CN212612723U - A kind of dredging pretreatment device and dredging robot - Google Patents
A kind of dredging pretreatment device and dredging robot Download PDFInfo
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- CN212612723U CN212612723U CN202020561531.9U CN202020561531U CN212612723U CN 212612723 U CN212612723 U CN 212612723U CN 202020561531 U CN202020561531 U CN 202020561531U CN 212612723 U CN212612723 U CN 212612723U
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- 210000000078 claw Anatomy 0.000 claims abstract description 117
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000001154 acute effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 238000012216 screening Methods 0.000 abstract 1
- 239000010813 municipal solid waste Substances 0.000 description 28
- 239000004575 stone Substances 0.000 description 22
- 238000000034 method Methods 0.000 description 12
- 239000010802 sludge Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000007781 pre-processing Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 239000010791 domestic waste Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
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Abstract
本申请提供一种清淤预处理装置及清淤机器人，包括收集结构以及动力结构；收集结构包括支撑框架以及若干个铲爪；动力结构包括驱爪液压缸、连爪机构、一对驱臂液压缸以及一对动臂；驱爪液压缸安装在清淤机器人上，一对驱臂液压缸分别对称安装在对应驱爪液压缸两侧的清淤机器人上；一对驱臂液压缸的活塞端分别铰接连接在一对动臂的中部，一对动臂的一端分别铰接连接在清淤机器人上，另一端分别铰接连接在支撑框架的底部；驱爪液压缸的活塞端铰接连接在连爪机构的一端，连爪机构的另一端铰接连接在支撑框架的顶部。本申请的有益效果是：通过动力结构驱动收集结构的移动旋转，调节收集结构的高度以及角度，实现对水中大块异物的筛选与收集。
The application provides a dredging pretreatment device and a dredging robot, including a collection structure and a power structure; the collection structure includes a support frame and a plurality of shovel claws; the power structure includes a claw drive hydraulic cylinder, a connecting claw mechanism, a pair of drive arm hydraulic cylinder and a pair of booms; the driving claw hydraulic cylinder is installed on the dredging robot, and a pair of driving arm hydraulic cylinders are symmetrically installed on the dredging robot on both sides of the corresponding driving claw hydraulic cylinder; the piston end of a pair of driving arm hydraulic cylinders They are hingedly connected to the middle of a pair of booms, one end of a pair of booms is hingedly connected to the dredging robot, and the other end is hingedly connected to the bottom of the support frame; the piston end of the driving claw hydraulic cylinder is hingedly connected to the connecting claw mechanism One end of the connecting claw mechanism is hingedly connected to the top of the supporting frame. The beneficial effects of the present application are: the moving and rotation of the collecting structure is driven by the power structure, the height and the angle of the collecting structure are adjusted, and the screening and collection of large foreign objects in water are realized.
Description
Technical Field
The utility model relates to a desilting robot technical field, concretely relates to desilting preprocessing device and desilting robot.
Background
The dredging and decontaminating of the river channel and the pond are related to the physical and mental health of urban and town residents and the environment protection of urban and rural areas, the traditional dredging method in China is mostly the 'man-sea' construction of combined operation of shovels, vehicles and pumps, and although partial mechanical operation exists, the system mechanical system of the whole process of excavating, transporting to loading and transporting is far from being 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. Particularly, in the last two decades, along with the continuous acceleration of the industrialized process of China and the high-speed development of economy, the accumulation of silt, blockage and pollution of the river channel are more serious. The national policies and the national strength on pollution treatment and environmental protection are continuously strengthened, the requirements and awareness of people on environmental protection are increasingly stronger, and under the actual situation, a modern and efficient dredging device is urgently needed in the society.
When the underwater dredging robot carries out underwater dredging, due to the fact that household garbage and large stones often exist in the underwater environment, the household garbage and the large stones can block a mud suction grid or a pump opening of the dredging robot, and therefore dredging working efficiency is low or even the dredging working efficiency is stopped. Therefore, the desilting robot needs to be pretreated before normal desilting so as to remove domestic garbage and large stones in the underwater environment, and the desilting work is conveniently and normally carried out.
