CN218027917U - Detect desilting underwater robot - Google Patents
Detect desilting underwater robot Download PDFInfo
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- CN218027917U CN218027917U CN202221732235.6U CN202221732235U CN218027917U CN 218027917 U CN218027917 U CN 218027917U CN 202221732235 U CN202221732235 U CN 202221732235U CN 218027917 U CN218027917 U CN 218027917U
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Abstract
The utility model discloses a desilting underwater robot, which comprises a shell, a desilting mechanism and a filtering mechanism; a housing: the lower end of the shell is provided with a crawler chassis, the left end inside the shell is respectively provided with a driving motor, the tail ends of output shafts of the driving motors are respectively fixedly connected with driving wheels of the crawler chassis, the left end inside the shell is provided with a storage battery, and the right end inside the shell is provided with a data transmitter; the desilting mechanism: the right end of the shell is provided with a first groove; a filtering mechanism: the filter mechanism is arranged at the upper end of the shell and is matched with the dredging mechanism, and the upper end of the right side surface of the filter mechanism is provided with a camera; wherein: still include the PLC controller, should detect desilting underwater robot, filter and temporarily store the cubic material in the silt, avoid the too much pipeline that causes of cubic material to block up, guarantee the normal clear of desilting process, improve the desilting effect simultaneously, reduce the desilting and remain.
Description
Technical Field
The utility model relates to an underwater dredging technical field specifically is a detect desilting underwater robot.
Background
The underwater robot is a device which can move underwater, has a vision and sensing system, and can replace or assist people to complete underwater operation tasks by using a mechanical arm or other tools through a remote control or autonomous operation mode, and can be used in the fields of oil exploitation, seabed mineral deposit investigation, salvage operation, pipeline laying and inspection, cable laying and inspection, mariculture, dam inspection of rivers and reservoirs and the like, wherein the underwater robot is also used for cleaning underwater silt, so that the labor input is reduced.
In the prior art, when an underwater robot is used for cleaning sludge, the underwater sludge condition needs to be detected by the underwater robot firstly, and then the underwater sludge is cleaned by a bucket or other dredging parts arranged on the underwater robot.
However, in the process of conveying the cleaned sludge to the outside by some underwater robots, blocky substances in the sludge easily cause blockage of pipelines, and even if some underwater robots are provided with filtering parts, the filtered sludge can return to the water again, so that a lot of sludge is left, and the sludge cleaning effect is reduced.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome current defect, provide a detect desilting underwater robot, filter and temporary storage the cubic material in the silt, avoid pipeline to block up, improve the desilting effect, reduce the desilting and remain, can effectively solve the problem in the background art.
In order to achieve the above purpose, the utility model provides a following technical scheme: a detecting dredging underwater robot comprises a shell, a dredging mechanism and a filtering mechanism;
a housing: the lower end of the shell is provided with a crawler chassis, the left end inside the shell is respectively provided with a driving motor, the tail ends of output shafts of the driving motors are respectively fixedly connected with driving wheels of the crawler chassis, the left end inside the shell is provided with a storage battery, and the right end inside the shell is provided with a data transmitter;
the desilting mechanism: the right end of the shell is provided with a first groove;
a filtering mechanism: the filter mechanism is arranged at the upper end of the shell and is matched with the dredging mechanism, and the upper end of the right side surface of the filter mechanism is provided with a camera;
wherein: still include the PLC controller, the PLC controller sets up in the inside of casing, and the input electricity of PLC controller is connected in the output of battery, and the output electricity of camera is connected in the input of PLC controller, and driving motor's input electricity is connected in the output of PLC controller, and data transmission ware and the two-way electricity of PLC controller are connected, filters and temporary storage to the cubic material in the silt, avoids the cubic material too much to cause the pipeline to block up, guarantees the normal clear and admire of process, improves the desilting effect simultaneously, and it remains to reduce the desilting.
Further, desilting mechanism is including changeing board, driver part, water conservancy diversion part and scraper bowl, change the board and rotate respectively through the pivot and connect in the commentaries on classics downthehole of casing right-hand member, two right-hand members that change the board all with scraper bowl fixed connection, the inside of scraper bowl rotates and is connected with water conservancy diversion part, driver part sets up in the right-hand member of casing, driver part and water conservancy diversion part fixed connection, shovels out submarine silt.
Further, the water conservancy diversion part includes rotary column, guide plate and rotary drum, the rotary column passes through sealed bearing and rotates the middle part of connecting in the scraper bowl, and the extrados middle part of rotary column is equipped with the guide plate, and both ends all are equipped with the rotary drum around the extrados of rotary column, and the extrados of rotary drum is equipped with spiral guide vane respectively, breaks up silt.
