as follows: the utility model provides an amphibious multistage desilting robot of city blowdown canal, includes robot body one and robot body two, be connected through the universal joint between robot body one and the robot body two, first universal joint tip one side of keeping away from of robot body is equipped with desilting mechanism, a robot body lower part is equipped with moving mechanism, moving mechanism includes fixed mounting's mount on the robot body one, it has the through groove to run through processing on the mount, be equipped with the motion chamber in the mount, the motion chamber end wall is rotated between and is connected with the motion pivot, motion pivot and motion motor power connection, motion motor fixed mounting is in the mount, the surface fixed mounting of motion pivot has the motion gear, motion gear and annular guide meshing, annular guide rotates and installs on the mount, the surface even fixed mounting of annular guide has the motion board, the motion board is followed annular guide's the annular line direction is arranged, be equipped with the water storage chamber in the mount, fixed mounting has the injection valve on the water storage chamber end wall, fixed mounting has the drain valve on the water storage chamber end wall, motion motor fixed mounting is in the motion mechanism is in the same with motion motor power connection with motion, motion motor fixed mounting is in the mount has the motion guide, annular guide rotates the motion rail is in the same with the side wall, and is used for cleaning mechanism to carry out the side wall to the side wall, the side wall is used for cleaning mechanism.
Preferably, the dredging mechanism comprises a lifting frame fixedly arranged at the front part of the robot body, a lifting chute is arranged on the lifting frame, a lifting screw rod is connected between end walls of the lifting chute in a rotating manner, the lifting screw rod is in power connection with a lifting motor, the lifting motor is fixedly arranged in the lifting frame, a sliding block is connected with the outer surface of the lifting screw rod in a threaded manner, the sliding block is slidably arranged between end walls of the lifting chute, a cleaning plate is fixedly arranged on the surface of the sliding block, the bottom of the cleaning plate is processed into a wedge shape, a moving cavity is symmetrically arranged in the cleaning plate, a gear cavity is processed in the cleaning plate, a driving shaft is connected between end walls of the gear cavity in a rotating manner, the driving shaft is in power connection with a dredging motor, the dredging motor is fixedly arranged in the cleaning plate, a driving gear is fixedly arranged on the outer surface of the driving shaft, the driving gear is meshed with a driven gear, the driven gear is fixedly arranged on the outer surface of the cleaning screw rod, the cleaning screw rod is rotatably arranged between end walls of the water storage cavity in a penetrating manner, the cleaning screw rod extends into the moving cavity, a cleaning screw rod is fixedly connected with a cleaning plate, a threaded connection with a driving nut is arranged on the outer surface of the cleaning screw rod, the cleaning screw rod is processed into a wedge-shaped motor, a cutting plate is fixedly arranged on one side wall of the side wall, a cutting plate is fixedly arranged on the side wall of the side wall, a side wall of the cutting plate is fixedly arranged on the side wall, and is fixedly connected with a threaded nut, and is fixedly arranged on the side wall of the side wall. The outer surface fixed mounting of cutting pivot has the cutting knife, fixed mounting has first mud discharge pump on the mounting panel, first mud discharge pump with fixed pipe intercommunication is connected with the connecting pipe on the first mud discharge pump, the connecting pipe is kept away from first mud discharge pump one side end is connected with the second mud discharge pump, second mud discharge pump fixed mounting is in crane upper portion, be connected with the discharge pipe on the second mud discharge pump.
Preferably, the first robot body and be equipped with stabilizing mean on the second robot body, stabilizing mean includes fixed block of fixed mounting on the first robot body, rotate on the fixed block and be connected with the pivot, the surface fixed mounting of pivot has the stabilizer bar, the terminal fixedly connected with stabilizer bar of stabilizer bar, rotate on the stabilizer bar and be connected with stable pivot, the surface fixed mounting of stable pivot has the stabilizer wheel, be equipped with the recess on the stabilizer bar, rotate between the recess end wall and be connected with the connection pivot, the surface fixed mounting of connection pivot has stable electric putter, be equipped with the stability groove on the first robot body, rotate between the stability groove end wall and be connected with supplementary pivot, stable electric putter keeps away from connect pivot one side end with supplementary pivot fixed connection.
Preferably, the second robot body is provided with a water spraying mechanism, the water spraying mechanism comprises a cleaning electric push rod fixedly connected with the bottom of the second robot body, a water spraying frame is fixedly connected with the tail end of the lower side of the cleaning electric push rod, a communicating groove is formed in the water spraying frame, a water storage cavity is formed in the second robot body, the water storage cavity is communicated with the communicating groove through a water pipe, a water spraying nozzle is fixedly mounted on the water spraying frame, the water spraying nozzle is communicated with the communicating groove, the water pipe is fixedly connected with a water suction pump, and the water suction pump is fixedly mounted on the end wall of the water storage cavity.
Preferably, the bottom wall cleaning mechanism comprises a bottom wall cleaning electric push rod fixedly connected with the two bottoms of the robot body, a fixing plate is fixedly connected with the lower end of the bottom wall cleaning electric push rod, a bottom wall cleaning rotating shaft is uniformly and rotatably connected to the bottom wall of the fixing plate, the bottom wall cleaning rotating shaft is in power connection with a bottom wall cleaning motor, the bottom wall cleaning motor is fixedly installed in the fixing plate, and a bottom wall cleaning brush is fixedly connected with the lower end of the bottom wall cleaning rotating shaft.
Preferably, the second robot body is provided with a side wall cleaning mechanism, the side wall cleaning mechanism comprises a mounting frame fixedly mounted on the second robot body, a sliding groove is formed in the mounting frame, a screw rod is rotationally connected to the end wall of the sliding groove, the screw rod is in power connection with a driving motor, the driving motor is fixedly mounted in the mounting frame, the outer surface of the screw rod is in threaded connection with a moving plate, the moving plate is slidably mounted between the end walls of the sliding groove, the tail end of the moving plate is fixedly connected with a side wall cleaning frame, a side wall cleaning rotating shaft is rotationally connected to the side wall cleaning frame, the side wall cleaning rotating shaft is in power connection with the side wall cleaning motor, the side wall cleaning motor is fixedly mounted in the side wall cleaning frame, and the outer surface of the side wall cleaning rotating shaft is fixedly mounted with a side wall cleaning cylinder.
