CN213773753U

CN213773753U - Robot for cleaning garbage and sludge

Info

Publication number: CN213773753U
Application number: CN202022697985.1U
Authority: CN
Inventors: 廉宇深; 沈乔昕; 林宇; 黄剑鸿; 张增荣; 资惠宇
Original assignee: Guangzhou Dotek Machinery Technology Co ltd
Current assignee: Guangzhou Dotek Machinery Technology Co ltd
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2021-07-23
Anticipated expiration: 2030-11-19

Abstract

The utility model relates to the technical field of garbage cleaning, and discloses a robot for cleaning garbage silt, which comprises a chassis, a moving mechanism, a sewage storage tank, a lifting arm, a lifting driving module, a grab bucket, a battery and a control system; the moving mechanism is arranged on the chassis and used for driving the robot for cleaning the garbage and the sludge to move; the sewage storage tank is detachably connected to the upper surface of the chassis; the first end part of the lifting arm is rotatably arranged on the upper surface of the chassis; the lifting driving module is arranged on the chassis, connected with the lifting arm and used for driving the lifting arm to swing up and down; the grab bucket is movably connected to the second end part of the lifting arm and used for grabbing garbage and sludge; the battery is detachably arranged on the chassis and used for providing power for the moving mechanism; the control system is respectively and electrically connected with the moving mechanism, the lifting driving module, the grab bucket and the battery. The robot can automatically pick up and carry garbage and sludge, does not need manual underground cleaning, and has high safety performance and small occupied space.

Description

Robot for cleaning garbage and sludge

Technical Field

The utility model relates to a rubbish clearance technical field especially relates to a robot for clearing up rubbish silt.

Background

In an urban sewer drainage system, the regular cleaning of the sludge and garbage in the vertical shaft is very important, which is about the integral smoothness of the whole urban sewer pipe network. At present, the following modes are generally adopted to clean the garbage and sludge, and the following disadvantages are respectively existed:

adopting manual well descending to clean the garbage sludge: the method has certain danger, and because workers are easy to lack oxygen after going into the well, the well cover needs to be turned over in advance. The method needs to occupy a long time on the road, and simultaneously has large consumption of manpower and material resources and low construction efficiency.

Shaft garbage is cleaned by adopting a special vehicle with a telescopic grab bucket: because the existing special vehicle for cleaning sludge has a large volume, a plurality of lanes need to be occupied for construction during construction, and meanwhile, the vehicle has high requirements on construction environment, and cannot be used for construction operation in narrow areas such as green belts, urban villages and the like.

The hand-push movable frame combined type shaft tensioning grab bucket is adopted for cleaning: although the size of the movable frame is small, the movable frame needs to be manually carried to a construction site, and meanwhile, the movable frame is troublesome to disassemble and assemble, and a large amount of manpower and material resources need to be consumed. After the shaft garbage is cleaned, workers need to hold the garbage by using a trolley, and the surrounding environment of the shaft is easily polluted.

To sum up, at present, a tool which occupies a small space, is convenient for carrying garbage and has high safety is lacked, and the tool is used for cleaning the garbage silt in the vertical shaft.

SUMMERY OF THE UTILITY MODEL

The utility model aims at: the utility model provides a robot for clearing up rubbish silt, its simple structure can realize automatic pick up, carry the effect of rubbish silt, need not artifical clearance of going into the well, and the security performance is high, and takes up an area of the space for a short time.

In order to achieve the above object, the utility model provides a robot for clearing up garbage silt, which comprises a chassis, a moving mechanism, a sewage storage tank, a lifting arm, a lifting driving module, a grab bucket, a battery and a control system;

the moving mechanism is arranged on the chassis;

the sewage storage tank is detachably connected to the upper surface of the chassis;

the first end part of the lifting arm is rotatably arranged on the upper surface of the chassis;

the lifting driving module is arranged on the chassis, is connected with the lifting arm and is used for driving the lifting arm to swing up and down;

the grab bucket is movably connected to the second end part of the lifting arm and used for grabbing garbage and sludge;

the battery is detachably arranged on the chassis and used for providing power for the moving mechanism;

the control system is electrically connected with the moving mechanism, the lifting driving module, the grab bucket and the battery respectively.

Optionally, the dirt storage tank is slidably connected to the chassis.

Optionally, the both sides inner wall on chassis all is equipped with the slide rail, the outside both sides of holding dirty jar all are equipped with the rolling member, the rolling member rotates to be connected on the slide rail, in order to realize hold dirty jar with be connected between the chassis.

Optionally, the first end of the chassis is provided with a channel for the sewage storage tank to pass through;

the slide rail comprises a first rail and a second rail, the first rail extends along the length direction of the chassis, the first end portion of the first rail is fixedly connected with the first end portion of the second rail, the second end portion of the second rail is arranged close to the first end portion of the chassis, and the width of the second rail gradually increases from the first end portion to the second end portion of the second rail.

Optionally, the dirt storage tank comprises a tank body and a bottom frame connected to the bottom side of the tank body, and each rolling member is connected to the bottom frame;

the robot for clearing up the garbage sludge further comprises a hydraulic ejector rod, one end of the hydraulic ejector rod is installed on the chassis, the other end of the hydraulic ejector rod is detachably connected with the chassis, and the hydraulic ejector rod is electrically connected with the control system.

Optionally, the lifting driving module is a first hydraulic push rod, the bottom side of the first hydraulic push rod is fixedly connected to the chassis, the top side of the first hydraulic push rod is connected to the lifting arm, and the arm body is pushed to swing up and down through the extension of the first hydraulic push rod.

Optionally, the grab bucket further comprises an electric winch and a steel wire rope, the electric winch is installed on the lifting arm and electrically connected with the control system, the steel wire rope is wound on the electric winch, and one end of the steel wire rope is connected with the top end of the grab bucket.

