An underwater dredging robot

Abstract

The present invention proposes an underwater dredging robot, which arranges nozzles around the slurry suction chamber to spray high-speed jets to cut and disturb the sludge, thereby greatly increasing the sludge concentration. At the same time, the parallel water curtains formed by the high-speed jets form a negative pressure zone with equal cross-section, thereby ensuring the suction effect of the suction cup. A connecting rod mechanism is arranged, and a wheel-driven frame body is cooperated, so that the robot can operate underwater very conveniently and adjust the height of the suction cup according to the height of the sludge. A driving wheel composed of a roller and spiral ribs is arranged, so that the robot is convenient to walk in the sludge and prevents the wheel from sinking into it, and on the other hand, the sludge can be stirred and dispersed to facilitate suction.

Description

Technical Field

[0001] The invention relates to the field of underwater dredging equipment, and in particular to an underwater dredging robot. Background Art

[0002] In the past, the dredging methods for rivers and lakes in cities have become increasingly outdated. For example, the old treatment methods generally include: using cofferdams to pump water from rivers, and then dredging operations, which are time-consuming, labor-intensive, and extremely inefficient. Lakes are mainly constructed using suction dredgers, but suction dredgers are prone to noise pollution to the surrounding environment. In response to the above shortcomings, some units have also developed some underwater dredging equipment, but the suction port still uses an auger to combine with liquid suction. For silt with high concentration and strong adhesion, it is difficult to directly suck it in through the suction port. Therefore, there are disadvantages of low suction slurry concentration and low dredging efficiency. Summary of the invention

[0003] In view of this, the present invention proposes an underwater dredging robot which can improve the mud suction concentration and has high dredging efficiency.

[0004] The technical solution of the present invention is implemented as follows: the present invention provides an underwater dredging robot, which includes a high-pressure pump, a frame body, a driving wheel, a centrifugal sewage suction pump and a jet suction cup mechanism. The frame body is connected to the driving wheel and the jet suction cup mechanism respectively. The jet suction cup mechanism includes a suction cup body and a nozzle. A slurry suction cavity is opened on the end face of the suction cup body, and the slurry suction cavity is connected to the centrifugal sewage suction pump. The nozzle is arranged on the end face of the suction cup body and is connected to the high-pressure pump.

[0005] On the basis of the above technical solution, preferably, a plurality of high-pressure water chambers are evenly arranged on the end surface of the suction cup body surrounding the slurry suction chamber, and the nozzle is arranged on the end surface of the suction cup body and connected to the high-pressure water chamber.

[0006] On the basis of the above technical solution, preferably, the cross section of the slurry suction chamber is square or circular, and the longitudinal section is trapezoidal.

[0007] On the basis of the above technical solution, preferably, the high-pressure pump absorbs water from the surroundings and sprays it out through a nozzle, forming a high-pressure water curtain around the high-pressure water cavity and forming a negative pressure area of ​​equal cross-section at the high-pressure water cavity.

[0008] On the basis of the above technical solution, preferably, the jet suction cup mechanism further includes a first connecting rod and a second connecting rod, wherein the first connecting rod and the second connecting rod are arranged parallel to each other and have both ends hingedly connected to the frame body and the suction cup body respectively.

[0009] Further preferably, two first connecting rods are provided, and the hinge points of the two first connecting rods and the suction cup body and the hinge point of the second connecting rod and the suction cup body form an isosceles triangle.

[0010] More preferably, the jet suction cup mechanism also includes a hydraulic cylinder and a third connecting rod, the two ends of the third connecting rod are respectively hinged to the two first connecting rods, and the two ends of the hydraulic cylinder are respectively hinged to the third connecting rod and the frame body.

[0011] On the basis of the above technical solution, preferably, the driving wheel includes a roller and a spiral rib, the spiral rib is attached to the roller body in a clockwise or counterclockwise rotation, and the roller is hinged to the frame body.

[0012] Further preferably, there are four driving wheels, two of which are front wheels and the other two are rear wheels, the spiral ribs of the driving wheels on opposite sides rotate in opposite directions, and the spiral ribs of the two driving wheels on the same side rotate in the same direction.

[0013] The underwater dredging robot of the present invention has the following beneficial effects compared with the prior art:

[0014] (1) By setting nozzles around the suction chamber to spray high-speed jets, the sludge is cut and disturbed, and the sludge concentration is greatly increased. At the same time, the parallel water curtains formed by the high-speed jets form a negative pressure zone with equal cross-section, ensuring the suction effect of the suction cup;

[0015] (2) A connecting rod mechanism is provided, and the frame body driven by a wheel can be easily operated underwater, and the height of the suction cup can be adjusted according to the height of the silt;

[0016] (3) The drive wheel composed of a roller and spiral ribs is provided to facilitate walking in the mud and prevent the wheel from sinking into it. On the other hand, it can stir and disperse the mud to facilitate suction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A three-dimensional diagram of the underwater dredging robot of the present invention;

[0019] Figure 2 It is a side view of the jet suction cup mechanism of the present invention;

[0020] Figure 3 It is a three-dimensional diagram of the suction cup body of the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, the underwater dredging robot of the present invention comprises a high-pressure pump (not shown in the figure), a frame body 4, a driving wheel 3, a centrifugal sewage suction pump 2 and a jet suction cup mechanism.

[0023] The frame body 4 provides support and is respectively connected to the driving wheel 3 and the jet suction cup mechanism, and an existing underwater operation robot frame can be used.

