Hydraulic grab arm type cleaning robot and use method

Abstract

The application discloses a hydraulic grab arm type pollution cleaning robot and a use method, and belongs to the technical field of pollution cleaning machines. The robot comprises a grab bucket assembly for clamping pollutants and a machine body for driving the grab bucket assembly to move, and a limiting plate is fixedly arranged at the top of the grab bucket assembly. A rope is fixedly arranged at one end of the top of the grab bucket assembly, and the other end of the rope is wound in the inside of the lifting box through the inside of the limiting plate. Since the buffer assembly is adopted to elastically compress the limiting plate after lifting, the swing of the limiting plate is limited, the problem that the grab bucket assembly cannot be limited to move slowly and work inefficiently is effectively solved, the limiting of the grab bucket assembly after lifting is realized, the swing of the grab bucket assembly during horizontal movement is prevented, and the grab bucket assembly can be quickly moved to improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pollution cleaning machines, more particularly to a hydraulic grab arm type pollution cleaning robot and a use method. BACKGROUND

[0002] With the increasing demand for river pollution control, pollution cleaning machines have been widely used in water conservancy projects. In order to eliminate water hazards and develop and utilize water resources, it is necessary to build a water retaining dam on the river for intercepting pollutants such as waterweeds. The pollution cleaning machine installed on the water retaining dam can achieve efficient pollution cleaning effect and bring many conveniences to water pollution control work.

[0003] In related technologies, the machine equipment for water pollution control is generally installed at the water retaining dam, and can only clean the pollutants intercepted by the water retaining dam. It is not convenient to move to other positions of the river for pollution cleaning, and the use is severely limited. In order to facilitate pollution cleaning at other positions of the river, for example, the document with the publication number CN114855731A provides a hydraulic grab arm type pollution cleaning robot with stable reinforcement function. The device can move the body to any position to facilitate pollution cleaning at other positions of the river. A balance assembly is arranged between the outside of the grab bucket assembly and the other side of the body to stabilize the grab bucket assembly. The driving motor drives the rotation of the winding roller, so that the connecting cable always remains in tension with the arc-shaped sleeve and the snap ring. In this way, the stability of the connecting arm is effectively improved, and when the clamping jaw and the fixed teeth are clamped, the stability is maintained, the shaking amplitude of the clamping jaw and the fixed teeth affected by the environment is reduced, the situation of debris falling is effectively avoided, and the success rate of grabbing of the grab bucket assembly is improved.

[0004] Although the above-mentioned prior art scheme can realize the effects of robot moving pollution cleaning and improving clamping stability through the body and the balance assembly, it is difficult to ensure that the grab bucket assembly is exactly lifted to the highest position, and the operation is difficult. If there is a gap between the grab bucket assembly and the lifting box, the grab bucket assembly and the clamped weight will shake due to inertia when the grab bucket assembly approaches and moves away from the body. Therefore, only slow movement can be performed, and thus the working efficiency is reduced due to the inability to limit the grab bucket assembly. SUMMARY

[0005] 1. Technical problem to be solved

[0006] The purpose of the present application is to provide a hydraulic grab arm type pollution cleaning robot and a use method, which solves the technical problem of slow movement and low working efficiency due to the inability to limit the grab bucket assembly, and achieves the technical effect of automatically limiting the grab bucket assembly after being lifted.

[0007] 2. Technical scheme

[0008] The application provides a hydraulic arm type pollution cleaning robot, which comprises:

[0009] A grab bucket assembly for clamping pollutants and a body for driving the grab bucket assembly to move, wherein a limiting plate is fixedly arranged on the top of the grab bucket assembly.

[0010] A rope is fixedly arranged on one end of the top of the grab bucket assembly and is wound on the inside of the limiting plate on the other end.

[0011] A motor for driving the rope to be wound is fixedly arranged on the outside of the lifting box.

[0012] A limiting rod for limiting the limiting plate is rotatably arranged on the outside of the lifting box and is rotated under the drive of the motor.

[0013] A buffer assembly for buffering the limiting plate is arranged on the bottom of the lifting box.

