A winch cage operation device and operation method suitable for a dredging robot

Abstract

The application discloses a winch cage operation device suitable for a dredging robot, which comprises a winch cage operation unit, the winch cage operation unit comprises a scraper and a driving guide device for driving the scraper to rotate in the circumferential direction; the driving guide device comprises a rotating disc and a fixed disc, the rotating disc is annular and is installed on the fixed disc, and a special-shaped guide groove is arranged on the inner side of the fixed disc; the end of the scraper is connected with a guide rod, one end of the guide rod is connected with the rotating disc, the other end of the guide rod is provided with a rotating guide wheel, the rotating guide wheel is arranged in the special-shaped guide groove and can slide along the special-shaped guide groove; a disc bearing is arranged between the rotating disc and the fixed disc, the rotating disc is connected with a power transmission disc, and the power transmission disc is connected with a power mechanism for driving the power transmission disc to rotate. The scraper in the winch cage operation device can rotate in the circumferential direction, can protrude to efficiently scrape mud in the bottom posture and can retract in other circumferential motion postures, and has the advantages of small occupied installation space, high safety and the like.

Description

Technical Field

[0001] This invention relates to the field of dredging robots, and more specifically to a winch operating device and operating method suitable for dredging robots. Background Technology

[0002] Currently, rivers, pipe networks, and sewage ponds all face the need for dredging. For example, sewage ponds in chemical plants accumulate large amounts of sludge at the bottom after prolonged use. This sludge has a complex chemical composition and contains a large amount of organic matter, requiring timely removal. Dredging robots are now widely used to replace manual labor for dredging operations, offering higher safety and work efficiency.

[0003] Current dredging robots typically use dredging tools to break up the silt at the bottom of the sludge during operation, followed by suction pumping. These tools generally employ a drum-type rotating mechanism. Because the silt is highly clump-like and requires breaking up, the cutter head needs to be positioned on the outside of the rotating drum. This results in a large installation space, making the robot bulky, and also leaves most of the dredging cutter head exposed, which can easily damage surrounding pipe networks and other infrastructure during operation.

[0004] For example, the invention patent with application number CN202211624602.5 discloses a dredging robot for water conservancy pipeline engineering. It uses a dredging cone to break up the silt that has spread to the center of the pipeline, and then uses a silt scraper to scrape off the remaining silt on the inner wall of the pipeline. The two are used together to ensure that the silt on the inner wall of the pipeline is thoroughly removed.

[0005] The invention patent with application number CN202211503906.6 discloses a sluice suction machine flushing device, a compact intelligent sluice suction machine and a flushing method, including a drive mechanism, a bearing housing, a centrifugal pump, a suction pipe, a flushing nozzle, a filter screen, a discharge pipe, a flushing pipe and a sensor. The drive mechanism is connected to the centrifugal pump through the bearing housing, and the suction pipe and discharge pipe are connected to the upper part of the centrifugal pump to realize sludge removal.

[0006] Similarly, utility model patent application number CN202222979484.1 discloses a pipeline dredging robot, comprising: a robot body with a separation space inside; a crushing mechanism located outside the robot body, including a first motor, a rotating shaft, and crushing blades, the first motor being fixed to the outside of the robot body, one end of the rotating shaft being coaxially fixed to the output end of the first motor, multiple crushing blades, each including two mutually perpendicular blades, the ends of the blades being sharpened, used to crush blockages when rotating, the crushing blades being sequentially fixed on the rotating shaft along a first direction, the first direction being the extension direction of the rotating shaft, the plane formed by the blades on each crushing blade being perpendicular to the first direction; a separation mechanism penetrating inside the separation space, used for solid-liquid separation of the crushed blockages; and a propulsion mechanism connected to the outside of the robot body, used to drive the pipeline dredging robot to move.

[0007] As can be seen, the aforementioned dredging mechanisms or robots cannot avoid the problem of placing the winch dredging mechanism externally. This not only results in a large size but also makes it easy to damage the pool walls or pipe networks being worked on. Furthermore, the dredging pump and other mechanisms can only suck up and transport sludge in the vicinity of the dredging mechanism, and it is difficult to set up a corresponding efficient sludge transport device in the middle. Summary of the Invention

[0008] Based on the above-mentioned technical problems, the present invention proposes a winch operation device suitable for dredging robots, and an operation method using the device.

[0009] The technical solution adopted in this invention is:

[0010] A winch operating device suitable for dredging robots includes a winch operating unit, the winch operating unit including a scraper and a drive guide device for driving the scraper to rotate circumferentially.

