Manipulator for urban municipal sidewalk ditch maintenance operation

Abstract

The invention relates to the technical field of ditch maintenance operation, and discloses an urban municipal sidewalk ditch maintenance operation manipulator which comprises a base and a fluted disc rotationally arranged on the outer side of the base, a motor is fixed to one side of the base through a connecting part, the driving end of the motor is connected with a first gear, and the first gear is meshed with the fluted disc; a mechanical arm is fixed to the fluted disc, a bucket is arranged at one end of the mechanical arm, a plurality of bucket teeth are fixed to the end of the bucket so as to maintain a ditch, and the ditch maintenance device is characterized by further comprising a rotation adjusting part arranged between the bucket and the mechanical arm; the branch cutting part is arranged on the bucket, is close to the end part and is connected with the rotation adjusting part; the crushing part penetrates through the bucket teeth and is in transmission connection with the branch cutting part; the mechanical arm integrates bucket rotation adjustment, a high-speed throwing and cutting mechanism and a rock crushing assembly, so that the mechanical arm can synchronously complete sludge shoveling, branch cutting and rock crushing, and various obstacles in a ditch can be efficiently dealt with in single operation.

Description

Technical Field

[0001] The present invention relates to the technical field of ditch maintenance operations, and particularly relates to a manipulator for urban municipal sidewalk ditch maintenance operations. Background Art

[0002] Drainage in urban sidewalk ditches is often blocked due to problems such as sludge accumulation, tree branch intrusion, and rock accumulation, and periodic maintenance is required. Existing maintenance equipment mostly uses single-function robotic arms and buckets or robotic arms and cutting tools to perform maintenance operations on ditches. When faced with mixed sludge, tree branches, and hardened large rocks in the ditches, manual assistance is needed for cleaning or the equipment needs to be replaced multiple times, which is cumbersome and inefficient. For example, traditional buckets are difficult to remove embedded tree branches and large rocks encountered, while cutting tools cannot synchronously complete sludge cleaning. In addition, residual sticky sludge requires additional cleaning steps, further prolonging the operation cycle. The existing technology lacks an integrated solution, resulting in high maintenance costs and prominent safety hazards.

[0003] Existing ditch maintenance equipment cannot efficiently handle various complex sundries such as sludge, tree branches, and rocks in a single operation, and relies on multi-equipment switching and manual intervention for cleaning, resulting in low operation efficiency and inconvenient ditch maintenance. Summary of the Invention

[0004] The present invention provides a manipulator for urban municipal sidewalk ditch maintenance operations, which can efficiently handle various obstacles in the ditch in a single operation, significantly reduce equipment switching and manual intervention for cleaning, and improve maintenance efficiency, safety, and the convenience of ditch maintenance.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows: In a first aspect, a manipulator for urban municipal sidewalk ditch maintenance operations includes a base and a toothed disc rotatably arranged on the outside thereof. One side of the base is fixed with a motor through a connecting component. The driving end of the motor is connected with a first gear, and the first gear meshes with the toothed disc. A robotic arm is fixed on the toothed disc. One end of the robotic arm is provided with a bucket, and a plurality of bucket teeth are fixed at the end of the bucket to maintain the ditch. It further includes: an inclined rubber ring and a square tube; A rotation adjustment part is arranged between the bucket and the robotic arm to rotationally adjust the bucket; A branch cutting part is arranged on the bucket, close to the end, and is connected with the rotation adjustment part to cut branches driven by the rotation adjustment part; A crushing part penetrates through the bucket teeth and is in transmission connection with the branch cutting part to cooperate with the branch cutting part and the rotation adjustment part to crush the rocks in the water channel; The rotation adjustment part includes a pushing and rotating part and an adjusting part. The pushing and rotating part is arranged at the end of the robotic arm and supports the bucket. The adjusting part is connected with the pushing and rotating part to adjust the driving target; The branch cutting part includes a driving and adjusting member and a swinging cutting member. The swinging cutting member is arranged on the bucket. The driving and adjusting member is rotatably arranged at one end of the swinging cutting member and is connected to the adjusting member. An adjusting part is arranged inside the driving and adjusting member; The crushing part includes a pushing member and a biting and cutting member. The pushing member is arranged outside the driving and adjusting member. The biting and cutting member is elastically connected and arranged inside the tooth of the bucket and is connected to the pushing member.

[0006] The pushing and rotating member includes: A second gear, rotatably connected to one end of the robotic arm and fixedly connected to the bucket through a connecting member; A servo motor, fixed outside the robotic arm through a connecting member; A third gear, arranged at one end of the servo motor and meshing with the second gear; The adjusting member includes: a remote control electric rod, fixed to the driving end of the servo motor, passing through the center of the third gear and rotatably connected to the third gear, an inclined rubber wheel, fixed to one end of the connecting rod and contacting the inclined rubber ring; The driving and adjusting member includes: a rotating tube, rotatably arranged on the bucket through a connecting member; a sleeve, rotatably connected to the end of the rotating tube; The swinging cutting member includes: swinging ropes, symmetrically arranged inside the square tube; The biting and cutting member includes: a plurality of taper teeth, corresponding to the positions of the teeth of the bucket.

[0007] Furthermore, it is characterized in that the adjusting member further includes: A turntable, fixed to the telescopic end of the remote control electric rod and located between the third gear and the bucket; An inclined rubber ring, fixed to the side of the turntable away from the bucket; A connecting rod, rotatably passing through the bucket; The inclined rubber wheel is fixed to one end of the connecting rod.

