CN210766955U - Underwater grab bucket type grid auger desilting robot - Google Patents
Underwater grab bucket type grid auger desilting robot Download PDFInfo
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- CN210766955U CN210766955U CN201921529182.6U CN201921529182U CN210766955U CN 210766955 U CN210766955 U CN 210766955U CN 201921529182 U CN201921529182 U CN 201921529182U CN 210766955 U CN210766955 U CN 210766955U
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- 238000005086 pumping Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 230000000903 blocking effect Effects 0.000 claims abstract description 6
- 239000010802 sludge Substances 0.000 claims description 28
- 239000010813 municipal solid waste Substances 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 238000010008 shearing Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 24
- 230000008901 benefit Effects 0.000 abstract description 10
- 239000010865 sewage Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 239000012535 impurity Substances 0.000 description 10
- 239000000463 material Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 8
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- 229920001778 nylon Polymers 0.000 description 5
- 239000000126 substance Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000008187 granular material Substances 0.000 description 4
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- 239000007788 liquid Substances 0.000 description 3
- 239000007779 soft material Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 239000013618 particulate matter Substances 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
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- 230000007306 turnover Effects 0.000 description 1
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Abstract
The utility model relates to an underwater grab bucket type grid auger desilting robot, including crawler-type chassis, platform frame, recovery basket, pumping mechanism, inhale silt mechanism, desilting mechanism, the control unit and visual unit, its characterized in that inhale silt mechanism and collect cover, two-way auger, auger driving motor, lower articulated frame, hydraulic cylinder, connect hinge, link, block dirty grid plate and inhale silt angle sensor including silt, the silt is collected and is equipped with two-way auger in the cover, the cover left end is collected to the silt is fixed with auger driving motor, the open end that the cover front end was collected to the silt covers through blocking dirty grid plate, the utility model discloses owing to adopt above-mentioned structure, have simple structure, desilting ability height, pick up the advantage that the ability is strong, equipment cost is low, work efficiency is high.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an underwater grab type grid auger desilting robot.
Background
At present, for small and medium-sized water areas, the main dredging mode is to pump water in the water, and an excavator or a dredger is used for dredging under the condition of no water, the working mode needs to redirect rivers, sometimes a temporary river channel excavation method is needed to be adopted for solving the problem, the engineering quantity is large and complicated, and the dredging target cannot work and produce within a long period of time, so that certain economic loss is caused, so that the working mode has low production efficiency, high labor intensity and original method, and in many cases, large-scale engineering machinery cannot be used for mechanical operation due to deep riverbed and terrain. The existing underwater sludge suction equipment is generally arranged on a floating platform or a ship for use, one or more manipulators are needed for manual operation, and the traditional dredging products cannot meet the current market demands due to heavy manual labor and high dredging cost.
Through retrieval, CN109577400 discloses a crawler chassis stirring and sucking 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. This desilting robot inhale silt mechanism adopts the second grade to collect and the pump sending, adopts the auger hank to absorb a set silt, sets up anticollision guider, prevents that the whole car of desilting robot from crashing the wall in the culvert, realizes deciding the clearance of track silt and the cleaing away of obstacle, and this kind of structure exists following not enough in the in-service use process: firstly, it is unreasonable to inhale silt mechanism structure. The method specifically comprises the following steps: because the first-level collection mechanism includes: the collecting cover consists of a middle collecting cover and small collecting covers arranged on two sides of the middle collecting cover, and a dustpan-shaped collecting port arranged at an opening at the front end of the collecting cover; one end of the collecting port is connected with the bottom surface of the middle collecting cover through a hinge, and the other end of the collecting port inclines forwards and downwards to be in contact with the ground; the middle collecting cover is provided with an opening at the front end, the rear end face is of a net structure, the small collecting cover is provided with an opening at the front end, the rear end face and one end connected with the middle collecting cover are of net structures, and the end face opposite to the middle collecting cover is closed. When sundries such as stones, branches, roots, nylon woven bags are more in the channel, elongated material such as sucked branches can be inserted into the middle and collected the cover and collect the network structure that the cover links to each other with little and can't grab out through the manipulator, and like irregular material such as roots then can be blocked into in middle collection cover or little collection cover and collect in the middle of the shutoff cover or little collection cover, if have like soft material such as nylon woven bags then can cover the card in the middle and collect the clearance of cover or little collection cover in the material of cover and shutoff silt, and then lead to the unable normal work of this robot, need the operation workman to the card in the middle to collect the content of cover or little collection cover and clear up, greatly influenced work efficiency.
