CN216552153U

CN216552153U - Dredging robot

Info

Publication number: CN216552153U
Application number: CN202123073616.6U
Authority: CN
Inventors: 王兆铨; 郑文杰; 王洁; 王小朝; 陈志卓
Original assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Current assignee: Zhejiang Juntai Ecological Environmental Protection Technology Co ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-05-17
Anticipated expiration: 2031-12-07

Abstract

The application provides a desilting robot, belongs to the excavator or the dredge technical field of clearance water course or other river systems. The dredging device comprises a box body, a large arm and a dredging pump, wherein the box body is driven by a pair of tracks, the large arm is connected onto the box body and driven by a lifting oil cylinder to lift relative to the box body, the dredging pump is arranged on the large arm and lifts along with the lifting of the large arm, and pulleys are arranged on two sides of the large arm so as to realize a blocking prevention effect; the dredging pump is connected with the sludge conveying pipe to suck and output the scattered sludge. This application desilting robot is used for the irrigation canals and ditches clearance, and not only anticollision trench wall can also be taken off mud stone, mentions bold mud, stone.

Description

Dredging robot

Technical Field

The application relates to a dredging robot, and belongs to the technical field of excavators or dredgers for cleaning water channels or other water systems.

Background

When carrying out the desilting to sewage sedimentation ponds such as sewage pump station, pharmaceutical factory, owing to receive inspection opening size restriction (usually the size is less than 90 cm), need select for the less desilting mechanical equipment of appearance volume to carry out the operation, when the completion pond desilting back of flotation tank formula desilting robot, often can form one by one work pit in the bottom of the pool, leave over partial silt and can't clean up completely. Many cities have a large number of trench-type underground drainage underdrains, and long-term operation causes silt in the trenches to be deposited and a large amount of harmful and toxic substances to be collected. Because the cell body inspection opening size is little, and large-scale equipment can't get into, and city irrigation canals and ditches section size also has certain restriction, so, need have a miniature desilting machinery of a section to solve this difficult problem, and current equipment can't satisfy this desilting requirement.

SUMMERY OF THE UTILITY MODEL

In view of this, the present application provides a desilting robot, not only has characteristics such as small, light in weight, convenient, the clearance is effectual of traveling, still can effectively prevent the collision between the advance and retreat and the pool wall in the desilting operation.

Specifically, the method is realized through the following scheme:

a dredging robot comprises a box body, a large arm and a dredging pump, wherein the box body is driven by a pair of tracks, the large arm is connected onto the box body and driven by a lifting oil cylinder to lift relative to the box body, the dredging pump is arranged on the large arm and lifts along with the lifting of the large arm, and pulleys are arranged on two sides of the large arm to realize a blocking prevention effect; the dredging pump is connected with a sludge conveying pipe to suck and output the scattered sludge.

This application regards as the supporting component with the box, the track is as advancing component, drive the synchronous displacement of apparatus such as box, not only give the whole less specification of robot, make it satisfy little space operation space desilting requirements such as pond canal, the pulley that big arm both sides set up, form the boundary in big arm both sides, and with the impact force between the advance and retreat of pulley structure buffering, the pool wall collision that position control is inaccurate to cause when avoiding desilting robot to march, the desilting robot has both been protected, can not influence the structure of pond canal again.

Further, as preferable:

the lifting oil cylinder is connected between the large arm and the box body, the large arm is connected with the box body through the rotating shaft, and the lifting oil cylinder drives the large arm to rotate around the rotating shaft so as to realize the lifting of the large arm relative to the box body. As a specific structure, the large arm can be installed in the following way: one end of the big arm is arranged on the box body through a rotating shaft, the other end of the big arm is provided with a dredging pump, and the lifting oil cylinder is connected between the middle part of the big arm and the box body. When the lifting oil cylinder is started, the output shaft of the oil cylinder is extended to push the big arm to move upwards, and the big arm swings around the rotating shaft relative to the box body, so that the dredging pump and other parts on the big arm are driven to move along with the big arm.

