A dredging pretreatment device and a dredging robot

Abstract

The present application provides a dredging pretreatment device and a dredging robot, including a collection structure and a power structure; the collection structure includes a support frame and a plurality of shovel claws; the power structure includes a claw driving hydraulic cylinder, a claw connecting mechanism, a pair of arm driving hydraulic cylinders and a pair of movable arms; the claw driving hydraulic cylinder is installed on the dredging robot, and the pair of arm driving hydraulic cylinders are symmetrically installed on the dredging robot on both sides of the corresponding claw driving hydraulic cylinders; the piston ends of the pair of arm driving hydraulic cylinders are respectively hingedly connected to the middle of a pair of movable arms, one end of the pair of movable arms is respectively hingedly connected to the dredging robot, and the other end is respectively hingedly connected to the bottom of the support frame; the piston end of the claw driving hydraulic cylinder is hingedly connected to one end of the claw connecting mechanism, and the other end of the claw connecting mechanism is hingedly connected to the top of the support frame. The beneficial effects of the present application are: the collection structure is driven to move and rotate by the power structure, and the height and angle of the collection structure are adjusted to achieve the screening and collection of large foreign objects in the water.

Description

Technical Field

[0001] The present disclosure relates to the technical field of dredging robots, and in particular to a dredging pretreatment device and a dredging robot. Background Art

[0002] The dredging and pollution removal of rivers and ponds is related to the physical and mental health of urban residents and urban and rural environmental protection. The traditional dredging methods in my country are mostly "sea of ​​people" construction with shovels, cars and pumps. Although some mechanized operations are also used, the whole process from excavation, transportation to loading and transportation is far from being a systematic mechanized system. Therefore, not only is the dredging efficiency low and the labor intensity is high, but the poor working environment also greatly affects the health of construction workers. Especially in the past two decades, with the continuous acceleration of my country's industrialization process and the rapid development of the economy, the siltation, blockage and pollution of rivers have become more and more serious. The country's policies and efforts on pollution control and environmental protection have been continuously strengthened, and the people's requirements and awareness of environmental protection have become stronger and stronger. Under this realistic situation, society urgently needs a modern and efficient dredging equipment.

[0003] When the underwater dredging robot is dredging underwater, there are often domestic garbage and large stones in the underwater environment. These domestic garbage and large stones may block the suction grid or pump port of the dredging robot, resulting in low dredging efficiency or even stopping. Therefore, the dredging robot needs to perform pretreatment before normal dredging to remove domestic garbage and large stones in the underwater environment, so as to facilitate normal dredging work. Summary of the invention

[0004] The purpose of this application is to provide a dredging pretreatment device and a dredging robot to address the above problems.

[0005] In the first aspect, the present application provides a dredging pretreatment device, including a collecting structure and a power structure for driving the collecting structure; the collecting structure includes a supporting frame and a plurality of L-shaped shovel claws arranged on the supporting frame, and each of the shovel claws is fixed in parallel on the supporting frame; the power structure includes a claw driving hydraulic cylinder, a claw connecting mechanism, a pair of arm driving hydraulic cylinders and a pair of movable arms arranged corresponding to the pair of arm driving hydraulic cylinders; the claw driving hydraulic cylinder is installed on a dredging robot corresponding to the middle of the supporting frame, and a pair of arm driving hydraulic cylinders are symmetrically installed on the dredging robots corresponding to the two sides of the claw driving hydraulic cylinders; the piston ends of the pair of arm driving hydraulic cylinders are respectively hingedly connected to the middle of a pair of movable arms, one end of the pair of movable arms is respectively hingedly connected to the dredging robot, and the other end is respectively hingedly connected to the bottom of the supporting frame; the piston end of the claw driving hydraulic cylinder is hingedly connected to one end of the claw connecting mechanism, and the other end of the claw connecting mechanism is hingedly connected to the top of the supporting frame.

[0006] According to the technical solution provided in the embodiment of the present application, the support frame includes a pair of side plates, a plurality of cross bars and a plurality of vertical bars; the shovel claw includes a horizontal portion and an inclined portion which is at an acute angle to the horizontal portion, each of the cross bars includes at least one first cross bar and at least two second cross bars, at least one first cross bar is vertically connected to each of the horizontal portions, at least two second cross bars are vertically connected to each of the inclined portions, and each of the second cross bars is arranged parallel to each other; each of the vertical bars is arranged parallel to each other, and each of the vertical bars is vertically connected to the second cross bar; a pair of side plates are respectively connected to the two ends of each of the cross bars.