Secondly, because the wall in the culvert is hit to the whole car of the robot that prevents to desilt under water, be provided with crashproof guider on platform frame 15, crashproof guider is including the rubber tyer group of symmetry setting in the platform frame 15 left and right sides, the rubber tyer group of each side includes four rubber tyers D47 that are the rectangular distribution in the vertical plane, vertical direction is followed to the axis of rubber tyer D47, the one end of support frame 46 links to each other with platform frame 15, the other end passes through the bearing and links to each other with rotation axis 48, rubber tyer 47 pass through the bearing suit with the rotation axis outside. When the crawler chassis deviates, the whole underwater dredging robot is prevented from crashing the wall in the culvert through the rubber wheel group; 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. And, when second grade collection mechanism 17 used alone, install crashproof rubber tyer 33 on the support that extends outward in the middle part of rubber tyer C31 for prevent the direct collision with the ditch avoidance of second grade collection mechanism 17. Therefore, the equipment cost is high.
Thirdly, the mechanical arm 45 is used for picking up underwater stones and branches under the control of the control unit, the rotary platform is responsible for the rotation of the whole mechanical arm 45, and after the stones and the branches in front are picked up, the rotary platform rotates backwards to the inside of the collecting basket 4 arranged on the platform frame 15 and is finally 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 combined to operate to firstly push the stones to the side of the culvert, so that the dredging robot can conveniently and quickly dredge, and therefore, the structure is unreasonable, the picking capacity is weak, and the dredging capacity is low.
Disclosure of Invention
The utility model aims at solving the not enough of above-mentioned prior art, provide a simple structure, desilting ability height, pick up strong, the equipment cost low, the high underwater grab bucket type grid auger desilting robot of work efficiency.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides an underwater grab bucket type grid auger desilting robot, includes crawler-type chassis, platform frame, retrieves basket, pumping mechanism, inhales silt mechanism, desilting mechanism, the control unit and visual unit, pumping mechanism adopts the sediment stuff pump, platform frame lower extreme and crawler-type chassis fixed connection, upper end and retrieve basket fixed connection, pumping mechanism fixes on crawler-type chassis, visual unit sets up respectively in crawler-type chassis both sides, retrieves basket front end, or platform frame's both sides and front end, camera, crawler-type chassis and pumping mechanism are connected with the control unit respectively, inhale silt mechanism and include that silt collects cover, two-way auger, auger driving motor, lower articulated frame, hydraulic cylinder, connection hinge, link, trash grid board and inhale silt angle sensor, be equipped with two-way auger in the silt collects the cover, the cover left end is collected to silt is fixed with auger driving motor, the open end that the cover front end was collected to silt covers through trash rack plate, trash rack plate comprises grid frame, unit horizontal bar board and unit vertical bar board, unit horizontal bar board is along the vertical linear interval arrangement of grid frame, and both ends respectively with the left and right sides frame fixed connection of grid frame, unit vertical bar board is along the horizontal linear interval arrangement of grid frame, and both ends respectively with the upper and lower both sides frame fixed connection of grid frame, unit horizontal bar board and unit vertical bar board cross fixed connection to do benefit to the isolation through trash rack plate, avoid long and thin material, the braided bag of nylon, iron sheet and big bulk in the sewage to inhale the soil pick-up mouth, silt is collected cover rear end center and is connected with pumping mechanism through inhaling the soil pick-up mouth, collects silt cover rear end bilateral symmetry and is equipped with down articulated frame,
one end of a conveying shaft of the bidirectional auger is connected with an output shaft of the auger driving motor, the other end of the conveying shaft is fixedly connected with a bearing seat fixed at the end part of the sludge collecting cover through a water seal and a bearing,
the rear end of the lower hinged frame is hinged with the front end of the crawler-type chassis through a hinged shaft, the front end of the lower hinged frame is fixedly connected with the sludge collection cover, the lifting hydraulic cylinder is positioned above the lower hinged frame, the rear end of the lifting hydraulic cylinder is hinged with the crawler-type chassis or the platform frame, the front end of the lifting hydraulic cylinder is hinged with a connecting hinged shaft, two ends of the connecting hinged shaft are respectively hinged with a connecting frame fixed on the lower hinged frame, and the lifting hydraulic cylinder is connected with the control unit so as to be beneficial to driving the lower hinged frame to swing up and down with the hinged shaft as a center through the expansion of the lifting hydraulic cylinder and further achieve the effect of adjusting the height of the sludge; the sludge suction angle sensor is fixed at one end of the hinge shaft and is connected with the control unit,