[0011] The drive guide device includes a first rotating disk, a second rotating disk, a first fixed disk, and a second fixed disk. The first rotating disk is mounted on the first fixed disk, and the second rotating disk is mounted on the second fixed disk. The first fixed disk and the second fixed disk are located at opposite ends of the scraper.

[0012] Both the first and second rotating disks are annular, and both the first and second fixed disks are circular; the first rotating disk is located at the outer edge of the inner side of the first fixed disk, and the second rotating disk is located at the outer edge of the inner side of the second fixed disk.

[0013] A first irregular-shaped guide groove is provided on the inner side of the first fixed plate; a second irregular-shaped guide groove is provided on the inner side of the second fixed plate.

[0014] One end of the scraper is connected to a first guide rod, one end of the first guide rod is connected to a first rotating disk, and the other end of the first guide rod is provided with a first rotating guide wheel. The first rotating guide wheel is placed in a first irregularly shaped guide groove and can slide along the first irregularly shaped guide groove. The other end of the scraper is connected to a second guide rod, one end of the second guide rod is connected to a second rotating disk, and the other end of the second guide rod is provided with a second rotating guide wheel. The second rotating guide wheel is placed in a second irregularly shaped guide groove and can slide along the second irregularly shaped guide groove.

[0015] A first disc bearing is provided between the first rotating disk and the first fixed disk, and a second disc bearing is provided between the second rotating disk and the second fixed disk;

[0016] The first or second rotating disk is connected to the power transmission disk, which is connected to the power mechanism used to drive its rotation.

[0017] The distance between the first irregularly shaped guide groove and the first rotating disk gradually decreases from the top to the bottom of the first irregularly shaped guide groove; the distance between the second irregularly shaped guide groove and the second rotating disk gradually decreases from the top to the bottom of the second irregularly shaped guide groove. Both the first irregularly shaped guide groove and the second irregularly shaped guide groove have an approximately heart-shaped structure.

[0018] Preferably, the scraper is elongated and includes a back plate body, with a hook-shaped body provided at the end edge of the back plate body, and the hook-shaped body and the back plate body are an integral structure.

[0019] A sludge retention space is formed between the hook-shaped body and the back plate body. The sludge retention space is located on the front of the back plate body, and a sludge guide pipe is provided on the back of the back plate body.

[0020] Preferably, multiple scrapers are provided, and the multiple scrapers are arranged at intervals along the circumference of the first rotating disk and the second rotating disk.

[0021] Preferably, a first irregularly shaped guide plate is provided at the center of the first fixed plate, and the outer edge of the first irregularly shaped guide plate forms the inner side of the first irregularly shaped guide groove; a second irregularly shaped guide plate is provided at the center of the second fixed plate, and the outer edge of the second irregularly shaped guide plate forms the inner side of the second irregularly shaped guide groove.

[0022] The first fixed disk, the first rotating disk, the first irregular guide groove, the first irregular guide plate, and the first guide rod constitute the first driving and guiding mechanism. The second fixed disk, the second rotating disk, the second irregular guide groove, the second irregular guide plate, and the second guide rod constitute the second driving and guiding mechanism. The first driving and guiding mechanism and the second driving and guiding mechanism are located at both ends of the scraper and are arranged symmetrically.

[0023] Preferably, the first guide rod and the first rotating disk, and the second guide rod and the second rotating disk are both connected by the first bolt, and the first bearing is disposed on the first bolt;

[0024] The first guide rod and the scraper are connected by a second bolt, and the second guide rod and the scraper are connected by a second bolt. A second bearing is installed on the second bolt, and the first or second rotating guide wheel is located at the end of the second bolt.

[0025] Preferably, the power transmission disk includes a disk body, which is connected to the power mechanism for transmission, and pawls are provided at intervals on the edge of the disk body; the pawls pass over the first fixed disk and the first disc bearing and are connected to the first rotating disk; or the pawls pass over the second fixed disk and the second disc bearing and are connected to the second rotating disk.

[0026] The number of the aforementioned individual winch units can be set to N≥1 according to actual application requirements.

[0027] Preferably, two winch operation units are provided, namely a first winch operation unit and a second winch operation unit, and the first winch operation unit and the second winch operation unit are arranged coaxially.

[0028] Shaft holes are provided at the center of the first fixed plate and the second fixed plate in the first and second winch working units; a first synchronous shaft is provided at the axis of the first winch working unit and a second synchronous shaft is provided at the axis of the second winch working unit, and the first and second synchronous shafts are connected by a coupling.

