WO2023168928A1 - 不堆料水下清淤机器人料斗 - Google Patents

不堆料水下清淤机器人料斗 Download PDF

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Publication number
WO2023168928A1
WO2023168928A1 PCT/CN2022/121630 CN2022121630W WO2023168928A1 WO 2023168928 A1 WO2023168928 A1 WO 2023168928A1 CN 2022121630 W CN2022121630 W CN 2022121630W WO 2023168928 A1 WO2023168928 A1 WO 2023168928A1
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WIPO (PCT)
Prior art keywords
hopper
door panel
sets
swing arm
hole
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PCT/CN2022/121630
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English (en)
French (fr)
Inventor
林刚
湛德
王涛
闵红平
郭二卫
霍培书
汤丁丁
赵皇
刘成辉
刘长奇
丁浩
雷育霖
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中建三局绿色产业投资有限公司
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Application filed by 中建三局绿色产业投资有限公司 filed Critical 中建三局绿色产业投资有限公司
Publication of WO2023168928A1 publication Critical patent/WO2023168928A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
    • E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates

Definitions

  • the invention relates to the technical field of dredging equipment, and in particular to a non-stacking underwater dredging robot hopper.
  • the hidden culvert is closed all year round and has a complex internal structure.
  • the working space is narrow and a large amount of toxic gases accumulate, which poses great safety risks for construction workers.
  • a dredging robot that integrates digging and installation is launched on the market.
  • the dredging robot includes a bucket and a hopper. The bucket is used to dig out the garbage in the culvert, and then pours the garbage in the bucket into the front end of the hopper through the swing arm.
  • the garbage cannot be evenly distributed in various positions of the hopper, resulting in the inability to fully utilize the hopper volume, which will increase the number of dumping times of the hopper, reduce the dredging efficiency of the dredging robot, and increase the dredging cost.
  • the existing technology proposes a belt conveyor transfer hopper silt alarm device, which includes a detection plate arranged inside the transfer hopper, a transmission shaft connecting the transfer hopper and the detection plate, an induction block connected to the transmission shaft, and an induction block located on the induction block. Proximity switch diagonally below.
  • the lower half of the detection board is a curved panel, the proximity switch is connected to the alarm circuit, and the alarm circuit is connected to the control circuit of the belt transmission.
  • the present invention provides a non-stacking underwater desilting robot hopper.
  • the front end of the hopper can be raised through the cooperation of the pushing mechanism and the swing arm mechanism, and the hopper can be scraped by scraping.
  • the plate and door panel push the silt to slide toward the rear end of the hopper, which solves the problem of silt accumulation and improves the efficiency of dredging.
  • a non-stacking underwater dredging robot hopper includes a hopper with an accommodation cavity, a door panel arranged on the inner peripheral wall of the accommodation cavity and rotatably connected to the hopper, and a door panel arranged at the bottom end of the accommodation cavity and connected with the hopper.
  • the scraper is rotatably connected to the door panel, the swing arm mechanism is used to drive the door panel to rotate, and the chassis is provided below the hopper and is separated from the hopper;
  • An installation cavity for accommodating a pushing mechanism is formed between the chassis and the hopper.
  • the driving end of the pushing mechanism is movably connected to one end of the swing arm mechanism.
  • the outer peripheral wall of the door panel is provided with a sliding connection thereto.
  • Push plate, the other end of the swing arm mechanism is hinged with the push plate.
  • the door panel is disposed on the inner peripheral wall of the front end of the accommodation cavity along the vertical direction, the upper end of the door panel is rotationally connected to the upper hinge provided on the hopper, and a lower end of the door panel is provided with Lower hinge.
  • the bottom end cover of the accommodation cavity is provided with a nylon bottom plate, the scraper is disposed on the top of the nylon bottom plate in the horizontal direction, and the front end of the scraper is rotationally connected to the lower hinge.
  • an installation opening is provided at the front end of the hopper to expose part of the door panel.
  • An upper guide rail is provided along the vertical direction at a position corresponding to the door panel and the installation opening. The rear part of the upper guide rail The end and the front end of the door panel form a chute for the push plate to slide.
  • a nylon thrust plate is provided at the rear end of the push plate, and a nylon back plate is provided at the contact position between the front end and the upper guide rail.
  • the front end of the push plate is symmetrically provided with ear plates
  • the swing arm mechanism includes two sets of first swing arms with one end hinged to the ear plates respectively, and another set of two sets of first swing arms respectively connected to the two sets of first swing arms.
  • Two sets of second swing arms are rotatably connected at one end.
  • the upper end of the first swing arm is provided with a first through hole.
  • the ear plate is provided with a second through hole corresponding to the first through hole.
  • the third through hole is provided on the ear plate.
  • a through hole and the second through hole are provided for the pin shaft to pass through in sequence.
  • any set of mounting plates includes two sets of steel plates arranged side by side. Both sets of steel plates are provided with connections for accommodating steel pipes. holes, the opposite ends of the two groups of steel pipes are provided with rotation holes along the axial direction, the lower ends of the two groups of first swing arms are provided with third through holes corresponding to the rotation holes, and the two groups of first swing arms are provided with third through holes corresponding to the rotation holes.
