CN109577400B - Cutter-suction type dredging robot with crawler chassis - Google Patents

Abstract

The invention discloses a crawler chassis suction type dredging robot which can realize underwater harmless continuous movement and rapid dredging. The dredging robot comprises a platform frame, a track chassis arranged on the platform frame, a sludge suction mechanism, a dredging mechanism, an anti-collision guide device, a control unit and a visual unit. The sludge suction mechanism of the dredging robot adopts two-stage collection and pumping, and has good dredging effect; and the auger is adopted to absorb and collect sludge, so that the disturbance is small, and secondary pollution is not caused. And the first-stage collecting mechanism and the second-stage collecting mechanism can be used jointly or independently to adapt to different use environments, so that the use is more flexible. The anti-collision guide device is arranged, so that the whole dredging robot can be prevented from colliding with a wall in a culvert, and the fixed-track sludge can be cleared and the obstacles can be cleared.

Description

Cutter-suction type dredging robot with crawler chassis

Technical Field

The invention relates to a robot, in particular to a dredging robot.

Background

Since the main channel of a plurality of open channels in China is put into operation, the dependence degree of users along the line is gradually deepened, the requirement on the water supply guarantee rate is high, and the desired value of the main channel water delivery of the open channels is uninterrupted water supply in the future operation. However, as with other open channels, these open channel main channels inevitably form large amounts of sludge within the water delivery channels and the drainage structures intersecting them during their operation, affecting the water supply and compromising the safety of the main channels. In order to ensure the safety of uninterrupted water supply and main canal and reduce the secondary pollution in the dredging process, it is necessary to research an underwater dredging robot

By combining the operation requirements and field conditions of the main channel of the open channel, the underwater dredging robot can adapt to different environments such as channel siltation and culvert siltation, has the functions of sludge cleaning and the like, and realizes harmless, continuous, movable and rapid dredging.

Disclosure of Invention

In view of the above, the invention provides a cutter suction type dredging robot with a crawler chassis, which can realize underwater harmless continuous movement and rapid dredging.

Track chassis cutter-suction type desilting robot include: the device comprises a platform frame, and a crawler chassis, a pumping mechanism, a sludge sucking mechanism, a dredging mechanism, a control unit and a visual unit which are arranged on the platform frame;

the crawler chassis is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame; the crawler chassis walks under the control of the control unit;

the sludge suction mechanism is arranged at the front end of the platform frame and comprises a primary collecting mechanism and a secondary collecting mechanism; the primary collecting mechanism comprises a collecting cover, a collecting port arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port is connected with the collecting cover, and the other end of the collecting port inclines forwards and downwards to be in contact with the ground; the rear end face of the collecting cover is of a net structure;

the mechanism setting is collected to the second grade is in mechanism rear end is collected to the one-level, includes: a cover body and a packing auger; the packing auger is transversely arranged in the cover body and is driven by a motor B; the opening end of the cover body is butted with the rear end face of the collecting cover in the primary collecting mechanism, a pump suction port connected with a pumping mechanism is arranged in the middle of the rear end face of the cover body, and the pumping mechanism is used for pumping sludge collected by the sludge sucking mechanism; the secondary collection mechanism is connected with the platform frame; the motor B and the pumping mechanism are controlled by the control unit;

the desilting mechanism includes: the robot comprises a rotating platform and a mechanical arm arranged on the rotating platform; the rotary platform is arranged on the platform frame through a base and is used for driving the mechanical arm to rotate around the axial direction of the rotary platform within a set angle range, the mechanical arm finishes picking action at a set position under the control of the control unit and puts picked objects into a collecting basket arranged on the platform frame; the rotary platform and the mechanical arm are controlled by the control unit;

the visual unit is used for acquiring an image of the environment where the dredging robot is located in real time and transmitting the image to an upper computer on the ground through a photoelectric composite cable; and the control unit receives an instruction of the upper computer and controls the sludge suction mechanism and the sludge cleaning mechanism to work.