[0029] The first synchronous shaft is connected to the drive shaft of the power mechanism, the first synchronous shaft or the drive shaft of the power mechanism is connected to the power transmission disc on the first winch working unit, and the second synchronous shaft is connected to the power transmission disc on the second winch working unit.

[0030] The power mechanism is a power motor or a hydraulic motor.

[0031] Preferably, the first and second winch working units are arranged symmetrically.

[0032] The first rotating disc of the first winch working unit is connected to the power transmission disc, and the first rotating disc of the second winch working unit is connected to the power transmission disc; the power transmission discs on the first and second winch working units are both located at the outer ends.

[0033] A synchronizing rod is connected between the first and second winch working units.

[0034] Both the first and second winch working units are placed in the bucket, and a fixed support is also installed between the bucket and the synchronizing rod.

[0035] Preferably, a sludge suction port is provided at the center of the inner side of the bucket. When the sludge guide pipe is rotated to a position where sludge can be dumped, the outlet of the sludge guide pipe faces the sludge suction port.

[0036] The sludge suction port is connected to a sludge suction pump via a sludge suction pipe, and the sludge suction pump is mounted on the dredging robot body. A winch operation method suitable for a dredging robot, employing the winch operation device described above, includes the following steps:

[0037] (1) The dredging robot moves along the bottom of the sewage tank, and the winch on the dredging robot scoops up the sludge from the bottom of the tank.

[0038] (2) Start the power mechanism on the winch operation device. The power mechanism drives the first rotating disk to rotate relative to the first fixed disk through the power transmission disk. When the first rotating disk rotates, it drives the scraper to rotate through the first guide rod. When the scraper rotates, it drives the second rotating disk to rotate relative to the second fixed disk through the second guide rod.

[0039] When the scraper rotates, the first rotating guide wheel at the end of the first guide rod is guided and slid in the first irregular guide groove, and the second rotating guide wheel at the end of the second guide rod is guided and slid in the second irregular guide groove, thus driving the scraper to move along a predetermined guide trajectory.

[0040] When the scraper rotates from the top to the bottom, the hook-shaped bodies on the scraper expose the outer edges of the first and second fixed disks, increasing in size, thus scraping away the silt; when the scraper rotates from the bottom to the top, the hook-shaped bodies on the scraper expose the outer edges of the first and second fixed disks, decreasing in size.

[0041] (3) The auger operating device stirs and crushes the sludge. The crushed sludge is in the sludge retention space. When the sludge guide pipe rotates with the scraper to a position where the sludge can be poured, the outlet of the sludge guide pipe faces the sludge suction port. At this time, the sludge in the sludge retention space is poured into the sludge suction port through the sludge guide pipe.

[0042] (4) The sludge at the sludge suction port is discharged through the sludge suction pipe under the suction force of the sludge suction pump.

[0043] The beneficial technical effects of this invention are:

[0044] The scraper in the winch operating device of the present invention can be guided and rotated along the irregular guide groove. When the scraper rotates from the top to the bottom, the hook-like bodies on the scraper are gradually exposed. When it rotates from the bottom to the top, the hook-like bodies on the scraper are gradually retracted. This structure has the advantages of small space occupation, which can greatly save the volume occupied by the winch operating device. On the other hand, it has high safety, as the hook-like bodies are only exposed in the bottom area and can be retracted after rotating to the top, which can effectively prevent damage to the pipeline network in the surrounding environment.

[0045] The scraper in the winch operating device of this invention is also equipped with a sludge guide pipe on its back, which guides the discharge direction of the sludge after suction. When the sludge guide pipe rotates with the scraper to a position where the sludge can be poured, the outlet of the sludge guide pipe faces the sludge suction port. At this time, the sludge in the sludge retention space is poured into the sludge suction port through the sludge guide pipe. This invention, through the setting of the sludge guide pipe, greatly improves the sludge suction efficiency, thereby enhancing the robot's sludge removal efficiency and effect.

[0046] The winch operation device of the present invention includes multiple winch operation units, and each winch operation unit is provided with multiple scrapers at intervals along the circumference. The overall layout is reasonable, the structure is compact, the stability is strong, and the dredging effect is good. Attached Figure Description

[0047] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0048] Figure 1 This is a schematic diagram illustrating the structural principle of one embodiment of the winch operating device of the present invention;

[0049] Figure 2 for Figure 1 Another viewpoint;

[0050] Figure 3 for Figure 2 Enlarged view of part A;

[0051] Figure 4 for Figure 2 Side view;

[0052] Figure 5 This is a front view of the winch operating device of the present invention;

[0053] Figure 6 for Figure 5 A bottom view of the winch operating device;

[0054] Figure 7 for Figure 6 A schematic diagram of the radial cross-section structure.