  • the upper ends of the two swing arms are each provided with a fourth through hole corresponding to the rotation hole, and the fourth through hole, the third through hole and the rotation hole are sequentially provided for the rotation shaft to pass through.
  • the pushing mechanism includes a hydraulic cylinder arranged in the installation cavity along the horizontal direction, and a slide block connected to the driving end of the hydraulic cylinder; the front end of the slide block is symmetrically provided with protrusions along the horizontal direction. structure, the bottom end of the protruding structure and the top end of the chassis form a U-shaped cavity.
  • a lower guide rail is provided in the installation cavity along the horizontal direction.
  • the lower guide rail is arranged in an L-shaped structure and has a vertical end provided on the chassis along the vertical direction, and a lower guide rail provided on the chassis along the horizontal direction.
  • the lower ends of the two sets of second swing arms are provided with round rods with two ends connected to the two sets of second swing arms respectively.
  • the round rods pass through the lower guide rail and are connected with each other.
  • the U-shaped cavity is movablely connected.
  • the hopper includes a frame composed of a plurality of square tubes, and a number of wall panels laid on the frame.
  • the non-stacking underwater dredging robot hopper of the present invention by arranging a door panel and a scraper in the hopper, can push up the front end of the hopper through the cooperation of the pushing mechanism and the swing arm mechanism when the silt accumulates in the hopper. , which facilitates the mud to slide backwards, and drives the door panel to rotate to push most of the mud at the front end to the rear end.
  • the door panel drives the scraper that is rotationally connected to it to move backward, thereby pushing the adhering sludge at the bottom of the accommodation chamber to slide toward the rear end of the hopper, and then pushing the garbage at the front end of the hopper through the hopper raised at the front end, as well as the door panel and scraper.
  • the problem of silt accumulation is solved, the hopper volume is fully utilized, the number of hopper replacements is reduced, and the desilting efficiency is improved.
  • the non-stacking underwater desilting robot hopper of the present invention is provided with a nylon bottom plate on the bottom end cover of the accommodation cavity to facilitate the sliding of silt in the hopper; in addition, nylon plates are provided at both front and rear ends of the push plate. Reduce the friction during the sliding process of the push plate to ensure the pushing effect.
  • the non-stacking underwater dredging robot hopper of the present invention movably connects the bottom end of the swing arm mechanism to the pushing mechanism, so that the hopper and the chassis can be smoothly separated, and after the dredging work is completed, the swing arm mechanism, etc.
  • the component can slide to the initial position under the action of its own gravity, eliminating the need for a reset drive mechanism, simplifying the overall mechanism, and lowering costs.
  • Figure 1 is a schematic top view of the hopper of the underwater dredging robot without stacking materials according to the present invention
  • Figure 2 is a schematic cross-sectional view along the A-A direction in Figure 1;
  • Figure 3 is a partially enlarged schematic diagram of area B in Figure 2;
  • Figure 4 is a partially enlarged schematic diagram of area C in Figure 2;
  • Figure 5 is a schematic left view of the hopper of the underwater dredging robot without stacking materials of the present invention
  • a non-stacking underwater dredging robot hopper 100 includes a hopper 10 with a containing cavity, a door panel 12 provided on the inner peripheral wall of the containing cavity and rotatably connected to the hopper 10,
  • the scraper 14 is at the bottom of the cavity and is rotatably connected to the door panel 12 , a swing arm mechanism for driving the door panel 12 to rotate, and a chassis 20 that is disposed below the hopper 10 and is separated from the hopper 10 .
  • the hopper 10 includes a frame composed of a plurality of square tubes and a number of wall panels laid on the frame.
  • the wall plate is preferably a steel plate and welded to the square tube.
  • the overall structure of the hopper 10 has good strength, small deformation and longer service life.
  • the chassis 20 and the hopper 10 have a separate structure, which facilitates replacement of the hopper 10 and cleaning of the hopper 10.
  • the hopper 10 is filled with garbage, the hopper 10 is lifted off the chassis 20 through the lifting equipment, and then the empty hopper 10 is re-lifted, thereby reducing the waiting time of the dredging robot and improving the dredging efficiency.
  • An installation cavity for accommodating the pushing mechanism is formed between the chassis 20 and the hopper 10.
  • the driving end of the pushing mechanism is movably connected to one end of the swing arm mechanism, so that the pushing mechanism can push the swing arm mechanism to swing.
  • the outer peripheral wall of the door panel 12 is provided with a push plate 30 slidably connected thereto, and the other end of the swing arm mechanism is hinged with the push plate 30 .
  • the push plate 30 can rotate relative to the swing arm mechanism, and can slide up and down relative to the door panel 12, thereby pushing the door panel 12 to rotate. When the door panel 12 rotates in the counterclockwise direction, the garbage at the front end of the hopper 10 will be pushed backward.
  • the front end of the hopper 10 can be lifted up through the cooperation of the pushing mechanism and the swing arm mechanism, and the door panel 12 can be driven to rotate.
  • Push most of the sludge from the front end to the rear end and drive the scraper 14 that is rotatably connected with it through the door panel 12 to move backward.
  • the scraper 14 then pushes the sludge stuck at the bottom of the accommodation chamber to slide toward the rear end of the hopper 10, and then pushes the scraper 14 through the front end.
