CN219586804U - Vertical direct suction type dredging robot and dredging system - Google Patents
Vertical direct suction type dredging robot and dredging system Download PDFInfo
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- CN219586804U CN219586804U CN202320448732.1U CN202320448732U CN219586804U CN 219586804 U CN219586804 U CN 219586804U CN 202320448732 U CN202320448732 U CN 202320448732U CN 219586804 U CN219586804 U CN 219586804U
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Abstract
The utility model discloses a vertical direct suction type dredging robot and a dredging system, which belong to the technical field of dredging, and comprise a frame type sliding shoe structure, a mud suction mechanism and a propelling mechanism, wherein the mud suction mechanism is arranged at the middle position of the frame type sliding shoe structure; the three or more translation vector thrusters are distributed at the outer edge position of the upper surface of the frame-type sliding shoe structure, and the two or more lifting vector thrusters are arranged on the upper surface of the frame-type sliding shoe structure. The utility model adopts the frame-type sliding shoe structure formed by the box-type buoyancy body and the sliding shoe as the main body frame of the dredging robot, and installs the mud sucking mechanism in the middle of the frame-type sliding shoe structure, so that mud is sucked away from the middle of the bottom of the frame-type sliding shoe structure, the mud sucking stroke is short, the efficiency is high, the mud sucking process is relatively stable, and the influence on the normal operation of the dredging robot caused by the inclination of the dredging robot in the mud sucking process can be avoided.
Description
Technical Field
The utility model relates to the technical field of dredging, in particular to a vertical direct suction type dredging robot and a dredging system.
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 vertical direct suction dredging robot which has weaker monitoring capability to the surrounding environment and is easy to cause problems of accidents and the like, and comprises a frame-type sliding shoe structure, a mud suction mechanism and a propelling mechanism, wherein the mud suction mechanism is arranged in the middle of the frame-type sliding shoe structure; the propelling mechanism is a vector propeller, the vector propeller comprises a translation vector propeller and lifting vector propellers, more than three translation vector propellers are distributed at the outer edge position of the upper surface of the frame type sliding shoe structure, and more than two lifting vector propellers are mounted on the upper surface of the frame type sliding shoe structure.
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 mud sucking mechanism is arranged at the middle position of the frame-type sliding shoe structure, mud is sucked away from the middle of the bottom of the frame-type sliding shoe structure, the mud sucking stroke is short, the efficiency is high, the mud sucking process is relatively stable, and the phenomenon that the dredging robot inclines in the mud sucking process to influence the normal operation of the dredging robot can be avoided.
Preferably, the frame-type sliding shoe structure further comprises a driving mechanism, a power source and a monitoring mechanism, wherein the frame-type sliding shoe structure comprises a box-type buoyancy body and a sliding shoe, the box-type buoyancy body is concave upwards in the middle, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the sliding shoe, a first accommodating space is formed between the lower surface of the box-type buoyancy body and the upper surface of the sliding shoe, the driving mechanism and the power source are arranged in the first accommodating space, and the monitoring mechanism is arranged on the box-type buoyancy body.
Preferably, the power source output end is connected with the driving mechanism and the monitoring mechanism input end, and the driving mechanism output end is connected with the propulsion mechanism.
Preferably, the skid shoe is plate-shaped, a first suction pipe mounting hole is formed in the middle of the skid 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; the suction mechanism is arranged on the first suction pipe mounting hole and the second suction pipe mounting hole.
Preferably, the suction mechanism comprises a suction roller, a roller mounting seat and a suction pipeline, two ends of the suction roller are mounted on the lower surface of the sliding shoe through the roller mounting seat, an inlet of the suction pipeline is positioned near the upper surface of the suction roller, and the suction pipeline passes through the sliding shoe and the first accommodating space and is led out from the upper surface of the box-type buoyancy body.
Preferably, the outer edge of the sliding shoe is provided with a protecting plate in a downward extending mode.
Preferably, the sliding shoe is of a rectangular plate-shaped structure, four translation vector thrusters are uniformly distributed at four corners of the rectangular plate-shaped structure, and straight lines of the four translation vector thrusters in the propelling direction intersect to form a parallelogram.
Preferably, the rear end, the left side and the right side of the frame-type sliding shoe structure are provided with translation vector thrusters; the translation vector propeller arranged at the rear end is pushed forward; the translation vector thrusters positioned on the left side and the right side thrust towards the left side and the right side or thrust towards the left front and the right front directions.