[0055] Figure 8 This is a schematic diagram illustrating the structural principle of the winch operation unit in the winch operation device of the present invention;

[0056] Figure 9 for Figure 8 Another viewpoint;

[0057] Figure 10 for Figure 9 Enlarged schematic diagram of part B;

[0058] Figure 11 for Figure 9 A front view;

[0059] Figure 12 This is a schematic diagram illustrating the structural principle of the winch operation unit of the present invention when only a single scraper is retained;

[0060] Figure 13 for Figure 12 Another viewpoint;

[0061] Figure 14 for Figure 12 A front view;

[0062] Figure 15 for Figure 14 AA-direction cross section;

[0063] Figure 16 This is a schematic diagram illustrating the structural principle of a single scraper in this invention;

[0064] Figure 17 for Figure 16 Another viewpoint;

[0065] Figure 18 for Figure 16 A schematic diagram of the forward structure principle;

[0066] Figure 19 for Figure 16 A schematic diagram of the lateral structure principle;

[0067] Figure 20 This is a schematic diagram illustrating the structural principle of a dredging robot employing the winch operation device of the present invention;

[0068] Figure 21 for Figure 20 A front view;

[0069] Figure 22 for Figure 21 BB-direction cross-section;

[0070] Figure 23 for Figure 22 Enlarged view of part C;

[0071] Figure 24 A schematic diagram illustrating the structural principle of a dredging robot without the outer bucket.

[0072] Figure 25 for Figure 24 Side view.

[0073] In the diagram: 1-Windlock working unit, 2-Scraper, 3-Drive guide device, 4-First guide rod, 5-Power transmission disc, 6-Power mechanism, 7-Shaft hole, 8-First synchronous shaft, 9-Second synchronous shaft, 10-Coupling, 11-Synchronous rod, 12-Bucket, 13-Fixed bracket, 14-Sludge suction pipe, 15-Sludge suction pump, 16-Dredging robot body, 17-Sludge suction port;

[0074] 101 - First winch operating unit; 102 - Second winch operating unit;

[0075] 201-Back plate body, 202-Hook-shaped body, 203-Sludge retention space, 204-Sludge guide tube, 205-Side skirt;

[0076] 301-First rotating disk, 302-Second rotating disk, 303-First fixed disk, 304-Second fixed disk, 305-First irregular guide groove, 306-First disc bearing, 307-Second disc bearing, 308-First irregular guide plate;

[0077] 401 - First rotating guide wheel, 402 - First bolt, 403 - First bearing, 404 - Second bolt, 405 - Second bearing;

[0078] 501 - Disc body, 502 - Claws. Detailed Implementation

[0079] Referring to the accompanying drawings, a winch operating device suitable for a dredging robot includes a winch operating unit 1, which includes a scraper 2 and a drive guide device 3 for driving the scraper 2 to rotate circumferentially. The drive guide device 3 includes a first rotating disk 301, a second rotating disk 302, a first fixed disk 303, and a second fixed disk 304. The first rotating disk 301 is mounted on the first fixed disk 303, and the second rotating disk 302 is mounted on the second fixed disk 304. The first fixed disk 303 and the second fixed disk 304 are located at opposite ends of the scraper 2. Both the first rotating disk 301 and the second rotating disk 302 are annular, and both the first fixed disk 303 and the second fixed disk 304 are circular. The first rotating disk 301 is located at the outer edge of the inner side of the first fixed disk 303, and the second rotating disk 302 is located at the outer edge of the inner side of the second fixed disk 304.

[0080] A first irregularly shaped guide groove 305 is provided on the inner side of the first fixed disk 303, and the distance between the first irregularly shaped guide groove 305 and the first rotating disk 301 gradually decreases from the top end to the bottom end of the first irregularly shaped guide groove 305. A second irregularly shaped guide groove is provided on the inner side of the second fixed disk 304, and the distance between the second irregularly shaped guide groove and the second rotating disk gradually decreases from the top end to the bottom end of the second irregularly shaped guide groove.

[0081] One end of the scraper 2 is connected to a first guide rod 4, one end of which is connected to a first rotating disk 301. The other end of the first guide rod 4 is provided with a first rotating guide wheel 401, which is placed in a first irregularly shaped guide groove 305 and can slide along the groove. The other end of the scraper 2 is connected to a second guide rod, one end of which is connected to a second rotating disk. The other end of the second guide rod is provided with a second rotating guide wheel, which is placed in a second irregularly shaped guide groove and can slide along it.

