CN216948701U - Intelligent dredging robot - Google Patents

Abstract

The utility model provides an intelligent dredging robot which comprises a walking unit, a suspension system fixedly connected with the walking unit and a machine body fixedly connected to the suspension system through a machine body fixing frame, wherein the walking unit comprises a crawler, a driving system for driving the crawler to rotate and a supporting plate for supporting a crawler wheel shaft, and a crawler beam fixedly connected with the suspension system is arranged on the supporting plate; the suspension system comprises an angle adjusting mechanism fixedly connected with the supporting plate and a supporting beam fixedly connected with the crawler beam, the suspension system further comprises a supporting frame hinged with the supporting beam, the machine body further comprises a sludge shoveling and sucking system connected with the machine body fixing frame in a sliding mode and a control system electrically connected with a driving system of the walking unit. When the pipe that has the radian is interior during operation, this intelligence desilting robot's track atress is even, is difficult for appearing the problem that the in-process track of marcing drops, adapts to the work scene on the different radian surfaces of drainage system, like ditch case and blow off pipe.

Description

Intelligent dredging robot

Technical Field

The utility model relates to the field of dredging equipment of drainage systems, in particular to an intelligent dredging robot.

Background

Along with the further acceleration of urban construction, the construction of an underground drainage system is correspondingly increased in urban expansion. However, while in construction, urban waterlogging due to sudden extreme rainfall highlights the importance of the maintenance of the drainage system. The drainage system comprises a drainage pipe network, a channel box, a pump station and the like. Pipeline dredging is an important part in maintenance of a drainage system, namely, the pipeline is dredged, sludge in the pipeline is cleaned, and long-term smoothness is kept. A large amount of sundries discharged from residents in the drainage pipeline and cement sand in the capital construction site are precipitated and deposited to cause the pipeline to be blocked. The pipe network runoff is sharply reduced and even blocked due to irregular pipeline dredging. The drainage pipeline must be cleaned regularly, and the method has extremely important significance for protecting the urban environment, avoiding pollution, maintaining the appearance of the city and improving the life quality of people. Thanks to the development of the technology, the pipeline dredging work at present is basically completed by various robots instead of manpower.

Most of the existing dredging robots drive the crawler belt to be fixed below the robot body and perpendicular to the robot body or form a certain inclination angle with the robot body, so that the crawler belt can be attached to the inner wall of a pipeline, and the wall grabbing force of the crawler belt is enhanced to help the robot to drive. However, due to the complexity of the urban drainage system, one region often needs to adapt to a channel box, a pump station and dredging robots with different pipe diameters, and if the crawler belt of a single-model robot is not attached to the inner wall of a dredging place, the crawler belt can be pressed and fall off in the walking process, so that great risk is brought to equipment operation. Therefore, such a robot with a fixed crawler cannot meet the actual demand.

Therefore, the intelligent dredging robot which is simple in operation, suitable for the canal box and the drain pipes with different pipe diameters is researched and developed to meet the urgent needs of the market.

Disclosure of Invention

The utility model aims to develop an intelligent dredging robot which is simple to operate, is suitable for a canal box and is also suitable for drain pipes with different pipe diameters, and the specific technical scheme is as follows:

the utility model provides an intelligent dredging robot which comprises a walking unit, a suspension system and a machine body, wherein the suspension system is fixedly connected with the walking unit, the machine body is fixedly connected to the suspension system through a machine body fixing frame, the walking unit comprises a crawler, a driving system and a supporting plate, the driving system drives the crawler to rotate, the supporting plate is used for supporting a crawler wheel shaft, and a crawler cross beam fixedly connected with the suspension system is arranged on the supporting plate; the suspension system comprises an angle adjusting mechanism fixedly connected with the supporting plate, a supporting beam fixedly connected with the crawler beam, a supporting frame hinged with the supporting beam, a sludge shoveling and sucking system connected with the machine body fixing frame in a sliding mode, and a control system electrically connected with a driving system of the walking unit. The robot after assembling is gone to inner wall such as blow off pipe for curved application scene from the application scene of levels such as canal case, through the angle adjustment mechanism of control robot suspension system, angle adjustment mechanism drives the track and follows a supporting beam rotatory, let track and the vertical tangent plane of fuselage produce the contained angle, finally realize track and the laminating of blow off pipe inner wall, the atress of track is even under such state, the difficult problem that robot in-process track drops that appears, also make the robot have the ability of the different blowdown pipe diameters of adaptation.

