CN211773472U

CN211773472U - Multifunctional underwater garbage fishing robot

Info

Publication number: CN211773472U
Application number: CN201922168294.XU
Authority: CN
Inventors: 杨冲; 张国光; 周四斌
Original assignee: No 750 Test Field of China Shipbuilding Industry Corp
Current assignee: No 750 Test Field of China Shipbuilding Industry Corp
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-10-27
Anticipated expiration: 2029-12-06

Abstract

The utility model discloses a multifunctional underwater garbage fishing robot, a driving shaft is connected with a partition panel in a rotating way, a bearing at the left end of the driving shaft is connected with a filter plate in a rotating way, the left end of the filter plate is provided with a clear water chamber, and the surface of the driving shaft is fixedly connected with a helical blade; the lower end of the helical blade is provided with the upper end of a corrugated pipe, the left end of the hydraulic cylinder is connected with a piston rod in a sliding manner, the left end of the piston rod is rotatably connected with a clamping hopper, the upper part of the clamping hopper is rotatably connected with the left end of a connecting rod, and the right end of the connecting rod is rotatably connected with the hydraulic cylinder; the second bevel gear is fixedly connected with the upper end of the worm. This robot shovels the great solid rubbish of bottom under water through the shovel board, and the driving shaft drives helical blade and rotates the tiny rubbish that sucks 1 bottom of robot body and filter through the filter plate, collects tiny rubbish, and the drive wheel rotates and makes robot body moving as a whole. The robot mechanism is reasonable in design and suitable for use, can salvage garbage with large volume, can absorb fine garbage, greatly saves labor force and improves underwater garbage salvage efficiency.

Description

Multifunctional underwater garbage fishing robot

Technical Field

The utility model relates to a robot device technique of working under water specifically is a multi-functional rubbish salvage robot under water.

Background

In the field of underwater salvage, for example, when a submarine sunken object is salvaged or underwater material evidence is salvaged in a criminal investigation case, a large-scale professional salvage device or an underwater robot is commonly used for submerging and salvaging the object on the ship, and the adopted underwater robot is provided with a manipulator, so that a diver can be partially replaced to complete underwater operation, such as operation of taking, moving, underwater objects and the like. When underwater garbage is salvaged, if a large amount of garbage exists in certain river channels or the bottom of a lake, the garbage at the bottom of the lake needs to be cleaned to prevent environmental pollution, the robot is not free from worry, the existing underwater garbage salvage work is not operated by an underwater robot, the traditional manual salvage is still used, the automation degree is low, the work efficiency is low, generally workers salvage through a specially-made salvage net, and the underwater small garbage cannot be well treated.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects and shortcomings of the prior art, the inventor designs an automatic cleaning robot device capable of effectively fishing garbage under water areas such as a test pool, a shallow pond and the like through research and development, and can efficiently and effectively collect the garbage. Specifically, the utility model discloses a realize like this:

the utility model provides a multi-functional rubbish salvage robot under water, includes the robot body in the sealed storehouse body of area, and it is internal that power device arranges sealed storehouse in, still includes clear water room, filter chamber, drive travel device, rubbish fishing device, wherein: a water pumping and filtering device is arranged in the filtering chamber, a water pumping pipe facing to the lower part of the bottom of the robot body is arranged at the bottom of the filtering chamber in a communicating manner, and the electric power device is connected to the water pumping and filtering device in a driving manner and drives the traveling device; the front end of the clear water chamber is provided with a drain valve and is communicated and connected with the filter chamber through a filter plate; the garbage salvaging device is arranged in front of the robot body and comprises a clamping bucket capable of controlling rotation and a shovel plate positioned right below the clamping bucket; the driving running device comprises a crawler wheel group arranged at the bottom of the robot body.

Further, the filter equipment that draws water includes a driving shaft that extends to in the sealed storehouse body and motor device lug connection, and the top bearing formula of driving shaft is installed on the filter to and install a plurality of helical blade on the driving shaft, still communicate on being located the filter equipment diapire that draws water and offer and communicate to outside drinking-water pipe.

Furthermore, a power supply and a driving motor which is connected with the power supply and is arranged in the sealed cabin body through a motor base are arranged in the sealed cabin body, the driving motor is directly connected with a driving shaft, a first bevel gear and a second bevel gear which is in meshing transmission connection with the first bevel gear are sleeved on the driving shaft, and the second bevel gear is in transmission connection with a driving travelling device to provide power for the driving travelling device.