[0024] The driving wheel 3, on the one hand, drives the frame body 4 forward, and on the other hand, stirs the sludge to facilitate suction and dredging. Specifically, the driving wheel 3 includes a roller and a spiral rib, and the spiral rib rotates clockwise or counterclockwise and is attached to the roller body, and the roller is hinged to the frame body 4. The spiral rib can prevent the driving wheel 3 from sinking into the sludge, and on the other hand, it can stir and disperse the sludge to facilitate suction. Specifically, the driving wheel 3 is provided with four spiral ribs, and the spiral ribs of the driving wheels 3 on the opposite sides rotate in opposite directions, and the spiral ribs of the two driving wheels 3 on the same side rotate in the same direction, and the two driving wheels on the left and right sides are driven by a motor with a sprocket transmission mechanism respectively.

[0025] like Figure 2 As shown, the jet suction cup mechanism includes a suction cup body 11 , a nozzle 12 , a first connecting rod 16 , a second connecting rod 17 , a hydraulic cylinder 15 and a third connecting rod 18 .

[0026] Among them, Figure 3 The end surface of the suction cup body 11 is provided with a slurry suction cavity 13, which is connected to the centrifugal suction sewage pump 2. The centrifugal suction sewage pump 2 provides a vacuum suction effect, and the sludge is sucked through the slurry suction cavity 13 and transmitted through the sewage pipe.

[0027] The nozzle 12 is arranged on the end face of the suction cup body 11 and is connected to the high-pressure pump. The high-pressure pump absorbs water from the surroundings and sprays it out through the nozzle 12, forming a high-pressure water curtain around the high-pressure water chamber 14 and forming a negative pressure zone of equal cross section at the high-pressure water chamber 14. The high-speed jet cuts and disturbs the sludge, and the mud concentration is greatly increased. At the same time, the parallel water curtain formed by the high-speed jet forms a negative pressure zone of equal cross section, which ensures the suction effect of the slurry suction chamber 13. Specifically, a plurality of high-pressure water chambers 14 are evenly arranged around the slurry suction chamber 13 on the end face of the suction cup body 11, and the nozzle 12 is arranged on the end face of the suction cup body 11 and is connected to the high-pressure water chamber 14. Specifically, the cross section of the slurry suction chamber 13 is square or circular, and the longitudinal section is trapezoidal. Of course, the shape of the slurry suction chamber 13 can also adopt other well-known structures in the art.

[0028] In order to facilitate the adjustment of the suction cup body 11 so that it can face the silt at different heights. The first connecting rod 16 and the second connecting rod 17 are arranged parallel to each other and the two ends are hinged to the frame body 4 and the suction cup body 11 respectively. Specifically, there are two first connecting rods 16, and the hinge points of the two first connecting rods 16 and the suction cup body 11 and the hinge points of the second connecting rod 17 and the suction cup body 11 form an isosceles triangle, so that the positioning of the suction cup body 11 is more stable. As a driving part, it also includes a hydraulic cylinder 15 and a third connecting rod 18, and the two ends of the third connecting rod 18 are hinged to the two first connecting rods 16 respectively, and the two ends of the hydraulic cylinder 15 are hinged to the third connecting rod 18 and the frame body 4 respectively.

[0029] The underwater dredging robot of the present invention can adapt to various silt conditions, can improve the mud suction concentration, has high dredging efficiency, and can adapt to dredging work in different rivers or lakes; in addition, it can operate deep in the water with low noise and does not affect the navigation of the waterway.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater dredging robot, comprising a high-pressure pump, a frame body (4), a driving wheel (3), a centrifugal sewage suction pump (2) and a jet suction cup mechanism, wherein the frame body (4) is respectively connected to the driving wheel (3) and the jet suction cup mechanism, and is characterized in that: The jet suction cup mechanism comprises a suction cup body (11), a nozzle (12), a first connecting rod (16), a second connecting rod (17), a hydraulic cylinder (15) and a third connecting rod (18); the end surface of the suction cup body (11) is provided with a slurry suction cavity (13); the cross section of the slurry suction cavity (13) is square or circular, and the longitudinal section is trapezoidal; the slurry suction cavity (13) is connected to a centrifugal sewage suction pump (2); the nozzle (12) is arranged on the end surface of the suction cup body (11) and is connected to a high-pressure pump; the first connecting rod (16) is provided Two first connecting rods (16) are provided, and the hinge points of the two first connecting rods (16) and the suction cup body (11) and the hinge points of the second connecting rod (17) and the suction cup body (11) form an isosceles triangle; the first connecting rod (16) and the second connecting rod (17) are arranged parallel to each other and the two ends are respectively hinged to the frame body (4) and the suction cup body (11); the two ends of the third connecting rod (18) are respectively hinged to the two first connecting rods (16); and the two ends of the hydraulic cylinder (15) are respectively hinged to the third connecting rod (18) and the frame body (4); A plurality of high-pressure water chambers (14) are evenly arranged on the end surface of the suction cup body (11) surrounding the slurry suction chamber (13); a nozzle (12) is arranged on the end surface of the suction cup body (11) and connected to the high-pressure water chamber (14); the high-pressure pump absorbs water from the surroundings and sprays it through the nozzle (12), forming a high-pressure water curtain around the high-pressure water chamber (14) and forming a negative pressure zone with a uniform cross section at the high-pressure water chamber (14); The driving wheel (3) comprises a roller and spiral ribs, the spiral ribs being attached to the roller body in a clockwise or counterclockwise rotation manner, and the roller is hingedly connected to the frame body (4); four driving wheels (3) are provided, two of which are front wheels and the other two are rear wheels, the spiral ribs of the driving wheels (3) on opposite sides rotate in opposite directions, and the spiral ribs of the two driving wheels (3) on the same side rotate in the same direction.

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