Preferably, the support frame is the font structure of falling V, and a support beam is connected in articulated respectively at support frame both ends, and a supporting beam passes through U-shaped joint structure and crawler beam fixed connection, angle adjustment mechanism is two structures that set up between two support beams and subtend setting, and angle adjustment mechanism still includes the first telescopic link of being connected with a supporting beam is articulated, the tilting arm of being connected with the first telescopic link other end is articulated, and wherein the tilting arm is L font structure, and the horizontal section of tilting arm is articulated with a supporting beam and is connected, and the vertical section of tilting arm is articulated with first telescopic link and is connected, and the horizontal section of tilting arm still with the backup pad fixed connection of crawler. In the structure, the fixed connection between the walking unit and the suspension system is realized through the U-shaped clamping structure and the angle adjusting mechanism, the structure is stable, and meanwhile, the angle adjustment of the crawler belt is realized through the hinging of the support frame and the support beam of the suspension system and the hinging of the angle adjusting mechanism and the support beam. The angle adjustment of certain walking is realized through the rotation of the parts of the suspension system, and the structure is more stable than a hinge structure of a pure walking unit and the suspension system. After the equipment, two supporting beams are connected with the stiff end of a first telescopic link is articulated when crawler beam fixed connection respectively, the expansion end of two first telescopic links all articulates the tilt arm, this moment because the axial distance of two supporting beams is fixed by the support frame, the extension of simultaneous control telescopic link or shorten both can drive the tilt arm rotation, because the other end and the track backup pad of tilt arm are fixed, the angle that corresponds track and the vertical tangent plane of fuselage and form changes, the actual effect is the arc inner wall of track laminating sewage pipes. The structure of the adjusting structure is simple, the operation is convenient, the change range of the included angle formed by the crawler and the machine body is large, and the robot is suitable for dredging work of various application scenes in a drainage system. It is worth mentioning that the distance between the crawler and the machine body can be increased by the support frame which is in an inverted V-shaped structure, and further the angle adjusting stroke of the crawler is increased.

Preferably, the supporting beam is of a circular tubular structure, first through holes matched with the outer diameter of the supporting beam are formed in two ends of the supporting frame, and the supporting beam penetrates through the first through holes and is hinged to the supporting frame. The circular tubular supporting beam is connected with the first through hole of the supporting frame, so that the suspension frame is simpler in structure, and more convenient to assemble due to the fact that a connecting piece is omitted. Meanwhile, the circular tubular supporting beam is simpler in structure when being hinged with the inclined arm, and the suspension system structure of the dredging robot is further simplified. The articulated connection ensures that the two parts connected rotate about an axis with one stationary and the other, which advantageously assists the suspension system in achieving angular adjustment of the track.

Preferably, the transverse section of the inclined arm is provided with a second through hole matched with the outer diameter of the support beam, and the support beam penetrates through the second through hole to be connected with the inclined arm in an articulated mode. The support beam is inserted into the second through hole of the inclined arm, and the inclined arm takes the support beam as a support and rotates around the support beam, so that the angle adjusting structure is simple in structure.

Preferably, the first telescopic link stiff end is connected with a supporting beam through cup jointing in a pull ring of a supporting beam in an articulated manner, and the pull ring comprises a trepanning sleeved with the supporting beam and a bolt hole hinged with the first telescopic link stiff end through a shaft pin. The equipment is convenient to assemble through sleeving the sleeve holes and hinging the bolt holes and the shaft pins, and the flexibility of dismounting and mounting of the suspension structure of the dredging robot is improved.