[0014] By using the above technical scheme, the grab bucket assembly is driven by the body to move to a pollution cleaning position, the motor on the outside of the lifting box is started to drive the rope to be loosened, the rope lowers the grab bucket assembly, the rope is wound on the inside of the lifting box by the motor after the grab bucket assembly clamps the pollutants, the rope drives the grab bucket assembly to move upward, the limiting rod on one side of the lifting box is rotated to be close to the limiting plate under the drive of the motor when the grab bucket assembly rises to a certain height, the limiting rod stops rotating when it is in a vertical state, at this time, the limiting plate moves vertically upward under the limiting action of the limiting rod, preventing the grab bucket assembly from shaking greatly, and the change of the buffer assembly on the bottom of the lifting box can be observed by naked eyes when the limiting plate reaches the buffer assembly, at this time, the grab bucket assembly stops being lifted upward, the limiting plate cannot shake under the action of the buffer assembly, thereby the grab bucket assembly is stabilized and reinforced.

[0015] As an optional scheme of the technical scheme of the application, the grab bucket assembly comprises a fixed jaw, a movable jaw is rotatably arranged on one side of the fixed jaw, symmetrical connecting rods are fixedly arranged on the outside of the movable jaw, hydraulic push rods are rotatably arranged on the other ends of the connecting rods, the other ends of the hydraulic push rods are rotatably arranged on the top of the fixed jaw, a fixed bolt is fixedly arranged on the top of the fixed jaw, the fixed jaw is fixedly arranged with the limiting plate through the fixed bolt, and one end of the rope is fixedly arranged on the bottom of the fixed jaw.

[0016] By using the above technical scheme, when the grab bucket assembly is located at a pollution cleaning position, the connecting rods are driven by the hydraulic push rods to make the movable jaw close to the fixed jaw, the pollutants are clamped and lifted under the cooperation of the fixed jaw and the movable jaw, and the hydraulic push rods are arranged below the limiting plate, thereby the grab bucket assembly is protected by the limiting plate.

[0017] As an optional solution of the technical scheme of the present application, a limiting block is fixed outside the rope, a push plate is sleeved outside the rope, a transmission plate is fixed symmetrically on the top of the push plate, an anti-off plate is fixed on the top of the transmission plate, the transmission plate is slidingly arranged on the bottom of the lifting box, the rope drives the push plate to move upward through the limiting block, the rope is wound under the driving of the winding wheel, the winding wheel is fixed outside the driving shaft, the driving shaft rotates under the driving of the motor, and the push plate drives the transmission plate to form linkage with the limiting rod.

[0018] By adopting the above technical scheme, when the rope drives the grab bucket assembly to rise to a certain height, the limiting block outside the rope approaches the bottom of the push plate as the height rises, at this time the push plate is hung below the buffer assembly by the transmission plate, and the transmission plate is hung on the bottom of the lifting box through the anti-off plate. When the push plate is lifted by the limiting block, the push plate drives the transmission plate to move to the inside of the lifting box, and the motor and the limiting rod are formed in transmission through the transmission plate. At this time, the limiting plate is located within the rotation range of the limiting rod, so that the motor drives the limiting rod to rotate to the vertical state, and the limiting plate is limited during rotation to prevent the limiting plate from swinging greatly during rising. Then the motor continues to drive the transmission plate to rise, so that the rope continues to drive the grab bucket assembly to approach the bottom of the buffer assembly.

[0019] As an optional solution of the technical scheme of the present application, a long tooth section is fixed on the side of the transmission plate close to the driving shaft, a gear A is meshed outside the long tooth section, the gear A is fixed outside the driving shaft, a short tooth section is fixed on the side of the transmission plate away from the driving shaft, a gear B is meshed outside the short tooth section, a limiting rod is fixed outside the gear B, a smooth end is arranged below the short tooth section on one side of the transmission plate, and the smooth end keeps the stability of the limiting rod through the locking assembly when the smooth end is outside the gear B.

[0020] By adopting the above technical scheme, when the transmission plate rises, the long tooth section outside the transmission plate first forms transmission with the gear A outside the driving shaft. When the gear A drives the transmission plate to rise, the transmission plate drives the gear B to rotate through the short tooth section on the other side, so that the gear B drives the limiting rod to rotate. When the short tooth section is separated from the gear B, the limiting rod keeps the vertical state under the action of the locking assembly at this time. At this time, the smooth end outside the gear B does not form transmission, and the gear A can continue to drive the transmission plate through the long tooth section to drive the push plate to move upward until the grab bucket assembly is located at the bottom of the buffer assembly.

[0021] As an optional solution of the technical scheme of the present application, the locking assembly comprises a fixed rod, which is fixedly arranged on the inner side of the lifting box, and a pawl is rotatably arranged on the outer side of the fixed rod through a pin shaft A, the pawl is engagedly arranged on the outer side of a ratchet wheel, the ratchet wheel is coaxially and fixedly arranged with a gear B, a torsion spring A is arranged between the fixed rod and the pawl on the outer side of the pin shaft A, a push rod is fixedly arranged on the outer side of the end of the pawl away from the gear B, the push rod drives the pawl to disengage from the ratchet wheel under the pushing of a cam, and the cam rotates under the driving of a transmission plate.