[0007] According to the technical solution provided in the embodiment of the present application, the claw mechanism includes a first connecting rod and a second connecting rod that are hingedly connected, and one end of the first connecting rod away from the second connecting rod is hingedly connected to the piston end of the claw driving hydraulic cylinder, and one end of the second connecting rod away from the first connecting rod is hingedly connected to the top of the support frame.

[0008] According to the technical solution provided in the embodiment of the present application, an inclined surface with a set inclination angle is provided at one end of the horizontal portion away from the inclined portion.

[0009] According to the technical solution provided in the embodiment of the present application, the set tilt angle is preferably set to 45°.

[0010] According to the technical solution provided in the embodiment of the present application, each of the vertical rods is respectively arranged between each of the inclined portions and is parallel to the inclined portions.

[0011] According to the technical solution provided in the embodiment of the present application, a plurality of elastic limiting structures are arranged on the working surface of the shovel claw, and a first groove is arranged on the surface of the shovel claw corresponding to each of the elastic limiting structures. The elastic limiting structure includes a spring and an external protrusion. One end of the spring is connected to the bottom of the first groove, and the other end is connected to the external protrusion. The external protrusion is elastically clamped in the first groove.

[0012] According to the technical solution provided in the embodiment of the present application, the horizontal part includes a fixed claw and a movable claw, the end of the fixed claw away from the movable claw is connected to the inclined part, and a cavity is provided at the end of the movable claw corresponding to the fixed claw away from the inclined part, and the fixed claw is detachably mounted in the cavity; a first threaded hole is provided on the side of the movable claw close to the fixed claw, and a long through hole groove is provided on the fixed claw corresponding to the first threaded hole, and bolts passing through the first threaded hole and the through hole groove in sequence fix the movable claw to the fixed claw.

[0013] According to the technical solution provided in the embodiment of the present application, a pair of downwardly inclined wing plates are arranged on both sides of the horizontal portion, and a side of the wing plate away from the horizontal portion is fixedly connected to the first cross bar.

[0014] In a second aspect, the present application provides a dredging robot.

[0015] Beneficial effects of the invention: The present application provides a technical solution for setting up a dredging pretreatment device on a dredging robot, which can pre-treat the dredging environment before dredging officially begins to screen out larger stones or garbage, so that these large-sized foreign objects will not cause blockage to the dredging grid or pump port during subsequent dredging work, thereby affecting normal dredging.

[0016] The pre-treatment device of the present technical solution is a movable arm and a claw mechanism respectively connected to the bottom and top of the support frame of the collection structure, and the inclination angle and the height position of the collection structure are adjusted by the extension and contraction of the arm driving hydraulic cylinder and the claw driving hydraulic cylinder, thereby realizing the collection of stones or garbage in the underwater environment by the collection structure and the transfer and dumping of the collected stones or garbage.

[0017] The auger device of the underwater dredging robot is replaced with a pre-treatment device. Before dredging, the dredging robot with the pre-treatment device is placed in the underwater environment. The robot is controlled to move the collecting structure in the area where dredging is required. The purpose is to clean out the garbage and stones in the silt through the supporting frame and the shovel claws, which can also loosen the silt. Then the garbage on the collecting structure is lifted to the ground or above the car, and the garbage on the collecting structure is dumped by flipping the collecting structure. After this pre-treatment process, only silt and some smaller garbage and stones are left in the underwater environment. These garbage and stones can be removed in the later dredging process, thereby creating convenient conditions for subsequent dredging work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a side structural schematic diagram of the first embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of a top view of the structure of the first embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the side view structure of the shovel claw in the first embodiment of the present application;

[0021] Figure 4 This is a front view structural diagram of the collecting structure in the first embodiment of the present application;

[0022] Figure 5 for Figure 3 A schematic diagram of the side view of the structure with a limited position structure in the middle belt;

[0023] Figure 6 for Figure 5 A schematic diagram of a local structure viewed from above;

[0024] Figure 7This is a schematic diagram of the top view of the horizontal portion of the shovel claw of the first embodiment of the present application;

[0025] The text labels in the figure are as follows: 100, supporting frame; 200, shovel claw; 210, horizontal part; 211, fixed claw; 212, movable claw; 213, through-hole groove; 214, bolt; 215, wing plate; 220, inclined part; 300, claw driving hydraulic cylinder; 400, arm driving hydraulic cylinder; 410, external protrusion; 420, spring; 500, movable arm; 600, claw connecting mechanism; 710, first cross bar; 720, second cross bar; 730, vertical bar. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present application is described in detail below in conjunction with the accompanying drawings. The description in this section is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present application.