Disclosure of Invention
The utility model aims at above problem, provide a desilting preprocessing device and desilting robot.
In a first aspect, the present application provides a desilting pretreatment device, comprising a collection structure and a power structure driving the collection structure; the collecting structure comprises a supporting frame and a plurality of L-shaped claws arranged on the supporting frame, and the claws are fixed on the supporting frame in parallel; the power structure comprises a claw driving hydraulic cylinder, a claw connecting mechanism, a pair of arm driving hydraulic cylinders and a pair of movable arms arranged corresponding to the pair of arm driving hydraulic cylinders; the driving claw hydraulic cylinders are arranged on the dredging robot corresponding to the middle part of the supporting frame, and the pair of driving arm hydraulic cylinders are respectively and symmetrically arranged on the dredging robot corresponding to the two sides of the driving claw hydraulic cylinders; piston ends of the pair of arm driving hydraulic cylinders are respectively hinged to the middle parts of the pair of movable arms, one ends of the pair of movable arms are respectively hinged to the dredging robot, and the other ends of the pair of movable arms are respectively hinged to the bottom of the supporting frame; and the piston end of the claw driving hydraulic cylinder is hinged to one end of the claw connecting mechanism, and the other end of the claw connecting mechanism is hinged to the top of the supporting frame.
According to the technical scheme provided by the embodiment of the application, the supporting frame comprises a pair of side plates, a plurality of cross rods and a plurality of vertical rods; the shovel claw comprises a horizontal part and inclined parts forming acute included angles with the horizontal part, each cross rod comprises at least one first cross rod and at least two second cross rods, at least one first cross rod is vertically connected to each horizontal part, at least two second cross rods are vertically connected to each inclined part, and the second cross rods are arranged in parallel; the vertical rods are arranged in parallel, and the vertical rods are vertically connected with the second cross rod; the pair of side plates are respectively connected to two ends of each cross rod.
According to the technical scheme that this application embodiment provided, even claw mechanism is including articulated first connecting rod and the second connecting rod of connecting, the articulated piston end of connecting at driving the claw pneumatic cylinder of the articulated connection of one end that the second connecting rod was kept away from to first connecting rod, the articulated connection of one end that the first connecting rod was kept away from to the second connecting rod is in braced frame's top.
According to the technical scheme provided by the embodiment of the application, the end part of one end, away from the inclined part, of the horizontal part is provided with the inclined surface with the set inclined angle.
According to the technical scheme provided by the embodiment of the application, the set inclination angle is set to be 45 degrees.
According to the technical scheme provided by the embodiment of the application, the vertical rods are respectively arranged between the inclined parts and are parallel to the inclined parts.
According to the technical scheme that this application embodiment provided, the working surface of claw sets up a plurality of elasticity limit structure, the claw surface corresponds each elasticity limit structure sets up first recess respectively, elasticity limit structure includes spring and outer protruding piece, the one end of spring is connected the tank bottom of first recess, the other end is connected on the outer protruding piece, outer protruding piece elastic joint is in the first recess.
According to the technical scheme provided by the embodiment of the application, the horizontal part comprises a fixed claw and a movable claw, one end, far away from the movable claw, of the fixed claw is connected with the inclined part, a cavity is formed in the end, far away from the inclined part, of the movable claw, corresponding to the fixed claw, and the fixed claw is detachably sleeved in the cavity; one side that the movable claw is close to the stationary dog sets up first screw hole, correspond on the stationary dog the first screw hole sets up the through-hole groove of rectangular shape, passes in proper order the bolt in first screw hole and through-hole groove fixes the movable claw on the stationary dog.
According to the technical scheme provided by the embodiment of the application, a pair of downwards inclined wing plates are arranged on two sides of the horizontal part, and one side, far away from the horizontal part, of each wing plate is fixedly connected to the first cross rod.
In a second aspect, the present application provides a desilting robot.
The invention has the beneficial effects that: the application provides a set up desilting preprocessing device's technical scheme on desilting robot, can carry out the preliminary treatment in order to select to delete and reject out the great stone of volume or rubbish to the desilting environment in advance before the desilting formally begins, thereby be unlikely to make these jumbo size foreign matters cause the jam to desilting grid or pump opening when subsequent desilting is worked and influence normal desilting.