Optionally, the grab bucket comprises a bracket, a first bucket and a second bucket opposite to the first bucket, one end of the steel wire rope is connected with the top end of the bracket, and the first bucket and the second bucket are both rotatably mounted on the bracket;

the robot for clearing the garbage sludge further comprises a second hydraulic push rod, the second hydraulic push rod is installed on the support, and the second hydraulic push rod is electrically connected with the control system and used for pushing the first flap bucket and the second flap bucket to open and close.

Optionally, the lifting device further comprises a reel and a hydraulic oil pipe, the reel is mounted on the lifting arm, the hydraulic oil pipe is wound on the reel, and the hydraulic oil pipe is connected with the second hydraulic push rod.

Optionally, the moving mechanism includes two walking driving motors and two crawler wheels symmetrically disposed on two sides of the chassis, each walking driving motor corresponds to each crawler wheel one by one, each walking driving motor is mounted on the chassis, each walking driving motor is electrically connected to the control system, and an output shaft of each walking driving motor is connected to the crawler wheels.

The utility model provides a pair of a robot for clearing up rubbish silt compares with prior art, and its beneficial effect lies in: the utility model discloses a control system can control moving mechanism and drive whole robot and remove the assigned position, and the control lifing arm rises or descends for the grab bucket can stretch out and draw back to near rubbish silt, snatchs rubbish silt after, places rubbish silt and holds in the dirty jar. When the garbage sludge in the sludge storage tank needs to be dumped and cleaned, the sludge storage tank can be detached from the chassis, and the whole garbage sludge is picked up and carried. The robot can replace the traditional mode of adopting manual work to go into the well to clean up rubbish, realizes automatic cleaning and carrying rubbish, and has high safety and high construction efficiency. And the lifting arm can be lifted, and the lifting arm can be lifted down under the non-working state so as to reduce the occupied space of the robot.

Drawings

Fig. 1 is a perspective view of a robot for cleaning garbage sludge according to an embodiment of the present invention;

fig. 2 is an exploded view of a robot for cleaning garbage sludge according to an embodiment of the present invention;

fig. 3 is a schematic view of a connection structure of the lifting arm and the grab bucket according to the embodiment of the present invention;

fig. 4 is an exploded view of the lift arm and grab of an embodiment of the present invention;

fig. 5 is a perspective view of a lift arm according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of the lifting arm, the electric winch, the reel, the lighting lamp, and the lifting driving module according to the embodiment of the present invention;

fig. 7 is a perspective view of a rotating coupling assembly in accordance with an embodiment of the present invention;

fig. 8 is a perspective view of a grab bucket according to an embodiment of the present invention;

figure 9 is an exploded view of a grab bucket according to an embodiment of the present invention;

fig. 10 is a schematic view of a connection structure of the chassis, the battery and the moving mechanism according to the embodiment of the present invention;

fig. 11 is an exploded view of the chassis, battery and moving mechanism of an embodiment of the present invention;

FIG. 12 is an exploded view of a dirt storage tank according to an embodiment of the present invention;

fig. 13 is a perspective view of a can body according to an embodiment of the present invention;

fig. 14 is one of schematic views illustrating a sliding state of the underframe on the slide rail according to the embodiment of the invention;

fig. 15 is a second schematic view illustrating the chassis according to the embodiment of the present invention in a sliding state on the slide rail;

fig. 16 is a third schematic view illustrating a sliding state of the chassis on the slide rail according to the embodiment of the present invention;

fig. 17 is a schematic structural diagram of the chassis, the tie rod, the impact lock, and the hydraulic ram according to the embodiment of the present invention;

figure 18 is a perspective view of a crash lock according to an embodiment of the present invention;

figure 19 is an exploded view of a crash lock according to an embodiment of the present invention;

figure 20 is a perspective view of a counting assembly according to an embodiment of the present invention;

figure 21 is an exploded view of a counting assembly according to an embodiment of the present invention;

figure 22 is a perspective view of a hydraulic power unit of an embodiment of the present invention;

fig. 23 is an exploded view of a hydraulic power unit in accordance with an embodiment of the present invention.

In the figure, 1, a battery; 2. a control system; 3. a lifting arm; 4. a chassis; 41. a tray frame; 42. a battery compartment; 43. an outer frame; 5. a moving mechanism; 51. a travel driving motor; 52. a crawler wheel; 6. a dirt storage tank; 61. a tank body; 62. a chassis; 7. rotating the connecting assembly; 71. a mounting seat; 72. a rotating shaft; 73. connecting a bearing; 8. a slide rail; 81. a first track; 82. a second track; 9. a traveling wheel; 91. a front wheel; 92. a rear wheel; 10. striking the lock; 101. a fixing plate; 102. a first lock block; 103. a second lock block; 104. a first torsion spring; 105. a second torsion spring; 11. a lifting drive module; 12. a grab bucket; 121. a first bucket; 122. a second bucket; 123. a support; 1231. lifting lugs; 1232. a limiting plate; 13. a rolling member; 14. a first opening; 15. a second opening; 16. a baffle plate; 17. a pull rod; 18. an electric capstan; 19. a wire rope; 20. an illuminating lamp; 21. a fixed pulley; 22. a counting assembly; 221. a mounting frame; 222. a pedestal bearing; 223. a wheel axle; 224. a contact wheel; 225. a coupling; 226. an encoder; 23. an extension portion; 24. grooving; 25. a shoulder screw; 26. a second hydraulic push rod; 27. an ear piece; 28. coiling; 29. a hydraulic power unit; 291. a hydraulic motor; 292. a hydraulic pump; 293. a hydraulic oil tank; 294. a hydraulic valve block; 295. an electromagnetic valve; 30. a connecting shaft; 31. a limiting sleeve; 32. a motor base; 33. a drive shaft; 34. a hydraulic ejector rod; 35. a lock pin; 36. a first protrusion; 37. a second protrusion; 38. a third opening; 39. a fourth opening.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the terms used in the present invention are used in the description of the present invention, and it should be understood that the terms "center", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", and the like used in the present invention are used in the orientation or positional relationship shown in the drawings, and are only for convenience of description of the present invention and to simplify the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 23, a robot for cleaning garbage and sludge according to a preferred embodiment of the present invention includes a chassis 4, a moving mechanism 5, a sludge storage tank 6, a lifting arm 3, a lifting driving module 11, a grab bucket 12, a battery 1, and a control system 2; the moving mechanism 5 is arranged on the chassis 4 and is used for driving the robot for cleaning the garbage and the sludge to move; the dirt storage tank 6 is detachably connected to the upper surface of the chassis 4; the first end of the lifting arm 3 is rotatably mounted on the upper surface of the chassis 4; the lifting driving module 11 is arranged on the chassis 4, connected with the lifting arm 3 and used for driving the lifting arm 3 to swing up and down; the grab bucket 12 is movably connected to the second end part of the lifting arm 3 and is used for grabbing garbage and sludge; the battery 1 is detachably arranged on the chassis 4 and used for providing power for the moving mechanism 5; the control system 2 is electrically connected with the moving mechanism 5, the lifting driving module 11, the grab bucket 12 and the battery 1 respectively.

