KR102066976B1 - Amphibious dredging robot device having screw shape wheel - Google Patents

Abstract

The present invention relates to an amphibious dredge robot having a screw wheel. The amphibious dredge robot having the screw wheel is applied to the ground and water, such as a medium and small sized industrial sewer pipelines, industrial tanks, wastewater treatment plants, reservoirs, lakes, rivers, and coastal waters, allowing a user to simultaneously clean and dredge. The amphibious dredge robot having the screw wheel comprises: an upper frame body; a lower frame body; a lift module; a drive module; a shredder module; and a vacuum suction module.

Description

AMPHIBIOUS DREDGING ROBOT DEVICE HAVING SCREW SHAPE WHEEL}

The present invention is an amphibious dredging robot equipped with screw wheels that can be simultaneously cleaned and dredged in the ground and water, such as medium and small industrial sewer pipes, industrial tanks, wastewater treatment plants, storage tanks, reservoirs, lakes, rivers, and coastal waters. It is about.

As mankind's huge socialization and urbanization began, resources began to be concentrated, while production and water consumption were consumed while pursuing qualitative and quantitative convenience in human consciousness, food, and state with the development of science and technology and the development of industry. The pipeline for accelerating and transporting this has a more complicated structure. In addition, the use of pipelines by industrial facilities (plants) and urban planning has increased, thus increasing the number of pipelines to be maintained and managed in the short and long term.

As industrial and sewage pipelines and storage facilities are used for a long time, aging (corrosion) proceeds and foreign matters are deposited.In industrial pipelines and storage facilities, fluid transfer power decreases due to the impeding smooth flow of fluids, energy consumption increases, and deposits. Problems such as deterioration of product quality and process network due to secondary pollutants, generation of harmful gases such as odors in sewage pipelines and treatment facilities, threats to public health environment by growing harmful animals and plants, and climate issues It causes serious problems that increase maintenance costs such as flood response, sinkholes caused by pipe leaks, and equipment and labor costs for maintenance. Therefore, periodic cleaning and dredging work should be performed, but the situation is difficult.

The sediment dredging method currently developed and used is a direct manpower input method in which a worker directly enters the construction site to remove sediment, a scraper method using a bucket, a high pressure jet cleaner (Vacuum pump car) and a vacuum pump car. Vacuum suction method, etc.), but in the above process, it is cumbersome and time consuming because it is repeatedly cleaned and dredged. There is a limit, there is a problem that it is difficult to ensure worker safety because the worker is put into the construction site at least once.

In addition, rivers and coastal waters, including various reservoirs, reservoirs, and lakes, receive live sewage and waste, agricultural and livestock, and industrial wastewater from nearby cities, and various wastes such as garbage and oil tankers, which are discarded during production-oriented aquaculture development and fishing activities. In addition to oil spills on ships, the level of contamination of water and underwater bottoms has exceeded the self-cleaning ability due to indiscriminate development and self-pollution. To solve this problem, water cleaning and underwater bottom dredging methods are used.

In particular, underwater dredging is carried out for the purpose of securing low water capacity, river bed maintenance, water quality improvement, etc. It causes problems in dimensions and management, such as flooding, flooding, and deterioration of water quality caused by rising and rising rivers.

Dredgers are dredged at the present time except for special cases, and the dredger-specific methods include pump ships, drag droops, grab ships, bucket ships, deflections, sludge dredgers, etc. It is easy to receive, the working radius is large and narrow place has a limited working range difficult to work, there is a disadvantage in that it takes a lot of time to connect the confined pipe and the limited discharge distance.

Also. Ordinary dredgers cause secondary water pollution problems due to scattering of Onito's water during dredging operations.Only dredgers have problems such as expensive dredging unit cost, skillful operation, and less dredging than general dredgers.

Korean Patent Publication No. 1013508 Korean Registered Patent Publication No. 1078366

The present invention utilizes a screw wheel, as well as going straight and backward, as well as the 360 ° rotation of the origin and 90 ° left and right movements freely improve the driving performance of the screw wheel having an optimal structure that is not affected by the work site shape It is to provide an amphibious dredge robot provided.

