CN211849684U - Underwater environment treatment operation robot - Google Patents

Abstract

The utility model relates to a hydraulic engineering trade field, concretely an environmental management work robot under water, including braced frame and the track chassis of setting in the braced frame bottom, and the vision module of setting on braced frame, still include the scraper bowl module, the edulcoration module, the pumping module, controller and hydraulic pressure station, the working method of this robot is as follows, during the use, start through controller control hydraulic pressure station, and then there is hydraulic pressure station to order about the track chassis motion, this robot gets into the culvert or after under water under the effect on track chassis, start the vision module through the controller and observe the environment on every side, and transmit the image data who observes to subaerial host computer department, the staff sends the instruction to the controller according to image data, the controller gives the instruction hydraulic pressure after standing, the hydraulic pressure station controls the track chassis respectively according to the instruction, shovel board module, The impurity removal module and the pumping module operate to perform dredging operation.

Description

Underwater environment treatment operation robot

Technical Field

The utility model relates to a hydraulic engineering trade field specifically is an environmental management work robot under water.

Background

The dredging and decontamination of river channels, culverts and open channels are a big problem of physical and mental health of urban residents and urban and rural environmental protection, and particularly, the accumulation of silt, blockage and pollution of the river channels are more serious along with the continuous acceleration of the industrialized process of China and the high-speed development of economy in the last two decades; the national policies and the national policies on pollution control and environmental protection are continuously strengthened, and aiming at municipal construction in cities and rural areas in China, the regulation of river channels, culverts and open channels is strictly managed.

Most of the existing dredging methods are manually carried shovels, vehicles, pumps and other equipment to enter river channels or culverts for operation, and although partial mechanical operation exists, the system mechanization of the whole process of excavation and transportation to loading and outward transportation is not realized. Therefore, the dredging efficiency is low, the labor intensity is high, and the health of constructors is greatly influenced due to the severe operation environment. In this situation, it is necessary to invent a modern and efficient dredging device.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

For solving the above problem, the utility model provides an environmental management work robot under water can replace the manual work to carry out desilting work, realizes environmental management under water.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme:

an underwater environment control operation robot comprises a supporting frame, a crawler chassis arranged at the bottom of the supporting frame, a vision module arranged on the supporting frame, a bucket module, an impurity removal module, a pumping module, a controller and a hydraulic station, wherein the bucket module is arranged on the crawler chassis;

the supporting frame is used as an integral framework of the robot, a parallel four-bar linkage driven by a telescopic hydraulic cylinder is arranged at the front end of the supporting frame, and the crawler chassis is used as a walking mechanism; the vision module is electrically connected with the controller, comprises an illuminating lamp and a camera, and both the illuminating lamp and the camera have a waterproof function and are used for acquiring an image of the robot in an underwater environment and transmitting the acquired image to an upper computer on the ground through the controller;

the bucket module is mounted on a parallel four-bar linkage at the front end of the supporting frame and comprises a steel plate welding body, a hydraulic pump, a rotary dragon and a filter screen, a dragon cavity with an outward opening is formed in the steel plate welding body, the rotary dragon is rotatably mounted in the dragon cavity, the hydraulic pump is mounted on one side of the steel plate welding body, and an output shaft of the hydraulic pump is in driving connection with the rotary dragon so as to drive the rotary dragon to rotate; the filter screen is arranged on the opening and used for covering the flood dragon cavity, and the back of the steel plate welding body is also provided with a sludge inlet communicated with the flood dragon cavity;

the impurity removing module comprises a hydraulic motor and a rotary relieving tooth, the hydraulic motor is mounted at the front end of the steel plate welding body, and an output shaft of the hydraulic motor is in driving connection with the rotary relieving tooth to drive the rotary relieving tooth to rotate so as to stir and remove part of impurities;

the pumping module comprises a mud pumping part and a mud conveying pipeline, the mud pumping part is arranged on the support frame, the mud pumping end of the mud pumping part is connected with the first end of the mud conveying pipeline, the mud discharging end of the mud pumping part extends to the ground through the mud discharging pipeline, and the second end of the mud conveying pipeline is connected with a mud inlet on the steel plate welding body;

