CN216552154U

CN216552154U - Underwater suction robot

Info

Publication number: CN216552154U
Application number: CN202123087995.4U
Authority: CN
Inventors: 王兆铨; 郑文杰; 王小朝; 王洁; 程庆余
Original assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Current assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-05-17
Anticipated expiration: 2031-12-08

Abstract

The application provides an underwater suction robot, and belongs to the technical field of excavators or dredgers for cleaning water channels or other water systems. The box is installed on the propelling mechanism, the box is internally provided with a power source, the suction pump is connected with the dredging pipe, one end of the dredging pipe is connected with the mud suction pipe, the other end of the dredging pipe is an output end, the power source is respectively connected with the propelling mechanism, a support oil cylinder and a big arm oil cylinder, the support is installed on the front side of the box and driven to swing by the support oil cylinder, the big arm is installed on the support and driven to lift by the big arm oil cylinder, the sensor detects position signals and transmits the position signals to the PLC control system, the PLC control system controls the propelling mechanism through the power source, the support oil cylinder and the big arm oil cylinder operate, and the adjustment of the working state of the robot is realized. Be applied to the work of dredging of underdrain or pipeline with this application, have small, nimble flexible, the scanning does not have dead angle, advantage such as desilting efficiency height.

Description

Underwater suction robot

Technical Field

The application relates to an underwater suction robot, and belongs to the technical field of excavators or dredgers for cleaning water channels or other water systems.

Background

When sewage pools, underdrains and pipelines are operated, the common stirring suction type dredging pump is blocked and burnt out when the sludge contains a large amount of household garbage, aquatic plants and other unclear flocculent and linear impurities. To the desilting operating mode that contains a large amount of impurity, adopt the vacuum pump soil pick-up can avoid above-mentioned problem. However, in the case of remote control, the problem of how to let the vacuum pump sewage suction pipe mouth enter the pipeline or the underdrain is still unsolved in the industry.

SUMMERY OF THE UTILITY MODEL

In view of this, the application provides a suction robot under water, realizes scanning about the top and bottom through the flexible of arm, and the operation of remote control robot in pipeline or closed conduit in view of the above reaches accurate desilting purpose.

Specifically, the method is realized through the following scheme:

the utility model provides an underwater suction robot, the power distribution box comprises a box body, advancing mechanism, a sensor, a support, big arm, the suction dredge pipe, suction pump and PLC control system, the box is installed on advancing mechanism, the built-in power supply of box, the suction pump connects out the desilting pipe, desilting pipe one end is connected with the suction dredge pipe, the other end is the output, the power supply respectively with advancing mechanism, support hydro-cylinder and big arm hydro-cylinder are connected, the support mounting is in the box front side, its swing is driven by the support hydro-cylinder, big arm is installed on the support, it goes up and down by big arm hydro-cylinder drive, the sensor detects position signal, and transmit to PLC control system, PLC control system passes through power supply control advancing mechanism in view of the above, support hydro-cylinder and big arm hydro-cylinder operation, realize the adjustment of machine manual work state.

Be applied to the desilting work of underdrain, pipeline with this application, the sensor detects position signal, removes through power supply drive advancing mechanism, when reacing and treating the desilting position, advancing mechanism no longer displaces, and the power supply orders about support hydro-cylinder and big arm hydro-cylinder work, and support swing, big arm go up and down, make the suction dredge be close to silt and begin to aspirate silt, and silt is through desilting pipe, suction pump output. The swing and the lifting endow the mud suction pipe with contractibility in space, the whole occupied area is small, and the mud suction pipe can enter an underdrain or a pipeline; precision instruments such as power supply are arranged in the sealed box body, so that components are well protected, and the components are guaranteed to have good practicability and safety under water.

Further, as preferable:

the propelling mechanism adopts a crawler-type structure, is positioned on the left side and the right side of the bottom of the box body, and effectively reduces the pressure per unit area when the propelling mechanism runs in environments such as sludge and the like, so that the propelling mechanism also has good passing capability at the bottom of a complex terrain.

