WO2023168929A1

WO2023168929A1 - Efficient underwater dredging robot

Info

Publication number: WO2023168929A1
Application number: PCT/CN2022/121636
Authority: WO
Inventors: 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
Original assignee: 中建三局绿色产业投资有限公司
Priority date: 2022-03-09
Filing date: 2022-09-27
Publication date: 2023-09-14
Also published as: CN114382131A; CN114382131B

Abstract

An efficient underwater dredging robot (1), comprising a garbage transport trolley which is arranged behind dredging equipment and runs independently. The dredging equipment comprises a body (2), a silt removal mechanism which is arranged at the front end of the body (2) and capable of flexibly swinging in all directions, a chain conveying mechanism running through the body (2) and provided with a flare opening (525) at the front end and a rotating door (51) at the tail end, and a crawler walking mechanism (20) arranged below the body (2); the garbage transport trolley comprises a container (30) and a wheeled walking mechanism (40) arranged below the container (30). In this way, normal proceeding of a dredging process is not hindered in a garbage transfer process, and the dredging efficiency is remarkably improved; moreover, the design of the flare opening (525) also makes it convenient for a bucket (61) to remove garbage on both sides of the dredging equipment, thereby implementing dredging without leaving any undredged areas; the chain conveying mechanism changes a previous suction type operation mode, and blockage of a conventional dredging system caused by large pieces of garbage is effectively avoided; in addition, the mounting of the rotating door (51) effectively avoids the problem of material piling in the container (30), thereby reducing the number of times of dumping, and further improving the efficiency.

Description

Efficient underwater dredging robot

Technical field

The invention relates to the technical field of manufacturing concealed culvert dredging equipment, and in particular to an efficient underwater dredging robot.

Background technique

With the intensification of urbanization, the space of many urban rivers has been continuously occupied and squeezed. Cement boards have been artificially laid above the rivers, and then covered with roadbeds or house foundations on the cement boards to build bridges, roads, buildings, etc. The original The river channel was transformed into a hidden culvert. As a large amount of sewage is discharged directly into the culvert, problems such as anaerobic odor and silt deposition will occur in the dark and closed river space. If these "black and smelly" channels are not rectified, it will seriously affect the urban environment and destroy the city. image.

However, since concealed culvert cleaning requires work in a confined space, and the silt in the concealed culvert has been deposited for many years, accumulating a large amount of toxic and harmful gases, construction workers need to wear gas masks, which poses great safety risks and low efficiency. In addition, due to frequent rainfall during the flood season , the construction risk is high, and most projects can only be constructed during the non-rainy season. The time is short, the construction period is tight, and the tasks are heavy. Manual dredging construction is extremely difficult, time-consuming and labor-intensive; therefore, an underwater dredging robot came into being. However, existing underwater dredging robots are generally of integrated design, and are also responsible for transporting garbage while cleaning mud. Although the crawler walking mechanism can effectively prevent slipping, it moves slowly, seriously affecting the dredging efficiency; in addition, the current The desilting process often adopts suction operation, but there are often large pieces of domestic garbage, construction waste, etc. in the culvert, which can easily cause blockage of the desilting system, forcing workers to frequently go down the well to remove the blocked garbage, further affecting the Improve the robot's operating efficiency.

Therefore, it is necessary to design an improved and efficient underwater dredging robot to solve the above problems.

Contents of the invention

The purpose of the present invention is to provide an efficient underwater desilting robot that can realize the desilting process and the garbage cleaning process independently, significantly improve the desilting efficiency, and is highly practical.

In order to achieve the above objects, the present invention provides the following technical solutions:

An efficient underwater dredging robot, including dredging equipment and a garbage transfer trolley arranged at the rear end of the dredging equipment and used in conjunction with the dredging equipment; the dredging equipment includes a body, A silt cleaning mechanism at the front end, a chain conveying mechanism that penetrates the body and is used in conjunction with the silt cleaning mechanism, and a crawler running mechanism provided below the body, and a revolving door is provided at the end of the chain conveying mechanism; The garbage transfer trolley includes a hopper and a wheeled traveling mechanism arranged below the hopper; the chain conveyor mechanism transfers the sludge collected by the sludge cleaning mechanism to the garbage transfer trolley behind the desilting equipment. The garbage transfer trolley quickly transfers the garbage out.

As a further improvement of the present invention, the chain conveying mechanism includes a conveying channel extending from the ground to the upper right side of the machine body, and is disposed in the conveying channel. Two chains are symmetrically arranged along the extension direction of the conveying channel, and are evenly spaced. Several scrapers are provided between the chains, and the revolving door is provided at the exit end of the transmission channel.

