Three-degree-of-freedom underwater dredging robot structure and dredging method

Abstract

The application discloses a three-degree-of-freedom underwater dredging robot structure and a dredging method, and the structure comprises a cutter suction dredging mechanism, a connecting device and a caterpillar type pressure-resistant power chassis. The cutter suction dredging mechanism comprises a cutter suction dredging arm, a pump suction pipeline, a submerged slurry pump and a sediment conveying pipe; the connecting device comprises a pluggable connecting plate and a fixing pin shaft; and the caterpillar type pressure-resistant power chassis comprises a three-degree-of-freedom mechanical arm support frame, a caterpillar system and a chassis support frame. The application adopts full electric drive in general, has fewer lines and pipelines, guarantees compactness of the robot structure, makes the robot more convenient to carry and transport, and is more flexible in movement. The front end of the three-degree-of-freedom mechanical arm support frame provided by the caterpillar type pressure-resistant power chassis can be connected with the dredging arm in a pluggable mode through the connecting device, so that the dredging arm is convenient to disassemble and maintain, and the three degrees of freedom fully meet the movement requirements in the dredging process.

Description

Technical Field

[0001] This invention relates to a three-degree-of-freedom underwater dredging robot structure and dredging method, belonging to the field of dredging equipment technology. Background Technology

[0002] Currently, for some reservoir dredging projects, due to their remote locations and inconvenient transportation, common large-scale dredging equipment such as dredgers is difficult to apply in such environments. Manual cleaning remains the primary method, but it suffers from problems such as poor safety, long construction periods, and high costs. Furthermore, reservoir dredging also presents challenges such as harsh underwater environments and complex cleaning conditions. Current dredging robots generally suffer from low degrees of freedom and poor versatility, making them difficult to apply in complex dredging situations.

[0003] Therefore, this paper proposes a three-degree-of-freedom underwater dredging robot structure and dredging method to solve the above-mentioned technical problems. Summary of the Invention

[0004] This paper proposes a three-degree-of-freedom underwater dredging robot structure and dredging method. The robot is entirely electrically driven, with fewer wiring and pipelines, ensuring a compact structure while making it easier to carry and transport, and allowing for more flexible movement. In terms of structural design, an improvement on the cutter suction device of a cutter suction dredger is proposed, resulting in a cutter suction dredging arm design for the three-degree-of-freedom underwater dredging robot structure. This design retains the high efficiency and low energy consumption of the cutter suction device while incorporating miniaturization and modularization. Furthermore, considering different working conditions, an underwater pressure-resistant tracked chassis for the dredging robot is proposed. While maintaining the high mobility of the tracked chassis itself, the three-degree-of-freedom robotic arm support frame proposed in this underwater pressure-resistant tracked chassis fully meets the movement requirements of the dredging arm, addressing the problems of low mobility and poor cleaning effect of general cutter suction dredging robots. Modular replacement also provides possibilities for other highly mobile dredging methods.

[0005] The technical solution is as follows:

[0006] A three-degree-of-freedom underwater dredging robot structure and dredging method are disclosed. The structure is characterized by including a cutter suction dredging mechanism, a connecting device, and a tracked pressure-resistant power chassis. The cutter suction dredging arm in the cutter suction dredging mechanism is connected to the tracked pressure-resistant power chassis via the connecting device in a plug-in manner.

[0007] Furthermore, the cutter suction dredging device includes a cutter suction dredging arm, a pump suction pipeline, a submersible mud pump, and a silt delivery pipe. The cutter suction dredging arm includes a cutter head, a duckbill baffle, a cutter head transmission mechanism, and an underwater cutter head motor. The cutter head transmission mechanism includes a cutter head shaft, a flexible coupling, and a coupling housing. The cutter head is fixed to the end of the cutter head shaft in the cutter head transmission mechanism using a round nut and a flat key, and a cutter head cover protects the end of the cutter head shaft from wear. The coupling housing of the cutter head transmission mechanism has a fan-shaped fixing plate welded on it for fixing the cutter suction dredging arm to the connecting device and adjusting the cutting angle. The underwater cutter head motor is connected to the other end of the cutter head shaft via a flexible coupling. The pump suction pipeline is connected to the delivery port of the duckbill baffle, and the other end is connected to the submersible mud pump.