In addition, the present invention to provide an amphibious dredging robot with an optimal screw wheel not to be affected by various road surface environments such as water, underwater, swamp, land and ground surface by ensuring the weight control and structural stability of the dredging robot It is for.

In addition, the present invention facilitates the dredging robot input to industrial tanks, such as the small and medium pipelines and narrow entrance through the height adjustment, and equipped with a GPS position when working in the water environment containing high turbidity and suspended substances in the wastewater treatment tank It is to provide an amphibious dredging robot with a grasping screw wheel.

In addition, the present invention is equipped with a three-way ball valve to the vacuum suction module can be dredged during the forward and backward movement of the robot, designing a structure that can be attached and detached a variety of accessories to diversify the scope of use of the robot and dredging work efficiency To provide an amphibious dredging robot with screw wheels that can maximize the

Technical problems to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

Amphibious dredge robot with a screw wheel of the present invention for achieving the above object, forming a receiving space divided by a separator, the controller for transmitting and receiving in the receiving space, the sensor for the location and information collection An upper frame body having a module and a power supply unit, the upper frame body having a waterproof structure; A lower frame body positioned below the upper frame body and having a fluid supply connection part coupled to a fluid adjusting solenoid valve and a fluid line flowing from the outside; A lift module positioned between the upper frame body and the lower frame body to raise and lower the upper frame; A drive module fastened by being fixed to both sides of the lower frame body, and fixedly mounted so that the screw wheel can be rotated, and having a drive module for driving the screw wheel; A crusher module mounted to the front of the lower frame body to crush deposits; And a vacuum suction module located between the screw-type wheels on both sides of the drive module, the vacuum suction module being connected to an external vacuum suction device to suck the sediment crushed by the crusher module. The screw is formed in the cylindrical shape of the cylindrical outer periphery, characterized in that the cylindrical inside is provided with an auxiliary tank for filling any one of gas, liquid, and solid according to the road situation.

More specifically, an upper end of the upper frame body is formed to be separated by a separator, and each controller receives a controller transceiver, a sensor module, and a battery part in each separated area, and includes an upper cover part suitable for each partitioned shape. The upper cover part is waterproofed to be waterproofed inside.

The upper frame body may include an image input unit for inputting a situation as an image on a front surface of the upper frame body, and an illumination unit for adjusting brightness of both sides of the image input unit.

In addition, a lift module for lifting the upper frame body on the upper end of the lower frame body, characterized in that it comprises a.

In addition, the drive module is characterized in that it further comprises an opening angle adjusting cylinder for adjusting the opening angle between the screw wheels provided on both sides.

In addition, the crusher module is located between the helical blade and the spiral blade helical with a cylindrical outer periphery to serve to collect the crushed sediment and the crushed sediment of the sediment toward the vacuum suction line of the vacuum suction module and the cylindrical outer A first shredder comprising a vertical blade formed perpendicular to the peripheral edge; A breaker arm provided with a detachable part to detachable the first breaker and spaced apart from the lower frame body by a predetermined distance; A rotary power motor for rotating the first crusher; And a vertical motor for vertically moving the crusher arm.

In addition, the shredder module is located in front of the drive module, the second shredder horizontally coupled to the fixed shaft of the screw wheel coupled to the drive module; characterized in that it further comprises.

The apparatus may further include a second accessory tank detachably attached to the fixed shaft of the drive module to which the screw wheel is fixed, wherein the second accessory tank is not affected by the rotation of the screw wheel by the ball bearing.

The vacuum suction module may further include: a connection line connected to the external vacuum suction device; any one of lengths of the vacuum suction line connected to the connection line to suck the front and rear deposits; A bucket which is detachable at the inlet of the vacuum suction line and collects deposits; And a ball valve module for changing a vacuum suction direction at the inner end of the vacuum suction line.

As described above, the present invention has the effect that it is not affected by the form of the work site by the improvement of the running performance free to move.

In addition, the present invention has the effect of securing the weight control and structural stability of the dredging robot is not affected by various road surface environments, such as water, underwater, swamp, land and surface.

In addition, the present invention facilitates the robot input to industrial tanks, such as the small and medium pipelines and narrow entrance through the height adjustment, and equipped with GPS, even when working in the water environment containing high turbidity and suspended substances in the wastewater treatment tank There is an effect that this is possible.