Preferably, the second robot body is provided with a dead angle position cleaning mechanism, the dead angle position cleaning mechanism comprises a dead angle cleaning frame fixedly installed on the second robot body, a cleaning gear cavity is arranged in the dead angle cleaning frame, an electric telescopic shaft is connected between end walls of the cleaning gear cavity in a penetrating and rotating mode, the electric telescopic shaft is in power connection with an angle adjusting motor, the angle adjusting motor is fixedly installed in the dead angle cleaning frame, a dead angle cleaning gear is fixedly installed on the outer surface of the electric telescopic shaft, meshing is conducted between the dead angle cleaning gears, a rotating frame is fixedly installed on the tail end of the lower side of the electric telescopic shaft, a dead angle cleaning rotating shaft is rotatably installed at the tail end of the rotating frame, the dead angle cleaning rotating shaft is in power connection with the cleaning motor, the cleaning motor is fixedly installed in the rotating frame, and a dead angle cleaning brush is fixedly installed on the outer surface of the dead angle cleaning rotating shaft.
Preferably, the second robot body is provided with a cleaning mechanism, the cleaning mechanism comprises a T-shaped frame fixedly installed on the second robot body, an arc-shaped frame is fixedly connected to the T-shaped frame, a channel is arranged in the T-shaped frame and communicated with a water supply pump, the water supply pump is fixedly installed on the end wall of the water storage cavity, an arc-shaped cavity is arranged in the arc-shaped frame, the channel is communicated with the arc-shaped cavity, a cleaning spray head is fixedly installed on the arc-shaped frame and communicated with the arc-shaped cavity, and the cleaning spray head is arranged along the circumferential direction of the arc-shaped frame.
Preferably, the first robot body and the second robot body are provided with a supporting mechanism, the supporting mechanism comprises a supporting electric push rod fixedly connected with the first robot body and the second robot body, a supporting block is fixedly connected with the tail end of the lower side of the supporting electric push rod, a supporting rotating shaft is connected to the supporting block in a rotating mode, and a supporting wheel is fixedly arranged on the outer surface of the supporting rotating shaft.
Preferably, the first robot body is provided with a storage battery cavity, a storage battery is installed in the storage battery cavity, the first robot body is internally provided with a control cavity, and a control processor is installed in the control cavity.
The invention has the technical effects that:
1. the invention provides an amphibious multi-section dredging robot for an urban sewage drain, which can clean sludge in the sewage drain, can extract the sludge during discharging, cuts and pulverizes the sludge, and is convenient for discharging the sludge.
2. The invention provides an amphibious multi-section dredging robot for an urban sewage drain, which can clean the surface of the sewage drain after cleaning, further clean the position which is not cleaned in place, clean dead angle positions, prevent residues, and have higher cleaning efficiency.
3. The invention provides an amphibious multi-section dredging robot for an urban sewage drain, which can clean the surface of the clean sewage drain and can realize sewage drains with different curves.
Further description will be made below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a first directional structure of an amphibious multistage dredging robot for an urban sewage disposal channel;
FIG. 2 is a schematic diagram of a second directional structure of an amphibious multistage dredging robot for urban sewage channels;
FIG. 3 is a schematic view of a third directional structure of an amphibious multistage dredging robot for an urban sewage disposal channel;
FIG. 4 is a schematic structural diagram of a fourth direction of an amphibious multistage dredging robot for an urban sewage disposal channel in the invention;
FIG. 5 is a schematic view of a fifth directional structure of an amphibious multistage dredging robot for an urban sewage disposal channel according to the present invention;
FIG. 6 is a schematic view of a sixth directional structure of an amphibious multistage dredging robot for urban sewage channels according to the present invention;
FIG. 7 is a schematic view of a seventh directional structure of an amphibious multistage dredging robot for urban sewage channels;
FIG. 8 is a schematic cross-sectional view of the structure at A-A in FIG. 7;
FIG. 9 is a schematic cross-sectional view of the structure at B-B in FIG. 8;
FIG. 10 is a schematic cross-sectional view of the structure at C-C of FIG. 8;
FIG. 11 is a schematic cross-sectional view of the structure at D-D in FIG. 8;
FIG. 12 is a schematic cross-sectional view of the structure at E-E of FIG. 8;
FIG. 13 is a schematic cross-sectional view of the structure at F-F in FIG. 11;
FIG. 14 is a schematic cross-sectional view of the structure at G-G of FIG. 8;
FIG. 15 is a schematic cross-sectional view of the structure at H-H of FIG. 13;
FIG. 16 is a schematic cross-sectional view of the structure at J-J of FIG. 13;
FIG. 17 is a schematic view of the internal structure of the mounting bracket of the present invention;
fig. 18 is an enlarged schematic view of the structure at K in fig. 3.
Reference numerals: 1-a robot body I; 2-universal joints; 3-a robot body II; 4-a discharge pipe; 5-a second sludge discharge pump; 6-connecting pipes; 7-a first sludge discharge pump; 8-a sliding block; 9-mounting plates; 10-fixing the tube; 11-a purge plate; 12-side wall scrapers; 13-a fixing frame; 14-an injection valve; 15-a stabilizer bar; 16-a stabilization block; 17-a stabilizing wheel; 18-stabilizing the electric push rod; 19-a stabilizing tank; 20-fixing blocks; 21-a rotating shaft; 22-a water spraying frame; 23-spraying nozzle; 24-fixing plates; 25-bottom wall cleaning spindle; 26-a bottom wall cleaning brush; 27-dead angle cleaning brushes; 28-a side wall cleaning cartridge; 29-a rotating frame; 30-side wall cleaning rotating shaft; 31-a side wall cleaning rack; a 32-T-shaped rack; 33-arc-shaped frames; 34-cleaning the spray head; 35-lifting screw rods; 36-supporting wheels; 37-supporting blocks; 38-supporting an electric push rod; 39-mounting rack; 40-moving plate; 41-dead angle cleaning frames; 42-a drain valve; 43-motion plate; 44-an electric telescopic shaft; 45-cleaning the electric push rod; 46-a water delivery pipe; 47-a cross plate; 48-cutting knife; 49-cutting the rotating shaft; 50-a control chamber; 51-a control processor; 52-a storage battery; 53-motion gear; 54-water storage cavity; 55-a water storage cavity; 56-a drive gear; 57-driven gear; 58-dead angle cleaning gear; 59-arc-shaped cavity; 60-cleaning a screw rod; 61-nutplate; 62-a drive shaft; 63-a motion shaft; 64-channel; 65-stabilizing the rotating shaft; 66-dead angle cleaning rotating shafts; 67-grooves; 68-supporting the rotating shaft; 69-connecting the rotating shaft; 70-auxiliary rotating shafts; 71-lifting sliding grooves; 72-battery cavity; 73-a screw rod; 74-sliding grooves; 75-driving a motor; 76-a through slot; 77-lifting frame; 78-moving the cavity; 79-motion chamber; 80-an annular guide rail; 81-communicating grooves; 82-bottom wall cleaning electric push rod; 83-a water supply pump; 84-gear cavity; 85-cleaning gear cavities.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, but 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.