the dredging mechanism comprises a mechanical arm, a mechanical arm rear support, a front swing hydraulic cylinder, a rear swing hydraulic cylinder, a mechanical arm front support, a row-type grab bucket, a grab bucket angle sensor and a mechanical arm angle sensor, wherein two parallel mechanical arms are arranged at the rear end of the row-type grab bucket, the front end of the mechanical arm is fixedly connected with a swing shaft of the front swing hydraulic cylinder, the rear end of the mechanical arm is fixedly connected with a swing shaft of the rear swing hydraulic cylinder, the swing shaft of the front swing hydraulic cylinder is fixedly connected with the mechanical arm front support through a bearing, the front swing hydraulic cylinder is fixed at the rear end of the row-type grab bucket, the grab bucket angle sensor is fixed at the end part of the swing shaft of the front swing hydraulic cylinder, the rear swing hydraulic cylinder is fixed at the upper end of a crawler-type chassis, the swing shaft of the rear swing hydraulic cylinder is connected with the mechanical arm rear support fixed on the crawler-type, the front swing hydraulic cylinder, the rear swing hydraulic cylinder, the grab bucket angle sensor, the mechanical arm angle sensor and the hydraulic rod on the row-type grab bucket are respectively connected with the control unit so as to be beneficial to controlling the actions of the front swing hydraulic cylinder and the rear swing hydraulic cylinder through the control unit, the front swing hydraulic cylinder and the rear swing hydraulic cylinder drive the mechanical arm to rotate, in the rotating process, the rotating angle of the mechanical arm is uploaded to the control unit through the mechanical arm angle sensor so that the control unit monitors the dynamic state of the mechanical arm in real time, the mechanical arm drives the row-type grab bucket to rotate to the front of the silt sucking mechanism, meanwhile, the rotating angle of the row-type grab bucket is uploaded to the control unit through the grab bucket angle sensor so that the control unit monitors the grabbing angle of the row-type grab bucket in real time, the control unit controls the hydraulic rod on the row-type grab bucket to move to drive the row-, the mechanical arm drives the rotation of grabbing debris to the top of a recovery basket, then the control unit controls the front swing hydraulic cylinder to rotate, the row-type grab bucket is driven to turn over to the top of the recovery basket, the control unit controls the action of a hydraulic rod on the row-type grab bucket, the row-type grab bucket is unfolded, the debris is poured into the recovery basket, then the control unit instructs the front swing hydraulic cylinder and the rear swing hydraulic cylinder to act, the row-type grab bucket at the front end of the mechanical arm and the mechanical arm is driven to return, the debris in front of the silt sucking mechanism is continuously grabbed, the actions are repeated to carry out operation, an operator observes the recovery condition in the recovery basket through a visual unit on the recovery basket, the operation is terminated when the recovery basket is fully loaded, the control unit instructs the crawler-type chassis to walk, and the robot can carry out.
The utility model discloses can be equipped with buffer stop at platform frame front end, buffer stop includes sonar, electronic cloud platform lower extreme and platform frame fixed connection, upper end and sonar fixed link, sonar and electronic cloud platform are connected with the control unit respectively to do benefit to and rotate and every single move scanning through the sonar on the electronic cloud platform of control unit control, navigate and range finding the desilting work of desilting robot, prevented that the desilting robot from crashing the wall or other materials in the culvert and colliding under water.
The utility model can symmetrically arrange a second grade filter screen and a second grade collecting sleeve on both sides of a silt sucking port between a silt collecting cover and a trash rack plate respectively, wherein the center of the second grade filter screen is sleeved on a conveying shaft of a bidirectional auger, the second grade collecting sleeve is sleeved outside two second grade filter screens, the outer wall of the second grade collecting sleeve is fixedly connected with the silt collecting cover, the inner wall of the second grade collecting sleeve is fixedly connected with the second grade filter screen, a through hole communicated with the silt sucking port is arranged on the wall of the second grade collecting sleeve, the length and the width or the diameter of a mesh of the second grade filter screen are smaller than those of the trash rack plate, so as to be beneficial to further screening the particle materials entering the bidirectional auger through the second grade filter screen, blocking the particle materials larger than the silt sucking port in the silt collecting cover outside the second grade filter screen, pushing the debris to the second grade filter screen through the rotation of the bidirectional auger, and leading the impurities smaller than the silt sucking port or being extruded, the impurity that is greater than inhales the silt mouth then discharges outside silt is collected the cover, has avoided large granule thing to block inhales the silt mouth and leads to influencing work, has reached work efficiency height, long service life's effect.