[0082] A first disc bearing 306 is provided between the first rotating disk 301 and the first fixed disk 303, and a second disc bearing 307 is provided between the second rotating disk 304 and the second fixed disk 304. The first rotating disk 301 or the second rotating disk 302 is connected to the power transmission disk 5, and the power transmission disk 5 is connected to the power mechanism 6 used to drive its rotation.

[0083] As a further design of the present invention, the scraper 2 is elongated and includes a back plate 201. A hook-shaped body 202 is provided at the end edge of the back plate 201, and the hook-shaped body 202 and the back plate 201 are integrally formed. A sludge retention space 203 is formed between the hook-shaped body 202 and the back plate 201. The sludge retention space 203 is located on the front side of the back plate 201, and a sludge guide pipe 204 is provided on the back side of the back plate 201. The sludge retention space 203 and the sludge guide pipe 204 are connected.

[0084] In the winch operating device of this invention, the scraper 2 can rotate guided along the irregularly shaped guide groove. When the scraper 2 rotates from the top to the bottom, the hook-like bodies 202 on the scraper 2 are gradually exposed, and when it rotates from the bottom to the top, the hook-like bodies 202 on the scraper 2 are gradually retracted. This structure has two advantages: firstly, it occupies little space, which can greatly save the volume of the winch operating device; secondly, it has high safety, as the hook-like bodies 202 are mostly exposed in the bottom area and can be retracted accordingly after rotating to the top, which can effectively prevent damage to the surrounding pipeline network.

[0085] The scraper 2 in the winch operating device of this invention is further equipped with a sludge guide pipe 204 on its back, which guides the sludge suction. When the sludge guide pipe 204 rotates with the scraper to a position where the sludge can be poured, the outlet of the sludge guide pipe faces the sludge suction port. At this time, the sludge in the sludge retention space is poured into the sludge suction port through the sludge guide pipe. By setting the sludge guide pipe 204, this invention greatly improves the sludge suction efficiency, thereby improving the robot's sludge removal efficiency and effect.

[0086] Multiple sludge guide pipes 204 are provided on the back of the aforementioned single scraper, such as up to three, and adjacent sludge guide pipes are spaced apart by a distance, which improves the sludge guiding effect.

[0087] Multiple scraper blades 2 are provided, and the multiple scraper blades 2 are arranged at intervals along the circumference of the first rotating disk 301 and the second rotating disk 302. That is, each winch working unit 1 is equipped with multiple scraper blades 2, which has a reasonable overall layout, compact structure, strong stability, and good dredging effect.

[0088] Furthermore, a first irregularly shaped guide plate 308 is provided at the center of the first fixed disk 303, and the outer edge of the first irregularly shaped guide plate 308 forms the inner side of the first irregularly shaped guide groove 305. A second irregularly shaped guide plate is provided at the center of the second fixed disk 304, and the outer edge of the second irregularly shaped guide plate forms the inner side of the second irregularly shaped guide groove. The first fixed disk 303, the first rotating disk 301, the first irregularly shaped guide groove 305, the first irregularly shaped guide plate 308, and the first guide rod 4 constitute the first driving guide mechanism. The second fixed disk, the second rotating disk, the second irregularly shaped guide groove, the second irregularly shaped guide plate, and the second guide rod constitute the second driving guide mechanism. The first driving guide mechanism and the second driving guide mechanism are located at opposite ends of the scraper 2 and are arranged symmetrically. When the power transmission disk 5 drives the first rotating disk 301 to rotate, the first rotating disk 301 can drive the scraper 2 to rotate through the first guide rod 4. At the same time, the scraper 2 drives the second guide rod and the second rotating disk at the other end to operate synchronously, resulting in stable operation.

[0089] Furthermore, the first guide rod 4 is connected to the first rotating disk 301, and the second guide rod is connected to the second rotating disk, both via first bolts 402. A first bearing 403 is mounted on the first bolt 402, achieving a hinged connection between the first guide rod 4 and the first rotating disk 301. That is, the end of the first guide rod 4 can be fixed relative to the first rotating disk without affecting its free rotation. The first guide rod 4 is connected to the scraper 2, and the second guide rod is connected to the scraper 2, both via second bolts 404. A second bearing 405 is mounted on the second bolt 404, allowing the scraper 2 and the second guide rod as a whole to rotate relative to the second bolt 404. Side skirts 205 are provided on both sides of the scraper 2, and the side skirts 205 are respectively connected to the first guide rod and the second guide rod. The first or second rotating guide wheel is located at the end of the second bolt 404. The above-described structure allows one end of the guide rod to rotate with the rotating disk. During rotation, the rotating guide wheel connected to the other end of the guide rod slides in the irregularly shaped guide groove. As the trajectory of the irregularly shaped guide groove changes, the guide rod, along with the scraper, flips at a corresponding angle, thereby changing the extent to which the hook-shaped body 202 on the scraper is exposed relative to the outer edge of the fixed disk. This invention features a clever and reasonable structural design, stable operation, and while achieving space saving and safety, it also boasts advantages such as low manufacturing cost and long service life.