Further, rubbish fishing device is including being located the low level and the forward horizontal shovel board that extends, arranges the pneumatic cylinder of shovel board back upper place in, arranges the piston rod on the pneumatic cylinder front end in, and articulated formula is installed in the card of piston rod front end and is fought, all is connected with a connecting rod through the rotary type on the top of card fill and the hydraulic cylinder top.

Furthermore, the driving running device comprises a worm which is connected with the second bevel gear and is longitudinally installed, and a worm gear transmission device which is installed at the bottom of the robot body and is in adaptive connection with the worm, the worm gear transmission device is connected to a driving wheel on a crawler wheel set through a driving belt, the driving wheel is connected to driven wheels arranged at two ends through a crawler, and the driving wheel and the driven wheels are fixedly installed through a cross beam.

Furthermore, the middle part of the water pumping pipe is a corrugated pipe, and the end head of the lower end of the water pumping pipe is a horn-shaped water pumping port.

Furthermore, the clamping bucket is in an arc bucket shape, the edge is provided with teeth, the end head of the shovel plate is a downward inclined shovel tip, and the upward surface of the shovel body is provided with a plurality of transversely distributed anti-slip edges.

Furthermore, a guide wheel is arranged below the bottom of the shovel plate.

Furthermore, an upper cover plate capable of being opened and closed outwards is installed on the top face of the filtering chamber, a handle is fixedly connected to the outer surface of the upper cover plate, and a switch lock body is fixedly installed at the edge of one end of the upper cover plate.

Furthermore, the rear end of the robot body is fixedly provided with a signal receiving wire, and the signal receiving wire is used for connecting and controlling the driving motor and the hydraulic cylinder.

The utility model discloses a theory of operation introduces: the utility model provides a robot rubbish fishing device, put into underwater and carry out salvage work, driving motor provides the power take off of whole device, it drives the drive and traveles the device and remove at the bottom, still drive the filter equipment that draws water and take into the filter chamber with the water of submarine region and filter, hold back the rubbish of tiny residue class, the rubbish fishing device of front end leans on the in-process that removes, the back is shoveled the rubbish of big piece to the shovel board, it stores in the card is fought to push into, rubbish when the card is fought progressively increases the thickness, it rotates to control the card fill by the hydraulic pressure force of pneumatic cylinder, compress tightly and accomodate rubbish, then hang out the surface of water and discharge rubbish, accomplish the effective collection of rubbish under water promptly and salvage. Namely: this robot shovels the great solid rubbish of bottom under water through the shovel board and collects the storage inside the card fill, and the driving shaft drives helical blade and rotates the tiny rubbish of suction robot body bottom and filter through the filter plate, collects tiny rubbish, drives the worm by the bevel gear group simultaneously and rotates and then drive worm wheel drive wheel and rotate and make the whole robot body move ahead.

The utility model discloses a beneficial effect introduces: this robot mechanism reasonable in design is suitable for, and degree of automation is high, utilizes the power that advances that removes not only can salvage to the rubbish of great volume, has still utilized power to form the negative pressure zone that helical blade drove simultaneously, inhales the filter chamber with the ground water of pasting in the bottom certain limit and can absorb thin slag matter class garbage together and filter, holds back tiny rubbish, has realized the salvage of big or small class rubbish promptly simultaneously, has saved the labour greatly, improves rubbish salvage efficiency under water.

Drawings

Fig. 1 is a schematic structural view of a multifunctional underwater garbage fishing robot.

Fig. 2 is a schematic structural view of the opening of a clamping bucket in the multifunctional underwater garbage fishing robot.

FIG. 3 is an enlarged schematic structural view of a worm and a driving wheel in the multifunctional underwater garbage fishing robot.

Fig. 4 is a schematic structural diagram of an upper cover plate and a handle in the multifunctional underwater garbage fishing robot.