The utility model discloses still can carry epaxial fixed being equipped with to cut garrulous baffle in the auger of the inboard or outside of second grade filter screen, cut garrulous baffle and second grade filter screen side and contact to do benefit to and plug up the clearance of second grade filter screen hole through cutting garrulous baffle, with reach and prevent that two-way auger from pushing away the debris granule to the second grade filter screen, partial impurity card is in the clearance of second grade filter screen and two-way auger transport axle, and influences the rotation of two-way auger, simultaneously, can also cut the soft material that gets into in the silt collection cover.
The utility model discloses owing to adopt above-mentioned structure, have simple structure, desilting ability height, pick up advantages such as ability reinforce, equipment cost low, work efficiency height.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is the external structure schematic diagram of the middle silt suction mechanism of the present invention.
Reference numerals: the device comprises a crawler-type chassis 1, a platform frame 2, a recovery basket 3, a pumping mechanism 4, a silt suction mechanism 5, a silt cleaning mechanism 6, a control unit 7, a visual unit 8, a silt collection cover 9, a bidirectional auger 10, an auger driving motor 11, a lower hinged frame 12, a lifting hydraulic cylinder 13, a connecting hinged shaft 14, a trash rack plate 15, a silt suction angle sensor 16, a hinged shaft 17, a mechanical arm 18, a sonar 19, an electric pan head 20, a mechanical arm rear support 21, a front swing hydraulic cylinder 22, a rear swing hydraulic cylinder 23, a mechanical arm front support 24, a row-type grab bucket 25, a secondary filter screen 26, a secondary collection sleeve 27, a shearing baffle 28, a connecting frame 29 and a mechanical arm angle sensor 30.
Detailed Description
The present invention will be described with reference to the accompanying drawings and examples.
As shown in the attached drawing, an underwater grab type grid auger dredging robot comprises a crawler-type chassis 1, a platform frame 2, a recovery basket 3, a pumping mechanism 4, a dredging mechanism 5, a dredging mechanism 6, a control unit 7 and a visual unit 8, wherein the pumping mechanism adopts a slurry pump, the platform frame 2 end is fixedly connected with the crawler-type chassis 1, the upper end is fixedly connected with the recovery basket 3, the pumping mechanism 4 is fixed on the crawler-type chassis 1, the visual unit 8 is respectively arranged on two sides of the crawler-type chassis 1 and is used for recovering the front end of the basket, or the two sides and the front end of the platform frame are adopted by the visual unit, the camera, the crawler-type chassis and the pumping mechanism are respectively connected with the control unit, the dredging mechanism 5 comprises a sludge collection cover 9, a bidirectional auger 10, an auger driving motor 11, a hinged frame 12, a lifting hydraulic cylinder 13, a connecting hinged shaft 14, a lifting hydraulic cylinder 13, Connecting frame 29, trash rack board 15 and inhale silt angle sensor 16, silt is collected and is equipped with two-way auger 10 in the cover 9, 9 left ends are collected to silt is fixed with auger driving motor 11, the open end that 9 front ends were collected to silt covers through trash rack board 15, trash rack board 15 comprises grid frame, unit horizontal bar board and unit vertical bar board, the unit horizontal bar board is along the vertical linear interval arrangement of grid frame, and both ends respectively with the left and right sides frame fixed connection of grid frame, the unit vertical bar board is along the horizontal linear interval arrangement of grid frame, and both ends respectively with the upper and lower both sides frame fixed connection of grid frame, unit horizontal bar board and unit vertical bar board cross fixed connection to do benefit to through the isolation of trash rack board, avoid long and thin material, nylon woven bag, and the big cubic of sewage suction mouth in the sewage, the center of the rear end of the sludge collection cover 9 is connected with the pumping mechanism 4 through a sludge suction port, lower hinged brackets 12 are symmetrically arranged at two sides of the rear end of the sludge collection cover 9,
one end of a conveying shaft of the bidirectional packing auger 10 is connected with an output shaft of a packing auger driving motor 11, the other end is fixedly connected with a bearing seat fixed at the end part of the sludge collecting cover through a water seal and a bearing,
