CN216145116U

CN216145116U - Underwater dredging robot

Info

Publication number: CN216145116U
Application number: CN202121851322.9U
Authority: CN
Inventors: 阚景隆; 曾卓; 张小三
Original assignee: Zhongji Hengtong Environmental Technology Co ltd
Current assignee: Zhongji Hengtong Environmental Technology Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2022-03-29
Anticipated expiration: 2031-08-09

Abstract

The utility model discloses an underwater dredging robot which comprises a robot body, a control system, a walking system, a navigation system, rolling brushes and water spraying devices, wherein the navigation system is used for detecting the underwater environment of the robot and transmitting detection data to the control system, the control system is connected with the walking system and is used for controlling the action of the walking system according to feedback information of the navigation system, the rolling brushes are arranged at the bottom of the robot body and are in contact with the ground to sweep attachments on the ground in the walking process, and the water spraying devices are arranged on two sides of the robot body and spray wash the ground where the rolling brushes walk. The underwater desilting robot disclosed by the utility model performs distance detection through the navigation system, and is used for controlling the robot to keep a certain distance with the wall in the septic tank during walking so as to avoid obstacles and finish autonomous navigation; the rolling brush is used for sweeping the attachments on the ground in the walking process, and the rolling brush is matched with the water spraying device to form brushing operation, so that the sticky attachments which are difficult to clean are treated, and the cleaning effect is good.

Description

Underwater dredging robot

Technical Field

The utility model relates to the technical field of robots, in particular to an underwater dredging robot.

Background

Most of modern pig farms adopt a three-dimensional breeding mode, so that the occupied area can be saved, the breeding concentration can be improved, and the realization of automation is facilitated. The pig moves in the pigsty, and the excreted pig manure is discharged into a water tank below through the manure leaking plate.

To the operating mode that the building was raised pigs, the clear height of swinery lower part manure pit is very little, and the workman washes ground through high-pressure squirt completely in the clearance. However, due to the long deposition time and the fact that the upper dung leaking plate can block high-pressure water flow during washing, the manure pit is difficult to wash clean only by high-pressure water.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems, the embodiment of the utility model provides an underwater dredging robot which can realize autonomous navigation, is intelligent, has a good cleaning effect and is high in operation efficiency.

The technical scheme of the utility model is realized as follows:

the utility model provides an underwater dredging robot, includes fuselage, control system, traveling system, navigation, round brush and water jet equipment, traveling system locates be used for the drive under the fuselage motion under water, navigation is used for detecting robot environment under water and will detect data transfer and give control system, control system with traveling system connects and is used for the basis navigation's feedback information control traveling system moves, the round brush is located fuselage bottom and with ground contact be used for sweeping subaerial attachment at the in-process of walking, water jet equipment locates the both sides of fuselage are right ground that the round brush was walked is jettisoned.

Preferably, the traveling system comprises a driving motor and a driving wheel, and the driving motor is arranged in the machine body and connected with the driving wheel for driving the driving wheel to move.

Preferably, the number of drive wheels is four, each drive wheel being controlled by a separate one of the drive motors.

Preferably, each driving motor is provided with an encoder for measuring the rotating speed of the driving motor.

Preferably, a mudguard is arranged in the advancing direction of the driving wheel and fixed on the rolling brush.

Preferably, the fender is vertically arranged, the fender is an angle steel, and an opening of the fender is arranged towards the movement direction.

Preferably, the round brush is including locating the round brush frame of fuselage and locating a brush section of thick bamboo in the round brush frame, a brush section of thick bamboo is driven its rotation by the motor, the motor is located in the fuselage.

Preferably, the navigation system comprises an ultrasonic ranging module and a laser ranging module which are used for detecting the distance between the side walls, and the control system, the ultrasonic ranging module and the laser ranging module are used for controlling the walking system to walk according to data fed back by the ultrasonic ranging module and the laser ranging module.

