CN219586797U - Frame-type sliding shoe structure and vertical direct suction type dredging robot - Google Patents
Frame-type sliding shoe structure and vertical direct suction type dredging robot Download PDFInfo
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- CN219586797U CN219586797U CN202320448656.4U CN202320448656U CN219586797U CN 219586797 U CN219586797 U CN 219586797U CN 202320448656 U CN202320448656 U CN 202320448656U CN 219586797 U CN219586797 U CN 219586797U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The utility model discloses a frame type sliding shoe structure and a vertical direct suction type dredging robot, which belong to the technical field of dredging and comprise a box type buoyancy body and a sliding shoe, wherein the box type buoyancy body is arranged up and down, the middle of the box type buoyancy body is concave upwards, the outer edge of the box type buoyancy body is fixedly arranged on the upper surface of the sliding shoe, and a first accommodating space is formed between the middle lower surface of the box type buoyancy body and the upper surface of the sliding shoe. The utility model adopts the frame-type sliding shoe structure formed by the box-type buoyancy body and the sliding shoes as the main body frame of the dredging robot, and the sliding shoes at the bottom of the box body can greatly reduce the resistance action of the dredging robot in the horizontal movement process, so that the dredging robot cannot sink when in underwater suspension or walking on the water surface, the energy consumption of the dredging robot when moving in a three-dimensional space is reduced, and the underwater suspension and the water surface walking dredging of the dredging robot are realized.
Description
Technical Field
The utility model relates to the technical field of dredging, in particular to a frame type sliding shoe structure and a vertical direct suction type dredging robot.
Background
The dredging operation of the sewage pool belongs to limited space operation, accidents of the limited space operation are frequent, the risk is high, and meanwhile, when the dredging operation is carried out, the risk of the dredging operation of the sewage pool is extremely high due to the influence of factors such as narrow working face, environmental humidity and the like.
A large amount of poisonous and harmful gases, inflammable and explosive gases, generated by accumulation of sludge in the sewage tank, give off odor, and the random construction can cause accidents such as poisoning, explosion and the like, so that casualties are caused. The sewage pool is accumulated with water, and temporary electricity utilization facilities such as lighting equipment and the like in a humid environment can generate electricity leakage under high voltage, so that electric shock accidents can be caused. After an accident occurs, the working face of the sewage pool is narrow, so that the sewage pool is difficult to perceive in the first time, meanwhile, the rescue difficulty is high, timely and effective rescue is difficult to provide for victims in a short time, and irrecoverable loss is caused.
The dredging operation is carried out by using mechanization instead of manpower, which is a great trend under technical innovation, the robot enters a sewage pool to effectively ensure the life and property safety of people, meanwhile, the working efficiency of the robot is high, the long-time high-strength operation can be kept, the difficulty of safety management is reduced, and the safety risk is greatly reduced. At present, a walking mechanism of an underwater dredging robot generally adopts a crawler belt, has a complex structure, cannot realize underwater suspension, water surface walking and the like, and can only carry out dredging operation at the water bottom; and because the monitoring capability of the robot to the surrounding environment is weaker, the information collection of the surrounding environment of the robot is incomplete when an operator is dredging, and blind areas are easy to appear so as to cause accidents.
The utility model patent application with publication number of CN109577400A discloses a crawler chassis stirring-sucking type dredging robot, which can realize underwater harmless movement and rapid dredging. However, the adoption of the crawler chassis cannot realize the underwater suspension and the water surface walking of the dredging robot, the dredging operation can be only carried out at the water bottom, the centrifugal slurry pump is easy to block and even the impeller is blocked to break the coupling, and spare parts cannot be replaced underwater; the robot has no automatic navigation system, the vision system equipped with the robot in the dredging process cannot be used at all because the turbidity of water is too high, and the robot is operated by pure shoreside manual feeling or experience, so that the robot is inaccurate and unsafe.
