CN209556115U - A kind of dredging robot for narrow regions - Google Patents
A kind of dredging robot for narrow regions Download PDFInfo
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- CN209556115U CN209556115U CN201822226143.0U CN201822226143U CN209556115U CN 209556115 U CN209556115 U CN 209556115U CN 201822226143 U CN201822226143 U CN 201822226143U CN 209556115 U CN209556115 U CN 209556115U
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- dredging
- spray head
- scraper bowl
- dredging tube
- head group
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Abstract
The utility model discloses a kind of dredging robot for narrow regions, including traveling component, sludge pipe and dust collecter, the dust collecter includes: the dredging tube with sludge pipe flexible connection；Set on camera, lamp and first spray head group of the dredging tube on the outer wall in front of direction of travel；The scraper bowl being integrally connected with the mud inlet of the dredging tube, the scraper bowl have turnover cover board；The cover board overturning is driven to adjust the turnover mechanism of scraper bowl import size；And the second spray head group on the cover board inside.The utility model is used for the dredging of narrow regions, and online dredging can be realized in the case where not stopping production and can not draining any more people.
Description
Technical field
The utility model belongs to dredging technology field, and in particular to a kind of dredging robot suitable for narrow regions.
Background technique
Before sewage disinfection treatment structures, there are more suspended matter in water inlet, it is easy directly to be settled down to structures bottom.
With the increase of running time, deposit gradually accumulates, basin's effective volume reduces, and causes line clogging, gives treatment process and equipment
It brings and seriously affects.In view of the above problems, conventional processing mode is artificial dredging, step includes stopping production, draining, under worker
Pond cleaning, finally resumes operation.Which not only needs to stop production, but also expends a large amount of manpower and time, seriously affects daily
Production.
For example, the Chinese invention patent application document of Publication No. CN105464162A discloses a kind of underwater desilting machine
People, be equipped with vehicle frame, driving wheel, equipment control storehouse, control system waterborne, horizontal propeller, lifting propeller, suction pipe, sucking pump,
Mechanical arm, camera and cradle head camera with light source, the vehicle frame upper end are equipped with equipment and control storehouse, and two sides are respectively equipped with drive
Driving wheel, front end are equipped with mechanical arm, camera and cradle head camera with light source, and rear end is equipped with horizontal propeller, and upper end, which is equipped with, to rise
Propeller drops, and the sucking pump is fixedly connected through connecting rope with vehicle frame, and the equipment control is equipped with drive system in storehouse, described
Horizontal propeller and lifting propeller are connected with drive system respectively, the drive system, camera and holder with light source
Camera is connected with control system waterborne respectively.But the device is not suitable for the dredging of small space.
Utility model content
In order to solve the problems, such as that artificial dredging exists, the utility model proposes a kind of dredging machines for narrow regions
People can realize online dredging in the case where not stopping production and can not draining any more people.
A kind of dredging robot for narrow regions, including fuselage, traveling component, sludge pipe and dust collecter, the pumping
Suction nozzle includes:
With the dredging tube of sludge pipe flexible connection；
Set on camera, lamp and first spray head group of the dredging tube on the outer wall in front of direction of travel；
The scraper bowl being integrally connected with the mud inlet of the dredging tube, the scraper bowl top surface have hinged with scraper bowl and can be around hinge
The cover board that contact rotates upwardly and downwardly in vertical plane；
And the driving cover board is overturn to adjust the turnover mechanism of scraper bowl import size.
In the utility model, traveling component, sludge pipe be can be implemented by using the prior art, and improvement is dust collecter, be taken out
Suction nozzle leading portion is scraper bowl, has the adjustable cover board of aperture on scraper bowl, by adjusting cover board height, controls the area of pump orifice, from
And realize the adjusting of draft.