Preferably, two ends of the support beam are fixedly connected with two track support beams on the track support plate through two U-shaped clamping structures respectively, each U-shaped clamping structure comprises a clamping plate with 4 screw holes and two U-shaped clamps detachably connected with the clamping plates through screws. The two ends of the supporting beam are fixedly connected with the track supporting beam at the two ends of the track supporting plate through the U-shaped clamping structure, so that the situation that the track and the supporting beam deflect to form a stable whole can be guaranteed, the track drives the supporting beam to rotate in the first through hole, and finally the track deflects relative to the machine body.

Preferably, the number of the support frames is at least 2, and the support frames are parallel to each other and can be rotatably connected to the support beam. The suspension system of intelligent desilting robot is integrated to form rectangular structure, increases the stability of the suspension system of robot by the support frame more than two and two supporting beam.

Preferably, the first telescopic rod is a hydraulic telescopic rod. The flexible thrust of hydraulic telescoping rod is stronger, is fit for the use of different weight model robots, as long as pass through the hydraulic pressure union coupling at the pneumatic cylinder both ends of hydraulic stem and hydraulic controller when using the hydraulic stem can, hydraulic system is common power pack on the desilting robot, and the suspension system that directly uses the increase desilting robot is compatible.

Preferably, the silt shoveling and sucking system comprises a front shovel positioned at the front end of the machine body and a mud pump fixed on the machine body fixing frame, and the mud pump enables a mud sucking port to extend forwards to the upper part of the front shovel through a mud sucking pipe. In the advancing process, the sludge is accumulated at the front shovel, the dredging robot sucks the sludge through a sludge suction port connected with a sludge pump, and the sludge is pressurized by a sludge suction pump and discharged through a sewage discharge port connected with a sewage discharge pipe, so that the dredging effect is achieved.

Preferably, a water spraying gun is arranged above the front shovel and is connected with a water pump through a hose, and the water pump is fixed on the machine body fixing frame. The water pump sucks water pressure boost around the fuselage and spouts from the spray gun, and the circulation is washed the solidification silt that blocks the desilting robot and move ahead, reinforcing desilting effect.

Preferably, a plurality of spray heads are arranged on the water spraying gun, the direction of water flow sprayed by the spray heads is towards the advancing direction of the robot, but the angles are different, the spray heads at certain angles can be selectively installed or opened according to the working condition requirements, or the calibers of the spray heads are replaced, so that different spraying forces are generated to flush the accumulated sludge.

Preferably, the machine body fixing frame comprises an upper beam and a front beam fixedly connected with the upper beam, the front shovel is connected with the front beam in a sliding mode through a sleeve structure, the front beam is further provided with a second telescopic rod, a fixing portion of the second telescopic rod is fixedly connected with the front beam, and a movable portion of the second telescopic rod is fixedly connected with the front shovel. The shovel slides from top to bottom along the front-axle beam before the control of second telescopic link to crossing the barrier in the sewage pipes, like the arch of kneck, the upper and lower slip of preceding shovel can produce the spatula action simultaneously, can conveniently clear away hard silt piece more. The connected mode of bushing structure is more nimble, except can making preceding shovel can slide from top to bottom at the front beam still conveniently change preceding shovel under different scene requirements, for example change flat preceding shovel before the canal box construction, change the preceding shovel of arc bottom before the arc inner wall construction such as pipeline, more be favorable to the robot to implement the work of desilting.

Preferably, the lower edge of the front shovel is of an arc-shaped structure. The arc-shaped structure can enable the front shovel to adapt to the inner wall of the sewage discharge pipe, so that the dredging robot can dredge more thoroughly.

Preferably, the control system comprises an electric control unit, a hydraulic control unit and a wiring unit, and all the units are fixedly arranged on the machine body fixing frame through a pot-shaped sealing device. The control system of the dredging robot adopts unit type integral sealing installation, each unit is connected with a test and then fixed on a robot body, the sealing device of the related unit is only required to be taken down during maintenance, and the control system can be installed and returned after the treatment is finished without involving other parts of the robot.