the rear end of the lower hinged frame 12 is hinged with the front end of the crawler-type chassis 1 through a hinged shaft 17, the front end of the lower hinged frame is fixedly connected with the sludge collection cover 9, the lifting hydraulic cylinder 13 is positioned above the lower hinged frame 12, the rear end of the lifting hydraulic cylinder 13 is hinged with the crawler-type chassis 1 or the platform frame 2, the front end of the lifting hydraulic cylinder is hinged with a connecting hinged shaft, two ends of the connecting hinged shaft are respectively hinged with a connecting frame 29 fixed on the lower hinged frame, the lifting hydraulic cylinder 13 is connected with a control unit, so that the lower hinged frame 12 is driven by the extension and contraction of the lifting hydraulic cylinder 13 to swing up and down with the hinged shaft 17 as a center, and the effect of adjusting the height of the sludge collection cover; the sludge suction angle sensor 16 is fixed at one end of a hinge shaft 17, the sludge suction angle sensor 16 is connected with a control unit,
the dredging mechanism comprises a mechanical arm 18, a mechanical arm rear support 21, a front swing hydraulic cylinder 22, a rear swing hydraulic cylinder 23, a mechanical arm front support 24, a row type grab bucket 25, a grab bucket angle sensor and a mechanical arm angle sensor 30, wherein the rear end of the row type grab bucket 25 is provided with two parallel mechanical arms 18, the front end of the mechanical arm 18 is fixedly connected with a swing shaft of the front swing hydraulic cylinder, the rear end of the mechanical arm 18 is fixedly connected with a swing shaft of the rear swing hydraulic cylinder 23, the swing shaft of the front swing hydraulic cylinder 22 is fixedly connected with the mechanical arm front support 24 through a bearing, the front swing hydraulic cylinder 22 is fixed at the rear end of the row type grab bucket 25, the grab bucket angle sensor is fixed at the end part of the swing shaft of the front swing hydraulic cylinder 22, the rear swing hydraulic cylinder 23 is fixed at the upper end of the crawler-type chassis 1, the swing shaft of the rear swing hydraulic cylinder 23 is connected with the mechanical arm, the mechanical arm angle sensor is fixed at the end part of the oscillating shaft of the rear oscillating hydraulic cylinder 23, the front oscillating hydraulic cylinder 22, the rear oscillating hydraulic cylinder 23, the grab bucket angle sensor, the mechanical arm angle sensor and the hydraulic rod on the row-type grab bucket are respectively connected with the control unit so as to be beneficial to controlling the actions of the front oscillating hydraulic cylinder 22 and the rear oscillating hydraulic cylinder 23 through the control unit, the front oscillating hydraulic cylinder 22 and the rear oscillating hydraulic cylinder 23 drive the mechanical arm 18 to rotate, in the rotating process, the rotating angle of the mechanical arm 18 is uploaded to the control unit through the mechanical arm angle sensor, the control unit monitors the dynamic state of the mechanical arm 18 in real time, the mechanical arm 18 drives the row-type grab bucket 25 to rotate to the front of the silt sucking mechanism 5, meanwhile, the rotating angle of the row-type grab bucket 25 is uploaded to the control unit through the grab bucket angle sensor, the control unit monitors the grabbing angle of the row-type grab bucket 25 in real time, and the control unit controls the hydraulic rod, after grabbing sundries, the rear swing hydraulic cylinder 23 drives the mechanical arm 18 to rotate reversely again, the mechanical arm 18 drives the sundries grabbed to rotate to the upper side of the recovery basket 3, then the control unit controls the front swing hydraulic cylinder 22 to rotate to drive the row-type grab bucket 25 to turn backwards to the upper side of the recovery basket 3, the control unit controls the hydraulic rods on the row-type grab bucket 25 to act to unfold the row-type grab bucket 25 and pour the sundries into the recovery basket 3, then the control unit instructs the front swing hydraulic cylinder 22 and the rear swing hydraulic cylinder 23 to act to drive the mechanical arm 18 and the row-type grab bucket 25 at the front end of the mechanical arm 18 to return to continuously grab the sundries in front of the silt sucking mechanism 5, so that the actions are repeatedly continued to carry out operation, an operator observes the recovery condition in the recovery basket through the visual unit 8 on the recovery basket 3, the operation is terminated when the recovery basket, the robot can do the next operation after returning to the shore to process the sundries.
The utility model discloses can be equipped with buffer stop at platform frame front end, buffer stop includes sonar 19, electronic cloud platform 20 lower extreme and platform frame 2 fixed connection, upper end and sonar 19 fixed link, sonar 19 and electronic cloud platform 20 are connected with the control unit respectively to do benefit to and rotate and every single move scanning through the sonar on the electronic cloud platform 20 of the control unit control, navigate and range finding the desilting work of desilting robot, prevented that the desilting robot from crashing the wall or other materials in the culvert and colliding under water.