Regulative mode, which can be used, to be manually adjusted, and judgment mode is to be sentenced according to suction mud flow and camera image
It is disconnected.If there is mud in front, and sludge pipe does not have mud discharge, illustrates to dehisce too big, and suction is inadequate, adjusts cover board beginning so that opening
Mouth becomes smaller；If there is bulk deposition object in front, cover board can be overturn and increase scraper bowl opening, be conducive to sucking.
Preferably, the turnover mechanism includes:
Fixing seat is fixed on the dredging tube outer wall and is located on front side of direction of travel, the camera and lamp installation
In in the fixing seat；
First hydraulic telescopic rod, one end and the fixing seat are hinged, the other end is hinge joint and extends to the dredging tube
With the top of scraper bowl joining place；
The hinged point articulated, other end of first connecting rod, one end and first hydraulic telescopic rod is articulated with the suction mud
In pipe outer wall and close to dredging tube and scraper bowl joining place；
The hinged point articulated, other end of second connecting rod, one end and first hydraulic telescopic rod is articulated with the cover board
Top.
First connecting rod and second connecting rod one end and the first hydraulic telescopic rod are hinged, the other end respectively with dredging tube outer wall
And cover board is hinged, the first hydraulic telescopic rod is flexible can to make first connecting rod and the second connection rotate, and start cover board and come.
It is further preferred that the camera and lamp are fixed in fixing seat.
Preferably, the floor level of the scraper bowl, it is internal be wedge cavity, wedge cavity from linking dredging tube one end into
Mud mouth tapered at one end.
When cover board is fallen completely, cover board leading portion can be closed completely with scraper bowl leading portion, and remembering that cover board lifts angle at this time is 0 °.
Cover board can be rotated by the pulling force of first connecting rod around the second hinge joint, realize lifting for cover board, lifting angular range is 0
~45 °.
Preferably, the first spray head group is connect by pipeline with water pump or air pump；The first spray head group includes 1~5
A spray head；The spray head of first spray head group is equally spaced along dredging tube axis direction on dredging tube outer wall, all first spray head groups
Spray nozzle towards downwards and angle with horizontal plane be 15 °~30 °.
It is further preferred that the first spray head group includes 2~4 spray heads；The spray head is along dredging tube axis direction etc.
Away from being distributed on dredging tube outer wall, the nozzle of all spray heads is towards simultaneously angle with horizontal plane is 25 °~30 ° downwards.
First spray head group sprays water or high pressure, and when spraying water, hydraulic pressure is 1~10Mpa, and when spraying air, air pressure is 1~
10Mpa。
Preferably, second spray head group is set on the cover board inner wall；The nozzle of second spray head group is open towards scraper bowl and installs.
It is further preferred that the second spray head group is connect by pipeline with water pump；The second spray head group includes 3~5
A spray head；The spray nozzle of all second spray head groups is 0~30 ° downward and with cover inner surface angle.
It is further preferred that the angle of the spray head of second spray head group and cover board medial surface is 10~15 °.
Athey wheel drive can be used in the traveling component, comprising:
Pedestal, the sludge pipe are installed on above the pedestal by bracket；
Athey wheel；It is symmetrically arranged on the two sides of base, the Athey wheel is driven by hydraulic motor；
Crawler belt, around the home on the Athey wheel；
Oil pump, is installed on the base top surface, and the hydraulic motor is connect by fluid pressure line with the oil pump.
First hydraulic stem of turnover mechanism accesses the oil pump also by fluid pressure line, and hydraulic control is respectively provided on each fluid pressure line
Valve processed.
By manipulation manipulator connection between pedestal and dredging tube, dredging tube is manipulated by manipulator, manipulates manipulator sheet
Body is achieved by the prior art.
The control system of the dredging robot of the utility model uses wired manipulation, and control cabinet screen shows Athey wheel, the
The operation conditions of the components such as one hydraulic stem, the second hydraulic stem, hydraulic motor, oil pump, while showing the real time monitoring picture of camera
Face.
I.e. preferably, further include display and controlling terminal positioned at ground, including display and have human-computer interaction interface
Controller, the camera accesses display, and first hydraulic stem, the second hydraulic stem, hydraulic motor and manipulation are mechanical
The control valve access controller of hand.The display and controlling terminal are integrated in electric cabinet.