the controller is arranged in the supporting frame, a signal receiving end of the controller is in signal connection with the upper computer so as to receive an instruction of the upper computer, and a signal output end of the controller is in signal connection with the hydraulic station;

the hydraulic station is arranged in the supporting frame and is respectively connected with the driving sources on the crawler chassis, the shovel plate module, the impurity removal module and the pumping module, the control box transmits the instruction of the upper computer into the hydraulic station, and the hydraulic station respectively controls the crawler chassis, the shovel plate module, the impurity removal module and the pumping module to operate according to the instruction so as to carry out dredging work; the controller and the hydraulic station have a waterproof function.

Preferably, the cable collecting device further comprises a traction device, the traction device comprises a cable collecting machine and a rescue rope, one end of the rescue rope is wound on the cable collecting machine, and the other end of the rescue rope is connected with the robot; the rescue rope adopts an umbilical cable, Kevlar fiber, optical fiber and a power line are wrapped in the rescue rope, and the controller is in signal connection with an upper computer on the ground through the optical fiber and the power line in the rescue rope.

Preferably, the steel plate welding body is of a trapezoidal structure, namely, a structure with a large opening and a small rear end is adopted to adapt to the terrain; and the edge of the robot which is positioned at the front end and is in contact with the ground is designed into a round angle structure so as to reduce the resistance of sludge and water and facilitate the reduction of the advancing resistance of the robot.

Preferably, defeated mud pipeline second end is equipped with step buffer memory cover, and step buffer memory cover aperture diminishes by big, and the silt import department on the steel sheet welding body is installed to its heavy-calibre's one end, and its and silt import junction still is equipped with the mud layer of straining that is used for the separation silt import.

Preferably, the mud pumping part is a horizontally mounted slag paddle pump, a mud suction port of the slag paddle pump is connected with the first end of the mud conveying pipeline, a mud discharge port of the slag paddle pump is connected with the mud discharge pipeline, and the mud discharge pipeline extends to the position of the above-ground mud collection tank car on the water.

Preferably, the rotary relieving includes a fixed disk and a rotary tooth, the fixed disk is connected with the output shaft of the hydraulic motor, and the rotary tooth is provided with a plurality of teeth and designed around the circumferential direction of the fixed disk.

Preferably, the hydraulic station comprises a hydraulic tank, a hydraulic control unit, a hydraulic master cylinder and an oil cylinder, the hydraulic tank is mounted inside the support frame, the hydraulic control unit and the oil cylinder are both mounted inside the hydraulic tank, and the hydraulic master cylinder is mounted outside the hydraulic tank; the hydraulic control unit is electrically connected with the controller and is also respectively connected with the hydraulic master cylinder and the oil cylinder so as to drive the oil cylinder to provide hydraulic oil for the hydraulic master cylinder and control the hydraulic master cylinder to operate; the hydraulic control unit is also provided with a plurality of control ends, and the control ends are respectively connected with the hydraulic pump on the crawler chassis and the shovel plate module, the hydraulic motor on the impurity removal module and the slag paddle pump on the pumping module through hydraulic pipes so as to respectively control the crawler chassis, the shovel plate module, the impurity removal module and the pumping module to operate through the controller.

Preferably, the hydraulic tank comprises a tank body, a waterproof flange, a cover plate and a sealing strip, the tank body adopts a stainless steel plate seamless welding technology, an installation cavity with an upward opening is arranged in the tank body, the cover plate is covered with the opening through the sealing strip, and the hydraulic control unit is arranged in the installation cavity; the oil cylinder is arranged at the bottom of the mounting cavity, the side of the box body is also provided with a plurality of high-pressure oil pipe interfaces communicated with the oil cylinder, and the box body flange is also covered with the high-pressure oil pipe interfaces through a sealing strip.