[0022] By adopting the above technical scheme, when the gear B drives the ratchet wheel to rotate, the pawl is always engaged on the outer side of the ratchet wheel under the action of the torsion spring A, and when the gear B disengages from the short tooth segment, the vertical state can be maintained, at this time, the cam is in the small diameter and located on the outer side of the push rod, and will not affect the push rod.

[0023] As an optional solution of the technical scheme of the present application, the cam is rotatably arranged on the outer side of the fixed rod through a pin shaft B, a torsion spring B is arranged between the fixed rod and the cam on the outer side of the pin shaft B, a blocking rod is fixedly arranged on the outer side of the cam, the blocking rod rotates under the driving of the transmission plate, the transmission plate is slidably arranged with the lifting box through a sliding groove, a boss is fixedly arranged in the sliding groove, and the transmission plate slides through the boss to push the blocking rod to rotate.

[0024] By adopting the above technical scheme, when the transmission plate slides upward, the boss in the sliding groove pushes the blocking rod to rotate upward, so that the blocking rod drives the cam to rotate upward, at this time, the small diameter of the cam is located on the outer side of the push rod, preventing the engagement of the pawl from being affected, when the blocking rod passes the outer side of the boss, it will automatically reset to the horizontal state and be located in the sliding groove, when the transmission plate drives the boss to move downward, the boss pushes the blocking rod to rotate downward, so that the blocking rod drives the large diameter of the cam to rotate outward of the push rod, with the increase of the outer diameter, the push rod drives the pawl to rotate upward and disengage from the ratchet wheel, at this time, the ratchet wheel is not locked by the pawl, when the short tooth segment moves to the outer side of the gear B again, it can drive the limiting rod to reset, when the limiting rod resets, the blocking rod is located on the top of the boss, at this time, the blocking rod is not pushed by the boss and automatically resets, so that the push rod is not pushed by the cam and automatically resets, the pawl is locked to the ratchet wheel again, so that the limiting rod is in the inclined state, preventing the grab assembly from being lowered and hoisted again.

[0025] As an optional solution of the technical scheme of the present application, the buffering assembly comprises a frame, sliding columns are fixedly arranged at the four corners of the top of the frame, sliding sleeves are slidably arranged on the outer sides of the sliding columns, the sliding sleeves are fixedly arranged on the outer side of the lifting box, springs are arranged between the frame and the sliding sleeves on the outer sides of the sliding columns, the frame is located below the lifting box, and the frame moves upward under the pushing of a limiting plate.

[0026] By adopting the technical scheme, when the limiting plate is located at the bottom of the buffer assembly, the limiting plate first pushes the frame to move upward, the frame moves upward through the slide post, the frame compresses the spring outside the slide post, and the limiting plate is buffered, the limiting plate is elastically pressed under the action of the frame when the limiting plate stops rising, and the limiting plate is in close contact with the frame, thereby preventing the limiting plate from swinging during horizontal movement.

[0027] As an optional scheme of the technical scheme of the present application, a roller is rotationally arranged on one side of the limiting plate close to the limiting rod, a clamping groove is symmetrically fixed on the top of the limiting plate, the clamping groove is matched with the bottom of the frame, and an inclined surface is formed on the bottom of the frame.

[0028] By adopting the technical scheme, when the limiting plate is located within the rotation range of the limiting rod, swinging of the limiting plate is slowed down under the action of the limiting rod, the roller rolls outside the limiting rod when the limiting plate rises when the limiting rod is in a vertical state, friction between the limiting plate and the limiting rod is prevented, the clamping groove on the top of the limiting plate is clamped outside the frame when the limiting plate is located at the bottom of the frame under the limiting action of the limiting rod, the limiting plate is stabilized and reinforced, and the inclined surface on the frame facilitates automatic cooperation between the frame and the clamping groove.

[0029] As an optional scheme of the technical scheme of the present application, an installation plate is fixed on the top of the machine body, a telescopic arm is rotationally arranged on the installation plate through a rotating table, a connecting sleeve is fixed on the telescopic end of the telescopic arm, and the connecting sleeve is fixed outside the lifting box.

