CN216552357U - Desilting robot for pond and canal - Google Patents

Abstract

The application provides a desilting robot for pond canal belongs to the excavator or the dredge technical field of clearance water course or other river systems. The sludge cleaning device comprises a box body, a large arm, a sludge cleaning pump and a tipping bucket, wherein the box body is driven by a pair of tracks, the large arm is connected onto the box body, the large arm is driven by a lifting oil cylinder to lift relative to the box body, the tipping bucket is arranged on the large arm, the tipping bucket is driven by a tipping bucket oil cylinder to swing, and the sludge cleaning pump is matched with the tipping bucket to absorb sludge scattered by the tipping bucket and output through a sludge cleaning pipeline. The dredging robot for the pond and the canal can meet the operation of a small 80X 80cm working opening, and has the characteristics of small volume, light weight, convenience in running and good cleaning effect.

Description

Desilting robot for pond and canal

Technical Field

The application relates to a dredging robot for a pool and a canal, and belongs to the technical field of excavators or dredgers for cleaning water channels or other water systems.

Background

When carrying out the desilting to sewage sedimentation ponds such as sewage pump station, pharmaceutical factory, owing to receive inspection opening size restriction (usually the size is less than 90 cm), need select for the less desilting mechanical equipment of appearance volume to carry out the operation, when the completion pond desilting back of flotation tank formula desilting robot, often can form one by one work pit in the bottom of the pool, leave over partial silt and can't clean up completely. Many cities have a large number of trench-type underground drainage underdrains, and long-term operation causes silt in the trenches to be deposited and a large amount of harmful and toxic substances to be collected. Because the cell body inspection opening size is little, and large-scale equipment can't get into, and city irrigation canals and ditches section size also has certain restriction, so, need have a miniature desilting machinery of a section to solve this difficult problem, and current equipment can't satisfy this desilting requirement.

SUMMERY OF THE UTILITY MODEL

In view of this, the application provides a desilting robot for pond canal, has characteristics such as small, light in weight, convenient, the clearance is effectual of traveling.

Specifically, the method is realized through the following scheme:

the utility model provides a desilting robot for pond canal, includes box, big arm, desilting pump and tipping bucket, and the box is driven by a pair of track, is connected with big arm on the box, and big arm is driven its relative box lift by lift cylinder, and the tipping bucket is installed on big arm, realizes the swing of tipping bucket by the driving of tipping bucket hydro-cylinder, and the desilting pump is installed with the tipping bucket cooperation to absorb the mud that the tipping bucket was broken up, and export through the desilting pipeline.

The robot is provided with a box body as a supporting part, a crawler belt as a propelling part and drives instruments such as the box body to synchronously displace, the robot is given with a small overall specification to meet the dredging requirement of small space operation spaces such as a pool and a canal, the tipping bucket adopts a rotatable/swinging movable structure, a big arm is matched with a lifting oil cylinder, the tipping bucket is matched with a tipping bucket oil cylinder, the actual operation part, namely the height and the angle of the tipping bucket, can be adjusted, the dredging width is adjusted during operation, the dredging efficiency is improved, and the processing requirements of different working conditions are met.

Further, as preferable:

the lifting oil cylinder is connected between the large arm and the box body, and the large arm is connected with the box body through the lifting rotating shaft. When the lifting oil cylinder is started, the output shaft of the oil cylinder is extended to push the big arm to move upwards, and the big arm swings around the lifting rotating shaft relative to the box body, so that the tipping bucket on the big arm is driven to move along with the big arm.

The tipping bucket oil cylinder is connected between the large arm and the tipping bucket, and the tipping bucket is arranged at the end part of the large arm through a tipping bucket rotating shaft. The tipping bucket oil cylinder is started, the output shaft of the tipping bucket oil cylinder is extended, the end, connected with the output shaft, of the tipping bucket is pushed to be far away from the connecting part of the tipping bucket oil cylinder and the large arm, and the tipping bucket swings/rotates around the tipping bucket rotating shaft relative to the large arm, so that the change of the covering area of the tipping bucket is realized, namely the adjustment of dredging width.

The tipping buckets are arranged in pairs and are respectively positioned on two sides of the large arm, and the two tipping buckets are matched to realize bilateral regulation and control, so that the dredging width is increased, and the dredging efficiency is also improved.