[0090] Furthermore, the power transmission disk 5 includes a disk body 501, which is connected to the power mechanism 6. Clamping claws 502 are spaced apart at the edge of the disk body 501. The clamping claws 502 pass over the first fixed disk and the first disc bearing, and connect to the first rotating disk 301; or the clamping claws pass over the second fixed disk and the second disc bearing, and connect to the second rotating disk 302. In this invention, the power transmission disk 5 is driven to rotate by the power mechanism 6. During rotation, the power transmission disk 5 can drive the first rotating disk 301 to rotate via the clamping claws 502. When the first rotating disk 301 rotates, it can drive the second rotating disk 302 to rotate synchronously via the guide rod and the scraper 2. In other words, a single power transmission disk 5 on the winch operating unit 1 is sufficient to drive the scraper 2 to rotate.

[0091] Furthermore, two winch operation units 1 are provided, namely a first winch operation unit 101 and a second winch operation unit 102, which are coaxially arranged. A shaft hole 7 is provided at the center of the first fixed plate and the second fixed plate in both the first winch operation unit 101 and the second winch operation unit 102. A first synchronous shaft 8 is provided at the axis of the first winch operation unit, and a second synchronous shaft 9 is provided at the axis of the second winch operation unit. The first synchronous shaft 8 and the second synchronous shaft 9 are connected by a coupling 10. The first synchronous shaft 8 is connected to the transmission shaft of the power mechanism 6, and the first synchronous shaft or the transmission shaft of the power mechanism is connected to the power transmission disc on the first winch operation unit. The second synchronous shaft 9 is connected to the power transmission disc on the second winch operation unit. The power mechanism 6 is a power motor or a hydraulic motor.

[0092] Furthermore, the first winch working unit 101 and the second winch working unit 102 are arranged symmetrically. The first rotating disk of the first winch working unit is connected to the power transmission disk, and the first rotating disk of the second winch working unit is also connected to the power transmission disk; the power transmission disks on both the first and second winch working units are located at their outer ends. That is to say, the first winch working unit 101 and the second winch working unit 102 are both driven to operate synchronously by the same motor mechanism 6. The power mechanism 6 can drive the power transmission disk on one side to rotate, and at the same time, through the transmission of the first synchronous shaft 8, the coupling 10, and the second synchronous shaft 9, it can drive the power transmission disk on the other side to rotate, thereby realizing the synchronous rotation of the first winch working unit 101 and the second winch working unit 102. A synchronizing rod 11 is connected between the first winch working unit 101 and the second winch working unit 102. The synchronizing rod 11 connects between the adjacent second fixed disks of the two winch working units. The first winch operating unit 101 and the second winch operating unit 102 are both placed in the bucket 12, and a fixed bracket 13 is also provided between the bucket 12 and the synchronizing rod 11. The present invention further increases the structural stability of the winch operating device by setting the synchronizing rod 11 and the fixed bracket 13.

[0093] Furthermore, a sludge suction port 17 is provided at the center of the inner back side of the bucket 12. When the sludge guide pipe 204 rotates to a position where it can dump sludge, the outlet of the sludge guide pipe 204 faces the sludge suction port 17. The sludge suction port 17 is connected to the sludge suction pump 15 through the sludge suction pipe 14, and the sludge suction pump 15 is mounted on the sludge dredging robot body 16.

[0094] The present invention also provides a method for operating a winch for a dredging robot, employing the winch operating device described above, and comprising the following steps:

[0095] (1) The dredging robot body 16 moves along the bottom of the sewage pool, and the winch working device on the dredging robot body shovels up the sludge at the bottom of the pool.

[0096] (2) Start the power mechanism 6 on the winch operation device. The power mechanism 6 drives the first rotating disk 301 to rotate relative to the first fixed disk 303 through the power transmission disk 5. When the first rotating disk 301 rotates, it drives the scraper 2 to rotate through the first guide rod 4. When the scraper 2 rotates, it drives the second rotating disk 302 to rotate relative to the second fixed disk 304 through the second guide rod.