Further, the driving part comprises a motor, a first belt pulley, a belt and a second belt pulley, the motor is symmetrically arranged at the right end of the shell in the front and back direction, the tail end of an output shaft of the motor penetrates through holes in the surfaces of the shell and the rotating plate respectively and is provided with the first belt pulley, the second belt pulley is arranged at the front end and the back end of the rotating column respectively, the first belt pulley and the second belt pulley corresponding to the transverse position are connected through a belt in a transmission mode, and the input end of the motor is electrically connected to the output end of the PLC controller to provide power for rotation of the rotating column.
Further, filtering mechanism includes bin and coupling hose, the bin sets up in the upper end of casing, and the right flank upper end of bin is equipped with the camera, is equipped with coupling hose between the discharge gate at the feed inlet of bin and scraper bowl middle part, stores cubic material in the silt.
Further, the filter mechanism further comprises a first filter plate and a second filter plate, the first filter plate is arranged at the upper end of the storage box, and the second filter plate is arranged inside a discharge hole in the middle of the bucket and used for filtering blocky materials in the sludge.
Further, still include electric putter, electric putter has two and front and back distributions, and electric putter's flexible end and stiff end all are equipped with the commentaries on classics piece, and the commentaries on classics piece of upside rotates through the connecting plate of last pivot and bin right flank respectively to be connected, and the commentaries on classics piece of downside rotates through the connecting plate of lower pivot and commentaries on classics board upper surface respectively to be connected, and electric putter's input electricity is connected in the output of PLC controller, provides power for the rotation of commentaries on classics board.
Compared with the prior art, the beneficial effects of the utility model are that: this detect desilting underwater robot has following benefit:
start driving motor through the PLC controller, make the integrated device remove along ground under water, gather the image under water through the camera, and will gather image transmission to external control center through data transmission ware, make the staff judge the silt condition under water, when needs desilting, start electric putter, make the lower extreme and the silt bottom contact of scraper bowl, along with the removal of integrated device, shovel silt into the scraper bowl inside, the starter motor simultaneously, drive the rotary column, guide plate and rotary drum rotate, break up silt and promote rivers and silt and get into the bin inside through connecting hose, outside water pump starts simultaneously, carry silt and rivers to the outside together through the pipeline of bin upper end, in this process, filter the large granule stone in the silt through the second filter plate, avoid inside the large granule stone gets into connecting hose, filter the cubic material in the silt through first filter plate, make the cubic material in the silt stay inside the bin, filter the cubic material in the silt and cause the temporary storage, avoid blocky material to block up the pipeline, guarantee that the desilting process normally goes on, the desilting effect is improved simultaneously, the desilting effect is remained.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the inside of the casing of the present invention;
FIG. 3 is an enlarged schematic view of the structure at the position A of the present invention;
fig. 4 is a schematic structural diagram of the filtering mechanism of the present invention.
In the figure: the device comprises a shell 1, a crawler chassis 2, a driving motor 3, a storage battery 4, a data transmitter 5, a camera 6, a dredging mechanism 7, a rotating plate 71, a driving part 72, a motor 721, a first belt pulley 722, a 723 belt, a second belt pulley 724, a flow guide part 73, a 731 rotating column, a guide plate 732, a rotating drum 733, a bucket 74, a filtering mechanism 8, a storage tank 81, a first filtering plate 82, a connecting hose 83, a second filtering plate 84, an electric push rod 9, a PLC (programmable logic controller) 10 and a rotating block 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, the present embodiment provides a technical solution: a detecting dredging underwater robot comprises a shell 1, a dredging mechanism 7 and a filtering mechanism 8;
a housing 1: the lower end of the shell is provided with a crawler chassis 2, the whole device is moved by the rotation of a crawler in the crawler chassis 2, the left end in the shell 1 is respectively provided with a driving motor 3, the tail end of an output shaft of the driving motor 3 is respectively and fixedly connected with a driving wheel of the crawler chassis 2 to provide power for the rotation of the crawler in the crawler chassis 2, the left end in the shell 1 is provided with a storage battery 4 to provide power for the work of the whole device, and the right end in the shell 1 is provided with a data transmitter 5 to transmit detected information to the outside;
