WO2023030145A1 - 清淤机器人及清淤*** - Google Patents
清淤机器人及清淤*** Download PDFInfo
- Publication number
- WO2023030145A1 WO2023030145A1 PCT/CN2022/114665 CN2022114665W WO2023030145A1 WO 2023030145 A1 WO2023030145 A1 WO 2023030145A1 CN 2022114665 W CN2022114665 W CN 2022114665W WO 2023030145 A1 WO2023030145 A1 WO 2023030145A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotating shaft
- dredging
- shaft
- reamer
- hydraulic
- Prior art date
Links
- 238000007789 sealing Methods 0.000 claims description 31
- 210000004907 gland Anatomy 0.000 claims description 21
- 230000000670 limiting effect Effects 0.000 claims description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 17
- 239000003921 oil Substances 0.000 claims description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 4
- 239000002002 slurry Substances 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 239000002689 soil Substances 0.000 description 35
- 239000010410 layer Substances 0.000 description 7
- 239000002245 particle Substances 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000013019 agitation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- BVKZGUZCCUSVTD-UHFFFAOYSA-L Carbonate Chemical compound [O-]C([O-])=O BVKZGUZCCUSVTD-UHFFFAOYSA-L 0.000 description 1
- BPQQTUXANYXVAA-UHFFFAOYSA-N Orthosilicate Chemical compound [O-][Si]([O-])([O-])[O-] BPQQTUXANYXVAA-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
- E02F3/8825—Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9218—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with jets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
- E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
- E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
- E02F3/9231—Suction wheels with axis of rotation parallel to longitudinal axis of the suction pipe
Definitions
- the disclosure belongs to the field of dredging equipment, in particular to a dredging robot and a dredging system.
- the silt contains slag, silicate, carbonate, etc., which will form hard compacted soil. Under water, the differences between hard soil and ordinary silt mainly include:
- Silt is easy to form mud when breaking the soil, while hard soil mainly forms a solid suspension with a certain particle size when breaking the soil, and the broken soil in the solid suspension is easy to sink and difficult to pump, resulting in a decrease in the removal rate .
- the hard soil to be removed is below the reamer, so that the suction port cannot be directly arranged under the reamer head, otherwise the work of the reamer will be easily affected.
- CN201447721U discloses an electric reamer transmission device, in order to obtain sufficient structural strength of the reamer transmission part, but still cannot overcome the problem that the hard soil is difficult to suck after breaking the soil. Therefore, the existing dredging robot cannot effectively cut hard soil, and the dredging suction efficiency is low.
- the first object of the present disclosure is to provide a dredging robot to improve structural strength, effectively cut hard soil and improve the removal rate of hard broken soil.
- the dredging robot includes a reamer structure for being installed on the mechanical arm, and the reamer structure includes: an outer sleeve, a first flange fixed to one end of the outer sleeve, and a first flange fixed to one end of the outer sleeve; The other end of the sleeve is fixed with the second flange of the mechanical arm, the shaft bushing fixed on the first flange, and the rotating shaft in the middle is sleeved in the shaft bushing, and is sleeved between the rotating shaft and the shaft.
- Bearing pads between bushings where:
- the second flange is used to mount the motor
- the rotating shaft is used to connect the reamer head.
- the reamer head includes a plurality of arms fixed together at one end.
- the output shaft of the motor is transmission-coupled to one end of the rotating shaft, and the other end of the rotating shaft can extend into the reamer head and be fixed together with the reamer head,
- the first flange is provided with an opening for assembling the suction pipe, so that the reamer head can surround the outside of the suction inlet of the suction pipe.
- the dredging robot includes: a moving chassis, a vehicle frame rotatably coupled to the moving chassis, and a driving device for driving the vehicle frame to rotate, wherein the mechanical arm is arranged on the vehicle frame , the outer wall of the knife arm is provided with knife teeth.
- a plurality of reinforcing plates are fixedly connected to the outer wall of the shaft bushing, and the reinforcing plates abut against the inner wall of the outer sleeve.
- an opening is provided on the side wall of the outer sleeve, and the suction pipe passes through the opening and is fixed with the outer sleeve.
- the output shaft of the motor is connected to the rotating shaft through an elastic coupling.
- a limiting portion is provided on the inner wall of the shaft bushing, and a first gland is sleeved on the rotating shaft, and the first gland and the shaft bushing are fixed together, wherein the limiting portion and the first gland are paired The two ends of the bearing bush are limited.
- a sealing assembly is provided between the first gland, the shaft bushing, and the rotating shaft.
- a pressure sleeve is also sleeved on the rotating shaft, and a sealing bush is sleeved on the outer side of the pressure sleeve, and the sealing bush is fixed with the shaft bushing, and the rotating shaft is provided with a first Limiting steps, the inner wall of the shaft bushing is provided with a second limiting step, and a bearing is also sleeved between the shaft bushing and the rotating shaft, wherein:
- the inner end faces of the sealing bush and the pressure sleeve are limited to one side of the bearing, and the first and second limiting steps are limited to the other side of the bearing;
- the pressure sleeve is limited in its axial direction and cannot slide along the shaft;
- the bearing is a deep groove ball bearing.
- a sealing assembly is provided between the sealing bush, the pressure sleeve, and the shaft bushing.
- an annular groove is provided at the inner edge of the outer end surface of the sealing bush for accommodating The sealing assembly arranged between the sealing bush and the pressure sleeve is a skeleton seal; the sealing bush is also fixed with a second gland for blocking the outside of the skeleton seal.
- the second object of the present disclosure is to provide a dredging system, which uses the dredging robot to improve the range and accuracy of dredging, and also adopts the method of separating the hydraulic station from the robot to reduce the size and weight of the robot itself, simplify robot structure.
- the dredging system includes a water drive and control platform and the aforementioned dredging robot.
- the rotary motion of the mechanical arm is driven by an oil cylinder
- the driving device used to drive the frame to rotate is a hydraulic motor
- the moving chassis is provided with a hydraulic motor and travels through hydraulic drive.
- the motor in the reamer structure is a hydraulic motor, and the output speed of the motor is lower than 200r/min.
- the above-water drive and control platform is equipped with a hydraulic station.
- the hydraulic station communicates with the oil cylinder used to drive the mechanical arm, the hydraulic motor used to drive the frame to rotate, the hydraulic motor used to drive the walking chassis and the reamer structure through the hydraulic oil pipe.
- the hydraulic motor is connected and provides hydraulic oil and hydraulic driving force.
- the mechanical arm is connected to one end of the vehicle frame, and a protective cover is provided on the other end of the vehicle frame, and a sealed box and a water tank for accommodating the hydraulic valve group are also provided in the protective cover.