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; the edge of the second lifting propeller mounting hole extends towards the direction of the first lifting propeller mounting hole corresponding to the edge of the second lifting propeller mounting hole to form a lifting propeller mounting cylinder, and the lifting vector propeller is mounted in the lifting propeller mounting cylinder.
The utility model provides a dredging system which is characterized by comprising the vertical direct suction type dredging robot.
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 mud sucking mechanism is arranged at the middle position of the frame-type sliding shoe structure, mud is sucked away from the middle of the bottom of the frame-type sliding shoe structure, the mud sucking stroke is short, the efficiency is high, the mud sucking process is relatively stable, and the phenomenon that the dredging robot inclines in the mud sucking process to influence the normal operation of the dredging robot can be avoided.
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 dredging robot according to a first embodiment of the present utility model;
FIG. 2 is a perspective view of a preferred suction mechanism of the present utility model;
FIG. 3 is a perspective view of a preferred box buoyancy body of the present utility model;
fig. 4 is a perspective view of a dredging robot according to a second embodiment of the present utility model;
FIG. 5 is a schematic diagram of a dredging system according to 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 to 3 and 5, the vertical direct suction dredging robot comprises a frame-type sliding shoe structure 1, a mud suction mechanism 2 and a propelling mechanism 3, wherein the mud suction mechanism 2 is arranged at the middle position of the frame-type sliding shoe structure 1; the propulsion mechanism 3 is a vector propeller, the vector propeller comprises a translation vector propeller 31 and a lifting vector propeller 32, more than three translation vector propellers 31 are distributed at the outer edge position of the upper surface of the frame-type sliding shoe structure 1, and more than two lifting vector propellers 32 are mounted on the upper surface of the frame-type sliding shoe structure 1.
Here, the frame-type sliding shoe structure 1 further comprises a driving mechanism 5, a power source 6 and a monitoring mechanism 4, 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, the middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the sliding shoe 12, a first accommodating space is formed between the middle lower surface of the box-type buoyancy body 11 and the upper surface of the sliding shoe 12, the driving mechanism and the power source are arranged in the first accommodating space, and the monitoring mechanism 4 is arranged on the box-type buoyancy body.
Specifically, the power source output end is connected with the driving mechanism and the input end of the monitoring mechanism, the driving mechanism output end is connected with the propulsion mechanism 4, and the propulsion mechanism performs propulsion operation under the action of the power source and the driving mechanism.
The skid shoe 12 is plate-shaped, a first suction pipe mounting hole is formed in the middle of the skid shoe, and a second suction pipe mounting hole is formed in the box-type buoyancy body 11 at a position right above the first suction pipe mounting hole; the suction mechanism is arranged on the first suction pipe mounting hole and the second suction pipe mounting hole.
The mud suction mechanism 2 comprises a mud suction roller 21, a roller mounting seat 22 and a mud suction pipeline 23, wherein two ends of the mud suction roller 21 are mounted on the lower surface of the sliding shoe 12 through the roller mounting seat 22, an inlet of the mud suction pipeline 23 is positioned near the upper surface of the mud suction roller 21, and the mud suction pipeline 23 passes through the sliding shoe 12 and the first accommodating space and is led out from the upper surface of the box-type buoyancy body 11; the suction filter plates 24 are arranged at the inlet positions of the suction pipelines 23 above the two suction rollers 21, and the suction filter plates 24 are fixedly arranged on the roller mounting seats 22.
The edge of the second suction pipe mounting hole extends to the first suction pipe mounting hole to form a suction pipe mounting cylinder 120, and the suction pipe 23 is sleeved in the suction pipe mounting cylinder 120.
The outer edge of the skid shoe 12 is provided with a protecting plate 13 which can be protected during the pushing of the frame type skid shoe structure.
The sliding shoe 12 is in a rectangular plate structure, four translation vector thrusters 31 are uniformly distributed at four corners of the rectangular plate structure, and straight lines of the four translation vector thrusters 31 in the propelling direction intersect to form a parallelogram.
More than two first lifting propeller mounting holes are formed in the sliding shoe 12, and second lifting propeller mounting holes corresponding to the first lifting propeller mounting holes are formed in the box-type buoyancy body 11 at positions right above the first lifting propeller mounting holes; the edge of the second lifting thruster mounting hole extends towards the direction of the corresponding first lifting thruster mounting hole to form a lifting thruster mounting cylinder 118, and the lifting vector thruster is mounted in the lifting thruster mounting cylinder 118.