desilting mechanism 7: the dredging mechanism 7 comprises rotating plates 71, a driving part 72, a flow guide part 73 and a bucket 74, the rotating plates 71 are respectively connected in a rotating hole at the right end of the shell 1 in a rotating way through rotating shafts, the right ends of the two rotating plates 71 are respectively fixedly connected with the bucket 74, the flow guide part 73 is rotatably connected in the bucket 74, the driving part 72 is arranged at the right end of the shell 1, the driving part 72 is fixedly connected with the flow guide part 73, the flow guide part 73 comprises a rotating column 731, a flow guide plate 732 and a rotating drum 733, the rotating column 731 is rotatably connected in the middle of the bucket 74 through a sealed bearing, the middle of an extrados of the rotating column 731 is provided with the flow guide plate 732, the front end and the rear end of the extrados of the rotating column 731 are provided with the rotating drum 733, the extrados of the rotating drum 733 are respectively provided with spiral flow guide plates, the driving part 72 comprises a motor 721, a first belt pulley 722, a belt 724 and a second belt pulley, the front end and the rear end of the motor 721 are symmetrically arranged at the right end of the interior of the shell 1, the end of the output shaft of the motor 721 passes through the through holes on the surfaces of the housing 1 and the rotating plate 71 respectively and is provided with a first belt pulley 722, second belt pulleys 724 are arranged at the front and rear ends of the rotating column 731 respectively, the first belt pulley 722 and the second belt pulley 724 corresponding to the transverse position are in transmission connection through a belt 723, the input end of the motor 721 is electrically connected with the output end of the PLC controller 10, when desilting is needed, the rotating plate 71 is rotated to make the lower end of the bucket 74 contact with the bottom of sludge, the sludge is shoveled into the bucket 74 along with the movement of the whole device, the motor 721 is started, the output shaft of the motor 721 drives the first belt pulley 722 to rotate, because the central axis of the output shaft of the motor 721 is collinear with the central axis of the rotating shaft at the left end of the rotating plate 71, the rotation of the rotating plate 71 does not influence the transmission of the belt 723, and is in transmission connection through the belt 723, the second belt pulley 724 drives the rotary column 731, the guide plate 732 and the rotary drum 733 to rotate, the spiral guide pieces on the outer arc surface of the rotary drum 733 rotate to scatter sludge and push water flow and sludge to move towards the middle of the bucket 74, the sludge and the water flow are pushed into the storage component through the rotation of the guide plate 732, the device further comprises two electric push rods 9, the electric push rods 9 are distributed front and back, the tail ends of the telescopic end and the fixed end of each electric push rod 9 are respectively provided with a rotary block 11, the rotary blocks 11 on the upper side are respectively and rotatably connected with a connecting plate on the right side surface of the storage box 81 through upper rotating shafts, the rotary blocks 11 on the lower side are respectively and rotatably connected with a connecting plate on the upper surface of the rotary plate 71 through lower rotating shafts, the input end of each electric push rod 9 is electrically connected with the output end of the PLC 10, the electric push rods 9 are started, the telescopic end of each electric push rod 9 extends, the rotary blocks 11 and the adjacent connecting plates rotate relatively to drive the rotary plates 71 and the bucket 74 to rotate counterclockwise, and provide power for the rotation of the bucket 74;
the filtering mechanism 8: the sludge dredging device is arranged at the upper end of the shell 1, the filtering mechanism 8 is matched with the dredging mechanism 7, the upper end of the right side face of the filtering mechanism 8 is provided with the camera 6, the filtering mechanism 8 comprises a storage box 81 and a connecting hose 83, the storage box 81 is arranged at the upper end of the shell 1, the upper end of the right side face of the storage box 81 is provided with the camera 6, the connecting hose 83 is arranged between a feed inlet of the storage box 81 and a discharge outlet of the middle part of the bucket 74, the filtering mechanism 8 further comprises a first filter plate 82 and a second filter plate 84, the first filter plate 82 is arranged at the upper end of the interior of the storage box 81, the second filter plate 84 is arranged in the discharge outlet of the middle part of the bucket 74, under the connecting action of the connecting hose 83, sludge and water flow in the middle part of the bucket 74 enter the storage box 81, an external water pump is started at the same time, the sludge and the water flow are conveyed to the outside through a pipeline at the upper end of the storage box 81, in the process, large-particle stones in the sludge are filtered through the second filter plate 84, the large particle stones in the sludge are prevented from entering the connecting hose 83, and the blocky substances in the sludge are filtered through the first filter plate 82, so that the blocky substances in the sludge in the storage box 81, the sludge are left in the storage box 81, the sludge is prevented from being blocked, and the sludge conveying pipeline, and the sludge is prevented from being blocked, and the blockage of the sludge conveying pipeline, and the dredging effect of the dredging pipeline is improved;
wherein: the intelligent control device is characterized by further comprising a PLC (programmable logic controller) 10, wherein the PLC 10 is arranged inside the shell 1, the input end of the PLC 10 is electrically connected to the output end of the storage battery 4, the output end of the camera 6 is electrically connected to the input end of the PLC 10, the input end of the driving motor 3 is electrically connected to the output end of the PLC 10, the data transmitter 5 is electrically connected with the PLC 10 in a bidirectional mode, and starting and stopping of the whole device are controlled.