The utility model patent with publication number CN214784640U discloses a city deep sewage transmission tunnel detection and dredging robot, which comprises a tunnel structure detection device, a dredging operation device, a robot underwater positioning device, a robot underwater walking device and a robot communication control device; the tunnel structure detection device comprises a muddy water camera and a sonar; the dredging operation device comprises a sludge shovel which is carried on the front part of the robot body; the robot underwater positioning device comprises a gyroscope; the robot communication control device comprises an underwater cable and a controller, and the controller is connected with the ground control platform through the underwater cable. The crawler chassis is adopted, so that underwater suspension and water surface walking of the dredging robot cannot be realized, and dredging operation can be performed only at the water bottom.
Disclosure of Invention
In order to overcome the defects that the dredging robot in the prior art has a complex structure, can not realize underwater suspension and water surface walking, and can only perform dredging operation at the water bottom; the utility model provides a frame-type sliding shoe structure, which comprises a box-type buoyancy body and a sliding shoe, wherein the box-type buoyancy body is arranged up and down, the middle of the box-type buoyancy body is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the sliding shoe, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body and the upper surface of the sliding shoe.
The frame-type sliding shoe structure formed by the box-type buoyancy body and the sliding shoe is used as a main body frame of the dredging robot, the box-type buoyancy body can generate a certain amount of buoyancy, partial power required by the dredging robot in the floating or floating process can be offset, and the sliding shoe design at the bottom of the box body can greatly reduce the resistance effect of the dredging robot in the horizontal moving process, so that the dredging robot cannot sink when the dredging robot floats underwater or walks on the water surface, the energy consumption of the dredging robot when the dredging robot moves in the three-dimensional space is reduced, and the underwater floating and water surface walking dredging of the dredging robot is realized.
Preferably, the sliding shoe is plate-shaped, a first suction pipe mounting hole is formed in the middle of the sliding shoe, and a second suction pipe mounting hole is formed in the box-type buoyancy body at a position right above the first suction pipe mounting hole.
Preferably, a plurality of smooth concave surfaces are formed on the outer edge of the box-type buoyancy body, and the extending height of the smooth concave surfaces from the middle of the box-type buoyancy body to the outer edge of the box-type buoyancy body is linearly or nonlinearly reduced.
Preferably, a translational propeller mounting position is formed at the position of the smooth concave surface of the upper surface of the sliding shoe exposed outside the first accommodating space.
Preferably, the smooth concave surface lower edge is arranged on the upper surface of the sliding shoe to divide the upper surface of the sliding shoe into a part positioned in the first accommodating space and a part positioned outside the first accommodating space, and the translational propeller mounting position is formed on the upper surface of the sliding shoe positioned outside the first accommodating space.
Preferably, the outer edge of the box-type buoyancy body downwards extends to form an extension edge, and the lower surface of the extension edge is fixedly arranged on the outer edge of the upper surface of the sliding shoe; a translational propeller mounting table is formed between the smooth concave surface and the extension edge, and a propeller mounting hole is formed in the translational propeller mounting table.
Preferably, the translational propeller mounting table is a plane parallel to the sliding shoe, and a translational propeller mounting position is formed on the upper surface of the sliding shoe at a position corresponding to the propeller mounting hole.
Preferably, the sliding shoe is provided with more than two first lifting propeller mounting holes, and the box-type buoyancy body is provided with second lifting propeller mounting holes corresponding to the first lifting propeller mounting holes at positions right above the first lifting propeller mounting holes.
Preferably, the middle of the box-type buoyancy body is concaved upwards to form a buoyancy body first plane, and the second lifting propeller mounting hole is arranged on the buoyancy body first plane; the edge of the second lifting propeller mounting hole extends towards the direction of the corresponding first lifting propeller mounting hole to form a lifting propeller mounting cylinder.
The utility model also provides a vertical direct suction type dredging robot, which comprises the frame type sliding shoe structure. The dredging robot further comprises a mud suction mechanism and a vector propeller, the mud suction mechanism is arranged on the first mud suction pipe mounting hole and the second mud suction pipe mounting hole, the vector propeller comprises a translation vector propeller for controlling the dredging robot to translate and a lifting vector propeller for controlling the dredging robot to lift, the translation vector propeller is arranged at a translation propeller mounting position, and the lifting vector propeller is arranged in a lifting propeller mounting cylinder.