- a mud pump, the underwater mud pump is connected between the mud pipe for transporting mud slurry and the suction pipe, and the other end of the mud pipe is placed at a discharge position.
- the reamer structure is also provided with a high-pressure flush port for assisting in breaking ground;
- the mechanical arm is a double-arm structure.
- the beneficial effects of the present disclosure mainly include:
- the dredging robot equipped with the reamer structure has a large dredging range and can be used for hard soil dredging.
- a compact reamer structure is adopted, which can reserve sufficient radial width for opening the suction port.
- it is also conducive to the miniaturization of the overall size of the reamer.
- the distance between the suction port and the soil-breaking position of the reamer head can be set relatively small, and the removal efficiency is high.
- One end of the shaft bushing and the rotating shaft can be rotatably nested through the bearing bush, and the other end can be rotatably nested through the roller bearing, which can make the structure of the end connecting the shaft structure and the reamer head more compact and reduce the shaft structure itself. It takes up less space, and at the same time, it can reduce friction and improve the structural support effect.
- the hydraulic drive device and the hydraulic station are set separately, which simplifies the structure of the dredging robot, reduces the risk of underwater failure, and also reduces the weight of the dredging robot, making it lightweight and miniaturized in structure and easy to operate. Adapt to narrow working space.
- the structure of the dredging robot is more stable, the balance is better, and the anti-overturning ability is improved.
- the frame and the mechanical arm together form a six-degree-of-freedom structure, so that the reamer head can be fed in the up and down, left and right, and front and rear directions as needed, flexibly avoiding obstacles, and at the same time, the dredging work range is large.
- the reamer head can be fed in the up and down, left and right, and front and rear directions as needed, flexibly avoiding obstacles, and at the same time, the dredging work range is large.
- Fig. 1 is a schematic side view of a dredging robot according to an embodiment.
- Fig. 2 is a schematic diagram of the reamer structure of an embodiment, showing a partial section in the figure.
- Fig. 3 is a schematic diagram of the shaft structure of the reamer structure of an embodiment, showing a partial section in the figure.
- Fig. 4 is a schematic cross-sectional view of the shaft bushing and the first flange in one embodiment, and a reinforcing plate is also shown in the figure.
- FIG. 5 is a schematic diagram of a rotating shaft in an embodiment.
- Fig. 6 is a schematic front view of the bushing and the first flange in one embodiment, in which the dotted line indicates the reinforcing plate located on the rear side of the first flange.
- Fig. 7 is a schematic diagram of a dredging system according to an embodiment.
- Fig. 8 is a schematic diagram of an embodiment of a dredging robot breaking ground.
- Motion chassis 20. Vehicle frame, 30. Mechanical arm, 31. First arm, 32. Second arm, 33. Oil cylinder, 40. Suction pipe, 41. Suction port.
- Water drive and control platform 610. Hydraulic station, 611. Hydraulic oil pipe, 620. Underwater mud pump, 621. Mud pipe, 630. Protective cover, 640. Seal box, 650. Oil pipe and mud pipe retractable winch.
- the dredging robot of the present embodiment comprises a moving chassis 10, which is rotatably coupled to a vehicle frame 20 on the moving chassis 10, and is used to drive a driving device (not shown) that the vehicle frame 20 rotates. , the mechanical arm 30 located on the vehicle frame 20 , the suction pipe 40 and the reamer structure 50 .
- the moving chassis 10 is used to realize basic movements such as forward, backward and turning.
- the moving chassis 10 is a crawler chassis.
- the mechanical arm 30 includes a first arm 31 rotatably connected to the vehicle frame 20 at one end and a second arm 32 rotatably connected to the first arm 31 at one end, and the other end of the second arm 32 is Used to connect with the reamer structure 50 .
- an oil cylinder 33 is connected between the first arm portion 31 and the vehicle frame 20. Driven by the oil cylinder 33, a rotary motion pair is formed between the first arm portion 31 and the vehicle frame 20; An oil cylinder 33 is also connected between the arm parts 31, thereby also forming a rotary motion pair.
- the vehicle frame 20 rotates, it drives the mechanical arm 30 to rotate, so that the reamer structure 50 arranged at the hand of the mechanical arm 30 can move within a relatively large range.
- the rotation of the mechanical arm 30 can also be adjusted to adjust the working range of the reamer structure 50 .
- the structure of the mechanical arm 30 is not limited to the double arm and cylinder drive, and can also be replaced with other existing structures, using other drive devices, which is not limited in the present disclosure.
- the driving device for driving the frame 20 to rotate is a liquid motor to output stable and sufficient torque.
- the reamer structure 50 includes: an outer sleeve 570, a first flange 521 fixed to one end of the outer sleeve 570, fixed on the The second flange 561 between the other end of the outer sleeve 570 and the second arm portion 32 of the mechanical arm 30 and connecting the two together, the shaft bushing fixed on the first flange 521 520, the motor 560 fixed on the second flange 561, the rotating shaft 510 whose middle part is sleeved in the shaft bushing 520, the bearing bush 530 sleeved between the rotating shaft 510 and the shaft bushing 520, and the reamer head 550.
- the reamer head 550 includes a plurality of knife arms 551 .
- knife teeth 552 are provided on the outer wall of the knife arm 551 .
- One end of the plurality of knife arms 551 is fixed together, and the other end is in a half-embraced posture, forming an umbrella-like structure.
- the second flange 561 is sleeved on the outside of the main body of the motor 560 , and the output shaft of the motor 560 extends into the outer sleeve 570 .
- the first flange 521 is sleeved on the outside of the shaft bushing 520, therefore, most of the shaft bushing 520 is also located in the outer sleeve 570, and one end of the rotating shaft 510 extends from the shaft bushing 520. out, and drive-coupled with the output shaft of the motor 560.
- the other end of the rotating shaft 510 extends into the reamer head 550 and is fixed together with the reamer head 550 .
- the first flange 521 is just located inside the reamer head 550, and the first flange 521 is provided with an opening 522, and one end of the suction pipe 40 is arranged at the opening 522, or is connected to the opening 522. , so that the reamer head 550 surrounds the outside of the suction port 41 of the suction duct 40 .
- the diameter of the rotating shaft 510 should not be too small.
- the reamer head 550 its structure cannot be directly increased in size based on the existing reamer head.
- An oversized reamer head 550 has the disadvantage of low flexibility during construction, which determines that the reamer head 550 as a whole cannot be too large. big.
- the diameter of the rotating shaft 510 and the size of the reamer head 550 there is a certain limitation between the diameter of the rotating shaft 510 and the size of the reamer head 550 .