The embodiment provides a dredging system, which comprises the vertical direct suction dredging robot 100, and further comprises a control center 200, a centrifugal pump 300, a mud-water separation system 400 and a control terminal 500, wherein the control center 200 is in bidirectional connection with the dredging robot 200 and the control terminal 500, and the input end of the centrifugal pump 300 and the input end of the mud-water separation system 400 are connected with the output end of the control center 200. The operator uses the control terminal 500 to operate, controls the propulsion mechanism 3 on the dredging robot 100 to move in a three-dimensional space through the control center 200, controls the centrifugal pump 300 to suck sludge from the sludge suction pipeline 23, and then sends the sludge to the sludge-water separation system 400 for sludge-water separation; in addition, the control center 200 receives data of the monitoring mechanism 4 on the dredging robot 100, thereby monitoring the surrounding environment of the dredging robot in real time, and the monitoring mechanism 4 is installed on the monitoring installation site 119.
Embodiment two:
as shown in fig. 2, 4 and 5, the vertical direct suction type dredging robot comprises a frame type sliding shoe structure 1, a mud suction mechanism 2 and a propelling mechanism 3, wherein the mud suction mechanism 2 is arranged at the middle position of the frame type sliding shoe structure 1; the propulsion mechanism 3 is a vector propeller, the vector propeller comprises a translation vector propeller 31 and a lifting vector propeller 32, more than three translation vector propellers 31 are distributed at the outer edge position of the upper surface of the frame-type sliding shoe structure 1, and more than two lifting vector propellers 32 are mounted on the upper surface of the frame-type sliding shoe structure 1.
Here, the frame-type sliding shoe structure 1 further comprises a driving mechanism 5, a power source 6 and a monitoring mechanism 4, 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, the middle of the box-type buoyancy body 11 is concave upwards, the outer edge of the box-type buoyancy body is fixedly arranged on the upper surface of the sliding shoe 12, a first accommodating space is formed between the middle lower surface of the box-type buoyancy body 11 and the upper surface of the sliding shoe 12, the driving mechanism and the power source are arranged in the first accommodating space, and the monitoring mechanism 4 is arranged on the box-type buoyancy body.
Specifically, the power source output end is connected with the driving mechanism and the input end of the monitoring mechanism, the driving mechanism output end is connected with the propulsion mechanism 4, and the propulsion mechanism performs propulsion operation under the action of the power source and the driving mechanism.
The skid shoe 12 is plate-shaped, a first suction pipe mounting hole is formed in the middle of the skid shoe, and a second suction pipe mounting hole is formed in the box-type buoyancy body 11 at a position right above the first suction pipe mounting hole; the suction mechanism is arranged on the first suction pipe mounting hole and the second suction pipe mounting hole.
Here, the slipper 12 is specifically a flat plate structure with wide front and 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.
The mud suction mechanism 2 comprises a mud suction roller 21, a roller mounting seat 22 and a mud suction pipeline 23, wherein two ends of the mud suction roller 21 are mounted on the lower surface of the sliding shoe 12 through the roller mounting seat 22, an inlet of the mud suction pipeline 23 is positioned near the upper surface of the mud suction roller 21, and the mud suction pipeline 23 passes through the sliding shoe 12 and the first accommodating space and is led out from the upper surface of the box-type buoyancy body 11; the suction filter plates 24 are arranged at the inlet positions of the suction pipelines 23 above the two suction rollers 21, and the suction filter plates 24 are fixedly arranged on the roller mounting seats 22.
The edge of the second suction pipe mounting hole extends to the first suction pipe mounting hole to form a suction pipe mounting cylinder 120, and the suction pipe 23 is sleeved in the suction pipe mounting cylinder 120.
The outer edge of the skid shoe 12 is provided with a protecting plate 13 which can be protected during the pushing of the frame type skid shoe structure.
The rear end, the left side and the right side of the frame-type sliding shoe structure 1 are provided with translation vector thrusters 31; the translation vector propeller 31 mounted at the rear end is pushed forward; the translation vector thrusters 31 located on the left and right sides thrust on the left and right sides or thrust in the left-front-right-front direction.
More than two first lifting propeller mounting holes are formed in the sliding shoe 12, and second lifting propeller mounting holes corresponding to the first lifting propeller mounting holes are formed in the box-type buoyancy body 11 at positions right above the first lifting propeller mounting holes; the edge of the second lifting propeller mounting hole extends towards the direction of the first lifting propeller mounting hole corresponding to the edge of the second lifting propeller mounting hole to form a lifting propeller mounting cylinder, and the lifting vector propeller is mounted in the lifting propeller mounting cylinder. The middle of the box-type buoyancy body 11 is concaved upwards to form a buoyancy body first plane 117, and the second lifting thruster mounting hole 116 is arranged on the buoyancy body first plane 117. The upper surface of the front end portion of the box-type buoyancy body 11 is formed with a monitor mounting position 119.