As a further improvement of the present invention, the revolving door is rotatably connected to the transmission channel through a door shaft provided at the bottom end of the revolving door.

As a further improvement of the present invention, the end of the transmission channel is arranged in an arc shape and opens downward.

As a further improvement of the present invention, the plate surface of the scraper is perpendicular to the bottom surface of the transmission channel, and the extending direction of the scraper is perpendicular to the circumferential direction of the chain.

As a further improvement of the present invention, the front end of the transmission channel is provided with a bell mouth.

As a further improvement of the present invention, a first material sensor and a second material sensor are respectively provided above the inner wall of the transmission channel, and a first monitoring lighting system and a second monitoring lighting system are respectively provided at the top of the transmission channel; The first material sensor and the first monitoring lighting system are arranged at the entrance end of the conveying channel; the second material sensor and the second monitoring lighting system are arranged at the exit end of the conveying channel.

As a further improvement of the present invention, the sludge cleaning mechanism includes a bucket disposed at the frontmost end of the body and rotatably connected to the body, a first swing arm hinged to one end of the bucket, and the first swing arm The other end of the second swing arm is hinged, and the pin is connected to the front end of the body. The other end of the pin is hinged with the second swing arm through an adapter.

As a further improvement of the present invention, a scissor support and an electric cylinder are provided on the lower chassis of the garbage conveying trolley, and the hopper is separately provided above the scissor support.

As a further improvement of the present invention, a power battery and an emergency battery are fixedly installed in the middle part below the chassis, and the wheeled traveling mechanism is installed around the periphery of the power battery and the emergency battery.

The beneficial effects of the present invention are:

1. The high-efficiency underwater dredging robot of the present invention, by setting up an independent garbage transfer trolley behind the dredging equipment, can realize the normal progress of the dredging process during the garbage transfer process, thereby significantly improving the dredging efficiency.

2. The high-efficiency underwater desilting robot of the present invention can effectively avoid the impact of large pieces of garbage on the traditional robot desilting system by setting up a silt cleaning mechanism that flexibly swings in all directions and a bell-shaped chain conveyor mechanism at the front end that closely cooperates with it. blockage, improve dredging efficiency, reduce safety hazards and labor intensity; on the other hand, it also makes it easier for the bucket to remove garbage on both sides of the dredging equipment, achieving dredging without dead corners, and preventing the dredging equipment from being easily damaged when it is close to the edge of the hidden culvert. Causing scratches.

3. The high-efficiency underwater desilting robot of the present invention installs a revolving door at the end of the transmission channel. The rotation angle of the revolving door can be adjusted as needed so that garbage can fall into different positions in the hopper, thus avoiding the problem of stacking materials. The volume utilization rate of the hopper is improved, thereby reducing the number of dumpings of the hopper and further improving efficiency.

4. The high-efficiency underwater dredging robot of the present invention is used to push the hopper filled with garbage to the edge of the hole by setting a scissor support under the hopper, thereby making it convenient for workers to hang the spreader and making the replacement process of the hopper 30 very convenient. , further improving the efficiency of garbage cleaning.

Description of the drawings

Figure 1 is a schematic structural diagram of the desludging equipment of the high-efficiency underwater desludging robot of the present invention.

Figure 2 is a schematic structural diagram of the garbage transfer trolley of the high-efficiency underwater dredging robot of the present invention.

Figure 3 is a schematic structural diagram of the front end of the desludging equipment of the high-efficiency underwater desludging robot of the present invention.

Reference signs

100-High-efficiency underwater dredging robot; 10-body; 20-crawler running mechanism; 30-hopper; 31-chassis; 32-scissor support; 33-electric cylinder; 34-power battery; 35-emergency battery; 40-wheel 51-revolving door; 52-transmission channel; 521-first material sensor; 522-second material sensor; 523-first monitoring lighting system; 524-second monitoring lighting system; 525-horn; 53 -Chain; 54-scraper; 55-door shaft; 61-bucket; 62-first swing arm; 63-second swing arm; 64-adapter; 65-pin.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the drawings and specific embodiments.

Here, it should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the solution of the present invention are shown in the drawings, and the details related to the present invention are omitted. Invent other details that are less relevant.

Additionally, it should be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also It also includes other elements not expressly listed or that are inherent to the process, method, article or equipment.