Further: inhale silt mechanism and link to each other with the platform frame through the coupling mechanism that comprises bracing piece and flexible hydro-cylinder more than a set of, specifically do: the support rod is of a bent structure, one end of the support rod is connected with the cover body, the other end of the support rod is connected with a support seat fixed on the platform frame, the telescopic oil cylinder is arranged below the support rod, the end of the cylinder body is hinged with the support seat, and the end of the piston rod is hinged with a support lug on the lower surface of the support rod; when the sludge suction mechanism works normally, the telescopic oil cylinder is in a freely telescopic state; when the packing auger needs to be replaced, the telescopic oil cylinder extends to prop up the secondary collecting mechanism.

Further: inhale silt mechanism through flexible arm with platform frame links to each other, specifically does: the one end of flexible arm is in through rotatory hydro-cylinder and setting inhale the support at silt mechanism top articulated, the other end and mount pad pin joint, the mount pad passes through rotating base to be fixed on the platform frame, rotating base is used for driving flexible arm is at the set for the angular range horizontal hunting, rotatory hydro-cylinder is used for the adjustment inhale the gesture of silt mechanism, make its horizontal hunting desilting or promote the desilting forward.

Further: still include anticollision guider, anticollision guider sets up including the symmetry the anticollision wheelset of the platform frame left and right sides, the anticollision wheelset of every side includes the anticollision wheel that is located same vertical face more than two, the axis of anticollision wheel is along vertical direction.

Further: the visual unit includes: the system comprises a front sonar, a front lighting camera unit, a rear front lighting/camera unit and a rear lighting/camera unit; the front sonar is arranged in the middle of the front end of the platform frame, the left side and the right side of the front end of the platform frame are respectively provided with a front lighting/shooting unit with a lens facing the front, and the middle of the rear end of the platform frame is respectively provided with a rear front lighting/shooting unit with a lens facing the front and a rear lighting/shooting unit with a lens facing the rear.

Has the advantages that:

(1) the sludge suction mechanism of the dredging robot adopts two-stage collection and pumping to finish dredging work, and the dredging effect is good; and the auger is adopted to absorb and collect sludge, so that the disturbance is small, and secondary pollution is not caused. And the first-stage collecting mechanism and the second-stage collecting mechanism can be used jointly or independently to adapt to different use environments, so that the use is more flexible.

(2) Set up desilting mechanism, can realize picking up of great debris such as stone under water and branch before inhaling the silt for it is higher to inhale silt efficiency.

(3) The anti-collision guide device is arranged, so that the whole dredging robot can be prevented from colliding with a wall in a culvert, and the fixed-track sludge can be cleared and the obstacles can be cleared.

(4) The mechanical arm in the dredging mechanism can be matched with tools such as a high-pressure water gun or a shovel scraper blade, and attached organisms such as shells and the like appearing around the inner wall of the culvert are removed.

Drawings

FIG. 1 is a block diagram of the system of the dredging robot;

FIG. 2 is a schematic view of the whole structure of the dredging robot;

FIG. 3 is a schematic structural diagram of the track chassis of the dredging robot;

FIG. 4 is a schematic structural view of the sludge suction mechanism of the dredging robot;

FIGS. 5 and 6 are schematic structural views of a primary collecting mechanism in the sludge suction mechanism;

FIG. 7 is a schematic structural diagram of a secondary collection mechanism in the sludge suction mechanism;

FIG. 8 is a schematic structural diagram of a dredging mechanism;

FIG. 9 is a schematic view of the crash guide;

fig. 10 is a schematic structural view of the visual unit.

Wherein: 1-crawler chassis, 4-collecting basket, 5-pumping mechanism, 6-sludge sucking mechanism, 7-sludge removing mechanism, 8-anti-collision guide device, 10-vision system, 11-crawler hub, 12-crawler, 13-motor A, 14-speed reducer, 15-platform frame, 16-first-stage collecting mechanism, 17-second-stage collecting mechanism, 18-supporting shaft hole, 19-middle collecting cover, 20-small collecting cover, 21-rubber wheel A, 22-rubber wheel B, 23-tension spring, 24-collecting port, 25-connecting plate, 26-supporting seat, 27-telescopic oil cylinder, 28-supporting rod, 29-cover body, 30-soft cover, 31-rubber wheel C, 32-motor B, 33-anti-collision rubber wheel, 34-auger, 39-sonar, 40-front lighting camera unit, 41-rear front lighting/camera unit, 42-rear lighting/camera unit, 43-base, 44-swing oil cylinder, 45-mechanical arm, 46-support frame, 47-rubber wheel D and 48-rotating shaft

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1:

the embodiment provides a cutter-suction type dredging robot with a crawler chassis, and underwater harmless continuous movement and rapid dredging can be realized.