In the figure: 1-a robot body; 2-sealing the bin body; 3-driving a motor; 4-a motor base; 5-a signal receiving line; 6-a power supply; 7-driving shaft; 8-a first bevel gear; 9-partition plate; 10-a sealing gasket; 11-helical blades; 12-a filter plate; 13-a clear water chamber; 14-a drain valve; 15-a bellows; 16-a water pumping port; 17-a hydraulic cylinder; 18-a shovel plate; 19-a guide wheel; 20-a piston rod; 21-a connecting rod; 22-a card hopper; 23-a second bevel gear; 24-a worm; 25-worm gear; 26-a transmission belt; 27-a drive wheel; 28-a cross beam; 29-track; 30-a driven wheel; 31-a securing pin; 32-an upper cover plate; 33-handle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Example 1: the utility model provides a multi-functional rubbish salvage robot under water, includes the robot body in the sealed storehouse body of area, and it is internal that power device arranges sealed storehouse in, still includes clear water room, filter chamber, drive travel device, rubbish fishing device, wherein: a water pumping and filtering device is arranged in the filtering chamber, a water pumping pipe facing to the lower part of the bottom of the robot body is arranged at the bottom of the filtering chamber in a communicating manner, and the electric power device is connected to the water pumping and filtering device in a driving manner and drives the traveling device; the front end of the clear water chamber is provided with a drain valve and is communicated and connected with the filter chamber through a filter plate; the garbage salvaging device is arranged in front of the robot body and comprises a clamping bucket capable of controlling rotation and a shovel plate positioned right below the clamping bucket; the driving running device comprises a crawler wheel group arranged at the bottom of the robot body. Wherein, the filter equipment that draws water includes a driving shaft that extends to in the sealed storehouse body with motor unit lug connection, and the top bearing formula of driving shaft is installed on the filter to and install a plurality of helical blade on the driving shaft, be located and still seted up on the filter equipment diapire that draws water and communicate to outside drinking-water pipe.

Example 2: referring to fig. 1 to 4, in an embodiment of the present invention, a multifunctional underwater garbage fishing robot includes a robot body 1; the robot body 1 mainly comprises a driving motor 3, a driving shaft 7, spiral blades 11, a hydraulic cylinder 17, a piston rod 20 and a crawler 29; the robot comprises a robot body 1, a sealing bin body 2, a driving motor 3, a motor base 4, a bolt, a power supply 6, a driving motor 3, a driving shaft 7 and a driving motor 3, wherein the sealing bin body 2 is arranged at the upper part of the right end of the robot body 1; the left end of the sealed cabin body 2 is provided with a partition plate 9, a driving shaft 7 is rotatably connected with the partition plate 9, a sealing washer 10 is arranged at the joint of the partition plate 9 and the driving shaft 7, a bearing at the left end of the driving shaft 7 is rotatably connected with a filter plate 12, the left end of the filter plate 12 is provided with a clear water chamber 13, the surface of the driving shaft 7 is fixedly connected with a helical blade 11, the surface of the filter plate 12 is provided with fine filter holes, and the lower end of the clear water chamber 13; the lower end of the spiral blade 11 is provided with the upper end of a corrugated pipe 15, the lower end of the corrugated pipe 15 is fixedly connected with a water pumping port 16, the water pumping port 16 is fixedly connected with the lower portion of a hydraulic cylinder 17, the lower end of the clear water chamber 13 is fixedly connected with the upper portion of the hydraulic cylinder 17, a rotating driving shaft 7 drives the spiral blade 11 to rotate so as to drive the water pumping port 16 at the lower portion of the robot body 1 to pump water continuously, water liquid enters the corrugated pipe 15 through the water pumping port 16 and then enters the cavity at the left end of the sealed cabin body 2, the water liquid enters the clear water chamber 13 through a filter plate 12 under the action of the spiral blade 11 and is discharged through a water discharging valve 14, wherein the water pumping port 16 pumps the water liquid at the lower portion of the robot body 1 and small garbage into the corrugated pipe 15.