  • the lifting of the hopper 10, as well as the rotation of the door panel 12 and the scraper 14 push the garbage at the front end of the hopper 10 to the rear end, solving the problem of silt accumulation and improving the desilting efficiency.
  • the door panel 12 is disposed vertically on the inner peripheral wall of the front end of the accommodation cavity and is in close contact with the front side wall of the accommodation cavity to ensure the sealing of the front end of the accommodation cavity.
  • the upper end of the door panel 12 is rotatably connected to the upper hinge 13 provided on the hopper 10 , and a lower hinge 15 is provided at the lower end of the door panel 12 .
  • the door panel 12 and the hopper 10 are rotationally connected through the upper hinge 13, so that the door panel 12 can rotate around the upper hinge 13 under the action of thrust, thereby realizing the pushing effect of the door panel 12 on the garbage at the front end of the hopper 10, and the door panel 12 can and When the push plate 30 slides, the door panel 12 is pulled back to the initial position.
  • the bottom end cover of the accommodation chamber is provided with a nylon bottom plate 11.
  • the nylon bottom plate 11 has a small friction coefficient, which is convenient for mud sliding, and has good wear resistance and longer service life.
  • the bottom end of the door panel 12 is higher than the top end of the nylon base plate 11, which facilitates the rotation of the door panel 12.
  • the scraper 14 is arranged on the top of the nylon base plate 11 in the horizontal direction, and the front end of the scraper 14 is rotatably connected to the lower hinge 15 . With this arrangement, when the door panel 12 rotates counterclockwise, the scraper 14 rotates clockwise around the lower hinge 15 and slides toward the rear end of the hopper 10, thereby pushing the sludge on the nylon bottom plate 11 to slide backward.
  • the front end of the hopper 10 is provided with an installation opening to expose part of the door panel 12 to facilitate the swing arm mechanism to act on the door panel 12 .
  • An upper guide rail 33 is provided symmetrically along the vertical direction at a position corresponding to the door panel 12 and the installation opening. The rear end of the upper guide rail 33 and the front end of the door panel 12 form a chute for the push plate 30 to slide.
  • the upper guide rail 33 guides the sliding of the push plate 30, and when the door panel 12 falls under the action of gravity, the upper guide rail 33 can guide the door panel 12 to seal the installation opening to prevent the silt in the hopper 10 from falling out of the installation opening. .
  • a nylon thrust plate 31 is provided at the rear end of the push plate 30, and a nylon back plate 32 is provided at the contact position between the front end and the upper guide rail 33, so that the push plate 30 is not in direct contact with the door panel 12 and the upper guide rail 33.
  • the friction force when the push plate 30 slides is reduced, ensuring the pushing effect of the push plate 30 on the door panel 12 .
  • the front end of the push plate 30 is symmetrically provided with ear plates
  • the swing arm mechanism includes two sets of first swing arms 41 with one end respectively hinged to the ear plates, and two sets of first swing arms 41 respectively hinged to the ear plates.
  • the other ends of the two sets of first swing arms 41 are rotatably connected to the two sets of second swing arms 42 .
  • the upper end of the first swing arm 41 is provided with a first through hole
  • the ear plate is provided with a second through hole corresponding to the first through hole.
  • the first through hole and the second through hole allow the pin shaft to pass through in sequence, so that the push plate 30 Hinged with the first swing arm 41, the push plate 30 can rotate around the axis of the pin, thereby ensuring that the push plate 30 can perform rotation and sliding actions at the same time.
  • the front end of the bottom of the hopper 10 is provided with two sets of mounting plates symmetrically along the vertical direction, and the mounting plates are welded to the hopper 10 .
  • Any set of mounting plates includes two sets of steel plates 44 arranged side by side. Both sets of steel plates 44 are provided with connection holes for accommodating steel pipes 46. The steel pipes 46 are inserted into the connection holes and welded and fixed with the steel plates 44.
  • the opposite ends of the two sets of steel pipes 46 are each provided with rotation holes along their axial directions, the lower ends of the two sets of first swing arms 41 are each provided with third through holes corresponding to the rotation holes, and the upper ends of the two sets of second swing arms 42 are both provided with rotation holes. There is a fourth through hole corresponding to the rotation hole.
  • the fourth through hole, the third through hole and the rotation hole are sequentially used for the rotation axis 43 to pass through, so that both the first swing arm 41 and the second swing arm 42 can rotate around the rotation axis 43
  • the axis rotates, the second swing arm 42 moves upward, and the first swing arm 41 moves downward.
  • the second swing arm 42 moves upward, it can push the front end of the hopper 10 to lift up, so that the swing arm mechanism simultaneously performs the actions of lifting the front end of the hopper 10 and swinging the door panel 12 .
  • the door panel 12 swings in the counterclockwise direction, it will push the garbage at the front end of the hopper 10 to move backward, so that the door panel 12 can push the garbage at the front end.
  • the pushing mechanism includes a hydraulic cylinder 22 disposed in the installation cavity along the horizontal direction, and a slider 23 connected to the driving end of the hydraulic cylinder 22 .
  • the slide block 23 is located at the front end of the hydraulic cylinder 22.