The sludge situation shown by display, artificial judgment adjust angle, are then inputted and are adjusted by human-computer interaction interface
Section instruction.
The utility model is used for pipeline, box culvert, distribution well, the dredging robot of the small spaces such as lift pump room.With such as
It is lower the utility model has the advantages that
(1) dust collecter leading portion is scraper bowl, has adjustable cover board on scraper bowl, by adjusting cover board height, controls pump orifice
Area, to realize the adjusting of draft.
(2) nozzle injection pressure-air or high pressure water flow, the deposit of the siltation in front of scraper bowl are rushed broken.
Detailed description of the invention
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model base vertical view.
Fig. 3 is the utility model scraper bowl cross-sectional view.
Appended drawing reference as shown in the figure is as follows:
1- dust collecter 2- fuselage 3- sludge pipe
4- manipulator robot 5- flexible joint
11- scraper bowl 12- dredging tube 13- first connecting rod
14- the second connecting rod 15- the first hydraulic stem 16- cover board
17- first spray head group 18- second spray head group 19- fixing seat
110- camera and lamp 151- the first hinge joint the second hinge joint of 161-
21- fuselage cover 22- crawler belt 23- oil pump
24-24 bracket 25- Athey wheel
Specific embodiment
As depicted in figs. 1 and 2, a kind of dredging robot in small space, including dust collecter 1, fuselage 2, spoil disposal
Pipe 3, manipulation manipulator 4 and Hydraulic Power Transmission System, Hydraulic Power Transmission System are conventional hydraulic transmission system, including oil pump 21, first
Hydraulic stem 15, manipulation manipulator, hydraulic motor, connection oil pump and each hydraulic stem, hydraulic motor and manipulator pipeline and set
Set the hydraulic control valve on each pipeline.
Traveling component is using conventional traveling component, as shown in Fig. 2, including fuselage cover 21, fuselage cover two sides are symmetrically set
4 Athey wheels 25 are set, around the home on Athey wheel, Athey wheel is driven crawler belt 22 by hydraulic motor, and hydraulic motor is mounted on Athey wheel
Driving wheel at, oil pump 4 is installed in fuselage cover.
It is connected between fuselage and dust collecter by manipulator robot 4, which is easy as prior art means
It realizes, for example the connection type in Publication No. CN 108360591A can be used.Or directly adopt the connecting rod of regular length
Connection, it is affixed or hinged between connecting rod and dredging tube, connect by joint driving mechanism between fuselage.
Sludge pipe 3 is installed on above pedestal by bracket 24, and frame bottom is fixed on pedestal, the external dredge pump of sludge pipe.
The improvement part of the utility model is 1 part of dust collecter, and dust collecter includes scraper bowl 11 and dredging tube 12, dredging tube
It is connected between 12 and sludge pipe 3 by flexible joint 5, dredging tube is obliquely installed, and one end connects sludge pipe, separately by flexible joint
One end extends to and base bottom flush position obliquely.
11 cross-sectional view of scraper bowl as shown in figure 3, one end and dredging tube bottom mud suction mouth integrally be connecteds, the other end is mud inlet,
Scraper bowl bottom is horizonal base plate, and internal cavity is wedge, from linking dredging tube one end to mud inlet tapered at one end.Scraper bowl has can
The cover board 16 of mouth is tuned to open, cover board 6 is hinged by the second hinge joint 161 and scraper bowl top.
The overturning component of driving cover board overturning includes fixing seat 19, the first hydraulic stem 15, first connecting rod 13 and the second company
Extension bar 14, fixing seat 19 are fixed on dredging tube front side wall, for installing camera and lamp and to one branch of the first hydraulic stem
Support point, 15 one end of the first hydraulic stem and fixing seat are hinged, and the other end is the first hinge joint 151,13 one end of first connecting rod and the
One hinge joint 151 is hingedly, the other end is articulated on dredging tube front side wall and the joining place of close dredging tube and scraper bowl.Second connection
14 one end of bar and the first hinge joint 151 are hinged, the other end is articulated with 16 top surface of cover board at the second hinge joint.