As shown in fig. 1 and 2, the dredging robot comprises a platform frame 15, and a crawler chassis 1, a sludge suction mechanism 6, a dredging mechanism 7, a collision prevention guide device, a control unit and a vision unit which are arranged on the platform frame 15. Wherein the crawler chassis 1 and the anti-collision guide device form a walking platform system, and the sludge suction mechanism 6 and the sludge cleaning mechanism 7 are execution parts.

As shown in fig. 3, the dredging robot adopts a crawler chassis 1 as a walking mechanism, and the crawler chassis 1 comprises: a track hub 11, a track 12, a motor a13, and a reducer 14; the platform frame 15 is a supporting structure of the whole robot, the top of the platform frame is provided with the collecting basket 4, two ends of the bottom of the platform frame are respectively provided with one track hub 11, the wear-resistant rubber tracks 12 are arranged on the track hubs 11, each track hub 11 corresponds to one motor A13 and serves as a power unit, and the power of the motor A13 is transmitted to the track hubs 11 through the speed reducer 14, so that the power is provided for walking of the desilting machine.

As shown in fig. 6, the sludge suction mechanism 6 is arranged at the front end of the dredging robot and comprises a primary collection mechanism 16, a secondary collection mechanism 17 and a pumping mechanism 5. The structure of one of the primary collection mechanisms 16 is shown in fig. 5 and 6, and includes: the collecting cover consists of a middle collecting cover 19 and small collecting covers 20 arranged at two sides of the middle collecting cover 19, a dustpan-shaped collecting port 24 arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port 24 is connected with the bottom surface of the middle collecting cover 19 through a hinge, and the other end is inclined forwards and downwards to be in contact with the ground. The middle collecting cover 19 is provided with an opening at the front end and a reticular structure at the rear end, the small collecting cover 20 is provided with an opening at the front end, a reticular structure at the rear end and one end connected with the middle collecting cover 19, and the end surface opposite to the middle collecting cover 19 is closed. Roller groups are respectively arranged at the bottom of the collecting cover and the collecting opening 24, and as shown in fig. 6, the roller groups are respectively two soft rubber wheels A21 and two soft rubber wheels B22; during the running process of the dredging robot, the collecting cover and the collecting opening 24 are matched with the ground in a rolling way through the roller group. The rear end (the end opposite to the platform frame 15) of the first-stage collecting mechanism 16 is provided with a rubber connecting plate 25, and two ends of the connecting plate 25 are provided with supporting shaft holes 18 for connecting the second-stage collecting mechanism.

As shown in fig. 7, the secondary collection mechanism 17 includes: the cover body 29, the telescopic oil cylinder 27, the support frame 28, the motor B32 and the packing auger 34; the cover body 29 is a light iron sheet stainless steel cover with meshes distributed on the surface, which can float freely along with the slope and the horizontal bottom in the culvert and can ensure that the silt entering the secondary collection mechanism can not float to the downstream along with the water flow. The packing auger 34 is transversely arranged in the steel cover body 29, is driven by a motor B32, collects sludge through twisting, a pump suction port is arranged in the middle of the rear end face of the cover body 29 and is used for being connected with the pumping mechanism 5, and sludge stirred by the packing auger 34 enters the rear pumping mechanism 5 through the pump suction port. The packing auger 34 extends out of the cover body 29 at two axial ends and is supported in the supporting shaft holes 18 at two ends of the connecting plate 25 through bearings. Meanwhile, rubber wheels C31 are installed at two ends of the cover body 29, and the rubber wheels C31 are in rolling fit with the ground in the running process of the dredging robot. The front end opening of the cover body 29 is opposite to the rear end of the collecting cover in the first-level collecting mechanism 16, and the second-level collecting mechanism is connected with the platform frame 15 through two groups of supporting rods 28 and telescopic oil cylinders 27, and specifically comprises the following steps: the supporting rod 28 is a bent structure, one end of the supporting rod is connected with the cover body 29, the other end of the supporting rod is connected with a supporting seat 26 fixed on the platform frame 15, the telescopic oil cylinder 27 is arranged below the supporting rod 28, the end of the cylinder body is hinged with the supporting seat 26, and the end of the piston rod is hinged with a supporting lug on the lower surface of the supporting rod 28. When the telescopic hydraulic cylinder 27 normally works, the telescopic hydraulic cylinder 27 is in a free telescopic state, free floating is realized through the telescopic hydraulic cylinder 27, and the effect of vibration reduction can be achieved; during maintenance, the second-stage collecting mechanism is supported by the telescopic oil cylinder 27, so that the packing auger 34 in the second-stage collecting mechanism can be conveniently replaced. In order to prevent the sludge in the cover body 29 from leaking out in the moving process of the dredging robot, a soft cover 30 with the bottom contacting with the ground is arranged at the rear end of the cover body 29.

