CN219100298U - A high-efficient desilting robot for comprehensively desilting - Google Patents

Abstract

The utility model provides a high-efficiency dredging robot for comprehensively dredging, which comprises a crawler running device, a bucket arranged in front of the crawler running device, a supporting platform arranged above the crawler running device, mechanical arms arranged on two sides of the supporting platform and a rotating device arranged between the crawler running device and the supporting platform and used for driving the supporting platform to rotate, wherein the bucket is arranged in front of the crawler running device; the support platform is provided with a flushing device at one end close to the bucket, and the flushing device comprises a flushing nozzle communicated with an external high-pressure water pipe and an adjusting device for adjusting the flushing angle of the flushing nozzle. Through the mode, the rotating device can be used for driving the supporting platform to rotate, so that the bucket can effectively clean sediment in all directions at the bottom of the culvert, and meanwhile, the flushing device is used for flushing sediment on the top and the side wall of the culvert, so that comprehensive dredging is simply, conveniently and efficiently realized.

Description

A high-efficient desilting robot for comprehensively desilting

Technical Field

The utility model relates to the technical field of sludge cleaning, in particular to a high-efficiency dredging robot for comprehensively dredging.

Background

Along with the acceleration of the urban process in China, the scale of the urban drainage system is gradually enlarged, and the urban drainage pipelines and box culverts are blocked and overflowed due to long-time sludge deposition, so that waterlogging is caused, and regular cleaning is urgently needed. Meanwhile, the environmental pollution problem caused by the city makes the sludge collection and the harmless treatment of factories highly important, and the sludge in the areas such as river channels, ditches, sludge ponds and the like also needs to be collected and cleaned regularly. The large-scale sewer pipes and box culverts which are hidden underground always adopt manual dredging, but the manual dredging has the defects of high operation difficulty and poor safety, and particularly, toxic gas existing in the box culverts is extremely easy to cause personal safety accidents, so dredging equipment capable of carrying out unmanned operation is urgently needed in the dredging industry.

The patent with publication number CN212001552U provides an underdrain dredging robot, which has the following structure: the bucket is connected with a numerical control oil pump through a hydraulic oil cylinder, the numerical control oil pump is connected with a large arm control hydraulic oil cylinder and an oil pump motor, the oil pump motor is connected with a driving wheel, a crawler belt is arranged outside the driving wheel, a chassis is arranged on the driving crawler belt, a cabin cover is arranged on the chassis, a large arm is arranged on the front periphery of the cabin cover, the large arm is connected with the bucket, the large arm control hydraulic oil cylinder is connected with the large arm, a diesel engine is connected with the numerical control oil pump, a hydraulic oil return oil tank is connected with the hydraulic oil cylinder through an oil pipe, the large arm control hydraulic oil cylinder is connected with the oil pump motor, a signal input end of a singlechip is connected with a remote controller, and an output end of the singlechip is connected with the numerical control oil pump and the diesel engine. Although the robot provided by the patent can carry out wading and long-distance operation in a limited space, the bucket can only carry out dredging along with the front and back running of the crawler belt, and cannot rotate left and right for dredging, so that the dredging range is narrow; meanwhile, the bucket can only scoop the bottom of the underdrain, and can not clear partial sediments attached to the top and the side wall of the underdrain, so that dredging is not complete; and lack the hopper of collecting silt in this robot, all need carry out follow-up desilting with debris such as silt in the scraper bowl after digging every time, whole desilting inefficiency.

In view of the above, it is necessary to design a dredging robot capable of dredging more comprehensively and efficiently to solve the above problems.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide the efficient dredging robot for comprehensively dredging, which drives the supporting platform to rotate by arranging the rotating device, so that the bucket can effectively clean sediment in all directions at the bottom of a culvert, and simultaneously, the flushing device is used for flushing sediment on the top and the side wall, thereby simply, conveniently and efficiently realizing the comprehensive dredging.

In order to achieve the above purpose, the utility model provides a high-efficiency dredging robot for comprehensively dredging, which comprises a crawler running device, a bucket arranged in front of the crawler running device, a supporting platform arranged above the crawler running device, mechanical arms arranged on two sides of the supporting platform and a rotating device arranged between the crawler running device and the supporting platform and used for driving the supporting platform to rotate; the support platform is provided with a flushing device at one end close to the bucket, and the flushing device comprises a flushing nozzle communicated with an external high-pressure water pipe and an adjusting device for adjusting the flushing angle of the flushing nozzle.

