A large-diameter dredging robot capable of preventing capsizing

Abstract

The application discloses a large-pipe-diameter dredging robot capable of preventing overturning, which comprises an impact device, a sludge collecting device and a shearing device, wherein the impact device is installed on the upper left side of a body, the bottom of the body is driven by a track walking structure, the sludge collecting device is installed on the left side of the body, and the shearing device is installed on the lower left side of the sludge collecting device; anti-overturning devices are installed on both sides of the body, a driving cylinder is installed on the body, and a CCD camera is installed on the top plate of the body. The large-pipe-diameter dredging robot capable of preventing overturning collects sludge in the sludge collecting device, simultaneously starts a sludge pump switch, discharges the sludge in the sludge collecting device to the outside of a pipeline through a collecting pipe under the operation of the sludge pump, and completes the dredging work in the large-pipe-diameter pipeline, thereby saving time and effort and avoiding safety hazards when workers work in the pipeline.

Description

Technical Field

[0001] This invention relates to the field of dredging robots, specifically a large-diameter dredging robot designed to prevent tipping. Background Technology

[0002] Every year during the flood season, due to the accumulation of sludge in the drainage pipe network affecting the smooth flow of drainage, many cities experience road flooding whenever heavy rain strikes, which can even lead to traffic disruptions and greatly affect the daily travel of citizens.

[0003] Currently, commonly used drainage pipe network dredging methods both domestically and internationally include high-pressure water jet dredging, winch dredging, water flushing dredging, trench cleaning machine dredging, dredging balls, and interception flushing gates. Each of these methods has its own drawbacks and limitations. Most importantly, these methods are designed for dredging small-diameter drainage pipes and are not well-suited for dredging large-diameter (≥0.8m) drainage pipes such as box culverts. Specifically, high-pressure water jet dredging has high equipment operating costs, making it difficult to widely promote and apply domestically. While winch dredging is applicable to a wider range of pipe diameters than high-pressure water jet dredging, it requires manual entry into the well for pipe installation, and the harsh working environment underground causes significant inconvenience to workers and poses safety hazards. Summary of the Invention

[0004] To fill a market gap, this invention provides a large-diameter dredging robot that prevents tipping.

[0005] The purpose of this invention is to provide a large-diameter dredging robot that prevents overturning, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a large-diameter dredging robot to prevent overturning, comprising:

[0007] An impact device is installed on the upper left side of the machine body, and the bottom of the machine body is driven by a tracked walking structure. At the same time, a sludge collection device is installed on the left side of the machine body, and a shearing device is installed on the lower left side of the sludge collection device. Anti-tipping devices are installed on both sides of the machine body, and a drive cylinder is installed on the machine body. A CCD camera is installed on the top plate of the machine body.

[0008] A shearing device, wherein a connecting plate is movably mounted inside the mounting base of the shearing device, and a connecting column is fixedly mounted on the connecting plate. At the same time, the end of the connecting column away from the connecting plate is fixedly connected to the movable shearing blade. A drive motor is mounted inside the mounting base through a base, and multiple sets of fixed shearing blades and movable shearing blades are respectively mounted on the surface of the mounting base.

[0009] A sludge collection device includes a collection frame with a first auger and a second auger installed inside. The collection frame has a collection hole with a collection pipe installed inside the collection hole. A sludge pump is installed on the collection pipe and mounted on the machine body via a base. The sludge collection device includes a collection frame, a first auger, a collection hole, a second auger, and a rotating motor. The rotating motor is mounted on the side wall of the collection frame, and its output shaft is fixed to the rotating shaft of the second auger. Casters are installed on both sides of the bottom of the collection frame.

[0010] Furthermore, the impact device includes a high-pressure nozzle, a mounting plate, a water pipe, and a fixing frame, and multiple sets of high-pressure nozzles are evenly mounted on the mounting plate.

[0011] Furthermore, a water pipe is installed on the mounting plate, and the end of the water pipe away from the mounting plate is connected to an external water pump. At the same time, the water pipe is installed on the sludge collection device through a fixing bracket.

[0012] Furthermore, the high-pressure nozzle is inclined at the bottom of the mounting plate, and the nozzle on the high-pressure nozzle is positioned opposite to the surface of the shearing device.

[0013] Furthermore, the shearing device includes a driving block, a fixed shearing plate, a movable shearing plate, a connecting column, a connecting plate, a guide block, a connecting plate, a driven plate, a driving plate, a driving motor, and a mounting base. Both the fixed shearing plate and the movable shearing plate are provided with cutting blades, and the two sets of cutting blades are arranged opposite to each other.