The beneficial effects are that:
the technical scheme of the utility model has the following beneficial effects: the frame-type sliding shoe structure formed by the box-type buoyancy body and the sliding shoe is used as a main body frame of the dredging robot, the box-type buoyancy body can generate a certain amount of buoyancy, partial power required by the dredging robot in the floating or floating process can be offset, and the sliding shoe design at the bottom of the box body can greatly reduce the resistance effect of the dredging robot in the horizontal moving process, so that the dredging robot cannot sink when the dredging robot floats underwater or walks on the water surface, the energy consumption of the dredging robot when the dredging robot moves in the three-dimensional space is reduced, and the underwater floating and water surface walking dredging of the dredging robot is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a frame-type slipper structure in accordance with an embodiment of the present utility model;
FIG. 2 is a perspective exploded view of a frame-type slipper structure in accordance with an embodiment of the present utility model;
FIG. 3 is a perspective view of a box buoyancy body in accordance with one embodiment of the present utility model;
fig. 4 is a perspective view of a vertical suction type dredging robot according to the first embodiment of the utility model;
FIG. 5 is a perspective view of a frame-type slipper structure in accordance with a second embodiment of the present utility model;
FIG. 6 is a perspective exploded view of a frame-type slipper structure in accordance with a second embodiment of the present utility model;
FIG. 7 is a perspective view of a buoyancy body of a second embodiment of the present utility model;
fig. 8 is a perspective view of a vertical suction type dredging robot according to a second embodiment of the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
Embodiment one:
as shown in fig. 1-4, the frame-type slipper structure 1 comprises a box-type buoyancy body 11 and a slipper 12 which are arranged up and down, wherein the middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body 11 is fixedly arranged on the upper surface of the slipper 12, and a first accommodating space is formed between the lower surface of the middle of the box-type buoyancy body 11 and the upper surface of the slipper 12.
Here, the skid shoe 12 is plate-shaped, in particular, is similar to a rectangular flat plate, the four corners of the skid shoe are in transition with smooth round corners, a first suction pipe mounting hole 121 is formed in the middle of the skid shoe, and a second suction pipe mounting hole 111 is formed in the box-type buoyancy body 11 at a position right above the first suction pipe mounting hole 121; the edge of the second suction pipe mounting hole 111 extends to the first suction pipe mounting hole 121 to form a suction pipe mounting cylinder 120, a plurality of smooth concave surfaces 112 are formed on the outer edge of the box-type buoyancy body 11, and the extending height of the smooth concave surfaces 112 from the middle of the box-type buoyancy body 11 to the outer edge thereof is linearly or non-linearly reduced.
The outer edge of the box-type buoyancy body 11 is downwards extended to form an extension edge 113, and the lower surface of the extension edge 113 is fixedly arranged on the outer edge of the upper surface of the sliding shoe 12.
A translational pusher mounting table 114 is formed between the smooth concave surface 112 and the extension edge 113, and a pusher mounting hole 115 is formed on the translational pusher mounting table 114.
The translational thrust runner 114 is a plane parallel to the sliding shoe 12, and a translational thrust runner mounting position 122 is formed on the upper surface of the sliding shoe 12 at a position corresponding to the thrust runner mounting hole 115.
The sliding shoe 12 is formed with more than two first lifting propeller mounting holes 123, wherein the number of the first lifting propeller mounting holes is 4, and the connecting line of the centers of the 4 first lifting propeller mounting holes 123 is square or rectangular concentric with the sliding shoe; a second lift thruster mounting hole 116 corresponding to the first lift thruster mounting hole 123 is formed in the box-type buoyancy body 11 at a position right above the first lift thruster mounting hole 123.
The middle of the box-type buoyancy body 11 is concaved upwards to form a buoyancy body first plane 117, and the second lifting propeller mounting hole 116 is arranged on the buoyancy body first plane 117; the second lifting thruster mounting hole 116 extends along the direction of the first lifting thruster mounting hole 123 corresponding to the edge of the second lifting thruster mounting hole to form a lifting thruster mounting cylinder 118; here preferably 4 first lift thruster mounting holes 123 are located just near the four corners of said buoyancy body first plane 117.