Embodiment 1 as shown in fig. 1-18, an amphibious multistage dredging robot for urban sewage channels comprises a first robot body 1 and a second robot body 3, wherein the first robot body 1 is connected with the second robot body 3 through a universal joint 2, a dredging mechanism is arranged on one side of the end part of the first robot body 1 far away from the universal joint 2, a movement mechanism is arranged on the lower part of the first robot body 1, the lower part of the first robot body 1 is provided with a movement mechanism which is used for driving the first robot body 1 to move, the movement mechanism comprises a fixing frame 13 fixedly arranged on the first robot body 1, a through groove 76 is formed in the fixing frame 13 in a penetrating manner, a movement cavity 79 is arranged in the fixing frame 13, a movement rotating shaft 63 is connected between the end walls of the movement cavity 79 in a rotating manner, the movement rotating shaft 63 is connected with a movement motor in a power manner, the motion motor is fixedly arranged in the fixed frame 13, the outer surface of the motion rotating shaft 63 is fixedly provided with a motion gear 53, the motion gear 53 is meshed with an annular guide rail 80, the annular guide rail 80 is rotatably arranged on the fixed frame 13, the outer surface of the annular guide rail 80 is uniformly and fixedly provided with a motion plate 43, the motion plate 43 is arranged along the annular line direction of the annular guide rail 80, the fixed frame 13 is internally provided with a water storage cavity 54, the end wall of the water storage cavity 54 is fixedly provided with an injection valve 14, the bottom wall of the water storage cavity 54 is fixedly provided with a drain valve 42, one side of the end part of the second robot body 3 far away from the universal joint 2 is provided with a cleaning mechanism, the bottom wall cleaning mechanism and the side wall cleaning mechanism are respectively arranged at the bottom and the side wall of the second robot body 3, the motion mechanism is used for driving the first robot body 1 to move, the dredging mechanism is used for cleaning sludge in the sewage drain, the bottom wall cleaning mechanism and the side wall cleaning mechanism are used for cleaning the bottom wall and the side wall of the sewage drain, and the cleaning mechanism is used for cleaning the surface of the sewage drain after cleaning.
In the actual use process, the invention starts the motion motor, thereby driving the motion rotating shaft 63 to rotate, thereby driving the motion gear 53 to rotate, the motion gear 53 is meshed with the annular guide rail 80, thereby driving the bottom wall cleaning electric push rod 82 to rotate, thereby driving the motion plate 43 to move, thereby driving the first robot body 1 to move, when the first robot body 1 moves, the universal joint 2 is pulled to move, thereby pulling the second robot body 3 to move, when the floating motion is needed on water, the water drain valve 42 is started, water in the water storage cavity 54 is discharged, the integral weight is reduced, thereby realizing the floating motion on water, after the floating motion is needed to sink, when the floating motion is needed to sink to the bottom of the sewage drain, the injection valve 14 adds water into the water storage cavity 54, and increases the integral weight, and the moving plate 43 moves downwards to the bottom of the sewage drain, thereby enabling the bottom of the first robot body 1 to contact with the bottom of the sewage drain.
Embodiment 2 preferably, in this embodiment, on the basis of embodiment 1, the dredging mechanism is used for removing sludge in the sewage drain, the dredging mechanism includes a lifting frame 77 fixedly installed at the front part of the robot body 1, lifting sliding grooves 71 are provided on the lifting frame 77, lifting screw rods 35 are rotatably connected between end walls of the lifting sliding grooves 71, the lifting screw rods 35 are in power connection with a lifting motor, the lifting motor is fixedly installed in the lifting frame 77, a sliding block 8 is in threaded connection with the outer surface of the lifting screw rods 35, the sliding block 8 is slidably installed between end walls of the lifting sliding grooves 71, a cleaning plate 11 is fixedly installed on the surface of the sliding block 8, The bottom of the cleaning plate 11 is processed into a wedge shape, so as to be convenient for scooping the sludge at the bottom of the sewage drain, the cleaning plate 11 is internally symmetrically provided with a moving cavity 78, the cleaning plate 11 is internally provided with a gear cavity 84, the end walls of the gear cavity 84 are rotationally connected with a driving shaft 62, the driving shaft 62 is in power connection with a dredging motor, the dredging motor is fixedly arranged in the cleaning plate 11, the outer surface of the driving shaft 62 is fixedly provided with a driving gear 56, the driving gear 56 is meshed with a driven gear 57, the driven gear 57 is fixedly arranged on the outer surface of a cleaning screw rod 60, the cleaning screw rod 60 is rotationally arranged between the end walls of the water storage cavity 55 in a penetrating way, The cleaning screw rod 60 extends into the moving cavity 78, the outer surface of the cleaning screw rod 60 is in threaded connection with a nut plate 61, the bottom of the nut plate 61 is flush with the bottom of the cleaning plate 11, so that better scooping of sludge in a sewage drain is facilitated, the nut plate 61 is slidably mounted between the end walls of the moving cavity 78, the bottom of the nut plate 61 is processed into a wedge shape, a side wall scraping plate 12 is fixedly mounted on the end wall of the nut plate 61, the side wall scraping plate 12 is processed into a wedge shape away from the side surface of the nut plate 61, so that the scooping of sludge on the side wall of the sewage drain is facilitated, a mounting plate 9 is fixedly mounted on the cleaning plate 11, the mounting plate 9 is convenient for mounting the fixed pipe 10 and the first sludge discharge pump 7, the fixed pipe 10 is fixedly mounted on the bottom wall of the mounting plate 9, the transverse plate 47 is fixedly mounted in the fixed pipe 10, the transverse plate 47 is rotatably provided with a cutting rotating shaft 49, the cutting rotating shaft 49 is in power connection with a crushing motor, the crushing motor is fixedly mounted in the transverse plate 47, the outer surface of the cutting rotating shaft 49 is fixedly provided with a cutting knife 48, the cutting knife 48 is used for cutting and crushing sludge, the first sludge discharge pump 7 is fixedly mounted on the mounting plate 9, the first sludge discharge pump 7 is used for extracting sludge, The first sludge discharge pump 7 with fixed pipe 10 intercommunication, be connected with connecting pipe 6 on the first sludge discharge pump 7, connecting pipe 6 adopts soft material to make, connecting pipe 6 is kept away from first sludge discharge pump 7 one side end is connected with second sludge discharge pump 5, second sludge discharge pump 5 is used for carrying out further extraction to the mud, is convenient for carry out the discharge, second sludge discharge pump 5 fixed mounting is in crane 77 upper portion, be connected with discharge pipe 4 on the second sludge discharge pump 5, discharge pipe 4 is used for discharging mud, and the mud passes through discharge pipe 4's afterbody is discharged to the outside of blowdown canal.