The secondary collection mechanism 17 can be used in cooperation with the primary collection mechanism 16, or can be used alone (when used alone, the primary collection mechanism 16 can be directly removed). When the secondary collecting mechanism 17 is used alone, the anti-collision rubber wheel 33 is arranged on a support extending outwards in the middle of the rubber wheel C31 and used for preventing the secondary collecting mechanism 17 from directly colliding with a ditch.

The pumping mechanism mainly comprises a submersible motor and a sewage suction pump and is used for pumping sludge from the water to the ground.

The working principle of the sludge suction mechanism 6 is as follows: when stone and branch are more in the channel, 16 and the second grade of collection mechanisms 17 combined use of one-level collection mechanism, 16 rubbish such as stone, branch, braided bag that are arranged in filtering the silt of collecting of one-level collection mechanism make the silt of tiny particle get into the second grade through network structure and collect mechanism 17 in, can prevent 34 winding of auger and pumping mechanism jam through one-level collection mechanism 16. The second-stage collecting mechanism 17 realizes the collection of silt under low-flow-speed water flow, the second-stage collecting mechanism 17 enables the silt to be concentrated to a positive middle circular pump suction port with negative pressure through rotational flow generated by a built-in packing auger 34, the pump suction port is of a cross opening type, large-particle stones are further prevented from entering a sewage suction pump in a pumping mechanism, an impeller of the sewage suction pump is effectively prevented from being damaged, the service life of the sewage suction pump is prolonged indirectly, and the maintenance frequency of equipment is reduced. Wherein, the auger 34 is manufactured by adopting a forward and reverse winding design, so that sludge can be conveniently concentrated to the middle pump suction port. In the design of the driving mechanism (namely the motor B32) of the packing auger 34, the situation that the packing auger is clamped by the stone blocks is also considered, if the packing auger tends to be clamped (namely the rotating torque in a certain direction is increased suddenly), the motor B32 drives the packing auger 34 to rotate reversely immediately to eject the stone blocks, thereby well protecting the packing auger from being clamped.

As shown in fig. 8, the dredging mechanism 7 includes: a base 43, a rotating platform and a robotic arm 45; wherein the base 43 is disposed at a middle position of the front end of the platform frame 15, and the base 43 is a tube base 43, i.e. a pipeline of the pumping mechanism passes through the base 43; arm 45 is five arms, installs on base 43 through rotary platform, and rotary platform adopts swing cylinder 44 in this scheme for drive arm 45 and rotate around vertical direction, realize that arm 45 operates in the different positions of circumference. The mechanical arm 45 is controlled by the control unit to pick up underwater stones and branches, and the rotary platform is responsible for the rotation of the whole mechanical arm 45, so that the stones and the branches in front are picked up, and then the stones and the branches are rotated backwards to the collecting basket 4 arranged on the platform frame 15 and finally are brought back to the ground by the dredging robot; for individual stones which are not easy to pick up, the mechanical arm 45 and the rotary platform can be jointly operated to firstly push the stones to the edge of the culvert, so that the desilting robot can conveniently and quickly desilt the stones.