The pretreatment device of the technical scheme is characterized in that a movable arm and a claw connecting mechanism are respectively connected to the bottom and the top of a supporting frame of a collecting structure, and the inclination angle and the height position of the collecting structure are adjusted through the extension and contraction of a driving arm hydraulic cylinder and a driving claw hydraulic cylinder, so that the processes of collecting stones or garbage in an underwater environment by the collecting structure, transferring and dumping after collection and the like are realized.
The auger device of the underwater dredging robot is replaced by a pretreatment device, the dredging robot with the pretreatment device is placed in an underwater environment before dredging is carried out, the robot is operated in an area needing dredging to enable the collection structure to advance once in the area, the aim is to clear up garbage and stones in the sludge through the supporting frame and the shovel claw, meanwhile, the effect of loosening the sludge can be achieved, then the garbage on the collection structure is lifted to the ground or the carriage to be empty, the garbage on the collection structure is poured out through overturning the collection structure, after the pretreatment process, only the sludge and small garbage and stones are left in the underwater environment, the garbage and stones can be cleared in the later dredging process, and convenient conditions are created for later dredging work.
Drawings
FIG. 1 is a schematic side view of a first embodiment of the present application;
FIG. 2 is a schematic top view of a first embodiment of the present application;
FIG. 3 is a side view of a claw according to a first embodiment of the present disclosure;
FIG. 4 is a schematic front view of a collecting structure according to a first embodiment of the present application;
FIG. 5 is a side view of the tape with a limiting structure of FIG. 3;
FIG. 6 is a top view of the partial structure of FIG. 5;
FIG. 7 is a schematic top view of the horizontal portion of the claw according to the first embodiment of the present disclosure;
the text labels in the figures are represented as: 100. a support frame; 200. a shovel claw; 210. a horizontal portion; 211. A fixed jaw; 212. a movable jaw; 213. a through hole slot; 214. a bolt; 215. a wing plate; 220. an inclined portion; 300. a claw driving hydraulic cylinder; 400. a drive arm hydraulic cylinder; 410. an outward projection; 420. a spring; 500. A movable arm; 600. a claw connecting mechanism; 710. a first cross bar; 720. a second cross bar; 730. a vertical rod.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.
FIG. 1 is a schematic view of a first embodiment of the present application, including a collection structure and a power structure for driving the collection structure; the collecting structure comprises a supporting frame 100 and a plurality of L-shaped claws 200 arranged on the supporting frame 100, wherein the claws 200 are fixed on the supporting frame 100 in parallel. In this embodiment, the power structure drive is collected the structure and is removed rotatoryly, collects the structure and screens the bold stone or rubbish in to the environment under water and collect, collects the structure and removes and rotate the drive collection structure again of power structure behind bold stone or the garbage collection, emptys the appointed vehicle or place at garbage collection with bold stone or rubbish to for next desilting robot is normally desilted and is provided service.
The power structure comprises a claw driving hydraulic cylinder 300, a claw connecting mechanism 600, a pair of arm driving hydraulic cylinders 400 and a pair of movable arms 500 arranged corresponding to the pair of arm driving hydraulic cylinders 400; the claw driving hydraulic cylinder 300 is installed on the dredging robot corresponding to the middle part of the support frame 100, and the pair of arm driving hydraulic cylinders 400 are respectively and symmetrically installed on the dredging robot corresponding to the two sides of the claw driving hydraulic cylinder 300; the piston ends of the pair of arm driving hydraulic cylinders 400 are respectively hinged to the middle parts of the pair of movable arms 500, one ends of the pair of movable arms 500 are respectively hinged to the dredging robot, and the other ends of the pair of movable arms 500 are respectively hinged to the bottom of the support frame 100; the piston end of the claw driving hydraulic cylinder 300 is hinged to one end of the claw connecting mechanism 600, and the other end of the claw connecting mechanism 600 is hinged to the top of the supporting frame 100. Preferably, each of the vertical bars 730 is disposed between each of the inclined portions 220 and is parallel to the inclined portions 220.