(III) advantageous effects

The utility model provides a pair of work robot is administered to environment under water can replace the manual work to carry out desilting work, realizes that the environment under water administers, and possesses following advantage:

1. the filter screen has been added to the scraper bowl module, prevents great debris, gets into the flood dragon chamber including branch, working of plastics, miscellaneous stone, avoids the jam of silt import.

2. The edulcoration module has been added to scraper bowl module front end, can effectual stirring silt piece, and can clear away partial debris, the effectual efficiency that improves the desilting, the stability that improves the robot and gos forward.

3. The second end of the sludge conveying pipeline is provided with the step buffer cover, so that sludge can be effectively buffered, and the sludge can be extracted uninterruptedly; the design of the sludge layer at the sludge inlet can further block larger sludge from entering the pumping part.

4. The vision module, the controller, the hydraulic tank and the hydraulic master cylinder of the robot all adopt waterproof structures, so that the water inflow of sub-devices of the robot during underwater operation is avoided, and the faults are reduced.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

figure 1 shows an operational flow diagram of the present invention;

fig. 2 shows a first overall mechanism diagram of the present invention;

fig. 3 shows a schematic diagram of the overall mechanism of the present invention;

fig. 4 shows a schematic diagram of the overall mechanism of the present invention;

fig. 5 shows a fourth overall mechanism diagram of the present invention;

FIG. 6 shows a schematic view of a bucket module of the present disclosure;

FIG. 7 shows a cross-sectional view of FIG. 6;

fig. 8 shows a part of the structure diagram of the invention;

fig. 9 shows a schematic diagram of a part of the structure of the present invention;

fig. 10 shows a schematic diagram of a part of the structure of the present invention;

fig. 11 shows a schematic structural diagram of the present invention.

In the figure: the device comprises a supporting frame 1, a 10 telescopic hydraulic cylinder, a 2 crawler chassis, a 3 vision module, a 31 lighting lamp, a 32 camera, a 4 bucket module, a 41 steel plate welding body, a 410 dragon cavity, a 411 sludge inlet, a 42 hydraulic pump, a 43 rotary dragon, a 44 filter screen, a 5 impurity removal module, a 51 hydraulic motor, a 52 rotary shovel, a 521 fixed disk, a 522 rotary tooth, a 6 pumping module, a 61 mud pumping part, a 61a mud discharging pipeline, a 62 mud conveying pipeline, a 620 step buffer cover, a 621 mud filter layer, a 7 controller, an 8 hydraulic station, a 81 hydraulic tank, a 811 box body, a 811a installation cavity, a 811b high-pressure oil pipe interface, a 812 waterproof flange, a 813 cover plate, a 814 sealing strip, a 82 hydraulic control unit, a control end 82a, an 83 hydraulic master cylinder, a 84 oil cylinder, a 9 traction device, a 91 cable collecting machine and a 92 rescue rope.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to the attached drawings 1-11, the robot for underwater environment treatment comprises a support frame 1, a crawler chassis 2 arranged at the bottom of the support frame 1, a vision module 3 arranged on the support frame 1, a bucket module 4, an impurity removal module 5, a pumping module 6, a controller 7 and a hydraulic station 8;

the supporting frame 1 is used as an integral framework of the robot, the front end of the supporting frame is provided with a parallel four-bar linkage driven by a telescopic hydraulic cylinder 10, and the crawler chassis 2 is used as a walking mechanism of the whole robot; the vision module 3 is electrically connected with the controller 7, the vision module 3 comprises an illuminating lamp 31 and a camera 32, and both the illuminating lamp 31 and the camera 32 have a waterproof function so as to obtain images of the robot under water or in other environments and transmit the obtained images to an upper computer on the ground through the controller 7;