[0014] Furthermore, eight sets of connecting columns are evenly installed on the surface of the connecting plate, and each of the eight sets of connecting columns is equipped with a movable shearing plate at its end. The cross-sections of the movable shearing plate and the fixed shearing plate are both set as right-angled trapezoids.

[0015] Furthermore, guide blocks are installed on both sides of the bottom of the connecting plate, and guide holes are opened inside the guide blocks. Guide posts are inserted into the guide holes, and the guide posts are set in two sets and fixedly installed on both sides of the mounting base.

[0016] Furthermore, the bottom of the connecting plate is hinged to a driven plate, and the bottom of the driven plate is hinged to the end of the driving plate. At the same time, the end of the driving plate away from the driven plate is hinged to a fixing block provided on the lower side of the interior of the mounting base.

[0017] Furthermore, a connecting plate is mounted on the output shaft of the drive motor, and the end of the connecting plate is connected to the drive block. Meanwhile, the drive block is movably disposed in a strip hole opened inside the active plate. The drive motor drives the connecting plate laterally through the connecting plate, the active plate, and the driven plate.

[0018] Furthermore, the anti-tipping device includes a contact wheel, a support plate, a limiting block, a mounting frame, a guide rod, a fixed plate, and a drive cylinder. The piston rod of the drive cylinder is fixedly connected to the fixed plate. Two sets of support plates are installed on the fixed plate. The end of the support plate is movably provided with a contact wheel. The support plate is also provided with a limiting block, which is slidably disposed in a limiting track installed on the machine body. Guide rods are installed on both sides of the bottom of the fixed plate, and the guide rods are inserted into the inside of the mounting frame.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. Collect sludge inside the sludge collection device and simultaneously start the sludge pump. The sludge inside the sludge collection device is then discharged to the outside of the pipe through the collection pipe under the operation of the sludge pump, completing the sludge cleaning work inside the large-diameter pipe. This method saves time and labor when replacing manual sludge cleaning and avoids safety hazards for workers working inside the pipe.

[0021] 2. The nozzle on the high-pressure nozzle is positioned opposite to the surface of the shearing device, so that the high-pressure water jet from the high-pressure nozzle can be directly sprayed onto the sludge on the surface of the shearing device, thus dispersing the sludge on the surface of the shearing device.

[0022] 3. When the shearing device moves inside the pipeline, the sludge placed on the surface of the shearing device is sheared by the fixed shearing blades and the movable shearing blades before entering the surface of the mounting base. The sludge is cut into pieces and then cut into smaller pieces, so that it can be discharged through the sludge collection device and the collection pipe. Attached Figure Description

[0023] Figure 1 This is a front view schematic diagram of the structure of the present invention;

[0024] Figure 2 The structure of the present invention Figure 1 Top view;

[0025] Figure 3 The structure of the present invention Figure 1 Side view;

[0026] Figure 4 This is a schematic diagram of the shearing device of the present invention;

[0027] Figure 5 This is a schematic diagram of the connecting plate of the present invention moving to the right;

[0028] Figure 6 This is a schematic diagram of the connecting plate of the present invention moving to the left;

[0029] Figure 7 This is a schematic diagram of the sludge collection device of the present invention.

[0030] In the diagram: 1. Impact device; 11. High-pressure nozzle; 12. Mounting plate; 13. Water pipe; 14. Fixing frame; 2. Shearing device; 20. Drive block; 21. Fixed shearing plate; 22. Movable shearing plate; 23. Connecting column; 24. Connecting plate; 25. Guide block; 26. Linking plate; 27. Driven plate; 28. Active plate; 29. ​​Drive motor; 30. Mounting base; 3. Moving wheel; 4. Sludge collection device; 41. Collection frame; 42. First auger; 43. Collection hole; 44. Second auger; 45. Rotating motor; 5. Collection pipe; 6. Tracked walking structure; 7. Body; 8. CCD camera; 9. Anti-tipping device; 91. Contact wheel; 92. Support plate; 93. Limiting block; 94. Mounting frame; 95. Guide rod; 96. Fixing plate; 97. Drive cylinder. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Detailed implementation method one: Please refer to Figure 1-7 The present invention provides a technical solution: a large-diameter dredging robot to prevent overturning, comprising: an impact device 1, a shearing device 2 and a sludge collection device 4;

[0033] Impact device 1 is installed on the upper left side of body 7, and the bottom of body 7 is driven by track walking structure 6. At the same time, sludge collection device 4 is installed on the left side of body 7, and shearing device 2 is installed on the lower left side of sludge collection device 4. Anti-overturning device 9 is installed on both sides of body 7, and drive cylinder 97 is installed on body 7. CCD camera 8 is installed on top plate of body 7.