[0008] Furthermore, it is characterized in that the driving and adjusting member further includes: A second helical gear, fixed to the end of the sleeve; A first helical gear, meshing with the second helical gear and connected to the other end of the connecting rod; An adjusting part, arranged inside the sleeve and inserted into the rotating tube.

[0009] Furthermore, it is characterized in that the adjusting part includes: A remote control telescopic rod, welded to the inner side of the sleeve through a connecting member; Two sockets, one of which is opened at one end of the rotating tube; Two plugs, having an inclined angle, arranged at both ends of the remote control telescopic rod. One of them is directly welded to the telescopic end of the remote control telescopic rod, and the other is connected to the telescopic end of the remote control telescopic rod through a connecting member.

[0010] Further, it is characterized in that the flinging and cutting member includes: A rotating rod, symmetrically arranged inside the square tube; Two square tubes, passing through the rotating tube and symmetrically arranged, and located outside the rotating rod; A plurality of elastic ropes, symmetrically arranged inside the rotating tube, with one end fixedly connected to the inner wall of the rotating tube and the other end fixedly connected to the rotating rod; The flinging rope is wound around the outside of the rotating rod, with one end connected to the rotating rod; A counterweight, symmetrically arranged through the square tube and connected to the other end of the flinging rope.

[0011] Further, it is characterized in that the pushing member includes: A through hole, penetrating through the bucket tooth; An activity groove, opened on the bucket tooth; A through hole, opened inside the bucket tooth and communicating with the through hole and the activity groove; A pushing part, arranged through the through hole, the activity groove and the through hole.

[0012] Further, it is characterized in that the pushing part includes: A cam, sleeved outside the sleeve and fixedly connected; An L-shaped rod, arranged in the activity groove; A resisting plate, fixed at the upper end of the L-shaped rod and extending through the activity groove to one side of the cam.

[0013] Further, it is characterized in that the biting and cutting member includes: A spring, sleeved outside the L-shaped rod and with one end fixedly connected to the inner wall of the bucket tooth; A pushing plate, arranged inside the through hole and connected to the end of the L-shaped rod away from the resisting plate; The tapered tooth is fixed on one side of the pushing plate.

[0014] Further, it is characterized in that it further includes: a scraping part, arranged in the bucket to scrape the bucket. The scraping part includes a pulling and guiding member and an executing member. The executing member is located inside the bucket. The pulling and guiding member is arranged on the bucket and connected to the executing member and the driving and adjusting member. The pulling and guiding member includes: A T-shaped cylinder, rotatably connected inside the second helical gear, and provided with another said socket at one end close to the rotating tube; A track, fixed on the bucket through a fixing part; A pulling rope, arranged at one end penetrating through the track, and one end of the pulling rope is connected to the T-shaped cylinder; The executing member includes: a scraping plate, arranged in the bucket, elastically telescopic, and guidingly connected to the track through a guiding part and connected to the other end of the pulling rope through a guiding part.

[0015] The above solution of the present invention has at least the following beneficial effects: By setting up a rotation adjustment part, a branch cutting part and a rock crushing part to integrate the bucket rotation adjustment, a high-speed throwing and cutting mechanism and a rock crushing component, the manipulator can synchronously complete sludge removal, branch cutting and rock block crushing, efficiently handle various obstacles in the ditch during a single operation, significantly reduce equipment switching and manual intervention, and improve the maintenance efficiency, safety and convenience of ditch maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the manipulator for maintaining the ditch of the urban municipal sidewalk provided by the embodiment of the present invention; Figure 2 It is an exploded three-dimensional view of the bucket, the servo motor and the rotating shaft provided by the embodiment of the present invention; Figure 3 It is an exploded three-dimensional view of the servo motor, the remote control electric rod and the inclined rubber ring provided by the embodiment of the present invention; Figure 4 It is a three-dimensional view of the connecting rod, the inclined rubber wheel and the first bevel gear provided by the embodiment of the present invention; Figure 5 It is a sectional plan view of the rotating pipe and the sleeve provided by the embodiment of the present invention; Figure 6 It is an exploded three-dimensional view of the T-tube, the second bevel gear, the remote control telescopic rod, the cam and the sleeve provided by the embodiment of the present invention; Figure 7 It is a three-dimensional view of the rotating pipe and the square pipe provided by the embodiment of the present invention; Figure 8 It is a sectional plan view of the bucket tooth and the push plate provided by the embodiment of the present invention; Figure 9 Provided by the embodiment of the present invention Figure 2 Schematic diagram of the structure at position A in; Figure 10 Provided by the embodiment of the present invention Figure 2 Schematic diagram of the structure at position B in; Figure 11 It is an exploded three-dimensional view of the backing plate, the cam, the spring and the push plate provided by the embodiment of the present invention; Figure 12 Provided by the embodiment of the present invention Figure 2 Schematic diagram of the structure at position C in; Figure 13 It is an exploded three-dimensional view of the combination of the track, the pull rope and the guiding component provided by the embodiment of the present invention.