In the actual use process, the invention starts the lifting motor so as to drive the lifting screw rod 35 to rotate, thereby driving the sliding block 8 to move downwards, thereby driving the cleaning plate 11 to move downwards to contact with the bottom wall of a sewage channel, starting the dredging motor so as to drive the driving shaft 62 to rotate, thereby driving the driving gear 56 to rotate, the driving gear 56 is meshed with the driven gear 57, thereby driving the cleaning screw rod 60 to rotate, thereby driving the nut plate 61 to move, thereby driving the side wall scraping plate 12 to move to contact with the side wall of the sewage channel, the robot body 1 to move, thereby driving the cleaning plate 11 to drive the side wall scraping plate 12 to move, thereby shoveling the sludge in the sewage channel, enabling the sludge to be positioned between the side wall scraping plate 12 and the cleaning plate 11, facilitating the extraction, and starting the second sludge discharge pump 5 and the first sludge discharge pump 7, thereby enabling the sludge to enter the fixed pipe 10, starting the smashing motor so as to drive the cutting rotating shaft 60 to rotate, thereby driving the cutting blade 48 to move to the sludge to enter the first discharge pipe 6, and finally enabling the sludge to enter the second discharge pipe 6 to pass through the connecting pipe 6, and finally enabling the sludge to enter the first discharge pipe 6 to be discharged through the connecting pipe 6 to be convenient for the extraction.
Embodiment 3 preferably, in this embodiment, on the basis of embodiment 1 or embodiment 2, a stabilizing mechanism is disposed on the first robot body 1 and the second robot body 3, the stabilizing mechanism is used for increasing stability during movement, the stabilizing mechanism includes a fixed block 20 fixedly mounted on the first robot body 1, a rotating shaft 21 is rotatably connected to the fixed block 20, a stabilizer bar 15 is fixedly mounted on an outer surface of the rotating shaft 21, a stabilizer block 16 is fixedly connected to an end of the stabilizer bar 15, a stabilizer rotating shaft 65 is rotatably connected to the stabilizer block 16, a stabilizer wheel 17 is fixedly mounted on an outer surface of the stabilizer rotating shaft 65, a groove 67 is disposed on the stabilizer bar 15, a connecting rotating shaft 69 is rotatably connected between end walls of the groove 67, a stabilizer electric push rod 18 is fixedly mounted on an outer surface of the connecting rotating shaft 69, a stabilizer groove 19 is disposed on the first robot body 1, an auxiliary rotating shaft 70 is rotatably connected between end walls of the stabilizer groove 19, and the stabilizer electric push rod 18 is fixedly connected with the auxiliary rotating shaft 70 far from one side end of the connecting rotating shaft 69.
In the actual use process, the invention energizes the stable electric push rod 18, so that the stable electric push rod 18 stretches, thereby driving the stable rod 15 to rotate, driving the stable block 16 to move, driving the stable wheel 17 to move and contact with the side wall of the sewage drain for supporting, and further increasing the stability.
Embodiment 4 preferably, in this embodiment, on the basis of embodiment 1 or embodiment 3, a water spraying mechanism is disposed on the second robot body 3, the water spraying mechanism is used for spraying water and is convenient for cleaning, the water spraying mechanism includes a cleaning electric push rod 45 fixedly connected with the bottom of the second robot body 3, a water spraying frame 22 is fixedly connected with the lower end of the cleaning electric push rod 45, a communication groove 81 is disposed in the water spraying frame 22, a water storage cavity 55 is disposed in the second robot body 3, the water storage cavity 55 is communicated with the communication groove 81 through a water pipe 46, a water spraying nozzle 23 is fixedly mounted on the water spraying frame 22, the water spraying nozzle 23 is communicated with the communication groove 81, the water pipe 46 is fixedly connected with a water pump, and the water pump is fixedly mounted on the end wall of the water storage cavity 55.
In the actual use process, the water suction pump is started, so that water in the water storage cavity 55 enters the communication groove 81 through the water delivery pipe 46, the water spray nozzle 23 is started, and the water in the communication groove 81 is sprayed out through the water spray nozzle 23 and is sprayed on the surface of a sewage drain canal, so that the sewage drain canal is convenient to clean.