And the bottom of the tipping bucket is provided with a scraper. In order to improve the practicability of the ditch, the tipping bucket can be made of hard materials such as steel, and a scraper can be arranged at the bottom of the tipping bucket to strengthen the contact density between the tipping bucket and the ditch and avoid dredging omission caused by the gap between the tipping bucket and the ditch.

The stirring mechanism comprises a stirring motor and an impeller, the hydraulic motor is used for driving the stirring blades, and the impeller is in a cutting design and can crush blocking sundries at any time. More preferably, the stirring mechanism comprises a nozzle, the nozzle is communicated with high-pressure water, and large silt blocks possibly existing can be smashed under the impact of the high-pressure water, so that the dredging pump can work conveniently, and the stirring efficiency and the stirring uniformity are improved. Be provided with the baffle between rabbling mechanism and the desilting pump, set up a plurality of filtration pores on the baffle, filter the suction inlet of pore and desilting pump and correspond the setting, the baffle is cut apart rabbling mechanism and desilting pump, makes the stirring form a relative opposite stirring district, and filters the pore and both can satisfy the desilting pump and take silt out in following the stirring district, the existence of filtering the pore also can prevent debris entering the impeller of desilting pump, block up the desilting pump body.

The box body is provided with a camera shooting mechanism which is a float type camera shooting mechanism and automatically floats on the water surface of a working area, and the camera shooting mechanism shoots surrounding environment images in real time and transmits the images to the workbench.

Still including electromagnetism valves and PLC electronic box, electromagnetism valves, PLC electronic box are located the box and lean on last position, and the PLC electronic box is responsible for collecting the information of all kinds of sensors to the platform is controlled to various data and image information to ground of transmission desilting robot, and the platform is controlled through PLC electronic box control electromagnetism valves to ground, reaches the purpose of control track, desilting pump, tipping bucket etc..

The application provides a desilting robot for pond canal has following advantage:

1) small volume, flexibility, adaptability to the inlet and outlet of a small working port and good dredging effect. Electromagnetic valve group, electrically controlled components such as PLC electronic box can directly put into the box, the sealed explosion-proof design of box, above-mentioned equipment does not account for the space in it when, can also avoid combustible gas because the explosion that the electric contact spark produced, protect the use of machine well, the tipping bucket is the active structure, before getting into to treat little work openings such as clearance irrigation canals and ditches, can draw in it with the help of the tipping bucket hydro-cylinder, after getting into the desilting position, again according to space size and the regulation and control of the size of tipping bucket of the degree of difficulty of desilting, make the robot can adapt to small-size working opening when hoist and mount, can be at the during operation again, adjust the desilting breadth, improve desilting efficiency, electromagnetic valve group, the use of electrically controlled components such as PLC electronic box, make this robot more intelligent, the transmission, it is more simple and convenient to operate.

2) The crawler-type propulsion structure can deal with various complex terrain conditions. The crawler belt drives the box body and the large arm and other parts connected with the box body to operate, so that the robot has good passing capacity on the pool bottom, the canal bottom and the mud surface with complex terrain.

3) The tipping bucket, the stirring mechanism and the nozzle are matched to provide guarantee for the dredging pump to remove sludge, the stirring mechanism is used for smashing the sludge, high-pressure water is sprayed out through the nozzle and is used for smashing possible large sludge blocks under the impact of the high-pressure water, the tipping bucket is directly shoveled and carried when encountering obstacles such as stones, and the three are matched with the dredging pump to effectively improve the efficiency of dredging work; and the lifting oil cylinder, the tipping bucket oil cylinder and the like are all driven by hydraulic pressure, so that the failure rate of the robot in the working state is reduced.

Drawings

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

fig. 2 is a schematic side view of the present application.