The embodiment provides a dredging system, which comprises the vertical direct suction dredging robot 100, and further comprises a control center 200, a centrifugal pump 300, a mud-water separation system 400 and a control terminal 500, wherein the control center 200 is in bidirectional connection with the dredging robot 200 and the control terminal 500, and the input end of the centrifugal pump 300 and the input end of the mud-water separation system 400 are connected with the output end of the control center 200. The operator uses the control terminal 500 to operate, controls the propulsion mechanism 3 on the dredging robot 100 to move in a three-dimensional space through the control center 200, controls the centrifugal pump 300 to suck sludge from the sludge suction pipeline 23, and then sends the sludge to the sludge-water separation system 400 for sludge-water separation; in addition, the control center 200 receives data of the monitoring mechanism 4 on the dredging robot 100, thereby monitoring the surrounding environment of the dredging robot in real time, and the monitoring mechanism 4 is installed on the monitoring installation 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 (9)
1. The vertical direct suction type dredging robot is characterized by comprising a frame type sliding shoe structure, a mud suction mechanism, a propelling mechanism, a driving mechanism, a power source and a monitoring mechanism, wherein the mud suction mechanism is arranged in the middle of the frame type sliding shoe structure; the propelling mechanism is a vector propeller, the vector propeller comprises a translation vector propeller and a lifting vector propeller, more than three translation vector propellers are distributed at the outer edge position of the upper surface of the frame type sliding shoe structure, and more than two lifting vector propellers are arranged on the upper surface of the frame type sliding shoe structure;
the frame-type sliding shoe structure 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, 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 driving mechanism and the power source are arranged in the first accommodating space, and the monitoring mechanism is arranged on the box-type buoyancy body.
2. The vertical suction dredging robot as recited in claim 1 wherein the power source output is connected to the drive mechanism and the monitoring mechanism input, and the drive mechanism output is connected to the propulsion mechanism.
3. The vertical suction dredging robot as recited in claim 1 wherein the skid shoe is plate-shaped, a first suction pipe mounting hole is formed in the middle of the skid 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; the suction mechanism is arranged on the first suction pipe mounting hole and the second suction pipe mounting hole.
4. A vertical suction dredging robot as claimed in claim 3, wherein the suction mechanism comprises a suction roll, a roll mounting seat and a suction pipe, two ends of the suction roll are mounted on the lower surface of the sliding shoe through the roll mounting seat, the inlet of the suction pipe is positioned near the upper surface of the suction roll, and the suction pipe passes through the sliding shoe and the first accommodating space and is led out from the upper surface of the box-type buoyancy body.
5. The vertical suction dredging robot as recited in claim 4 wherein the skid shoe has a shield extending downwardly from an outer edge thereof.
6. The vertical suction dredging robot as recited in claim 1, wherein the skid shoe is of a rectangular plate-shaped structure, four translation vector thrusters are uniformly distributed at four corners of the rectangular plate-shaped structure, and straight lines of the four translation vector thrusters in the propelling directions intersect to form a parallelogram.
7. The vertical suction dredging robot as recited in claim 1, wherein a translation vector propeller is installed at the rear end, the left side and the right side of the frame type slipper structure; the translation vector propeller arranged at the rear end is pushed forward; the translation vector thrusters positioned on the left side and the right side thrust towards the left side and the right side or thrust towards the left front and the right front directions.
8. The vertical suction dredging robot as recited in claim 1 wherein the skid shoe is formed with at least two 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 a position directly above the first lift thruster mounting holes; the edge of the second lifting propeller mounting hole extends towards the direction of the first lifting propeller mounting hole corresponding to the edge of the second lifting propeller mounting hole to form a lifting propeller mounting cylinder, and the lifting vector propeller is mounted in the lifting propeller mounting cylinder.
9. A dredging system comprising a vertical suction dredging robot according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448732.1U CN219586804U (en) | 2023-03-10 | 2023-03-10 | Vertical direct suction type dredging robot and dredging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320448732.1U CN219586804U (en) | 2023-03-10 | 2023-03-10 | Vertical direct suction type dredging robot and dredging system |
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| Publication Number | Publication Date |
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| CN219586804U true CN219586804U (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320448732.1U Active CN219586804U (en) | 2023-03-10 | 2023-03-10 | Vertical direct suction type dredging robot and dredging system |
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| CN (1) | CN219586804U (en) |
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- 2023-03-10 CN CN202320448732.1U patent/CN219586804U/en active Active
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