Constant Tension Wire Rewinding Device and Robot

Abstract

The present invention relates to the field of sludge treatment equipment, specifically to a constant-tension wire winding device and a robot. A constant-tension wire winding device includes a wire winding bracket, a wire winding cylinder, a wire winding shaft, bearings, a magnetic powder clutch, a driven sprocket, a wire winding motor, a driving sprocket, a chain and a cable. A wire pressing mechanism is provided on the wire winding bracket. The wire pressing mechanism includes a wire pressing support rod, a wire pressing side plate, an ear seat, a wire guiding roller, a spring, a connecting seat, a bearing and a wire guiding shaft. A robot includes a frame, on which a control system, a shoveling mechanism and a traveling mechanism are provided. The above-mentioned constant-tension wire winding device is provided on the frame. The cable bypasses the wire winding cylinder, and both ends of the cable are connected to the control system and an underwater control box. A garbage basket lifting mechanism is provided on the frame. The garbage basket lifting mechanism includes a garbage basket and a hydraulic lifting platform. The garbage basket is detachably connected to the hydraulic lifting platform. When the present invention winds and unwinds the cable, the force on the cable is constant, and the speed of clearing underwater garbage is fast and the efficiency is high.

Description

Technical Field

[0001] The present invention relates to the field of sludge treatment equipment, and particularly refers to a constant-tension wire winding device and a robot. Background Art

[0002] At present, the dredging technology, methods and capabilities of underground culvert pipe networks are relatively backward. It is mainly manual operation, with low dredging efficiency. Manual dredging cannot guarantee safety and is prone to casualty incidents. Chinese Patent CN110670710A discloses a dredging device and a dredging method. The dredging device includes: a device body; a traveling mechanism provided at the bottom of the device body for driving the device body to move; a shoveling and digging mechanism provided at the front of the device body for shoveling and digging sludge; a screening and output mechanism provided on the device body for receiving the sludge shoveled and dug by the shoveling and digging mechanism, screening and processing the sludge and then outputting it. The screening and output mechanism includes: a sieve, arranged adjacent to the shoveling and digging mechanism; a fluid pumping component provided below the sieve for receiving the fluid substances screened by the sieve and pumping the fluid substances outwards; a solid storage component adjacent to the sieve for receiving and storing the solid substances screened by the sieve. The fluid pumping component includes a fluid receiving hopper, a fluid output pump and a material output pipeline. The suction end of the fluid output pump is connected to the fluid receiving hopper, and the pump-out end of the fluid output pump is connected to the material output pipeline. The screening and output mechanism also includes a mud pump-out component provided on the device body for sucking in flowing mud and pumping it outwards. It also includes a pipe coiling component provided on the device body for coiling or releasing the pipeline on the device body when the device body is traveling. The pipe coiling component includes a pipe coiler and a pipeline guiding assembly provided on the pipe coiler. The pipeline guiding assembly includes: a rotating bracket provided on the pipe coiler, and an outlet is provided on the rotating bracket for leading out the pipeline on the pipe coiler; a driving component connected to the rotating bracket for driving the rotating bracket so that the outlet rotates circumferentially around the pipe coiler. The pipeline guiding assembly also includes a pipe arranging component provided at the outlet. The pipe arranging component can reciprocally translate between one end face and the other end face of the pipe coiler to orderly arrange the pipeline on the circumferential surface of the pipe coiler. The pipe arranging component includes: a lead screw arranged along the axial direction of the pipe coiler and capable of rotating around its own axis under the drive of a drive unit; a slider helically and cooperatively installed on the lead screw; and a guiding unit fixed on the slider for guiding the pipeline led out from the pipe coiler. The deficiencies of the above patent are as follows: First, in the prior art or the above patent, for the winding and unwinding of the cable, the forces exerted by the operator and the cable reel on the cable are not constant. In the above patent, the pipeline is wound or released through the pipe coiling component. Generally, the operator winds and unwinds the pipeline on the shore or on the ship. When winding the line, when the force exerted by the operator to wind the line is greater than the rotational speed of the motor-driven cable reel, it may cause excessive stretching of the pipeline or cable. When the force exerted by the operator to wind the line is less than the rotational speed of the motor-driven cable reel, it may cause the motor to run idly;When paying out the cable, if the operator's pulling force is greater than the rotational speed of the motor driving the cable reel, it may cause the motor to rotate idly. If the operator's pulling force is less than the rotational speed of the motor driving the cable reel, it may cause excessive stretching of the pipeline or cable 37. Especially when the dredging equipment cannot be clearly seen underwater, the operator does not know whether the cable has been paid out completely, and the motor is still driving the cable reel to rotate, which may cause the motor to operate at over-power and reduce the service life of the motor. Second, in the above-mentioned patent, a screening and output mechanism is provided to receive the sludge shoveled by the shoveling mechanism, screen and process the sludge and then output it. The screening and output mechanism includes: a sieve, a fluid pumping component, and a solid storage component. The sieve screens the sludge. Among them, the coarse solid substances are screened out and directly enter the solid storage component for storage. The fluid substances obtained by screening are pumped outwards by the fluid pumping component, so that the dredging equipment can continuously and quickly screen the sludge and output it in time. It can be seen from the above that the screening and output mechanism has a complex structure, cumbersome operation, and is time-consuming and laborious. Because the capacity of the sieve is fixed, if a certain component in the screening and output mechanism works slowly or malfunctions, then if the subsequent sludge directly enters the sieve, it is very easy to block the sieve and reduce the dredging efficiency. Third, the pipeline guiding component of the coiling component in the above-mentioned patent has a complex structure and high use cost. Fourth, the shoveling bucket used in the shoveling mechanism in the above-mentioned patent may not be able to shovel at one time in places where there is a large amount or high accumulation of sludge. It is necessary to adjust the position of the shoveling bucket to find a suitable place to shovel. In addition, the sludge may stick together, and the bucket may fall during the lifting process if it is not shoveled completely at one time, which requires shoveling again, greatly reducing the dredging efficiency. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the prior art and provide a constant-tension cable coiling device and a robot that can ensure a constant force on the cable during cable retraction and payout, protect the cable and the motor from damage, and quickly and efficiently remove underwater garbage.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is:

