CN214423444U

CN214423444U - Submersible type environment management robot suitable for multiple forms

Info

Publication number: CN214423444U
Application number: CN202120352757.2U
Authority: CN
Inventors: 李游; 戴拓; 冉威; 谢长青
Original assignee: Hunan Zhongke Hengqing Environmental Management Co ltd
Current assignee: Hunan Zhongke Hengqing Environmental Management Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-10-19
Anticipated expiration: 2031-02-08

Abstract

The utility model discloses a submersible environment management robot suitable for various forms, which comprises an overwater floating body mechanism and an underwater environment robot suspended on the overwater floating body mechanism through a steel wire rope, wherein the overwater floating body mechanism comprises a floating body, a propeller used for driving the floating body to move, a hoisting device used for suspending the underwater environment robot, a wireless control box used for controlling the propeller and the hoisting device and a satellite positioning instrument used for positioning are arranged on the floating body; the underwater environment robot comprises a crawler walking module, a sealed box body arranged on the crawler walking module, a silt breaking component arranged on the sealed box body, a power system and a control system which are arranged in the sealed box body. The utility model discloses can be applicable to simultaneously detection, work such as desilting in open regions such as rivers and lakes and the small-size circular pipe network in municipal underground, control the convenience, extensive applicability.

Description

Submersible type environment management robot suitable for multiple forms

Technical Field

The utility model relates to a desilting equipment specifically is a dive formula environment improvement robot suitable for multiple form.

Background

The existing underwater dredging robot generally adopts a track (3011) type walking mechanism and a stirring suction type dredging mode, is mainly used for dredging of a sewer pipe network, and cannot meet the requirements of detection and dredging of open regions such as rivers and lakes. At present, for detection and dredging of open regions such as rivers and lakes, a dredging ship is mainly adopted, and the dredging ship has the defects of large size, high equipment cost, insufficient maneuverability and the like.

Disclosure of Invention

An object of the utility model is to provide a can be used for work such as the detection of the small-size circular pipe network in municipal underground, desilting, can be applicable to the dive formula environment treatment robot of detection, desilting work in open regions such as rivers and lakes again.

The utility model adopts the technical scheme as follows: a submersible environment control robot suitable for various forms comprises an overwater floating body mechanism and an underwater environment robot suspended on the overwater floating body mechanism through a steel wire rope,

the water floating body mechanism comprises a floating body, wherein a propeller for driving the floating body to move, a hoisting device for suspending the underwater environment robot, a wireless control box for controlling the propeller and the hoisting device and a satellite positioning instrument for positioning are arranged on the floating body;

the underwater environment robot comprises a crawler walking module, a sealed box body arranged on the crawler walking module, a silt breaking component arranged on the sealed box body, a power system and a control system which are arranged in the sealed box body.

Further, the silt crushing component is installed on the sealed box body through a slewing mechanism.

Furthermore, a luffing mechanism is installed at the front end of the slewing mechanism, and the silt breaking component is installed on the luffing mechanism and the height of the silt breaking component is adjusted through the luffing mechanism.

Further, the silt crushing component comprises a large arm and a stirring and sucking head assembly arranged at the front end of the large arm.

Further, stir suction head assembly and include hydraulic motor, stir the headstock, stir head, circular arc and draw in the board, stir headstock fixed mounting in the forearm front end, hydraulic motor fixed mounting stirs the headstock on, it is connected with the sealed hydraulic motor output that stirs the headstock through the (mixing) shaft to stir the head, circular arc draws in the board fixed mounting and stirs headstock lower part, and circular arc draws in the inboard wall and is close to stir the head, has seted up on the circular arc draws in the board and has crossed the mud hole, it is connected with defeated mud hose to cross mud hole department, defeated mud soft other end is connected with the sand pump of fixed mounting on seal box.

Further, the mud conveying hose is connected with the sand pump through a rotary joint, and the rotary joint rotates synchronously along with the rotation of the slewing mechanism.

Furthermore, the crawler traveling module comprises two crawlers, a hydraulic drive motor, a speed reducer, a crawler beam and a cavity oil cylinder, wherein the two crawlers are respectively connected with the sealed box body through the cavity oil cylinder, the two crawlers are hinged through the crawler beam, the relative angle of the two crawlers can be adjusted through the expansion and contraction of the cavity oil cylinder, and the hydraulic drive motor and the speed reducer are used for driving the crawlers to operate.