Referring to Figures 1 to 2, the present invention provides an efficient underwater dredging robot 100, which includes dredging equipment and a garbage transfer trolley arranged at the rear end of the dredging equipment and used in conjunction with the dredging equipment; the dredging equipment It includes a machine body 10, a sludge cleaning mechanism provided at the front end of the machine body 10, a chain conveyor mechanism that penetrates the machine body 10 and is used in conjunction with the sludge cleaning mechanism, and a crawler running mechanism 20 provided below the machine body 10; thus configured, by using chain conveyor The mechanism transfers the sludge collected by the sludge cleaning mechanism to the garbage transfer trolley behind the desludging equipment, which changes the current situation that the desludging robot in the existing technology relies on suction operation to clean the sludge, which is likely to cause blockage of the suction pipe. At the same time, it also It facilitates the one-time cleaning of large pieces of garbage in the hidden culvert and reduces the work intensity of the dredging personnel.

The garbage conveying trolley includes a hopper 30 and a wheeled traveling mechanism 40 arranged below the hopper 30 . With this arrangement, the dredging process and the garbage cleaning process can be carried out independently and cooperate with each other, so that the normal progress of the dredging process is not hindered during the garbage transfer process, and the dredging efficiency is significantly improved; in addition, because the garbage transfer trolley walks on the dredging equipment At the rear, the road in the hidden culvert has been made relatively flat by the dredging equipment in front, so that the car equipped with the wheeled traveling mechanism 40 can quickly walk in the hidden culvert, improving the efficiency of garbage transfer.

Specifically, please refer to FIG. 1 . The sludge cleaning mechanism includes a swingable bucket 61 disposed at the front end of the body 10 , a first swing arm 62 hinged with one end of the bucket 61 , and a swing arm 62 hinged with the other end of the first swing arm 62 . The second swing arm 63 allows the bucket 61 to swing back and forth to achieve the scraping function; the sludge cleaning mechanism also includes a pin 65 connected to the front end of the body 10, and the other end of the pin 65 is connected to the second swing arm through an adapter 64. The arm 63 is hinged so that the swing arm drives the bucket 61 to flexibly swing up, down, left, right, and in all directions.

Specifically, the chain conveying mechanism includes a conveying channel 52 extending from the ground to the upper right side of the machine body 10 , two chains 53 disposed in the conveying channel 52 , and several scrapers 54 evenly disposed between the chains 53 . Among them, the two chains 53 are symmetrically arranged along the extension direction of the transmission channel 52, and the plate surface of the scraper 54 is perpendicular to the bottom surface of the transmission channel 52 or forms a certain angle with the bottom surface of the transmission channel 52, so as to facilitate the scraping function. At the same time, the arrangement direction of the scraper 54 is perpendicular to the circumferential direction of the chain 53 . With this arrangement, when the motor drives the two chains 53 to move clockwise synchronously, several scrapers 54 located between the two chains 53 will continuously drive the sludge at the front end of the transmission channel 52 to transfer to the rear, and eventually fall into the It is installed in the garbage transfer trolley behind the desilting equipment.

Specifically, a revolving door 51 is provided at the exit end of the transmission channel 52. The revolving door 51 can freely rotate around the door shaft 55 provided on the bottom edge of the revolving door 51. Correspondingly, the tail end of the transmission channel 52 is configured to be arc-shaped and open. down. Such an arrangement facilitates the precise adjustment of the position where the garbage falls into the trolley hopper 30 by adjusting the rotation angle of the revolving door 51, thereby avoiding stacking problems and improving the volume utilization of the hopper; at the same time, it also reduces the number of times the trolley needs to be dumped, further improving the garbage collection rate. processing efficiency.

Please refer to FIG. 3 . In some embodiments, a bell mouth 525 is provided at the front end of the transmission channel 52 . It facilitates all-round collection of garbage in the concealed culvert, increases the receiving area, and improves dredging efficiency; at the same time, it also makes it easy for the bucket to remove garbage on both sides of the dredging equipment, achieving dredging without dead corners and preventing the dredging equipment from walking away from the concealed culvert. When the edges are close, it may cause scratching accidents.

Referring to Figure 1, a first material sensor 521 and a second material sensor 522 are respectively provided above the inner wall of the transmission channel 52, and a first monitoring lighting system 523 and a second monitoring lighting system 524 are respectively provided at the top of the transmission channel 52; The first material sensor 521 and the first monitoring lighting system 523 are both disposed at the entrance end of the conveying channel 52 ; the second material sensor 522 and the second monitoring lighting system 524 are disposed at the exit end of the conveying channel 52 . Such an arrangement makes it easy to monitor the desilting conditions at the entrance and exit of the desilting equipment, so that when the hopper 30 is filled with garbage, the revolving door 51 can be discovered and closed in time; on the other hand, it is also convenient to monitor the transfer channel 52 The height of waste collection.