The bracket oil cylinders are arranged on two sides of the bracket in pairs and respectively drive two sides of the bracket to move, and the bracket oil cylinders are positioned on two sides of the large arm bracket and connect the bracket with the box body to provide a power source for the left and right swinging of the bracket; the telescopic arms of the bracket oil cylinder extend to different degrees to drive the bracket to swing to different degrees and directions.

The support is provided with a rotating shaft, and the support swings relative to the rotating shaft.

The sensor is positioned on the support to monitor the swing angle of the support, so that the left-right swing is more accurate and safe.

The pipe orifice of the sludge suction pipe is of an uneven non-planar structure, so that when stones and wood boards are sucked at the pipe orifice, the pipe orifice cannot be closed and blocked, and air entering from the side edge of the pipe orifice of the non-planar structure can automatically fall off; the mud suction pipe is provided with a high-pressure nozzle which is matched with the mud stone block to be washed.

The support adopts a triangular structure, one corner of the support is connected to the front wall of the box body, the other two corners of the support are connected to the two side walls of the box body through the support oil cylinders, the upper space and the lower space of the support are effectively widened by means of the triangular structure, the space is used as the installation space of the large arm and the large arm oil cylinder, no extra installation position is generated, the structure is more compact, the stability of the installation space is endowed, and the operation accuracy of the large arm is improved.

A connecting arm is arranged between the support and the big arm, the big arm oil cylinder is arranged on the connecting arm, and the big arm is arranged on an output shaft of the big arm oil cylinder.

Be provided with the extension board on the big arm, the inclinometer leads to the extension board and is connected with big arm, can monitor the inclination of big arm, for controlling to provide accurate information, makes the operation more accurate, safety.

The large arm oil cylinder is a rotary swing oil cylinder and provides power for the vertical swing of the large arm.

The suction pump is arranged on the large arm and can swing up and down along with the large arm so as to adjust the range of cleaning sludge.

The device is applied to special occasions and working conditions such as underdrains, pipelines and the like, and has the advantages of small volume, flexibility, maneuverability, no dead angle in scanning, high efficiency and the like.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic structural diagram of the present application in a top view;

FIG. 3 is a schematic structural view of one side of the present application;

FIG. 4 is a schematic view of another aspect of the present application;

fig. 5 is another perspective view of the nozzle of the present application.

Reference numbers in the figures: 1. a box body; 11. a hoisting ring; 2. a propulsion mechanism; 3. a sensor; 4. a support; 41. a support cylinder; 42. a fastener; 43. a connecting arm; 44. a rotating shaft; 5. a large arm; 51. a large arm cylinder; 52. a support plate; 6. a mud suction pipe; 61. a base; 62. a nozzle.

Detailed Description

The embodiment of the underwater pumping robot is combined with a figure 1, and comprises a box body 1, a propelling mechanism 2, a sensor 3, a support 4, a large arm 5, a mud sucking pipe 6, a suction pump (not shown in the figure, a conventional pump body such as a vacuum pump can be adopted) and a PLC control system (not shown in the figure, a conventional control system can be adopted), wherein the box body 1 is installed on the propelling mechanism 2, a power source (not shown in the figure, hydraulic pressure and the like can be adopted as the power source) is arranged in the box body 1, the suction pump is connected with a dredging pipe (not shown in the figure, a conventional pipeline can be adopted), one end of the dredging pipe is connected with the mud sucking pipe 6, the other end of the dredging pipe is an output end, the power source is respectively connected with the propelling mechanism 2, the support oil cylinder 41 and the large arm oil cylinder 51, the support 4 is installed on the front side of the box body 1 and driven to swing by the support oil cylinder 41, the large arm 5 is installed on the support 4 and driven to lift by the large arm oil cylinder 51, the sensor 3 detects position signals, and the power source is transmitted to a PLC control system, and the PLC control system controls the propelling mechanism 2, the bracket oil cylinder 41 and the boom oil cylinder 51 to operate according to the power source, so that the working state of the robot is adjusted.