[0005] A constant-tension wire-winding device, characterized in that it includes a wire-winding support, a wire-winding cylinder, a wire-winding shaft, bearings, a magnetic powder clutch, a driven sprocket, a wire-winding motor, a driving sprocket, a chain and a cable. A wire-winding cylinder is provided on the wire-winding support. A magnetic powder clutch is provided on one side of the wire-winding cylinder. The wire-winding cylinder is fixed on the wire-winding shaft. Both ends of the wire-winding shaft are fixedly connected to the wire-winding support through bearings. A driven sprocket is provided at one end of the wire-winding shaft. The input shaft of the magnetic powder clutch is driven by the wire-winding motor. A driving sprocket is fixedly provided on the output shaft of the magnetic powder clutch. The driving sprocket is linked to the driven sprocket through a chain. The magnetic powder clutch and the wire-winding motor are respectively fixed on the wire-winding support. The magnetic powder clutch and the wire-winding motor are respectively connected to a power source. The cable bypasses the wire-winding cylinder, and both ends of the cable extend out of the wire-winding cylinder to form free connection ends, so as to adjust the rotation speed of the wire-winding cylinder through the magnetic powder clutch, and further adjust the acting force on the cable, ensuring that the force on the cable is constant.

[0006] A wire-pressing mechanism is provided on the wire-winding support of the present invention. The wire-pressing mechanism includes a wire-pressing support rod, wire-pressing side plates, ear seats, wire guide rollers, springs, connecting seats, bearings and wire guide shafts. Side baffles are fixedly provided on both sides of the wire-winding support. Both ends of the wire-winding shaft of the wire-winding cylinder are fixedly connected to the side baffles through bearings. The wire-pressing support rod is arranged at an interval and in parallel with the wire-winding cylinder. Both ends of the wire-pressing support rod are fixedly connected to the side baffles on both sides of the wire-winding cylinder. Ear seats are fixedly provided on the wire-pressing support rod. Two wire-pressing side plates inclined towards the surface of the wire-winding cylinder are provided at intervals on the wire-pressing support rod. One end of the wire-pressing side plate is hinged to the side baffle or the wire-pressing support rod, and a wire guide roller is provided at the other end. A connecting seat is fixedly provided on the wire-pressing side plate. One end of the spring is connected to the connecting seat, and the other end is connected to the wire-pressing support rod or the ear seat. The wire guide roller is movably installed on the wire guide shaft. The wire guide shaft is placed between the two wire-pressing side plates, and both ends of the wire guide shaft are fixedly connected to the other ends of the two wire-pressing side plates. The surface of the wire guide roller abuts against the cable on the wire-winding cylinder, so as to press the cable through the wire guide roller. The spring can make the wire guide roller always press the cable during the winding and unwinding process of the cable, ensuring the orderly entry and exit of the cable.

[0007] A robot includes a frame. A control system, a shoveling and digging mechanism and a traveling mechanism are provided on the frame. The control system is connected to an underwater control box through a cable. It is characterized in that the above-mentioned constant-tension wire-winding device is provided on the frame. The constant-tension wire-winding device is fixed on the frame through a wire-winding support. The magnetic powder clutch and the wire-winding motor are respectively connected to the control system. One end of the free connection end of the cable is connected to the control system, and the other end is connected to the underwater control box, so as to sense the force of the operator winding and unwinding the cable through the magnetic powder clutch, adjust the rotation speed of the output shaft, and further adjust the rotation speed of the wire-winding cylinder, ensuring that the acting force of the operator on the cable is always constant, and further achieving the purpose of protecting the cable and the wire-winding motor.

[0008] The rack of the present invention is provided with a garbage basket lifting mechanism, which includes a garbage basket and a hydraulic lifting platform. A garbage basket is provided above the rack. A hydraulic lifting platform is provided between the garbage basket and the rack. The lower end of the hydraulic lifting platform is fixedly connected to the rack, and the upper end is fixedly connected to the garbage basket. The hydraulic cylinder of the hydraulic lifting platform is connected to the control system, so that when the garbage basket is full, it can be lifted to a certain height by the hydraulic lifting platform, and the staff can remove the garbage and then lower the garbage basket for continued use.

[0009] On the upper end surface of the hydraulic lifting platform of the present invention, positioning pins are provided at intervals, and perforations matching the positioning pins are provided on the garbage basket, so that when the garbage basket is full and lifted to a certain height by the hydraulic lifting platform, the garbage basket can be lifted off the hydraulic lifting platform by a crane. After the garbage in the garbage basket is emptied, the crane can lift the garbage basket back and snap it onto the hydraulic lifting platform.

[0010] The shoveling and digging mechanism of the present invention includes a shoveling and digging mounting seat, a connecting column, a shoveling and digging arm, a lifting hydraulic cylinder, a bucket mechanism and a bucket driving mechanism. Shoveling and digging mounting seats are fixedly provided on both sides of the rack respectively. A connecting column is provided above the rack. A shoveling and digging arm and a lifting hydraulic cylinder are provided on the shoveling and digging mounting seat. The lower end of the shoveling and digging arm is hinged to the shoveling and digging mounting seat. One end of the lifting hydraulic cylinder is hinged to the shoveling and digging mounting seat or the rack, and the other end is hinged to the shoveling and digging arm. The lifting hydraulic cylinder is connected to the control system. Both ends of the connecting column are fixedly connected to the upper ends of the shoveling and digging arms on both sides of the rack. At least one bucket driving mechanism is provided between the connecting column and the bucket mechanism. The connecting column is connected to the bucket mechanism through the bucket driving mechanism. The bucket mechanism includes a front bucket linkage shaft, a front bucket, a rear bucket linkage shaft and a rear bucket. The front bucket linkage shaft is fixedly connected to the front bucket, and the rear bucket linkage shaft is fixedly connected to the rear bucket. The front bucket and the rear bucket are opposite to each other and are driven by the bucket driving mechanism to close or open, so that the position of the bucket mechanism can be changed by driving the shoveling and digging arm through the lifting hydraulic cylinder, and the front bucket and the rear bucket can be driven by the bucket driving mechanism to separate and then close after grasping the sludge, with fast and stable grasping and high working efficiency.