The big arm is provided with the baffle, and the desilting pump is installed in the baffle. As a specific structure, the baffle plate may adopt the following configuration: still including rabbling mechanism, rabbling mechanism includes motor and motor drive's impeller, the motor is used for driving impeller and rotates, the impeller is the design of cutting form structure, smash the silt sedimentary deposit layer of contact with it at any time, install a baffle between motor and the impeller, carry out dry wet separation with the motor of impeller and precision apparatus, avoid debris to pollute the motor, the impeller outside sets up the side shield, will break up mud and gather together, the mud pipe entry communicates to the cavity that this side shield formed, the mud of breaing up is before diffusing other positions, promptly through the desilting pump, the mud pipe is taken out. More preferably, the side baffle is an arc-shaped plate, and the side baffle arranged around the impeller can reduce the space occupied by the baffle to the maximum extent while the normal operation of the impeller is met.

The supporting wheel is arranged at the bottom of the big arm and is installed at the bottom of the big arm through a support, and the bottom of the big arm is limited.

In the scheme, the device further comprises grippers, and the grippers are arranged on two sides or the bottom of the large arm. More preferably, the hand grip is of a hollowed-out arc structure with an opening at the rear end, such as a grip cage structure. The hand grip is fixed on the large arm through the side plate and synchronously moves along with the large arm. When the big arm advances, the gripper mainly plays roles of rolling and crushing when meeting the sludge block; when the big arm retreats, the tongs open or enter the tongs through the opening when the unable broken thing piece such as sludge block, stone, etc. then, when the big arm rises, the tongs grab the stone, move to suitable position.

The application provides a desilting robot has following advantage:

1) big arm is the main action unit of desilting robot in the present case, installs pivot and lift cylinder on the box respectively, and big arm one end is connected with the box through the pivot, and parts such as desilting pump, tongs, motor, impeller, baffle are installed to the other end, and the output shaft and the big arm middle part of lift cylinder are connected. When the lifting oil cylinder is driven and the output shaft extends out, the large arm is pushed away from the lifting oil cylinder and rotates around the rotating shaft, namely, the other end of the large arm rises relative to the box body; on the contrary, the big arm descends relative to the box body, so that the operation of different working conditions is adapted. The pulleys are arranged on two sides of the large arm, so that the action units can be limited in position on two sides, when the large arm moves forwards along with the box body and the crawler to be in contact with the wall of the ditch, the impact force is effectively buffered by the arrangement of the pulleys, the continuous advancing of the large arm is avoided, the spherical surface contact formed by the pulleys reduces the impact on the wall of the ditch to a greater extent, and the anti-collision effect is achieved. For similar reasons, the supporting wheel arranged at the bottom plays a role in bottom limitation, and the bottom of the ditch is prevented from being damaged.

2) The crawler-type propulsion structure can deal with various complex terrain conditions. The track drives the box body and the parts such as the big arm connected with the box body to operate, so that the robot also has good passing capacity on the pool bottom, the canal bottom and the mud surface with complex terrain, the whole volume is small, the robot is flexible and mobile, is suitable for the inlet and the outlet of a small working opening, and the dredging effect is good.

3) The gripper is matched with a motor, an impeller and the like, is arranged on the large arm and synchronously moves along with the large arm, so that sludge scattering and sludge output of the dredging pump are not influenced, the dredging robot is endowed with the functions of rolling and grabbing large objects, objects which cannot be crushed are directly lifted and moved away, and the impeller is prevented from being damaged; and the lifting oil cylinder is driven by hydraulic pressure, so that the failure rate of the robot in the working state is reduced.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a perspective view of another embodiment of the present application;

FIG. 3 is a schematic side view of the present application;

FIG. 4 is a schematic top view of the present application;

fig. 5 is a structural diagram of the present application from a bottom view.

Reference numbers in the figures: 1. a crawler belt; 2. a box body; 21. a sludge discharge pipe joint; 3. lifting the oil cylinder; 4. a large arm; 41. a rotating shaft; 42. a side partition plate; 43. a top baffle; 5. a dredging pump; 51. a suction inlet; 52. an impeller; 6. tipping; 61. a side plate; 62. a top plate; 7. a pulley; 8. a supporting wheel; 81. and (4) a bracket.

Detailed Description

This embodiment a desilting robot combines figure 1, including track 1, box 2, lift cylinder 3, big arm 4, desilting pump 5:

the box body 2 is used as an equipment installation box of the robot, is arranged in an integral sealing mode, and is driven by the pair of crawler belts 1.