In the present embodiment, the main function of the chassis 4 is to carry the moving mechanism 5, the dirt storage tank 6, the lifting arm 3, the grab bucket 12, and the like, and the chassis 4 is also a main frame for mounting and fixing the battery 1 and the control system 2. As shown in fig. 2, the chassis 4 includes a tray frame 41, a battery compartment 42, and an outer frame 43. The tray frame 41 is formed by welding a plurality of square pipes, is used for being connected with the moving mechanism 5, and is a bearing main body of the sewage storage tank 6. The battery chamber 42 is fixed to a second end of the tray 41 for receiving the battery 1. The outer frame 43 is detachably attached to the battery compartment 42, and the main function of the outer frame 43 is to decorate the whole device, so that the device looks more beautiful, and plays a role in preventing water and dust.

The moving mechanism 5 is connected with the tray frame 41 and is used for driving the whole robot to realize forward and backward turning actions.

As shown in fig. 1 to 6, the first end of the lifting arm 3 is mounted on the top surface of the battery compartment 42 by the rotating connection assembly 7. As shown in fig. 6 and 7, the rotation connection assembly 7 includes a mounting seat 71, a rotation shaft 72, and two connection bearings 73. The bottom side of the mounting seat 71 is fixedly connected to the top of the battery compartment 42 through a bolt, the rotating shaft 72 penetrates through the lifting arm 3, two ends of the rotating shaft 72 are respectively connected with two connecting bearings 73, and the connecting bearings 73 are mounted on the mounting seat 71. The main function of the mounting seat 71 is to fix both ends of the rotating shaft 72, thereby realizing that the lifting arm 3 is fixed above the battery compartment 42 through the revolute pair mechanism. The main function of the rotating shaft 72 is to fix the two ends of the rotating shaft to the mounting base 71 and to pass through the connecting bearing 73, so as to rotate the lifting arm 3. The main function of the connecting bearing 73 is to mount and fix the connecting bearing 73 and the rotating shaft 72. The whole lifting arm 3 is mainly fixed on the battery compartment 42 through the bottom mounting seat 71, the connecting bearing 73, the rotating shaft 72 and other parts, so that the lifting arm 3 can rotate around the rotating shaft 72. The lifting arm 3 is fixed on the chassis 4 through the lifting driving module 11, so that the lifting driving module 11 drives the lifting arm 3 to swing.

The battery 1 is preferably a 48V lithium battery, the primary function of the battery 1 being to provide the motive force for other electronic components that are removably mounted within the battery compartment 42.

The control system 2 adopts a wireless control mode and comprises an integrated relay, a receiver, a signal emitter and a controller, wherein the integrated relay and the receiver are both arranged on the chassis 4, the integrated relay is respectively electrically connected with the moving mechanism 5, the lifting arm 3, the grab bucket 12 and the battery 1, and the signal emitter and the controller are integrated on a panel. The controller can be a PLC controller or is electrically connected with the input module and is realized in a manual operation mode. The staff remotely controls the action of the robot for cleaning the garbage and the silt through the control controller. The controller transmits the signal to the signal transmitter, the signal transmitter transmits the wireless signal to the receiver, and the receiver transmits the signal to the integrated relay for circuit control.

Based on above-mentioned technical scheme, battery 1 is used for providing power for moving mechanism 5 and lift drive module 11, and after moving mechanism 5 moved the assigned position according to control system 2's instruction, control system 2 controlled lift drive module 11 drive lift arm 3 luffing motion for grab bucket 12 reciprocated, grab bucket 12 opened and shut, in order to pick up rubbish silt, and place rubbish silt in holding dirty jar 6, realize the effect of clearance. The main function of the holding tank 6 is to store and transport the sludge refuse caught by the grab bucket 12. Hold dirty jar 6 and plate rail 41 detachably and be connected, make things convenient for the staff to empty the rubbish of clearance in holding dirty jar 6. This a robot for clearing up rubbish silt mainly used clears up the rubbish silt of shaft among the urban sewage sewer system, can realize automatic handling, clear rubbish silt's effect, adopts the robot to replace artificial mode clearance moreover, and factor of safety is high, and work efficiency is high, reduces the human cost. The moving mechanism 5 can drive the lifting arm 3 and the grab bucket 12 to move, the lifting arm 3 can drive the grab bucket 12 to move up and down, and when garbage is not picked up, the lifting arm 3 can reduce the occupied space of the robot by reducing the height of the grab bucket 12, so that the robot is convenient to use.