As a further improvement of the utility model, the adjusting device comprises a vertical angle adjusting component connected with the bottom of the flushing nozzle and used for driving the flushing nozzle to rotate along the vertical direction, and a horizontal angle adjusting component arranged between the vertical angle adjusting component and the supporting platform.

As a further improvement of the utility model, the vertical angle adjusting assembly comprises a connecting rod connected with the flushing nozzle, a rotating shaft for driving the connecting rod to rotate along the vertical direction and a first motor for driving the rotating shaft to rotate; the horizontal angle adjusting assembly comprises a horizontal rotary table arranged at the bottom of the vertical angle adjusting assembly and a second motor used for driving the horizontal rotary table to rotate.

As a further improvement of the utility model, a cradle head for fixing a camera device is arranged at one end of the supporting platform far away from the bucket; the camera device is arranged on the cradle head, and the observation direction of the camera device changes according to the rotation of the cradle head.

As a further improvement of the utility model, a baffle is arranged above the image pickup device and is used for preventing water drops remained at the top after flushing from affecting the operation of the image pickup device.

As a further improvement of the utility model, the support platform is provided with a support component; one end of the mechanical arm is connected with the bucket, and the other end of the mechanical arm is connected with the supporting component.

As a further improvement of the utility model, the mechanical arm is rotationally regulated through a linear hydraulic cylinder, one end of the linear hydraulic cylinder is connected with the mechanical arm, and the other end of the linear hydraulic cylinder is connected with the supporting component.

As a further improvement of the utility model, the side wall of the bucket is provided with a plurality of small holes for draining.

As a further development of the utility model, a hopper for charging is arranged above the support platform.

As a further improvement of the utility model, a telescopic frame for controlling the height of the hopper is arranged between the hopper and the supporting platform.

The beneficial effects of the utility model are as follows:

according to the efficient dredging robot for comprehensively dredging, the rotating device is arranged between the crawler traveling device and the supporting platform, so that the supporting platform can be driven to horizontally rotate relative to the crawler traveling device, and the mechanical arms on two sides of the supporting platform are driven to integrally rotate, so that the bucket can not only clear sediment in front, but also clear sediment on two sides through horizontal rotation, and the efficient dredging robot has a wider dredging range, so that sediment in all directions at the bottom of a culvert can be effectively cleared. Meanwhile, the flushing device is arranged on the supporting platform, so that the sediment on the top and the side wall of the culvert, which cannot be shoveled by the bucket, can be locally flushed, and the comprehensive dredging is simply, conveniently and efficiently realized.

Drawings

Fig. 1 is a schematic structural view of a high-efficiency dredging robot for overall dredging in a shoveling state.

Fig. 2 is a schematic structural diagram of the efficient dredging robot for comprehensive dredging in a material pouring state.

Fig. 3 is a schematic structural view of the efficient dredging robot for overall dredging in a hopper lifting state.

Reference numerals

10. A crawler belt walking device; 20. a bucket; 21. a small hole; 30. a support platform; 31. a first support; 32. a second support; 33. a third support; 41. a mechanical arm; 42. a linear hydraulic cylinder; 50. a rotating device; 61. flushing the spray head; 62. a connecting rod; 63. a rotating shaft; 64. a first motor; 65. a horizontal turntable; 66. a second motor; 71. a cradle head; 72. an image pickup device; 73. a baffle; 81. a hopper; 82. and a telescopic frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in detail with reference to the accompanying drawings and specific embodiments.

It should be noted that, in order to avoid obscuring the present utility model due to unnecessary details, only structures and/or processing steps closely related to aspects of the present utility model are shown in the drawings, and other details not greatly related to the present utility model are omitted.

In addition, it should be further noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1 to 3, the present utility model provides a high-efficiency dredging robot for dredging a whole surface, comprising a crawler 10, a bucket 20 arranged in front of the crawler 10, a support platform 30 arranged above the crawler 10, mechanical arms 41 arranged at both sides of the support platform 30, and a rotating device 50 arranged between the crawler 10 and the support platform 30 for driving the support platform 30 to rotate; a flushing device is arranged on one end, close to the bucket 20, of the supporting platform 30, and comprises a flushing nozzle 61 communicated with an external high-pressure water pipe and an adjusting device for adjusting the flushing angle of the flushing nozzle 61.