[0008] Furthermore, the tracked pressure-resistant power chassis includes: a three-degree-of-freedom robotic arm support frame, a track system, and a chassis support frame. The three-degree-of-freedom robotic arm support frame consists of a lateral support frame and a lifting support frame, driven by lateral push rods and lifting push rods, respectively. The lateral support frame and the lifting support frame are connected by a rotating pin. The end of the lateral push rod, used to achieve lateral movement, is connected to the lateral support frame, and the other end is connected to the lifting support frame. When the lateral push rod extends, the lateral support frame swings clockwise; when the lateral push rod retracts, the lateral support frame swings counterclockwise. The other end of the lifting support frame is connected to the chassis support frame. The end of the lifting push rod, used to achieve lifting movement, is connected to the lifting support frame, and the other end is connected to the chassis support frame. When the lifting push rod extends, the lifting support frame rises; when the lifting push rod retracts, the lifting support frame rises downwards. The track system includes tracks, a track-sealed power box, a track motor, and a motor steering gear. The track motor and motor steering gear are located inside the track-sealed power box, and the tracks are located on both sides outside the track-sealed power box. The input end of the motor steering gear is connected to the output shaft end of the track motor, and the output shaft end of the motor steering gear is connected to the track. The track motor provides the power required for the track to move through the power transmission of the motor steering gear.

[0009] Furthermore, the connecting device includes two symmetrical connecting plates, each consisting of a triangular plate and an I-beam welded together. The triangular plate is connected to the fan-shaped fixing plate of the coupling housing in the sluice suction dredging arm via a pin. One side of the I-beam is used to reinforce the triangular plate, and the other side is used to connect with the transverse support frame in the three-degree-of-freedom robotic arm support frame via a plug-in connection and is fixed with a pin.

[0010] A dredging method for a three-degree-of-freedom underwater dredging robot, utilizing the aforementioned device, includes the following steps:

[0011] Step 1: Connect the tracked pressure-resistant power chassis to the cutter suction dredging arm by installing the connecting device. Based on the cutting depth, adjust the cutting angle by selecting the position of the fan-shaped end of the fixing plate of the coupling housing in the cutter suction dredging arm and the insertion hole position of the connecting plate to complete the preparation work before dredging.

[0012] Step 2: The robot travels to the designated dredging location via a tracked pressure-resistant power chassis, raises and retracts the push rod, lowers the dredging arm so that the cutter at the front end of the dredging arm contacts the silt, starts the underwater cutter motor of the dredging arm, and after the speed is constant, starts the submersible mud pump. When silt is sucked into the pump suction pipe, the dredging robot is in place.

[0013] Step 3: By activating the lateral push rod, after the lateral push rod extends to complete one lateral movement, the tracked pressure-resistant power chassis moves forward. After the lateral push rod retracts to complete the next lateral movement, the tracked pressure-resistant power chassis moves forward again. This process is repeated until the dredging process is completed.

[0014] Step 4: Extend the lifting rod to raise the sludge suction arm. When the cutter at the end of the sludge suction arm is no longer in contact with the mud and sand, start the tracked pressure-resistant power chassis recovery sludge suction robot or move to the next sludge suction area.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0016] This invention successfully applies the existing cutter suction dredger structure to small and medium-sized dredging robots through optimization and improvement, developing a modular and easily disassembled cutter suction dredging arm. Simultaneously, it proposes a tracked, pressure-resistant, powered chassis suitable for underwater dredging robots. Unlike most tracked powered chassis currently used in dredging robots, this invention features a pushrod-driven, three-degree-of-freedom robotic arm support frame, meeting the motion requirements of most dredging mechanisms and offering greater applicability. Furthermore, the external chassis support frame better protects the safety and stability of the dredging robot during underwater operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the suction dredging mechanism of the present invention;