The crawler belts 1 are positioned on the left side and the right side of the bottom of the main box body 2, so that the robot has good passing ability on the pool bottom, the canal bottom and the mud surface with complex terrain.

The front end of the box body 2 is connected with a big arm 4, and the big arm 4 is a structure which is connected with the box body 2 and a dredging unit, namely a dredging pump 5 and the like.

The big arm 4 is driven by the lifting oil cylinder 3 to lift relative to the box body 1, the lifting oil cylinder 3 is a power source of the big arm 4, the big arm 4 can be controlled to move vertically by adopting hydraulic drive, and the dredging range is adjusted by the up-and-down movement.

The desilting pump 5 is arranged on the large arm 4 and ascends and descends along with the ascending and descending of the large arm 4, and pulleys 7 are arranged on two sides of the large arm 4 to achieve the anti-blocking effect.

The dredging pump 5 is connected to a sludge pipe (connected between the sludge pipe joint 21 and the suction port 51, and a hose may be used) to suck and output the scattered sludge.

This application uses box 2 as supporting component, and track 1 is as advancing component, drives apparatus synchronous displacement such as box 2, not only gives the whole less specification of robot, makes it satisfy little space operation space desilting requirements such as pond canal, and big arm 4 cooperates with lift cylinder 3, adjusts the desilting scope, improves desilting efficiency to satisfy the processing demand of different operating modes. During the operation, the crawler 1, the lifting oil cylinder 3 and the like can be connected with an oil pump through a power oil pipe joint so as to supply power.

As an alternative: referring to fig. 2, the lift cylinder 3 is connected between the middle of the boom 4 and the housing 2, and the boom 4 is connected to the housing 2 through a shaft 41. When the lifting oil cylinder 3 is started, the output shaft of the lifting oil cylinder 3 is extended to push the big arm 4 to move upwards, and the big arm 4 swings relative to the box body 2 around the rotating shaft 41, so that the dredging pump 5 and other dredging mechanisms on the big arm 4 are driven to move along with the big arm.

As an alternative: referring to fig. 1, the large arm is provided with a baffle plate, and the dredging pump is installed in the baffle plate.

Preferably:

still including rabbling mechanism, rabbling mechanism includes motor and impeller 52, the motor is used for driving impeller 52, impeller 52 is the cutting form project organization, smash at any time and block up debris, the silt sedimentary deposit, install top baffle 43 between motor and the impeller 52, carry out dry wet-separating with the motor of impeller 52 and precision instruments, avoid debris pollution motor, the impeller 52 outside sets up side shield 42, will break up mud and gather together, the mud pipe entry communicates to the cavity that this side shield 42 formed, the mud of breaing up is before diffusing other positions, promptly through desilting pump 5, the mud pipe is taken out.

Preferably: referring to fig. 5, the side baffle 42 is an arc-shaped plate, and the side baffle 42 surrounding the impeller 52 can meet the requirement of normal operation of the impeller 52 and reduce the space occupied by the baffle to the maximum extent.

As an alternative: referring to fig. 1, the bottom of the large arm 4 is provided with a supporting wheel 8, and the supporting wheel 8 is mounted at the bottom of the large arm 4 through a support 81 to limit the bottom of the large arm 4.

In the above scheme, with reference to fig. 2 to 5, a hand grip 6 may be further provided, and the hand grip 6 is installed on two sides or the bottom of the large arm 4.

Preferably: the gripper 6 is a hollow arc structure with an opening at the rear end, such as a gripping cage structure. The hand grip 6 is fixed to the large arm 4 through the side plate 61 and is displaced synchronously with the large arm 4. The hand grip 6 can be an arc-shaped hollow structure formed by a plurality of grid bars, and two sides of the hand grip are fixed with the large arm 4 through the side plates 61, so that the opening end of the hand grip 6 faces backwards. When the big arm 4 advances, the hand grip 6 mainly plays roles of grinding and smashing when meeting the sludge block; when the large arm 4 retreats, and the uncrushable object blocks such as sludge blocks, stone blocks and the like enter the gripper 6 through the opening or are pulled away by the gripper 6, and when the large arm 4 rises, the gripper 6 picks up the stone blocks and moves the stone blocks to a proper position.