Preferably, the navigation system is fixed on the top of the machine body through a lifting frame, the lifting frame comprises a plurality of swinging rockers, one ends of the rockers are rotatably connected to the machine body, and the other ends of the rockers are rotatably connected to the navigation system.

The underwater desilting robot provided by the embodiment of the utility model carries out distance detection through the navigation system, and is simultaneously used for controlling the robot to keep a certain distance from the wall in the septic tank during walking so as to avoid obstacles, complete autonomous navigation and be more intelligent; the cleaning device has the advantages that the attachments on the ground in the walking process are swept up through the rolling brush and matched with the water spraying device to form the cleaning operation, the sticky attachments which are difficult to clean are easily treated, the cleaning effect is good, and the operation efficiency is high.

Drawings

Fig. 1 is a schematic structural diagram of an underwater dredging robot provided by the utility model.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Fig. 1 is a schematic structural diagram of an underwater dredging robot provided by the present invention. The underwater desilting robot comprises a body 1, a control system 2, a traveling system 3, a navigation system 4, a rolling brush 5 and a water spraying device 6, wherein the traveling system 3 is arranged under the body 1 and used for driving the body 1 to move underwater, the navigation system 4 is used for detecting the underwater environment of the robot and transmitting detection data to the control system 2, the control system 2 is connected with the traveling system 3 and used for controlling the traveling system 3 to act according to feedback information of the navigation system 4, the rolling brush 5 is arranged at the bottom of the body 1 and is in contact with the ground to sweep up attachments on the ground in the traveling process, the water spraying device 6 is arranged at two sides of the body 1 and used for spraying and washing the ground where the rolling brush 5 travels, the underwater desilting robot carries out distance detection through the navigation system 4 and is used for keeping a certain distance with the side wall in a septic tank during the traveling of the control robot to avoid obstacles, autonomous navigation is completed, and the system is more intelligent; the rolling brush 5 is used for sweeping the attachments on the ground in the walking process, and the rolling brush is matched with the water spraying device 6 to form the brushing operation, so that the sticky attachments which are difficult to clean are easily treated, the cleaning effect is good, and the operation efficiency is high.

The traveling system 3 comprises a driving motor and a driving wheel 33, wherein the driving motor is arranged in the machine body 1 and connected with the driving wheel 33 for driving the driving wheel 33 to move. The driving motor is sealed in the machine body 1, so that the sealing performance and the transmission stability are improved.

The number of the driving wheels 33 is four, and each driving wheel 33 is controlled by a separate one of the driving motors. Each drive wheel 33 is controlled independently so that the drive wheels 33 can be controlled to steer independently with greater steering flexibility.

And each driving motor is provided with an encoder for measuring the rotating speed of the driving motor. The encoder collects the rotating speed of the driving motor, measures the rotating speed of the driving wheel 33, and transmits the collected rotating speed of the driving wheel 33 to the control system 2. And the control system 2 monitors the walking speed of the underwater dredging robot in real time according to the feedback data.

A mudguard 35 is arranged in the advancing direction of the driving wheel 33, and the mudguard 35 is fixed on the rolling brush 5. The fender 35 is used to prevent the driving wheel 33 from spreading the mud in front of the driving wheel 33 when the driving wheel 33 moves forward, and prevent the excessive mud from blocking the driving wheel 33 to improve the walking efficiency.

Preferably, the mudguard 35 is vertically arranged, the mudguard 35 is an angle steel, and an opening of the mudguard 35 is arranged towards the moving direction. The opening faces the sludge, so that the mud guard 35 shovels the sludge like a shovel, and the effect is better.

The rolling brush 5 comprises a rolling brush frame 53 arranged on the machine body 1 and a brush cylinder 51 arranged in the rolling brush frame 53, the brush cylinder 51 is driven by a motor to rotate, and the motor is arranged in the machine body 1. In the process of walking, the brush cylinder 51 is driven by the motor to continuously roll to brush up attachments on the walking route, and the decontamination effect is good.