In this embodiment, drive claw pneumatic cylinder 300 and connect in the middle part of collecting the structure through linking claw mechanism 600, a pair of arm pneumatic cylinder 400 that drives is connected in the collection structure both sides through swing arm 500 symmetry, can guarantee that the power structure removes the stability of work to the collection structure drive to guarantee that the collection structure can normally collect and transport bold stone or rubbish. In this embodiment, in order to enable the power structure to effectively control the rotation of the collecting structure, the claw driving hydraulic cylinder 300 is connected to the top of the collecting structure through a link mechanism, and the pair of arm driving hydraulic cylinders 400 is symmetrically connected to the bottom of the collecting structure through the movable arm 500, thereby adjusting the angle of the collecting structure in the air and underwater environment. During the desilting pretreatment, the claw 200 is lowered to a distance of about 5 cm from the ground, and the angle of the claw 200 is adjusted so that the bottom surface is parallel to the ground of the ditch. After the dredging robot finishes traveling in an area needing dredging, the shovel claw 200 is already provided with a plurality of garbage and stones, the collecting structure is lifted to the ground or the upper part of a carriage through the arm driving hydraulic cylinder 400 and the claw driving hydraulic cylinder 300, and the angle of the collecting structure is adjusted through controlling the extension and retraction of the arm driving hydraulic cylinder 400 and the claw driving hydraulic cylinder 300 of the angle of the collecting structure, so that the garbage in the collecting structure is poured out, and the dredging pretreatment process is completed.
In this embodiment, the boom 500 and the claw coupling mechanism 600 are respectively connected to the bottom and the top of the support frame 100 of the collecting structure, and the inclination angle and the height position of the collecting structure can be adjusted by the boom driving hydraulic cylinder 400 and the claw driving hydraulic cylinder 300. The auger device of the underwater dredging robot is replaced by a pretreatment device, the dredging robot with the pretreatment device is placed in an underwater environment before dredging is carried out, the robot is operated in an area needing dredging to advance the collecting structure once in the area, the purpose is to clear up the garbage and stones in the sludge through the supporting frame 100 and the shovel claw 200, meanwhile, the effect of loosening the sludge can be achieved, then the garbage on the collecting structure is lifted to the ground or the carriage to be empty, the garbage on the collecting structure is poured out through overturning the collecting structure, after the pretreatment process, only the sludge and small garbage and stones are left in the underwater environment, and the garbage and stones can be cleared in the later dredging process. This dredging pretreatment process creates convenient conditions for the following dredging work.
In a preferred mode, the claw connecting mechanism 600 includes a first connecting rod and a second connecting rod which are hinged, wherein one end of the first connecting rod, which is far away from the second connecting rod, is hinged to the piston end of the claw driving hydraulic cylinder 300, and one end of the second connecting rod, which is far away from the first connecting rod, is hinged to the top of the supporting frame 100. In this preferred mode, through first connecting rod and the second connecting rod of mutual articulated, can make and drive claw pneumatic cylinder 300 and adjust the collection structure more nimble also the angle of adjusting braced frame 100 to conveniently shovel or lift off bulk stone or domestic waste.
In a preferred embodiment, the supporting frame 100 comprises a pair of side plates, a plurality of cross bars and a plurality of vertical bars 730; the claw 200 comprises a horizontal part 210 and inclined parts 220 forming an acute included angle with the horizontal part 210, each cross bar comprises at least one first cross bar 710 and at least two second cross bars 720, at least one first cross bar 710 is vertically connected to each horizontal part 210, at least two second cross bars 720 are vertically connected to each inclined part 220, and the second cross bars 720 are arranged in parallel; the vertical rods 730 are arranged in parallel, and the vertical rods 730 are vertically connected with the second cross rod 720; the pair of side plates are respectively connected to two ends of each cross rod.