The outer edge of the sliding shoe 12 is extended downwards to form a section of guard plate 13 which has the same outline as the extension edge 113; the upper surface of the front end portion of the box-type buoyancy body 11 is formed with a monitor mounting position 119.
As shown in fig. 4, the present embodiment provides a vertical suction type dredging robot 100, which includes a frame-type slipper structure 1. The dredging robot 100 further comprises a mud sucking mechanism 2, a vector propeller 3 and a monitoring mechanism 4, the mud sucking mechanism 2 is arranged on the first mud sucking pipe mounting hole 121 and the second mud sucking pipe mounting hole 111, the vector propeller 3 comprises a translation vector propeller 31 for controlling the translation of the dredging robot 100 and a lifting vector propeller 32 for controlling the lifting of the dredging robot, the translation vector propeller 31 is arranged at a translation propeller mounting position 122, and the lifting vector propeller 32 is arranged in a lifting propeller mounting cylinder 118; the monitoring mechanism 4 is mounted on the monitoring mounting site 119.
Embodiment two:
as shown in fig. 5-8, the frame-type slipper structure 1 comprises a box-type buoyancy body 11 and a slipper 12 which are arranged up and down, wherein the middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body 11 is fixedly arranged on the upper surface of the slipper 12, and a first accommodating space is formed between the lower surface of the middle of the box-type buoyancy body 11 and the upper surface of the slipper 12.
Here, the slipper 12 has a plate-like shape, specifically a flat plate structure with a wide front and a narrow rear, and two corner positions at the front end use smooth rounded transitions; the front and rear sides of the front and rear sides are transited by a connecting surface 124, wherein the connecting surface can be a smooth curved surface or a plane surface.
A first suction pipe mounting hole 121 is formed in the middle of the sliding shoe 12, a second suction pipe mounting hole 111 is formed on the box-type buoyancy body 11 at a position right above the first suction pipe mounting hole 121, and a suction pipe mounting barrel 120 is formed on the edge of the second suction pipe mounting hole 111 extending towards the first suction pipe mounting hole 121. The outer edge of the box-type buoyancy body 11 is provided with a plurality of smooth concave surfaces 112, and the height of the smooth concave surfaces 112 extending from the middle of the box-type buoyancy body 11 to the outer edge thereof is linearly or nonlinearly reduced. A translational pusher mounting position 122 is formed on the upper surface of the sliding shoe 12 at the position of the smooth concave surface 112 exposed outside the first accommodating space. The lower edge of the smooth concave surface 112 is fixedly mounted on the upper surface of the sliding shoe 12 to divide the upper surface of the sliding shoe 12 into the inner part located in the first accommodating space and the outer part located in the first accommodating space, wherein an extending edge 113 extending downwards can be arranged on the lower edge of the smooth concave surface 112, and the lower surface of the extending edge 113 is fixedly mounted on the outer edge of the upper surface of the sliding shoe 12. The translational pusher mounting position 122 is formed on the upper surface of the shoe 12 at the outer portion of the first accommodation space.
The sliding shoe 12 is provided with more than two first lifting propeller mounting holes 123, wherein the number of the first lifting propeller mounting holes is 3, and the 3 first lifting propeller mounting holes 123 are uniformly distributed on the sliding shoe 12 front and back; a second lift thruster mounting hole 116 corresponding to the first lift thruster mounting hole 123 is formed in the box-type buoyancy body 11 at a position right above the first lift thruster mounting hole 123.
The middle of the box-type buoyancy body 11 is concaved upwards to form a buoyancy body first plane 117, and the second lifting propeller mounting hole 116 is arranged on the buoyancy body first plane 117; the second lift-thruster mounting hole 116 extends along the first lift-thruster mounting hole 123 corresponding thereto to form a lift-thruster mounting cylinder 118.
The outer edge of the sliding shoe 12 extends downwards to form a section of guard plate 13; the upper surface of the front end portion of the box-type buoyancy body 11 is formed with a monitor mounting position 119.