  • the piston rod of the hydraulic cylinder 22 and the slide block 23 are connected through a nut, so that the slide block 23 is driven by the piston rod of the hydraulic cylinder 22 to make linear reciprocating motion in the horizontal direction.
  • the front end of the slider 23 is symmetrically provided with a protruding structure along the horizontal direction, and the bottom end of the protruding structure and the top end of the chassis 20 form a U-shaped cavity.
  • the lower guide rail 21 is arranged in the horizontal direction in the installation cavity.
  • the lower guide rail 21 is arranged in an L-shaped structure and is welded by two bent plates. It has a vertical end arranged on the chassis 20 in the vertical direction and a horizontal end. The direction is set to the horizontal end at the top of the vertical end.
  • the front end of the convex structure of the slider 23 is provided with a chamfer to facilitate the slider 23 to enter the lower guide rail 21 .
  • the lower guide rail 21 has a semi-enclosed structure, so that the swing arm mechanism can smoothly leave the lower guide rail 21 and then separate from the chassis 20 .
  • the lower ends of the two sets of second swing arms 42 are provided with round rods 45 whose two ends are connected to the two sets of second swing arms 42 respectively.
  • the round rods 45 pass through the lower guide rail 21 and are movably connected to the U-shaped cavity.
  • the U-shaped cavity can prevent the round The rod 45 swings up and down as it moves. Initially, the slider 23 and the round rod 45 maintain a certain distance, and they are not connected. This separated arrangement, combined with the hollow arrangement at the upper part of the upper guide rail 33, can ensure the smooth separation of the hopper 10 and the chassis 20.
  • the hydraulic cylinder 22 drives the slider 23 to slide forward and contact the round rod 45.
  • the round rod 45 is pushed by the slider 23 and slides into the lower guide rail 21 and continues to slide forward.
  • the second swing arm 42 is caused to move forward and rotate in the clockwise direction, thereby driving the first swing arm 41 to move downward and rotate in the clockwise direction.
  • the second swing arm 42 moves upward, it drives the front end of the hopper 10 to rise. , to facilitate the removal of garbage.
  • the first swing arm 41 drives the push plate 30 to slide downward along the upper guide rail 33 and drives the push plate 30 to rotate counterclockwise around the axis of the hinge shaft.
  • the push plate 30 further pushes the door panel 12 to rotate counterclockwise around the upper hinge 13.
  • the door panel 12 rotates, it pushes the garbage at the front end to slide backward.
  • the door panel 12 drives the scraper 14 to rotate clockwise around the lower hinge 15 and drives the scraper 14 to slide backward.
  • the scraper 14 then pushes the garbage at the front end to slide backward, thereby through the linkage between the door panel 12 and the scraper 14 Work to realize the backward movement of the garbage at the front end of the hopper 10.
  • the hydraulic cylinder 22 drives the piston rod to recover backward, and the piston rod in turn drives the slider 23 to move backward.
  • the slider 23 keeps in contact with the round rod 45, and the hopper 10, the door panel 12, the round rod 45 and the slider 23 keep following each other. That is, after the slider 23 moves backward for a certain distance, the hopper 10 and the door panel 12 and other components fall downward under the action of their own gravity, and drive the round rod 45 to move backward through the swing arm mechanism.
  • the round rod 45 and the The slider 23 always keeps in contact, and the swing arm mechanism is supported and hindered by the slider 23, so that the hopper 10 and the door panel 12 can only fall back a certain distance accordingly.
  • the first swing arm 41 rotates in the counterclockwise direction, and the first swing arm 41 drives the push plate 30 to slide upward along the upper guide rail 33, and the push plate 30 then pulls the door panel 12 to wind up.
  • the hinge 13 rotates in the clockwise direction to further ensure that the door panel 12 falls back smoothly, and allows the door panel 12 to seal the installation opening when it returns to the initial position.
  • the door panel 12 drives the scraper 14 to rotate counterclockwise around the lower hinge 15 and drives the scraper 14 to slide forward.