the bucket module 4 is installed on a parallel four-bar linkage at the front end of the supporting frame 1, the bucket module 4 comprises a steel plate welding body 41, a hydraulic pump 42, a rotary flood dragon 43 and a filter screen 44, an outward opening flood dragon cavity 410 is formed in the steel plate welding body 41, the rotary flood dragon 43 is rotatably installed in the flood dragon cavity 410, the hydraulic pump 42 is installed on one side of the steel plate welding body 41, and an output shaft of the hydraulic pump 42 is in driving connection with the rotary flood dragon 43 so as to drive the rotary flood dragon 43 to rotate; the filter screen 44 is installed on the opening and used for covering the flood dragon cavity 410, and the back of the steel plate welding body 41 is also provided with a sludge inlet 411 communicated with the flood dragon cavity 410; specifically, the height of the bucket is adjusted by the four-bar mechanism through the telescopic hydraulic cylinder 10, so that the sludge can flow into the flood dragon cavity 410, the opening is provided with the filter screen 44 to prevent large impurities including branches, plastic parts and miscellaneous stones, and the blockage of the sludge inlet 411 is effectively prevented;

the impurity removing module 5 comprises a hydraulic motor 51 and a rotary shovel tooth 52, the hydraulic motor 51 is installed at the front end of the steel plate welding body 41, and an output shaft of the hydraulic motor 51 is in driving connection with the rotary shovel tooth 52 to drive the rotary shovel tooth 52 to rotate, so that part of impurities are removed; the dredging efficiency is effectively improved, and the advancing stability of the robot is improved;

the pumping module 6 comprises a mud pumping part 61 and a mud conveying pipeline 62, wherein the mud pumping part 61 is installed on the support frame 1, the mud pumping end of the mud pumping part is connected with the first end of the mud conveying pipeline 62, the mud discharging end of the mud pumping part extends to the ground through a mud discharging pipeline 61a, and the second end of the mud conveying pipeline 62 is connected with a mud inlet 411 on the steel plate welding body 41;

the controller 7 is arranged in the supporting frame 1, a signal receiving end of the controller 7 is in signal connection with an upper computer so as to receive an instruction of the upper computer, and a signal output end of the controller 7 is in signal connection with the hydraulic station 8;

the hydraulic station 8 is arranged in the supporting frame 1 and is respectively connected with the driving sources on the crawler chassis 2, the shovel plate module, the impurity removal module 5 and the pumping module 6, the control box transmits the instruction of the upper computer to the hydraulic station 8, and the hydraulic station 8 respectively controls the crawler chassis 2, the shovel plate module, the impurity removal module 5 and the pumping module 6 to operate according to the instruction so as to carry out dredging work; the controller 7 and the hydraulic station 8 both have a waterproof function.

To sum up, the working method of this robot is as follows, during the use, start through 8 starts in controller 7 control hydraulic pressure station, and then there is hydraulic pressure station 8 to order about 2 movements in track chassis, this robot gets into the culvert or after under 2 in track chassis's effect, start vision module 3 through controller 7 and observe the environment around, and image data transmission to subaerial host computer department will observe, the staff comes to send the instruction to controller 7 according to image data, controller 7 transmits the instruction for behind hydraulic pressure station 8, hydraulic pressure station 8 controls track chassis 2 respectively according to the instruction, the shovel board module, edulcoration module 5 and pump sending module 6 function, in order to carry out desilting work.

Specifically, the robot controls a hydraulic pump 42 on the shovel plate module to start through a hydraulic station 8, so that an output shaft of the hydraulic pump 42 rotates to drive a rotary dragon 43 to rotate, and further, sludge is pumped into a dragon cavity 410; simultaneously starting a mud pumping part 61 on the pumping module 6, wherein the mud pumping part 61 is communicated with a mud inlet 411 at the back of the steel plate welding body 41 through a mud conveying pipeline 62, and the mud in the flood dragon cavity 410 can be pumped to the mud pumping part 61 by starting the mud pumping part 61 and is finally discharged to the ground on the water through a mud discharging end of the mud pumping part 61;

in the working process, if large sundries including branches, plastic parts, sundry stones and the like are encountered, the sundries are isolated under the action of the filter screen 44, so that the blockage of the sludge inlet 411 caused by the sundries entering the flood dragon cavity 410 is prevented; if when meetting the silt of blocking, start hydraulic motor 51 on the edulcoration module 5 through hydraulic pressure station 8, order about rotatory tine 52 and rotate, rotatory tine 52 stirs the silt piece, makes the silt piece scatter to be convenient for the shovel board module is taken out and is sent silt.