Further, a visual detection system is installed on the sealed box body.

Further, install laser radar detecting system on the sealed box.

Further, install sonar detection system on the garrulous silt part.

The utility model discloses a submersible environment improvement robot suitable for multiple form can be used to the detection of open regions such as rivers and lakes, desilting work, when implementing this function, relies on the body mechanism of body on water to float on the surface of water, utilizes the hoist engine to control the height of leaving the bottom of underwater environment robot, utilizes the propeller on the body mechanism of body on water to move fast in wide region, conveniently detects the transportation, and relies on the satellite locater on the body mechanism of body on water to realize automatic circuitous detection, desilting; the utility model discloses still can be used to work such as detection, desilting of the small-size circular pipe network in municipal administration underground, when implementing this function, need not the participation of body mechanism on water, can use vision detecting system, laser radar detecting system, sonar detecting system etc. to realize man-machine exchange.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the water floating body mechanism of the present invention.

Fig. 3 is a schematic structural view of another perspective of the water float mechanism of the present invention.

Fig. 4 is a schematic structural diagram of the underwater environment robot of the present invention.

Fig. 5 is a schematic top view of the underwater environment robot of the present invention.

Fig. 6 is a schematic structural view of the silt breaking component of the present invention.

Fig. 7 is a schematic structural view of the crawler belt traveling module of the present invention.

Detailed Description

To facilitate understanding of the present invention, the present invention will be described more fully and specifically with reference to the accompanying drawings and preferred embodiments, but the scope of the present invention is not limited to the specific embodiments described below.

As shown in fig. 1, the submersible environmental management robot according to the present embodiment includes an above-water floating body mechanism 1 and an underwater environmental robot 3 suspended from the above-water floating body mechanism 1 by a wire rope 2.

As shown in fig. 2 and 3, the above-water floating body mechanism 1 includes a floating body 101, and a propeller 105 for driving the floating body 101 to move, a hoisting device 102 for suspending the underwater robot 3, a wireless control box 104 for controlling the propeller 105 and the hoisting device 102, and a satellite positioning device 103 for positioning are mounted on the floating body 101.

As shown in fig. 4-7, the underwater environment robot 3 includes a crawler traveling module 301, a sealed box 302 mounted on the crawler traveling module 301, a silt breaking component mounted on the sealed box 302, a power system and a control system mounted in the sealed box 302. The front end of the sealed box body 302 is provided with a swing mechanism 304, the silt breaking component is mounted on the swing mechanism 304 through a luffing mechanism 308, the swing mechanism 304 can drive the silt breaking component to rotate, and the luffing mechanism 308 can adjust the height of the silt breaking component.

As shown in fig. 4 to 6, the sludge crushing member includes a large arm 305 and a suction head assembly 306 mounted on a front end of the large arm 305. The stirring and sucking head assembly 306 comprises a hydraulic motor 3061, a stirring head seat 3062, a stirring head 3063 and an arc furling plate 3064, the stirring head seat 3062 is fixedly arranged at the front end of the large arm 305, the hydraulic motor 3061 is fixedly arranged on the stirring head seat 3062, the stirring head 3063 is connected with the output end of the hydraulic motor 3061 sealed in the stirring head seat 3062 through a stirring shaft, the arc furling plate 3064 is fixedly arranged at the lower part of the stirring head seat 3062, the inner wall of the arc furling plate 3064 is close to the stirring head 3063, a mud passing hole is formed in the arc furling plate 3064, a mud conveying hose is connected to the mud passing hole, and the other end of the mud conveying hose is connected with a sand pump fixedly arranged on the sealing box body 302 through a rotary joint 307. The swivel joint 307 rotates synchronously with the rotation of the slewing mechanism 304, so that the breakage of the mud conveying hose between the swivel joint 307 and the silt crushing component can be reduced.

A visual inspection system 303 and a laser radar detection system 310 are mounted on the sealed box 302, and a sonar detection system 309 is mounted on the silt removing member.