Please refer to FIG. 2 . In some embodiments, a scissor support 32 and an electric cylinder 33 are provided on the lower chassis 31 of the garbage transfer trolley. A hopper 30 is separately provided above the scissor support 32 to realize the operation of the electric cylinder 33 . The expansion and contraction drives the scissor support 32 to expand or fold, thereby controlling the rise or fall of the hopper 30 . With this arrangement, the scissor supports 32 can raise the hopper 30 filled with garbage to the edge of the hole, thereby making it convenient for workers to hang the spreader, making the replacement process of the hopper 30 very convenient, and further improving the efficiency of garbage cleaning.

Specifically, in some embodiments, a power battery 34 and an emergency battery 35 are fixedly provided in the middle below the chassis 31 , and a wheeled traveling mechanism 40 is provided around the periphery of the power battery 34 and the emergency battery 35 . With this arrangement, the power battery 34 will provide power when the car runs back and forth in the hidden culvert. When the power battery 34 fails to work normally, the emergency battery 35 will provide power for the car, allowing the car to return to the hole and replace the power battery 34 smoothly. .

The working principle of the high-efficiency underwater dredging robot 100 of the present invention is explained below:

Working mode 1: At this time, the trolley is behind the desilting equipment, the revolving door 51 and the motor that drives the chain 53 are turned on, and the silt cleaning mechanism shovels the garbage in the hidden culvert to the conveyor channel 52 under the drive of the hydraulic cylinder. On the chain conveying mechanism, and with the clockwise transmission of the chain 53, the garbage is gradually transferred to the rear end of the conveying channel 52 by the scraper 54, and falls into the hopper 30 of the garbage conveying trolley through the revolving door 51. The trolley quickly transfers the garbage to At the entrance of the concealed culvert, the dredging efficiency is improved. During this process, by adjusting the position of the trolley or adjusting the rotation angle of the revolving door 51, the garbage can be evenly distributed in every position of the trolley, thereby making full use of the volume of the hopper 30, reducing the number of round trips of the trolley, and further improving the desilting efficiency. . Subsequently, the electric cylinder 33 is extended, the scissor support 32 is propped up, the hopper 30 is raised to the edge of the hole, and the crane removes the hopper 30 filled with garbage and replaces it with an empty hopper 30. Then, the electric cylinder 33 contracts, the scissor support 32 folds, the hopper 30 falls, and the trolley returns to the rear of the dredging equipment.

Working mode 2: At this time, the car is in the process of traveling back and forth. You can first turn off the revolving door 51 and the motor that drives the chain 53. At this time, the silt cleaning mechanism can still shovel the garbage in the hidden culvert driven by the hydraulic cylinder. In the conveying channel 52, when the garbage at the entrance of the conveying channel 52 accumulates to a certain height, it is detected by the first material sensor 521 set at the entrance of the conveying channel 52. The motor will start and drive the chain 53 to step forward for a certain distance. Then the sludge cleaning mechanism is started again, and the above process is repeated. When the garbage is transferred to the second material sensor 522 set at the exit end of the transmission channel 52 and detected, the chain 53 will stop subsequent step operation until the car returns to the cleaning position. silt the rear of the device and restart working mode 1.

In this way, the working mode 1 and the working mode 2 operate alternately, making full use of the space of the transmission channel 52. Even when the trolley is traveling back and forth, it does not affect the continuation of the dredging process, realizing independent desilting and garbage cleaning, and improving the cleaning efficiency. siltation efficiency.