Wherein, hold dirty jar 6 sliding connection on chassis 4, specifically for holding dirty jar 6 sliding connection on plate rail 41, the staff of being convenient for will hold dirty jar 6 and drag into or drag out from chassis 4. As shown in fig. 10, the inner walls of the two sides of the chassis 4 are provided with slide rails 8, and the two slide rails 8 are fixed on the square pipe of the tray frame 41 through bolts. As shown in fig. 12, rolling members 13 are disposed on two outer sides of the dirt storage tank 6, and the rolling members 13 are rotatably connected to the slide rails 8 to connect the dirt storage tank 6 and the chassis 4. The rolling elements 13 can be rolling bearings which, by rolling on the slide rails 8, allow the dirt collection tank 6 to be moved quickly on the chassis 4. The first end of the chassis 4 is provided with a passage for the dirt storage tank 6 to pass through, the passage being located at the first end of the tray 41. As shown in fig. 14 to 16, the slide rail 8 includes a first rail 81 and a second rail 82, the first rail 81 extends along the length direction of the chassis 4, a first end of the first rail 81 is fixedly connected with a first end of the second rail 82, and specifically, the first rail 81 and the second rail 82 may be integrally formed. The second end of the second rail 82 is disposed near the first end of the chassis 4, and the rail width of the second rail 82 in the vertical direction gradually increases from the first end of the second rail 82 to the second end of the second rail 82. The second track 82 is trumpet-shaped, and when the dirt storage tank 6 is disassembled, the dirt storage tank 6 is pushed to the second end part of the second track 82, so that the dirt storage tank 6 and the tray frame 41 are separated. In addition, there is a circular arc transition between the first rail 81 and the second rail 82, so that the rolling members 13 can easily enter the first rail 81 from the second rail 82, and the dirt storage tank 6 can be mounted on the tray frame 41.

Specifically, as shown in fig. 12, the soil reservoir 6 includes a tank 61 and a base frame 62 attached to the bottom side of the tank 61. The bottom of the tank 61 is provided with a connecting plate (not shown in the figure) which is screwed on the bottom frame 62. As shown in fig. 13, the top of the tank 61 is opened with a first opening 14, and the grab bucket 12 can dump the sludge garbage into the tank 61 from the first opening 14. One side of the channel of the tank body 61 close to the chassis 4 is provided with a second opening 15, the second opening 15 is hinged with a baffle 16, the baffle 16 is provided with a sealing strip, the tank body 61 is convenient to seal, and a door is locked between the baffle 16 and the tank body 61 in a locking manner to prevent garbage and sludge from pouring out. The base frame 62 is preferably an aluminum alloy frame and each rolling element 13 is attached to the base frame 62.

As shown in fig. 14, four road wheels 9 are provided on the bottom side of the chassis 62. As shown in fig. 14 to 16, a front wheel 91 and a rear wheel 92 are provided on both sides of the chassis 62, respectively, the front wheel 91 being disposed in a direction close to the battery compartment 42, and the rear wheel 92 being disposed in a direction close to the passage. The main function of the travelling wheels 9 is that the dirt storage tank 6 can be quickly moved on the ground.

The robot for cleaning the garbage and the sludge further comprises a hydraulic push rod 34, one end of the hydraulic push rod 34 is installed on the chassis 4, the other end of the hydraulic push rod 34 is detachably connected with the chassis 62, and the hydraulic push rod 34 is electrically connected with the control system 2. The control system 2 controls the hydraulic mandril 34 to stretch and retract so as to push the chassis 62 to do linear motion on the slide rail 8, thereby realizing the automatic propelling or pushing of the sewage storage tank 6 on the chassis 4. The hydraulic ram 34 in this embodiment is removably connected to the base frame 62 by means of the slam lock 10 and the tie rod 17. The strike lock 10 is a SOUTHCO snap lock, of the type R4-10-12-601-10. The strike lock 10 is bolted to the underside of the base frame 62. Specifically, as shown in fig. 17, the protruding end of the hydraulic ram 34 is connected to the impact lock 10 through the lock pin 35, and the other end of the impact lock 10 is connected to the pull rod 17. As shown in fig. 18 and 19, the impact lock 10 includes two fixing plates 101, and a first lock block 102, a second lock block 103, a first torsion spring 104, and a second torsion spring 105 disposed between the two fixing plates 101. The first ends of the two fixing plates 101 are provided with third openings 38, the first locking block 102 is rotatably connected to the first ends of the fixing plates 101, and the first torsion spring 104 is connected to the first locking block 102 and the fixing plates 101. The second locking piece 103 is rotatably coupled to a second end of the fixing plate 101, and the second torsion spring 105 is coupled to the second locking piece 103 and the fixing plate 101. First locking piece 102 is equipped with first arch 36 near the one side of second locking piece 103, and first locking piece 102 deviates from first arch 36's one side and has seted up fourth opening 39, and second locking piece 103 is equipped with second arch 37 near the one side of first locking piece 102. When the hydraulic ram 34 extends, the lock pin 35 is pushed into the fourth opening 39 of the first lock block 102, the force of the lock pin 35 is greater than the elastic force of the first torsion spring 104, and the first lock block 102 rotates in the first direction to drive the lock pin 35 into the third opening 38. At this time, the first projection 36 abuts on the second projection 37, and the second lock piece 103 is prevented from rotating with the rotation of the first lock piece 102 by the elastic force of the second torsion spring 105. The second lock 103 is connected to the pull rod 17. Pulling the pull rod 17 drives the second locking block 103 to rotate towards the second direction, wherein the first direction and the second direction are opposite. The second projection 37 rotates with it, and does not abut against the first projection 36, the first lock block 102 can rotate freely, and the lock pin 35 can be disengaged from the third opening 38 to strike the lock 10, thereby unlocking the lock. In conclusion, the lock pin 35 strikes the fourth opening 39 of the impact lock 10 to lock, and the pull rod 17 is pulled to unlock. The main function of the impact lock 10 is to enable the dirt storage tank 6 to be quickly locked on the hydraulic ejector rod 34, and a worker pulls the pull rod 17 to quickly unlock the underframe 62 and the hydraulic ejector rod 34.

