CN219586800U

CN219586800U - Frame-type sliding shoe structure with curled front end and sliding plate front suction type dredging robot

Info

Publication number: CN219586800U
Application number: CN202320448683.1U
Authority: CN
Inventors: 常颖; 李子逵; 孙伟; 蔡芸; 匡科; 张红要; 仝慧敏; 汤彦昕; 汪潇; 梁浩鹏
Original assignee: Guangzhou Sewage Purification Co ltd
Current assignee: Guangzhou Sewage Purification Co ltd
Priority date: 2023-03-10
Filing date: 2023-03-10
Publication date: 2023-08-25
Anticipated expiration: 2033-03-10

Abstract

The utility model discloses a frame-type sliding shoe structure with a curled front end part and a sliding plate front suction type dredging robot, and belongs to the technical field of dredging. The front end part of the bottom surface of the frame-type slipper structure is provided with the curled part which is curled upwards, so that not only can the resistance of the frame-type slipper structure be reduced when the slipper structure walks underwater, but also a stable mounting structure can be provided for the suction mechanism, and the suction seat mounting opening is arranged at the curled part, thereby being convenient for the operation of the suction mechanism and improving the suction efficiency of the suction mechanism.

Description

Frame-type sliding shoe structure with curled front end and sliding plate front suction type dredging robot

Technical Field

The utility model relates to the technical field of dredging, in particular to a frame type sliding shoe structure with a curled front end part and a sliding plate front 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 with a curled front end, which has weaker monitoring capability to the surrounding environment and is easy to cause problems such as accidents and the like.

The front end part of the bottom surface of the frame-type sliding shoe structure is provided with the curled part which is curled upwards, so that not only can the resistance of the frame-type sliding shoe structure during underwater walking be reduced, but also a stable mounting structure can be provided for the suction mechanism, the suction seat mounting opening is arranged on the curled part, the operation of the suction mechanism can be facilitated, and the suction efficiency of the suction mechanism can be improved.

Preferably, the frame-type sliding shoe structure comprises a box-type buoyancy body and a sliding shoe which are arranged up and down, wherein 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 front end part of the bottom surface of the sliding shoe is provided with the curled part, and a second mud suction pipe mounting hole is formed in the middle of the box-type buoyancy body.

Preferably, the slipper comprises a slipper bottom sliding plate, an upper mounting plate and slipper connecting plates connected to the lower surface of the upper mounting plate and two sides of the upper surface of the slipper bottom sliding plate, the front end part of the slipper bottom sliding plate is curled to form the curled part, the middle of the box-type buoyancy body is concave upwards, the outer edge is fixedly mounted on the upper surface of the upper mounting plate, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body and the upper surface of the upper mounting plate; and a second accommodating space is formed between the sole sliding plate, the upper mounting plate and the two sliding shoe connecting plates.

Preferably, the sliding shoe connecting plate is provided with a connecting plate side hole.

Preferably, the sole skateboard is formed with a rear end curled portion with the rear end curled upward.

Preferably, the sole plate is formed with a plate opening extending from the curled portion toward the rear end, the plate opening dividing the rear end curled portion into left and right portions.

Preferably, the width of the opening of the sliding plate is smaller than the width of the mounting opening of the suction dredge seat.

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; 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;

the lower edge of the smooth concave surface is fixedly 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 upper surface of the sliding shoe positioned outside the first accommodating space is provided with the translational propeller installation position.

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; the outer edge of the box-type buoyancy body downwards extends to form an extending edge, and the lower surface of the extending edge is fixedly arranged on 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;

the translational propeller mounting table is a plane parallel to the sliding shoe, and a translational propeller mounting position is formed at the position of the upper surface of the sliding shoe corresponding to the propeller mounting hole.

The utility model provides a sliding plate front 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 mud suction seat mounting opening, 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 the translation propeller mounting position, and the lifting vector propeller is arranged in the lifting propeller mounting cylinder.

The beneficial effects are that:

the technical scheme of the utility model has the following beneficial effects: the front end part of the bottom surface of the frame-type sliding shoe structure is provided with the curled part which is curled upwards, so that not only can the resistance of the frame-type sliding shoe structure during underwater walking be reduced, but also a stable mounting structure can be provided for the suction mechanism, the suction seat mounting opening is arranged on the curled part, the operation of the suction mechanism can be facilitated, and the suction efficiency of the suction mechanism can be improved.