[0017] Description of the reference numerals: In the figure: 1, base; 2, toothed disc; 3, motor; 4, first gear; 5, mechanical arm; 6, bucket; 7, rotating shaft; 8, second gear; 9, fixed disc; 10, servo motor; 11, remote control electric rod; 12, third gear; 13, turntable; 14, oblique rubber ring; 15, oblique rubber wheel; 16, connecting rod; 17, first oblique gear; 18, fixing plate; 19, rotary tube; 20, sleeve; 21, second oblique gear; 22, remote control telescopic rod; 23, socket; 24, connecting plate; 25, plug head; 26, square tube; 27, rotating rod; 28, elastic rope; 29, swing rope; 30, counterweight; 31, cam; 32, bucket tooth; 33, through port; 34, movable groove; 35, through hole; 36, L rod; 37, push plate; 38, cone tooth; 39, spring; 40, push plate; 41, T cylinder; 42, track; 43, pull rope; 44, guide block; 45, connecting rod; 46, scraper; 47, telescopic rod; 48, spring leaf; 49, rubber folding plate; 50, oblique folding plate; 51, controller. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0019] like Figures 1 to 13 As shown, an embodiment of the present invention provides a manipulator for urban municipal sidewalk ditch maintenance work, including a base 1 and a toothed disc 2 rotatably arranged on the outer side thereof, a motor 3 is fixed to one side of the base 1 through a connecting component, a driving end of the motor 3 is connected to a first gear 4, and the first gear 4 is meshed with the toothed disc 2, a mechanical arm 5 is fixed to the toothed disc 2, a bucket 6 is arranged at one end of the mechanical arm 5, and a plurality of bucket teeth 32 are fixed at the end of the bucket 6 to maintain the ditch, and also includes: The rotation adjusting part is arranged between the bucket 6 and the mechanical arm 5 to rotate and adjust the bucket 6; The branch cutting part is arranged on the bucket 6 and is close to the end and is connected to the rotary part so as to be driven by the rotary part to cut off the branches; The crushing part is arranged through the bucket teeth 32 and is in driving connection with the branch cutting part, so as to cooperate with the branch cutting part and the rotating part to crush the rocks in the water channel; The adjusting part includes a push-rotating member and an adjusting member. The push-rotating member is arranged at the end of the mechanical arm 5 and supports the bucket 6. The adjusting member is connected to the push-rotating member to adjust the driving target. The branch cutting part includes a driving and adjusting member and a swinging and cutting member, the swinging and cutting member is arranged on the bucket 6, the driving and adjusting member is rotatably arranged at one end of the swinging and cutting member and is connected to the adjusting member; The crushing part includes a pushing member and a cutting member. The pushing member is arranged outside the driving and adjusting member, and the cutting member is elastically connected and arranged inside the bucket tooth 32 and is connected to the pushing member.

[0020] Specifically, a controller 51 is installed on the base 1 through a fixing member. The base 1 can provide a through channel for the fixing member, can provide rotational support for the gear disk 2, and can stably support the motor 3 through a connecting member. When the motor 3 is started, it drives the first gear 4 to rotate. The first gear 4 can use the meshing effect to push the gear disk 2 to rotate. The gear disk 2 can provide support for the robotic arm 5, and the robotic arm 5 can provide support for the bucket 6 through a connecting member and can adjust the position of the bucket 6 under the control of the controller 51.

[0021] In the actual application process of this embodiment: The staff can use the fixing member to fix the base 1 on a moving vehicle, so that the vehicle can drive this manipulator to move near the urban sidewalk ditch. The staff can operate the controller 51 as needed to control the robotic arm 5 to bend or extend to adjust the angle, thereby driving the bucket 6 to move. At the same time, control the motor 3 to operate, so that it drives the first gear 4 to rotate by using the driving end, so that the first gear 4 can use the rotational power and meshing effect to push the second gear 8 to rotate, thereby driving the robotic arm 5 and the bucket 6 to rotate horizontally to adjust the position, so that the bucket 6 can be inserted into the ditch to scoop up the sludge and garbage in the ditch, and move the bucket 6 out of the ditch and dump the scooped sludge and garbage for maintenance of the sidewalk ditch.

[0022] As a preferred embodiment of the present invention, the pushing and rotating member includes: A second gear 8, rotatably connected to one end of the robotic arm 5 and fixedly connected to the bucket 6 through a connecting member; A servo motor 10, fixed outside the robotic arm 5 through a connecting member; A third gear 12, arranged at one end of the servo motor 10 and meshing with the second gear 8.

[0023] Specifically, a fixing plate 9 is welded to the side of the second gear 8 away from the robotic arm 5, and the fixing plate 9 is connected to the bucket 6 through a fixing member. A rotating shaft 7 is fixed at the end of the robotic arm 5, and the rotating shaft 7 is rotatably connected to the second gear 8, which can provide support for the second gear 8 under the support of the robotic arm 5, and the robotic arm 5 can provide stable support for the servo motor 10.

[0024] The adjusting member includes: A remote control electric rod 11, fixed to the driving end of the servo motor 10, passing through the center of the third gear 12 and rotatably connected to the third gear 12; A turntable 13, fixed to the telescopic end of the remote control electric rod 11 and located between the third gear 12 and the bucket 6; The inclined rubber ring 14 is fixed on the side of the turntable 13 away from the bucket 6; The connecting rod 16 is rotatably arranged through the bucket 6; The inclined rubber wheel 15 is fixed at one end of the connecting rod 16 and contacts the inclined rubber ring 14.