As shown in fig. 7, the crawler belt walking module 301 includes two crawler belts 3011, a hydraulic drive motor and speed reducer 3012, a crawler belt cross beam 3013, and a cavity cylinder 3014, the two crawler belts 3011 are respectively connected to the sealed box 302 through the cavity cylinder 3014, the two crawler belts 3011 are hinged through the crawler belt cross beam 3013, and the relative angle of the two crawler belts 3011 can be adjusted by the expansion and contraction of the cavity cylinder 3014, so that the crawler belts 3011 make maximum area contact with the circular pipe network. The hydraulic drive motor and reducer 3012 is used to drive the track 3011 to operate.

Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the inventions are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A submersible environmental management robot suitable for multiple forms, characterized in that: comprises an overwater floating body mechanism (1) and an underwater environment robot (3) suspended on the overwater floating body mechanism (1) through a steel wire rope (2),

the water floating body mechanism (1) comprises a floating body (101), wherein a propeller (105) for driving the floating body (101) to move, a hoisting device (102) for suspending the underwater environment robot (3), a wireless control box (104) for controlling the propeller (105) and the hoisting device (102) and a satellite positioning instrument (103) for positioning are mounted on the floating body (101);

the underwater environment robot (3) comprises a crawler walking module (301), a sealed box body (302) arranged on the crawler walking module (301), a silt breaking component arranged on the sealed box body (302), a power system and a control system arranged in the sealed box body (302).

2. The submersible environmental remediation robot of claim 1 adapted for use in a plurality of configurations, wherein: the silt breaking component is arranged on the sealed box body (302) through a rotary mechanism (304).

3. The submersible environmental remediation robot of claim 2, further comprising: the front end of the swing mechanism (304) is provided with a luffing mechanism (308), and the silt breaking component is arranged on the luffing mechanism (308) and the height of the silt breaking component is adjusted through the luffing mechanism (308).

4. A submersible environmental remediation robot adapted for use in a plurality of configurations according to claim 2 or 3, wherein: the silt breaking component comprises a large arm (305) and a stirring and sucking head assembly (306) arranged at the front end of the large arm (305).

5. The submersible environmental remediation robot of claim 4 adapted for use in a plurality of configurations, wherein: the stirring and sucking head assembly (306) comprises a hydraulic motor (3061), a stirring head seat (3062), a stirring head (3063) and an arc furling plate (3064), the stirring head seat (3062) is fixedly arranged at the front end of the large arm (305), the hydraulic motor (3061) is fixedly arranged on the stirring head seat (3062), the stirring head (3063) is connected with the output end of the hydraulic motor (3061) sealed in the stirring head seat (3062) through a stirring shaft, the arc furling plate (3064) is fixedly arranged at the lower part of the stirring head seat (3062), the inner wall of the arc furling plate (3064) is close to the stirring head (3063), a mud passing hole is formed in the arc furling plate (3064), a mud conveying hose is connected at the mud passing hole, and the other end of the mud conveying hose is connected with a sand pump fixedly arranged on the sealing box body (302).

6. The submersible environmental remediation robot of claim 5 adapted for use in a plurality of configurations, wherein: the mud conveying hose is connected with the sand pump through a rotary joint (307), and the rotary joint (307) rotates synchronously with the rotation of the slewing mechanism (304).

7. The submersible environmental remediation robot of claim 1 adapted for use in a plurality of configurations, wherein: the crawler belt walking module (301) comprises two crawler belts (3011), a hydraulic drive motor and a speed reducer (3012), a crawler belt cross beam (3013) and a cavity oil cylinder (3014), wherein the two crawler belts (3011) are respectively connected with the sealed box body (302) through the cavity oil cylinder (3014), the two crawler belts (3011) are hinged through the crawler belt cross beam (3013), the relative angle of the two crawler belts (3011) can be adjusted through the stretching of the cavity oil cylinder (3014), and the hydraulic drive motor and the speed reducer (3012) are used for driving the crawler belts (3011) to run.

8. The submersible environmental remediation robot of claim 1 adapted for use in a plurality of configurations, wherein: and a visual detection system (303) is arranged on the sealed box body (302).

9. The submersible environmental remediation robot of claim 1 adapted for use in a plurality of configurations, wherein: and a laser radar detection system (310) is arranged on the sealed box body (302).

10. The submersible environmental remediation robot of claim 1 adapted for use in a plurality of configurations, wherein: and a sonar detection system (309) is installed on the silt crushing component.