[0019] Figure 3 This is a partial cross-sectional view of the suction dredging arm of the present invention;

[0020] Figure 4 This is a schematic diagram of the overall structure of the tracked pressure-resistant power chassis of the present invention;

[0021] Figure 5This is a schematic diagram of the three-degree-of-freedom robotic arm support frame of the tracked pressure-resistant power chassis of the present invention;

[0022] Figure 6 This is a schematic diagram of the track system of the present invention;

[0023] Figure 7 This is a schematic diagram of the connection device of the present invention;

[0024] In the diagram: 1: Cutter suction dredging mechanism; 1-1: Cutter suction dredging arm; 1-1-1: Cutter cover; 1-1-2: Round nut; 1-1-3: Locking washer; 1-1-4: Cutter; 1-1-5: Flat key; 1-1-6: Duckbill mudguard; 1-1-7: Cutter drive mechanism; 1-1-7-1: Cutter shaft; 1-1-7-2: Coupling housing; 1-1-7-3: Flexible coupling; 1-1-8: Underwater cutter motor; 1-2: Pump suction pipeline; 1-3: Submersible mud pump; 1-4: Sediment. 1: Conveying pipe; 2: Connecting device; 2-1: Connecting plate; 2-2: Pin; 3: Tracked pressure-resistant power chassis; 3-1: Three-degree-of-freedom robotic arm support frame; 3-1-1: Lateral movement support frame; 3-1-2: Lateral movement push rod; 3-1-3: Rotating pin; 3-1-4: Lifting support frame; 3-1-5: Lifting push rod; 3-2: Track system; 3-2-1: Track; 3-2-2: Track sealed power box; 3-2-3: Track motor; 3-2-4: Motor steering gear; 3-3: Chassis support frame. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0026] like Figure 1 As shown, a three-degree-of-freedom underwater dredging robot includes a suction dredging device 1, a connecting device 2, and a tracked pressure-resistant chassis 3.

[0027] like Figure 2 As shown, the dredging device 1 includes a dredging arm 1-1, a pump suction pipeline 1-2, a submersible mud pump 1-3, and a mud and sand conveying pipe 1-4. Among them, as shown... Figure 3As shown, the cutter suction dredging arm 1-1 includes a cutter head 1-1-4, a duckbill mudguard 1-1-6, a cutter head transmission mechanism 1-1-7, and an underwater cutter head motor 1-1-8. The cutter drive mechanism 1-1-7 includes a cutter shaft 1-1-7-1, a flexible coupling 1-1-7-3, and a coupling housing 1-1-7-2. The cutter 1-1-4 is fixed to the end of the cutter shaft 1-1-7-1 in the cutter drive mechanism 1-1-7 by means of a round nut 1-1-2 and a flat key 1-1-5, and the end of the cutter shaft 1-1-7-1 is protected from wear by a cutter cover 1-1-1. The coupling housing 1-1-7-2 of the cutter drive mechanism 1-1-7 is welded with a fan-shaped fixing plate, and the whole is bolted together for fixing and adjusting the cutting angle between the dredging arm 1-1 and the connecting device 2. The underwater cutter motor 1-1-8 is connected to the other end of the cutter shaft 1-1-7-1 through the flexible coupling 1-1-7-3. The pump suction pipe 1-2 is connected to the delivery port of the duckbill mudguard 1-1-6, and the other end is connected to the submersible mud pump 1-3.