As shown in fig. 9, for preventing the whole vehicle of the underwater dredging robot from crashing the wall in the culvert, the platform frame 15 is provided with an anti-collision guiding device which is: set up the rubber tyer group in the platform frame 15 left and right sides including the symmetry, the rubber tyer group of every side includes four rubber tyers D47 that are the rectangle distribution in the vertical plane, and vertical direction is followed to the axis of rubber tyer D47, and concrete mounting means does: one end of the supporting frame 46 is connected with the platform frame 15, the other end is connected with the rotating shaft 48 through a bearing, and the rubber wheel 47 is sleeved outside the rotating shaft through the bearing. The anti-collision guide device has the main function of preventing the whole underwater dredging robot from colliding with the wall in the culvert when the crawler chassis deviates; meanwhile, when the dredging robot advances, one side or two sides of the dredging robot can be tightly attached to the wall surface of the culvert and can run along the wall, so that the fixed-track sludge is cleared and the obstacles are cleared. If to the culvert of 3 meters, supposing to design the automobile body 1.5 meters wide, can directly respectively design the anticollision guider both sides for 0.7 meters wide, from this, underwater desilting robot can directly rely on each four rubber tyers on both sides to move ahead along the culvert, realizes the clearance of fixed track silt and the clearance of obstacle. For the culvert which is more than 3 meters and less than or equal to 6 meters, the four rubber wheels on one side can be attached to the wall and run along the wall, after the desilting of a certain distance is finished, the four rubber wheels on the other side are also attached to the wall and run along the wall, and the desilting of the other half of the certain distance is finished. Therefore, the fixed-distance dredging work of the culvert can be finished through twice passing in and out of the culvert.

As shown in fig. 10, the visual unit includes: a front sonar 39, a front illumination camera unit 40, a rear front illumination/camera unit 41, and a rear illumination/camera unit 42 mounted on the platform frame 15. The front sonar 39 is arranged in the middle of the front end of the platform frame 15, the left and right sides of the front end of the collecting basket 4 on the platform frame 15 are respectively provided with a front illuminating and shooting unit 40 with a lens facing forwards, the middle position of the rear end of the collecting basket 4 on the platform frame 15 is respectively provided with a rear front illuminating/shooting unit 41 and a rear illuminating/shooting unit 42, the lens of the rear front illuminating/shooting unit 41 faces forwards, and the lens of the rear illuminating/shooting unit 42 faces backwards. The visual unit is used for transmitting underwater images collected by the lighting/camera unit and image outlines obtained by sonar detection to an upper computer on the ground through a photoelectric composite cable at the tail end of the underwater dredging robot, and the images are displayed on a screen through a multi-screen display of the upper computer, so that ground personnel can conveniently control a control lever of the upper computer and a data processing system to jointly send an instruction to the lower computer (namely a control unit of the dredging robot) according to the images to guide an underwater execution mechanism (a sludge suction mechanism and a dredging mechanism) of the dredging robot to work.

The control unit comprises a hydraulic control unit and an electric control unit, the hydraulic control unit is used for controlling a hydraulic part on the dredging robot, in the scheme, a motor A13 in the crawler chassis 1 and a motor B32 in the secondary collecting mechanism 17 are all hydraulic motors, and a five-axis mechanical arm also adopts a hydraulic power source, so that the crawler chassis 1, the packing auger 34, the five-axis mechanical arm, the telescopic oil cylinder 27, the swing oil cylinder 44 and the pumping mechanism are all controlled by the hydraulic control unit; electronic components on the dredging robot are controlled by the electric control unit.

The dredging robot has two application environments, specifically as follows:

the first method comprises the following steps: the artificial river channel is an open channel and is straight, water flows downwards in a downstream mode, the cross section of the water flow is in an inverted trapezoid shape, and water quality is clear; sometimes, the river channel bridge or the dark hole is crossed. The underwater equipment is required to not break the bank or pier at two sides of the river channel, or break the walls at four sides of the culvert, so that the underwater equipment is required to clear the silt of the river channel and clear obstacles (stones or branches or braided fabrics).