[0027] like Figure 1 The schematic diagram of the first embodiment of the present application is shown, which includes a collection structure and a power structure driving the collection structure; the collection structure includes a support frame 100 and a plurality of L-shaped shovel claws 200 arranged on the support frame 100, and each of the shovel claws 200 is fixed in parallel to the support frame 100. In this embodiment, the power structure drives the collection structure to move and rotate, and the collection structure screens and collects large rocks or garbage in the underwater environment. After the collection structure collects the large rocks or garbage, the power structure drives the collection structure to move and rotate, and dumps the large rocks or garbage into a designated vehicle or location for garbage collection, thereby providing services for the subsequent normal dredging by the dredging robot.

[0028] The power structure includes a claw driving hydraulic cylinder 300, a claw connecting mechanism 600, a pair of arm driving hydraulic cylinders 400, and a pair of movable arms 500 corresponding to the pair of arm driving hydraulic cylinders 400; the claw driving hydraulic cylinder 300 is installed on the dredging robot corresponding to the middle of the support frame 100, and the pair of arm driving hydraulic cylinders 400 are symmetrically installed on the dredging robots corresponding to the two sides of the claw driving hydraulic cylinder 300; the piston ends of the pair of arm driving hydraulic cylinders 400 are respectively hingedly connected to the middle of the pair of movable arms 500, one end of the pair of movable arms 500 is respectively hingedly connected to the dredging robot, and the other end is respectively hingedly connected to the bottom of the support frame 100; the piston end of the claw driving hydraulic cylinder 300 is hingedly connected to one end of the claw connecting mechanism 600, and the other end of the claw connecting mechanism 600 is hingedly connected to the top of the support frame 100. Preferably, each of the vertical rods 730 is respectively arranged between each of the inclined portions 220 and parallel to the inclined portions 220.

[0029] In this embodiment, the claw driving hydraulic cylinder 300 is connected to the middle of the collection structure through the claw connecting mechanism 600, and a pair of arm driving hydraulic cylinders 400 are symmetrically connected to both sides of the collection structure through the movable arm 500, which can ensure the stability of the power structure driving the collection structure to move, thereby ensuring that the collection structure can normally collect and transport large stones or garbage. In this embodiment, in order to enable the power structure to effectively control the rotation of the collection structure, the claw driving hydraulic cylinder 300 is connected to the top of the collection structure through a connecting rod mechanism, and a pair of arm driving hydraulic cylinders 400 are symmetrically connected to the bottom of the collection structure through the movable arm 500, thereby realizing the adjustment of the angle of the collection structure in the air and underwater environment. When performing dredging pretreatment, the shovel claw 200 is lowered to a distance of about 5 cm from the ground, and the angle of the shovel claw 200 is adjusted so that the bottom surface is parallel to the ground of the canal. When the dredging robot has completed a journey in the area that needs dredging, the shovel claw 200 is already carrying some garbage and stones. The collecting structure is lifted to the ground or above the carriage by the arm driving hydraulic cylinder 400 and the claw driving hydraulic cylinder 300. The angle of the collecting structure is adjusted by controlling the extension and retraction of the arm driving hydraulic cylinder 400 and the claw driving hydraulic cylinder 300, thereby dumping the garbage in the collecting structure and completing the dredging pretreatment process.

[0030] In this embodiment, the boom 500 and the claw mechanism 600 are respectively connected to the bottom and top of the support frame 100 of the collection structure, and the inclination angle and height position of the collection structure can be adjusted by the arm hydraulic cylinder 400 and the claw hydraulic cylinder 300. The auger device of the underwater dredging robot is replaced with a pre-treatment device. Before dredging, the dredging robot with the pre-treatment device is placed in the underwater environment, and the robot is controlled to move the collection structure in the area where dredging is required. The purpose is to clean out the garbage and stones in the sludge through the support frame 100 and the shovel claw 200, and at the same time, it can also have the effect of loosening the sludge. Then, the garbage on the collection structure is lifted to the ground or above the carriage, and the garbage on the collection structure is dumped by flipping the collection structure. After this pre-treatment process, only sludge and some smaller garbage and stones are left in the underwater environment, and these garbage and stones can be removed in the later dredging process. Therefore, this dredging pre-treatment process creates convenient conditions for subsequent dredging work.