The utility model provides a pair of detect desilting underwater robot's theory of operation as follows: when underwater silt needs to be cleaned, the integral device is put into water, the integral device is made to sink to the bottom under the action of the dead weight of the integral device, the drive motor 3 is started through the PLC 10, an output shaft of the drive motor 3 drives a driving wheel of the crawler chassis 2 to rotate, the crawler is made to rotate, the integral device is made to move along the underwater ground, an underwater image is collected through the camera 6, the collected image is transmitted to an external control center through the data transmitter 5, a worker judges the underwater silt condition, when the silt needs to be cleaned, the electric push rod 9 is started, the telescopic end of the electric push rod 9 extends, the rotating block 11 and an adjacent connecting plate rotate relatively, the rotating plate 71 and the scraper bucket 74 are driven to rotate anticlockwise, the lower end of the scraper bucket 74 is made to contact with the bottom of the silt, the silt is shoveled into the scraper bucket 74 along with the movement of the integral device, meanwhile, the motor 721 is started, the output shaft of the motor 721 drives the first belt pulley 722 to rotate, because the central axis of the output shaft of the motor 721 is collinear with the central axis of the rotating shaft at the left end of the rotating plate 71, the rotation of the rotating plate 71 does not affect the transmission of the belt 723, the second belt pulley 724 drives the rotating column 731, the guide plate 732 and the rotating drum 733 to rotate through the transmission connection of the belt 723, the sludge is scattered and pushes water flow and sludge to move towards the middle part of the bucket 74 through the rotation of the guide plate 732, the sludge and the water flow are pushed into the connecting hose 83 through the rotation of the guide plate 732, the sludge enters the storage tank 81 along with the water flow, the external water pump is started, the sludge and the water flow are conveyed to the outside through the pipeline at the upper end of the storage tank 81, and in the process, large-particle stones in the sludge are filtered through the second filter plate 84, inside avoiding large granule stone to get into coupling hose 83, filtering the cubic matter in the silt through first filter plate 82, inside making the cubic matter in the silt stay bin 81, avoid causing pipeline to block up, improve the desilting effect simultaneously.
It should be noted that the PLC controller 10 disclosed in the above embodiment may be a TPC8-8TD PLC controller, the driving motor 3, the camera 6, the data transmitter 5, the motor 721 and the electric push rod 9 may be freely configured according to practical application scenarios, the driving motor 3 and the motor 721 may be a motor of 5IK40RGU-CF model, the camera 6 may be a high-definition camera of KN-HP857-4D model, the data transmitter 5 may be a radio transceiver of CC2510F16RSPR model, the electric push rod 9 may be an electric push rod of ANT-52 model, and the PLC controller 10 controls the driving motor 3, the camera 6, the data transmitter 5, the motor 721 and the electric push rod 9 to work by using a method commonly used in the prior art.
The above is only the embodiment of the present invention, and the patent scope of the present invention is not limited thereby, and all the equivalent structures or equivalent processes made by the contents of the specification and the drawings are utilized, or directly or indirectly applied to other related technical fields, and all the same principles are included in the patent protection scope of the present invention.
Claims (7)
1. The utility model provides a detect desilting underwater robot which characterized in that: comprises a shell (1), a dredging mechanism (7) and a filtering mechanism (8);
housing (1): the lower end of the shell is provided with a crawler chassis (2), the left end inside the shell (1) is respectively provided with a driving motor (3), the tail ends of output shafts of the driving motors (3) are respectively and fixedly connected with a driving wheel of the crawler chassis (2), the left end inside the shell (1) is provided with a storage battery (4), and the right end inside the shell (1) is provided with a data transmitter (5);
desilting mechanism (7): is arranged at the right end of the shell (1);
a filter mechanism (8): the upper end of the shell (1) is provided with a filtering mechanism (8) and a dredging mechanism (7) which are installed in a matching way, and the upper end of the right side surface of the filtering mechanism (8) is provided with a camera (6);
wherein: still include PLC controller (10), PLC controller (10) set up in the inside of casing (1), and the input electricity of PLC controller (10) is connected in the output of battery (4), and the output electricity of camera (6) is connected in the input of PLC controller (10), and the input electricity of driving motor (3) is connected in the output of PLC controller (10), and data transmission ware (5) and PLC controller (10) two-way electricity are connected.