  • the slider 23 disengages from the round rod 45 and leaves the lower guide rail 21. The slider 23 returns to the initial position and maintains a certain distance from the round rod 45.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
  • Refuse Collection And Transfer (AREA)
  • Treatment Of Sludge (AREA)

Abstract

一种不堆料水下清淤机器人料斗，包括具有一容纳腔的料斗(10)、设置于容纳腔的内周壁并与料斗(10)转动连接的门板(12)、设置于容纳腔的底端并与门板(12)转动连接的刮板(14)、用于驱动门板(12)转动的摆臂机构、以及设置于料斗(10)的下方并与料斗(10)呈分离式设置的底盘(20)；底盘(20)与料斗(10)之间形成用于容纳推动机构的安装腔，推动机构的驱动端与摆臂机构的一端活动连接，门板(12)的外周壁设置有与之滑动连接的推板(30)，摆臂机构的另一端与推板(30)铰接。通过上述方式，能够在料斗(10)内淤泥堆积时，通过推动机构与摆臂机构的配合作用，使得料斗(10)的前端升起，并通过门板(12)与刮板(14)推动淤泥向料斗(10)后端滑动，解决了淤泥堆积的问题，充分利用料斗(10)容积，减少料斗(10)更换次数，提高了清淤效率。

Description

不堆料水下清淤机器人料斗 技术领域
本发明涉及清淤设备技术领域，特别是涉及一种不堆料水下清淤机器人料斗。
背景技术
随着我国城市建设的发展，地下暗涵内淤积的污泥也越来越多。暗涵常年封闭，内部结构错综复杂，且对暗涵进行清理时需要在密闭空间作业，作业空间狭窄且聚集了大量有毒气体，施工人员作业时安全隐患太大。现在，市场上推出了一种挖装一体的清淤机器人。清淤机器人包含铲斗和料斗，铲斗用于挖取暗涵内的垃圾，再通过摆臂把铲斗内的垃圾倒入料斗前端。实际操作过程中，由于摆臂的长度固定，无法改变铲斗的倾倒位置，料斗前端的垃圾会堆积很高，其余位置垃圾较少。之前都是通过液压缸将料斗前端顶起，使料斗倾斜，形成前高后低的状态，使得垃圾自动滑到后端。但暗涵内空间有限，暗涵垃圾含有大量淤泥粘性较大，料斗倾斜角度无法使前端垃圾自动滑到后端。垃圾无法均匀分布在料斗各个位置，导致无法充分利用料斗容积，会增加料斗倾倒次数，降低清淤机器人清淤效率，增加清淤成本。
现有技术提出了一种皮带传送中转料斗淤料报警装置，包括设置于中转料斗内部的检测板、连接中转料斗与检测板的传动轴、与传动轴连接的感应挡块、以及位于感应挡块斜下方的接近开关。检测板的下半部为曲面板，接近开关与报警回路连接，报警回路与皮带传送的控制回路连接。这种技术虽然可以检测到料斗出现堆积的情况，并及时报警提醒作业人员。但是，这种技术只能对积淤情况进行监控，需要作业人员进行相应的作业后清理堆积的淤泥，并不能实现自动且快速的清理堆积淤泥。
因此，设计一种结构简单、能够自动清理料斗堆积的淤泥、合理利用料斗的内部空间的一种不堆料水下清淤机器人料斗就很有必要。
发明内容
为了克服上述问题，本发明提供了一种不堆料水下清淤机器人料斗，能够在料斗内淤泥堆积时，通过推动机构与摆臂机构的配合作用，使得料斗的前端升起，并通过刮板与门板推动淤泥向料斗后端滑动，解决了淤泥堆积的问题，提高了清淤效率。
为实现上述的目的，本发明采用的技术方案是：
一种不堆料水下清淤机器人料斗，包括具有一容纳腔的料斗、设置于所述容纳腔的内周壁并与所述料斗转动连接的门板、设置于所述容纳腔的底端并与所述门板转动连接的刮板、用于驱动所述门板转动的摆臂机构、以及设置于所述料斗的下方并与所述料斗呈分离式设置的底盘；
所述底盘与所述料斗之间形成用于容纳推动机构的安装腔，所述推动机构的驱动端与所述摆臂机构的一端活动连接，所述门板的外周壁设置有与之滑动连接的推板，所述摆臂机构的另一端与所述推板铰接。
进一步的，所述门板沿竖直方向设置于所述容纳腔的前端的内周壁，所述门板的上端与设置于所述料斗上的上合页转动连接，并在所述门板的下端设置有下合页。
进一步的，所述容纳腔的底端盖设有尼龙底板，所述刮板沿水平方向设置于所述尼龙底板的顶端，所述刮板的前端与所述下合页转动连接。
进一步的，所述料斗的前端设置有安装口，以将所述门板的部分区域裸露，所述门板与所述安装口对应的位置处沿竖直方向设置有上导轨，所述上导轨的后端与所述门板的前端形成供所述推板滑动的滑槽。
进一步的，所述推板的后端设置有尼龙推力板，其前端与所述上导轨的接触位置处设置有尼龙背板。
进一步的，所述推板的前端对称设置有耳板，所述摆臂机构包括一端分别与所述耳板铰接的两组第一摆臂、以及分别与两组所述第一摆臂的另一端转动连接的两组第二摆臂，所述第一摆臂的上端设置有第一通孔，所述耳板上设置有与所述第一通孔对应的第二通孔，所述第一通孔与所述第二通孔依次供销轴 穿过。