- the sum of the maximum allowable width D1 of the opening 522 and the outer diameter D2 of the shaft bushing 520 is a constant. If other existing structures are used, due to the large size of the rotating fitting structure between the shaft bushing 520 and the rotating shaft 510, the required space will increase, resulting in an increase in the outer diameter D2 of the shaft bushing 520, and the opening 522 can allow The maximum width D1 opened is reduced. At this time, if the width D1 of the opening 522 needs to be increased, the overall size of the reamer must be increased, resulting in a decrease in the flexibility of the reamer.
- the right end of the shaft bushing 520 and the rotating shaft 510 are rotatably nested together through the bearing bush 530.
- the nesting structure has high structural strength, and The occupied space is very small, a relatively large space is reserved for opening the opening 522, and the width and size of the opening 522 can be flexibly set.
- the shaft structure of this embodiment can provide a larger opening 522 .
- the suction port 41 of the suction pipe 40 extends into the reamer head 550.
- the suction port 41 and the opening 522 The widths are the same, and the ratio of the width D1 of the opening 522 to the outer diameter D2 of the bushing 520 can reach 0.65 at most.
- the suction port 41 of the suction pipe 40 does not extend into the reamer head 550, and only the reamer head 550 is close to and partially surrounds the side of the suction port 41, then the first flange
- the opening 522 on the 521 can be set wider, corresponding to the width of the suction port 41 can also be set wider, the ratio of the width D1 of the opening 522 to the outer diameter D2 of the shaft bushing 520 can reach 0.75 at most.
- one end of the plurality of knife arms 551 of the reamer head 550 is fixed together, while the other end is fixed together by an annular plate, and the annular plate of the reamer head 550 may be blocked in the middle of the opening 522 .
- the disclosed shaft structure effectively improves the utilization rate of space, has a compact structure, and is more flexible in application. According to different needs, the overall size of the reamer can be kept unchanged, and only the first flange 521 needs to be adjusted to obtain the required size of the opening 522, and other components can be standardized to reduce the cost.
- the reamer head 550 is pressed on the hard soil to rotate the crushed soil.
- the rotation of the reamer head 550 can also play the role of stirring, so that the smaller crushed soil particles below a certain particle size are mixed with the water flow.
- the abnormal-shaped soil clods are further broken, pass through the gap between the knife arms 551 of the reamer head 550, and are sucked from the suction port of the suction pipe 40. Walk.
- the side wall of the outer sleeve 570 is provided with an opening 571, one end of the suction pipe 40 is arranged at the opening 522 to form the suction port 41, and the other end of the suction pipe 40 is drawn from the opening.
- the hole 571 is used to connect with suction equipment after passing through.
- the suction port 41 of the suction pipe 40 is provided with a hemispherical grille (not shown in the figure), which is used as a filtering device for filtering the crushed soil with larger particle size to prevent clogging.
- the output shaft of the motor 560 is connected to the rotating shaft 510 through an elastic coupling 562 .
- the motor 560 is a hydraulic motor.
- the output speed of the motor 560 is lower than 200r/min, so as to avoid adding a gearbox.
- a limiting portion 523 is provided on the inner wall of the shaft bushing 520 , and a first gland 531 is sleeved on the rotating shaft 510 , and the first gland 531 and the shaft bushing 520 fixed together. Both ends of the bearing bush 530 are located between the limiting portion 523 and the first gland 531 , and the bearing bush 530 , the limiting portion 523 , and the first gland 531 can be close to each other, or a small gap can be allowed.
- the stopper 523 acts as a limiter on the left end of the bearing bush 530
- the first gland 531 acts as a limiter on the right end of the bearing bush 530 , preventing the bearing bush 530 from moving freely along the axial direction of the rotating shaft 510 . slide.
- a sealing ring is further provided between the first gland 531 and the shaft bushing 520.
- a sealing ring is further provided between the first gland 531 and the rotating shaft 510 .
- the sealing ring can also prevent water from infiltrating from the first gland 531 .
- a pressing sleeve 511 is sheathed on the rotating shaft 510 , and a sealing bush 541 is sleeved on the outer side of the pressing sleeve 511 , and the sealing bush 541 is fixed with the shaft bushing 520 .
- a bearing 540 is also sleeved between the shaft bushing 520 and the rotating shaft 510. Referring to the direction shown in FIG. The head 550 is fixed together, the bearing bush 530 is set between the right part of the shaft bushing 520 and the rotating shaft 510 , and the bearing 540 is set between the left part of the shaft bushing 520 and the rotating shaft 510 .
- the rotating shaft 510 is provided with a first limiting step 512, and the inner wall of the shaft bushing 520 is provided with a second limiting step 524, wherein:
- the inner end faces of the sealing bush 541 and the pressure sleeve 511 limit one side of the bearing 540 , and the first and second limiting steps 512 , 524 limit the other side of the bearing 540 .
- the bearing 540 is a roller bearing such as a deep groove ball bearing
- the sealing bush 541 is clamped on both sides of the outer ring of the bearing 540 corresponding to the second limiting step 524
- the limiting step 512 is correspondingly clamped on both sides of the inner ring of the bearing 540 .
- one end is rotatably nested by the bearing bush 530, and the other end is rotatably nested by the roller bearing, which can make the structure of the right part of the shaft structure more compact and reduce the space of the shaft structure itself occupy.
- it can also reduce friction and improve the structural support effect.
- the pressing sleeve 511 cannot slide rightward along the rotating shaft 510.
- the pressing sleeve 511 can be prevented from sliding along the rotating shaft. 510 Swipe left.
- the axial positioning of the pressing sleeve 511 can also be realized through other limiting structures between the pressing sleeve 511 and the rotating shaft 510 , which is not limited in the present disclosure.
- a sealing ring is provided between the sealing bush 541 and the shaft bushing 520 .
- an annular slot 542 is provided at the inner edge of the outer end surface of the sealing bush 541, and a skeleton seal 543 is arranged in the slot 542; 543 outside the second gland 544.
- the opening 22 is an arc-shaped special-shaped hole to further increase its cross section.
- a plurality of reinforcement plates 525 are fixedly connected to the outer wall of the shaft bushing 520 .
- the outer edge of the reinforcing plate 525 abuts against the inner wall of the outer sleeve 570 , and further abuts against the outer side of the shaft sleeve 520 and the inner side of the outer sleeve 570 in the radial direction of the shaft sleeve 520 .
- the outer diameter of one end of the bushing 520 is relatively large, and a step is formed on the outer wall of the middle part. In the axial direction of the bushing 520, the reinforcing plate 525 abuts against the outer wall of the middle part of the bushing 520. between the step and the first flange 521 .