[0031] In a preferred embodiment, the claw mechanism 600 includes a first connecting rod and a second connecting rod that are hingedly connected, wherein one end of the first connecting rod away from the second connecting rod is hingedly connected to the piston end of the claw driving hydraulic cylinder 300, and one end of the second connecting rod away from the first connecting rod is hingedly connected to the top of the support frame 100. In this preferred embodiment, the claw driving hydraulic cylinder 300 can more flexibly adjust the collection structure, that is, adjust the angle of the support frame 100, through the first connecting rod and the second connecting rod that are hingedly connected to each other, so as to facilitate shoveling or unloading of large stones or domestic garbage.

[0032] In a preferred embodiment, the support frame 100 includes a pair of side plates, a plurality of cross bars and a plurality of vertical bars 730; the shovel claw 200 includes a horizontal portion 210 and an inclined portion 220 that is at an acute angle to the horizontal portion 210, each of the cross bars includes at least one first cross bar 710 and at least two second cross bars 720, at least one first cross bar 710 is vertically connected to each of the horizontal portions 210, at least two second cross bars 720 are vertically connected to each of the inclined portions 220, and each of the second cross bars 720 is arranged parallel to each other; each of the vertical bars 730 is arranged parallel to each other, and each of the vertical bars 730 is vertically connected to the second cross bar 720; a pair of side plates are respectively connected to the two ends of each of the cross bars.

[0033] In this preferred embodiment, a pair of side plates are arranged on both sides of the shovel claw 200 to provide support and position limiting for the shovel claw 200, a first cross bar 710 is vertically connected to the bottom of the horizontal portion 210 of the shovel claw 200 to provide support for the shovel claw 200, and a second cross bar 720 is vertically connected to the side of the inclined portion 220 of the shovel claw 200 to also provide a stable support for the shovel claw 200, so the support frame 100 mainly provides a stable support for the shovel claw 200, thereby ensuring the normal operation of the shovel claw 200. In this preferred embodiment, a plurality of vertical bars 730 perpendicular to the second cross bar 720 are arranged, which can stabilize the structure of the support frame 100 on the one hand, and can provide a loose silt between the shovel claws 200 on the other hand, so as to effectively screen large rocks and garbage.

[0034] In a preferred embodiment, an inclined surface with a set inclination angle is provided at one end of the horizontal portion 210 away from the inclined portion 220. Preferably, the set inclination angle is preferably set to 45°. The working front end of the horizontal portion 210 is set as an inclined surface structure, which is convenient for shoveling garbage and loosening silt in the sludge.

[0035] In a preferred embodiment, a plurality of elastic limiting structures are arranged on the working surface of the shovel claw 200, and a first groove is arranged on the surface of the shovel claw 200 corresponding to each of the elastic limiting structures. The elastic limiting structure includes a spring 420 and an external protrusion 410. One end of the spring 420 is connected to the bottom of the first groove, and the other end is connected to the external protrusion 410. The external protrusion 410 is elastically clamped in the first groove.

[0036] In this preferred embodiment, a limiting structure with an external protrusion 410 is provided on the shovel claw 200 to increase the friction force when the shovel claw 200 contacts large rocks or garbage. A plurality of elastically connected external protrusions 410 are provided on the shovel claw 200 to also facilitate the stability of large rocks or garbage on the collection structure during the transportation and movement of the collection structure, thereby preventing them from falling.

[0037] In a preferred embodiment, a pair of downwardly inclined wing plates 215 are provided on both sides of the horizontal portion 210, and the side of the wing plates 215 away from the horizontal portion 210 is fixedly connected to the first cross bar 710. Providing the wing plates 215 on the horizontal portion 210 of the shovel claw 200 can increase the contact area between the horizontal portion 210 and the silt when working in the water, thereby optimizing the effect of loosening the silt.

[0038] In a preferred embodiment, the horizontal portion 210 includes a fixed claw 211 and a movable claw 212, and the end of the fixed claw 211 away from the movable claw 212 is connected to the inclined portion 220, and a cavity is set at the end of the movable claw 212 corresponding to the fixed claw 211 away from the inclined portion 220, and the fixed claw 211 is detachably mounted in the cavity; a first threaded hole is set on the side of the movable claw 212 close to the fixed claw 211, and a long through hole groove 213 is set on the fixed claw 211 corresponding to the first threaded hole, and a bolt 214 passes through the first threaded hole and the through hole groove 213 in sequence to fix the movable claw 212 to the fixed claw 211.

[0039] In this preferred embodiment, the horizontal portion 210 is configured as a fixed claw 211 and a movable claw 212, and the length of the movable claw 212 extending out of the fixed claw 211 can be adjusted by a bolt 214, thereby achieving the purpose of adjusting the length of the horizontal portion 210. Different lengths of the horizontal portion 210 can be adjusted according to specific silt conditions, thereby increasing the flexibility of using the shovel claw 200.