Reference numbers in the figures: 1. a crawler belt; 2. a box body; 21. an electromagnetic valve group; 22, a PLC electrical box; 23. a cable joint; 24. a power tubing joint; 25. a sludge discharge pipe joint; 26. a hoisting ring; 27. unloading the oil tank; 271. an oil discharge motor; 28. a liquid level sensor; 29. a camera mechanism; 3. lifting the oil cylinder; 31. an inclinometer; 4. a large arm; 41. a lifting rotating shaft; 5. a dredging pump; 51. a suction inlet; 6. a tipping oil cylinder; 7. tipping; 71. a tipping bucket rotating shaft; 72. a squeegee; 73. a grid; 8. a stirring motor; 81. an impeller; 82. a nozzle; 83. a high-pressure water inlet; 84. a partition plate; 85. and (4) filtering holes.

Detailed Description

The dredging robot for the pond and the canal in the embodiment, with reference to fig. 1, comprises a box body 2, a large arm 4, a dredging pump 5 and a tipping bucket 7:

the box body 2 is used as an equipment installation box of the robot, is arranged in an integral sealing mode, and is driven by the pair of crawler belts 1.

The crawler belts 1 are positioned on the left side and the right side of the bottom of the main box body 2, so that the robot has good passing ability on the pool bottom, the canal bottom and the mud surface with complex terrain.

The front end of the box body 2 is connected with a big arm 4, and the big arm 4 is a structure that the box body 2 is connected with a dredging unit, namely a dredging pump 58, a tipping bucket 7 and the like.

The big arm 4 is driven by the lifting oil cylinder 3 to lift relative to the box body 1, the lifting oil cylinder 3 is a power source of the big arm 4, the big arm 4 can be controlled to move vertically by adopting hydraulic drive, and the dredging range is adjusted by the up-and-down movement. The large arm 4 may be mounted with an inclinometer 31 while detecting the balance state of the large arm 4 and the entire robot.

The tipping bucket 7 is arranged on the large arm 4 and driven by the tipping bucket oil cylinder 6 to realize the swinging of the tipping bucket 7, the tipping bucket 7 is matched with the tipping bucket oil cylinder 6, the dredging amplitude can be adjusted, and when the tipping bucket meets obstacles such as stones, sundries are shoveled and carried under the action of the tipping bucket oil cylinder 6.

The tipping bucket oil cylinder 6, the dredging pump 5 and the tipping bucket 7 are installed in a matching way so as to absorb the sludge scattered by the tipping bucket 7, and the sludge is connected with a dredging pipeline through a sludge discharge pipe joint 27 and output.

This application regards box 2 as the supporting component, track 1 is as advancing component, drive apparatus synchronous displacement such as box 2, not only give the whole less specification of robot, make it satisfy little space operation space desilting requirements such as pond canal, tipping bucket 7 adopts rotatable/wobbling activity structure, big arm 4 cooperates with lift cylinder 3, tipping bucket 7 cooperates with tipping bucket hydro-cylinder 6, realize the adjustment of actual operation position 7 height of tipping bucket and angle promptly, in operation, adjust the desilting breadth, improve desilting efficiency, thereby satisfy the processing demand of different operating modes. During the operation, the crawler 1, the lifting oil cylinder 3, the tipping bucket oil cylinder 6 and the like can be connected with an oil pump through a power oil pipe joint 24 so as to supply power.

As an alternative: referring to fig. 2, the lift cylinder 3 is connected between the boom 4 and the casing 2, and the boom 4 is connected to the casing 2 through the lift shaft 41. When the lifting oil cylinder 3 is started, the output shaft of the lifting oil cylinder is extended to push the large arm 4 to move upwards, and the large arm 4 swings around the lifting rotating shaft 41 relative to the box body 2, so that the tipping bucket 7 on the large arm 4 is driven to move along with the swinging.

As an alternative: referring to fig. 1, the hoist cylinder 6 is connected between the boom 4 and the hoist 7, and the hoist 7 is attached to the end of the boom 4 via a hoist rotation shaft 71. The tipping bucket oil cylinder 6 is started, the output shaft of the tipping bucket oil cylinder is extended, one end of the tipping bucket 7 connected with the output shaft is pushed to be far away from the connecting part of the tipping bucket oil cylinder 6 and the large arm 4, and the tipping bucket 7 swings/rotates relative to the large arm 4 around the tipping bucket rotating shaft 71, so that the change of the coverage area of the tipping bucket 7, namely the adjustment of the dredging width is realized.