When cover board is fallen completely, cover board leading portion can be closed completely with scraper bowl leading portion, and remembering that cover board lifts angle at this time is 0 °.
Cover board can be rotated by the pulling force of first connecting rod around the second hinge joint, realize lifting for cover board, lifting angular range is 0
~45 °.
Camera and lamp 110 are installed in fixing seat 19；First spray head group 17, first spray head are installed on the front side wall of dredging tube
Group is connect by pipeline with water pump or air pump；First spray head group includes 1~5 spray head；The spray head of first spray head group is along dredging tube
Axis direction is equally spaced on dredging tube outer wall, and the spray nozzles of all first spray head groups is towards downwards and angle with horizontal plane
It is 15 °~30 °, preferably 30 ° of angle.First spray head group sprays water or high pressure, and when spraying water, hydraulic pressure is 1~10Mpa, and injection is empty
When gas, air pressure is 1~10Mpa.
Second spray head group 18 is installed, second spray head group is connect by pipeline with water pump on 16 inner wall of cover board；Second spray head group
Including 3~5 spray heads；The spray nozzle of all second spray head groups is 0~30 ° downward and with cover inner surface angle；It is preferred that pressing from both sides
Angle is 10~15 °.
Embodiment 1
By taking sewage pump plant as an example, using water as scouring media.After sludge pipe is connect with the sludge pipe on dredging robot,
Dredging robot is put into pump house collecting-tank, open camera and and lamp, suction grease head highness is controlled to minimum by control cabinet.
Slush pump sucking sludge is opened, adjusting the first hydraulic stem 15 makes the cover board on scraper bowl be flared to 20 °, and the mud of deposition is inhaled by negative pressure
Enter discharge in scraper bowl.Athey wheel is controlled using control cabinet, dredging robot is made to move ahead, scraper bowl bottom is wedge configuration, Ke Yiyou
Effect says that the mud for being attached to bottom is scraped in pump orifice.Front mud position and state can be observed in conjunction with camera, is passed through
The image of camera, observation mud siltation situation, and be sucked out either with or without sludge, it needs to adjust size of dehiscing to judge between right and wrong.
Such as front mud is less, can reduce and dehisce, and increases suction, if there is blocky biggish mud in front, can suitably increase and dehisce,
Convenient for sucking, high-pressure hydraulic pump can also be further opened, sprays water jets under high pressure (pressure using first spray head group and second spray head group
Suction is walked after smashing mud for 6Mpa).Water used in first spray head group and second spray head group be pond in existing sewage or
Plant area's recycle-water.Dredging robot checks bottom of pond dredging situation after pool bottom traversal is multiple, through camera, finally will be clear
Silt robot hangs out pond, completes dredging.
Embodiment 2
By taking down-stream pipeline as an example, with gas flushing.
The difference from embodiment 1 is that in the duct, first spray head group is high pressure gas spray head, second spray head group is height
Sprinkler head is pressed, pressure-air is generated using air pressure pump, water jets under high pressure is generated using plunger pump, injection pressure is selected
6Mpa, mud are crushed after being sprayed by pressure-air, are sucked out again after tiny mud under becoming more.Silt for pipe side wall
Mud can be raised dust collecter by the second hydraulic stem, and the direction of dredging robot, alignment target position are adjusted by control Athey wheel
It is gentle to set injection water, mud is made to fall off.The cleaning multiple back and forth in piping, it is ensured that dredging is thorough.
The foregoing is merely the specific implementation cases of the utility model patent, but the technical characteristic of the utility model patent is simultaneously
Not limited to this, in the field of the utility model, made changes or modifications all cover any those skilled in the relevant art
Among the scope of the patents of the utility model.