And the second method comprises the following steps: the artificial river channel itself crosses the inverted trapezoid culvert below the open channel and under the open channel, and in the full water state, the water flow cross section is square, which is commonly called as a channel-through culvert, and the river water is turbid. All dimensions (such as tunnel length, inverted trapezoidal slope, slope overlook length, longitudinal slope aspect and all relevant dimensions) within the culvert itself are predicted. The underwater equipment is required to not damage the walls on four sides of the inverted trapezoidal culvert, and the underwater equipment is required to realize the cleaning of sludge in the culvert and the cleaning of obstacles (stones or branches, braided fabrics).

Example 2:

on the basis of the embodiment 1, in the sludge suction mechanism 6, two tension springs 23 are arranged between the middle collection cover 19 and the collection port 24 in parallel, one end of each tension spring 23 is connected with a tension spring support on the inner bottom surface of the middle collection cover 19, the other end of each tension spring 23 is connected with a tension spring support on the surface of the collection port 24, in the sludge collection process of the sludge suction mechanism 6, the collection port 24 is opened under the action of external force (in the scheme, a five-axis mechanical arm 45 in the sludge removal mechanism applies downward acting force to support plates arranged on the left side and the right side of the collection port 24), and at the moment, the tension springs 23 are in an elongated state; after the sludge suction mechanism 6 finishes collecting work, external force is removed (the five-axis mechanical arm 45 is loosened), the collecting port 24 is closed under the action of the tension spring 23, and sludge in the collecting cover can be prevented from leaking.

Example 3:

on the basis of the above embodiment 1, the change inhales the connected mode of silt mechanism 6 and platform frame, inhale silt mechanism 6 through flexible arm with platform frame links to each other, specifically is: one end of the telescopic arm is hinged with a support arranged at the top of the sludge suction mechanism 6 through a rotary oil cylinder, the other end of the telescopic arm is in pin joint with a mounting seat, the mounting seat is fixed on the platform frame through a rotary base, and the rotary base is used for driving the telescopic arm to swing left and right within a set angle range. Meanwhile, a supporting oil cylinder is arranged below the telescopic arm, the cylinder body end of the supporting oil cylinder is fixed on the mounting seat, the piston rod end is connected with the telescopic arm, and when the sludge suction mechanism 6 works normally, the supporting oil cylinder is in a freely telescopic state, free floating is realized through the supporting oil cylinder, and the vibration reduction effect can be achieved; during maintenance, the sludge suction mechanism is supported through the supporting oil cylinder, so that the sludge suction mechanism is convenient to maintain and replace.

The sludge suction mechanism 6 adopts the connection mode, can push the dredging forward or swing the dredging left and right during the dredging, adjusts the posture of the sludge suction mechanism 6 through the rotary oil cylinder when pushing the dredging forward, leads the collection port to move forward, and then drives the dredging robot to move forward, thereby pushing the dredging forward; when the sludge is removed by swinging left and right, the posture of the sludge absorbing mechanism 6 is adjusted through the rotary oil cylinder to enable the collecting opening to move left or right, and then the sludge absorbing mechanism 6 swings left and right under the driving of the rotary base.

Example 4:

on the basis of the above embodiment 1-embodiment 3, a cleaning system is added, and the cleaning system comprises a mechanical arm 45, a high-pressure water gun bound on the mechanical arm 45, and a high-pressure cleaning pump arranged on the ground and connected with the high-pressure water gun through a water pipe.

The function of the washing system is as follows:

(1) because current culvert all has the inner chamfering, the desilting robot hardly constructs with desilting with its clean up completely, when accomplishing the main desilting work in culvert back, ties up high-pressure squirt on five arms 45, realizes washing the clearance to the silt of the inner chamfering department in the both sides about the culvert, washes its central authorities to the culvert, then the second grade of rethread desilting robot's silt suction mechanism 6 is collected and the pump sending, with remaining silt pump send to in the culvert among the mud-water separation equipment on ground.

(2) When the inner wall of the culvert is attached with the shellfish, because the adhesive force is not strong, the two side surfaces and the top of the culvert can directly wash and clean the shellfish attachments in a high-pressure water gun washing mode, and then the sludge suction mechanism 6 of the dredging robot is used for secondary collection and pumping of sludge and shells to finish the dredging work in the culvert.