An upper cover plate 32 is arranged at the upper part of the robot body 1, the surface of the upper cover plate 32 is fixedly connected with a handle 33, the right end of the handle 33 is fixedly connected with a fixing pin 31, the upper cover plate 32 is fixedly connected with the sealed cabin body 2 through the fixing pin 31, after the robot body 1 finishes working, the fixing pin 31 is pulled to open the upper cover plate 32, and the fine garbage accumulated in the cavity is taken out; the left end of the hydraulic cylinder 17 is slidably connected with a piston rod 20, the left end of the piston rod 20 is rotatably connected with a clamping bucket 22, the upper part of the clamping bucket 22 is rotatably connected with the left end of a connecting rod 21, the right end of the connecting rod 21 is rotatably connected with the hydraulic cylinder 17, the lower end of the hydraulic cylinder 17 is fixedly connected with a shovel plate 18, the lower end of the shovel plate 18 is rotatably connected with a guide wheel 19, when the robot body 1 moves leftwards, the oil pressure in the hydraulic cylinder 17 is reduced to enable the piston rod 20 to move rightwards, the clamping bucket 22 is opened under the action of the connecting rod 21, the shovel plate 18 shovels solid garbage with larger bottom, and when the solid garbage is more, the oil pressure in.

The first bevel gear 8 is meshed with the second bevel gear 23, the second bevel gear 23 is fixedly connected with the upper end of the worm 24, the upper part of the worm 24 is rotatably connected with the robot body 1, a sealing gasket 10 is arranged at the joint of the robot body 1 and the worm 24, the lower end of the worm 24 is rotatably connected with the cross beam 28 through a bearing, the end part of the cross beam 28 is fixedly connected with the robot body 1, the worm 24 is meshed with the worm gear transmission device 25, the worm gear transmission device 25 is rotatably connected with the bottom of the robot body 1, the rotating driving shaft 7 drives the first bevel gear 8 to rotate so as to drive the second bevel gear 23 to rotate, and the second bevel gear 23 drives the worm; the front end of the worm gear transmission device 25 is fixedly connected with the rotating wheel, the surface of the rotating wheel is connected with the upper end of the transmission belt 26 in a rolling manner, the lower end of the transmission belt 26 is connected with the driving wheel 27 in a rolling manner, the driving wheel 27 is connected with the middle of the cross beam 28 in a rotating manner, the upper tangent plane and the lower tangent plane of the driving wheel 27 are meshed with the crawler 29, the end of the crawler 29 is meshed with the driven wheel 30, the driven wheel 30 is connected with the end of the cross beam 28 in a rotating manner, the right end of the robot body 1 is fixedly connected with the signal receiving line 5, the robot body 1 can be remotely controlled to work through the signal receiving line 5, the rotating worm gear transmission device drives the driving wheel 27 to.

The utility model discloses a theory of operation is: the driving motor 3 is electrified to work to drive the driving shaft 7 to rotate, the surface of the driving shaft 7 is fixedly connected with the helical blade 11, the surface of the filter plate 12 is provided with fine filter holes, the lower end of the clear water chamber 13 is communicated with the drain valve 14, the rotating driving shaft 7 drives the helical blade 11 to rotate so as to drive the water pumping port 16 at the lower part of the robot body 1 to pump water continuously, water enters the bellows 15 through the water pumping port 16 and then enters the cavity at the left end of the sealed cabin body 2, the water enters the clear water chamber 13 through the filter plate 12 under the action of the helical blade 11 and is discharged through the drain valve 14, wherein the water pumping port 16 pumps the water at the lower part of the robot body 1 into the bellows 15 together with fine garbage, the bellows 15 can expand and contract automatically according to pressure to prevent blockage, the garbage can not pass through the filter plate 12 and stay in the cavity at the upper, the tiny garbage accumulated in the cavity is taken out, when the robot body 1 moves leftwards, the oil pressure in the hydraulic cylinder 17 is reduced to enable the piston rod 20 to move rightwards, the clamping hopper 22 is opened under the action of the connecting rod 21, the shovel plate 18 shovels the solid garbage with the larger bottom, when the solid garbage is more, the oil pressure in the hydraulic cylinder 17 is increased to enable the clamping hopper 22 to be closed to fix the garbage, the rotating driving shaft 7 drives the first bevel gear 8 to rotate so as to drive the second bevel gear 23 to rotate, the second bevel gear 23 drives the worm 24 to rotate so as to drive the worm gear 25 to rotate, the robot body 1 can be remotely controlled to work through the signal receiving line 5, and the rotating worm gear drives the driving wheel 27 to rotate through the driving belt 26 so as to drive the crawler 29 to rotate around the driven wheel 30 to drive the robot body.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. The utility model provides a multi-functional rubbish salvage robot under water, includes robot body (1) of the sealed storehouse body of area (2), and in sealed storehouse body (2) was arranged in to power device, its characterized in that still includes clear water room (13), filter chamber, drive travel device, rubbish fishing device, wherein: a water pumping and filtering device is arranged in the filtering chamber, a water pumping pipe facing to the lower part of the bottom of the robot body (1) is arranged at the bottom of the filtering chamber in a communicating manner, and the electric power device is connected to the water pumping and filtering device in a driving manner and drives the traveling device; the front end of the clear water chamber (13) is provided with a drain valve (14) which is communicated and connected with the filter chamber through a filter plate (12); the garbage fishing device is arranged in front of the robot body (1) and comprises a clamping bucket (22) capable of controlling rotation and a shovel plate (18) positioned right below the clamping bucket (22); the driving running device comprises a crawler belt (29) wheel set arranged at the bottom of the robot body (1).