[0011] The bucket driving mechanism of the present invention includes a bucket connecting seat, a front hydraulic cylinder, a rear hydraulic cylinder, a left hinge plate, a right hinge plate, a front ear seat and a rear ear seat. At least one bucket connecting seat is provided on the connecting column. The front hydraulic cylinder and the rear hydraulic cylinder are provided on the front and rear sides of the bucket connecting seat. The upper end of the bucket connecting seat is hinged to the connecting column, and the left hinge plate is fixedly provided on the left side of the lower end of the bucket connecting seat, and the right hinge plate is fixedly provided on the right side of the lower end of the bucket connecting seat. Linkage shaft perforations are respectively provided on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate. The front bucket linkage shaft passes through the linkage shaft perforations on the front sides of the left hinge plate and the right hinge plate and is connected to the left hinge plate and the right hinge plate through bearings. The rear bucket linkage shaft passes through the linkage shaft perforations on the rear sides of the left hinge plate and the right hinge plate and is connected to the left hinge plate and the right hinge plate through bearings. The upper end of the front hydraulic cylinder is hinged to the bucket connecting seat, and the lower end is hinged to one end of the front ear seat. The other end of the front ear seat is fixedly connected to the front bucket linkage shaft. The upper end of the rear hydraulic cylinder is hinged to the bucket connecting seat, and the lower end is hinged to one end of the rear ear seat. The other end of the rear ear seat is fixedly connected to the rear bucket linkage shaft. The front hydraulic cylinder and the rear hydraulic cylinder are respectively connected to the control system, so as to facilitate the simultaneous extension or retraction of the front hydraulic cylinder and the rear hydraulic cylinder, and the front bucket linkage shaft and the rear bucket linkage shaft drive the front bucket and the rear bucket to close or open, so as to grab sludge.

[0012] Adjusting plates are respectively provided on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate of the present invention. One end of the adjusting plate is hinged to the left hinge plate or the right hinge plate, and the other end is provided with a linkage shaft perforation. The front bucket linkage shaft passes through the linkage shaft perforations on the adjusting plates on the front sides of the left hinge plate and the right hinge plate and is connected to the adjusting plates through bearings. The rear bucket linkage shaft passes through the linkage shaft perforations on the adjusting plates on the rear sides of the left hinge plate and the right hinge plate and is connected to the adjusting plates through bearings, so as to facilitate further expanding the opening range of the separation between the front bucket and the rear bucket through the adjusting plates, and facilitating the grabbing of more and larger pieces of sludge.

[0013] An auxiliary bucket mechanism is provided at the front end of the frame of the present invention. The auxiliary bucket mechanism includes a bulldozing bucket, an auxiliary hydraulic cylinder and a connecting rod. The bulldozing bucket is provided in front of the frame. An auxiliary hydraulic cylinder is provided between the upper end of the bulldozing bucket and the frame, and a connecting rod is provided between the lower end of the bulldozing bucket and the frame. The auxiliary hydraulic cylinder is connected to the control system. One end of the auxiliary hydraulic cylinder is hinged to the bulldozing bucket, and the other end is hinged to the frame. One end of the connecting rod is hinged to the bulldozing bucket, and the other end is hinged to the frame, so as to facilitate starting the auxiliary hydraulic cylinder when the accumulation of silt is less, gathering the silt through the bulldozing bucket, and then grabbing the sludge through the bucket mechanism, thereby improving the operation efficiency.

[0014] On both sides of the frame of the present invention, anti-collision mechanisms are respectively provided. The anti-collision mechanism includes a guide wheel mounting seat, an anti-collision guide wheel, and a guide wheel shaft. The guide wheel mounting seats are provided at intervals on both sides of the frame 1. One side of the guide wheel mounting seat is fixedly connected to the frame, and the other side is provided with an anti-collision guide wheel. The anti-collision guide wheel is sleeved on the guide wheel shaft and is slidably connected to the guide wheel shaft. Both ends of the guide wheel shaft are fixedly connected to the guide wheel mounting seat, which is beneficial to preventing the robot from colliding with other objects during operation and causing damage to the robot.

[0015] On the frame of the present invention, a pan-tilt and an image acquisition device are provided. The lower end of the pan-tilt is fixedly connected to the frame, and the upper end is fixedly connected to the image acquisition device, which is beneficial to observing the surrounding environment through the image acquisition device and improving the operation ability of the robot.

[0016] Due to the adoption of the above structure, the present invention has the advantages of being able to ensure a constant force on the cable when winding and unwinding the cable, not damaging the cable and the motor, quickly removing underwater garbage, and high efficiency. Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of the constant-tension wire winding device in the present invention.

[0018] Figure 2 is in the present invention Figure 1 top view.

[0019] Figure 3 is in the present invention Figure 1 side cross-sectional view.

[0020] Figure 4 is a schematic structural diagram of the wire pressing mechanism in the present invention.

[0021] Figure 5 is a schematic structural diagram of the robot in the present invention.

[0022] Figure 6 is a schematic diagram showing that after the garbage basket is filled with silt during the use of the present invention, it is lifted by a hydraulic lifting platform and then lifted away by a crane.