进一步的，所述料斗底部的前端沿竖直方向对称设置有两组安装板，任意一组所述安装板包括并排设置的两组钢板，两组所述钢板上均设置有用于容纳钢管的连接孔，两组所述钢管的相对一端均沿其轴线方向设置有转动孔，两组所述第一摆臂的下端均设置有与所述转动孔对应的第三通孔，两组所述第二摆臂的上端均设置有与所述转动孔对应的第四通孔，所述第四通孔、第三通孔与转动孔依次供旋转轴穿过。
进一步的，所述推动机构包括沿水平方向设置于所述安装腔内的液压缸、以及与所述液压缸的驱动端连接的滑块；所述滑块的前端沿水平方向对称设置有凸起结构，所述凸起结构的底端与所述底盘的顶端形成U型腔。
进一步的，所述安装腔内沿水平方向设置有下导轨，所述下导轨呈L型结构设置，并具有沿竖直方向设置于所述底盘上的竖直端、以及沿水平方向设置于所述竖直端的顶端的水平端，两组所述第二摆臂的下端设置有两端分别与两组所述第二摆臂连接的圆杆，所述圆杆穿过所述下导轨后与所述U型腔活动连接。
进一步的，所述料斗包括由若干方管构成的骨架、以及铺设于所述骨架上的若干壁板。
与现有技术相比，本发明的有益效果是：
1.本发明的不堆料水下清淤机器人料斗，通过在料斗内设置门板与刮板，能够在料斗内淤泥堆积时，通过推动机构与摆臂机构的配合作用，使得料斗的前端顶起，便于淤泥向后滑动，并驱动门板转动后将前端的大部分淤泥推动到后端。同时，门板带动与之转动连接的刮板向后移动，进而推动容纳腔底端粘连的淤泥向料斗后端滑动，进而通过前端顶起的料斗、以及门板与刮板，将料斗前端的垃圾推动到后端，解决了淤泥堆积的问题，充分利用料斗容积，减少料斗更换次数，提高了清淤效率。
2.本发明的不堆料水下清淤机器人料斗，通过在容纳腔的底端盖设有尼龙底 板，便于料斗内的淤泥滑动；此外，在推板的前后两端均设置有尼龙板，减少推板滑动过程中的摩擦力，保证推动效果。
3.本发明的不堆料水下清淤机器人料斗，通过将摆臂机构的底端与推动机构活动连接，使得料斗与底盘能够顺利拆分，并且在清淤工作完成后，摆臂机构等部件在自身重力的作用下，能够滑落至初始位置，省去了复位驱动机构的设置，简化了整体机构，成本更低。
附图说明
图1是本发明的不堆料水下清淤机器人料斗的俯视示意图；
图2是图1中沿A-A方向的剖视示意图；
图3是图2中B区域的部分放大示意图；
图4是图2中C区域的部分放大示意图；
图5是本发明的不堆料水下清淤机器人料斗的左视示意图；
附图中各部件的标记如下：10、料斗；11、尼龙底板；12、门板；13、上合页；14、刮板；15、下合页；20、底盘；21、下导轨；22、液压缸；23、滑块；30、推板；31、尼龙推力板；32、尼龙背板；33、上导轨；41、第一摆臂；42、第二摆臂；43、旋转轴；44、钢板；45、圆杆；46、钢管。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所得到的所有其它实施例，都属于本发明所保护的范围。
实施例1
如图1至2所示，一种不堆料水下清淤机器人料斗100，包括具有一容纳腔的料斗10、设置于容纳腔的内周壁并与料斗10转动连接的门板12、设置于容纳腔的底端并与门板12转动连接的刮板14、用于驱动门板12转动的摆臂机 构、以及设置于料斗10的下方并与料斗10呈分离式设置的底盘20。料斗10包括由若干方管构成的骨架、以及铺设于骨架上的若干壁板。壁板优选为钢板，并与方管焊接。料斗10的整体结构强度好，变形小，使用寿命更长。底盘20与料斗10呈分离式结构，便于更换料斗10，以对料斗10进清理。当料斗10内装满垃圾时，通过起重设备将料斗10吊离底盘20，再重新吊入空的料斗10，减少清淤机器人的等待时间，提高清淤效率。
底盘20与料斗10之间形成用于容纳推动机构的安装腔，推动机构的驱动端与摆臂机构的一端活动连接，使得推动机构能够推动摆臂机构摆动。门板12的外周壁设置有与之滑动连接的推板30，摆臂机构的另一端与推板30铰接。推板30能够相对于摆臂机构转动，并能相对于门板12上下滑动，从而推动门板12转动。当门板12沿逆时针方向转动时会推动料斗10前端的垃圾后移。
如此设置，通过在料斗10内设置门板12与刮板14，能够在料斗10内淤泥堆积时，通过推动机构与摆臂机构的配合作用，使得料斗10的前端顶起，并驱动门板12转动后将前端大部分淤泥推动到后端，并通过门板12带动与之转动连接的刮板14向后移动，刮板14进而推动容纳腔底端粘连的淤泥向料斗10后端滑动，进而通过前端顶起的料斗10、以及门板12与刮板14的转动，将料斗10前端的垃圾推动到后端，解决了淤泥堆积的问题，提高了清淤效率。
如图2至4所示，在一些实施例中，门板12沿竖直方向设置于容纳腔的前端的内周壁，并与容纳腔的前侧壁紧贴，以保证容纳腔前端的密闭性。门板12的上端与设置于料斗10上的上合页13转动连接，并在门板12的下端设置有下合页15。门板12与料斗10通过上合页13转动连接，使得门板12在推力作用下能够绕上合页13转动，实现门板12对料斗10前端垃圾的推动作用，门板12能够在自重力的作用下以及推板30滑动时对门板12的牵引作用下回到初始位置。