- the dredging system of the present embodiment includes the water driving and control platform 61 and the dredging robot of the above-mentioned embodiment 1, wherein:
- the rotary motion of the mechanical arm 30 is driven by an oil cylinder 33;
- the driving device for driving the vehicle frame 20 to rotate is a hydraulic motor, which provides a relatively large torque for the rotation of the reamer head 550 on the mechanical arm 30 around the moving chassis 10; When the head 550 rotates around the mobile chassis 10, it cuts and breaks the soil horizontally in the direction of left and right rotation.
- the moving chassis is provided with a hydraulic motor and driven by hydraulic pressure (not shown in the figure);
- the motor 560 in the reamer structure 50 is a hydraulic motor, and the output speed of the motor 560 is lower than 200r/min;
- the above-water drive and control platform 61 is provided with a hydraulic station 610.
- the hydraulic station 610 communicates with the oil cylinder 33 for driving the mechanical arm 30, the hydraulic motor for driving the frame 20 to rotate, and the hydraulic motor for traveling the chassis through a hydraulic oil pipe 611. It is connected with the hydraulic motor 260 in the reamer structure 50 and provides hydraulic oil and hydraulic driving force.
- the hydraulic drive device and the hydraulic station are separated, which on the one hand simplifies the structure of the dredging robot and reduces the risk of underwater failures; on the other hand, it can reduce the weight of the dredging robot so that it can Lightweight and miniaturized, it is easy to adapt to narrow working spaces.
- the vehicle frame 20 is also provided with an underwater mud pump 620, which is connected between the mud pipe 621 for sucking mud slurry and the suction pipe 40, and the other end of the mud pipe 621 is placed at the discharge position.
- the underwater mud pump 620 adopts an existing pump driven by hydraulic pressure, wherein the component that provides the drive is also a hydraulic motor, therefore, the hydraulic motor is also connected to the hydraulic station 610, and is supplied with hydraulic oil and hydraulic pressure. driving force.
- the mechanical arm 30 is connected to the left end of the vehicle frame 20, and the right end of the vehicle frame 20 is provided with a protective cover 630, and the protective cover 630 is also provided with a hydraulic valve group (not shown in the figure). out), the hydraulic valve group is used to connect with the hydraulic oil pipe of the hydraulic station and control the size and direction of the hydraulic flow of the corresponding pipe, that is, the movement range and direction of the corresponding action.
- the hydraulic valve group is an existing product, so its specific structure will not be repeated here. Such setting makes the dredging robot more stable in structure and better in balance, thereby improving the anti-overturning ability.
- the submerged mud pump 620 is also arranged in the protective cover 630 .
- the reamer head 550 is also provided with a high-pressure flushing port (not shown in the figure), and the high-pressure water jet sprayed out when the high-pressure flushing port is working is used to assist in breaking ground.
- the hydraulic oil pipe 611 and the mud pipe 621 are tied together.
- the above-water drive and control platform 61 also includes a retractable winch 650 for the oil pipe and the mud pipe.
- the tube 621 is retracted and retracted synchronously.
- the dredging robot advances through the moving chassis 10, and the reamer head 550 continues to rotate, as shown in Figure 7, the working process is as follows:
- the action of the mechanical arm 30 causes the reamer head 550 to feed downward for a certain step, and part of it penetrates into the surface layer of the hard soil 70;
- the cutter head 550 feeds at a certain angle ⁇ , and completes the surface layer breaking of a certain radian of engineering quantity;
- the mechanical arm 30 moves to make the reamer head 550 feed downward by a certain step length.
- the mechanical arm 30 as a whole and the vehicle frame 20 turn counterclockwise horizontally, and the reamer head 550 then feeds back by a certain amount.
- Angle ⁇ to complete the breaking of the subsurface layer with a certain amount of work;
- the reamer head 550 will generate a maximum horizontal soil resistance of 13kN when cutting. Taking the maximum operating radius of about 2.5m as an example, the required maximum turning torque is 32.5kNm.
- the driving device for driving the frame 20 to rotate is a hydraulic motor, which provides sufficient output torque.
- the high-pressure flushing port synchronously sprays a high-pressure water column towards the outside of the reamer head 550 to break the soil and clean the reamer, and at the same time, it can also break up the larger shaped soil clods cut by the reamer head 550 into smaller soil Lumps or granules, good for pipeline transportation.
- the mechanical arm 30 has a double-arm structure. After the dredging of a section layer is completed, the reamer head 550 can be forwarded in the direction shown by the arrow B in the figure through the action of the mechanical arm 30 itself, or it can be passed The robot moves forward as a whole to realize the forward feeding of the reamer head 550, and the next section layer ahead is desilted layer by layer from top to bottom.
- the overall operation of the robot is very flexible, and it can feed in up and down, left and right, and front and rear directions as required. It can also flexibly avoid obstacles such as pillars in the box culvert.