Be applied to the closed conduit with this application, the desilting work of pipeline, sensor 3 sets up the parameter and the position signal that detects according to PLC control system in advance, drive whole robot through power supply drive advancing mechanism 2 and remove, when reacing and treat the desilting position, advancing mechanism 2 no longer displaces, the power supply orders about support hydro-cylinder 41 and big arm hydro-cylinder 51 work, support 4 swings, big arm 5 goes up and down, make suction pipe 6 be close to silt and begin to aspirate silt, silt is through the desilting pipe, the output of suction pump. The swing and the lifting endow the mud suction pipe 6 with retractility in space, the whole occupied area is small, and the mud suction pipe can enter an underdrain or a pipeline; precision instruments such as power supply are arranged in the sealed box body 1, so that components are well protected, and the components are guaranteed to have good practicability and safety under water.

As an alternative: the propelling mechanism 2 is of a crawler-type structure, the propelling mechanism 2 is located on the left side and the right side of the bottom of the box body 1, and when the propelling mechanism runs in environments such as sludge and the like, unit area pressure is effectively reduced, so that the propelling mechanism also has good passing capacity at the bottom of a complex terrain.

As an alternative: referring to fig. 2, the bracket cylinders 41 are disposed on two sides of the bracket 4 in pairs, the bracket cylinders 41 are disposed on two sides of the bracket 4, the bracket 4 is connected to the box body 1 to provide power for the left and right swinging of the bracket 1, the bracket cylinders 41 are hydraulic cylinders, and the bracket cylinders 41 on two sides can be controlled to extend in different degrees during operation, so that the swinging direction and the swinging degree of the bracket 4 can be controlled.

Preferably, the two ends of the bracket cylinder 41 are respectively provided with a fastener 42, one end of the bracket cylinder 41 is connected with the box body 1, and the other end is connected with the bracket 4.

As an alternative: referring to fig. 3, the support 4 is provided with a rotation shaft 44, and the support 4 swings with respect to the rotation shaft 44.

In the arrangement of the above-mentioned bracket 4, with reference to fig. 1 and 2, the bracket 4 is located at the front end of the car body/box 1 and is mainly used for mounting the large arm 5, so that the bracket 4 can adopt a triangular structure, one corner of the bracket 4 is connected to the front wall of the box 1 through a rotating shaft 44, and the other two corners of the bracket are connected to the two side walls of the box 1 through the bracket oil cylinders 41 and the corresponding fasteners 42 on the two sides, so as to extend and widen the whole bracket 4, and provide a relatively stable but not too large space for mounting the large arm oil cylinder 51 and the large arm 5.

As an alternative: referring to fig. 1, the sensor 3 is located on the bracket 4 (preferably, on the rotating shaft 44) to monitor the (left-right) swing angle of the bracket 4, and the sensor 3 may be a balancer, and when the bracket 4 rotates around the rotating shaft 44 under the driving of the bracket cylinders 41 on both sides, the sensor 3 synchronously detects the rotation/swing angle, so that the left-right swing is more accurate and safer.

As an alternative: referring to fig. 1 and 3, a linkage arm 43 is disposed between the support 4 and the boom 5, referring to fig. 4, a boom cylinder 51 is mounted on the linkage arm 43, an output shaft of the boom cylinder 51 is connected with the boom 5, the boom cylinder 51 may be a rotary swing cylinder to provide power for the up-and-down swing of the boom 5, and the boom cylinder 51 is driven by hydraulic pressure.

As an alternative: with reference to fig. 1, a support plate 52 is arranged on the large arm 5, and an inclinometer (not shown in the figure) is connected with the large arm 5 through the support plate 52, so that the inclination angle of the large arm 5 can be monitored, accurate information is provided for control, and the operation is more accurate and safer.

In the above scheme, the suction pump is installed on the large arm 5, and the sludge suction pipe 6 is fixed on the large arm 5 through the base 61 and can swing up and down along with the large arm 5 so as to adjust the range for cleaning sludge. The suction pipe 6 connects the vacuum pump with the mud discharge pipeline, and can rapidly convey the mud to the ground mud-sand separation device vehicle.

As an alternative, in connection with fig. 5: the mouth of pipe 62 of suction dredge 6 is unevenness's non-planar structure, and when stone, plank were inhaled in mouth of pipe 61 department, the air can be followed non-planar structure's mouth of pipe 61 side and got into, and near stone, the plank of mouth of pipe 61 can drop automatically, can not cause mouth of pipe 62 closed stifled.