Preferably, the can-shaped sealing device comprises a can body with a containing cavity, a flange structure is arranged on the edge of the can body, the can-shaped sealing device further comprises a can cover matched with the flange structure, a vent valve and a wiring hole are arranged on the can cover, the can cover is fixedly connected with a mounting frame on the bonding surface of the can body, and a control element is fixedly connected onto the mounting frame. The sealing device is installed at every time and then compressed air is filled in the inflation valve, the inflation valve is closed, the pressure gauge is connected to the valve port, the inflation valve is opened again, whether the numerical value of the pressure gauge is reduced or not can be observed after standing for a period of time, whether the sealing device leaks air or not can be deduced, more control elements of the underwater robot are controllers of equipment such as an underwater camera, a sonar and light, the cost is high, the airtightness of the sealing device needs to be confirmed when the robot overhauls at every time, and the inflation valve is additionally arranged on the tank cover to enable airtightness detection to be more convenient.

Preferably, the machine body fixing frame is fixedly provided with a hoisting upright post, and the upright post is provided with a hoisting ring. The upright column and the hanging ring are convenient for the transporting and hoisting of the dredging robot to enter and exit the work blow-off pipe.

The beneficial effects of the utility model are: the intelligent dredging robot provided by the utility model can adjust the included angle between the crawler and the robot body according to the different pipe diameters of the sewage discharge pipe to be dredged, finally adjust the crawler to be attached to the inner pipe wall of the sewage discharge pipe, and when the robot moves in the sewage discharge pipe after adjustment, the crawler is uniformly pressed, so that the fault that the crawler falls off cannot be generated. Simultaneously, each functional unit of the intelligent dredging robot is simple in structure, easy and convenient to operate and powerful in function, and the market requirements are completely met.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent dredging robot according to the present invention;

FIG. 2 is a first part disassembly drawing of the intelligent dredging robot of the present invention;

FIG. 3 is a second drawing for disassembling the components of the intelligent dredging robot according to the present invention;

FIG. 4 is a schematic structural diagram of a suspension system of the intelligent dredging robot of the present invention;

FIG. 5 is a first drawing showing the parts disassembled of the suspension system of the intelligent dredging robot according to the present invention;

FIG. 6 is a second exploded view of the suspension system of the intelligent dredging robot of the present invention;

FIG. 7 is a schematic structural diagram of the intelligent dredging robot after adjusting the angle of the crawler belt;

FIG. 8 is a schematic structural diagram of a tank-shaped sealing device of the intelligent dredging robot;

fig. 9 is a part disassembly diagram of the pot-shaped sealing device of the intelligent dredging robot.

Detailed Description

Other advantages and capabilities of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification by describing embodiments of the present invention with specific embodiments and by referring to the attached drawings. The utility model is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention.

The utility model provides an intelligent dredging robot, which has the following structural characteristics:

as shown in fig. 1 to 9, the intelligent dredging robot includes a walking unit 001, a suspension system 002 fixedly connected with the walking unit 001, and a body 003 fixedly connected to the suspension system 002 through a body mount 0031, wherein the walking unit 001 includes a pair of caterpillar 0011, a driving system 0012 for driving the caterpillar 0011 to rotate, and a supporting plate 0014 for supporting a wheel axle 0013 of the caterpillar 0011, a caterpillar cross beam 0015 hinged to the suspension system 002 is provided on the supporting plate 0014, the suspension system 002 includes a supporting beam 0022 fixedly connected to the caterpillar cross beam 0015, and a supporting frame 0023 hinged to the supporting beam 0022. Suspension 002 still includes the angle adjustment mechanism 0021 with backup pad 0014 fixed connection, angle adjustment mechanism 0021 is fixed between the backup pad 0014 of a pair of track 0011, fuselage body 003 passes through organism mount 0031 fixed connection in the top of support frame 0023, angle adjustment mechanism 0021 is used for adjusting the contained angle between fuselage body 003 and the track 0011, fuselage body 003 still includes the silt shovel system 0032 of inhaling with organism mount 0031 sliding connection, fuselage body 003 still includes the control system 0033 of the actuating system 0012 of control walking unit 001.