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 front suction type dredging robot with a slide plate in accordance with an embodiment of the present 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 slide plate front suction type dredging robot in a second embodiment of the 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 to 4, the front end portion of the bottom surface of the frame-type slipper structure 1, which is curled at the front end portion, is formed with a curled portion 141 curled upward, and a suction cup mounting opening 142 is formed in the curled portion 141.

The frame-type sliding shoe structure 1 comprises a box-type buoyancy body 11 and a sliding shoe 12 which are arranged up and down, wherein 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 sliding shoe 12; the curled portion 141 is formed at the front end of the bottom surface of the skid shoe 12, and the second suction pipe mounting hole 111 is formed in the middle of the box-type buoyancy body 11.

The slipper 12 comprises a slipper sole sliding plate 14, an upper mounting plate 15 and slipper sole connecting plates 16 connected to the lower surface of the upper mounting plate 15 and two sides of the upper surface of the slipper sole sliding plate 14, the front end part of the slipper sole sliding plate 14 is curled to form the curled part 142, the middle of the box-type buoyancy body 11 is concave upwards, the outer edge is fixedly mounted on the upper surface of the upper mounting plate 15, and a first accommodating space is formed between the middle lower surface of the box-type buoyancy body 11 and the upper surface of the upper mounting plate 15; a second accommodating space is formed between the shoe bottom slide plate 14, the upper mounting plate 15 and the two shoe connecting plates 16, a first suction pipe mounting hole 121 is formed on the upper mounting plate 15 at a position corresponding to the second suction pipe mounting hole 111, and a suction pipe mounting barrel 120 is formed along the edge of the second suction pipe mounting hole 111 extending toward the first suction pipe mounting hole 121. The shoe link plate 16 has a link plate side hole 161 formed therein.

The rear end of the sole slider 14 is upwardly curled to form a rear end curled portion 143; the sole plate 14 is formed with a plate opening 144 extending from the curled portion 141 toward the rear end, and the plate opening 144 divides the rear end curled portion 143 into left and right parts.

The width of the slide plate opening 144 is smaller than the width of the suction seat mounting opening 142.

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.

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 upper mounting plate 15; a translational pusher mounting table 114 is formed between the smooth concave surface 111 and the extension edge, 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 upper mounting plate 15, and a translational thrust runner mounting position 122 is formed on the upper surface of the upper mounting plate 15 at a position corresponding to the thrust runner mounting hole 115.

The upper mounting plate 15 is formed with more than two first lifting thruster mounting holes 123, wherein the number of the first lifting thruster mounting holes is 4, and the connecting line of the centers of the 4 first lifting thruster mounting holes 123 is square or rectangular concentric with the upper mounting plate 15; 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 direction of the first lift thruster mounting hole 123 corresponding to the second lift thruster mounting hole to form a lift thruster mounting cylinder 118, where preferably 4 first lift thruster mounting holes 123 are located just near the four corners of the first plane 117 of the buoyancy body.

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 slide plate front suction type dredging robot 100, which includes a frame-type slipper structure 1. The dredging robot 100 further comprises a mud suction mechanism 2, a vector propeller 3 and a monitoring mechanism 4, wherein the mud suction mechanism 2 is arranged on a mud suction seat mounting opening 142, the mud suction mechanism 2 comprises a mud suction pipeline 23, mud entering the mud suction mechanism 2 from the mud suction seat mounting opening 142 is discharged through the mud suction pipeline 23, and the mud suction pipeline is sleeved in a mud suction pipe mounting cylinder 120; 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, wherein the translation vector propeller 31 is arranged at the translation propeller mounting position 122, and the lifting vector propeller is arranged in the lifting propeller mounting cylinder 118; the monitoring mechanism 4 is mounted on the monitoring mounting site 119.

Embodiment two:

as shown in fig. 5 to 8, the front end portion of the bottom surface of the frame-type slipper structure 1, which is curled at the front end portion, is formed with a curled portion 141 curled upward, and a suction cup mounting opening 142 is formed in the curled portion 141.

Here, the upper mounting plate 15 has a plate shape, specifically a flat plate structure with wide front and narrow rear, and two corner positions at the front end use smooth rounded corners for transition; 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.