[0025] Specifically, the remote control electric rod 11 is rechargeable, can be remotely controlled to expand and contract by the controller 51, and can provide rotational support for the third gear 12 under the support of the servo motor 10. After the servo motor 10 is started, it will drive the remote control electric rod 11 to rotate by the driving end, so that the remote control electric rod 11 can drive the turntable 13 to rotate. The turntable 13 can provide support for the inclined rubber ring 14. The inclined rubber ring 14 and the inclined rubber wheel 15 have an inclined angle and are made of rubber material, which is relatively rough. The bucket 6 can provide rotational support for the connecting rod 16, so that the connecting rod 16 can provide support for the inclined rubber wheel 15.

[0026] In the actual application process of this embodiment, when it is necessary to rotate and adjust the angle of the bucket 6 with the rotation axis 7 as the center, the staff needs to operate the controller 51 to control the remote control electric rod 11 to contract, so that the remote control electric rod 11 drives the turntable 13 to translate in the direction close to the third gear 12 by the telescopic end, so that the turntable 13 drives the inclined rubber ring 14 to move together. Furthermore, the inclined rubber ring 14 is separated from the inclined rubber wheel 15, so that the inclined rubber ring 14 is attached to the third gear 12. At the same time, the servo motor 10 is started, and the servo motor 10 will drive the remote control electric rod 11, the turntable 13 and the inclined rubber ring 14 to rotate by the driving end, so that the inclined rubber ring 14 uses the rotational power and friction to push the third gear 12 to rotate together, so that the third gear 12 can use the rotational power and meshing action to push the second gear 8 to rotate with the rotation axis 7 as the center, and then the second gear 8 can drive the bucket 6 to rotate and adjust the angle together with the rotation axis 7 as the center through the fixed disk 9, so that the bucket 6 can be better and flexibly adjusted to a suitable angle for ditch maintenance operations.

[0027] As a preferred embodiment of the present invention, the driving and adjusting member includes: The rotating pipe 19 is rotatably arranged on the bucket 6 through a connecting member; The sleeve 20 is rotatably connected to the end of the rotating pipe 19; The second bevel gear 21 is fixed at the end of the sleeve 20; The first bevel gear 17 meshes with the second bevel gear 21 and is connected to the other end of the connecting rod 16; The adjusting part is arranged in the sleeve 20 and is inserted into the rotating pipe 19.

[0028] Specifically, fixed plates 18 are symmetrically welded on the bucket 6, and the fixed plates 18 are rotatably connected to the rotating pipe 19. The fixed plates 18 can provide rotational support for the rotating pipe 19. The rotating pipe 19 can stably support the square pipe 26 and can provide rotational support for the sleeve 20. The sleeve 20 can stably support the second bevel gear 21. The connecting rod 16 can support the first bevel gear 17, and the first bevel gear 17 can use the meshing action to cooperate with the rotational power to drive the second bevel gear 21 to rotate.

[0029] The adjusting parts include: The remote control telescopic rod 22 is welded inside the sleeve 20 through a connecting component; There are two sockets 23, and one of them is opened at one end of the rotating pipe 19; There are two plugs 25, and they have an inclined angle. They are arranged at both ends of the remote control telescopic rod 22. One of them is directly welded to the telescopic end of the remote control telescopic rod 22, and the other is connected to the telescopic end of the remote control telescopic rod 22 through a connecting component.

[0030] Specifically, the sleeve 20 can stably support the remote control telescopic rod 22 through the connecting component. The remote control telescopic rod 22 can adjust the telescopic position of the telescopic end under the control of the controller 51. The rotating pipe 19 can provide a space for opening the socket 23. The plug 25 can be inserted into the inside of the socket 23 and fit with it, and then the rotating pipe 19 can be rotated by an external force.

[0031] The throwing and cutting parts include: Rotating rods 27 are symmetrically arranged inside the square pipe 26; There are two square pipes 26, which penetrate through the rotating pipe 19 and are symmetrically arranged, and are located outside the rotating rods 27; There are multiple elastic ropes 28, which are symmetrically arranged inside the rotating pipe 19, and one end is fixedly connected to the inner wall of the rotating pipe 19, and the other end is fixedly connected to the rotating rod 27; Throwing ropes 29 are symmetrically arranged inside the square pipe 26, and are wound around the outside of the rotating rod 27, and one end is connected to the rotating rod 27; Counterweights 30 penetrate through the square pipe 26 and are symmetrically arranged, and are connected to the other end of the throwing rope 29.

[0032] Specifically, the rotating pipe 19 can provide rotational support for the rotating rod 27, and the rotating pipe 19 and the square pipe 26 can provide a rotating space for the rotating rod 27. The rotating rod 27 and the rotating pipe 19 can support the elastic rope 28, and the rotating rod 27 can support the throwing rope 29 and can provide a winding space for the throwing rope 29 and the elastic rope 28. The counterweight 30 can pull the throwing rope 29 by centrifugal force. The elastic rope 28 has elasticity and can be stretched and deformed under the action of an external force, and will rebound after the external force disappears. The throwing rope 29 is made of high molecular weight polyethylene material, with high strength, light weight, water resistance and ultraviolet resistance, and is suitable for high-speed rotation and repeated winding.