Further, support frame 0023 is the font structure of falling V, a support beam 0022 is connected in the articulated respectively in support frame 0023 both ends, a support beam 0022 passes through U-shaped joint structure 0024 and crawler beam 0015 fixed connection, wherein, angle adjustment mechanism 0021 is two flexible push-pull structures that set up between two support beams 0022 and subtend setting, flexible push-pull structure includes the first telescopic link 0025 that one end and a support beam 0022 are articulated to be connected, and the tilting arm 0026 of being connected with the other end of first telescopic link 0025 is articulated, wherein tilting arm 0026 is L font structure, tilting arm 0026's horizontal section is connected with a support beam 0022 is articulated, tilting arm 0026's vertical section upwards stretches out and is articulated with first telescopic link 0025 to be connected, tilting arm 0026's horizontal section still with the backup pad 0014 fixed connection of crawler 0011.

Furtherly, a supporting beam 0022 is circular tubular structure, and the support frame 0023 both ends are provided with the first through-hole 0026 that matches with a supporting beam 0022 external diameter, and a supporting beam 0022 passes first through-hole 0026 and is connected with the support frame is articulated.

Further, a transverse section of the inclined arm 0026 is provided with a second through hole 0027 matched with the outer diameter of the support beam 0022, and the support beam 0022 penetrates through the second through hole 0027 to be hinged with the inclined arm 0026.

Further, first telescopic link 0025 stiff end is connected with a supporting beam 0022 is articulated through cup jointing in a supporting beam's pull ring 0028, and pull ring 0028 includes the trepanning 00291 that cup joints with a supporting beam 0022 and passes through pivot articulated keyhole 00292 with first telescopic link 0025 stiff end.

Further, two ends of the supporting beam 0022 are respectively fixedly connected with two crawler beams 0015 on the crawler supporting plate 0014 through two U-shaped clamping structures 0024, each U-shaped clamping structure 0024 comprises a clamping plate 00241 with 4 screw holes, and two U-shaped clamping plates 00242 detachably connected with the clamping plate 00241 through screws.

Further, the number of the supporting frames 0023 is at least 2, and the supporting frames are hinged to the supporting beam 0022 in parallel.

Further, the first telescopic rod 0025 is a hydraulic telescopic rod. Under the drive of the angle adjusting mechanism 0021, the included angle A between the caterpillar 0011 and the vertical tangent plane of the machine body 003 can reach 36 degrees at most.

Further, the sludge shoveling and sucking system 0032 includes a front shovel 00321 positioned at the front end of the body 003, and a sludge pump 00322 fixed on the body fixing frame 0031, wherein the sludge pump 00322 extends the sludge suction port to above the front shovel 00321 through a sludge suction pipe 00323.

Further, a water spraying gun 00324 is arranged above the front shovel 00321, the water spraying gun 00324 is connected with a water pump 00325 through a hose (not shown), and the water pump 00325 is fixed on the machine body fixing frame 0031.

Further, the water spraying gun 00324 is provided with a plurality of nozzles 007, which spray water in different angles in the direction of the robot.

Further, the machine body fixing frame 0031 comprises an upper beam 00328 and a front beam 00327 fixedly connected with the upper beam 00328, the front shovel 00321 is slidably connected with the front beam 00327 through a sleeve structure 00326, the front beam 00327 is further provided with a second telescopic rod 00329, a fixed part of the second telescopic rod 00329 is fixedly connected with the front beam 00327, and a movable part of the second telescopic rod 00329 is fixedly connected with the front shovel 00321.

Further, the lower edge of the front shovel 00321 has an arc-shaped structure.

Further, the control system 0033 includes an electric control unit 0034, a hydraulic control unit 0035, and a wiring unit 0036, and each unit is fixedly mounted on the machine body fixing frame 0031 through a can-shaped sealing device 004.

Further, the can-shaped sealing device 004 includes a can body 0041 having a containing cavity 0048, a flange structure 0042 is arranged at the edge of the can body 0041, the can-shaped sealing device 004 further includes a can cover 0043 matched with the flange structure 0042, a vent valve 0044 and a wiring hole 0045 are arranged on the can cover 0043, the can cover 0043 is fixedly connected with a mounting rack 0046 on the can body binding face, and a control element 0047 is fixedly connected with the mounting rack 0046.

Further, a gasket 0049 is disposed on the tank 0041.

Furthermore, a hoisting column 005 is fixedly mounted on the machine body fixing frame 0031, the column is provided with a hanging ring 0051, the column is hidden in the housing 006, and the hanging ring 0051 is exposed through a round hole 0061 of the housing 006.