The navigation system 4 comprises an ultrasonic ranging module and a laser ranging module which are used for detecting the distance between the front wall and the rear wall, the control system 2, the ultrasonic ranging module and the laser ranging module are used for controlling the walking system 3 to walk according to data fed back by the ultrasonic ranging module and the laser ranging module, the distance between the side face and the front wall and the distance between the front wall and the rear wall are checked, the robot is prevented from colliding with the side wall of a pool or a pipeline in sludge, and barriers are effectively avoided.

Specifically, the ultrasonic ranging module is an ultrasonic sensor, and the laser ranging module is a laser sensor.

The navigation system 4 is fixed on the top of the machine body through the lifting frame, the lifting frame comprises a plurality of swinging rockers 7, one ends of the rockers 7 are rotatably connected to the machine body 1, the other ends of the rockers 7 are rotatably connected to the navigation system 4, and the rockers 7 form a four-bar mechanism to swing left and right to drive the navigation system 4 to lift so as to adjust the height. Navigation 4 the top on the car is fixed to ultrasonic ranging module, laser ranging module and camera, the rocker swing adjustment of crane the position of ultrasonic ranging module and laser ranging module to better range finding, and then better obstacle avoidance.

One end of the water spraying device 6 is connected with an external water pipe, and the other end is provided with a nozzle for spraying high-pressure water flow.

The underwater desilting robot provided by the embodiment of the utility model carries out distance detection through the navigation system, and is simultaneously used for controlling the robot to keep a certain distance from the wall in the septic tank during walking so as to avoid obstacles, complete autonomous navigation and be more intelligent; the rolling brush 5 is used for sweeping the attachments on the ground in the walking process, and the rolling brush is matched with the water spraying device to form brushing operation, so that the sticky attachments which are difficult to clean are easily treated, the cleaning effect is good, and the operation efficiency is high.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides an underwater dredging robot, its characterized in that, includes fuselage, control system, traveling system, navigation, round brush and water jet equipment, traveling system locates be used for the drive under the fuselage motion is at the underwater motion, navigation is used for detecting robot environment under water and will detect data transfer and give control system, control system with traveling system connects and is used for the basis navigation's feedback information control the traveling system action, the round brush is located fuselage bottom and with the ground contact be used for sweeping subaerial attachment at the in-process of walking, water jet equipment locates the both sides of fuselage are right the ground that the round brush walked is jettisoned.

2. The underwater dredging robot of claim 1, wherein the walking system comprises a driving motor and a driving wheel, and the driving motor is arranged inside the body and connected with the driving wheel for driving the driving wheel to move.

3. An underwater dredging robot as claimed in claim 2, wherein the number of the driving wheels is four, each of the driving wheels being controlled by a separate one of the driving motors.

4. An underwater dredging robot as claimed in claim 3, wherein each of the driving motors is provided with an encoder for measuring the rotation speed of the driving motor.

5. An underwater dredging robot as claimed in claim 2, wherein a mudguard is provided in a forward direction of the driving wheel, and the mudguard is fixed to the rolling brush.

6. The underwater dredging robot of claim 5, wherein the mudguard is vertically arranged, the mudguard is an angle iron, and an opening of the mudguard is arranged towards a moving direction.

7. The underwater dredging robot of claim 1, wherein the rolling brush comprises a rolling brush frame arranged on the machine body and a brush cylinder arranged in the rolling brush frame, the brush cylinder is driven by a motor to rotate, and the motor is arranged in the machine body.

8. The underwater dredging robot of claim 1, wherein the navigation system comprises an ultrasonic ranging module and a laser ranging module for detecting the distance between the side walls, and the control system, the ultrasonic ranging module and the laser ranging module are used for controlling the walking system to walk according to data fed back by the ultrasonic ranging module and the laser ranging module.

9. The underwater dredging robot of claim 1, wherein the navigation system is fixed to the top of the body by a crane, the crane comprises a plurality of swingable rockers, one end of each rocker is rotatably connected to the body, and the other end of each rocker is rotatably connected to the navigation system.