[0097] When the scraper 2 rotates, the first rotating guide wheel 401 at the end of the first guide rod 4 is placed in the first irregular guide groove 305 for guidance and sliding, and the second rotating guide wheel at the end of the second guide rod is placed in the second irregular guide groove for guidance and sliding, thus driving the scraper 2 to move along a predetermined guide trajectory.

[0098] When the scraper 2 rotates from the top to the bottom, the hook-shaped bodies 202 on the scraper expose the outer edges of the first fixed disk 303 and the second fixed disk 304, increasing their size and scraping away the silt. When the scraper rotates from the bottom to the top, the hook-shaped bodies 202 on the scraper expose the outer edges of the first fixed disk and the second fixed disk, decreasing their size.

[0099] (3) The winch operation device stirs and crushes the sludge. The crushed sludge is in the sludge storage space 203. When the sludge guide pipe 204 rotates with the scraper 2 to a position where the sludge can be poured, the outlet of the sludge guide pipe 204 faces the sludge suction port 17. At this time, the sludge in the sludge storage space is poured into the sludge suction port 17 through the sludge guide pipe.

[0100] (4) The sludge at the sludge suction port is discharged through the sludge suction pipe 14 under the suction force of the sludge suction pump 15.

[0101] The scraper 2 in the winch operation device and operation method of the present invention can be guided and rotated along the irregular guide groove. When rotating in the circumferential direction, it protrudes at the bottom position to efficiently scrape mud, and retracts when moving in other circumferential directions. It has the advantages of small installation space and high safety, and can effectively prevent damage to the surrounding pipeline network. At the same time, multiple sets of irregular guide pipes are set at the rear end of the scraper to realize directional guidance of sludge transportation and improve the transportation efficiency of the subsequent sludge suction pump.

[0102] For any parts not mentioned above, existing technologies can be adopted or referenced.

[0103] 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 winch assembly for a dredging robot, characterized in that: The winch operating unit comprises a scraper plate and a driving guide device for driving the scraper plate to rotate in the circumferential direction; The driving guide device comprises a first rotating disc, a second rotating disc, a first fixed disc and a second fixed disc, the first rotating disc is installed on the first fixed disc, the second rotating disc is installed on the second fixed disc, and the first fixed disc and the second fixed disc are located at two ends of the scraper plate; The first rotating disc and the second rotating disc are both annular, and the first fixed disc and the second fixed disc are both circular; the first rotating disc is arranged at the outer edge of the inner side of the first fixed disc, and the second rotating disc is arranged at the outer edge of the inner side of the second fixed disc; A first special-shaped guide groove is arranged on the inner side of the first fixed disc, and a second special-shaped guide groove is arranged on the inner side of the second fixed disc; One end of the scraper plate is connected with a first guide rod, one end of the first guide rod is connected with the first rotating disc, the other end of the first guide rod is provided with a first rotating guide wheel, the first rotating guide wheel is arranged in the first special-shaped guide groove and can slide along the first special-shaped guide groove; the other end of the scraper plate is connected with a second guide rod, one end of the second guide rod is connected with the second rotating disc, the other end of the second guide rod is provided with a second rotating guide wheel, the second rotating guide wheel is arranged in the second special-shaped guide groove and can slide along the second special-shaped guide groove; A first disc bearing is arranged between the first rotating disc and the first fixed disc, and a second disc bearing is arranged between the second rotating disc and the second fixed disc; The first rotating disc or the second rotating disc is connected with a power transmission disc, and the power transmission disc is connected with a power mechanism for driving the power transmission disc to rotate; The scraper plate is in the shape of a strip, and comprises a back plate body, a hook-shaped body is arranged at the end edge of the back plate body, and the hook-shaped body and the back plate body are in an integral structure; A sludge retaining space is formed between the hook-shaped body and the back plate body, the sludge retaining space is located on the front surface of the back plate body, and a sludge guide pipe is arranged on the back surface of the back plate body; A first special-shaped guide plate is arranged at the center of the first fixed disc, and the outer edge of the first special-shaped guide plate constitutes the inner side of the first special-shaped guide groove; a second special-shaped guide plate is arranged at the center of the second fixed disc, and the outer edge of the second special-shaped guide plate constitutes the inner side of the second special-shaped guide groove; The first fixed disc, the first rotating disc, the first special-shaped guide groove, the first special-shaped guide plate and the first guide rod constitute a first driving guide mechanism, the second fixed disc, the second rotating disc, the second special-shaped guide groove, the second special-shaped guide plate and the second guide rod constitute a second driving guide mechanism, the first driving guide mechanism and the second driving guide mechanism are located at two ends of the scraper plate and are symmetrically arranged; The first guide rod and the first rotating disc, and the second guide rod and the second rotating disc are connected through first bolts, and first bearings are arranged on the first bolts; The first guide rod and the scraper plate, and the second guide rod and the scraper plate are connected through second bolts, and second bearings are arranged on the second bolts, and the first rotating guide wheel or the second rotating guide wheel is arranged at the end of the second bolt.