The utility model discloses can be in the silt is collected cover 9 and is blocked silt grid plate 15 between inhale silt mouthful both sides respectively the symmetry and be equipped with second grade filter screen 26, second grade and collect cover 27, second grade filter screen 26 center activity suit is on the transport axle of two-way auger 10, second grade is collected cover 27 cover and is in two second grade filter screen 26 outsides, second grade is collected cover 27 outer wall and is collected cover 9 fixed connection with silt, inner wall and second grade filter screen 26 fixed connection, be equipped with the through-hole that is linked together with inhaling the silt mouth on the second grade collection cover 27 wall, the mesh length width or the diameter of second grade filter screen 26 are less than the mesh length width or the diameter of blocking the dirty grid plate to do benefit to further screening the particulate matter that gets into in two-way auger through the second grade filter screen, keep off the particulate matter that is greater than inhaling silt mouthful in second grade filter screen outside silt collection cover to push debris to the second grade filter screen, the impurity that is less than to inhale the silt mouth or is extruded to broken and is less than to inhale the silt mouth gets into the second grade filter screen again, and the impurity that is greater than to inhale the silt mouth then discharges outside silt collects the cover, has avoided large granule thing to block inhales the silt mouth and leads to influencing work, has reached work efficiency height, long service life's effect.
The utility model discloses still can carry epaxial fixed being equipped with to cut garrulous baffle 28 in the auger delivery in the inboard or outside of second grade filter screen 26, cut garrulous baffle 28 and contact with second grade filter screen 26 side to do benefit to and plug up the clearance in second grade filter screen 26 hole through cutting garrulous baffle 28, in order to reach and prevent that two-way auger from pushing away the debris granule to the second grade filter screen, partial impurity card is in the clearance of second grade filter screen and two-way auger delivery axle, and influence the rotation of two-way auger, simultaneously, can also cut the soft material that gets into in the silt collection cover.
The control unit includes electrical unit, liquid accuse unit, host computer and display, the display is connected with the host computer, the host computer controls electrical unit and liquid accuse unit respectively through umbilical cable, the hydraulic stem on crawler-type chassis, hydraulic cylinder, preceding swing pneumatic cylinder, back swing pneumatic cylinder, the formula of arranging the grab bucket is controlled respectively to the liquid accuse unit, electrical unit controls pumping mechanism, vision unit, auger driving motor, inhale silt angle sensor, grab bucket angle sensor, arm angle sensor, sonar and electronic cloud platform respectively.
The utility model discloses at the during operation, the robot is placed in the aquatic of desilting, operating personnel passes through the video information of display remote observation sonar promptly visual element passback, realize the position under water through the on-off control crawler-type chassis on the host computer control panel and remove, reach appointed operation area, auger driving motor and sediment stuff pump switch on the host computer control panel are clicked, control hydraulic cylinder hydraulic stem stretches out outside promotion silt and collects the cover and goes up and down, make the anterior trash rack board of silt collection cover press close to the desilting face, silt is adsorbed in the silt collection cover by the sediment stuff pump through the trash rack board, then carry the silt suction opening to silt collection cover rear end in opposite directions through two-way auger, through the equipment of sediment stuff pump with silt through mud conveying pipe pump sending to ground, in the silt suction process, siltation debris in the silt, such as nylon woven sack, the plastic bag, crotch, the crotch, Iron sheets, tree roots and the like are blocked outside the sewage blocking grating plate through the sewage blocking grating plate, after large-particle blocky substances enter the sludge collection cover, the large-particle blocky substances are further screened through the secondary filter screen, the large-particle blocky substances enter the sludge collection cover outside the secondary filter screen, impurities which are smaller than the sewage suction port or are extruded to be broken and are smaller than the sewage suction port are pushed into the secondary collection cover through the rotation of the bidirectional filter screen, the impurities which are smaller than the sewage suction port or are extruded to be broken enter the sewage suction port through the secondary filter screen in the secondary collection cover, the impurities are pumped out through the sewage suction port, a mud conveying pipe and a slurry pump, the impurities which are larger than the sewage suction port are discharged outside the sludge collection cover, the influence on work caused by the blockage of the sewage suction port by large-particle substances is avoided, and the effects of high work efficiency and long service life are achieved;