Referring to the attached drawings 1-11, the robot also comprises a traction device 9, wherein the traction device 9 comprises a cable collecting machine 91 and a rescue rope 92, one end of the rescue rope 92 is wound on the cable collecting machine 91, and the other end of the rescue rope 92 is connected with the robot; rescue rope 92 adopts an umbilical cable, Kevlar fiber, optical fiber and a power line are wrapped in the rescue rope 92, and controller 7 is in signal connection with an upper computer on the ground through the optical fiber and the power line in rescue rope 92.

In conclusion, the culvert penetrating the canal is an extreme environment, the culvert is in an inverted trapezoid shape, is usually in a full water state, and has turbid water flow, when the robot enters the culvert, a traction device 9, namely an automatic cable retracting machine 91 and a rescue rope 92, is needed, the automatic cable retracting machine 91 is arranged on the ground during operation, the rescue rope 92 is connected with the robot, and the cable retracting machine 91 automatically retracts the length of the cable according to the walking distance of the robot; the cable collecting machine 91 adopts an umbilical cable, has a tension of more than 3000kg, is enough to send the robot into a culvert for dredging, and can be pulled back to the ground through the umbilical cable when the robot breaks down. Rescue rope 92 includes Kevlar fiber, optical fiber and power cord are used for connecting host computer and controller 7, for information exchange between the two provides passageway and electric power, and Kevlar fiber is in order to strengthen this rescue of taking nature and tensile strength.

On the other hand, the vision module 3 comprises an illuminating lamp 31 and a camera 32, the light in the culvert is dim, and the illuminating lamp 31 can provide enough light source for the camera 32, so that the people can see the road condition clearly on the terminal operation platform; the illuminating lamp 31 and the camera 32 have waterproof functions, and the height of the illuminating lamp 31 can be adjusted through the controller 7; in addition, the controller 7 and the hydraulic station 8 both have a waterproof function, so that the robot can work underwater.

Referring to fig. 1 to 11, the steel plate welding body 41 has a trapezoidal structure, i.e., a structure with a large opening and a small rear end, so as to adapt to the terrain; and the edge of the robot which is positioned at the front end and is in contact with the ground is designed into a round angle structure so as to reduce the resistance of sludge and water and facilitate the reduction of the advancing resistance of the robot.

Referring to fig. 1 to 11, a second end of the sludge transporting pipe 62 is provided with a step buffer cover 620, the diameter of the step buffer cover 620 decreases from large to small, one end with a large diameter is installed at a sludge inlet 411 on the steel plate welding body 41, and a sludge filtering layer 621 for blocking the sludge inlet 411 is further arranged at the connection position of the step buffer cover and the sludge inlet 411.

Specifically, when the rotary flood dragon 43 rotates, the front section and the tail end bring the sludge into the middle for collection, and the sludge flows into the step buffer cover 620 through the sludge inlet 411 under the action of the sludge pumping part 61, and the caliber of the step buffer cover 620 is designed to be reduced from large to small, so that the sludge can be effectively buffered, and the sludge can be pumped continuously; the design of the sludge layer 621 at the sludge inlet 411 can further block the larger sludge from entering the pumping section.

Referring to fig. 1-11, the sludge pumping part 61 is a horizontally installed sludge paddle pump, a sludge suction port of the sludge paddle pump is connected with a first end of a sludge conveying pipeline 62, a sludge discharge port of the sludge paddle pump is connected with a sludge discharge pipeline 61a, and the sludge discharge port extends to a sludge collection tank car on the ground above the water through the sludge discharge pipeline 61 a; the slurry pump is horizontally fixed on the vehicle body bracket through the bracket, the center of the pump body is reduced, the stability of the whole vehicle is obviously improved, and the shake of the vehicle body is reduced.