2. A winch assembly for a dredging robot according to claim 1, characterized in that: A plurality of scraper plates are arranged, and the plurality of scraper plates are arranged at intervals in the circumferential direction of the first rotating disc and the second rotating disc.

3. The auger apparatus for use in a dredging robot according to claim 1, characterized in that: The power transmission disc comprises a disc body, the disc body is in driving connection with a power mechanism, and claws are arranged at the edge of the disc body in a spaced manner; the claws pass over the first fixed disc and the first disc bearing and are connected with the first rotating disc; or the claws pass over the second fixed disc and the second disc bearing and are connected with the second rotating disc.

4. The auger apparatus for use in a dredging robot according to claim 2, characterized in that: The two winch operation units are coaxially arranged. The first fixed disc and the second fixed disc are provided with shaft holes at the center thereof; a first synchronizing shaft is arranged at the axis of the first winch operation unit, and a second synchronizing shaft is arranged at the axis of the second winch operation unit; the first synchronizing shaft and the second synchronizing shaft are connected through a shaft coupling. The first synchronizing shaft is connected with a transmission shaft of the power mechanism; the first synchronizing shaft or the transmission shaft of the power mechanism is connected with the power transmission disc on the first winch operation unit; and the second synchronizing shaft is connected with the power transmission disc on the second winch operation unit. The power mechanism is a power motor or a hydraulic motor.

5. A winch assembly for a dredging robot according to claim 4, characterized in that: The first winch operation unit and the second winch operation unit are symmetrically arranged. The first rotating disc of the first winch operation unit is connected with the power transmission disc, and the first rotating disc of the second winch operation unit is connected with the power transmission disc; the power transmission discs on the first winch operation unit and the second winch operation unit are arranged at the outer side end. A synchronizing rod is arranged between the first winch operation unit and the second winch operation unit. The first winch operation unit and the second winch operation unit are arranged in the bucket; a fixed support is further arranged between the bucket and the synchronizing rod.

6. A winch assembly for a dredging robot according to claim 5, characterized in that: A sludge suction port is arranged at the center of the inner side of the bucket; when the sludge guide pipe is rotated to a position at which the sludge can be poured, the outlet of the sludge guide pipe faces the sludge suction port. The sludge suction port is connected with a sludge suction pump through a sludge suction pipeline; the sludge suction pump is arranged on the dredging robot body.

7. A method of corkscrewing for a dredging robot, using a corkscrewing device according to any one of claims 1-6, characterized in that The method comprises the following steps: (1) The dredging robot body moves on the bottom of the sewage pool; the winch operation device on the dredging robot body scoops up the sludge on the bottom of the pool; (2) The power mechanism on the winch operation device is started; the power mechanism drives the first rotating disc to rotate relative to the first fixed disc through the power transmission disc; when the first rotating disc rotates, the scraper is driven to rotate through the first guide rod; when the scraper rotates, the second rotating disc is driven to rotate relative to the second fixed disc through the second guide rod; When the scraper rotates, the first rotating guide wheel at the end of the first guide rod is arranged in the first special-shaped guide groove to guide and slide, and the second rotating guide wheel at the end of the second guide rod is arranged in the second special-shaped guide groove to guide and slide, so that the scraper can move along a predetermined guide track; When the scraper rotates from the top end to the bottom end, the hook-shaped body on the scraper exposes the outer edge dimension of the first fixed disc and the second fixed disc, and the sludge is scraped; when the scraper rotates from the bottom end to the top end, the hook-shaped body on the scraper exposes the outer edge dimension of the first fixed disc and the second fixed disc, and the sludge is scraped. (3) The sludge stirring and breaking device stirs and breaks the sludge, and the broken sludge is in the sludge storage space. When the sludge guide pipe rotates with the scraper to a position where the sludge can be poured, the outlet of the sludge guide pipe faces the sludge suction port. At this time, the sludge in the sludge storage space is poured to the sludge suction port through the sludge guide pipe; (4) The sludge at the sludge suction port is discharged through the sludge suction pipeline under the suction force of the sludge suction pump.

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