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, which are used only 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.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the protection scope of the present invention, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. The intelligent dredging robot is characterized by comprising a walking unit, a suspension system fixedly connected with the walking unit and a machine body fixedly connected to the suspension system through a machine body fixing frame, wherein the walking unit comprises a crawler, a driving system for driving the crawler to rotate and a supporting plate for supporting a crawler wheel shaft, and a crawler beam fixedly connected with the suspension system is arranged on the supporting plate; the suspension system comprises an angle adjusting mechanism fixedly connected with the supporting plate, a supporting beam fixedly connected with the crawler beam, a supporting frame hinged with the supporting beam, a sludge shoveling and sucking system connected with the machine body fixing frame in a sliding mode, and a control system electrically connected with a driving system of the walking unit.

2. The intelligent dredging robot of claim 1, wherein the support frame is of an inverted V-shaped structure, two ends of the support frame are respectively and hingedly connected with a support beam, the support beam is fixedly connected with a cross beam of the crawler through a U-shaped clamping structure, the angle adjusting mechanism further comprises a first telescopic rod and a tilting arm, the first telescopic rod is hinged with the support beam, the tilting arm is hinged with the other end of the first telescopic rod, the tilting arm is of an L-shaped structure, a transverse section of the tilting arm is hinged with the support beam, a vertical section of the tilting arm is hinged with the first telescopic rod, and a transverse section of the tilting arm is further fixedly connected with a support plate of the crawler.

3. The intelligent dredging robot of claim 2, wherein the supporting beam is a circular tubular structure, the two ends of the supporting frame are provided with first through holes matched with the outer diameter of the supporting beam, and the supporting beam passes through the first through holes and is hinged with the supporting frame; and a second through hole matched with the outer diameter of the support beam is formed in the transverse section of the inclined arm, and the support beam penetrates through the second through hole to be hinged with the inclined arm.

4. The intelligent dredging robot of claim 3, wherein the first telescopic rod fixing end is hinged to the support beam through a pull ring sleeved on the support beam, and the pull ring comprises a sleeve hole sleeved with the first support beam and a bolt hole hinged to the first telescopic rod fixing end through a shaft pin.

5. The intelligent dredging robot of claim 3, wherein two ends of the support beam are respectively and fixedly connected with two track support beams on the track support plate through two U-shaped clamping structures, each U-shaped clamping structure comprises a clamping plate with 4 screw holes and two U-shaped clamps detachably connected with the clamping plate through screws; the support frame is 2 at least, and articulated connection is on a supporting beam parallel to each other.

6. The intelligent dredging robot of claim 1, wherein the silt shoveling and sucking system comprises a front shovel slidably connected with the machine body fixing frame, and a mud pump fixed on the machine body fixing frame, and the mud pump extends a mud sucking port to the upper part of the front shovel through a mud sucking pipe.

7. The intelligent dredging robot of claim 6, wherein a water spraying gun is arranged above the front shovel, the water spraying gun is connected with a water pump through a hose, and the water pump is fixed on the machine body fixing frame.

8. The intelligent dredging robot of claim 7, wherein the body fixing frame comprises an upper beam and a front beam fixedly connected with the upper beam, the front shovel is slidably connected with the front beam through a sleeve structure, the front beam is further provided with a second telescopic rod, a fixed portion of the second telescopic rod is fixedly connected with the front beam, and a movable portion of the second telescopic rod is fixedly connected with the front shovel.

9. The intelligent dredging robot of claim 1, wherein the control system comprises an electrical control unit, a hydraulic control unit and a wiring unit, and each unit is fixedly arranged on the machine body fixing frame through a pot-shaped sealing device.

10. The intelligent dredging robot of claim 9, wherein the can-shaped sealing device comprises a can body with a containing cavity, a flange structure is arranged on the edge of the can body, a can cover matched with the flange structure is further arranged on the can cover, a vent valve and a wiring hole are formed in the can cover, the can cover is fixedly connected with a mounting frame through a joint face of the can body, and a control element is fixedly connected to the mounting frame.

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