when the front part of the sludge collection cover is accumulated to a certain degree, an operator can click a switch of a back swing hydraulic cylinder and a front swing hydraulic cylinder on a control panel of an upper computer to control the front swing hydraulic cylinder 22 and the back swing hydraulic cylinder 23 to act, the front swing hydraulic cylinder 22 and the back swing hydraulic cylinder 23 drive the mechanical arm 18 to rotate, in the rotating process, the rotating angle of the mechanical arm 18 is uploaded to the upper computer through a mechanical arm angle sensor, a display monitors the dynamic state of the mechanical arm 18 in real time, the mechanical arm 18 drives the row-type grab bucket 25 to rotate to the front of the sludge suction mechanism 5, meanwhile, the rotating angle of the row-type grab bucket 25 is uploaded to the upper computer through the grab bucket angle sensor and is uploaded to the display, the display monitors the grabbing angle of the row-type grab bucket 25 in real time and controls the action of a hydraulic rod on the row-type grab bucket 25 to drive the row-type grab bucket 25 to expand and combine, after grabbing sundries, the, the mechanical arm 18 drives the sundries to rotate above the recovery basket 3, then a front swing hydraulic cylinder switch on an upper computer control panel is clicked, the front swing hydraulic cylinder 22 is controlled to rotate, the row-type grab bucket 25 is driven to turn backwards above the recovery basket 3, then the grab bucket switch on the upper computer control panel is clicked, a hydraulic rod on the row-type grab bucket 25 is controlled to act, the row-type grab bucket 25 is unfolded, the sundries are poured into the recovery basket 3, then the front swing hydraulic cylinder 22 and a rear swing hydraulic cylinder 23 on the control panel are clicked to instruct to open and close, the front swing hydraulic cylinder 22 and the rear swing hydraulic cylinder 23 drive the mechanical arm 18 and the row-type grab bucket 25 at the front end of the mechanical arm 18 to return, the sundries in front of the silt sucking mechanism 5 are continuously grabbed, the actions are repeated to carry out operation, and an operator observes the recovery condition in the recovery basket through the visual unit 8;
in the operation process, the utility model can realize the observation of the robot at a long and short distance through the sonar and the horizontal rotation and pitching of the electric holder, the pitching angle is +/-40 degrees, the operation of the auger can be directly monitored, and the underwater dredging robot can be prevented from damaging the wall in the culvert or colliding other substances;
when the recovery basket 3 is fully loaded, the operation is terminated, the control unit instructs the crawler-type chassis 1 to travel, and the robot returns to the shore to process sundries and then can operate again.
The utility model discloses owing to adopt above-mentioned structure, have simple structure, desilting ability height, pick up advantages such as ability reinforce, equipment cost low, work efficiency height.
Claims (4)
1. The utility model provides an underwater grab bucket type grid auger desilting robot, includes crawler-type chassis, platform frame, retrieves basket, pumping mechanism, inhale silt mechanism, desilting mechanism, the control unit and visual unit, its characterized in that inhale silt mechanism and collect cover, two-way auger, auger driving motor, articulated frame, hydraulic cylinder, connection hinge, link, block dirty grid plate and inhale silt angle sensor down including silt, the silt is collected and is equipped with two-way auger in the cover, the cover left end is fixed with auger driving motor is collected to silt, the open end that the cover front end was collected to silt covers through blocking dirty grid plate, block dirty grid plate comprises grid frame, unit horizontal slat and unit vertical slat, the unit horizontal slat is arranged along the vertical linear interval of grid frame, and both ends respectively with the left and right sides frame fixed connection of grid frame, the unit vertical slat is arranged along the horizontal linear interval of grid frame, and both ends of the sludge collecting cover are respectively fixedly connected with the upper side frame and the lower side frame of the grid framework, the unit transverse strip plate and the unit longitudinal strip plate are fixedly connected in a crossed manner, the center of the rear end of the sludge collecting cover is connected with a pumping mechanism through a sludge suction port, lower hinged frames are symmetrically arranged on both sides of the rear end of the sludge collecting cover,
one end of a conveying shaft of the bidirectional auger is connected with an output shaft of the auger driving motor, the other end of the conveying shaft is fixedly connected with a bearing seat fixed at the end part of the sludge collecting cover through a water seal and a bearing,