Referring to fig. 1 to 11, the rotary relieved tooth 52 includes a fixed disk 521 and a rotary tooth 522, the fixed disk 521 is connected with the output shaft of the hydraulic motor 51, and the rotary tooth 522 is provided with a plurality of teeth and is designed around the circumferential direction of the fixed disk 521; during the use, hydraulic motor 51 drives fixed disk 521 and rotates, will revolve tooth 522 and aim at the silt piece, under the high-speed rotation of fixed disk 521, revolve tooth 522 and will constantly stir the silt piece and destroy, make the silt piece scatter, and revolve the holistic destructibility of rotatory forming relieved tooth 52 of quantity decision of tooth 522, the utility model discloses well preferred three tooth 522 of revolving, three tooth 522 relatively stable revolves, and the destructibility is high.

Referring to fig. 1 to 11, the hydraulic station 8 includes a hydraulic tank 81, a hydraulic control unit 82, a hydraulic master cylinder 83 and an oil cylinder 84, the hydraulic tank 81 is installed inside the support frame 1, the hydraulic control unit 82 and the oil cylinder 84 are both installed inside the hydraulic tank 81, and the hydraulic master cylinder 83 is installed outside the hydraulic tank 81; the hydraulic control unit 82 is electrically connected with the controller 7, and is also respectively connected with the hydraulic master cylinder 83 and the oil cylinder 84, so as to drive the oil cylinder 84 to provide hydraulic oil for the hydraulic master cylinder 83 and control the hydraulic master cylinder 83 to operate; the hydraulic control unit 82 is further provided with a plurality of control end heads 82a, and the control end heads 82a are respectively connected with the crawler chassis 2, the hydraulic pump 42 on the shovel plate module, the hydraulic motor 51 on the impurity removal module 5 and the slag paddle pump on the pumping module 6 through hydraulic pipes.

Specifically, in order to ensure that the robot can work underwater, the hydraulic tank 81 and the hydraulic master cylinder 83 both have a waterproof function; the waterproof design of the hydraulic tank 81 can provide a good working environment for the oil cylinder 84 and the hydraulic control unit 82 in the hydraulic tank, in the using process, the controller 7 sends an instruction to the hydraulic control unit 82, the hydraulic control unit 82 extracts hydraulic oil from the oil cylinder 84 to the hydraulic master cylinder 83, the hydraulic master cylinder 83 operates, and the hydraulic master cylinder 83 provides hydraulic pressure for a plurality of control ends 82a on the hydraulic control unit 82; further, the hydraulic control unit 82 drives the crawler chassis 2, the hydraulic pump 42 on the shovel plate module, the hydraulic motor 51 on the impurity removal module 5 and the slag paddle pump on the pumping module 6 to operate respectively through the control end 82a according to the instruction, and then controls the crawler chassis 2, the shovel plate module, the impurity removal module 5 and the pumping module 6 to operate

Referring to fig. 1 to 11, the hydraulic tank 81 includes a tank body 811, a waterproof flange 812, a cover plate 813 and a sealing strip 814, the tank body 811 adopts a seamless welding technology of a stainless steel plate, an installation cavity 8110 with an upward opening is arranged inside the tank body 811, the cover plate 813 covers the opening through the sealing strip 814, and the hydraulic control unit 82 is arranged in the installation cavity 8110; the oil cylinder 84 is arranged at the bottom of the mounting cavity 8110, a plurality of high-pressure oil pipe interfaces 8111 communicated with the oil cylinder 84 are further arranged on the side edge of the box body 811, and the flange of the box body 811 is also covered with the high-pressure oil pipe interfaces 8111 through a sealing strip 814.