[0023] Figure 7 is a partial schematic structural diagram of the shoveling and digging mechanism in the present invention.

[0024] Reference numerals: frame 1, shoveling mechanism 2, traveling mechanism 3, constant-tension wire winding device 4, wire winding bracket 5, wire winding drum 6, magnetic powder clutch 7, driven sprocket 8, wire winding motor 9, driving sprocket 10, chain 11, shoveling mounting seat 12, connecting column 13, shoveling arm 14, lifting hydraulic cylinder 15, bucket mechanism 16, bucket driving mechanism 17, front bucket linkage shaft 18, front bucket 19, rear bucket linkage shaft 20, rear bucket 21, bucket connecting seat 22, front hydraulic cylinder 23, rear hydraulic cylinder 24, right hinge plate 26, front ear seat 27, rear ear seat 28, wire pressing mechanism 29, wire pressing support rod 30, wire pressing side plate 31, ear seat 32, wire guide roller 33, spring 34, connecting seat 35, side baffle 36, cable 37, garbage basket lifting mechanism 42, garbage basket 43, hydraulic lifting platform 44, auxiliary bucket mechanism 45, bulldozing bucket 46, auxiliary hydraulic cylinder 47, anti-collision mechanism 48, guide wheel mounting seat 49, anti-collision guide wheel 50, adjusting plate 51, positioning pin 52, cloud platform 53, image acquisition device 54. Detailed implementation manners

[0025] The following combines the accompanying drawings to further describe in detail the specific implementation manners of the present invention.

[0026] A constant-tension wire winding device, characterized in that it includes a wire winding bracket 5, a wire winding drum 6, a wire winding shaft, bearings, a magnetic powder clutch 7, a driven sprocket 8, a wire winding motor 9, a driving sprocket 10, a chain 11 and a cable 37. The wire winding bracket 5 is provided with a wire winding drum 6. A magnetic powder clutch 7 is provided on one side of the wire winding drum 6. The wire winding drum 6 is fixed on the wire winding shaft. Both ends of the wire winding shaft are fixedly connected to the wire winding bracket 5 through bearings. A driven sprocket 8 is provided at one end of the wire winding shaft. The input shaft of the magnetic powder clutch 7 is driven by the wire winding motor 9. A driving sprocket 10 is fixedly provided on the output shaft of the magnetic powder clutch 7. The driving sprocket 10 is linked to the driven sprocket 8 through a chain 11. The magnetic powder clutch 7 and the wire winding motor 9 are respectively fixed on the wire winding bracket 5. The magnetic powder clutch 7 and the wire winding motor 9 are respectively connected to a power source. The cable 37 bypasses the wire winding drum 6, and both ends of the cable 37 extend out of the wire winding drum 6 to form free connection ends, so as to adjust the rotation speed of the wire winding drum through the magnetic powder clutch, and further adjust the force received by the cable to ensure that the force on the cable is constant.

[0027] The wire winding bracket 5 of the present invention is provided with a wire pressing mechanism 29. The wire pressing mechanism 29 includes a wire pressing support rod 30, wire pressing side plates 31, ear seats 32, wire guide rollers 33, springs 34, connecting seats 35, bearings and a wire shaft. Side baffles 36 are fixedly arranged on both sides of the wire winding bracket 5. Both ends of the winding shaft of the wire winding cylinder 6 are fixedly connected to the side baffles 36 through bearings. The wire pressing support rod 30 is arranged at an interval and in parallel with the wire winding cylinder 6. Both ends of the wire pressing support rod 30 are fixedly connected to the side baffles 36 on both sides of the wire winding cylinder 6. Ear seats 32 are fixedly arranged on the wire pressing support rod 30. Two wire pressing side plates 31 inclined towards the surface of the wire winding cylinder 6 are arranged at intervals on the wire pressing support rod 30. One end of each wire pressing side plate 31 is hinged to the side baffle 36 or the wire pressing support rod 30, and the other end is provided with a wire guide roller 33. A connecting seat 35 is fixedly arranged on the wire pressing side plate 31. One end of the spring 34 is connected to the connecting seat 35, and the other end is connected to the wire pressing support rod 30 or the ear seat 32. The wire guide roller 33 is movably installed on the wire shaft. The wire shaft is arranged between the two wire pressing side plates 31, and both ends of the wire shaft are fixedly connected to the other ends of the two wire pressing side plates 31. The surface of the wire guide roller 33 abuts against the cable 37 on the wire winding cylinder 6, so as to facilitate pressing the cable through the wire guide roller. The spring can make the wire guide roller always press the cable during the winding and unwinding process of the cable, ensuring the orderly entry and exit of the cable.

[0028] A robot includes a frame 1. The frame 1 is provided with a control system, a shoveling and digging mechanism 2 and a traveling mechanism 3. The control system is connected to an underwater control box through a cable 37. It is characterized in that: the frame 1 is provided with the constant tension wire winding device 4 described above. The constant tension wire winding device 4 is fixedly installed on the frame 1 through a wire winding bracket 5. The magnetic powder clutch 7 and the wire winding motor 9 are respectively connected to the control system. One end of the free connection end of the cable 37 is connected to the control system, and the other end is connected to the underwater control box, so as to facilitate sensing the force of the operator winding and unwinding the cable through the magnetic powder clutch, adjusting the rotation speed of the output shaft, and then adjusting the rotation speed of the wire winding cylinder, ensuring that the force exerted by the operator on the cable is always constant, and thus achieving the purpose of protecting the cable and the wire winding motor.