As an alternative: with reference to fig. 1, the tipping buckets 7 are arranged in pairs, can be separated at two sides of the front end of the large arm 4 in a manner shown in fig. 1, and are matched with each other, so that bilateral regulation and control are realized, the dredging width is increased, and the dredging efficiency is improved.

As an alternative: with reference to fig. 2, the bottom of the skip 7 is provided with a scraper 72, the skip 7 can be made of hard materials such as steel to improve the practicability, and the bottom of the skip 7 can be provided with the scraper 72 to enhance the contact density between the skip 7 and the ditch and avoid the dredging omission caused by the gap between the skip 7 and the ditch.

As an alternative: with reference to fig. 1 and 2, the device further comprises a stirring mechanism, the stirring mechanism comprises a stirring motor 8 and an impeller 81, the stirring motor 8 is used for driving the stirring impeller 81, and the impeller 81 is in a cutting design and can crush blocking impurities at any time.

Preferably:

the stirring mechanism further comprises a nozzle 82, the nozzle 82 is communicated with high-pressure water through a high-pressure water inlet 83, and large silt blocks which possibly exist can be smashed under the impact of the high-pressure water, so that the dredging pump can work conveniently, and the stirring efficiency and the stirring uniformity are improved.

A partition plate 84 is arranged between the stirring mechanism and the dredging pump 5, with reference to figure 2, a plurality of filtering holes 85 are arranged on the partition plate 84, the filtering holes 85 are arranged corresponding to the suction inlet of the dredging pump 5, the partition plate 84 can adopt an arc structure and is fixed at the front end of the large arm 4, the stirring motor 8 is arranged on the partition plate, the impeller 81 is positioned in a space surrounded by the arc structure, a nozzle 82 and a high-pressure water inlet 83 are arranged in the space above the impeller 81, the filtering holes 85 are arranged at one side connected with the large arm 4, the dredging pump 5 is arranged corresponding to the filtering holes 85, the stirring mechanism and the dredging pump 5 are divided by the partition plate 84, so that stirring is formed into a relatively opposite stirring area, thus, the stirring motor 8 and the nozzle 82 are both arranged at the front end of the large arm 4, the stirring motor 8 is used for driving the stirring impeller 81, and large-size sludge blocks which may exist can be broken under the impact of the high-pressure water of the nozzle 82, the desilting pump 5 of being convenient for works, and desilting pump 5, filtration hole 85 can take silt out through filtration hole 85 in the stirring district, and filtration hole 85 can prevent that debris from getting into the impeller of desilting pump 5, blockking up the desilting pump body, and impeller 81 is the cutting form design with filtration hole 85, smashes at any time and blocks up debris.

As an alternative: referring to fig. 2, a camera 29 is disposed on the box 2, the camera 29 is a float-type camera, and floats on the water surface of the working area, and the camera 29 captures images of the surrounding environment in real time and transmits the images to the workbench.

As an alternative: combine fig. 1 and fig. 2, still including electromagnetism valves 21 and PLC electronic box 22, electromagnetism valves 21, PLC electronic box 22 are located 2 interior positions of leaning on, and PLC electronic box 22 is responsible for collecting the information of all kinds of sensors to control the platform through cable joint 23 transmission desilting robot's various data and image information to ground, control the platform on ground and pass through PLC electronic box 22 control electromagnetism valves 21, reach the purpose of controlling track, desilting pump, tipping bucket etc..

As an alternative: referring to fig. 1, a liquid level sensor 28 may be further installed in the box body 2 to detect whether water leaks from the box body 2 at any time, thereby ensuring safe operation of the main box body of the robot.

As an alternative: with reference to fig. 1 and 2, the tank body 2 is further provided with an oil drain tank 27 and an oil drain motor 271, the oil drain tank 27 is mainly used for collecting oil drain back of the caterpillar 1 and the stirring motor 8, and when the oil level in the oil drain tank 27 reaches a full tank, the oil drain motor 271 is automatically started to drain oil.

The working process of the dredging robot in the embodiment can be described as follows:

1) the robot is debugged on the ground, the tipping bucket 7 is in a folded state, and the tipping bucket is vertically hoisted by utilizing the hoisting ring 26 at the tail part of the box body 2 and slowly enters an inspection opening. And after the front part reaches the sludge layer, continuously releasing the hoisting steel wire rope to enable the robot to be completely horizontally arranged on the sludge layer.