In addition, the present invention has the effect that it is possible to dredge the robot forward and backward.

In addition, the present invention has the effect of maximizing the efficiency of dredging work by designing a structure that can be attached and detached, the attachment of a variety of robots diversified.

1 is a view showing an amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
2 is a view showing an upper frame module of an amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
Figure 3 is a bottom view showing the upper frame module of the amphibian dredge robot with a screw wheel according to an embodiment of the present invention.
Figure 4 is a view showing the lower frame module of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
5 is a bottom view showing a lower frame module of an amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
Figure 6 is a view showing a lifting module of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
7 is a view showing a state in which the upper frame body is lifted by the lift module of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
8 is a view showing a drive module and a screw wheel of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
9 is a view showing a state of the screw wheel according to the opening angle of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention.
10 is (a) a front view and (b) a side view showing a state in which the second accessory tank of the amphibious dredge robot with a screw wheel according to an embodiment of the present invention is coupled.
FIG. 11 is a view illustrating a shredding module of an amphibious dredging robot having a screw wheel according to an exemplary embodiment of the present invention. FIG.
12 is a view showing a vacuum suction module of the amphibian dredge robot with a screw wheel according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In addition, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of description, terms specifically defined in consideration of the configuration and operation of the present invention will vary depending on the intention or custom of the user or operator The definitions of these terms should be made based on the contents throughout the specification.

1 to 12 is a view showing an amphibious dredge robot with a screw wheel according to an embodiment of the present invention, the amphibious dredge robot 1000 of the present invention is the upper frame body 100, the lower frame body 200 ), A lift module 300, a drive module 400, a screw wheel 500, a crusher module 600, and a vacuum suction module 700.

As shown in FIGS. 2 and 3, the upper frame body 100 forms a receiving space divided by the separators 110a and 110b. In this case, the separators 110a and 110b may form holes as necessary.

The controller transceiver 140, the sensor module 150, and the power supply unit 160 are provided in the accommodation space. At this time, the controller transceiver 140 controls the driving and driving of the dredging robot (1000).

The sensor module 150 includes a GPS (Global Positioning System) to collect the information of the work site and determine the current position.

The power supply unit 160 includes a battery in the divided accommodation space to supply power or connect to an external electric generator (not shown) to supply power. At this time, the external power connection hole 161 is formed to be connected to the external electricity generating device.

In addition, the upper frame body 100 is a waterproof structure, respectively provided with an upper cover portion 111 corresponding to the partition shape of the receiving space divided by the separation membrane (110a, 110b) to correspond to the shape of the receiving space, the upper cover The part 111 is waterproofed so that water does not flow into the receiving space.

In addition, the front of the upper frame body 100 is provided with an image input unit 120 for inputting the situation as an image, and is provided with an illumination unit 131 for adjusting the brightness on both sides of the image input unit 120.

Here, the image input unit 120 performs 120 ° angle of view and vertical movement to simultaneously perform and monitor the role of a self-propelled vehicle (exploration robot), such as when the robot moves forward, backward or work progress.

Further provided with a transparent protective window 121 for protecting the image input unit 120 from the external environment. At this time, the protective window 121 is based on tempered glass or reinforced plastic material, but is not limited thereto.

The bottom of the upper frame body 100 has a fixing link 180 and the upper rail portion 170 to which the upper portion of the X-shaped frame portion 310 of the lift module 300 is coupled, but the lift module 300 described below. This will be explained again.

As shown in FIGS. 4 and 5, the lower frame body 200 is positioned below the upper frame body 100 and forms an accommodating space 210 at an upper end thereof, and a solenoid for adjusting fluid within the accommodating space 210. A fluid supply connection part 221 is coupled to the valve 220 and the fluid line flowing from the outside.

In addition, a coupling link 230 for fastening the drive module 400 to both sides of the lower frame body 200 is formed, and the bottom surface of the lower frame body 200 has a vacuum suction formed in a cylindrical shape of the vacuum suction module 700. A vacuum suction module fastening part 240 having a rounded shape is formed to fasten the line 720.

The lower frame body part 200 further includes a lower cover part 250 that can cover the accommodation space 210.