In the preferred embodiment, a pair of side plates are disposed on two sides of the claw 200 to support and limit the claw 200, the first cross bar 710 is vertically connected to the bottom of the horizontal portion 210 of the claw 200 to support the claw 200, and the second cross bar 720 is vertically connected to the side of the inclined portion 220 of the claw 200 to also support the claw 200 stably, so that the supporting frame 100 mainly provides the supporting function for the claw 200 stably, thereby ensuring the normal operation of the claw 200. In this preferred mode, set up many montants 730 perpendicular with second horizontal pole 720, on the one hand stabilize support frame 100's structure, on the other hand can provide the effect of loose silt between the claw 200, can effectively screen big stone and rubbish.
In a preferred embodiment, an end of the horizontal portion 210 away from the inclined portion 220 is provided with an inclined surface having a predetermined inclination angle. Preferably, the set inclination angle is preferably set to 45 °. The working front end of the horizontal part 210 is set to be an inclined surface structure, so that garbage and loose sludge in the sludge can be conveniently scooped up.
In a preferred embodiment, a plurality of elastic limiting structures are arranged on the working surface of the claw 200, a first groove is respectively arranged on the surface of the claw 200 corresponding to each elastic limiting structure, each elastic limiting structure comprises a spring 420 and an outer protruding piece 410, one end of each spring 420 is connected to the bottom of each first groove, the other end of each spring 420 is connected to the outer protruding piece 410, and the outer protruding piece 410 is elastically clamped in the first groove.
In the preferred embodiment, the limiting structure with the protruding parts 410 is arranged on the claw 200, so that the friction force between the claw 200 and a large stone or garbage can be increased, and the plurality of elastically connected protruding parts 410 arranged on the claw 200 are also beneficial to the stability of the large stone or garbage on the collecting structure in the transferring and moving process of the collecting structure, so as to prevent the large stone or garbage from falling.
In a preferred embodiment, a pair of downwardly inclined wings 215 are disposed on both sides of the horizontal portion 210, and one side of the wings 215 away from the horizontal portion 210 is fixedly connected to the first rail 710. The wing plate 215 is provided on the horizontal portion 210 of the claw 200 to increase a contact area of the horizontal portion 210 with sludge when the horizontal portion 210 travels in water, thereby optimizing an effect of loosening the sludge.
In a preferred embodiment, the horizontal portion 210 includes a fixed claw 211 and a movable claw 212, one end of the fixed claw 211, which is far away from the movable claw 212, is connected to the inclined portion 220, a cavity is provided in the movable claw 212, which corresponds to the end of the fixed claw 211, which is far away from the inclined portion 220, and the fixed claw 211 is detachably sleeved in the cavity; one side that the movable jaw 212 is close to stationary dog 211 sets up first screw hole, the last correspondence of stationary dog 211 first screw hole sets up the through-hole groove 213 of rectangular shape, passes in proper order the bolt 214 of first screw hole and through-hole groove 213 fixes movable jaw 212 on stationary dog 211.
In the preferred embodiment, the horizontal portion 210 is configured as a fixed claw 211 and a movable claw 212, and the length of the movable claw 212 extending out of the fixed claw 211 can be adjusted by a bolt 214, so as to achieve the purpose of adjusting the length of the horizontal portion 210, and different lengths of the horizontal portion 210 can be adjusted according to specific sludge conditions, thereby increasing the flexibility of the use of the shovel claw 200.
As shown in fig. 1-2, according to a second embodiment of the present application, before the actual dredging operation, the first pretreatment device is installed at the front end of the dredging robot, so as to collect and transfer the large stones and domestic garbage in the underwater environment, thereby ensuring the smooth proceeding of the following dredging operation, and the pretreatment device is detached when the actual dredging operation is performed, and then the auger cover is installed to perform the normal dredging operation.
The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020561531.9U CN212612723U (en) | 2020-04-16 | 2020-04-16 | A kind of dredging pretreatment device and dredging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020561531.9U CN212612723U (en) | 2020-04-16 | 2020-04-16 | A kind of dredging pretreatment device and dredging robot |
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| CN212612723U true CN212612723U (en) | 2021-02-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111441412A (en) * | 2020-04-16 | 2020-07-24 | 河北工业大学 | A kind of dredging pretreatment device and dredging robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111441412A (en) * | 2020-04-16 | 2020-07-24 | 河北工业大学 | A kind of dredging pretreatment device and dredging robot |
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