[0028] like Figure 4 As shown, the tracked pressure-resistant power chassis 3 includes: a three-degree-of-freedom robotic arm support frame 3-1, a track system 3-2, and a chassis support frame 3-3. Among them, as... Figure 5 As shown, the three-degree-of-freedom robotic arm support frame 3-1 consists of a transverse support frame 3-1-1 and a lifting support frame 3-1-3, which are driven by a transverse push rod 3-1-2 and a lifting push rod 3-1-5, respectively. One end of the lateral support frame 3-1-1 is connected to the lifting support frame 3-1-4 via a rotating pin 3-1-3. The end of the lateral push rod 3-1-2, used to achieve lateral movement, is connected to the lateral support frame 3-1-1, and the other end is connected to the lifting support frame 3-1-4. When the lateral push rod 3-1-2 extends, the lateral support frame 3-1-1 swings clockwise; when the lateral push rod 3-1-2 retracts, the lateral support frame 3-1-1 swings counterclockwise. The other end of the lifting support frame 3-1-4 is connected to the chassis support frame 3-3. The end of the lifting push rod 3-1-5, used to achieve lifting movement, is connected to the lifting support frame, and the other end is connected to the chassis support frame 3-3. When the lifting push rod 3-1-5 extends, the lifting support frame 3-1-4 rises; when the lifting push rod 3-1-5 retracts, the lifting support frame 3-1-4 rises downwards. Figure 6As shown, the track system 3-2 includes a track 3-2-1, a track-sealed power box 3-2-2, a track motor 3-2-3, and a motor steering gear 3-2-4. The track motor 3-2-3 and the motor steering gear 3-2-4 are located inside the track-sealed power box 3-2-2, and the track 3-2-1 is located on both sides outside the track-sealed power box 3-2-2. The input end of the motor steering gear 3-2-4 is connected to the output shaft end of the track motor 3-2-3, and the output shaft end of the motor steering gear 3-2-4 is connected to the track 3-2-1. The track motor 3-2-3 provides the power required for the track 3-2-1 to move through the power transmission of the motor steering gear 3-2-4.

[0029] The connecting device 2 includes two symmetrical connecting plates 2-1 and a pin 2-2 for fixing. The connecting plate 2-1 is formed by welding a triangular plate and an I-beam plate. The triangular plate is connected to the fan-shaped fixing plate of the coupling housing 1-1-7-2 in the suction dredging arm 1-1 through the pin 2-2. One side of the I-beam plate is used to reinforce the triangular plate, and the other side is used to connect with the transverse support frame 3-1-1 in the three-degree-of-freedom robotic arm support frame 3-1 by plug-in connection and fixed by the pin 2-2.

[0030] A dredging method for a three-degree-of-freedom underwater dredging robot, utilizing the aforementioned device, includes the following steps:

[0031] Step 1: Connect the tracked pressure-resistant power chassis 3 to the cutter suction dredging arm 1-1 by installing the connecting device 2. Based on the cutting depth, adjust the cutting angle by selecting the fan-shaped end of the fixing plate of the coupling housing 1-1-7-2 in the cutter suction dredging arm 1-1 and the insertion hole position of the connecting plate 2-1 to complete the preparation work before dredging.

[0032] Step 2: The robot travels to the designated dredging location via the tracked pressure-resistant power chassis 3, raises and retracts the push rod 3-1-3, and lowers the dredging arm 1-1 so that the cutter head 1-1-4 at the front end of the dredging arm 1-1 contacts the silt. The underwater cutter head motor 1-1-8 of the dredging arm 1-1 is started. After the speed is constant, the submersible mud pump 1-3 is started. When mud and sand are sucked into the pump suction pipe 1-2, the dredging robot is in place.

[0033] Step 3: By activating the lateral push rod 3-1-2, after the lateral push rod 3-1-2 extends to complete one lateral movement, the tracked pressure-resistant power chassis 3 moves forward. After the lateral push rod 3-1-2 retracts to complete the next lateral movement, the tracked pressure-resistant power chassis 3 moves forward again. This process is repeated until the dredging process is completed.

[0034] Step 4: Extend the lifting push rod 3-1-3 to raise the sludge suction arm 1-1. When the cutter 1-1-4 at the end of the sludge suction arm 1-1 is no longer in contact with the mud and sand, start the tracked pressure-resistant power chassis 3 to recover the sludge removal robot or move to the next sludge removal area.