[0034] A connecting plate 24 is movably installed inside the mounting base 30 on the shearing device 2, and a connecting column 23 is fixedly installed on the connecting plate 24. At the same time, the end of the connecting column 23 away from the connecting plate 24 is fixedly connected to the movable shearing blade 22. The drive motor 29 is installed inside the mounting base 30 through the base, and multiple sets of fixed shearing blades 21 and movable shearing blades 22 are respectively installed on the surface of the mounting base 30.

[0035] The sludge collection device 4 has a first auger 42 and a second auger 44 installed inside the collection frame 41. The collection frame 41 has a collection hole 43 inside, and a collection pipe 5 is installed inside the collection hole 43. A sludge pump is installed on the collection pipe 5, and the sludge pump is mounted on the machine body 7 through a base. The sludge collection device 4 includes a collection frame 41, a first auger 42, a collection hole 43, a second auger 44, and a rotating motor 45. The rotating motor 45 is installed on the side wall of the collection frame 41, and the output shaft of the rotating motor 45 is fixed to the rotating shaft of the second auger 44. The bottom two sides of the collection frame 41 are equipped with moving wheels 3.

[0036] This device moves inside the large-diameter pipe via a tracked walking structure 6. With the shearing device 2 and sludge collection device 4, sludge is collected inside the sludge collection device 4. Simultaneously, the sludge pump is activated, allowing the sludge inside the sludge collection device to be discharged to the outside of the pipe through the collection pipe 5, thus completing the sludge removal work inside the large-diameter pipe. This replaces manual sludge removal, saving time and labor, and avoiding safety hazards for workers inside the pipe.

[0037] Specific Implementation Method 2: This implementation method is a further limitation of Specific Implementation Method 1. The impact device 1 includes a high-pressure nozzle 11, a mounting plate 12, a water pipe 13 and a fixing frame 14, and multiple sets of high-pressure nozzles 11 are evenly installed on the mounting plate 12.

[0038] like Figure 1-3 As shown: When the shearing device 2 and the sludge collection device 4 move inside the pipeline, under the action of the external booster pump, the impact water flow is sprayed from the inside of the mounting plate 12 and from the inside of the high-pressure nozzle 11, so that the water flow impacts the surface of the shearing device 2, dispersing the hard sludge placed on the surface of the shearing device 2, making it easier to enter the inside of the collection pipe 5 and be discharged into the pipeline.

[0039] Specific Implementation Method 3: This implementation method is a further limitation of Specific Implementation Method 1. A water pipe 13 is installed on the mounting plate 12, and the end of the water pipe 13 away from the mounting plate 12 is connected to an external water pump. At the same time, the water pipe 13 is installed on the sludge collection device 4 through the fixing frame 14.

[0040] like Figure 1 As shown: Water pipe 13 is installed on sludge collection device 4 through fixing frame 14 to ensure that water pipe 13 will not vibrate significantly when water is flowing inside it.

[0041] Specific Implementation Method 4: This implementation method is a further limitation of Specific Implementation Method 3. The high-pressure nozzle 11 is inclined at the bottom of the mounting plate 12, and the nozzle on the high-pressure nozzle 11 is arranged opposite to the surface of the shearing device.

[0042] like Figure 1 As shown: The nozzle on the high-pressure nozzle 11 is set opposite to the surface of the shearing device, so that the high-pressure water jet from the high-pressure nozzle 11 can be sprayed directly onto the sludge on the surface of the shearing device 2, and can disperse the sludge on the surface of the shearing device 2.

[0043] Specific Implementation Method 5: This implementation method is a further limitation of Specific Implementation Method 1. The shearing device 2 includes a drive block 20, a fixed shearing plate 21, a movable shearing plate 22, a connecting column 23, a connecting plate 24, a guide block 25, a connecting plate 26, a driven plate 27, a driving plate 28, a drive motor 29, and a mounting base 30. Both the fixed shearing plate 21 and the movable shearing plate 22 are provided with cutting blades, and the two sets of cutting blades are arranged opposite to each other.

[0044] like Figure 1-4 As shown: When the shearing device 2 moves inside the pipe, the sludge placed on the surface of the shearing device 2 is sheared by the fixed shearing blade 21 and the movable shearing blade 22 before entering the surface of the mounting base 30. The sludge is cut into pieces and then discharged through the sludge collection device 4 and the collection pipe 5.