[0033] In the actual application process of this embodiment, when it is difficult for the bucket 6 to scoop up the branches falling from the trees in the ditch, the staff needs to control the telescopic electric rod 11 to extend, so that its telescopic end pushes the turntable 13 to move away from the third gear 12, making the turntable 13 drive the inclined rubber ring 14 to move together, separating the inclined rubber ring 14 from the third gear 12 and contacting the inclined rubber wheel 15 with the inclined angle. Subsequently, control the servo motor 10 to operate, so that it drives the telescopic electric rod 11 and the turntable 13 to rotate, making the turntable 13 drive the inclined rubber ring 14 to rotate together. At this time, since the inclined rubber ring 14 is separated from the third gear 12, it will not drive the third gear 12 to rotate. Furthermore, the inclined rubber ring 14 uses the rotational power and friction to push the inclined rubber wheel 15 to rotate, making the inclined rubber wheel 15 drive the connecting rod 16 to rotate under the support of the bucket 6. At the same time, the connecting rod 16 will drive the first bevel gear 17 to rotate, enabling the first bevel gear 17 to use the rotational power and meshing action to push the second bevel gear 21 to rotate, making the second bevel gear 21 drive the sleeve 20 to rotate under the support of the rotating pipe 19. At the same time, the sleeve 20 will drive the telescopic remote control rod 22 to rotate together, and the telescopic remote control rod 22 will drive the plug 25 and the connecting plate 24 to rotate together, making the plug 25 use the fitting action with the socket 23 to push the rotating pipe 19 to rotate under the support of the fixed plate 18, enabling the rotating pipe 19 to drive the square pipe 26, the counterweight 30, and the rotating rod 27 to rotate together with the rotational power. During the rotation process, the counterweight 30 will use the centrifugal force generated by the rotation to pull the sling 29 away from the rotating rod 27, making the sling 29 pull the rotating rod 27 to rotate under the support of the rotating pipe 19. At the same time, the sling 29 will pass through the square pipe 26 and move out to the outside, and rotate together with the counterweight 30 following the square pipe 26 and the round pipe. At the same time, the rotating rod 27 will stretch and wind the elastic cord 28 during the rotation process, enabling the elastic cord 28 to be rotated, wound, and stretched by the rotating rod 27 under the support of the round pipe to store energy. At the same time, the staff needs to adjust the robotic arm 5 to move the bucket 6 so that the rotating sling 29 can contact the branches in the ditch, thereby enabling the sling 29 to use the rotational power to strike and cut the branches, making the branches can be smoothly scooped up by the bucket 6, providing convenience for ditch maintenance.

[0034] In another preferred embodiment of the present invention, the pusher includes: A through hole 33, penetrating through the tooth 32; An activity groove 34, opened on the tooth 32; A through hole 35, opened inside the tooth 32 and communicating with the through hole 33 and the activity groove 34; A pusher part, arranged through the through hole 33, the activity groove 34, and the through hole 35.

[0035] Specifically, the bucket tooth 32 can provide an opening space for the through port 33, the movable slot 34, and the through hole 35. The through hole 35 can provide a through channel for the L-shaped rod 36, the through port 33 can provide a moving and guiding space for the push plate 37, and the movable slot 34 can provide a moving space for the abutting plate 40.

[0036] The pushing parts include: The cam 31 is sleeved on the outer side of the sleeve 20 and is fixedly connected. The L-shaped rod 36 is arranged in the movable slot 34. The abutting plate 40 is fixed to the upper end of the L-shaped rod 36 and extends through the movable slot 34 to one side of the cam 31.

[0037] Specifically, the sleeve 20 can provide a stable support for the cam 31 and can drive the cam 31 to rotate together. The cam 31 can periodically push the abutting plate 40 by using the rotational power and its own structure, so that the abutting plate 40 can push the L-shaped rod 36 to move together.

[0038] The biting parts include: The spring 39 is sleeved on the outer side of the L-shaped rod 36, and one end of the spring is fixedly connected to the inner wall of the bucket tooth 32. The push plate 37 is arranged inside the through port 33 and is connected to the end of the L-shaped rod 36 far from the abutting plate 40. There are multiple taper teeth 38, which are fixed to one side of the push plate 37 and correspond to the position of the bucket tooth 32.

[0039] Specifically, the L-shaped rod 36 can provide support for the spring 39, and the L-shaped rod 36 can push the push plate 37 to move along the through port 33 by using an external force. When the push plate 37 moves, it will pull one end of the spring 39, so that the spring 39 is stretched and stored with energy under the support of the bucket tooth 32. When the external force acting on the L-shaped rod 36 disappears, the spring 39 will use the rebound force to pull the push plate 37 back to its original position. The push plate 37 can drive the taper teeth 38 to move together. One end of the taper tooth 38 is relatively sharp.