(3) The dredging robot has two purposes, namely being used in a channel and a culvert, so that after the dredging robot is used in the culvert, the dredging robot is flushed by a high-pressure water gun and then is conveyed to an open channel for sludge collection and pumping.

Example 5:

on the basis of the embodiments 1 to 3, the adhering force is not strong and the diameter is between 10 and 60 millimeters because the attached shell organisms appear around the inner wall of the culvert in partial areas at present. Aiming at the special sludge, a scraping system is derived from the underwater dredging robot, specifically, a scraping plate is installed at the tail end of a five-axis mechanical arm 45 of the dredging robot, a rotating platform under the five-axis mechanical arm 45 rotates, so that the five-axis mechanical arm 45 is perpendicular to the side wall of the culvert, through the scraping plate installed at the front end of the five-axis mechanical arm, the scraping of attachments such as shells and the like on the inner walls of two sides of the culvert is realized through the forward extension of the five-axis mechanical arm 45, and finally, the sludge and the shells are collected and pumped secondarily through a sludge suction mechanism 6 of the dredging robot, so that the dredging work in the culvert is completed. The shell creatures on the top end of the culvert still need to be washed by the high-pressure water gun in the embodiment 3, the shell attached creatures are washed down, and then the cleaning is carried out by the dredging robot.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (9)

1. Formula desilting robot is inhaled to track chassis cutter-suction, its characterized in that: the method comprises the following steps: the device comprises a platform frame (15), and a crawler chassis (1), a pumping mechanism (5), a sludge suction mechanism (6), a dredging mechanism (7), a control unit and a visual unit which are arranged on the platform frame (15);

the crawler chassis (1) is used as a walking mechanism of the dredging robot and is arranged at the bottom of the platform frame (15); the crawler chassis (1) walks under the control of the control unit;

the sludge suction mechanism (6) is arranged at the front end of the platform frame (15) and comprises a primary collection mechanism (16) and a secondary collection mechanism (17); the primary collecting mechanism (16) comprises a collecting cover, a collecting port (24) arranged at the opening at the front end of the collecting cover and a roller group arranged at the bottom of the collecting cover; one end of the collecting port (24) is connected with the collecting cover, and the other end of the collecting port is inclined forwards and downwards to be in contact with the ground; the rear end face of the collecting cover is of a net structure; the collecting cover comprises a middle collecting cover (19) and small collecting covers (20) arranged at two sides of the middle collecting cover (19); the front end of the middle collecting cover (19) is open, and the rear end surface of the middle collecting cover is of a net structure; the front end opening and the rear end surface of the small collecting cover (20) and one end connected with the middle collecting cover (19) are of a net structure, and the end surface opposite to the middle collecting cover (19) is closed;

the second grade collection mechanism (17) is arranged at the rear end of the first grade collection mechanism (16), and comprises: a cover body (29) and an auger (34); the cover body (29) is a light iron sheet stainless steel cover with meshes distributed on the surface; the packing auger (34) is transversely arranged in the cover body (29) and is driven by a motor B (32); the opening end of the cover body (29) is butted with the rear end face of the collecting cover in the primary collecting mechanism (16), a pump suction port used for being connected with a pumping mechanism (5) is arranged in the middle of the rear end face of the cover body (29), and the pumping mechanism (5) is used for pumping sludge collected by the sludge sucking mechanism (6); the secondary collection mechanism (17) is connected with the platform frame (15); the motor B (32) and the pumping mechanism (5) are controlled by the control unit;

the dredging mechanism (7) comprises: a rotary platform and a robotic arm (45) mounted on the rotary platform; the rotary platform is arranged on a platform frame (15) through a base (43), the rotary platform is used for driving the mechanical arm (45) to rotate around the axial direction of the rotary platform within a set angle range, the mechanical arm (45) finishes picking action at a set position under the control of the control unit, and picked objects are placed into a collecting basket (4) arranged on the platform frame (15); the rotary platform and the mechanical arm (45) are controlled by the control unit;

the visual unit is used for acquiring an image of the environment where the dredging robot is located in real time and transmitting the image to an upper computer on the ground through a photoelectric composite cable; the control unit receives an instruction of the upper computer and controls the sludge suction mechanism (6) and the dredging mechanism (7) to work;

the anti-collision guide device comprises anti-collision wheel sets symmetrically arranged on the left side and the right side of the platform frame (15), each anti-collision wheel set comprises more than two anti-collision wheels (47) positioned in the same vertical plane, and the axis of each anti-collision wheel (47) is along the vertical direction; when the fixed track is needed to clean up silt and obstacles, the anti-collision wheels (47) on one side or two sides of the dredging robot are tightly attached to the wall surface of the culvert to run along the wall edge when the dredging robot runs.