[0029] The frame 1 of the present invention is provided with a garbage basket lifting mechanism 42. The garbage basket lifting mechanism 42 includes a garbage basket 43 and a hydraulic lifting platform 44. A garbage basket 43 is arranged above the frame 1. A hydraulic lifting platform 44 is arranged between the garbage basket 43 and the frame 1. The lower end of the hydraulic lifting platform 44 is fixedly connected to the frame 1, and the upper end is fixedly connected to the garbage basket 43. The hydraulic cylinder of the hydraulic lifting platform 44 is connected to the control system, so as to facilitate lifting the garbage basket to a certain height by the hydraulic lifting platform when the garbage basket is full, allowing the staff to remove the garbage and then lowering the garbage basket for continued use.

[0030] At the upper end surface of the hydraulic lifting platform 44 according to the present invention, positioning pins 52 are provided at intervals. A perforation matching with the positioning pins 52 is provided on the garbage basket 43, so that after the garbage basket is filled, it can be lifted to a certain height by the hydraulic lifting platform, and then the garbage basket can be lifted off the hydraulic lifting platform by a crane. After the garbage in the garbage basket is emptied, the crane will lift the garbage basket back and snap it onto the hydraulic lifting platform.

[0031] The shoveling mechanism 2 according to the present invention includes a shoveling mounting seat 12, a connecting column 13, a shoveling arm 14, a lifting hydraulic cylinder 15, a bucket mechanism 16 and a bucket driving mechanism 17. Shoveling mounting seats 12 are respectively and fixedly provided on both sides of the frame 1. A connecting column 13 is provided above the frame 1. A shoveling arm 14 and a lifting hydraulic cylinder 15 are provided on the shoveling mounting seat 12. The lower end of the shoveling arm 14 is hinged to the shoveling mounting seat 12. One end of the lifting hydraulic cylinder 15 is hinged to the shoveling mounting seat 12 or the frame 1, and the other end is hinged to the shoveling arm 14. The lifting hydraulic cylinder 15 is connected to the control system. Both ends of the connecting column 13 are fixedly connected to the upper ends of the shoveling arms 14 on both sides of the frame 1. At least one bucket driving mechanism 17 is provided between the connecting column 13 and the bucket mechanism 16. The connecting column 13 is connected to the bucket mechanism 16 through the bucket driving mechanism 17. The bucket mechanism 16 includes a front bucket linkage shaft 18, a front bucket 19, a rear bucket linkage shaft 20 and a rear bucket 21. The front bucket linkage shaft 18 is fixedly connected to the front bucket 19, and the rear bucket linkage shaft 20 is fixedly connected to the rear bucket 21. The front bucket 19 and the rear bucket 21 are opposite to each other and are driven by the bucket driving mechanism 17 to close or open, so as to drive the shoveling arm to change the position of the bucket mechanism through the lifting hydraulic cylinder, and drive the front bucket and the rear bucket to separate and then close after grasping the sludge through the bucket driving mechanism. The grasping is fast, stable and has high working efficiency.

[0032] The bucket driving mechanism 17 of the present invention includes a bucket connecting seat 22, a front hydraulic cylinder 23, a rear hydraulic cylinder 24, a left hinge plate, a right hinge plate 26, a front ear seat 27 and a rear ear seat 28. At least one bucket connecting seat 22 is provided on the connecting column 13. The front and rear sides of the bucket connecting seat 22 are provided with a front hydraulic cylinder 23 and a rear hydraulic cylinder 24. The upper end of the bucket connecting seat 22 is hinged to the connecting column 13. The left side of the lower end of the bucket connecting seat 22 is fixedly provided with a left hinge plate, and the right side of the lower end of the bucket connecting seat 22 is fixedly provided with a right hinge plate 26. Linkage shaft perforations are respectively provided on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate 26. The front bucket linkage shaft 18 passes through the linkage shaft perforations on the front sides of the left hinge plate and the right hinge plate 26 and is connected to the left hinge plate and the right hinge plate 26 through bearings. The rear bucket linkage shaft 20 passes through the linkage shaft perforations on the rear sides of the left hinge plate and the right hinge plate 26 and is connected to the left hinge plate and the right hinge plate 26 through bearings. The upper end of the front hydraulic cylinder 23 is hinged to the bucket connecting seat 22, and the lower end is hinged to one end of the front ear seat 27. The other end of the front ear seat 27 is fixedly connected to the front bucket linkage shaft 18. The upper end of the rear hydraulic cylinder 24 is hinged to the bucket connecting seat 22, and the lower end is hinged to one end of the rear ear seat 28. The other end of the rear ear seat 28 is fixedly connected to the rear bucket linkage shaft 20. The front hydraulic cylinder 23 and the rear hydraulic cylinder 24 are respectively connected to the control system, so as to facilitate the simultaneous extension or retraction of the front hydraulic cylinder and the rear hydraulic cylinder, and the front bucket linkage shaft and the rear bucket linkage shaft drive the front bucket and the rear bucket to close or open, so as to grab sludge.

[0033] Adjusting plates 51 are respectively provided on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate 26 of the present invention. One end of the adjusting plate 51 is hinged to the left hinge plate or the right hinge plate 26, and the other end is provided with a linkage shaft perforation. The front bucket linkage shaft 18 passes through the linkage shaft perforations on the adjusting plates 51 on the front sides of the left hinge plate and the right hinge plate 26 and is connected to the adjusting plate 51 through bearings. The rear bucket linkage shaft 20 passes through the linkage shaft perforations on the adjusting plates 51 on the rear sides of the left hinge plate and the right hinge plate 26 and is connected to the adjusting plate 51 through bearings, so as to facilitate further expanding the opening range of the separation between the front bucket and the rear bucket through the adjusting plates, and facilitating the grabbing of more and larger pieces of sludge.