[0040] In the actual application process of this embodiment, when there are rocks in the ditch that are difficult to be removed by the bucket 6, the staff needs to operate the controller 51 to control the telescopic end of the remote control telescopic rod 22 to extend by two-tenths of its length (such as Figure 5The telescopic end of the remotely controlled telescopic rod 22 shown extends by one-tenth of its length), enabling the remotely controlled telescopic rod 22 to use the telescopic end to push the connecting plate 24 and the two plugs 25 to translate away from the swivel tube 19 together. As a result, the plugs 25 can be pulled out of the socket 23 opened at one end of the swivel tube 19, so that neither of the two plugs 25 is inserted into the socket 23. Consequently, the sleeve 20 cannot drive the swivel tube 19 and the T-tube 41 to rotate through the remotely controlled telescopic rod 22 and the plugs 25. Subsequently, the staff needs to control the robotic arm 5, the servo motor 10, and the remotely controlled electric rod 11 to adjust the position of the bucket 6, so that the bucket 6 can drive the bucket teeth 32 to move together under the drive of the robotic arm 5. The bucket teeth 32 drive the push plate 37 and the tapered teeth 38 to move, making the tapered teeth 38 abut above the rock in the ditch, and control the remotely controlled electric rod 11 to extend. At the same time, start the servo motor 10, so that the second helical gear 21 can drive the sleeve 20 and the cam 31 to rotate together under the support of the swivel tube 19. Thus, the cam 31 periodically pushes the abutment plate 40 with its protruding end and rotational power, causing the abutment plate 40 to reciprocate inside the movable groove 34. At the same time, the abutment plate 40 drives the L-bar 36 to reciprocate through the through-hole 33, enabling the L-bar 36 to push the push plate 37. At the same time, the push plate 37 stretches the elastic energy storage, and when the cam 31 is not in contact with the abutment plate 40, it pulls the push plate 37 and the abutment plate 40 back to their original positions using the rebound force. As a result, the push plate 37 can drive the tapered teeth 38 to reciprocate together, and use the external force of the reciprocating movement and the sharp end of the tapered teeth 38 to impact and break the rock in the ditch; And the staff can continuously control the robotic arm 5 to adjust the height of the bucket 6, so that the bucket 6 continuously presses on the rock through the bucket teeth 32 and the tapered teeth 38, thereby facilitating the breaking of the rock in the ditch so that the bucket 6 can scoop up and remove the rock in the ditch.

[0041] As a preferred embodiment of the present invention, a scraping part is provided inside the bucket 6 to scrape the bucket 6. The scraping part includes a pulling guide and an actuator. The actuator is located inside the bucket 6. The pulling guide is provided on the bucket 6 and is connected to the actuator and the driving and adjusting part. The pulling guide includes: The T-tube 41 is rotatably connected inside the second helical gear 21, and another socket 23 is opened at one end close to the swivel tube 19; The track 42 is fixed to the bucket 6 through a fixing part; The pulling rope 43 is provided through one end of the track 42, and one end of the pulling rope 43 is connected to the T-tube 41; The actuator includes: a scraping plate 46, which is provided inside the bucket 6, can be elastically telescoped, and is guidingly connected to the track 42 through a guiding part and is connected to the other end of the pulling rope 43 through a guiding part.

[0042] Specifically, the pulling and guiding member further includes: a guide block 44 is movably guided and arranged inside the track 42, the edge of the guide block 44 has a radian, a connecting rod 45 is welded to one side of the guide block 44, and the connecting rod 45 penetrates through the track 42 and is welded to the scraping plate 46; the actuator further includes: there are two scraping plates 46, which are attached to the inner wall of the bucket 6; a telescopic rod 47, the fixed end of which is welded to the scraping plate 46; a reed 48, one end of which is welded to the telescopic end of the telescopic rod 47, and the other end is welded to the fixed end of the telescopic rod 47; a rubber folding plate 49, which is arranged between the two scraping plates 46, is fixedly connected to the scraping plate 46, and is located below the telescopic end of the telescopic rod 47; an inclined folding plate 50, which is fixed below the rubber folding plate 49 and is attached to the inner side of the bottom wall of the bucket 6.

[0043] The second helical gear 21 can provide rotational support for the T-tube 41, the T-tube 41 can provide a winding and coiling space for the pulling rope 43, and the cooperation of the T-tube 41 and the second helical gear 21 can provide a limit for the pulling rope 43. The track 42 can provide a through channel for the pulling rope 43, and can provide a moving guide and support limit function for the guide block 44. The pulling rope 43 can use an external force to pull the guide block 44 to move along the inside of the track 42. At the same time, the guide block 44 will drive the scraping plate 46 to move together through the connecting rod 45, so that the scraping plate 46 can drive the telescopic rod 47, the reed 48, the rubber folding plate 49 and the inclined folding plate 50 to move together. During the movement, the scraping plate 46 will gradually move closer to the center due to the gradually narrowing inner wall of the bucket 6. The rubber folding plate 49 and the inclined folding plate 50 can be squeezed and folded under the action of an external force, and at the same time, the reed 48 will be squeezed and deformed and store energy under the action of an external force.

[0044] In the actual application process of this embodiment, after the ditch maintenance operation is completed, the staff can control the telescopic end of the remote control telescopic rod 22 to extend to three-tenths of its length, so that the remote control telescopic rod 22 can drive the plug 25 to insert into the socket 23 opened at the end of the T-tube 41 by using the telescopic end, and start the servo motor 10, which drives the sleeve 20 to rotate through the first bevel gear 17 and the second bevel gear 21, so that the sleeve 20 can drive the T-tube 41 to rotate together by using the remote control telescopic rod 22 and the plug 25 in cooperation with the socket 23. Furthermore, the T-tube 41 can gradually wind up the pulling rope 43 by using the rotational power, so that the pulling rope 43 pulls the guide block 44 along the track 42 during the winding process, and the guide block 44 drives the connecting rod 45 and the scraping plate 46 to move along the track 42 in a direction away from the rotating shaft 7. At the same time, the scraping plate 46 will move along the inner wall of the bucket 6, and drive the telescopic rod 47, the reed 48, the rubber folding plate 49 and the inclined folding plate 50 to move together. During the movement, the scraping plate 46 will squeeze the telescopic rod 47 and the rubber folding plate 49 by using the resisting external force that gradually approaches the center, so that the telescopic rod 47 contracts, and the contracted telescopic rod 47 squeezes the reed 48 under the support of the fixed end. At the same time, the rubber folding plate 49 will drive the inclined folding plate 50 to be gradually squeezed and folded together, so that the widths of the scraping plate 46, the rubber folding plate 49 and the inclined folding plate 50 can adapt to the gradually narrowing inner wall of the bucket 6, and by using the rebound force of the reed 48, the fixed end of the telescopic rod 47 pushes the scraping plate 46 to continuously fit with the inner wall of the bucket 6. Furthermore, the scraping plate 46, the inclined folding plate 50 and the rubber folding plate 49 can keep in contact with the inner wall of the bucket 6 during the movement, and scrape off the sludge and impurities adhered to the inner wall of the bucket 6 during the movement, so as to facilitate the cleaning of the bucket 6 after the ditch maintenance operation.