Specifically, the box 811 adopts a stainless steel plate seamless welding technology, and has a good waterproof effect; the inside installation cavity 8110 that is equipped with the opening up of box 811, this opening is used for installing or removing and changing various spare parts on the hydraulic control unit 82, after finishing installing, close this opening with apron 813 lid, and in order to guarantee the whole waterproof nature of box 811, avoid rivers to invade in the installation cavity 8110, the embodiment of the utility model provides an embodiment has adopted sealing strip 814, with sealing strip 814 fixed mounting in apron 813 and this open-ended junction can;

the high-pressure oil pipe interface 8111 on the side of the box 811 is used for adding hydraulic oil to the oil cylinder 84, so as to avoid oil leakage of the oil cylinder 84 and water flow entering the oil cylinder 84, therefore, the high-pressure oil pipe interface 8111 is covered by the waterproof flange 812, and similarly, the sealing strip 814 is also arranged at the joint of the waterproof flange 812 and the high-pressure oil pipe interface 8111.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An underwater environment control operation robot comprises a supporting frame (1), a crawler chassis (2) arranged at the bottom of the supporting frame (1), and a vision module (3) arranged on the supporting frame (1), and is characterized by further comprising a bucket module (4), an impurity removal module (5), a pumping module (6), a controller (7) and a hydraulic station (8);

the supporting frame (1) is used as an integral framework of the robot, a parallel four-bar linkage driven by a telescopic hydraulic cylinder (10) is arranged at the front end of the supporting frame, and the crawler chassis (2) is used as a walking mechanism; the vision module (3) is electrically connected with the controller (7), the vision module (3) comprises an illuminating lamp (31) and a camera (32), the illuminating lamp (31) and the camera (32) have waterproof functions, so that images of the robot in an underwater environment can be acquired, and the acquired images are transmitted to an upper computer on the ground through the controller (7);

the bucket module (4) is installed on a parallel four-bar linkage at the front end of the supporting frame (1), the bucket module (4) comprises a steel plate welding body (41), a hydraulic pump (42), a rotary flood dragon (43) and a filter screen (44), a flood dragon cavity (410) with an outward opening is formed in the steel plate welding body (41), the rotary flood dragon (43) is rotatably installed in the flood dragon cavity (410), the hydraulic pump (42) is installed on one side of the steel plate welding body (41), and an output shaft of the hydraulic pump (42) is in driving connection with the rotary flood dragon (43) so as to drive the rotary flood dragon (43) to rotate; the filter screen (44) is arranged on the opening and used for covering the flood dragon cavity (410), and the back of the steel plate welding body (41) is also provided with a sludge inlet (411) communicated with the flood dragon cavity (410);

the impurity removing module (5) comprises a hydraulic motor (51) and a rotary shovel tooth (52), the hydraulic motor (51) is installed at the front end of the steel plate welding body (41), and an output shaft of the hydraulic motor (51) is in driving connection with the rotary shovel tooth (52) to drive the rotary shovel tooth (52) to rotate so as to stir and remove part of impurities;

the pumping module (6) comprises a mud pumping part (61) and a mud conveying pipeline (62), wherein the mud pumping part (61) is installed on the supporting frame (1), the mud pumping end of the mud pumping part is connected with the first end of the mud conveying pipeline (62), the mud discharging end of the mud conveying pipeline extends to the ground through a mud discharging pipeline (61a), and the second end of the mud conveying pipeline (62) is connected with a mud inlet (411) on the steel plate welding body (41);

the controller (7) is installed inside the supporting frame (1), a signal receiving end of the controller (7) is in signal connection with an upper computer to receive instructions of the upper computer, and a signal output end of the controller (7) is in signal connection with the hydraulic station (8);

the hydraulic station (8) is arranged in the supporting frame (1) and is respectively connected with the crawler chassis (2), the shovel plate module, the impurity removal module (5) and the driving source on the pumping module (6), the control box transmits the instruction of the upper computer into the hydraulic station (8), and the hydraulic station (8) respectively controls the crawler chassis (2), the shovel plate module, the impurity removal module (5) and the pumping module (6) to operate according to the instruction so as to carry out desilting work; the controller (7) and the hydraulic station (8) both have a waterproof function.