[0034] At the front end of the frame 1 of the present invention, there is an auxiliary bucket mechanism 45, which includes a bulldozing bucket 46, an auxiliary hydraulic cylinder 47 and a connecting rod. In front of the frame 1, there is a bulldozing bucket 46. An auxiliary hydraulic cylinder 47 is provided between the upper end of the bulldozing bucket 46 and the frame 1, and a connecting rod is provided between the lower end of the bulldozing bucket 46 and the frame 1. The auxiliary hydraulic cylinder 47 is connected to the control system. One end of the auxiliary hydraulic cylinder 47 is hinged to the bulldozing bucket 46, and the other end is hinged to the frame 1. One end of the connecting rod is hinged to the bulldozing bucket 46, and the other end is hinged to the frame 1, which is conducive to starting the auxiliary hydraulic cylinder when the silt accumulation is less, gathering the silt through the bulldozing bucket, and then grabbing the sludge through the bucket mechanism, so as to improve the operation efficiency.

[0035] On both sides of the frame 1 of the present invention, there are respectively anti-collision mechanisms 48, which include guide wheel mounting seats 49, anti-collision guide wheels 50 and guide wheel shafts. Guide wheel mounting seats 49 are provided at intervals on both sides of the frame 1. One side of the guide wheel mounting seat 49 is fixedly connected to the frame 1, and an anti-collision guide wheel 50 is provided on the other side. The anti-collision guide wheel 50 is sleeved on the guide wheel shaft and is slidably connected to the guide wheel shaft. Both ends of the guide wheel shaft are fixedly connected to the guide wheel mounting seat 49, which is conducive to preventing the robot from colliding with other objects during work and causing damage to the robot.

[0036] On the frame 1 of the present invention, there is a pan-tilt 53 and an image acquisition device 54. The lower end of the pan-tilt 53 is fixedly connected to the frame 1, and the upper end is fixedly connected to the image acquisition device 54, which is conducive to observing the surrounding environment through the image acquisition device and improving the operation ability of the robot.

[0037] As shown in the attached Figure 1 - attached Figure 3 , it is a constant-tension wire winding device. The motor controls the rotation speed of the wire winding drum through a magnetic powder clutch, senses the tension of the cable, and then adjusts the rotation speed of the wire winding drum to ensure that the cable is under constant tension. As shown in the attached Figure 4 It is a wire pressing mechanism in the constant-tension wire winding device. The wire guide roller presses the cable. When the cable is wound and unwound, a force will be generated on the wire guide roller, causing the wire guide roller to squeeze the spring. The spring is squeezed and generates a reaction force, so that the wire guide roller always presses the cable during the winding and unwinding process of the cable, ensuring the orderly entry and exit of the cable. As shown in the attached Figure 5 - attached Figure 7, the traveling mechanism in the present invention is a crawler traveling mechanism, which is controlled to travel through a control system. The control system is generally arranged in the electrical compartment of the frame. The control system is connected to the underwater control box through a cable so that the operator can timely understand the underwater situation on the shore or on the ship and operate the robot. An image acquisition device is mounted on the top of the front end of the frame. The image acquisition device is a camera or a sonar. When the water quality is clear, the surrounding environment can be observed through the camera. When the water quality is poor, the sonar can be activated to detect and display the distance between the system and surrounding objects in real time to prevent the robot from colliding. The pan-tilt can achieve 360° rotation and 120° pitch detection, greatly improving the muddy water operation ability of the present invention. When in use, the constant-tension wire winding device is installed at the rear end of the robot's frame, and the robot is put into the water. The operator reels in and pays out the cable. The motor drives the magnetic powder clutch. The output shaft of the magnetic powder clutch drives the wire winding drum to rotate through a sprocket and a chain. The magnetic powder clutch and the wire winding motor are controlled by the control system. When the operator reels in the cable with too much force, the magnetic powder clutch disengages, and the wire winding drum rotates with the operator's reeling-in force. When the operator reels in the cable with too little force, the magnetic powder clutch senses the tension on the wire winding drum, the magnetic powder clutch engages, and drives the wire winding drum to rotate with the operator's reeling-in force, which protects the motor and does not damage the cable. When the operator pays out the cable with too much force, the magnetic powder clutch senses the tension on the wire winding drum, the magnetic powder clutch engages, and drives the wire winding drum to rotate with the operator's paying-out force. When the operator pays out the cable with too little force, the magnetic powder clutch disengages, and the wire winding drum rotates with the operator's paying-out force. The robot of the present invention can be used to remove underwater garbage. Underwater garbage generally includes waste objects such as woven bags, steel wires, branches, and silt that affect water quality. A shoveling mechanism and an auxiliary bucket mechanism are provided at the front end of the present invention. When there is a large amount of underwater garbage, the front bucket and the rear bucket can be directly driven to separate and grab the underwater garbage, which is convenient to operate and has high efficiency. When there is less underwater garbage, the bulldozing bucket is started to gather the underwater garbage and then grabbed by the front bucket and the rear bucket, greatly improving the working efficiency of the present invention. Compared with the prior art, the advantages of the present invention are: first, the magnetic powder clutch senses the force of the operator reeling in and paying out the cable, adjusts the rotation speed of the output shaft, and then adjusts the rotation speed of the wire winding drum to ensure that the force exerted by the operator on the cable is always constant, thereby achieving the purpose of protecting the cable and the wire winding motor; second, a garbage basket lifting mechanism is provided in the present invention. The hydraulic lifting platform is fixedly connected to the garbage basket. This fixed connection method can be a bolt fixed connection or a clamping connection. Such as attached Figure 6In it, by setting positioning pins on the hydraulic lifting platform and perforations on the garbage basket that match the positioning pins, the garbage basket can be quickly separated from and fixed to the hydraulic lifting platform through the positioning pins and perforations. When the garbage basket is full, the hydraulic lifting platform rises, and the garbage basket is lifted away by a shore crane. After being emptied, it is placed back on the hydraulic lifting platform, and the hydraulic lifting platform descends. The garbage basket can be reused, with high efficiency. Thirdly, a wire pressing mechanism is also provided in the present invention. The wire pressing roller is always pressed against the cable by the elastic force of the spring to ensure the orderly entry and exit of the cable. The structure is simple, the operation is convenient, and the cost is low. Fourthly, the present invention uses a bucket driving mechanism to drive the front bucket and the rear bucket to close or open to grab silt. Compared with the prior art where there is only one bucket, the present invention has stable grabbing, fast grabbing speed, and high efficiency. Fifthly, anti-collision mechanisms are provided on both sides of the frame of the present invention, which can protect the robot from colliding with other objects during operation and improve the use efficiency of the robot.