Embodiment 5 preferably, on the basis of embodiment 1 or embodiment 4, in this embodiment, the bottom of the second robot body 3 is provided with a bottom wall cleaning mechanism, the bottom wall cleaning mechanism is used for cleaning a bottom wall of a sewage disposal canal, the bottom wall cleaning mechanism includes a bottom wall cleaning electric push rod 82 fixedly connected with the bottom of the second robot body 3, a fixing plate 24 is fixedly connected with a lower end of the bottom wall cleaning electric push rod 82, a bottom wall cleaning rotating shaft 25 is uniformly and rotatably connected with a bottom wall on the bottom wall of the fixing plate 24, the bottom wall cleaning rotating shaft 25 is in power connection with a bottom wall cleaning motor, the bottom wall cleaning motor is fixedly installed in the fixing plate 24, and a bottom wall cleaning brush 26 is fixedly connected with a lower end of the bottom wall cleaning rotating shaft 25.
In the actual use process, the invention energizes the bottom wall cleaning electric push rod 82, thereby driving the fixed plate 24 to move downwards, driving the bottom wall cleaning brush 26 to move downwards to contact with the bottom wall of the sewage disposal canal, starting the bottom wall cleaning motor, driving the bottom wall cleaning rotating shaft 25 to rotate, driving the bottom wall cleaning brush 26 to rotate, cleaning the bottom wall of the sewage disposal canal, and cleaning the bonded sludge.
Embodiment 6 preferably, on the basis of embodiment 1 or embodiment 5, in this embodiment, a side wall cleaning mechanism is disposed on the second robot body 3, the side wall cleaning mechanism is used for cleaning a side wall of the sewage drain, the side wall cleaning mechanism includes a mounting frame 39 fixedly mounted on the second robot body 3, a chute 74 is disposed in the mounting frame 39, a screw rod 73 is rotationally connected to an end wall of the chute 74, the screw rod 73 is in power connection with a driving motor 75, the driving motor 75 is fixedly mounted in the mounting frame 39, an outer surface of the screw rod 73 is in threaded connection with a moving plate 40, the moving plate 40 is slidably mounted between end walls of the chute 74, a side wall cleaning frame 31 is fixedly connected to an end of the moving plate 40, a side wall cleaning rotating shaft 30 is rotationally connected to the side wall cleaning frame 31, the side wall cleaning rotating shaft 30 is in power connection with a side wall cleaning motor, the side wall cleaning motor is fixedly mounted in the side wall cleaning frame 31, and an outer surface of the side wall cleaning rotating shaft 30 is fixedly mounted with a side wall cleaning cylinder 28.
In actual use, the invention starts the driving motor 75 to drive the screw rod 73 to rotate to drive the moving plate 40 to move to drive the side wall cleaning frame 31 to move to drive the side wall cleaning cylinder 28 to move to contact with the side wall of the sewage drain, and starts the side wall cleaning motor to drive the side wall cleaning rotating shaft 30 to rotate to drive the side wall cleaning cylinder 28 to rotate, thereby realizing cleaning and removal of sludge adhered to the side wall.
Embodiment 7 is preferable, in this embodiment, on the basis of embodiment 1 or embodiment 6, be equipped with dead angle position cleaning mechanism on robot body two 3, dead angle position cleaning mechanism is used for cleaning the dead angle position of blowdown canal lateral wall and diapire junction, dead angle position cleaning mechanism includes dead angle cleaning frame 41 of fixed mounting on robot body two 3, be equipped with clean gear chamber 85 in the dead angle cleaning frame 41, run through between clean gear chamber 85 end wall and rotate and be connected with electric telescopic shaft 44, electric telescopic shaft 44 is connected with angle adjustment motor power, angle adjustment motor fixed mounting is in the dead angle cleaning frame 41, electric telescopic shaft 44's surface fixed mounting has dead angle cleaning gear 58, meshing between the dead angle cleaning gear 58, electric telescopic shaft 44 downside end fixed mounting has rotating frame 29, rotating frame 29 end position department rotates and installs dead angle cleaning pivot 66, cleaning pivot 66 and cleaning motor power connection, cleaning motor fixed mounting is in the rotating frame 29, the surface of dead angle cleaning pivot 66 is fixed mounting has the clean brush 27.
In the actual use process, the angle adjusting motor is started, so that the electric telescopic shaft 44 is driven to rotate, the dead angle cleaning gears 58 are meshed, the electric telescopic shaft 44 is driven to rotate, the rotating frame 29 is driven to rotate, the dead angle cleaning brush 27 is driven to rotate to a corresponding position, the electric telescopic shaft 44 stretches, the dead angle cleaning brush 27 is driven to move downwards to contact with the joint of the side wall and the bottom wall of the sewage drain channel, the cleaning motor is started, the dead angle cleaning rotating shaft 66 is driven to rotate, the dead angle cleaning brush 27 is driven to rotate, and therefore the dead angle position is cleaned.
Embodiment 8 preferably, on the basis of embodiment 1 or embodiment 7, in this embodiment, a cleaning mechanism is disposed on the second robot body 3, the cleaning mechanism is used for cleaning the surface of the cleaned sewage drain, the cleaning mechanism includes a T-shaped frame 32 fixedly mounted on the second robot body 3, an arc-shaped frame 33 is fixedly connected to the T-shaped frame 32, a channel 64 is disposed in the T-shaped frame 32, the channel 64 is communicated with a water supply pump 83, the water supply pump 83 is fixedly mounted on an end wall of the water storage cavity 55, an arc-shaped cavity 59 is disposed in the arc-shaped frame 33, the channel 64 is communicated with the arc-shaped cavity 59, a cleaning nozzle 34 is fixedly mounted on the arc-shaped frame 33, the cleaning nozzle 34 is communicated with the arc-shaped cavity 59, and the cleaning nozzle 34 is disposed along a circumferential direction of the arc-shaped frame 33.
And the water supply pump 83 is started to pump water in the water storage cavity 55, so that the water enters the arc-shaped cavity 59 through the channel 64, and the cleaning spray head 34 is started, so that the water in the arc-shaped cavity 59 is sprayed out through the cleaning spray head 34 and is sprayed on the surface of the sewage drain.