When unloading is required, as shown in fig. 14 to 16, the knock lock 10 is unlocked by pulling the pull rod 17, the dirt storage tank 6 is pulled in a direction to approach the passage, the rear wheel 92 is positioned on the inclined second rail 82, the front wheel 91 is still positioned on the linear first rail 81, and the dirt storage tank 6 is dropped. After the rear wheel 92 touches the ground, the dirt storage tank 6 is continuously pulled in the direction close to the channel, the front wheel 91 slides to the second rail 82, the dirt storage tank 6 is continuously pulled, the front wheel 91 lands on the ground, all the walking wheels 9 on the dirt storage tank 6 leave the sliding rails 8, and the dirt storage tank 6 finishes getting off.

Similarly, when the dirt storage tank 6 is required to be mounted on the chassis 4, the dirt storage tank 6 is pushed, and the front wheels 91 enter the first rail 81 from the second rail 82, while the rear wheels 92 are still on the ground. The dirt storage tank 6 is pushed further closer to the battery compartment 42, and the rear wheels 92 enter the first rail 81 from the second rail 82, and all four road wheels 9 are located in the slide rails 8. And the hydraulic push rod 34 is extended, the lock pin 35 impacts the fourth opening 39 of the impact lock 10, and the underframe 62 and the hydraulic push rod 34 are fixed.

Preferably, the lifting driving module 11 is a first hydraulic push rod, and the first hydraulic push rod may be an electric hydraulic push rod. The bottom side of the first hydraulic push rod is fixedly connected to the upper surface of the battery chamber 42 of the chassis 4, and the top side of the first hydraulic push rod is connected to the lifting arm 3 through a bolt. Then the top of the first hydraulic push rod is fixed in the middle of the lifting arm 3, and the bottom of the first hydraulic push rod is fixed on the chassis 4, so that a stable triangular structure is formed between the lifting arm 3 and the first hydraulic push rod. First hydraulic rod's flexible can promote the lifing arm 3 and be rotary motion around axis of rotation 72, realizes the luffing motion to make the lifing arm 3 can rise to suitable position at the during operation, when needing to place the transportation, can reduce to the extreme low position, the storage of convenient transportation saves the shared space of robot.

In addition, as shown in fig. 2 to 6, the robot for cleaning up garbage and sludge further includes an electric winch 18 and a wire rope 19, the electric winch 18 is mounted on the lifting arm 3 through a bolt and electrically connected with the control system 2, the wire rope 19 is wound around the electric winch 18, and one end of the wire rope 19 is connected with the top end of the grab bucket 12. The electric winch 18 mainly converts electric energy into mechanical energy for winch rotation, so as to drive the steel wire rope 19 on the winch to be wound and unwound, and the lifting motion of the grab bucket 12 is realized through the winding and unwinding of the steel wire rope 19 and the gravity of the grab bucket 12.

In addition, as shown in fig. 1 to 6, the robot for clearing up rubbish silt still includes light 20, and light 20 installs the second tip at lifing arm 3, can searchly the shaft environment, lets constructor can see the operating mode clearly, improves construction safety.

As shown in fig. 4 and 6, a fixed sheave 21 is attached to the second end of the lift arm 3, and the fixed sheave 21 mainly functions to change the force direction of the wire rope 19. One end of the wire rope 19 is firstly wound on the fixed pulley 21 and then connected with the grab bucket 12.

As shown in fig. 20 and 21, the robot may further include a counting assembly 22. The counting assembly 22 comprises a mounting frame 221, two bearings 222 with seats, an axle 223, a contact wheel 224 sleeved on the axle 223, a coupling 225 and an encoder 226. The mounting bracket 221 is mounted at the second end of the lifting arm 3. One of the seated bearings 222 is threadedly coupled to one side of the mounting bracket 221, and the other seated bearing 222 is threadedly coupled to the middle of the mounting bracket 221. Both ends of the wheel shaft 223 are respectively installed on the two seated bearings 222, and one end of the wheel shaft 223 is connected with the coupling 225, and the wheel shaft 223 is used for fixing the contact wheel 224 and transmitting the rotation speed of the contact wheel 224 to the coupling 225. The coupling 225 is connected to the encoder 226, and the coupling 225 mainly functions to transmit the torque of the axle 223 to the encoder 226. The encoder 226 is installed on the other side of the mounting bracket 221, and the encoder 226 mainly functions to read the rotation speed of the contact wheel 224 and calculate the length of the extended wire 19. The steel wire rope 19 on the electric winch 18 sequentially passes through the fixed pulley 21 and the contact wheel 224 to be connected with the grab bucket 12, the contact wheel 224 is driven to rotate by the expansion and contraction of the steel wire rope 19, and the length of the steel wire rope 19 can be obtained through the circumference and the rotating ring of the contact wheel 224.