[0038] Due to the adoption of the above structure, the present invention has the advantages of being able to ensure a constant force on the cable when winding and unwinding the cable, protecting the cable and the motor from damage, fast speed of clearing underwater garbage, and high efficiency.

Claims

1. A robot, comprising a frame (1), wherein a control system, a shoveling mechanism (2) and a traveling mechanism (3) are provided on the frame (1), and the control system is connected to an underwater control box via a cable (37), and is characterized in that: A constant-tension wire winding device (4) is provided on the frame (1). The constant-tension wire winding device includes a wire winding bracket (5), a wire winding drum (6), a wire winding shaft, bearings, a magnetic powder clutch (7), a driven sprocket (8), a wire winding motor (9), a driving sprocket (10), a chain (11), and a cable (37). A wire winding drum (6) is provided on the wire winding bracket (5). A magnetic powder clutch (7) is provided on one side of the wire winding drum (6). The wire winding drum (6) is fixed on the wire winding shaft. Both ends of the wire winding shaft are fixedly connected to the wire winding bracket (5) through bearings. A driven sprocket (8) is provided at one end of the wire winding shaft. The input shaft of the magnetic powder clutch (7) is driven by the wire winding motor (9). A driving sprocket (10) is fixedly provided on the output shaft of the magnetic powder clutch (7). The driving sprocket (10) is linked to the driven sprocket (8) through the chain (11). The magnetic powder clutch (7) and the wire winding motor (9) are respectively fixed on the wire winding bracket (5). The magnetic powder clutch (7) and the wire winding motor (9) are respectively connected to a power source. The cable (37) bypasses the wire winding drum (6). Both ends of the cable (37) extend out of the wire winding drum (6) to form free connection ends. The constant-tension wire winding device (4) is fixed on the frame (1) through the wire winding bracket (5). The magnetic powder clutch (7) and the wire winding motor (9) are respectively connected to a control system. One free connection end of the cable (37) is connected to the control system, and the other end is connected to a water control box. When in use, the robot is placed in water. The operator reels in and out the cable. The motor drives the magnetic powder clutch. The output shaft of the magnetic powder clutch drives the wire winding drum to rotate through the sprocket and the chain. When the operator reels in the cable with too much force, the magnetic powder clutch disengages, and the wire winding drum rotates with the force of the operator reeling in the cable. When the operator reels in the cable with too little force, the magnetic powder clutch senses the tension on the wire winding drum, the magnetic powder clutch engages, and drives the wire winding drum to rotate with the force of the operator reeling in the cable. When the operator pays out the cable with too much force, the magnetic powder clutch senses the tension on the wire winding drum, the magnetic powder clutch engages, and drives the wire winding drum to rotate with the force of the operator paying out the cable. When the operator pays out the cable with too little force, the magnetic powder clutch disengages, and the wire winding drum rotates with the force of the operator paying out the cable.

2. The robot according to claim 1, characterized in that: The wire winding bracket (5) is provided with a wire pressing mechanism (29). The wire pressing mechanism (29) includes a wire pressing support rod (30), wire pressing side plates (31), ear seats (32), wire guide rollers (33), springs (34), connecting seats (35), bearings and a wire shaft. Side baffles (36) are fixedly arranged on both sides of the wire winding bracket (5). Both ends of the winding shaft of the wire winding cylinder (6) are fixedly connected to the side baffles (36) through bearings. The wire pressing support rod (30) is arranged at an interval and in parallel with the wire winding cylinder (6). Both ends of the wire pressing support rod (30) are fixedly connected to the side baffles (36) on both sides of the wire winding cylinder (6). Ear seats (32) are fixedly arranged on the wire pressing support rod (30). Two wire pressing side plates (31) inclined towards the surface of the wire winding cylinder (6) are arranged at intervals on the wire pressing support rod (30). One end of each wire pressing side plate (31) is hinged to the side baffle (36) or the wire pressing support rod (30), and the other end is provided with a wire guide roller (33). Connecting seats (35) are fixedly arranged on the wire pressing side plates (31). One end of each spring (34) is connected to the connecting seat (35), and the other end is connected to the wire pressing support rod (30) or the ear seat (32). The wire guide rollers (33) are movably installed on the wire shaft. The wire shaft is arranged between the two wire pressing side plates (31), and both ends of the wire shaft are fixedly connected to the other ends of the two wire pressing side plates (31). The surface of the wire guide roller (33) abuts against the cable (37) on the wire winding cylinder (6).

3. A robot according to claim 1 or 2, characterized in that: The machine frame (1) is provided with a garbage basket lifting mechanism (42). The garbage basket lifting mechanism (42) includes a garbage basket (43) and a hydraulic lifting platform (44). The garbage basket (43) is arranged above the machine frame (1). A hydraulic lifting platform (44) is arranged between the garbage basket (43) and the machine frame (1). The lower end of the hydraulic lifting platform (44) is fixedly connected to the machine frame (1), and the upper end is fixedly connected to the garbage basket (43). The hydraulic cylinder of the hydraulic lifting platform (44) is connected to the control system.