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Abstract
一种清淤机器人及清淤***,包括用于安装在机械臂上的绞刀结构(50),绞刀结构(50)包括:外套筒(570),与外套筒(570)固定在一起的第一法兰(521),与外套筒(570)和机械臂(30)固定在一起的第二法兰(561),固定于第一法兰(521)上的轴衬套(520),中部套在轴衬套(520)内的转轴(510),套设于转轴(510)与轴衬套(520)之间的轴瓦(530),其中,第二法兰(561)用于安装马达(560),转轴(510)用于联接绞刀头(550)。第一法兰(521)上设有开口(522),用于装配抽吸管道(40)。绞刀头(550)包围在抽吸管道(40)的吸入口(41)外侧。
Description
本公开属于清淤设备领域,具体为一种清淤机器人及清淤***。
传统清淤船虽然挖掘能力强、输送距离远、清淤效率高,但体型庞大,几乎无法进入箱涵等有限空间作业。
为解决箱涵等的清淤问题,体型较小的清淤机器人应运而生,但现有技术主要采用了履带底盘搭载泥泵和绞龙的方式。现有的一些清淤机器人只能通过履带前后移动和左右转动,不能进行局部转动,因而,只可以清理车体正前方的比较松软的淤积泥沙,清淤宽度仅比车体宽一点,清淤范围较小。而有的清淤机器人是在类似于挖掘机平台上进行的改进,例如CN208152125U公开的一种清淤平台,清淤时,绞龙转动,起破土作用,再将碎土浆抽吸输出,该机器人不能够切削硬质土,且作业水深不高。此外,由于绞龙结构较大,清理精度往往较低。
在一些情况下,以常年接受工业废水废渣、生活污水和雨水的排水箱涵为例,淤积物中含有矿渣、硅酸盐、碳酸盐等,会形成硬质板结土。在水下,硬质土与普通淤泥存在的区别主要包括:
1)硬质板结土的硬度较高,对绞刀、支架、回转机构乃至整个清淤机器人的结构强度、破土能力要求高;
2)淤泥在破土时易形成泥浆,而硬质土在破土时主要形成具有一定粒径的固体悬浮液,且该固体悬浮液中的碎土极易下沉,难以抽吸,导致清除率下降。其中,绞刀下方为待清除的硬质土,导致吸入口也不能直接设置于绞刀头的下方,否则容易影响绞刀工作。
针对上述第1点区别,CN201447721U公开了一种电动绞刀传动装置,以期获得足够的绞刀传动部分的结构强度,但仍然不能克服硬质土破土后难以抽吸的问题。因此,现有清淤机器人不能有效切削硬质土,且清淤抽吸效率低。
发明内容
本公开的第一个目的是提供一种清淤机器人,以提高结构强度、有效切削硬质土并且提高硬质碎土清除率。
所述清淤机器人,包括用于安装在机械臂上的绞刀结构,所述绞刀结构包括:外套筒,与所述外套筒一端固定在一起的第一法兰,与所述外套筒另一端和所述机械臂固定在一起的第二法兰,固定于所述第一法兰上的轴衬套,中部套在所述轴衬套内的转轴,套设于转轴与轴衬套之间的轴瓦,其中:
所述第二法兰用于安装马达,
所述转轴用于联接绞刀头。
所述绞刀头包括一端固定在一起的多根刀臂。
所述马达的输出轴与所述转轴的一端传动联接,所述转轴的另一端可伸入所述绞刀头内与绞刀头固定在一起,
所述第一法兰上设有开口,用于装配抽吸管道,使绞刀头可包围在所述抽吸管道的吸入口外侧。
可选地,所述清淤机器人,包括:运动底盘,可回转地联接于运动底盘上的车架,用于驱动车架转动的驱动装置,其中,所述机械臂设于所述车架上,所述刀臂外侧壁上设有刀齿。
可选地,所述轴衬套的外壁上固定连接有多块加强板,且加强板抵在所述外套筒的内壁上。
可选地,所述外套筒的侧壁上设有开孔,所述抽吸管道从所述开孔处穿出并且与外套筒固定在一起。
可选地,所述马达的输出轴与所述转轴之间通过弹性联轴器连接。
可选地,所述轴衬套内壁上设有限位部,转轴上套设有第一压盖,且第一压盖与轴衬套固定在一起,其中,限位部和第一压盖对所述轴瓦两端限位。可选地,第一压盖与轴衬套、转轴之间均设有密封组件。
可选地,所述转轴上还套设有压套,所述压套的外侧空套有密封衬套,且密封衬套与所述轴衬套固定在一起,所述转轴上设有第一限位台阶,所述轴衬套的内壁上设有第二限位台阶,轴衬套与转轴之间还套设有轴承,其中:
密封衬套和压套的内侧端面对所述轴承的一侧限位,第一和第二限位台阶对所述 轴承的另一侧限位;
压套在其轴向方向上被限位而不能沿转轴滑动;
可选地,所述轴承为深沟球轴承。
可选地,所述密封衬套与压套、轴衬套之间均设有密封组件,可选地,所述密封衬套外侧端面的内缘处设有环形的开槽,用于容置所述设于密封衬套与压套之间的密封组件,且该密封组件为骨架密封;所述密封衬套上还固定有用于挡在骨架密封外侧的第二压盖。
本公开的第二个目的是提供一种清淤***,采用上述清淤机器人,提高清淤范围和精度,同时还采用了液压站与机器人分离的方式以减小机器人自身的体型、重量,简化机器人结构。
所述清淤***,包括水上驱动与控制平台及上述清淤机器人。
可选地,所述机械臂的回转运动通过油缸驱动;
用于驱动车架转动的驱动装置为液压马达;
所述运动底盘设有液压马达,并且通过液压驱动行进。
可选地,所述绞刀结构中的马达为液压马达,且该马达的输出转速低于200r/min。
所述水上驱动与控制平台设有液压站,液压站通过液压油管与用于驱动机械臂的油缸、用于驱动车架转动的液压马达、用于驱动行走底盘的液压马达及绞刀结构中的液压马达连接,并且提供液压油和液压驱动力。
可选地,所述机械臂连接于车架的一侧端部上,车架的另一侧端部上则设有防护罩,防护罩内还设有用于容纳液压阀组的密封箱及水下泥泵,所述水下泥泵连接于用于输送泥土浆的泥管和所述抽吸管道之间,所述泥管另一端置于排放位置。
可选地,所述绞刀结构上还设有高压冲水口,用于辅助破土;所述机械臂为双臂结构。
与现有技术相比,本公开的有益效果主要包括:
1、搭载了所述绞刀结构的清淤机器人的清淤范围大,能够用于硬质土清淤。此外,还采用了结构紧凑的绞刀结构,能够为开设吸入口预留足够的径向宽度。此外,还有利于绞刀整体尺寸的小型化。
2、吸入口与绞刀头的破土位置之间的距离可设置得比较小,清除效率较高。
3、轴衬套的一端与转轴之间通过轴瓦可转动嵌套,另一端则通过滚子轴承可转 动嵌套,能使轴结构与绞刀头连接的一端的结构更加紧凑,减少轴结构本身的空间占用,同时也能降低摩擦、提高结构支撑效果。
4、液压驱动装置与液压站分离设置,简化了清淤机器人的结构,降低了水下发生故障的风险,还减轻了清淤机器人的重量,使其在结构上能够轻量化、小型化,容易适应狭窄的作业空间。