the rear end of the lower hinged frame is hinged with the front end of the crawler-type chassis through a hinged shaft, the front end of the lower hinged frame is fixedly connected with the sludge collection cover, the lifting hydraulic cylinder is positioned above the lower hinged frame, the rear end of the lifting hydraulic cylinder is hinged with the crawler-type chassis or the platform frame, the front end of the lifting hydraulic cylinder is hinged with a connecting hinged shaft, two ends of the connecting hinged shaft are respectively hinged with a connecting frame fixed on the lower hinged frame, and the lifting hydraulic cylinder is connected with the control unit; the sludge suction angle sensor is fixed at one end of the hinge shaft and is connected with the control unit,
the dredging mechanism comprises a mechanical arm, a mechanical arm rear support, a front swing hydraulic cylinder, a rear swing hydraulic cylinder, a mechanical arm front support, a row-type grab bucket, a grab bucket angle sensor and a mechanical arm angle sensor, wherein two parallel mechanical arms are arranged at the rear end of the row-type grab bucket, the front end of the mechanical arm is fixedly connected with a swing shaft of the front swing hydraulic cylinder, the rear end of the mechanical arm is fixedly connected with a swing shaft of the rear swing hydraulic cylinder, the swing shaft of the front swing hydraulic cylinder is fixedly connected with the mechanical arm front support through a bearing, the front swing hydraulic cylinder is fixed at the rear end of the row-type grab bucket, the grab bucket angle sensor is fixed at the end part of the swing shaft of the front swing hydraulic cylinder, the rear swing hydraulic cylinder is fixed at the upper end of a crawler-type chassis, the swing shaft of the rear swing hydraulic cylinder is connected with the mechanical arm rear support fixed on the crawler-type, the front swing hydraulic cylinder, the rear swing hydraulic cylinder, the grab bucket angle sensor, the mechanical arm angle sensor and the hydraulic rods on the row-type grab bucket are respectively connected with the control unit.
2. The underwater grab bucket type grid auger desilting robot is characterized in that the front end of the platform frame is provided with an anti-collision device, the anti-collision device comprises a sonar and an electric pan-tilt, the lower end of the electric pan-tilt is fixedly connected with the platform frame, the upper end of the electric pan-tilt is fixedly connected with the sonar, and the sonar and the electric pan-tilt are respectively connected with the control unit.
3. The underwater grab type grid auger dredging robot as claimed in claim 1 or 2, wherein two sides of a silt sucking port between the silt collecting cover and the trash rack plate are respectively and symmetrically provided with a second-stage filter screen and a second-stage collecting cover, the center of the second-stage filter screen is movably sleeved on a conveying shaft of the bidirectional auger, the second-stage collecting cover is sleeved outside the two second-stage filter screens, the outer wall of the second-stage collecting cover is fixedly connected with the silt collecting cover, the inner wall of the second-stage collecting cover is fixedly connected with the second-stage filter screen, a through hole communicated with the silt sucking port is formed in the wall of the second-stage collecting cover, and the length and width of meshes or the diameter of the second-stage filter screen are smaller than those.
4. The underwater grab bucket type grid auger desilting robot is characterized in that a shearing baffle is fixedly arranged on an auger conveying shaft on the inner side or the outer side of the secondary filter screen, and the shearing baffle is in contact with the side face of the secondary filter screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529182.6U CN210766955U (en) | 2019-09-16 | 2019-09-16 | Underwater grab bucket type grid auger desilting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921529182.6U CN210766955U (en) | 2019-09-16 | 2019-09-16 | Underwater grab bucket type grid auger desilting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210766955U true CN210766955U (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921529182.6U Withdrawn - After Issue CN210766955U (en) | 2019-09-16 | 2019-09-16 | Underwater grab bucket type grid auger desilting robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN210766955U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110512683A (en) * | 2019-09-16 | 2019-11-29 | 山东未来机器人有限公司 | Underwater grasping bucket type grid auger dredging robot |
| CN115012464A (en) * | 2022-06-27 | 2022-09-06 | 浙江海洋大学 | River mouth floating mud dredging device capable of relieving channel desilting pressure |
-
2019
- 2019-09-16 CN CN201921529182.6U patent/CN210766955U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110512683A (en) * | 2019-09-16 | 2019-11-29 | 山东未来机器人有限公司 | Underwater grasping bucket type grid auger dredging robot |
| CN110512683B (en) * | 2019-09-16 | 2024-02-06 | 山东未来机器人有限公司 | Underwater grab type grid auger dredging robot |
| CN115012464A (en) * | 2022-06-27 | 2022-09-06 | 浙江海洋大学 | River mouth floating mud dredging device capable of relieving channel desilting pressure |
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