Embodiment 9 preferably, on the basis of embodiment 1 or embodiment 8, in this embodiment, a support mechanism is disposed on the first robot body 1 and the second robot body 3, and the support mechanism is configured to support the first robot body 1 and the second robot body 3, so as to increase stability, and the support mechanism includes a support electric putter 38 fixedly connected to the bottom of the first robot body 1 and the bottom of the second robot body 3, a support block 37 is fixedly connected to a lower end of the support electric putter 38, a support rotating shaft 68 is rotatably connected to the support block 37, and a support wheel 36 is fixedly mounted on an outer surface of the support rotating shaft 68.
In the actual use process, the supporting electric push rod 38 is stretched to be in contact with the bottom wall of the sewage disposal canal, and the robot body 1 moves to drive the supporting electric push rod 38 to move so as to drive the supporting wheel 36 to rotate, thereby increasing stability and supporting.
In the embodiment 10, preferably, on the basis of embodiment 1 or embodiment 9, in this embodiment, a battery cavity 72 is provided on the first robot body 1, a battery 52 is installed in the battery cavity 72, the battery 52 is used for supplying power, a control cavity 50 is provided in the first robot body 1, a control processor 51 is installed in the control cavity 50, the control processor 51 is in signal connection with an electrical component in the robot, and the control cavity 50 is in signal connection with a remote control device.
In the actual use process, the invention inputs corresponding operation instructions on the remote control device, the remote control device inputs the instructions into the control cavity 50, and the control cavity 50 sends signals to corresponding electrical components after processing the instructions, so that the corresponding components move.
In the working process of the invention, corresponding operation instructions are input on a remote control device, the remote control device inputs the instructions into the control cavity 50, the control cavity 50 sends signals to corresponding electric components after processing the instructions, so that the corresponding components move, the motion motor is started, the motion rotating shaft 63 is driven to rotate, the motion gear 53 is meshed with the annular guide rail 80, the bottom wall cleaning electric push rod 82 is driven to rotate, the motion plate 43 is driven to move, the first robot body 1 is driven to move, when the robot needs to float on water to move, the drain valve 42 is started, Thereby discharging the water in the water storage cavity 54, reducing the overall weight, realizing the suspension movement on the water, adding the water into the water storage cavity 54 through the injection valve 14 when the bottom of the sewage disposal canal needs to move, increasing the overall weight, enabling the movement plate 43 to contact with the bottom of the sewage disposal canal, when the stability needs to be increased in the movement process of the first robot body 1, the supporting electric push rod 38 is extended to contact with the bottom wall of the sewage disposal canal, the first robot body 1 moves, driving the supporting electric push rod 38 to move, driving the supporting wheel 36 to rotate, thereby increasing the stability, supporting, Energizing the stabilizing electric push rod 18 to extend the stabilizing electric push rod 18, driving the stabilizing rod 15 to rotate, driving the stabilizing block 16 to move, driving the stabilizing wheel 17 to move and contact with the side wall of the sewage drain to support, thereby increasing stability, starting the lifting motor to drive the lifting screw rod 35 to rotate, driving the sliding block 8 to move downwards, driving the cleaning plate 11 to move downwards to contact with the bottom wall of the sewage drain, starting the dredging motor to drive the driving shaft 62 to rotate, driving the driving gear 56 to rotate, the driving gear 56 is meshed with the driven gear 57, Thereby driving the cleaning screw rod 60 to rotate, driving the nut plate 61 to move, driving the side wall scraping plate 12 to move and contact with the side wall of the sewage disposal canal, driving the cleaning plate 11 to move, driving the side wall scraping plate 12 to move, thereby removing sludge in the sewage disposal canal, enabling the sludge to be positioned between the side wall scraping plate 12 and the cleaning plate 11, facilitating extraction, starting the second sludge discharge pump 5 and the first sludge discharge pump 7, enabling the sludge to enter the fixed pipe 10, starting the crushing motor, driving the cutting rotating shaft 49 to rotate, Thereby driving the cutter 48 to rotate to cut and crush the sludge, facilitating extraction, the sludge enters the connecting pipe 6 through the first sludge discharge pump 7, enters the second sludge discharge pump 5 through the connecting pipe 6, finally is discharged to the outside of the sewage disposal canal through the tail part of the discharge pipe 4, after dredging is finished, when the sewage disposal canal is cleaned, the water suction pump is started, so that the water in the water storage cavity 55 enters the communicating groove 81 through the water pipe 46, the water spraying nozzle 23 is started, so that the water in the communicating groove 81 is sprayed out through the water spraying nozzle 23 and is sprayed on the surface of the sewage disposal canal, The electric push rod 82 for cleaning the bottom wall is electrified so as to drive the fixed plate 24 to move downwards, thereby driving the bottom wall cleaning brush 26 to move downwards to contact with the bottom wall of the sewage disposal canal, the bottom wall cleaning motor is started so as to drive the bottom wall cleaning rotating shaft 25 to rotate, thereby driving the bottom wall cleaning brush 26 to rotate, cleaning the bottom wall of the sewage disposal canal, cleaning the bonded sludge, starting the driving motor 75 so as to drive the screw rod 73 to rotate, thereby driving the movable plate 40 to move, thereby driving the side wall cleaning frame 31 to move, thereby driving the side wall cleaning cylinder 28 to move to contact with the side wall of the sewage disposal canal, Starting the side wall cleaning motor to drive the side wall cleaning rotating shaft 30 to rotate, driving the side wall cleaning cylinder 28 to rotate, thereby realizing cleaning and removal of sludge bonded on the side wall, starting the angle adjusting motor to drive the electric telescopic shaft 44 to rotate, thereby driving the dead angle cleaning gear 58 to rotate, meshing the dead angle cleaning gears 58, thereby driving the electric telescopic shaft 44 to rotate, thereby driving the rotating frame 29 to rotate, thereby driving the dead angle cleaning brush 27 to rotate to a corresponding position, enabling the electric telescopic shaft 44 to stretch, thereby driving the dead angle cleaning brush 27 to move downwards to contact with the junction of the side wall and the bottom wall of the sewage drain, The cleaning motor is started, so that the dead angle cleaning rotating shaft 66 is driven to rotate, the dead angle cleaning brush 27 is driven to rotate, the dead angle position is cleaned, the water supply pump 83 is started, water in the water storage cavity 55 is extracted, the water enters the arc-shaped cavity 59 through the channel 64, the cleaning spray head 34 is started, and the water in the arc-shaped cavity 59 is sprayed out through the cleaning spray head 34 and is sprayed on the surface of a sewage drain channel.