The desilting robot of the embodiment has the following advantages:

1) the big arm 4 is a main action unit of the dredging robot, a rotating shaft 41 and a lifting oil cylinder 3 are respectively arranged on the box body 2, one end of the big arm 4 is connected with the box body 2 through the rotating shaft 41, the other end is provided with a dredging pump 5, a gripper 6, a motor, an impeller 52, a baffle plate and other parts, and the output shaft of the lifting oil cylinder 3 is connected with the middle part of the big arm 4. When the lifting oil cylinder 3 is driven and the output shaft extends out, the large arm 4 is pushed away from the lifting oil cylinder 3 and rotates around the rotating shaft 41, namely, the other end of the large arm 4 rises relative to the box body 2; on the contrary, the big arm 4 descends relative to the box body, so that the operation under different working conditions is adapted. Therefore, the pulleys 7 are arranged on two sides of the large arm 4, the action units can be limited in position on two sides, when the large arm 4 moves forwards along with the box body 2 and the crawler 1 to be in contact with the channel wall, the impact force is effectively buffered by the arrangement of the pulleys 7, the continuous advancing of the large arm 4 is avoided, the spherical surface formed by the pulleys 7 is in contact, the impact is reduced to a greater extent, and the damage to the channel wall is avoided, and the anti-collision effect is achieved. For similar reasons, the supporting wheel 8 arranged at the bottom plays a role in bottom limiting, and the bottom of the ditch is prevented from being damaged.

2) The crawler-type propulsion structure can deal with various complex terrain conditions. The track 1 drives the box 2 and the big arm 4 connected with the box 2 and other parts to operate, so that the robot also has good passing capacity on the pool bottom, the canal bottom and the mud surface with complex terrain, the whole volume is small, the robot is flexible and mobile, adapts to the inlet and outlet of a small working opening, and the dredging effect is good.

3) According to the scheme, the motor, the impeller 52 and the like are matched with each other to be provided with the gripper 6, the gripper 6 is arranged on the large arm 4 through the side plate 61 and the top plate 62 and synchronously moves along with the large arm 4, so that the sludge scattering and sludge output of the dredging pump 5 are not influenced, the dredging robot is endowed with the functions of rolling and gripping large objects, objects which cannot be crushed are directly lifted and moved away, and the impeller 52 is prevented from being damaged; and the lifting oil cylinder 3 is driven by hydraulic pressure, so that the failure rate of the robot in the working state is reduced.

Claims

1. A desilting robot which characterized in that: the dredging device comprises a box body, a large arm and a dredging pump, wherein the box body is driven by a pair of tracks, the large arm is connected onto the box body and driven by a lifting oil cylinder to lift relative to the box body, the dredging pump is arranged on the large arm and lifts along with the lifting of the large arm, and pulleys are arranged on two sides of the large arm so as to realize a blocking prevention effect; the dredging pump is connected with a sludge conveying pipe to suck and output the scattered sludge.

2. A dredging robot as claimed in claim 1, wherein: the lifting oil cylinder is connected between the large arm and the box body, the large arm is connected with the box body through the rotating shaft, and the lifting oil cylinder drives the large arm to rotate around the rotating shaft so as to realize the lifting of the large arm relative to the box body.

3. A dredging robot as claimed in claim 1, wherein: one end of the big arm is arranged on the box body through a rotating shaft, the other end of the big arm is provided with a dredging pump, and the lifting oil cylinder is connected between the middle part of the big arm and the box body.

4. A dredging robot as claimed in claim 1, wherein: the big arm is provided with the baffle, and the desilting pump is installed in the baffle.

5. A dredging robot as claimed in claim 1, wherein: the device also comprises a motor and an impeller driven by the motor, a top baffle is arranged between the motor and the impeller, and a side baffle is arranged outside the impeller.

6. A dredging robot as claimed in claim 5, wherein: the side baffle is an arc-shaped plate.

7. A dredging robot as claimed in claim 1, wherein: and a supporting wheel is arranged at the bottom of the big arm.

8. A dredging robot as claimed in any one of claims 1-7, wherein: the hand grab is arranged on two sides or the bottom of the large arm.

9. A dredging robot as claimed in claim 8, wherein: the tongs are the fretwork arc structure of rear end open-ended.

10. A dredging robot as claimed in claim 8, wherein: the hand grip is fixed on the large arm through the side plate and synchronously moves along with the large arm.