[0045] After the cleaning is completed, the staff can pull the telescopic rod 47, the scraping plate 46, the rubber folding plate 49, the inclined folding plate 50, the connecting rod 45 and the guide block 44 to move along the track 42 in a direction close to the rotating shaft 7 through the reed 48. During the movement, the reed 48 will use the rebound force to push the telescopic rod 47 to extend, and drive the two scraping plates 46 to move away from each other. Furthermore, the reed 48, the telescopic rod 47, the scraping plate 46, the rubber folding plate 49 and the inclined folding plate 50 can be reset.

[0046] Working principle: The base 1 is installed on the mobile vehicle through the fixing components, and the built-in motor 3 drives the first gear 4 to mesh with the gear disc 2 to realize the 360° rotation of the robotic arm 5 and the bucket 6, and flexibly adjust the operation orientation; the controller 51 adjusts the telescopic and bending of the robotic arm 5, and cooperates with the rotation of the gear disc 2 to accurately position the bucket 6, so that it can dig into the ditch to scoop up sludge and garbage, and transfer and dump it.

[0047] The servo motor 10 drives the third gear 12 to mesh with the second gear 8, driving the bucket 6 to rotate around the rotating shaft 7 to adjust the inclination angle to adapt to the terrain of the ditch.

[0048] The remote control electric rod 11 is extended and retracted to control the clutch of the bevel rubber ring 14 and the bevel rubber wheel 15, and switch the driving modes of angle adjustment, branch cutting and crushing functions; The oblique rubber ring 14 drives the connecting rod 16 to link the helical gear set, transmitting power to the rotary tube 19, which drives the square tube 26 to rotate at high speed. The centrifugal force causes the counterweight 30 to pull out the swing rope 29, forming a rotating cutting surface to break the entangled branches. The elastic rope 28 provides the swing rope 29 with automatic rewinding and reset.

[0049] The cam 31 outside the sleeve 20 rotates and periodically pushes the plate 40, driving the L rod 36 to reciprocate. The L rod 36 links the push plate 37 and the bevel gear 38 to impact the rock at a high frequency. The spring 39 stores energy and resets, and the rock is crushed in combination with the pressure of the mechanical arm 5.

[0050] The T cylinder 41 reels up the pull rope 43 and pulls the scraper 46 to move along the track 42. The scraper 46 elastically fits the inner wall of the bucket 6. The rubber folding plate 49 and the oblique folding plate 50 adaptively deform to scrape off the adhered sludge, and the reed 48 drives the reset.

[0051] With integrated shoveling, branch cutting, rock crushing and self-cleaning functions, a single machine can handle a variety of problems such as ditch sludge, plant roots, rock siltation, etc., reducing equipment switching time.

[0052] The remote control electric rod 11 and the servo motor 10 cooperate to realize the rapid switching of functional modules (such as the bucket 6 angle rotation adjustment, branch cutting and rock crushing), simplifying the operation process and the occupied space of the structure. The centrifugal cutting of the rope 29 and the impact crushing of the bevel teeth 38 are respectively aimed at the flexible branches and hard rocks, and the efficiency is higher than that of the traditional hydraulic crushing; The scraper 46, the rubber folding plate 49 and the oblique folding plate 50 are adapted to the inner wall of the bucket 6, thereby improving the cleaning efficiency of the bucket 6 and reducing the frequency of manual cleaning; The swing rope 29 is made of high molecular weight polyethylene, and the bucket teeth 32 are inlaid with carbide cone teeth 38, which prolongs the service life of the components by 2-3 times.