4. A robot according to claim 1 or 2, characterized in that: The shoveling mechanism (2) includes a shoveling mounting seat (12), a connecting column (13), a shoveling arm (14), a lifting hydraulic cylinder (15), a bucket mechanism (16) and a bucket driving mechanism (17). Shoveling mounting seats (12) are respectively and fixedly arranged on both sides of the frame (1). A connecting column (13) is arranged above the frame (1). A shoveling arm (14) and a lifting hydraulic cylinder (15) are arranged on the shoveling mounting seat (12). The lower end of the shoveling arm (14) is hinged to the shoveling mounting seat (12). One end of the lifting hydraulic cylinder (15) is hinged to the shoveling mounting seat (12) or the frame (1), and the other end is hinged to the shoveling arm (14). The lifting hydraulic cylinder (15) is connected to the control system. Both ends of the connecting column (13) are respectively and fixedly connected to the upper ends of the shoveling arms (14) on both sides of the frame (1). At least one bucket driving mechanism (17) is arranged between the connecting column (13) and the bucket mechanism (16). The connecting column (13) is connected to the bucket mechanism (16) through the bucket driving mechanism (17). The bucket mechanism (16) includes a front bucket linkage shaft (18), a front bucket (19), a rear bucket linkage shaft (20) and a rear bucket (21). The front bucket linkage shaft (18) is fixedly connected to the front bucket (19), and the rear bucket linkage shaft (20) is fixedly connected to the rear bucket (21). The front bucket (19) and the rear bucket (21) face each other and are driven by the bucket driving mechanism (17) to close or open.

5. A robot according to claim 4, wherein: The bucket driving mechanism (17) includes a bucket connecting seat (22), a front hydraulic cylinder (23), a rear hydraulic cylinder (24), a left hinge plate, a right hinge plate (26), a front ear seat (27) and a rear ear seat (28). At least one bucket connecting seat (22) is arranged on the connecting column (13). The front hydraulic cylinder (23) and the rear hydraulic cylinder (24) are arranged on the front and rear sides of the bucket connecting seat (22). The upper end of the bucket connecting seat (22) is hinged to the connecting column (13). A left hinge plate is fixedly arranged on the lower left side of the bucket connecting seat (22), and a right hinge plate (26) is fixedly arranged on the lower right side of the bucket connecting seat (22). Linkage shaft through holes are respectively arranged on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate (26). The front bucket linkage shaft (18) passes through the linkage shaft through holes on the front sides of the left hinge plate and the right hinge plate (26) and is connected to the left hinge plate and the right hinge plate (26) through bearings. The rear bucket linkage shaft (20) passes through the linkage shaft through holes on the rear sides of the left hinge plate and the right hinge plate (26) and is connected to the left hinge plate and the right hinge plate (26) through bearings. The upper end of the front hydraulic cylinder (23) is hinged to the bucket connecting seat (22), and the lower end is hinged to one end of the front ear seat (27). The other end of the front ear seat (27) is fixedly connected to the front bucket linkage shaft (18). The upper end of the rear hydraulic cylinder (24) is hinged to the bucket connecting seat (22), and the lower end is hinged to one end of the rear ear seat (28). The other end of the rear ear seat (28) is fixedly connected to the rear bucket linkage shaft (20). The front hydraulic cylinder (23) and the rear hydraulic cylinder (24) are respectively connected to the control system.

6. A robot according to claim 5, wherein: Adjusting plates (51) are respectively provided on the front and rear sides of the lower end of the left hinge plate and the front and rear sides of the lower end of the right hinge plate (26). One end of the adjusting plate (51) is hinged to the left hinge plate or the right hinge plate (26), and the other end is provided with a linkage shaft through hole. The front bucket linkage shaft (18) passes through the linkage shaft through holes on the adjusting plates (51) on the front side of the left hinge plate and the front side of the right hinge plate (26) and is connected to the adjusting plate (51) through a bearing. The rear bucket linkage shaft (20) passes through the linkage shaft through holes on the adjusting plates (51) on the rear side of the left hinge plate and the rear side of the right hinge plate (26) and is connected to the adjusting plate (51) through a bearing.

7. A robot according to claim 1 or 2 or 5 or 6, characterized in that: An auxiliary bucket mechanism (45) is provided at the front end of the frame (1). The auxiliary bucket mechanism (45) includes a bulldozing bucket (46), an auxiliary hydraulic cylinder (47) and a connecting rod. A bulldozing bucket (46) is provided in front of the frame (1). An auxiliary hydraulic cylinder (47) is provided between the upper end of the bulldozing bucket (46) and the frame (1), and a connecting rod is provided between the lower end of the bulldozing bucket (46) and the frame (1). The auxiliary hydraulic cylinder (47) is connected to the control system. One end of the auxiliary hydraulic cylinder (47) is hinged to the bulldozing bucket (46), and the other end is hinged to the frame (1). One end of the connecting rod is hinged to the bulldozing bucket (46), and the other end is hinged to the frame (1).

8. A robot according to claim 1 or 2 or 5 or 6, characterized in that: Collision prevention mechanisms (48) are respectively provided on both sides of the frame (1). The collision prevention mechanism (48) includes a guide wheel mounting seat (49), a collision prevention guide wheel (50) and a guide wheel shaft. Guide wheel mounting seats (49) are provided at intervals on both sides of the frame (1). One side of the guide wheel mounting seat (49) is fixedly connected to the frame (1), and a collision prevention guide wheel (50) is provided on the other side. The collision prevention guide wheel (50) is sleeved on the guide wheel shaft and is slidably connected to the guide wheel shaft. Both ends of the guide wheel shaft are fixedly connected to the guide wheel mounting seat (49).

9. A robot according to claim 1 or 2 or 5 or 6, characterized in that: A pan-tilt (53) and an image acquisition device (54) are provided on the frame (1). The lower end of the pan-tilt (53) is fixedly connected to the frame (1), and the upper end is fixedly connected to the image acquisition device (54).

Images