To sum up, the high-efficiency underwater dredging robot 100 disclosed in the present invention can realize the normal progress of the dredging process without hindering the normal progress of the dredging process by arranging an independent garbage transfer trolley behind the dredging equipment, thereby significantly improving the cleaning process. Efficiency of siltation; by setting up a silt cleaning mechanism with all-round flexible swing and a chain conveyor mechanism with a bell mouth 525 at the front end that closely cooperates with it, it can effectively avoid blockage of the traditional robot desilting system by large pieces of garbage and improve the desilting efficiency. Reduce safety hazards and labor intensity; on the other hand, it also makes it easy for the bucket 61 to remove garbage on both sides of the dredging equipment, achieving dredging without dead corners, and avoiding scraping accidents that may occur when the dredging equipment is close to the edge of the concealed culvert; By setting a scissor support 32 below the hopper 30, it is used to push the hopper 30 filled with garbage to rise to the edge of the hole, thereby making it convenient for workers to hang the spreader, making the replacement process of the hopper 30 very convenient, and further improving the efficiency of garbage cleaning; By arranging two batteries on the chassis 31 below the garbage conveying car, it is ensured that the car can smoothly return to the hole; in addition, by installing a revolving door 51 at the end of the conveying channel 52, garbage can be dropped into different positions in the hopper 30. The problem of stacking materials is avoided, and the volume utilization rate of the hopper 30 is improved, thereby reducing the number of dumpings of the hopper 30 and further improving the efficiency. All components in this device work closely together, which significantly improves the desilting efficiency and is extremely practical.

The above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently substituted. without departing from the spirit and scope of the technical solution of the present invention.

Claims

An efficient underwater dredging robot, characterized in that it includes dredging equipment and a garbage transfer trolley arranged at the rear end of the dredging equipment and used in conjunction with the dredging equipment; the dredging equipment includes a body (10) , a silt cleaning mechanism provided at the front end of the body (10), a chain conveyor mechanism that penetrates the body (10) and is used in conjunction with the silt cleaning mechanism, and a crawler track provided below the body (10) Mechanism (20), the end of the chain conveyor mechanism is provided with a revolving door (51); the garbage transfer trolley includes a hopper (30) and a wheeled traveling mechanism (40) arranged below the hopper (30); The chain conveyor mechanism transports the silt collected by the silt cleaning mechanism to the garbage transfer trolley behind the desilting equipment, and the garbage transfer trolley quickly transfers the garbage out.
The efficient underwater desilting robot according to claim 1, characterized in that the chain conveyor mechanism includes a transmission channel (52) extending from the ground to the upper right side of the body (10), and is disposed in the transmission channel ( 52), two chains (53) are symmetrically arranged along the extension direction of the transmission channel (52), several scrapers (54) are evenly arranged between the chains (53), and are arranged on the transmission channel (52). The revolving door (51) at the outlet end of the channel (52).
The efficient underwater desilting robot according to claim 2, characterized in that the revolving door (51) passes through a door shaft (55) provided at the bottom end of the revolving door (51) and the transmission channel (52). Turn the connection.
The high-efficiency underwater dredging robot according to claim 2, characterized in that the end of the transmission channel (52) is arranged in an arc shape and opens downward.
The efficient underwater desilting robot according to claim 2, characterized in that: the surface of the scraper (54) is perpendicular to the bottom surface of the transmission channel (52), and the extension of the scraper (54) The direction is perpendicular to the circumferential direction of the chain (53).
The high-efficiency underwater dredging robot according to claim 2, characterized in that a bell mouth (525) is provided at the front end of the transmission channel (52).
The efficient underwater desilting robot according to claim 2, characterized in that: a first material sensor (521) and a second material sensor (522) are respectively provided above the inner wall of the transmission channel (52), and the transmission channel (52) A first monitoring lighting system (523) and a second monitoring lighting system (524) are respectively provided at the top of the channel (52); the first material sensor (521) and the first monitoring lighting system (523) are provided at The entrance end of the transmission channel (52); the second material sensor (522) and the second monitoring lighting system (524) are provided at the exit end of the transmission channel (52).
The efficient underwater desilting robot according to claim 1, characterized in that: the silt cleaning mechanism includes a bucket (61) disposed at the front end of the body (10) and rotatably connected to the body (10). a first swing arm (62) hinged to one end of the bucket (61), a second swing arm (63) hinged to the other end of the first swing arm (62), and a second swing arm (63) connected to the body (10) The pin (65) at the front end, the other end of the pin (65) is hinged with the second swing arm (63) through the adapter (64), so that the swing arm drives the bucket (61). Swing up and down and left and right.
The efficient underwater desilting robot according to claim 1, characterized in that: a scissor support (32) and an electric cylinder (33) are provided on the lower chassis (31) of the garbage transfer trolley, and the scissor support (32) ) is provided with the hopper (30) separately above it.
The high-efficiency underwater dredging robot according to claim 5, characterized in that: a power battery (34) and an emergency battery (35) are fixedly installed in the middle below the chassis (31), and the power battery (34) and The wheeled traveling mechanism (40) is provided around the emergency battery (35).