An upper end of the lower cover part 250 is provided with a lift module 300 for lifting the upper frame body 100 and forms a lift module accommodating part 251 in which the lift module 300 is accommodated.

The lift module accommodating part 251 has a fixed link (not shown) and a lower rail part 252 to which the lower part of the X-shaped frame part 310 of the lift module 300 is coupled, but the lift module 300 described below. This will be explained again.

Here, the upper frame body 100 and the lower frame body 200 is any one of aluminum, magnesium, stainless steel, reinforced plastics, glass fiber reinforced plastics, carbon fiber reinforced plastics, and Kevlar in consideration of corrosion resistance, strength, weight Can be formed.

As illustrated in FIG. 6, the lift module 300 includes an X-shaped frame part 310, a cylinder 320, and a cylinder fixed shaft 330.

Here, the X-shaped frame portion 310 is connected between the bottom of the upper frame body 100 and the upper surface of the lower cover portion 250 of the lower frame body 200 is configured in a pair capable of folding and unfolding.

The X-shaped frame part 310 is formed of at least one pair, but may be more than that according to the adjustment of the lifting height.

The upper one side of the X-shaped frame portion 310 is fixed by a fixing link 180 having a rotational movement on the bottom of the upper frame body 100, the upper other side is provided with an upper level provided on the bottom of the upper frame body 100 The upper roller portion 311 is fastened to the portion 170.

At this time, the upper rail portion 170 is provided with a stopper 171 so that the upper roller portion 341 is not separated.

In addition, the lower one side of the X-shaped frame portion 310 is fixed by a fixing link (not shown) having a rotational movement on the upper surface of the lower cover portion 250 of the lower frame body 200, the lower other side is the lower frame body ( The lower roller part 312 is fastened to the lower rail part 252 provided on the upper surface of the lower cover part 250 of the 200.

At this time, the lower rail portion 252 is provided with a stopper 253 so that the lower roller portion 312 is not separated.

The cylinder 320 drives the folding and unfolding of the X-shaped frame portion 310 to raise and lower the upper frame body 100, and the X-shaped to drive the X-shaped frame 310 through the cylinder 320. The cylinder fixed shaft 330 for fixing the cylinder 320 to the frame 310 is further formed.

Lifting the upper frame body 100 by the lift module formed as described above is shown in Figure 7, the X-shaped frame portion 310 of the lift module 300 in the embodiment of the present invention is repeated X-shaped The two pairs of X-shaped frame portions 310 are shown to be combined.

As shown in FIG. 8, the drive module 400 has a screw wheel fixing housing 420 and a screw wheel fixing housing 420 formed thereon with a fixed shaft 410 on which the screw wheel 500 can be rotated and mounted. Screw wheels 500 formed on both sides of the fixed part 410 based on the fastening part 430 and the vacuum suction module 700 which are formed to be coupled to the fastening links 230 formed on both lower sides of the lower frame body 200. The opening angle adjusting cylinder 440 for adjusting the opening angle of the) and a drive module 450 for driving the screw wheel 500 fixed to the fixed shaft 410.

Opening angle adjustment cylinder 440 is fixed to the bottom surface of the lower frame body 200, the other side is connected to the screw wheel fixing housing 420, the angle of the screw wheel 500 can be stretched according to the required angle have.

That is, the change of the angle of the screw wheel fixing housing 420 affects the angle of the screw wheel 500. At this time, the angle of separation does not exceed a maximum of 50 °.

9 is a view showing the angle change of the screw wheel fixing housing 420 is adjusted by the opening angle adjusting cylinder 440, the screw wheel 500 according to the angle of the screw wheel fixing housing 420 as shown in (a) To be in line with the upper frame body 100 and the lower frame body 200, or may be adjusted to deviate from the upper frame body 100 and the lower frame body 200 as shown in (b).

The drive module 450 is a drive motor 451 for driving the screw wheel 500, the power transmission unit 452 for transmitting the power of the drive motor 451 to the screw wheel 500 mounted on the fixed shaft 410 It includes.

In this case, the protection motors 453a and 453b may be provided to protect the driving motor 451 and the power transmission unit 452 from external environmental factors, and the power transmission unit 452 may include a chain, a belt, And any one of gears.