容纳腔的底端盖设有尼龙底板11，尼龙底板11的摩擦系数小，便于淤泥滑动，且其耐磨性好，使用寿命更长。门板12的底端高于尼龙底板11的顶端， 便于门板12转动。刮板14沿水平方向设置于尼龙底板11的顶端，刮板14的前端与下合页15转动连接。如此设置，当门板12沿逆时针方向转动时，刮板14绕下合页15沿顺时针方向转动并向料斗10后端滑动，从而推动尼龙底板11上的淤泥向后滑动。
如图5所示，并参阅图2，在一些实施例中，料斗10的前端设置有安装口，以将门板12的部分区域裸露，便于摆臂机构作用于门板12上。门板12与安装口对应的位置处沿竖直方向对称设置有上导轨33，上导轨33的后端与门板12的前端形成供推板30滑动的滑槽。上导轨33对推板30滑动起到导向作用，并在门板12受到自重力作用下而下落时，上导轨33能够引导门板12将安装口密封，防止料斗10内的淤泥从安装口处掉出。特别的，推板30的后端设置有尼龙推力板31，其前端与上导轨33的接触位置处设置有尼龙背板32，使得推板30与门板12及上导轨33均不直接接触，大大减少了推板30滑动时的摩擦力，保证推板30对门板12的推动效果。
如图5所示，并参阅图2，在一些实施例中，推板30的前端对称设置有耳板，摆臂机构包括一端分别与耳板铰接的两组第一摆臂41、以及分别与两组第一摆臂41的另一端转动连接的两组第二摆臂42。第一摆臂41的上端设置有第一通孔，耳板上设置有与第一通孔对应的第二通孔，第一通孔与第二通孔依次供销轴穿过，使得推板30与第一摆臂41铰接，推板30能够绕销轴的轴线转动，进而保证推板30能够同时执行转动与滑动的动作。
料斗10底部的前端沿竖直方向对称设置有两组安装板，安装板与料斗10焊接。任意一组安装板包括并排设置的两组钢板44。两组钢板44上均设置有用于容纳钢管46的连接孔，钢管46插入连接孔内并与钢板44焊接固定。两组钢管46的相对一端均沿其轴线方向设置有转动孔，两组第一摆臂41的下端均设置有与转动孔对应的第三通孔，两组第二摆臂42的上端均设置有与转动孔对应的第四通孔，第四通孔、第三通孔与转动孔依次供旋转轴43穿过，使得第一摆臂41与第二摆臂42均可绕旋转轴43的轴线转动，第二摆臂42向上动作，第 一摆臂41向下动作。第二摆臂42向上运动时能够推动料斗10的前端上抬，从而实现摆臂机构同时执行料斗10前端顶起与门板12摆动的动作。门板12沿逆时针方向摆动时会推动料斗10前端的垃圾后移，实现门板12对前端垃圾的推动作用。
在一些实施例中，具体如图2所示，推动机构包括沿水平方向设置于安装腔内的液压缸22、以及与液压缸22的驱动端连接的滑块23。滑块23位于液压缸22的前端，液压缸22的活塞杆与滑块23通过螺母连接，使得滑块23在液压缸22的活塞杆的驱动下沿水平方向做直线往复运动。滑块23的前端沿水平方向对称设置有凸起结构，凸起结构的底端与底盘20的顶端形成U型腔。
安装腔内沿水平方向设置有下导轨21，下导轨21呈L型结构设置，由两块折弯板焊接而成，并具有沿竖直方向设置于底盘20上的竖直端、以及沿水平方向设置于竖直端的顶端的水平端。滑块23的凸起结构的前端设置有倒角，方便滑块23进入下导轨21内。下导轨21为半封闭式结构，使得摆臂机构能够顺利离开下导轨21内，进而与底盘20分离。两组第二摆臂42的下端设置有两端分别与两组第二摆臂42连接的圆杆45，圆杆45穿过下导轨21后与U型腔活动连接，U型腔能够防止圆杆45在移动时上下摆动。初始时，滑块23与圆杆45保持一定的距离，二者并不连接。这种分离式的设置配合上导轨33的上部中空式设置，能够保证料斗10与底盘20的顺利分离。
下面对本发明的具体工作方式进行说明：
当料斗10前端堆满垃圾需要清理时，液压缸22驱动滑块23向前滑动，并与圆杆45接触，圆杆45在滑块23的推动下滑入下导轨21内并继续向前滑动，使得第二摆臂42向前运动并沿顺时针方向转动，进而驱动第一摆臂41向下运动并沿顺时针方向转动，同时，第二摆臂42向上运动时驱动料斗10的前端升起，便于垃圾后移。同时，第一摆臂41驱动推板30沿上导轨33向下滑动，并驱动推板30绕铰轴的轴线沿逆时针方向转动。推板30进而推动门板12绕上合页13沿逆时针方向转动，门板12转动时推动前端的垃圾向后滑动。同时，门 板12驱动刮板14绕下合页15沿顺时针方向转动，并驱动刮板14向后滑动，刮板14进而推动前端的垃圾向后滑动，从而通过门板12与刮板14的联动工作，实现料斗10前端垃圾的后移。