Alternatively, as shown in fig. 8 and 9, the grapple 12 includes a bracket 123, a first bucket 121, and a second bucket 122 disposed opposite the first bucket 121. One end of the wire rope 19 is connected to the top end of the bracket 123, specifically, the bracket 123 includes a lifting lug 1231 and two limiting plates 1232, and two ends of the lifting lug 1231 are fixedly connected to the two limiting plates 1232 through a threaded connection manner. The main effect of lug 1231 is for connecting fixed limiting plate 1232, and its top is equipped with the round hole, and the round hole is used for supplying wire rope 19 to pass to realize that wire rope 19 drives whole grab bucket 12 and carries out the lift action. The limiting plate 1232 is mainly used for connecting the lifting lug 1231 with the first bucket 121 and the second bucket 122. The wire rope 19 passes through the fixed pulley 21 and is connected with the lifting lug 1231 of the grab bucket 12, so that the grab bucket 12 is driven to move up and down through the expansion of the electric winch 18 and the gravity of the grab bucket 12. The first bucket 121 and the second bucket 122 are both rotatably mounted on the bracket 123. The first flap bucket 121 and the second flap bucket 122 are both connected to the bracket 123 through the connecting shaft 30, specifically, two ends of the connecting shaft 30 are connected to the two limiting plates 1232 respectively, and the connecting shaft 30 penetrates through the first flap bucket 121 or the second flap bucket 122.

The main function of the first clamshell 121 and the second clamshell 122 is to realize grabbing and cleaning of shaft sludge garbage through opening and closing. The first petal bucket 121 and the second petal bucket 122 are respectively provided with two lug blocks 27 arranged along the length direction of the petal buckets, and the lug blocks 27 are provided with connecting round holes. Two limiting sleeves 31 are sleeved on the connecting shaft 30, and the limiting sleeves 31 can be nylon cylindrical pins. The limiting sleeve 31 is positioned between the lug 27 and the limiting plate 1232, one end of the limiting sleeve 31 abuts against the lug 27, and the other end abuts against the limiting plate 1232. The limiting sleeve 31 can limit the moving direction of the clamshell bucket, and ensures that the first clamshell bucket 121 and the second clamshell bucket 122 can only open and close around the connecting shaft 30 without generating deviation in other directions.

Extension parts 23 are further arranged on two sides of the first bucket 121 and the second bucket 122, and long round holes arranged along the opening and closing direction of the first bucket 121 and the second bucket 122 are formed in the extension parts 23. The limiting plate 1232 is vertically provided with a slotted opening 24, and the slotted opening 24, the long circular hole on the first bucket 121 and the long circular hole on the second bucket 122 sequentially penetrate through a shoulder screw 25 from outside to inside, so as to limit the rotation range of the first bucket 121 and the second bucket 122. When the first and

second flaps

121 and 122 are closed, the shoulder screw 25 is located at the upper end of the slotted opening 24, and when the first and

second flaps

121 and 122 are opened to the maximum extent, the shoulder screw 25 is located at the lower end of the slotted opening 24.

The robot for cleaning up waste sludge further comprises a second hydraulic push rod 26, the second hydraulic push rod 26 being electrically connected with the control system 2. The second hydraulic push rod 26 is installed on the bracket 123, specifically, the second hydraulic push rod 26 is screwed on the lifting lug 1231, two ends of the second hydraulic push rod 26 are respectively connected to the lug 27 of the first bucket 121 and the lug 27 of the second bucket 122, specifically, a screw passes through the end of the second hydraulic push rod 26 and is screwed with the lug 27 on the bucket. The first bucket 121 and the second bucket 122 are pushed to open and close by the extension and contraction of the second hydraulic push rod 26, so that the grab bucket 12 is opened and closed.

The bracket 123 in this embodiment is provided with a first travel switch (not shown), and the first travel switch may be mounted on the lifting lug 1231. The first travel switch is electrically connected to the control system 2. When the electric capstan 18 rotates and the steel wire rope 19 is retracted, if the fixed pulley 21 touches the first travel switch, the first travel switch transmits an electric signal to the control system 2, and the control system 2 controls the electric capstan 18 to stop rotating, so that the function of preventing the electric capstan 18 from overloading is achieved, and the equipment is protected.

Optionally, as shown in fig. 1 to 6, the robot for cleaning up garbage sludge further comprises a reel 28 and a hydraulic oil pipe (not shown in the drawings). The reel 28 may be a hydraulic reel which is mounted on the lifting arm 3. Be equipped with the draw-in groove on the lifing arm 3, rotate through the pivot of reel 28 and connect in the draw-in groove, realize that reel 28 rotates and install on lifing arm 3. The hydraulic oil pipe is wound on the reel 28, and one end of the hydraulic oil pipe passes through the fixed pulley 21 to be connected with the second hydraulic push rod 26, so that the pressure can be transmitted to the second hydraulic push rod 26. The hydraulic reel 28 has a pre-tightening force, and when the grab bucket 12 descends, the gravity of the grab bucket 12 is larger than the pre-tightening force of the reel 28, and the hydraulic oil pipe extends. When the grab bucket 12 rises, the hydraulic coiling belt can be used for recovering the hydraulic oil pipe by virtue of pretightening force. After the position of the grab bucket 12 is fixed, the pressure is transmitted to the second hydraulic push rod 26 through the hydraulic oil pipe, so that the electric winch 18 is electrified to lower the grab bucket 12 after the second hydraulic push rod 26 stretches to a proper position. After the grab bucket 12 is lowered to the bottom of the well, the electric winch 18 is powered off, the grab bucket 12 is opened, and the grab bucket is closed again after grabbing sludge garbage. The electric winch 18 is electrified to drive the grab bucket 12 and the sludge garbage grabbed by the grab bucket 12 to ascend, and then the sludge garbage in the vertical shaft can be cleaned.