The screw wheel 500 is a screw 510 is formed in a cylindrical outer circumference in a hollow cylindrical shape.

At this time, by adjusting the rotational direction of the screw wheel 500, not only forward and backward movement of the robot, but also vertical left and right movement and origin rotation are possible.

It is divided based on the central axis has a structure that can be separated and combined. In addition, the tank further includes an accommodating tank 520 accommodated therein.

Here, the accessory tank 520 has a filling part 521 capable of filling any one of gas, liquid, and solid, and forms buoyancy on the screw wheel 500 by the accessory tank 520, or screws A load may be applied to the wheel 500.

More specifically, the attached tank 520 is filled with inert gas such as helium gas and air or filled with styrofoam while dredging robot runs on the road surface of water, swamp and sand layer to make the weight of the robot as light as possible. In the case of dredging relatively bottoms such as industrial tanks, water tanks, various treatment tanks in waste disposal plants, and underwater dredging, it is preferable to fill the sand or install a lead weight inside the screw wheel to make the weight heavy.

In addition, the screw blade 510 of the screw wheel 500 should be about 167mm screw pitch spacing based on the screw wheel 1000mm to maximize the surface and ground area, but should be able to widen or reduce the pitch spacing as needed. In case of applying to the pipe, the packing such as rubber may be installed to protect the surface of the pipe.

As shown in FIG. 10, the drive module 400 further includes a second accessory tank 530 that is attached to and detached from the fixed shaft 410 on which the screw wheel 500 is mounted. The second accessory tank 530 is not affected by the rotation of the screw wheel 500 by the ball bearing (not shown) when mounted.

11, the shredder module 600 is mounted to the front of the lower frame body 200 by the connecting shaft 610 to shred the sediment. The first shredder 620 and the shredder arm 630. ), A rotary power motor 640, and a vertical motion motor 650.

The first crusher 620 crushes the sediment, and serves to collect the crushed sediment toward the vacuum suction line 720 of the vacuum suction module 700, in addition to the cylindrical rotating portion 622 relative to the rotating shaft 621. And a vertical blade 624 positioned between the spiral blade 623 spirally circumferentially and the spiral blade 623 and formed perpendicular to the outer periphery of the rotating portion 622.

At this time, the vertical blade 624 serves to prevent the jamming caused by the unexpected foreign matter when the first crusher 620 is driven.

The crusher arm 630 forms a detachable portion 631 at one side to enable detachable attachment of the first crusher 620, and the other side is connected to the connecting shaft 610 so that the lower frame body 200 and the first crusher ( 620 is formed to be spaced apart by a certain distance.

That is, the rotation shaft 621 of the first crusher 620 is coupled to the detachable portion 631. In this case, the detachable part 631 may attach and detach a necessary unit such as a loader, a fork of a forklift, as well as a crusher according to the application range.

Subsequently, the rotary power motor 640 rotates the first shredder 610, and the vertical motion motor 650 moves the shredder arm 630 up and down.

In addition, as shown in FIG. 1, the shredder module 600 is detachably provided at any one or more positions of the front and the rear of the drive module 400, so that the screw wheel 500 coupled with the drive module 400 is fixed. And a second crusher 660 fastened to the fixed shaft 410. At this time, the second shredder 660 is formed horizontally.

Here, the rotation speed of the second shredder 660 is the same as the screw wheel 500.

As shown in FIG. 12, the vacuum suction module 700 is positioned between the screw wheels 500 on both sides of the drive module 400, and the vacuum suction module fastening portion 240 of the bottom of the lower frame module 200 is provided. ) Is fastened and fixed, and connected to an external vacuum suction device (not shown) to suck the sediment crushed by the crusher module 600.

The vacuum suction module 700 has a connection line 710 connected to an external vacuum suction device (not shown), which one side is connected to the connection line, the vacuum suction line 720 to suck the front and rear deposits, the vacuum suction line Ball valves installed at both ends of the 720 and detachable radial buckets 731 and 732 and mounted to a portion where the vacuum suction line 720 and the connection line 710 are connected to switch the vacuum suction direction. Module 740.

The ball valve module 740 is a ball valve 741 is mounted to the portion connected in the form of a "T" connected to the vacuum suction line 720 and the connection line 710, one side is connected to the connection line 710, the other side is the ball And a ball valve drive cylinder 742 connected to the valve actuation handle 743.