2. Starting the ground hydraulic power station, opening the tipping bucket 7 through the tipping bucket oil cylinder 6, then starting the stirring motor 8 and the nozzle 82 to completely disturb the silt in the dredging and stirring area, and starting the dredging pump 5. And (4) conveying the sludge in the pool or the channel to a silt separation device vehicle on the ground through a sludge discharge pipe for separation treatment.

3. Through the induction system on the desilting robot, can make various data in the pond, like image, robot equilibrium degree, desilting height etc. data display in the operation face are on the display screen at intelligent control center.

4. When the sediment layer is thicker, the lifting oil cylinder 3 is started, and the dredging height and range are adjusted through the big arm 4.

5. After the sludge at the point is cleaned, the crawler 1 is started to continue to be pushed forward, and then the next point is cleaned.

6. When meeting the block stone or other obstacles, the grille 73 of the tipping bucket 7 can be controlled by the tipping bucket oil cylinder 6 at the front part, and the block stone is carried away from a silt cleaning point or is carried to an inspection opening.

The dredging robot has the following advantages:

1. small volume, flexibility, adaptability to the inlet and outlet of a small working port and good dredging effect.

2. The crawler-type propulsion structure can deal with various complex terrain conditions.

3. The box body 2 is designed to be sealed and explosion-proof, so that explosion of combustible gas caused by electric contact sparks can be avoided, and the use of a machine is well protected.

4. The stirring and advancing system adopts hydraulic drive, and the failure rate of the robot in the working state is reduced.

5. The use of devices such as a PLC programmer and the like enables the robot to be more intelligent and the transmission and operation to be simpler and more convenient.

6. The movable tipping bucket 7 is designed, so that the robot can adapt to a small-size working opening during hoisting, equipment can enter an inspection opening of 80 multiplied by 80cm, the dredging width can be adjusted during working, and the dredging efficiency is improved.

7. The grille 73 of the dump box 7 provides a guarantee for the robot to clean obstacles in front.

Claims (10)

1. The utility model provides a desilting robot is used to pond canal which characterized in that: the sludge cleaning device comprises a box body, a large arm, a dredging pump and a tipping bucket, wherein the box body is driven by a pair of tracks, the large arm is connected onto the box body, the large arm is driven by a lifting oil cylinder to lift relative to the box body, the tipping bucket is arranged on the large arm and driven by a tipping bucket oil cylinder to swing the tipping bucket, and the dredging pump is matched with the tipping bucket to absorb sludge scattered by the tipping bucket and output the sludge through a dredging pipeline.

2. The desilting robot for the pond and the canal according to claim 1, wherein: the lifting oil cylinder is connected between the large arm and the box body, and the large arm is connected with the box body through the lifting rotating shaft.

3. The desilting robot for the pond and the canal according to claim 1, wherein: the tipping bucket oil cylinder is connected between the large arm and the tipping bucket, and the tipping bucket is arranged at the end part of the large arm through a tipping bucket rotating shaft.

4. The desilting robot for the pond and the canal according to claim 1, wherein: the tipping buckets are arranged in pairs.

5. The desilting robot for the pond and the canal according to claim 1, wherein: and the bottom of the tipping bucket is provided with a scraper.

6. The desilting robot for the pond and the canal according to claim 1, wherein: the stirring mechanism comprises a stirring motor and an impeller, and the hydraulic motor is used for driving the impeller.

7. The desilting robot for the pond and the canal according to claim 6, wherein: the stirring mechanism comprises a nozzle which is communicated with high-pressure water.

8. The desilting robot for the pond and the canal according to claim 6, wherein: a partition plate is arranged between the stirring mechanism and the dredging pump, a plurality of filtering holes are formed in the partition plate, and the filtering holes correspond to suction ports of the dredging pump.

9. The desilting robot for the pond and the canal according to claim 1, wherein: the box body is provided with a camera shooting mechanism which is a float type camera shooting mechanism.

10. A dredging robot for a pond and canal according to any one of claims 1-9, wherein: the box is seal structure, installs electromagnetism valves and PLC electronic box in it, and the PLC electronic box is responsible for collecting the information of all kinds of sensors to according to information control electromagnetism valves.

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