5、清淤机器人在结构上更加稳定,平衡性更佳,提高了抗倾覆能力。
6、车架连同机械臂共同构成六自由度结构,使得绞刀头能够在上下、左右及前后方向上按需进给,灵活避开障碍物,同时清淤工作范围大。其他有益效果还可参见实施例的内容。
图1为一实施例的清淤机器人的侧视示意图。
图2为一实施例的绞刀结构的示意图,图中示出了部分剖面。
图3为一实施例的绞刀结构的轴结构的示意图,图中示出了部分剖面。
图4为一实施例中,轴衬套及第一法兰的剖面示意图,图中还示出了加强板。
图5为一实施例中的转轴的示意图。
图6为一实施例中,轴衬套及第一法兰的正视示意图,图中虚线表示位于第一法兰后侧的加强板。
图7为一实施例的清淤***的示意图。
图8为一实施例的清淤机器人破土时的示意图。
图号说明:
10.运动底盘,20.车架,30.机械臂,31.第一臂部,32.第二臂部,33.油缸,40.抽吸管道,41.吸入口。
50.绞刀结构;510.转轴,511.压套,512.第一限位台阶;520.轴衬套,521.第一法兰,522.开口,523.限位部,524.第二限位台阶,525.加强板;530.轴瓦,531.第一压盖;540.轴承,541.密封衬套,542.密封衬套上的开槽,543.骨架密封,544.第二压盖;550.绞刀头,551.刀臂,552.刀齿;560.马达,561.第二法兰,562.弹性联轴器;570.外套筒,571.开孔。
60.水上驱动与控制平台,610.液压站,611.液压油管,620.水下泥泵,621.泥管, 630.防护罩,640.密封箱,650.油管与泥管收放绞车。
70.硬质土体。
以下结合附图和具体实施例对本公开进一步说明。
实施例1
如图1所示,本实施例的清淤机器人,包括运动底盘10,可回转地联接于运动底盘10上的车架20,用于驱动车架20转动的驱动装置(图中未示出),设于车架20上的机械臂30,抽吸管道40以及绞刀结构50。
所述运动底盘10用于实现整个前进、后退与转弯等基本动作,本实施例中,可选地,所述运动底盘10为履带行走底盘。
所述机械臂30包括一端可转动连接于所述车架20上的第一臂部31和一端与第一臂部31可转动连接的第二臂部32,第二臂部32的另一端则用于与所述绞刀结构50连接。其中,第一臂部31与车架20之间联接有油缸33,在该油缸33的驱动下,第一臂部31与车架20之间构成一回转运动副;第二臂部32与第一臂部31之间也联接有油缸33,进而也构成一回转运动副。
施工时,所述车架20转动时,带动机械臂30回转,使得设于机械臂30手部的绞刀结构50可以在一个较大的范围内活动。还可以调节所述机械臂30的转动来调节绞刀结构50的作业范围。容易理解,所述机械臂30的结构不限于双臂和油缸驱动,也可以替换为现有的其他结构,采用其他的驱动装置,本公开对此不作限制。
在用于硬度较高的硬质土清淤作业时,所述机械臂30绕运动底盘10转动,所需向土体施加的作用力较大,为此,本实施例中,可选地,所述用于驱动车架20转动的驱动装置为液态马达,以输出稳定、足够的扭矩。
对于现有技术中例如普通淤泥的清除装置而言,普通淤泥由于自身与水液混合后极易形成泥浆,粘滞系数较高,在绞刀等装置的搅动作用下,本身难以沉降,因此,对应的吸入口是由位于绞刀外的一管道口构成,吸入口与绞刀相对较远、吸入口较为狭窄也不影响正常抽吸。但硬质土被破碎后形成的碎土颗粒则不易形成粘滞系数足够高的泥浆,因此吸入口与绞刀头分离且间隔较远的结构不能适用于硬质土的工况。
此外,一些硬质土在绞刀破土时,不会直接破碎为松散的颗粒,而是块状、片状 等不规则形状的异形土块,若吸入口过远、过窄,则几乎无法实现管道抽吸输送。
为了解决上述问题,参考图2所示,本实施例中,所述绞刀结构50包括:外套筒570,与所述外套筒570一端固定在一起的第一法兰521,固定在所述外套筒570另一端和所述机械臂30的第二臂部32之间并且将该两者连接在一起的第二法兰561,固定于所述第一法兰521上的轴衬套520,固定于所述第二法兰561上的马达560,中部套在所述轴衬套520内的转轴510,套设于转轴510与轴衬套520之间的轴瓦530,以及绞刀头550。
所述绞刀头550包括多根刀臂551。可选地,所述刀臂551外侧壁上设有刀齿552。所述多根刀臂551一端固定在一起,另一端呈半抱合的姿势,构成伞状结构。
所述第二法兰561套接在所述马达560的主体外侧,马达560的输出轴则伸入外套筒570内。所述第一法兰521则套接在所述轴衬套520的外侧,因此,轴衬套520的大部分也位于外套筒570内,所述转轴510的一端则从轴衬套520伸出,与所述马达560的输出轴传动联接。
转轴510的另一端则伸入所述绞刀头550内与绞刀头550固定在一起。此时,第一法兰521则正好位于绞刀头550的内侧,第一法兰521上设有开口522,所述抽吸管道40一端设置于该开口522处,或者连接于该开口522处,使绞刀头550包围在抽吸管道40的吸入口41外侧。
对转轴510而言,在其径向方向上,为了保持强度,转轴510的直径不宜过小。对于绞刀头550而言,其结构不能基于现有的绞刀头直接增大尺寸,过大尺寸的绞刀头550存在施工时灵活度低的不足,这决定了绞刀头550整体不能太大。
因此,转轴510的直径与绞刀头550的大小之间存在一定的限制。参考图6所示,在整体绞刀尺寸给定不变的条件下,开口522可允许开设的最大宽度D1与所述轴衬套520的外径D2的和为一常数。若采用现有的其他结构,由于轴衬套520与转轴510之间的转动套合结构尺寸较大,所需占用的空间增加,导致轴衬套520的外径D2需要增加,开口522可允许开设的最大宽度D1则减少,此时若需要增加开口522的宽度D1则必需增大绞刀整体尺寸,导致绞刀作业灵活度的降低。
本实施例中,以图中所示方向为参考方向,轴衬套520的右端部与转轴510之间通过轴瓦530可转动地嵌套在一起,该嵌套结构具有较高的结构强度,且占用的空间非常小,为开设所述开口522预留了相对较大的空间,可以灵活地设置开口522的宽 度、大小。与采用例如球轴承的套接结构相比,在给定尺寸的转轴510、绞刀头550的情况下,本实施例的轴结构,能够设置较大尺寸的开口522。