Here, the ball valve module 740 allows the vacuum suction of the front part deposits to face the front part when the robot moves forward, and the secondary vacuum suction to the rear part when the robot moves backward.

Amphibious dredging robot having a screw wheel configured as described above is a method for operating in a small area, such as medium and small pipeline.

The upper frame body 100 and the lower frame body 200 is in close contact with each other, and the opening angle adjusting cylinder 440 is contracted as much as possible to adjust the screw wheels 500 to be in line with the upper and lower frame bodies 100 and 200.

When the adjustment is completed, the second crusher 660 is attached to the drive module 400, the ball valve module 740 is operated to induce a vacuum flow in the same direction as the traveling direction of the dredging robot 1000, and then into the pipeline. Dredge robot 1000 is put.

Dredging robot 1000 is introduced into the pipeline is driven by driving the screw wheel 500 through the drive module 450, while driving the image input unit 120 and the sensor module 150 between the pipe line, pipe slope, pipe and pipe It collects information such as height difference, travel distance and location of dredging robot.

In addition, the second crusher 660 attached to the drive module 400 has the same number of revolutions as the screw wheel 500, crushes the sediment deposited on both sides of the lower surface of the sewer pipe, and breaks the crushed sediment. At the same time performs a role of collecting to the center, the sediment collected in the center is transported to the outside by the vacuum suction module 700.

In addition, the shape of the bucket 731 due to the cross-sectional characteristics such as round, rectangular, horseshoe, and egg shape of the sewer pipe can be deformed and mounted.

When the work is finished, the dredging robot 1000 is reversed and returned to the original point. At this time, by using the ball valve module 740 to match the vacuum flow to the dredging robot 1000 backward direction to perform the final work dredging Can be.

Amphibious dredging robot having a screw wheel composed of the above configuration is operated in a water environment as follows.

In the water environment, the auxiliary tank 520 provided in the screw wheel 500 is filled with a relatively light gas, and then maximizes the buoyancy and is introduced. The second accessory tank 530 is provided at both ends of the screw wheel according to the type of work. It can be mounted at a position higher than the screw wheel 500, and the attachment and detachment of the first crusher form or fork form according to the object to be cleaned on the water can be attached.

Further, in the water, the appended tank 520 is filled with water or sand, or the weight of the attached tank (lead, etc.) is mounted on the top. Serves as a ship's screw.

Therefore, the present invention has the effect that the work site form is not affected by the improvement of the running performance free to move.

In addition, the present invention has the effect of securing the weight control and structural stability of the dredging robot is not affected by various road surface environment, such as water, underwater, swamp, land and surface.

In addition, the present invention facilitates the robot input to industrial tanks, such as small and medium pipelines and narrow entrance through the height adjustment, and equipped with GPS, even when working in the water environment containing high turbidity and suspended substances in the wastewater treatment tank This has the effect of being possible.

In addition, the present invention has the effect that the dredging operation is possible when the robot forwards and backwards.

In addition, the present invention has the effect of maximizing the efficiency of dredging work by designing a structure that can be attached and detached, the attachment of a variety of robots diversified range of application.

Although embodiments according to the present invention have been described above, these are merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments of the present invention are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the following claims.

1000 ... Amphibious Dredge Robot
100 ... upper frame body
110a, 110b ... membrane
111.Top cover
120.Video Input
121.Protective Window
130 ... Lighting
140 ... controller transceiver
150 ... sensor module
160 ... power supply
161.External power connection hole
170 ... upper rail
171, 253 ... stoppers
180 ... fixed link
200 ... lower frame body
210 ... accommodation space
220 ... solenoid valve
221 ... fluid supply connection
230 ... Fastening link
240.Vacuum suction module connection part
250 .. Lower cover
252 ... lower rail part
300 ... lift module
310 ... X shaped frame
311.Upper roller section
312 Lower roller section
320.cylinder
330 cylinder fixed shaft
400 ... drive module
410 ... fixed shaft
420 ... screw wheel housing
430 ... fastening
440 ... opening angle adjustment cylinder
450 ... drive module
451 Drive motor
452 ... Power Train
453a, 453b ... Protective cover
500 ... screw wheels
510 ... screw blade
520 ... attached tank
521.Filling part
530 ... 2nd attached tank
600 ... crusher module
610 ... connecting shaft
620 ... first shredder
621 ... rotation shaft
622.Rotator
623 ... spiral blade
624 ... vertical blade
630 ... crusher arm
631.Removable
640 ... rotary power motor
650 ... up and down motor
660 ... second shredder
700 ... Vacuum Suction Module
710 ... connection line
720 ... vacuum suction line
731, 732 ... bucket
740 ... ball valve module
741 ... ball valve
742 ball valve cylinder
743 ... ball valve handle