By the arrangement, the supporting platform 30 can be driven to rotate by the rotating device 50, so that the bucket 20 can effectively clean sediment in all directions at the bottom of the culvert; and simultaneously, the flushing device is used for flushing sediment on the top and the side wall of the culvert, so that comprehensive dredging is simply, conveniently and efficiently realized.

Specifically, referring to fig. 2, in some embodiments of the present utility model, the adjusting device includes a vertical angle adjusting assembly connected to the bottom of the shower head 61 for driving the shower head 61 to rotate in a vertical direction, and a horizontal angle adjusting assembly disposed between the vertical angle adjusting assembly and the support platform 30. The vertical angle adjusting assembly comprises a connecting rod 62 connected with the flushing nozzle 61, a rotating shaft 63 for driving the connecting rod 62 to rotate along the vertical direction, and a first motor 64 for driving the rotating shaft 63 to rotate; the horizontal angle adjusting assembly comprises a horizontal rotary table 65 arranged at the bottom of the vertical angle adjusting assembly and a second motor 66 used for driving the horizontal rotary table 65 to rotate.

So arranged, when the angle of the flushing nozzle 61 in the vertical direction needs to be adjusted, the first motor 64 can be controlled to drive the rotating shaft 63 to rotate by a required angle, so that the rotating shaft 63 drives the flushing nozzle 61 to rotate by the same angle through the connecting rod 62; when the angle of the flushing nozzle 61 in the horizontal direction needs to be adjusted, the second motor 66 can be controlled to drive the horizontal turntable 65 to rotate by a required angle, and then the horizontal turntable 65 integrally drives the flushing nozzle 61 to rotate by the same angle through the vertical angle adjusting assembly, so that the flushing nozzle 61 can controllably locally flush sediment required to be flushed on the top and the side wall of the culvert, and complete dredging of the culvert is realized.

In some embodiments of the present utility model, a pan-tilt head 71 for fixing a camera 72 is disposed on an end of the support platform 30 away from the bucket 20; the imaging device 72 is provided on the pan/tilt head 71, and the observation direction of the imaging device 72 is changed according to the rotation of the pan/tilt head 71. Meanwhile, on the ground outside the implication, a control room is further provided, and a control system in the control room is in communication connection with the camera device 72, so that the images collected by the camera device 72 are transmitted to the control system in real time, and an operator in the control room can regulate and control the directions of the bucket 20 and the flushing nozzle 61 according to the images collected by the camera device 72.

In some embodiments of the present utility model, a baffle 73 is disposed above the image pickup device 72 to prevent water droplets remaining on the top after flushing from affecting the operation of the image pickup device 72. An illumination device is also provided below the baffle 73 adjacent to the camera 72 for providing illumination to the camera 72.

Referring to fig. 1 and 2, the support platform 30 is provided with a support assembly; one end of the mechanical arm 41 is connected with the bucket 20, and the other end is connected with the supporting component; the mechanical arm 41 is rotationally adjusted through a linear hydraulic cylinder 42, one end of the linear hydraulic cylinder 42 is connected with the mechanical arm 41, and the other end of the linear hydraulic cylinder 42 is connected with the supporting component. More specifically, the support assembly includes a first support member 31, a second support member 32 and a third support member 33 fixed on the support platform 30, one end of the first support member 31 is rotatably connected with one end of the second support member 32 having a triangular shape, one end of the third support member 33 is rotatably connected with the middle part of the second support member 32, the other end of the third support member 33 is rotatably connected with the end of the mechanical arm 41, and one end of the second support member 32 far away from the first support member 31 is rotatably connected with the end of the linear hydraulic cylinder 42. By this arrangement, the rotation angle of the arm 41 in the vertical direction can be adjusted by the linear hydraulic cylinder 42, and the bucket 20 is driven to rotate in the vertical direction, and the rotation angle of the bucket 20 itself is controlled by the rotary hydraulic cylinder provided on the rotary shaft 63 of the bucket 20.

Meanwhile, since the mechanical arm 41 is connected with the supporting component arranged on the supporting platform 30, when the rotating device 50 rotates in the horizontal direction, the supporting platform 30 and the supporting component connected with the supporting platform 30, the mechanical arm 41 and other structures can be driven to rotate integrally, so that the shoveling direction of the bucket 20 is regulated and controlled in the horizontal direction, and the dredging range is enlarged. Specifically, in some embodiments of the present utility model, the rotating device 50 includes a rotating platform disposed at the bottom of the supporting platform 30 and a motor for driving the rotating platform to rotate around the center.