可选地,所述抽吸管道40的吸入口41伸入绞刀头550内,在绞刀头550及转轴510的尺寸给定时,在转轴510的径向方向上,吸入口41与开口522的宽度相同,开口522的宽度D1与所述轴衬套520的外径D2的比值最大可达到0.65。
或者,在可容忍的条件下,抽吸管道40的吸入口41未伸入绞刀头550,仅仅使绞刀头550靠近并且部分围在吸入口41的一侧,则所述第一法兰521上的的开口522可设置得更宽,对应吸入口41的宽度也可设置得更宽,开口522的宽度D1与所述轴衬套520的外径D2的比值最大可达到0.75。此时,绞刀头550的多根刀臂551的一端固定在一起,而另一端则通过一环形板件固定在一起,绞刀头550的环形板件可能挡在开口522的中部。
可见,本公开的轴结构有效地提高了空间利用率,结构紧凑,应用更加灵活。针对不同的需要,可以保持绞刀的整体尺寸不变,而仅需要对所述第一法兰521进行调整以获得所需的开口522的大小,其他组件可统一规格,降低了成本。
工作时,绞刀头550压在硬质土上,转动碎土,同时,绞刀头550的转动也能起搅拌的作用,使得一定粒径以下的较小的碎土颗粒与水流混合。在吸入水流作用与绞刀头550的转动搅拌作用下,所述异形土块进一步破碎,穿过绞刀头550的刀臂551之间的间隙,从所述抽吸管道40的吸入口被抽走。
可选地,所述外套筒570的侧壁上设有开孔571,抽吸管道40的一端设于所述开口522处,构成吸入口41,抽吸管道40的另一端从所述开孔571处穿出后用于与抽吸设备连接。所述抽吸管道40的吸入口41处设有半球形格栅(图中未示出),作为过滤装置,用于过滤粒径较大的碎土,防止堵塞。
可选地,所述马达560的输出轴与所述转轴510之间通过弹性联轴器562连接。可选地,所述马达560为液压马达。可选地,马达560的输出转速低于200r/min,以避免增设变速箱。
结合图3-图5所示,可选地,所述轴衬套520内壁上设有限位部523,转轴510上套设有第一压盖531,且第一压盖531与轴衬套520固定在一起。所述轴瓦530的两端面位于所述限位部523、第一压盖531之间,轴瓦530与限位部523、第一压盖531之间可以贴近,也可以允许有较小的间隙。以图示方向为参考,限位部523对所 述轴瓦530的左端起限位作用,第一压盖531对所述轴瓦530的右端起限位作用,防止轴瓦530沿转轴510的轴向任意滑动。
当轴衬套520与转轴510之间填充有润滑油时,为了避免润滑油从所述第一压盖531处漏出,所述第一压盖531与轴衬套520之间进一步设有密封圈,第一压盖531与转轴510之间也进一步设有密封圈。同时,在水下工作时,所述密封圈也能够避免水液从第一压盖531处渗入。
可选地,所述转轴510上还套设有压套511,所述压套511的外侧空套有密封衬套541,且密封衬套541与所述轴衬套520固定在一起。
可选地,轴衬套520与转轴510之间还套设有轴承540,参考图1所示的方向,转轴510的右端部从轴衬套520中伸出适当的距离,用于与绞刀头550固定在一起,所述轴瓦530套在轴衬套520右部与转轴510之间,所述轴承540则套在轴衬套520左部与转轴510之间。
所述转轴510上设有第一限位台阶512,所述轴衬套520的内壁上设有第二限位台阶524,其中:
密封衬套541和压套511的内侧端面对所述轴承540的一侧限位,第一和第二限位台阶512、524对所述轴承540的另一侧限位。
可选地,所述轴承540为例如深沟球轴承等滚子轴承,密封衬套541与所述第二限位台阶524对应夹在轴承540的外圈的两侧,压套511和第一限位台阶512则对应夹在轴承540的内圈的两侧。如此设置,轴衬套520与转轴510之间,一端用轴瓦530可转动嵌套,另一端通过滚子轴承可转动嵌套,能使轴结构右部的结构更加紧凑,减少轴结构本身的空间占用。与仅仅使用轴瓦的方式相比,还能够降低摩擦、提高结构支撑效果。
在所述轴承540的限位作用下,压套511不能沿转轴510向右滑动,当转轴510的左端与马达连接时,只要将压套511向右顶住,就能防止压套511沿转轴510向左滑动。此外,压套511与转轴510之间也可通过其他限位结构实现压套511的轴向限位,本公开对此不作限制。
可选地,所述密封衬套541与轴衬套520之间均设有密封圈。可选地,所述密封衬套541外侧端面的内缘处设有环形的开槽542,该开槽542内设有骨架密封543;所述密封衬套541上还固定有用于挡在骨架密封543外侧的第二压盖544。
参考图6所示,可选地,所述开口22为圆弧状的异形孔,以进一步增大其横截面。
可选地,所述轴衬套520的外壁上固定连接有多块加强板525。加强板525的外侧边缘抵在所述外套筒570的内壁上,进而在轴衬套520的径向方向上,抵在轴衬套520的外侧与外套筒570的内侧。此外,所述轴衬套520的一端外径较大,进而在其中部外壁上构成一台阶,在轴衬套520的轴向方向上,所述加强板525抵在轴衬套520中部外壁上的台阶和所述第一法兰521之间。
实施例2
参考图7所示,本实施例的清淤***,包括水上驱动与控制平台61及上述实施例1的清淤机器人,其中:
所述机械臂30的回转运动通过油缸33驱动;
用于驱动车架20转动的驱动装置为液压马达,为机械臂30上的绞刀头550绕运动底盘10的转动提供较大的扭矩;绞刀头550下压时向下切削破土,绞刀头550绕运动底盘10的转动时向左、右转动方向水平切削破土。
所述运动底盘设有液压马达,并且通过液压驱动行进(图中未示出);
可选地,所述绞刀结构50中的马达560为液压马达,且该马达560的输出转速低于200r/min;
所述水上驱动与控制平台61设有液压站610,液压站610通过液压油管611与用于驱动机械臂30的油缸33、用于驱动车架20转动的液压马达、用于行走底盘的液压马达及绞刀结构50中的液压马达260连接,并且提供液压油和液压驱动力。
本实施例中,液压驱动装置与液压站分离设置,一方面简化了清淤机器人的结构,减少水下发生故障的风险,另一方面,能够减轻清淤机器人的重量,使其在结构上能够轻量化、小型化,容易适应狭窄的作业空间。
此外,所述车架20上还设有水下泥泵620,连接于用于抽吸泥土浆的泥管621和所述抽吸管道40之间,所述泥管621另一端置于排放位置。可选地,水下泥泵620采用现有的通过液压驱动的泵,其中,提供驱动的组件也是液压马达,因此,该液压马达也与所述液压站610连接,并由提供液压油和液压驱动力。