当料斗10前端的垃圾移动到后端时，液压缸22驱动活塞杆向后回收，活塞杆进而驱动滑块23向后运动。在活塞杆回收过程中，滑块23与圆杆45保持接触，料斗10、门板12、圆杆45以及滑块23彼此保持随动状态。即滑块23向后运动一段距离后，料斗10与门板12等部件在自身重力的作用下向下回落，并通过摆臂机构驱动圆杆45向后运动，在此过程中，圆杆45与滑块23始终保持接触，摆臂机构由于受到滑块23对其支撑与阻碍作用，使得料斗10与门板12只能相应回落一定的距离。同时，在滑块23向后运动的过程中，第一摆臂41沿逆时针方向转动，第一摆臂41进而驱动推板30沿上导轨33向上滑动，推板30进而拉动门板12绕上合页13沿顺时针方向转动，进一步保证门板12顺利回落，并使得门板12在回落到初始位置时将安装口密封。同时，门板12驱动刮板14绕下合页15沿逆时针方向转动，并驱动刮板14向前滑动。待门板12转动至与料斗10的侧壁接触后，滑块23与圆杆45脱离接触后离开下导轨21。滑块23回到初始位置，并与圆杆45保持一定的距离。
以上所述仅用以说明本发明的技术方案，而非对其进行限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种不堆料水下清淤机器人料斗，其特征在于，包括具有一容纳腔的料斗(10)、设置于所述容纳腔的内周壁并与所述料斗(10)转动连接的门板(12)、设置于所述容纳腔的底端并与所述门板(12)转动连接的刮板(14)、用于驱动所述门板(12)转动的摆臂机构、以及设置于所述料斗(10)的下方并与所述料斗(10)呈分离式设置的底盘(20)；
    所述底盘(20)与所述料斗(10)之间形成用于容纳推动机构的安装腔，所述推动机构的驱动端与所述摆臂机构的一端活动连接，所述门板(12)的外周壁设置有与之滑动连接的推板(30)，所述摆臂机构的另一端与所述推板(30)铰接。
  2. 根据权利要求1所述的不堆料水下清淤机器人料斗，其特征在于，所述门板(12)沿竖直方向设置于所述容纳腔的前端的内周壁，所述门板(12)的上端与设置于所述料斗(10)上的上合页(13)转动连接，并在所述门板(12)的下端设置有下合页(15)。
  3. 根据权利要求2所述的不堆料水下清淤机器人料斗，其特征在于，所述容纳腔的底端盖设有尼龙底板(11)，所述刮板(14)沿水平方向设置于所述尼龙底板(11)的顶端，所述刮板(14)的前端与所述下合页(15)转动连接。
  4. 根据权利要求1所述的不堆料水下清淤机器人料斗，其特征在于，所述料斗(10)的前端设置有安装口，以将所述门板(12)的部分区域裸露，所述门板(12)与所述安装口对应的位置处沿竖直方向设置有上导轨(33)，所述上导轨(33)的后端与所述门板(12)的前端形成供所述推板(30)滑动的滑槽。
  5. 根据权利要求4所述的不堆料水下清淤机器人料斗，其特征在于，所述推板(30)的后端设置有尼龙推力板(31)，其前端与所述上导轨(33)的接触位置处设置有尼龙背板(32)。
  6. 根据权利要求4所述的不堆料水下清淤机器人料斗，其特征在于，所述推板(30)的前端对称设置有耳板，所述摆臂机构包括一端分别与所述耳板铰接的两组第一摆臂(41)、以及分别与两组所述第一摆臂(41)的另一端转动连 接的两组第二摆臂(42)，所述第一摆臂(41)的上端设置有第一通孔，所述耳板上设置有与所述第一通孔对应的第二通孔，所述第一通孔与所述第二通孔依次供销轴穿过。
  7. 根据权利要求6所述的不堆料水下清淤机器人料斗，其特征在于，所述料斗(10)底部的前端沿竖直方向对称设置有两组安装板，任意一组所述安装板包括并排设置的两组钢板(44)，两组所述钢板(44)上均设置有用于容纳钢管(46)的连接孔，两组所述钢管(46)的相对一端均沿其轴线方向设置有转动孔，两组所述第一摆臂(41)的下端均设置有与所述转动孔对应的第三通孔，两组所述第二摆臂(42)的上端均设置有与所述转动孔对应的第四通孔，所述第四通孔、第三通孔与转动孔依次供旋转轴(43)穿过。
  8. 根据权利要求7所述的不堆料水下清淤机器人料斗，其特征在于，所述推动机构包括沿水平方向设置于所述安装腔内的液压缸(22)、以及与所述液压缸(22)的驱动端连接的滑块(23)；所述滑块(23)的前端沿水平方向对称设置有凸起结构，所述凸起结构的底端与所述底盘(20)的顶端形成U型腔。
  9. 根据权利要求8所述的不堆料水下清淤机器人料斗，其特征在于，所述安装腔内沿水平方向设置有下导轨(21)，所述下导轨(21)呈L型结构设置，并具有沿竖直方向设置于所述底盘(20)上的竖直端、以及沿水平方向设置于所述竖直端的顶端的水平端，两组所述第二摆臂(42)的下端设置有两端分别与两组所述第二摆臂(42)连接的圆杆(45)，所述圆杆(45)穿过所述下导轨(21)后与所述U型腔活动连接。
  10. 根据权利要求1所述的不堆料水下清淤机器人料斗，其特征在于，所述料斗(10)包括由若干方管构成的骨架、以及铺设于所述骨架上的若干壁板。
PCT/CN2022/121630 2022-03-09 2022-09-27 不堆料水下清淤机器人料斗 WO2023168928A1 (zh)

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