[0045] Specific Implementation Method Six: This implementation method is a further limitation of Specific Implementation Method Five. Eight sets of connecting columns 23 are evenly installed on the surface of the connecting plate 24, and each of the eight sets of connecting columns 23 is equipped with a movable shearing plate 22. The cross-sections of the movable shearing plate 22 and the fixed shearing plate 21 are both set as right-angled trapezoids.

[0046] like Figure 4-6 As shown: The cross-sections of the movable shearing blade 22 and the fixed shearing blade 21 are both set as right-angled trapezoids. The movable shearing blade 22 moves back and forth laterally to shear the blocky sludge. The bottom of the mounting base 30 is screwed with a bottom cover for cleaning the sludge inside. After each use, the bottom cover is removed to clean the sludge and sewage inside the mounting base 30. The drive motor 29 inside the mounting base 30 is a waterproof motor.

[0047] Specific Implementation Method Seven: This implementation method is a further limitation of Specific Implementation Method Five. Guide blocks 25 are installed on both sides of the bottom of the connecting plate 24, and guide holes are opened inside the guide blocks 25. Guide posts are inserted into the guide holes, and the guide posts are set in two sets and fixedly installed on both sides of the mounting base 30.

[0048] like Figure 6 As shown: When the connecting plate 24 moves laterally inside the mounting base 30, guide posts are inserted inside the guide blocks 25 on both sides of its bottom, which can limit and guide the laterally moving connecting plate 24 to prevent the connecting plate 24 from tilting during lateral movement.

[0049] Specific implementation method eight: This implementation method is a further limitation of specific implementation method seven. The bottom of the connecting plate 24 is hinged with a driven plate 27, and the bottom of the driven plate 27 is hinged with the end of the driving plate 28. At the same time, the end of the driving plate 28 away from the driven plate 27 is hinged with a fixing block provided on the lower side of the interior of the mounting base 30.

[0050] like Figure 4-6 As shown: The working mode of the movable shearing plate 22 and the fixed shearing plate 21 is as follows: the external switch of the drive motor 29 is activated, and the drive motor 29 is started remotely. The output shaft of the drive motor 29 drives the connecting plate 26 to rotate. Under the action of the driven plate 27 and the driving plate 28, the connecting plate 24 is moved laterally.

[0051] Specific Implementation Method Nine: This implementation method is a further limitation of Specific Implementation Method Five. A connecting plate 26 is installed on the output shaft of the drive motor 29, and the end of the connecting plate 26 is connected to the drive block 20. At the same time, the drive block 20 is movably disposed in the strip hole opened inside the active plate 28. The drive motor 29 drives the connecting plate 24 laterally through the connecting plate 26, the active plate 28 and the driven plate 27.

[0052] like Figure 4-6 As shown: The drive block 20 is movably disposed in the strip hole opened inside the active plate 28. The drive motor 29 drives the connecting plate 24 laterally through the connecting plate 26, the active plate 28 and the driven plate 27, so as to realize the lateral movement of the connecting plate 24 and the movable shearing plate 22.

[0053] Specific Implementation Method 10: This implementation method is a further limitation of Specific Implementation Method 1. The anti-tipping device 9 includes a contact wheel 91, a support plate 92, a limiting block 93, a mounting frame 94, a guide rod 95, a fixing plate 96, and a drive cylinder 97. The piston rod of the drive cylinder 97 is fixedly connected to the fixing plate 96. At the same time, two sets of support plates 92 are installed on the fixing plate 96. The contact wheel 91 is movably arranged at the end of the support plate 92. The limiting block 93 is installed on the support plate 92 and is slidably arranged in the limiting track installed on the machine body 7. Guide rods 95 are installed on both sides of the bottom of the fixing plate 96 and the guide rods 95 are inserted into the inside of the mounting frame 94.