可选地,所述机械臂30连接于车架20的左端部上,车架20的右端部上则设有防护罩630,防护罩630内还设有用于容纳液压阀组(图中未示出)的密封箱640, 所述液压阀组用于与液压站的液压油管连接并控制对应管道的控制液压流量的大小与方向,即相应动作的运动幅度与运动方向。其中,所述液压阀组为现有产品,故不再赘述其具体结构。如此设置,使得清淤机器人在结构上更加稳定,平衡性更佳,进而提高了抗倾覆能力。可选地,水下泥泵620也设于所述防护罩630内。
可选地,所述绞刀头550上还设有高压冲水口(图中未示出),高压冲水口工作时喷出的高压水束用于辅助破土。
液压油管611和泥管621绑扎在一起,可选地,所述水上驱动与控制平台61还包括油管与泥管收放绞车650,根据水深和清淤机器人的爬行距离,对液压油管611和泥管621进行同步收放。
所述清淤机器人通过运动底盘10行进,绞刀头550持续转动,参考图7所示,工作过程如下:
首先,机械臂30动作使绞刀头550向下进给一定步长,部分钻入硬质土体70的表层;在机械臂30整体同车架20往水平向顺时针回转的过程中,绞刀头550进给一定角度β,完成一定弧度的工程量的表层破土;
随后,机械臂30动作,使绞刀头550向下再进给一定步长,此时,机械臂30整体同车架20往水平向逆时针回转,绞刀头550随之往回进给一定角度β,完成一定弧度的工程量的表层下层的破土;
参考图8中的箭头C所示绞刀头550的路径,重复上述步骤,实现一个断面层的清淤,然后参考图8中的箭头B所示机器人的前进方向,可以由机械臂30动作实现向前进给,也可以由运动底座10运动,使得机器人整体向前移动,进行下一个断面层的清淤。
以粘聚力为100kPa的硬质黏土为例,所述绞刀头550切削时最大会产生13kN的水平土抗力,以最大作业半径约2.5m为例,则所需最大回转力矩为32.5kNm。本实施例的用于驱动车架20转动的驱动装置为液压马达,提供了充足的输出力矩。所述高压冲水口同步朝向绞刀头550外侧喷射高压水柱,起破土和冲刷绞刀清洁的作用,同时也能将绞刀头550切削下的较大的异形土块冲散为更小的土块或者颗粒,有利于管道输送。
所述机械臂30为双臂结构,在完成一个断面层的清淤后,可通过机械臂30自身的动作,将绞刀头550向图中箭头B所示的方向向前进给,也可以通过机器人整体 向前移动实现绞刀头550的向前进给,对前方的下一断面层从上到下逐层清淤。
考虑所述车架20的回转,连同机械臂30构成六自由度结构,机器人整体作业时非常灵活,能够在上下、左右及前后方向上按需进给。在面对例如箱涵中的柱子等障碍时,也能够灵活避开。
本公开中的实施例仅用于对本公开进行说明,并不构成对权利要求范围的限制,本领域内技术人员可以想到的其他实质上等同的替代,均在本公开保护范围内。
Claims (16)
- 一种清淤机器人,包括用于安装在机械臂上的绞刀结构,其中:所述绞刀结构包括:外套筒,与所述外套筒一端固定在一起的第一法兰,与所述外套筒另一端和所述机械臂固定在一起的第二法兰,固定于所述第一法兰上的轴衬套,中部套在所述轴衬套内的转轴,套设于转轴与轴衬套之间的轴瓦,其中:所述第二法兰用于安装马达,所述转轴用于联接绞刀头,所述第一法兰上设有开口,用于装配抽吸管道,使所述绞刀头可包围在所述抽吸管道的吸入口的外侧,其中:所述绞刀头包括一端固定在一起的多根刀臂,所述马达的输出轴与所述转轴的一端传动联接,所述转轴的另一端可伸入所述绞刀头内与所述绞刀头固定在一起。
- 根据权利要求1所述的清淤机器人,所述轴衬套的外壁上固定连接有多块加强板,其中,所述加强板抵在所述外套筒的内壁上。
- 根据权利要求1所述的清淤机器人,所述外套筒的侧壁上设有开孔,所述抽吸管道从所述开孔处穿出并且与所述外套筒固定在一起。
- 根据权利要求1所述的清淤机器人,所述马达的输出轴与所述转轴之间通过弹性联轴器连接。
- 根据权利要求1所述的清淤机器人,所述轴衬套内壁上设有限位部,转轴上套设有第一压盖,且所述第一压盖与所述轴衬套固定在一起,其中,所述限位部和所述第一压盖对所述轴瓦两端限位。
- 根据权利要求5所述的清淤机器人,所述第一压盖与所述轴衬套、所述转轴之间均设有密封组件。
- 根据权利要求5所述的清淤机器人,所述转轴上还套设有压套,所述压套的外侧空套有密封衬套,且所述密封衬套与所述轴衬套固定在一起;所述转轴上设有第一限位台阶,所述轴衬套的内壁上设有第二限位台阶,所述轴衬套与所述转轴之间还套设有轴承,其中:所述密封衬套和所述压套的内侧端面对所述轴承的一侧限位,所述第一和第二限 位台阶对所述轴承的另一侧限位;所述压套在其轴向方向上被限位而不能沿所述转轴滑动。
- 根据权利要求7所述的清淤机器人,所述轴承为深沟球轴承。
- 根据权利要求7所述的清淤机器人,所述密封衬套与所述压套、所述轴衬套之间均设有密封组件。
- 根据权利要求9所述的清淤机器人,所述密封衬套外侧端面的内缘处设有环形的开槽,用于容置设于所述密封衬套与所述压套之间的所述密封组件,且该密封组件为骨架密封;所述密封衬套上还固定有用于挡在所述骨架密封外侧的第二压盖。
- 根据权利要求9所述的清淤机器人,包括运动底盘,可回转地联接于运动底盘上的车架,用于驱动车架转动的驱动装置,其中,所述机械臂设于所述车架上,所述刀臂外侧壁上设有刀齿。
- 一种清淤***,包括水上驱动与控制平台及权利要求1-10任意一项所述的清淤机器人。
- 根据权利要求12所述的清淤***,所述机械臂的回转运动通过油缸驱动;用于驱动车架转动的驱动装置为液压马达;所述运动底盘设有液压马达,并且通过液压驱动行进;所述水上驱动与控制平台设有液压站,所述液压站通过液压油管与用于驱动机械臂的所述油缸、用于驱动车架转动的所述液压马达、用于驱动行走底盘的液压马达及所述绞刀结构中的液压马达连接,并且提供液压油和液压驱动力。
- 根据权利要求13所述的清淤***,所述绞刀结构中的马达为液压马达,且该马达的输出转速低于200r/min。
- 根据权利要求12所述的清淤***,所述机械臂连接于车架的一侧端部上,车架的另一侧端部上则设有防护罩,防护罩内还设有用于容纳液压阀组的密封箱及水下泥泵,所述水下泥泵连接于用于输送泥土浆的泥管和所述抽吸管道之间,所述泥管另一端置于排放位置。
- 根据权利要求12所述的清淤***,所述绞刀结构上还设有高压冲水口,所述机械臂为双臂结构。
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