In the present embodiment, as shown in fig. 1 and 2, the robot further includes a hydraulic power unit 29, and the hydraulic power unit 29 is screwed on the outer frame 43 and is electrically connected to the control system 2, the battery 1, the hydraulic ram 34, the first hydraulic push rod, and the second hydraulic push rod 26. The hydraulic power unit 29 mainly functions to provide power and control for the hydraulic push rod 34, the first hydraulic push rod and the second hydraulic push rod 26, and prevent the hydraulic push rod 34, the first hydraulic push rod and the second hydraulic push rod 26 from being overloaded.

Specifically, as shown in fig. 10 and 11, the moving mechanism 5 includes two travel driving motors 51 and two crawler wheels 52 symmetrically disposed on both sides of the chassis 4. The crawler wheels 52 are used for supporting the whole chassis 4, and simultaneously, the whole robot is driven to walk by the torque transmitted by the walking drive motor 51. Each walking drive motor 51 corresponds to each crawler wheel 52 one by one, and each walking drive motor 51 is installed on the chassis 4, specifically, the walking drive motor 51 is installed on the tray frame 41 through the motor base 32. The travel driving motor 51 converts electric energy into mechanical energy. Each of the travel drive motors 51 is electrically connected to the control system 2. The output shaft of the travel driving motor 51 is connected to the track wheel 52, and specifically, the travel driving motor 51 is connected to the track wheel 52 through the driving shaft 33, one end of the driving shaft 33 is screwed to the driving wheel of the track wheel 52, and the other end of the driving shaft 33 is connected to the travel driving motor 51 through a flat key, so that torque can be transmitted. The control system 2 controls the walking driving motor 51 to drive the driving shaft 33 to rotate, so as to drive the crawler wheels 52 to roll, thereby realizing the walking of the robot.

It should be noted that the hydraulic ram 34, the first hydraulic ram and the second hydraulic ram 26 in this embodiment are powered by hydraulic oil through the hydraulic power unit 29. As shown in fig. 22 and 23, the hydraulic power unit 29 includes a hydraulic motor 291, a hydraulic pump 292, a hydraulic oil tank 293, a hydraulic valve block 294, and a solenoid valve 295 electrically connected to the controller. The hydraulic motor 291 drives the hydraulic pump 292 to rotate, the rotation of the hydraulic pump 292 forms pressure difference, so that hydraulic energy is converted into pressure energy, hydraulic oil passes through the hydraulic valve block 294 after coming out of the hydraulic oil tank 293, three groups of three-position two-way electromagnetic valves 295 are arranged on the hydraulic valve block 294, the hydraulic ejector rod 34, the first hydraulic push rod and the second hydraulic push rod 26 are connected with the hydraulic valve block 294 through hydraulic oil pipes, and the working state of the hydraulic push rods is determined by controlling the electrification of the electromagnetic valves. When the hydraulic push rod 34 and/or the first hydraulic push rod and/or the second hydraulic push rod 26 extend to the highest point or extend back to the lowest point, and the pressure exceeds a certain value, the controller controls the electromagnetic valve 295 to be closed, and at the moment, the electromagnetic valve connected with the hydraulic push rod 34 and/or the first hydraulic push rod and/or the second hydraulic push rod 26 is in a power-off reset state and is in a pressure-maintaining state, so that an overload protection effect is achieved.

The utility model discloses a working process does:

in the inoperative state, the dirt holding tank 6 is located on a slide rail 8, which is mounted on the chassis 4 by means of a crash lock 10, but the dirt holding tank 6 is not located directly below the grab bucket 12. The height of the lifting arm 3 is lowered to the lowest position so as to save the placing space. The grab bucket 12 is located at the second end of the lifting arm 3, and the top side of the grab bucket 12 abuts the bottom side of the lifting arm 3.

When the garbage and sludge in the vertical shaft need to be cleaned, a worker transmits an electric signal to the signal transmitter through the controller, the signal transmitter transmits the electric signal to the receiver in a wireless mode, the receiver transmits the signal to the integrated relay to perform circuit control, the walking driving motor 51 is controlled to drive the driving shaft 33 to drive the crawler wheels 52 to roll, and the robot walks to the side of the vertical shaft.

The wire rope 19 of the electric winch 18 passes out of the fixed pulley 21 on the top of the lifting arm 3 and is fixed to the lifting lug 1231 of the grab bucket 12 via the contact wheel 224. The electric winch 18 rotates to drive the grab bucket 12 to move up and down through the steel wire rope 19. While the hydraulic oil required for the second hydraulic ram 26 of the grab 12 is transferred through the reel 28 and the hydraulic oil pipe. Reel 28 is an automatic take-up reel, preferably a baohui automatic retraction high pressure hydraulic tubing reel, model number BS 15-8-2250. Through fixing hydraulic pressure oil pipe reel 28 on lifting arm 3, the automatic rolling up of hydraulic pressure oil pipe can be realized to the torsion spring that has in reel 28, and simultaneously the torsion of this torsion spring is less than the gravity of grab bucket 12 to when realizing that electric capstan 18 extends, grab bucket 12 droops by self gravity, drives hydraulic pressure oil pipe reel 28 and rolls up, when grab bucket 12 rose, because there is torsion spring in the reel 28, it can automatic recovery hydraulic pressure oil pipe.