As shown in fig. 8, the present embodiment provides a vertical suction type dredging robot 100, which includes a frame-type slipper structure 1. Wherein, the dredging robot 100 further comprises a mud sucking mechanism 2, a vector propeller 3 and a monitoring mechanism 4, the mud sucking mechanism 2 is arranged on the first mud sucking pipe mounting hole 121 and the second mud sucking pipe mounting hole 111, the vector propeller 3 comprises a translation vector propeller 31 for controlling the translation of the dredging robot 100 and a lifting vector propeller (not shown in the figure) for controlling the lifting of the dredging robot, the translation vector propeller 31 is arranged at the translation propeller mounting position 122, and the lifting vector propeller 32 is arranged in the lifting propeller mounting cylinder 118; the monitoring mechanism 4 is mounted on the monitoring mounting site 119.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. The frame-type sliding shoe structure is characterized by comprising a box-type buoyancy body and a sliding shoe, wherein the box-type buoyancy body and the sliding shoe are arranged up and down, the middle of the box-type buoyancy body is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the sliding shoe, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body and the upper surface of the sliding shoe.
2. The frame-type slipper structure according to claim 1, wherein the slipper is plate-shaped, a first suction pipe mounting hole is formed in the middle of the slipper, and a second suction pipe mounting hole is formed in the box-type buoyancy body at a position right above the first suction pipe mounting hole.
3. A frame-type slipper structure according to claim 2, wherein the box-type buoyancy body has a plurality of smooth concave surfaces formed on the outer edges thereof, and the smooth concave surfaces are linearly or nonlinearly reduced in height extending from the middle of the box-type buoyancy body toward the outer edges thereof.
4. A frame-type shoe structure according to claim 3, wherein a translational pusher mounting position is formed at the position of the smooth concave surface of the shoe upper surface exposed outside the first accommodation space.
5. The frame type shoe structure of claim 4, wherein the smooth concave lower edge is installed on the shoe upper surface to divide the shoe upper surface into the first accommodation space inner portion and the first accommodation space outer portion, and the translational pusher installation site is formed on the shoe upper surface at the first accommodation space outer portion.
6. A frame-type slipper structure according to claim 3, wherein the outer edge of the box-type buoyancy body is downwardly extended with an extension edge, and the lower surface of the extension edge is fixedly mounted on the outer edge of the upper surface of the slipper; a translational propeller mounting table is formed between the smooth concave surface and the extension edge, and a propeller mounting hole is formed in the translational propeller mounting table.
7. The frame-type shoe structure according to claim 6, wherein the translational pusher mounting table is a plane parallel to the shoe, and a translational pusher mounting position is formed on the upper surface of the shoe at a position corresponding to the pusher mounting hole.
8. The frame-type shoe structure according to claim 1, wherein the shoe is formed with two or more first lift-thruster mounting holes, and the box-type buoyancy body is formed with second lift-thruster mounting holes corresponding to the first lift-thruster mounting holes at positions directly above the first lift-thruster mounting holes.
9. The frame-type slipper structure of claim 8, wherein the box-type buoyancy body is concave upward in the middle to form a first buoyancy body plane, and the second lift-thruster mounting hole is provided on the first buoyancy body plane; the edge of the second lifting propeller mounting hole extends towards the direction of the corresponding first lifting propeller mounting hole to form a lifting propeller mounting cylinder.
10. A vertical suction dredging robot comprising a frame type slipper structure as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448656.4U CN219586797U (en) | 2023-03-10 | 2023-03-10 | Frame-type sliding shoe structure and vertical direct suction type dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448656.4U CN219586797U (en) | 2023-03-10 | 2023-03-10 | Frame-type sliding shoe structure and vertical direct suction type dredging robot |
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| Publication Number | Publication Date |
|---|---|
| CN219586797U true CN219586797U (en) | 2023-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320448656.4U Active CN219586797U (en) | 2023-03-10 | 2023-03-10 | Frame-type sliding shoe structure and vertical direct suction type dredging robot |
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| Country | Link |
|---|---|
| CN (1) | CN219586797U (en) |
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2023
- 2023-03-10 CN CN202320448656.4U patent/CN219586797U/en active Active
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