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. An amphibious multistage dredging robot for urban sewage channels, which is characterized in that: comprises a first robot body (1) and a second robot body (3), wherein the first robot body (1) is connected with the second robot body (3) through a universal joint (2), one side, far away from the end part of the universal joint (2), of the first robot body (1) is provided with a dredging mechanism, the lower part of the first robot body (1) is provided with a moving mechanism, the moving mechanism comprises a fixing frame (13) fixedly installed on the first robot body (1), a through groove (76) is formed in the fixing frame (13) in a penetrating manner, a moving cavity (79) is formed in the fixing frame (13), The motion cavity (79) is characterized in that a motion rotating shaft (63) is rotationally connected between end walls of the motion cavity, the motion rotating shaft (63) is in power connection with a motion motor, the motion motor is fixedly arranged in the fixed frame (13), a motion gear (53) is fixedly arranged on the outer surface of the motion rotating shaft (63), the motion gear (53) is meshed with an annular guide rail (80), the annular guide rail (80) is rotationally arranged on the fixed frame (13), a motion plate (43) is uniformly and fixedly arranged on the outer surface of the annular guide rail (80), the motion plate (43) is arranged along the annular line direction of the annular guide rail (80), A water storage cavity (54) is arranged in the fixing frame (13), an injection valve (14) is fixedly arranged on the end wall of the water storage cavity (54), a drain valve (42) is fixedly arranged on the bottom wall of the water storage cavity (54), a cleaning mechanism is arranged on one side of the end part of the robot body II (3) far away from the universal joint (2), a bottom wall cleaning mechanism and a side wall cleaning mechanism are respectively arranged on the bottom and the side wall of the robot body II (3), the movement mechanism is used for driving the robot body I (1) to move, the dredging mechanism is used for cleaning sludge in the sewage drain channel, the bottom wall cleaning mechanism and the side wall cleaning mechanism are used for cleaning the bottom wall and the side wall of the sewage drain channel, The cleaning mechanism is used for cleaning the surface of the cleaned sewage drain, the dredging mechanism comprises a lifting frame (77) fixedly installed at the front part of a first robot body (1), lifting sliding grooves (71) are formed in the lifting frame (77), lifting screw rods (35) are rotationally connected between the end walls of the lifting sliding grooves (71), the lifting screw rods (35) are in power connection with lifting motors, the lifting motors are fixedly installed in the lifting frame (77), sliding blocks (8) are in threaded connection with the outer surfaces of the lifting screw rods (35), the sliding blocks (8) are in sliding connection between the end walls of the lifting sliding grooves (71), cleaning plates (11) are fixedly installed on the surfaces of the sliding blocks (8), The bottom of the cleaning plate (11) is processed into a wedge shape, a moving cavity (78) is symmetrically arranged in the cleaning plate (11), a gear cavity (84) is processed in the cleaning plate (11), a driving shaft (62) is rotationally connected between end walls of the gear cavity (84), the driving shaft (62) is in power connection with a dredging motor, the dredging motor is fixedly arranged in the cleaning plate (11), a driving gear (56) is fixedly arranged on the outer surface of the driving shaft (62), the driving gear (56) is meshed with a driven gear (57), the driven gear (57) is fixedly arranged on the outer surface of a cleaning screw rod (60), The robot body II (3) is internally provided with a water storage cavity (55), the cleaning screw rod (60) is installed between the end walls of the water storage cavity (55) in a penetrating and rotating mode, the cleaning screw rod (60) extends into the moving cavity (78), the outer surface of the cleaning screw rod (60) is connected with a nut plate (61) in a threaded mode, the nut plate (61) is installed between the end walls of the moving cavity (78) in a sliding mode, the bottom of the nut plate (61) is machined into a wedge shape, the end walls of the nut plate (61) are fixedly provided with side wall scraping plates (12), one side surface, far away from the nut plate (61), of the side wall scraping plates (12) is machined into a wedge shape, the utility model is characterized in that the cleaning plate (11) is fixedly provided with a mounting plate (9), the bottom wall of the mounting plate (9) is fixedly provided with a fixed pipe (10), the inside of the fixed pipe (10) is fixedly provided with a transverse plate (47), the transverse plate (47) is rotatably provided with a cutting rotating shaft (49), the cutting rotating shaft (49) is in power connection with a crushing motor, the crushing motor is fixedly provided with a cutting knife (48) in the transverse plate (47), the outer surface of the cutting rotating shaft (49) is fixedly provided with a first sludge discharge pump (7), the first sludge discharge pump (7) is communicated with the fixed pipe (10), The first sludge discharge pump (7) is connected with a connecting pipe (6), the connecting pipe (6) is far away from the tail end of one side of the first sludge discharge pump (7) and is connected with a second sludge discharge pump (5), the second sludge discharge pump (5) is fixedly arranged on the upper part of the lifting frame (77), the second sludge discharge pump (5) is connected with a discharge pipe (4), the robot body II (3) is also provided with a dead angle position cleaning mechanism, the dead angle position cleaning mechanism comprises a dead angle cleaning frame (41) fixedly arranged on the robot body II (3), a cleaning gear cavity (85) is arranged in the dead angle cleaning frame (41), An electric telescopic shaft (44) is connected between the end walls of the cleaning gear cavity (85) in a penetrating and rotating manner, the electric telescopic shaft (44) is in power connection with an angle adjusting motor, the angle adjusting motor is fixedly arranged in the dead angle cleaning frame (41), dead angle cleaning gears (58) are fixedly arranged on the outer surfaces of the electric telescopic shaft (44), the dead angle cleaning gears (58) are meshed, a rotating frame (29) is fixedly arranged at the tail end of the lower side of the electric telescopic shaft (44), a dead angle cleaning rotating shaft (66) is rotatably arranged at the tail end of the rotating frame (29), the dead angle cleaning rotating shaft (66) is in power connection with the cleaning motor, The cleaning motor is fixedly arranged in the rotating frame (29), a dead angle cleaning brush (27) is fixedly arranged on the outer surface of the dead angle cleaning rotating shaft (66), the cleaning mechanism comprises a T-shaped frame (32) fixedly arranged on a second robot body (3), an arc-shaped frame (33) is fixedly connected to the T-shaped frame (32), a channel (64) is arranged in the T-shaped frame (32), the channel (64) is communicated with a water supply pump (83), the water supply pump (83) is fixedly arranged on the end wall of the water storage cavity (55), an arc-shaped cavity (59) is arranged in the arc-shaped frame (33), the channel (64) is communicated with the arc-shaped cavity (59), the arc-shaped frame (33) is fixedly provided with a cleaning spray head (34), the cleaning spray head (34) is communicated with the arc-shaped cavity (59), and the cleaning spray head (34) is arranged along the circumferential direction of the arc-shaped frame (33).