Referring to fig. 2 and 3 in combination, in some embodiments of the present utility model, a hopper 81 for loading is provided above the support platform 30, and when the bucket 20 rotates above the hopper 81 under the driving of the mechanical arm 41, the sludge in the bucket 20 is poured into the hopper 81. By the arrangement, after the bucket 20 is filled, the sediment in the bucket 20 is only required to be poured into the hopper 81, and dredging can be continued, so that dredging efficiency is effectively improved. In some embodiments of the utility model, the side wall of bucket 20 is provided with a plurality of small holes 21 for draining to drain the water from the sludge, reducing the water content in hopper 81 to load more sludge, further improving dredging efficiency.

Meanwhile, a telescopic frame 82 for controlling the height of the hopper 81 is also arranged between the hopper 81 and the supporting platform 30. So set up, after hopper 81 fills, dredging robot returns to the mouth of transferring down, rises expansion bracket 82, can rise hopper 81 to the entrance to a cave edge to the hoist lifts up hopper 81, and afterwards can replace new hopper 81 or empty the sediment in the former hopper 81 and resume the use again, then shrink expansion bracket 82, with hopper 81 down to the dark culvert inside, can resume dredging.

The working principle of the efficient dredging robot for comprehensively dredging provided by the utility model is described as follows:

when dredging, the high-pressure water pipe on the ground is communicated with the flushing nozzle 61, and then the efficient dredging robot for comprehensive dredging provided by the utility model is controlled from the lower part of the equipment lowering opening on the ground to the underground area to be dredging, and the staff on the ground can control the dredging robot in a control room by observing the influence collected by the camera device 72:

firstly, controlling a crawler traveling device 10 to drive a dredging robot to travel to an area to be dredged; and then observing whether the sediment to be cleaned exists on the top and the side wall of the area, regulating and controlling a vertical angle regulating component and a horizontal angle regulating component in the flushing device when the sediment is found, enabling the flushing nozzle 61 to face the position of the sediment, and then starting a water pump communicated with a high-pressure water pipe, so that high-pressure water flow is sprayed out of the flushing nozzle 61 to locally flush the sediment.

After sediment at the top and the side wall of the culvert is completely removed, controlling the rotation angle of the mechanical arm 41 through the linear hydraulic cylinder 42, and simultaneously controlling the rotation angle of the bucket 20 through the rotary hydraulic cylinder to scoop the sediment at the bottom of the culvert; after the bucket 20 is filled with the sediment, the rotary hydraulic cylinder is controlled to drive the bucket 20 to rotate until the opening is upward and parallel to the ground, then the linear hydraulic cylinder 42 is contracted to drive the mechanical arm 41 and the bucket 20 to integrally rotate above the hopper 81, then the rotary hydraulic cylinder is used to drive the bucket 20 to rotate until the opening is downward, and the sediment in the bucket 20 is poured into the hopper 81. After the dredging and dumping steps are repeated until the sludge in the dredging range of the bucket 20 is completely cleared, the rotation angle of the rotation device 50 is regulated and controlled to integrally rotate the support platform 30, the mechanical arm 41, the bucket 20 and the like, and the dredging and dumping steps are repeated.

After the sludge around the dredging robot is completely removed, the crawler belt traveling device 10 is controlled to drive the dredging robot to continuously travel forward to the area to be dredged, and the steps are repeated until the dredging is completed or the hopper 81 is full. When the hopper 81 is full, the crawler belt running device 10 is controlled to drive the dredging robot to retract to the discharging opening, the telescopic frame 82 is lifted, the hopper 81 is lifted to the edge of the opening, the hopper 81 is lifted by the crane and then replaced by a new hopper 81, the telescopic frame 82 is contracted, the hopper 81 is lowered to the interior of a culvert, and dredging can be continued.