Claims (9)

An upper frame body having a waterproof structure, forming a receiving space divided by a separator, and including a controller transceiver for driving and driving, a sensor module for collecting position and information, and a power source in the receiving space;
A lower frame body positioned below the upper frame body and having a fluid supply connection part coupled to a fluid adjusting solenoid valve and a fluid line flowing from the outside;
A lift module positioned between the upper frame body and the lower frame body to raise and lower the upper frame;
A drive module fastened by being fixed to both sides of the lower frame body, and fixedly mounted so that the screw wheel can be rotated, and having a drive module for driving the screw wheel;
A crusher module mounted to the front of the lower frame body to crush deposits; And
It includes; a vacuum suction module located between the screw-shaped wheels of the both sides mounted to the drive module, connected to an external vacuum suction device to suck the sediment crushed by the crusher module;
The screw wheel is formed in a cylindrical shape with a cylindrical outer circumference in the hollow hollow inside, characterized in that the inner cylinder is provided with an auxiliary tank for filling any one of gas, liquid, and solid according to the road situation. Amphibious dredge robot with screw wheels. The method according to claim 1,
An upper end of the upper frame body is formed to be separated by a separator, and each controller receives a controller transceiver, a sensor module, and a battery part in each separated area, and includes an upper cover part corresponding to a partitioned shape for each area, wherein the upper cover The amphibious dredge robot with a screw wheel, characterized in that the inside is waterproofed to be waterproof. The method according to claim 1,
The upper frame body is provided with an image input unit for inputting the situation as an image on the front, and the amphibious dredge robot, characterized in that it comprises a lighting unit for adjusting the brightness to both sides of the image input unit. The method according to claim 1,
An amphibious dredge robot having a screw wheel, characterized in that it comprises a; lift module for lifting the upper frame body on the upper end of the lower frame body. The method according to claim 1,
The drive module is an amphibious dredge robot with a crew-type wheel, characterized in that further comprising an opening angle adjusting cylinder for adjusting the opening angle between the screw wheels provided on both sides. The method according to claim 1,
The shredder module is disposed between the spiral blade and the spiral blade spirally formed into a cylindrical outer circumference to serve to collect the crushed and crushed sediment of the sediment toward the vacuum suction line of the vacuum suction module and is perpendicular to the cylindrical outer circumference. A first shredder comprising a vertically formed blade;
A breaker arm provided with a detachable part to detachable the first breaker and spaced apart from the lower frame body by a predetermined distance;
A rotary power motor for rotating the first crusher; And
An amphibious dredge robot having a screw wheel, comprising: a vertical motor for vertically moving the crusher arm. The method according to claim 6,
The crusher module is located in front of the drive module, the second crusher horizontally coupled to the fixed shaft of the screw wheel coupled to the drive module; Amphibious dredging robot with a screw wheel further comprises a . The method according to claim 1,
Further comprising a second accessory tank detachable to the fixed shaft of the drive module is fixed to the screw wheel, the second accessory tank is provided with a screw wheel, characterized in that the ball bearing is not affected by the rotation of the screw wheel An amphibious dredge robot. The method according to claim 1,
The vacuum suction module has a connection line connected to the external vacuum suction device;
Any one side of the length is connected to the connection line vacuum suction line for sucking the front and rear deposits;
A bucket which is detachable at the inlet of the vacuum suction line and collects deposits;
An amphibious dredge robot with a screw wheel, characterized in that it comprises a; ball valve module for switching the vacuum suction direction at the inner end of the vacuum suction line.

Images