2. An amphibious multistage dredging robot for urban sewage disposal according to claim 1, wherein: be equipped with stabilizing mean on robot body one (1) with on robot body two (3), stabilizing mean includes fixed block (20) of fixed mounting on robot body one (1), it is connected with pivot (21) to rotate on fixed block (20), surface fixed mounting of pivot (21) has stabilizer bar (15), the terminal fixedly connected with stabilizer bar (16) of stabilizer bar (15), it is connected with stable pivot (65) to rotate on stabilizer bar (16), the surface fixed mounting of stable pivot (65) has stabilizer wheel (17), be equipped with recess (67) on stabilizer bar (15), it is connected with connection pivot (69) to rotate between recess (67) end wall, the surface fixed mounting of connection pivot (69) has stable electric putter (18), be equipped with stabilizer groove (19) on robot body one (1), the rotation is connected with supplementary pivot (70) between stabilizer groove (19) end wall, stable electric putter (18) keep away from connect pivot (69) one side end with supplementary pivot (70) fixed connection.
3. An amphibious multistage dredging robot for urban sewage disposal according to claim 1, wherein: be equipped with water spray mechanism on robot body two (3), water spray mechanism includes robot body two (3) bottom fixed connection's washs electric putter (45), washs electric putter (45) downside end fixedly connected with water spray frame (22), be equipped with intercommunication groove (81) in water spray frame (22), be equipped with water storage chamber (55) in robot body two (3), water storage chamber (55) with communicate through raceway (46) between intercommunication groove (81), fixed mounting has water spray shower nozzle (23) on water spray frame (22), water spray shower nozzle (23) with communicate between intercommunication groove (81), raceway (46) and suction pump fixed connection, suction pump fixed mounting are in on water storage chamber (55) end wall.
4. An amphibious multistage dredging robot for urban sewage disposal according to claim 1, wherein: the robot comprises a robot body II (3), wherein a bottom wall cleaning mechanism is arranged at the bottom of the robot body II (3), the bottom wall cleaning mechanism comprises a bottom wall cleaning electric push rod (82) fixedly connected with the bottom of the robot body II (3), a fixing plate (24) is fixedly connected with the lower end of the bottom wall cleaning electric push rod (82), a bottom wall cleaning rotating shaft (25) is uniformly and rotatably connected to the bottom wall of the fixing plate (24), the bottom wall cleaning rotating shaft (25) is in power connection with a bottom wall cleaning motor, the bottom wall cleaning motor is fixedly arranged in the fixing plate (24), and a bottom wall cleaning brush (26) is fixedly connected with the lower end of the bottom wall cleaning rotating shaft (25).
5. An amphibious multistage dredging robot for urban sewage disposal according to claim 1, wherein: the side wall cleaning mechanism comprises a mounting frame (39) fixedly mounted on a second robot body (3), a sliding groove (74) is formed in the mounting frame (39), a screw rod (73) is connected to the end wall of the sliding groove (74) in a rotating mode, the screw rod (73) is connected with a driving motor (75) in a power mode, the driving motor (75) is fixedly mounted in the mounting frame (39), a moving plate (40) is connected to the outer surface of the screw rod (73) in a threaded mode, the moving plate (40) is slidably mounted between the end walls of the sliding groove (74), a side wall cleaning frame (31) is fixedly connected to the tail end of the moving plate (40), a side wall cleaning rotating shaft (30) is connected to the side wall cleaning frame (31) in a rotating mode, the side wall cleaning rotating shaft (30) is fixedly mounted in the side wall cleaning frame (31), and a side wall cleaning cylinder (28) is fixedly mounted on the outer surface of the side wall cleaning rotating shaft (30).
6. An amphibious multistage dredging robot for urban sewage disposal according to claim 1, wherein: the robot comprises a first robot body (1) and a second robot body (3), wherein supporting mechanisms are respectively arranged at the bottoms of the first robot body and the second robot body (3), each supporting mechanism comprises a supporting electric push rod (38), a supporting block (37) is fixedly connected to the tail end of the lower side of each supporting electric push rod (38), a supporting rotating shaft (68) is rotatably connected to each supporting block (37), supporting wheels (36) are fixedly arranged on the outer surfaces of the supporting rotating shafts (68), a storage battery cavity (72) and a control cavity (50) are respectively arranged on the first robot body (1), a storage battery (52) is arranged in each storage battery cavity (72), and a control processor (51) is arranged in each control cavity (50).
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| CN202410411625.0A CN118007781B (en) | 2024-04-08 | 2024-04-08 | Amphibious multistage dredging robot for urban sewage disposal canal |
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| CN115121557A (en) * | 2022-07-25 | 2022-09-30 | 上海遨拓深水装备技术开发有限公司 | Pipeline dredging robot |
| CN218843318U (en) * | 2023-02-09 | 2023-04-11 | 广东省怡合建设有限公司 | A pipeline desilting device for municipal drainage engineering |
| CN117358701A (en) * | 2023-10-24 | 2024-01-09 | 上海新因诺维机器人工程技术研究有限公司 | Pipeline dredging robot |
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| CN102839703A (en) * | 2012-09-26 | 2012-12-26 | 陈明金 | Remote-control submerged underwater desilting vehicle |
| CN117364912A (en) * | 2023-11-24 | 2024-01-09 | 北京工业大学 | Two-section intelligent robot for dredging urban drainage pipeline and working method thereof |
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