Through the mode, the high-efficiency dredging robot for comprehensively dredging provided by the utility model has the advantages that the rotating device 50 is arranged between the crawler traveling device 10 and the supporting platform 30, the supporting platform 30 can be driven to horizontally rotate relative to the crawler traveling device 10, and the mechanical arms 41 on two sides of the supporting platform 30 are driven to integrally rotate, so that the bucket 20 can not only clear sediment in front, but also clear sediment on two sides through horizontal rotation, and a wider dredging range is provided, so that sediment in all directions at the bottom of a culvert can be effectively cleared. Meanwhile, the flushing device is arranged on the supporting platform 30, so that the sediment on the top and the side wall of the culvert, which cannot be shoveled by the bucket 20, can be locally flushed, and the comprehensive dredging is simply, conveniently and efficiently realized.

In summary, the present utility model provides a high-efficiency dredging robot for dredging a whole surface, which comprises a crawler 10, a bucket 20 disposed in front of the crawler 10, a support platform 30 disposed above the crawler 10, mechanical arms 41 disposed on two sides of the support platform 30, and a rotating device 50 disposed between the crawler 10 and the support platform 30 for driving the support platform 30 to rotate; a flushing device is arranged on one end, close to the bucket 20, of the supporting platform 30, and comprises a flushing nozzle 61 communicated with an external high-pressure water pipe and an adjusting device for adjusting the flushing angle of the flushing nozzle 61. Through the mode, the rotary device 50 can be used for driving the supporting platform 30 to rotate, so that the bucket 20 can effectively clean sediment in all directions at the bottom of the culvert, and meanwhile, the flushing device is used for flushing sediment on the top and the side wall of the culvert, so that comprehensive dredging is simply, conveniently and efficiently realized.

The above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model.

Claims (10)

1. A high-efficient desilting robot for comprehensively desilting, its characterized in that: the crawler belt type mechanical arm comprises a crawler belt running device, a bucket arranged in front of the crawler belt running device, a supporting platform arranged above the crawler belt running device, mechanical arms arranged on two sides of the supporting platform and a rotating device arranged between the crawler belt running device and the supporting platform and used for driving the supporting platform to rotate; the support platform is provided with a flushing device at one end close to the bucket, and the flushing device comprises a flushing nozzle communicated with an external high-pressure water pipe and an adjusting device for adjusting the flushing angle of the flushing nozzle.

2. The efficient dredging robot for comprehensive dredging as recited in claim 1, wherein: the adjusting device comprises a vertical angle adjusting component, a horizontal angle adjusting component and a supporting platform, wherein the vertical angle adjusting component is connected with the bottom of the flushing nozzle and used for driving the flushing nozzle to rotate along the vertical direction, and the horizontal angle adjusting component is arranged between the vertical angle adjusting component and the supporting platform.

3. The efficient dredging robot for comprehensive dredging as recited in claim 2, wherein: the vertical angle adjusting assembly comprises a connecting rod connected with the flushing nozzle, a rotating shaft for driving the connecting rod to rotate along the vertical direction and a first motor for driving the rotating shaft to rotate; the horizontal angle adjusting assembly comprises a horizontal rotary table arranged at the bottom of the vertical angle adjusting assembly and a second motor used for driving the horizontal rotary table to rotate.

4. The efficient dredging robot for comprehensive dredging as recited in claim 1, wherein: a cradle head for fixing the camera device is arranged at one end, far away from the bucket, of the supporting platform; the camera device is arranged on the cradle head, and the observation direction of the camera device changes according to the rotation of the cradle head.

5. The efficient dredging robot for comprehensive dredging as recited in claim 4, wherein: and a baffle is arranged above the image pickup device and used for preventing residual water drops at the top from affecting the operation of the image pickup device after flushing.

6. The efficient dredging robot for comprehensive dredging as recited in claim 1, wherein: the support platform is provided with a support assembly; one end of the mechanical arm is connected with the bucket, and the other end of the mechanical arm is connected with the supporting component.

7. The efficient dredging robot for comprehensive dredging as recited in claim 6, wherein: the mechanical arm is rotationally adjusted through a linear hydraulic cylinder, one end of the linear hydraulic cylinder is connected with the mechanical arm, and the other end of the linear hydraulic cylinder is connected with the supporting component.

8. The efficient dredging robot for comprehensive dredging as recited in claim 1, wherein: the side wall of the bucket is provided with a plurality of small holes for draining.

9. The efficient dredging robot for comprehensive dredging as recited in claim 1, wherein: a hopper for charging is arranged above the supporting platform.

10. The efficient dredging robot for comprehensive dredging as recited in claim 9, wherein: and a telescopic frame for controlling the height of the hopper is arranged between the hopper and the supporting platform.

Images