[0054] like Figure 1-2 As shown: The anti-tipping device 9 is set up to prevent the robot from rolling on the inner wall of the pipe when it moves inside the pipe. It can limit and guide the robot when it moves. The position of the contact wheel 91 can be adjusted by the drive cylinder 97 to adapt to pipes of different sizes.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large-diameter dredging robot designed to prevent tipping, characterized in that, include: Impact device (1), the impact device (1) is installed on the upper left side of the body (7), and the bottom of the body (7) is driven by the track walking structure (6). At the same time, a sludge collection device (4) is installed on the left side of the body (7), and a shearing device (2) is installed on the lower left side of the sludge collection device (4); anti-overturning devices (9) are installed on both sides of the body (7), and a drive cylinder (97) is installed on the body (7). A CCD camera (8) is installed on the top plate of the body (7). The shearing device (2) has a connecting plate (24) movably installed inside the mounting base (30) on the shearing device (2), and a connecting column (23) is fixedly installed on the connecting plate (24). At the same time, the end of the connecting column (23) away from the connecting plate (24) is fixedly connected to the movable shearing blade (22). The drive motor (29) is installed inside the mounting base (30) through the base. The surface of the mounting base (30) is respectively equipped with multiple sets of fixed shearing blades (21) and movable shearing blades (22). The sludge collection device (4) has a first auger (42) and a second auger (44) installed inside the collection frame (41) of the sludge collection device (4), and a collection hole (43) is opened inside the collection frame (41). At the same time, a collection pipe (5) is installed inside the collection hole (43), and a sludge pump is installed on the collection pipe (5). The sludge pump is installed on the machine body (7) through the base. The sludge collection device (4) includes a collection frame (41), a first auger (42), a collection hole (43), a second auger (44) and a rotating motor (45). The rotating motor (45) is installed on the side wall of the collection frame (41), and the output shaft of the rotating motor (45) is fixed to the rotating shaft of the second auger (44). The bottom two sides of the collection frame (41) are equipped with moving wheels (3). The anti-tipping device (9) includes a contact wheel (91), a support plate (92), a limiting block (93), a mounting frame (94), a guide rod (95), a fixed plate (96), and a drive cylinder (97). The piston rod of the drive cylinder (97) is fixedly connected to the fixed plate (96). At the same time, two sets of support plates (92) are installed on the fixed plate (96). The end of the support plate (92) is movably provided with a contact wheel (91). The support plate (92) is provided with a limiting block (93). The limiting block (93) is slidably arranged in the limiting track installed on the machine body (7). Guide rods (95) are installed on both sides of the bottom of the fixed plate (96). The guide rods (95) are inserted into the inside of the mounting frame (94).

2. The anti-tipping large-diameter dredging robot according to claim 1, characterized in that: The impact device (1) includes a high-pressure nozzle (11), a mounting plate (12), a water pipe (13) and a fixing frame (14), and multiple sets of high-pressure nozzles (11) are evenly installed on the mounting plate (12).

3. The anti-tipping large-diameter dredging robot according to claim 2, characterized in that: A water pipe (13) is installed on the mounting plate (12), and the end of the water pipe (13) away from the mounting plate (12) is connected to an external water pump. At the same time, the water pipe (13) is installed on the sludge collection device (4) through a fixing frame (14).

4. The anti-tipping large-diameter dredging robot according to claim 3, characterized in that: The high-pressure nozzle (11) is inclined at the bottom of the mounting plate (12), and the nozzle on the high-pressure nozzle (11) is positioned opposite to the surface of the shearing device.

5. The anti-tipping large-diameter dredging robot according to claim 1, characterized in that: The shearing device (2) includes a drive block (20), a fixed shearing plate (21), a movable shearing plate (22), a connecting column (23), a connecting plate (24), a guide block (25), a linkage plate (26), a driven plate (27), an active plate (28), a drive motor (29), and a mounting base (30). Both the fixed shearing plate (21) and the movable shearing plate (22) are provided with cutting blades, and the two sets of cutting blades are arranged opposite to each other.

6. A large-diameter dredging robot for preventing tipping as described in claim 5, characterized in that: The surface of the connecting plate (24) is uniformly equipped with eight sets of connecting columns (23), and each of the eight sets of connecting columns (23) is equipped with a movable shearing plate (22). The cross-sections of the movable shearing plate (22) and the fixed shearing plate (21) are both set as right-angled trapezoids.

7. A large-diameter dredging robot for preventing tipping as described in claim 5, characterized in that: Guide blocks (25) are installed on both sides of the bottom of the connecting plate (24), and guide holes are opened inside the guide blocks (25). Guide posts are inserted into the guide holes, and the guide posts are set in two sets and fixedly installed on both sides of the mounting base (30).

8. A large-diameter dredging robot for preventing tipping as described in claim 7, characterized in that: The bottom of the connecting plate (24) is hinged to a driven plate (27), and the bottom of the driven plate (27) is hinged to the end of the driving plate (28). At the same time, the end of the driving plate (28) away from the driven plate (27) is hinged to a fixing block provided on the lower side of the interior of the mounting base (30).

9. A large-diameter dredging robot for preventing tipping as described in claim 5, characterized in that: A connecting plate (26) is mounted on the output shaft of the drive motor (29), and the end of the connecting plate (26) is connected to the drive block (20). Meanwhile, the drive block (20) is movably disposed in the strip hole opened inside the active plate (28). The drive motor (29) drives the connecting plate (24) laterally through the connecting plate (26), the active plate (28) and the driven plate (27).

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