The outer edge of the box-type buoyancy body 11 is provided with a plurality of smooth concave surfaces 112, 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 nonlinearly reduced; a translational propeller 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 smooth concave surfaces 112 are distributed on both sides and the rear end of the box-type buoyancy body 11, and the translational vector thrusters are mounted on the translational vector thruster mounting positions 122, so that the translational vector thrusters positioned on the rear end apply forward force to the robot, and the translational vector thrusters positioned on both sides apply left-right force or left-front-right force to the robot, thereby achieving the purpose of translational thrust.

The lower edge of the smooth concave surface 112 is fixedly mounted on the upper surface of the upper mounting plate 15 to divide the upper surface of the upper mounting plate 15 into the first accommodating space inner portion and the first accommodating space outer portion, and the translational propeller mounting position 122 is formed on the upper surface of the upper mounting plate 15 at the first accommodating space outer portion.

The upper mounting plate 15 is formed with more than two first lifting thruster mounting holes 123, wherein the number of the first lifting thruster mounting holes is 3, and the 3 first lifting thruster mounting holes 123 are uniformly distributed on the upper mounting plate 15 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.

As shown in fig. 8, the present embodiment provides a slide plate front suction type dredging robot 100, which includes a frame-type slipper structure 1. The dredging robot 100 further comprises a mud suction mechanism 2, a vector propeller 3 and a monitoring mechanism 4, wherein the mud suction mechanism 2 is arranged on a mud suction seat mounting opening 142, the mud suction mechanism 2 comprises a mud suction pipeline 23, mud entering the mud suction mechanism 2 from the mud suction seat mounting opening 142 is discharged through the mud suction pipeline 23, and the mud suction pipeline is sleeved in a mud suction pipe mounting cylinder 120; 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, wherein the translation vector propeller 31 is arranged at the translation propeller mounting position 122, and the lifting vector propeller 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

1. A frame-type slipper structure with curled front end, characterized in that the front end of the bottom surface of the frame-type slipper structure is provided with a curled part which is curled upwards, and a suction seat mounting opening is formed on the curled part;

the frame type sliding shoe structure comprises a box type buoyancy body and a sliding shoe which are arranged up and down, 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 front end part of the bottom surface of the sliding shoe is provided with the curled part, and a second mud suction pipe mounting hole is formed in the middle of the box-type buoyancy body.

2. The frame-type shoe structure with curled front end according to claim 1, wherein the shoe comprises a shoe sole slider, an upper mounting plate and shoe sole connecting plates connected to both sides of the lower surface of the upper mounting plate and the upper surface of the shoe sole slider, the curled front end of the shoe sole slider is formed with the curled portion, the box-type buoyancy body is concaved upward in the middle and the outer edge is fixedly mounted on the upper surface of the upper mounting plate, and a first accommodating space is formed between the lower surface of the middle of the box-type buoyancy body and the upper surface of the upper mounting plate; and a second accommodating space is formed between the sole sliding plate, the upper mounting plate and the two sliding shoe connecting plates.

3. The frame type shoe structure having a curled front end portion according to claim 2, wherein said shoe web is formed with web side holes.

4. The front end curled frame type slipper structure according to claim 2, wherein the sole skate rear end is upwardly curled to form a rear end curled portion.

5. The front end curled frame-type slipper structure of claim 4, wherein said sole skateboard extends from said curled portion to the rear end to form a skateboard opening, said skateboard opening dividing said rear end curled portion into left and right portions.

6. The frame type slipper structure with curled front end according to claim 5, wherein the width of the slipper opening is smaller than the width of the suction cup mounting opening.

7. The frame-type slipper structure with curled front end according to claim 1, wherein a plurality of smooth concave surfaces are formed on the outer edge of the box-type buoyancy body, and the smooth concave surfaces extend from the middle of the box-type buoyancy body to the outer edge thereof to be linearly or nonlinearly reduced in height; 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;

8. The frame-type slipper structure with curled front end according to claim 1, wherein a plurality of smooth concave surfaces are formed on the outer edge of the box-type buoyancy body, and the smooth concave surfaces extend from the middle of the box-type buoyancy body to the outer edge thereof to be linearly or nonlinearly reduced in height; the outer edge of the box-type buoyancy body downwards extends to form an extending edge, and the lower surface of the extending edge is fixedly arranged on 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;

9. A slide plate front suction type dredging robot, characterized by comprising a frame type slipper structure as claimed in any one of claims 1-8.