2. The underwater robot for detecting desilting according to claim 1, characterized in that: desilting mechanism (7) are including changeing board (71), drive component (72), water conservancy diversion part (73) and scraper bowl (74), change board (71) and rotate through the pivot respectively and connect in the commentaries on classics downthehole of casing (1) right-hand member, the right-hand member of two commentaries on classics boards (71) all with scraper bowl (74) fixed connection, the internal rotation of scraper bowl (74) is connected with water conservancy diversion part (73), drive component (72) set up in the right-hand member of casing (1), drive component (72) and water conservancy diversion part (73) fixed connection.
3. The underwater robot for detecting and dredging as claimed in claim 2, wherein: the flow guide component (73) comprises a rotary column (731), a guide plate (732) and a rotary drum (733), the rotary column (731) is rotatably connected to the middle of the bucket (74) through a sealing bearing, the guide plate (732) is arranged in the middle of an outer arc surface of the rotary column (731), the rotary drum (733) is arranged at the front end and the rear end of the outer arc surface of the rotary column (731), and spiral flow guide sheets are respectively arranged on the outer arc surface of the rotary drum (733).
4. The underwater robot for detecting and dredging as claimed in claim 3, wherein: the driving component (72) comprises a motor (721), a first belt pulley (722), a belt (723) and a second belt pulley (724), the motor (721) is symmetrically arranged at the right end of the inside of the shell (1) in a front-back mode, the tail ends of output shafts of the motor (721) penetrate through holes in the surfaces of the shell (1) and the rotating plate (71) respectively and are provided with the first belt pulley (722), the second belt pulley (724) is arranged at the front end and the rear end of the rotating column (731) respectively, the first belt pulley (722) is in transmission connection with the second belt pulley (724) corresponding to the transverse position through the belt (723), and the input end of the motor (721) is electrically connected with the output end of the PLC (10).
5. The underwater robot for detecting desilting according to claim 2, characterized in that: filtering mechanism (8) include bin (81) and coupling hose (83), bin (81) set up in the upper end of casing (1), and the right flank upper end of bin (81) is equipped with camera (6), is equipped with coupling hose (83) between the discharge gate at the feed inlet of bin (81) and scraper bowl (74) middle part.
6. The underwater robot for detecting desilting according to claim 5, characterized in that: the filtering mechanism (8) further comprises a first filtering plate (82) and a second filtering plate (84), the first filtering plate (82) is arranged at the upper end of the inner portion of the storage box (81), and the second filtering plate (84) is arranged inside a discharging port in the middle of the bucket (74).
7. The underwater robot for detecting desilting according to claim 5, characterized in that: still include electric putter (9), electric putter (9) have two and front and back distribution, and electric putter (9) flexible end and stiff end all are equipped with commentaries on classics piece (11), and the commentaries on classics piece (11) of upside rotate through the connecting plate of last pivot and bin (81) right flank respectively and are connected, and the commentaries on classics piece (11) of downside rotate through the connecting plate rotation of pivot and commentaries on classics board (71) upper surface down respectively and are connected, and the input electricity of electric putter (9) is connected in the output of PLC controller (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221732235.6U CN218027917U (en) | 2022-07-05 | 2022-07-05 | Detect desilting underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221732235.6U CN218027917U (en) | 2022-07-05 | 2022-07-05 | Detect desilting underwater robot |
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| CN218027917U true CN218027917U (en) | 2022-12-13 |
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| CN202221732235.6U Active CN218027917U (en) | 2022-07-05 | 2022-07-05 | Detect desilting underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL446017A1 (en) * | 2023-09-04 | 2024-04-22 | Instytut Technologiczno-Przyrodniczy W Falentach Państwowy Instytut Badawczy | Vision system for the sand washer for water reservoirs |
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2022
- 2022-07-05 CN CN202221732235.6U patent/CN218027917U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL446017A1 (en) * | 2023-09-04 | 2024-04-22 | Instytut Technologiczno-Przyrodniczy W Falentach Państwowy Instytut Badawczy | Vision system for the sand washer for water reservoirs |
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