Preferably, a high-pressure nozzle (not shown in the figure, and a conventional nozzle can be used) can be arranged on the mud suction pipe 6 to be matched with the washing mud stone block.

The use process of the device is as follows:

(1) and the ground debugging robot ensures the normal work of the robot. The robot is slowly brought to a specified point by means of the hoist 11 on the robot.

(2) And starting the vacuum pump after the sludge reaches the place needing to be cleaned. And (3) conveying the sludge to a silt separation device vehicle on the ground through a sludge suction pipe 6 and a dredging pipe for separation treatment.

(3) When the sand and mud is thick, the big arm oil cylinder 51 is started to adjust the height of the big arm 5, thereby adjusting the dredging height and range.

(4) After the sludge at the point is cleaned, the propelling mechanism 2 of the robot is started to continue to propel forwards, and the robot moves to the next point to carry out the sludge cleaning work.

(5) When encountering an obstacle, the large arm 5 can be controlled to swing up and down and left and right to avoid the obstacle through the bracket oil cylinder 41, the bracket 4 and the large arm oil cylinder 51.

The underwater suction robot has the following advantages:

1) the whole storage is compact, the structure elasticity is large, the occupied size is small, the operation is flexible, and the dredging effect is good.

2) The propelling mechanism 2 adopts a crawler-type structure and can deal with various complex terrain conditions.

3) The box body 1 adopts a sealing design, so that components in the box body 1 can be well protected, the use effect is ensured, and the service life of a machine is prolonged.

4) The propelling mechanism 2 and the large arm 5 are driven by hydraulic pressure, so that the failure rate of the robot in the working state is reduced.

5) The big arm 5 endows the suction pump with the mobility, makes the robot can adapt to small-size work mouth, can adjust the desilting position again at the during operation, improves desilting efficiency.

Claims

1. An underwater pumping robot, characterized in that: the box is installed on the propelling mechanism, the box is internally provided with a power source, the suction pump is connected with the dredging pipe, one end of the dredging pipe is connected with the mud suction pipe, the other end of the dredging pipe is an output end, the power source is respectively connected with the propelling mechanism, a support oil cylinder and a big arm oil cylinder, the support is installed at the front end of the box and driven to swing by the support oil cylinder, the big arm is installed on the support and driven to lift by the big arm oil cylinder, the sensor detects position signals and transmits the position signals to the PLC control system, the PLC control system controls the propelling mechanism through the power source, the support oil cylinder and the big arm oil cylinder operate, and the adjustment of the working state of the robot is realized.

2. An underwater pumping robot as claimed in claim 1, wherein: the propelling mechanism adopts a crawler-type structure.

3. An underwater pumping robot as claimed in claim 1, wherein: the bracket oil cylinders are arranged on two sides of the bracket in pairs and respectively drive the two sides of the bracket to move.

4. An underwater pumping robot as claimed in claim 1, wherein: the bracket is connected with the front end of the box body through a rotating shaft.

5. An underwater pumping robot as claimed in claim 1, wherein: the sensor is located on the bracket.

6. An underwater pumping robot as claimed in claim 1, wherein: a connecting arm is arranged between the support and the big arm, the big arm oil cylinder is arranged on the connecting arm, and the big arm is arranged on an output shaft of the big arm oil cylinder.

7. An underwater pumping robot as claimed in claim 1, wherein: the large arm is provided with a support plate, and the inclinometer is connected with the large arm through the support plate.

8. An underwater pumping robot as claimed in claim 1, wherein: the large arm oil cylinder is a rotary swing oil cylinder.

9. An underwater pumping robot as claimed in claim 1, wherein: the pipe orifice of the sludge suction pipe is of an uneven non-planar structure.

10. An underwater pumping robot as claimed in any one of claims 1 to 9, wherein: the bracket adopts a triangular structure, one corner of the bracket is connected to the front wall of the box body, and the other two corners of the bracket are connected to the two side walls of the box body through bracket oil cylinders.