The control system 2 controls the lifting driving module 11 to stretch and retract, so that the lifting arm 3 can swing up and down. During operation, the lifting driving module 11 is powered on to drive the lifting arm 3 to lift to a horizontal position, and the grab bucket 12 is located above the well cover opening. The second hydraulic ram 26 on the grapple 12 is extended so that the first and

second petals

121 and 122 are opened. The electric winch 18 is energized to rotate and lower the wire rope 19, so that the grab bucket 12 is lowered. After the grapple 12 is lowered to the bottom of the shaft, the operator may read and record the value on the encoder 226 to know the depth of the shaft. Subsequently, the second hydraulic push rod 26 is contracted, the grab bucket 12 is closed, and the sludge waste is grabbed. The electric winch 18 is electrified to withdraw the steel wire rope 19, and the grab bucket 12 is driven to ascend. The grab bucket 12 rises until the first stroke switch touches the fixed pulley 21 fixed on the lifting arm 3, the electric winch 18 is powered off, the grab bucket 12 cannot continue to rise, the electromagnetic valve connected with the first hydraulic push rod is powered on at the moment, the first hydraulic push rod extends to drive the lifting arm 3 to swing upwards, and after the second end part of the lifting arm 3 rises to the highest point, the hydraulic ejector rod 34 connected with the bottom of the sewage storage tank 6 extends to drive the sewage storage tank 6 to move to the position below the grab bucket 12 on the slide rail 8 on the chassis 4. In order to ensure that the dirt storage tank 6 can accurately reach the lower position of the grab bucket 12, a second travel switch is arranged on the tray frame 41 and is electrically connected with the integrated relay. When the bottom of the chassis 62 slides and touches the second travel switch, the electric winch 18 is electrified to rotate reversely to lower the steel wire rope 19, and the staff controls the number of turns of the electric winch 18 through the length record of the steel wire rope 19 for the first time. Subsequently, the second hydraulic ram 26 is energized, the grab bucket 12 is opened, and the sludge waste falls down inside the soil storage tank 6 through the first opening 14. In this embodiment, after the grapple 12 is opened for about 10 seconds, the default sludge waste is entirely dropped into the soil storage tank 6. Subsequently, the hydraulic push rod 34 retracts to drive the sewage storage tank 6 to return to the original position, so that the lifting motion of the grab bucket 12 is not influenced.

When the rubbish silt that holds in the dirty jar 6 is emptyd to needs, staff's accessible control system 2 control hydraulic ram 34 pushes out holds dirty jar 6, staff pulling pull rod 17 for striking lock 10 and unclamp chassis 62 and chassis 4, promote and hold dirty jar 6, make rear wheel 92, front wheel 91 follow first track 81 in proper order through second track 82, and the landing is subaerial, and jar body 61 breaks away from in chassis 4, and the staff can empty the rubbish silt that holds in dirty jar 6. When the dirt storage tank 6 is mounted on the chassis 4, the dirt storage tank 6 is pushed in the opposite direction, so that the front wheel 91 and the rear wheel 92 return to the slide rail 8, and the chassis 62 and the chassis 4 are connected through impact.

To sum up, the embodiment of the utility model provides a robot for clearing up rubbish silt, its control system can control moving mechanism and drive whole robot and move to the assigned position, and the control lifing arm rises or descends for near the grab bucket can stretch out and draw back rubbish silt, after snatching rubbish silt, places rubbish silt and holds in the dirty jar. When the garbage sludge in the sludge storage tank needs to be dumped and cleaned, the sludge storage tank can be detached from the chassis, and the whole garbage sludge is picked up and carried. The robot can replace the traditional mode of adopting manual work to go into the well to clean up rubbish, realizes automatic cleaning and carrying rubbish, and has high safety and high construction efficiency. And the lifting arm can be lifted, and the lifting arm can be lifted down under the non-working state so as to reduce the occupied space of the robot.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A robot for cleaning garbage and sludge is characterized by comprising a chassis, a moving mechanism, a sludge storage tank, a lifting arm, a lifting driving module, a grab bucket, a battery and a control system;

the moving mechanism is arranged on the chassis;

2. A robot for cleaning waste sludge as claimed in claim 1 wherein the holding tank is slidably connected to the chassis.

3. A robot for cleaning up garbage and sludge as claimed in claim 2, wherein the inner walls of both sides of the chassis are provided with slide rails, and the outer sides of the sludge storage tank are provided with rolling members, and the rolling members are rotatably connected to the slide rails to realize the connection between the sludge storage tank and the chassis.

4. A robot for cleaning waste sludge as claimed in claim 3 wherein the first end of the chassis is provided with a passage for the dirt holding tank to pass through;

5. A robot for cleaning waste sludge as claimed in claim 3 wherein the waste storage tank includes a tank body and a chassis connected to the underside of the tank body, each of the rollers being connected to the chassis;

6. A robot for cleaning garbage and sludge according to claim 1, wherein the lifting driving module is a first hydraulic push rod, the bottom side of the first hydraulic push rod is fixedly connected to the chassis, the top side of the first hydraulic push rod is connected to the lifting arm, and the arm body is driven to swing up and down by the expansion of the first hydraulic push rod.

7. A robot for cleaning up garbage sludge as set forth in claim 6, further comprising an electric winch mounted on said lifting arm and electrically connected to said control system, and a wire rope looped around said electric winch, one end of said wire rope being connected to the top end of said grab.

8. A robot for cleaning up garbage sludge as claimed in claim 7, wherein the grab bucket comprises a bracket, a first bucket and a second bucket opposite to the first bucket, one end of the wire rope is connected with the top end of the bracket, and the first bucket and the second bucket are both rotatably mounted on the bracket;

9. A robot for clearing debris and sludge according to claim 8 further comprising a reel mounted on the lift arm and a hydraulic oil line wound on the reel and connected to the second hydraulic ram.

10. A robot for cleaning garbage and sludge according to any one of claims 1 to 9, wherein the moving mechanism comprises two walking driving motors and two crawler wheels symmetrically arranged at two sides of the chassis, each walking driving motor corresponds to each crawler wheel one by one, each walking driving motor is installed on the chassis, each walking driving motor is electrically connected with the control system, and an output shaft of each walking driving motor is connected with the crawler wheels.