2. The multifunctional underwater garbage fishing robot as claimed in claim 1, wherein the water pumping and filtering device comprises a driving shaft (7) extending into the sealed cabin body (2) and directly connected with the motor device, the top end of the driving shaft (7) is mounted on the filter plate (12) in a bearing manner, and a plurality of spiral blades (11) are mounted on the driving shaft (7), and a water pumping pipe communicated to the outside is further arranged on the bottom wall of the water pumping and filtering device.

3. The multifunctional underwater garbage fishing robot according to claim 2, wherein a power supply (6) is installed in the sealed cabin body (2), a driving motor (3) is connected with the power supply (6) and installed in the sealed cabin body (2) through a motor base (4), the driving motor (3) is directly connected with a driving shaft (7), a first bevel gear (8) and a second bevel gear (23) in meshing transmission connection with the first bevel gear (8) are sleeved on the driving shaft (7), and the second bevel gear (23) is in transmission connection with a driving device to provide power for the driving device.

4. The multifunctional underwater garbage fishing robot according to claim 2, wherein the garbage fishing device comprises a shovel plate (18) which is located at a low position and extends forwards and transversely, a hydraulic cylinder (17) which is arranged behind and above the shovel plate (18), a piston rod (20) which is arranged at the front end of the hydraulic cylinder (17), and a clamping bucket (22) which is hinged to the front end of the piston rod (20), wherein a connecting rod (21) is rotatably connected to the upper part of the clamping bucket (22) and the top end of the hydraulic cylinder (17).

5. A multifunctional underwater garbage fishing robot according to claim 3, characterized in that the driving traveling device comprises a longitudinally installed worm (24) connected with the second bevel gear (23), a worm gear transmission device (25) installed on the bottom of the robot body (1) and connected with the worm (24) in a matching way, the worm gear transmission device (25) is connected with a driving wheel (27) on a wheel set of a crawler (29) through a driving belt (26), the driving wheel (27) is connected with driven wheels (30) arranged at two ends through the crawler (29), and the driving wheel (27) and the driven wheels (30) are fixedly installed through a cross beam (28).

6. The multifunctional underwater garbage fishing robot as claimed in claim 2, wherein the middle part of the water pumping pipe is a corrugated pipe (15), and the end head of the lower end of the water pumping pipe is a horn-shaped water pumping port (16).

7. The multifunctional underwater garbage fishing robot as claimed in claim 4, wherein the clamping bucket (22) is arc-shaped, the edge is provided with teeth, the end of the shovel plate (18) is a downward inclined shovel tip, and the upward surface of the shovel body is provided with a plurality of transversely-distributed anti-slip ribs.

8. A multi-functional underwater garbage fishing robot as claimed in claim 7, characterized in that a guide wheel (19) is mounted under the bottom of the shovel plate (18).

9. The multifunctional underwater garbage fishing robot as claimed in claim 2, wherein an upper cover plate (32) which can be opened and closed outwards is mounted on the top surface of the filtering chamber, a handle (33) is fixedly connected to the outer surface of the upper cover plate (32), and a switch lock body is fixedly mounted at one end edge of the upper cover plate (32).

10. The multifunctional underwater garbage fishing robot according to claim 1, wherein a signal receiving line (5) is fixedly installed at the rear end of the robot body (1), and the signal receiving line (5) is used for connecting and controlling the driving motor (3) and the hydraulic cylinder (17).