[0053] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A manipulator for maintaining urban municipal sidewalk ditches, comprising a base and a toothed disc rotatably arranged on the outside thereof. One side of the base is fixedly provided with a motor through a connecting member. The driving end of the motor is connected with a first gear, and the first gear meshes with the toothed disc. A robotic arm is fixed on the toothed disc. One end of the robotic arm is provided with a bucket, and a plurality of bucket teeth are fixed at the end of the bucket for maintaining the ditch. It is characterized in that, It also includes: Oblique rubber ring and square pipe; A rotation adjustment part, which is arranged between the bucket and the robotic arm to rotate and adjust the bucket; A branch cutting part, which is arranged on the bucket, close to the end, and is connected to the rotation adjustment part to cut off branches driven by the rotation adjustment part; A crushing part, which is arranged through the bucket teeth and is in transmission connection with the branch cutting part to cooperate with the branch cutting part and the rotation adjustment part to crush the rock blocks in the water channel; The rotation adjustment part includes a pushing and rotating part and an adjusting part. The pushing and rotating part is arranged at the end of the robotic arm and supports the bucket. The adjusting part is connected to the pushing and rotating part to adjust the driving target; The branch cutting part includes a driving and adjusting part and a swinging and cutting part. The swinging and cutting part is arranged on the bucket. The driving and adjusting part is rotatably arranged at one end of the swinging and cutting part and is connected to the adjusting part. An adjusting part is arranged inside the driving and adjusting part; The crushing part includes a pushing part and a biting part. The pushing part is arranged outside the driving and adjusting part. The biting part is elastically connected inside the bucket teeth and is connected to the pushing part; The pushing and rotating part includes: A second gear, which is rotatably connected to one end of the robotic arm and is fixedly connected to the bucket through a connecting component; A servo motor, which is fixed outside the robotic arm through a connecting component; A third gear, which is arranged at one end of the servo motor and meshes with the second gear; The adjusting part includes: a remote control electric rod, which is fixed at the driving end of the servo motor, penetrates through the center of the third gear, and is rotatably connected to the third gear. An oblique rubber wheel is fixed at one end of the connecting rod and contacts the oblique rubber ring; The driving and adjusting part includes: a rotating pipe, which is rotatably arranged on the bucket through a connecting component; a sleeve, which is rotatably connected to the end of the rotating pipe; The swinging and cutting part includes: swinging ropes, which are symmetrically arranged inside the square pipe; The biting part includes: multiple taper teeth, which correspond to the positions of the bucket teeth.

2. The manipulator for urban municipal sidewalk ditch maintenance operation according to claim 1, characterized in that, The adjusting part also includes: A turntable, which is fixed at the telescopic end of the remote control electric rod and is located between the third gear and the bucket; An oblique rubber ring, which is fixed on the side of the turntable away from the bucket; A connecting rod, which rotatably penetrates through the bucket; The oblique rubber wheel is fixed at one end of the connecting rod.

3. The manipulator for urban municipal sidewalk ditch maintenance operation according to claim 2, wherein The driving and adjusting part also includes: A second bevel gear, which is fixed at the end of the sleeve; A first bevel gear, which meshes with the second bevel gear and is connected to the other end of the connecting rod; An adjusting part, which is arranged inside the sleeve and is inserted into the rotating pipe.

4. The manipulator for urban municipal sidewalk ditch maintenance operations according to claim 3, characterized in that, The adjusting part includes: A remote control telescopic rod, which is welded inside the sleeve through a connecting component; Two sockets, one of which is opened at one end of the rotating pipe; Two plugs, which have an inclined angle and are arranged at both ends of the remote control telescopic rod. One of them is directly welded to the telescopic end of the remote control telescopic rod, and the other is connected to the telescopic end of the remote control telescopic rod through a connecting component.

5. The manipulator for urban municipal sidewalk ditch maintenance operation according to claim 4, characterized in that, The swinging and cutting part includes: Rotating rods, which are symmetrically arranged inside the square pipe; Two square pipes, which penetrate through the rotating pipe and are symmetrically arranged and are located outside the rotating rods; Multiple elastic ropes, which are symmetrically arranged inside the rotating pipe, and one end is fixedly connected to the inner wall of the rotating pipe, and the other end is fixedly connected to the rotating rod; The swinging ropes are wound around the outside of the rotating rod, and one end is connected to the rotating rod; Counterweights, which are symmetrically arranged through the square pipe and are connected to the other end of the swinging ropes.

6. The manipulator for urban municipal sidewalk ditch maintenance operation according to claim 5, wherein The pushing part includes: A through hole, which is opened through the bucket teeth; An activity groove, which is opened on the bucket teeth; A through hole, which is opened inside the bucket teeth and is communicated with the through hole and the activity groove; A pushing part, which penetrates through the through hole, the activity groove and the through hole.

7. The manipulator for urban municipal sidewalk ditch maintenance operations according to claim 6, characterized in that, The pushing part includes: a cam, sleeved on the outer side of the sleeve and fixedly connected; an L-shaped rod, arranged in the movable groove; a pressing plate, fixed to the upper end of the L-shaped rod and extending through the movable groove to one side of the cam.

8. The manipulator for urban municipal sidewalk ditch maintenance operations according to claim 7, characterized in that, The biting part includes: a spring, sleeved on the outer side of the L-shaped rod and fixedly connected to the inner wall of the bucket tooth at one end; a pushing plate, arranged inside the through opening and connected to the end of the L-shaped rod away from the pressing plate; The conical tooth is fixed to one side of the pushing plate.

9. The manipulator for urban municipal sidewalk ditch maintenance operations according to claim 8, characterized in that, It further includes: a scraping part, arranged in the bucket to scrape the bucket. The scraping part includes a pulling guide and an actuator. The actuator is located inside the bucket. The pulling guide is arranged on the bucket and connected to the actuator and the driving and adjusting part. The pulling guide includes: a T-shaped cylinder, rotatably connected inside the second helical gear, and provided with another said socket at one end close to the rotating pipe; a track, fixed to the bucket through a fixing part; a pulling rope, arranged at one end penetrating through the track, and one end of the pulling rope is connected to the T-shaped cylinder; The actuator includes: a scraping plate, arranged in the bucket, elastically telescopic, and guidingly connected to the track through a guiding part and connected to the other end of the pulling rope through a guiding part.

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