Claims

1. A three-degree-of-freedom underwater dredging robot structure, characterized in that, It includes a cutter suction dredging mechanism, a connecting device, and a tracked pressure-resistant power chassis; the cutter suction dredging arm in the cutter suction dredging mechanism is connected to the tracked pressure-resistant power chassis by a plug-in connection through the connecting device; The dredging device includes a dredging arm, a pump suction pipeline, a submersible mud pump, and a sediment delivery pipe. The dredging arm includes a cutter head, a duckbill baffle, a cutter head transmission mechanism, and an underwater cutter head motor. The cutter head transmission mechanism includes a cutter head shaft, a flexible coupling, and a coupling housing. The cutter head is fixed to the end of the cutter head shaft in the cutter head transmission mechanism using a round nut and a flat key, and a cutter head cover protects the end of the cutter head shaft from wear. The coupling housing of the cutter head transmission mechanism has a fan-shaped fixing plate welded on it for fixing and adjusting the cutting angle between the dredging arm and the connecting device. The underwater cutter head motor is connected to the other end of the cutter head shaft via a flexible coupling. The pump suction pipeline is connected to the delivery port of the duckbill baffle, and the other end is connected to the submersible mud pump. The tracked pressure-resistant power chassis includes: a three-degree-of-freedom robotic arm support frame, a track system, and a chassis support frame; wherein, the three-degree-of-freedom robotic arm support frame consists of a lateral support frame and a lifting support frame, driven by lateral push rods and lifting push rods respectively; the lateral support frame and the lifting support frame are connected by a rotating pin, the end of the lateral push rod used to realize lateral movement is connected to the lateral support frame, and the other end of the push rod is connected to the lifting support frame; when the lateral push rod extends, the lateral support frame swings clockwise, and when the lateral push rod retracts, the lateral support frame swings counterclockwise; the other end of the lifting support frame is connected to the chassis support frame to realize lifting movement. The lifting push rod has one end connected to the lifting support frame and the other end connected to the chassis support frame. When the lifting push rod extends, the lifting support frame rises; when the lifting push rod retracts, the lifting support frame rises downward. The track system includes tracks, a track-sealed power box, a track motor, and a motor steering gear. The track motor and motor steering gear are located inside the track-sealed power box, and the tracks are located on both sides outside the track-sealed power box. The input end of the motor steering gear is connected to the output shaft end of the track motor, and the output shaft end of the motor steering gear is connected to the track. The track motor provides the power required for track movement through the power transmission of the motor steering gear. The connecting device includes two symmetrical connecting plates, each consisting of a triangular plate and an I-beam plate welded together. The triangular plate is connected to the fan-shaped fixing plate of the coupling housing in the sluice suction dredging arm via a pin. One side of the I-beam plate is used to reinforce the triangular plate, and the other side is used to connect with the transverse support frame in the three-degree-of-freedom robotic arm support frame via a plug-in connection and is fixed with a pin.

2. A dredging method using a three-degree-of-freedom underwater dredging robot, characterized in that... The three-degree-of-freedom underwater dredging robot structure according to claim 1 includes the following steps: Step 1: Connect the tracked pressure-resistant power chassis to the cutter suction dredging arm by installing the connecting device. Based on the cutting depth, adjust the cutting angle by selecting the position of the fan-shaped end of the fixing plate of the coupling housing in the cutter suction dredging arm and the insertion hole position of the connecting plate to complete the preparation work before dredging. Step 2: The robot travels to the designated dredging location via a tracked pressure-resistant power chassis, raises and retracts the push rod, lowers the dredging arm so that the cutter at the front end of the dredging arm contacts the silt, starts the underwater cutter motor of the dredging arm, and after the speed is constant, starts the submersible mud pump. When silt is sucked into the pump suction pipe, the dredging robot is in place. Step 3: By activating the lateral push rod, after the lateral push rod extends to complete one lateral movement, the tracked pressure-resistant power chassis moves forward. After the lateral push rod retracts to complete the next lateral movement, the tracked pressure-resistant power chassis moves forward again. This process is repeated until the dredging process is completed. Step 4: Extend the lifting rod to raise the sludge suction arm. When the cutter at the end of the sludge suction arm is no longer in contact with the mud and sand, start the tracked pressure-resistant power chassis recovery sludge suction robot or move to the next sludge suction area.

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