2. The robot for underwater environment management operation according to claim 1, further comprising a traction device (9), wherein the traction device (9) comprises a cable retracting machine (91) and a rescue rope (92), one end of the rescue rope (92) is wound on the cable retracting machine (91), and the other end is connected with the robot; the rescue rope (92) adopts an umbilical cable, Kevlar fibers, optical fibers and a power line are wrapped in the rescue rope (92), and the controller (7) is in signal connection with an upper computer on the ground through the optical fibers and the power line in the rescue rope (92).

3. An underwater environment management operation robot as claimed in claim 1, wherein the steel plate welding body (41) is in a trapezoidal structure, i.e. a structure with a large opening and a small rear end, so as to be adapted to the terrain; and the edge of the robot which is positioned at the front end and is in contact with the ground is designed into a round angle structure so as to reduce the resistance of sludge and water and facilitate the reduction of the advancing resistance of the robot.

4. The robot for underwater environment improvement operation according to claim 3, wherein a step buffer cover (620) is arranged at the second end of the sludge conveying pipeline (62), the caliber of the step buffer cover (620) is reduced from large to small, one end with large caliber is arranged at a sludge inlet (411) on the steel plate welding body (41), and a sludge filtering layer (621) for blocking the sludge inlet (411) is further arranged at the joint of the step buffer cover and the sludge inlet (411).

5. A robot for underwater environmental remediation operations according to claim 1, wherein the mud pumping section (61) is a horizontally mounted slurry pump having a mud suction port connected to a first end of the mud pipe (62) and a mud discharge port connected to the mud pipe (61a) and extending through the mud pipe (61a) to a surface above the water at a mud collection tanker.

6. An underwater environment management operation robot as claimed in claim 1, wherein the rotary relieved tooth (52) comprises a fixed disk (521) and a rotary tooth (522), the fixed disk (521) is connected with an output shaft of the hydraulic motor (51), and the rotary tooth (522) is provided with a plurality of teeth and is designed around the circumference direction of the fixed disk (521).

7. An underwater environment management operation robot according to claim 1, wherein the hydraulic station (8) comprises a hydraulic tank (81), a hydraulic control unit (82), a hydraulic master cylinder (83) and a cylinder (84), the hydraulic tank (81) is installed inside the support frame (1), the hydraulic control unit (82) and the cylinder (84) are both installed inside the hydraulic tank (81), and the hydraulic master cylinder (83) is installed outside the hydraulic tank (81); the hydraulic control unit (82) is electrically connected with the controller (7), and is also respectively connected with the hydraulic master cylinder (83) and the oil cylinder (84) so as to drive the oil cylinder (84) to provide hydraulic oil for the hydraulic master cylinder (83) and control the hydraulic master cylinder (83) to operate; the hydraulic control unit (82) is further provided with a plurality of control end heads (82a), and the control end heads (82a) are respectively connected with the crawler chassis (2), a hydraulic pump (42) on the shovel plate module, a hydraulic motor (51) on the impurity removal module (5) and a slag paddle pump on the pumping module (6) through hydraulic pipes so as to respectively control the crawler chassis (2), the shovel plate module, the impurity removal module (5) and the pumping module (6) to operate through a controller (7).

8. The robot for underwater environment improvement operation according to claim 7, wherein the hydraulic tank (81) comprises a tank body (811), a waterproof flange (812), a cover plate (813) and a sealing strip (814), the tank body (811) adopts a stainless steel plate seamless welding technology, an installation cavity (8110) with an upward opening is formed in the tank body (811), the cover plate (813) is covered with the opening through the sealing strip (814), and the hydraulic control unit (82) is arranged in the installation cavity (8110); the oil cylinder (84) is arranged at the bottom of the mounting cavity (8110), the side of the box body (811) is also provided with a plurality of high-pressure oil pipe interfaces (8111) communicated with the oil cylinder (84), and the flange of the box body (811) is also covered with the high-pressure oil pipe interfaces (8111) through a sealing strip (814).

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