[0040] like Figure 1-2 The second embodiment of the present application is shown. Before the dredging robot starts the formal dredging work, the pretreatment device of the first embodiment is installed at the working front end of the dredging robot to collect and transfer large rocks and domestic garbage in the underwater environment, thereby providing a guarantee for the smooth progress of the subsequent dredging work. When the formal dredging work is carried out, the pretreatment device is removed and the auger cover is installed to carry out normal dredging work.

[0041] This article uses specific examples to illustrate the principles and implementation methods of this application. The above examples are only used to help understand the methods and core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concepts and technical solutions of the application to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A dredging pretreatment device, characterized in that: It includes a collecting structure and a power structure for driving the collecting structure; The collecting structure includes a supporting frame and a plurality of L-shaped shovel claws arranged on the supporting frame, and each of the shovel claws is fixed in parallel to the supporting frame; the power structure includes a claw driving hydraulic cylinder, a claw connecting mechanism, a pair of arm driving hydraulic cylinders, and a pair of movable arms arranged corresponding to the pair of arm driving hydraulic cylinders; The driving claw hydraulic cylinder is installed on the dredging robot corresponding to the middle part of the supporting frame, and a pair of driving arm hydraulic cylinders are symmetrically installed on the dredging robots corresponding to both sides of the driving claw hydraulic cylinders; The piston ends of the pair of arm driving hydraulic cylinders are respectively hingedly connected to the middle parts of the pair of movable arms, one end of the pair of movable arms is respectively hingedly connected to the dredging robot, and the other end is respectively hingedly connected to the bottom of the supporting frame; The piston end of the claw driving hydraulic cylinder is hingedly connected to one end of the claw connecting mechanism, and the other end of the claw connecting mechanism is hingedly connected to the top of the supporting frame; The desilting pretreatment device can remove garbage and stones in the silt through the support frame and the shovel claws, and can also loosen the silt; The support frame includes a pair of side plates, a plurality of cross bars and a plurality of vertical bars; The shovel claw comprises a horizontal portion and an inclined portion which is at an acute angle to the horizontal portion, each of the cross bars comprises at least one first cross bar and at least two second cross bars, at least one first cross bar is vertically connected to each of the horizontal portions, at least two second cross bars are vertically connected to each of the inclined portions, and each of the second cross bars is arranged parallel to each other; each of the vertical bars is arranged parallel to each other, and each of the vertical bars is vertically connected to the second cross bar; a pair of side plates are respectively connected to both ends of each of the cross bars; A plurality of elastic limiting structures are arranged on the working surface of the shovel claw, and first grooves are arranged on the surface of the shovel claw corresponding to each of the elastic limiting structures, and the elastic limiting structures include a spring and an external protrusion, one end of the spring is connected to the groove bottom of the first groove, and the other end is connected to the external protrusion, and the external protrusion is elastically clamped in the first groove; The horizontal portion includes a fixed claw and a movable claw, wherein one end of the fixed claw away from the movable claw is connected to the inclined portion, a cavity is provided at the end of the movable claw corresponding to the fixed claw away from the inclined portion, and the fixed claw is detachably mounted in the cavity; a first threaded hole is provided on one side of the movable claw close to the fixed claw, and a long through hole groove is provided on the fixed claw corresponding to the first threaded hole, and bolts passing through the first threaded hole and the through hole groove in sequence fix the movable claw to the fixed claw.

2. The desilting pretreatment device according to claim 1, characterized in that: The claw mechanism includes a first connecting rod and a second connecting rod that are hingedly connected. One end of the first connecting rod away from the second connecting rod is hingedly connected to the piston end of the claw driving hydraulic cylinder, and one end of the second connecting rod away from the first connecting rod is hingedly connected to the top of the support frame.

3. The desilting pretreatment device according to claim 1, characterized in that: An inclined surface with a set inclination angle is arranged at one end of the horizontal portion away from the inclined portion.

4. The desilting pretreatment device according to claim 3, characterized in that: The set tilt angle is set to 45°.

5. The desilting pretreatment device according to claim 1, characterized in that: Each of the vertical rods is respectively arranged between each of the inclined portions and is parallel to the inclined portions.

6. The desilting pretreatment device according to claim 1, characterized in that: A pair of downwardly inclined wing plates are arranged on both sides of the horizontal portion, and a side of the wing plate away from the horizontal portion is fixedly connected to the first cross bar.

7. A dredging robot comprising the dredging pretreatment device according to any one of claims 1 to 6.

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