Claims (7)
1. a kind of dredging robot for narrow regions, including fuselage, traveling component, sludge pipe and dust collecter, feature exist
In the dust collecter includes:
With the dredging tube of sludge pipe flexible connection；
Set on camera, lamp and first spray head group of the dredging tube on the outer wall in front of direction of travel；
The scraper bowl being integrally connected with the mud inlet of the dredging tube, the scraper bowl top surface have hinged with scraper bowl and can be around hinge joint
The cover board rotated upwardly and downwardly in vertical plane；
And the driving cover board is overturn to adjust the turnover mechanism of scraper bowl import size.
2. dredging robot according to claim 1, which is characterized in that the turnover mechanism includes:
Fixing seat is fixed on the dredging tube outer wall and is located on front side of direction of travel；
First hydraulic telescopic rod, one end and the fixing seat are hinged, the other end is hinge joint and extends to the dredging tube and shovel
The top of bucket joining place；
The hinged point articulated, other end of first connecting rod, one end and first hydraulic telescopic rod is articulated with outside the dredging tube
On wall and close to dredging tube and scraper bowl joining place；
The hinged point articulated, other end of second connecting rod, one end and first hydraulic telescopic rod is articulated at the top of the cover board.
3. dredging robot according to claim 2, which is characterized in that the camera and lamp are fixed in fixing seat.
4. dredging robot according to claim 1, which is characterized in that the floor level of the scraper bowl, inside are wedge chamber
Body, wedge cavity is from linking dredging tube one end to mud inlet tapered at one end.
5. dredging robot according to claim 1, which is characterized in that the first spray head group passes through pipeline and water pump or gas
Pump connection；The first spray head group includes 1~5 spray head；The spray head of first spray head group is equally spaced along dredging tube axis direction
In on dredging tube outer wall, the spray nozzle of all first spray head groups is towards simultaneously angle with horizontal plane is 15 °~30 ° downwards.
6. dredging robot according to claim 1, which is characterized in that second spray head group is arranged on the cover board inner wall；The
The nozzle of two nozzle groups is open towards scraper bowl and installs.
7. dredging robot according to claim 6, which is characterized in that the second spray head group is connected by pipeline and water pump
It connects；The second spray head group includes 3~5 spray heads；The spray nozzle of all second spray head groups presss from both sides downward and with cover inner surface
Angle is 0~30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822226143.0U CN209556115U (en) | 2018-12-28 | 2018-12-28 | A kind of dredging robot for narrow regions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822226143.0U CN209556115U (en) | 2018-12-28 | 2018-12-28 | A kind of dredging robot for narrow regions |
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| Publication Number | Publication Date |
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| CN209556115U true CN209556115U (en) | 2019-10-29 |
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| CN201822226143.0U Active CN209556115U (en) | 2018-12-28 | 2018-12-28 | A kind of dredging robot for narrow regions |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275850A (en) * | 2021-04-22 | 2021-08-20 | 广汽菲亚特克莱斯勒汽车有限公司 | Feeding device of production line body strides |
| CN113323060A (en) * | 2021-06-09 | 2021-08-31 | 中国水利水电第一工程局有限公司 | Floating dock type dredging platform and dredging method for narrow space |
| CN115110597A (en) * | 2022-07-13 | 2022-09-27 | 连云港港口工程设计研究院有限公司 | Water cannon vehicle for dredging river channel |
-
2018
- 2018-12-28 CN CN201822226143.0U patent/CN209556115U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275850A (en) * | 2021-04-22 | 2021-08-20 | 广汽菲亚特克莱斯勒汽车有限公司 | Feeding device of production line body strides |
| CN113323060A (en) * | 2021-06-09 | 2021-08-31 | 中国水利水电第一工程局有限公司 | Floating dock type dredging platform and dredging method for narrow space |
| CN115110597A (en) * | 2022-07-13 | 2022-09-27 | 连云港港口工程设计研究院有限公司 | Water cannon vehicle for dredging river channel |
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