2. The cutter-suction type dredging robot for crawler chassis according to claim 1, wherein: inhale silt mechanism (6) and link to each other with platform frame (15) through the coupling mechanism that constitutes more than a set of by bracing piece (28) and flexible hydro-cylinder (27), specifically do: the supporting rod (28) is of a bent structure, one end of the supporting rod is connected with the cover body (29), the other end of the supporting rod is connected with a supporting seat (26) fixed on the platform frame (15), the telescopic oil cylinder (27) is arranged below the supporting rod (28), the end of the cylinder body is hinged with the supporting seat (26), and the end of the piston rod is hinged with a supporting lug on the lower surface of the supporting rod (28); when the sludge suction mechanism (6) works normally, the telescopic oil cylinder (27) is in a free telescopic state; when the packing auger (34) needs to be replaced, the telescopic oil cylinder (27) extends to support the secondary collecting mechanism (17).

3. The cutter-suction type dredging robot for crawler chassis according to claim 1, wherein: inhale silt mechanism (6) through flexible arm with platform frame (15) link to each other, specifically do: the one end of flexible arm is in through rotatory hydro-cylinder and setting inhale the support at silt mechanism (6) top articulated, the other end and mount pad pin joint, the mount pad passes through rotating base to be fixed on platform frame (15), rotating base is used for driving flexible arm is at the within range horizontal hunting of setting for the angle, rotatory hydro-cylinder is used for the adjustment inhale the gesture of silt mechanism (6), make its horizontal hunting desilting or promote the desilting forward.

4. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1, 2 or 3, wherein: the visual unit includes: a front sonar (39), a front illumination camera unit (40), a rear front illumination/camera unit (41) and a rear illumination/camera unit (42); the front sonar system is characterized in that the front sonar (39) is arranged in the middle of the front end of the platform frame (15), the left side and the right side of the front end of the platform frame (15) are respectively provided with a front illumination/camera shooting unit (40) with a lens facing the front, and the middle position of the rear end of the platform frame (15) is respectively provided with a rear front illumination/camera shooting unit (41) with a lens facing the front and a rear illumination/camera shooting unit (42) with a lens facing the rear.

5. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1 or 2, wherein: connect high-pressure squirt on arm (45), high-pressure squirt leads to pipe and links to each other with the high-pressure cleaning pump on ground, forms cleaning system for the clearance of washing that goes on silt and wall attachment.

6. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1 or 2, wherein: and a scraping plate is arranged at the tail end of the mechanical arm (45) to form a scraping system for scraping the side wall attachments.

7. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1 or 2, wherein: in the sludge suction mechanism (6), the collection port (24) is connected with the collection cover through a hinge, more than one tension spring (23) is arranged between the collection cover and the collection port (24) in parallel, one end of each tension spring (23) is connected with a tension spring support on the inner bottom surface of the collection cover, and the other end of each tension spring (23) is connected with a tension spring support on the surface of the collection port (24); in the process of collecting the sludge by the sludge suction mechanism (6), the collection port (24) is in an open state under the action of external force, and the tension spring (23) is in an elongated state; inhale silt mechanism (6) work after, remove external force, collect mouth (24) and be in under extension spring (23) restoring force effect closed, close collect cover front end opening.

8. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1 or 2, wherein: a soft cover (30) with the bottom contacting with the ground is arranged on the rear end surface of the cover body (29).

9. The cutter-suction type dredging robot with crawler chassis as claimed in claim 1 or 2, wherein: the secondary collecting mechanism (17) can be matched with the primary collecting mechanism (16) for use, and can also be used independently; when the secondary collection mechanism (17) is used independently, the primary collection mechanism (16) is removed, and rubber wheels C (31) are installed at two ends of the cover body (29).

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