[0030] By adopting the technical scheme, the direction of the telescopic arm is adjusted through the rotating table on the top of the machine body, the telescopic arm drives the grab bucket assembly to point to the pollution cleaning position, and then the grab bucket assembly is pushed to above the pollution cleaning position through the telescopic arm, so that the grab bucket assembly is moved to other positions of the river channel for pollution cleaning work.

[0031] The present application provides a use method of the hydraulic grab arm type pollution cleaning robot, comprising:

[0032] The machine body drives the grab bucket assembly to move to the pollution cleaning position, a motor outside the lifting box is started to drive the rope to relax, the rope lowers the grab bucket assembly, the motor winds the rope into the lifting box after the grab bucket assembly clamps the pollutants, the rope drives the grab bucket assembly to move upward, and the pollution cleaning work is completed.

[0033] When the grab bucket assembly rises to a certain height, the motor drives the limiting rod on one side of the lifting box to rotate and approach the limiting plate, the limiting rod stops rotating when it is in a vertical state, the limiting plate moves vertically upward under the limiting action of the limiting rod at this time, and the grab bucket assembly is prevented from swinging greatly.

[0034] With the rising of the grab bucket assembly, the change of the buffer assembly can be observed when the limiting plate reaches the bottom of the lifting box, at which time the upward lifting of the grab bucket assembly is stopped, and the limiting plate cannot be shaken under the action of the buffer assembly.

[0035] 3. Beneficial effects

[0036] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0037] (1) In the present application, the buffer assembly is used to elastically press the limiting plate after lifting, which limits the swing of the limiting plate, thereby effectively solving the problem of slow movement and low work efficiency caused by the inability of the grab bucket assembly to be limited, and further achieving the limiting of the grab bucket assembly after lifting, preventing the swing of the grab bucket assembly during horizontal movement, so as to facilitate the rapid movement of the grab bucket assembly and improve the work efficiency.

[0038] (2) In the present application, the limiting rod is arranged on the outside of the lifting box, and gradually approaches the limiting plate through the limiting rod, which can slow down the swing amplitude of the limiting plate during the rising process, and finally vertically abuts against the bottom of the buffer assembly under the limiting action of the limiting rod, so that the cooperation between the limiting plate and the buffer assembly is more rigorous.

[0039] (3) In the present application, the buffer assembly is arranged at the bottom of the lifting box, so that when the limiting plate is located at the bottom of the buffer assembly, the lifting height of the grab bucket assembly can be judged by observing the deformation of the buffer assembly, and when the buffer assembly deforms, the lifting of the grab bucket assembly is stopped, at which time the buffer assembly and the limiting plate are in a state of extrusion, preventing the limiting plate from sliding off the bottom of the buffer assembly.

[0040] (4) In the present application, the transmission plate and the push plate are arranged at the bottom of the lifting box, so that when the rope drives the limiting plate to rise to a certain height, the motor and the limiting rod are linked through the transmission plate to stabilize the limiting plate, and when the limiting rod is in a vertical state, the driving of the limiting rod is automatically stopped, making the control of the limiting rod more convenient.

[0041] (5) In the present application, the locking assembly is arranged inside the lifting box, so that the limiting rod is kept stable before and after rotation through the locking assembly, and when the limiting rod is reset, the locking of the limiting rod is automatically released, making the operation of the limiting rod more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The overall structure schematic diagram of the hydraulic grab arm type pollution cleaning robot disclosed in a preferred embodiment of the present application;

[0043] Figure 2 The partial exploded structure schematic diagram of the hydraulic grab arm type pollution cleaning robot disclosed in a preferred embodiment of the present application;

[0044] Figure 3 A structure diagram of one side of the limiting plate in the hydraulic grab arm type pollution cleaning robot disclosed in an embodiment of the present application is disclosed.

[0045] Figure 4 A structure diagram of the other side of the limiting plate in the hydraulic grab arm type pollution cleaning robot disclosed in an embodiment of the present application is disclosed.

[0046] Figure 5 A structure diagram of the other side of the limiting plate in the hydraulic grab arm type pollution cleaning robot disclosed in an embodiment of the present application is disclosed. Figure 3 An enlarged structure diagram of A in FIG. 4 is disclosed.

[0047] Figure 6 A structure diagram of the locking assembly in the hydraulic grab arm type pollution cleaning robot disclosed in an embodiment of the present application is disclosed.

[0048] The reference numerals in the drawing are as follows: 1, grab bucket assembly; 11, fixed jaw; 12, movable jaw; 13, connecting rod; 14, hydraulic push rod; 15, fixing bolt; 2, limiting plate; 21, clamping groove; 22, roller; 3, rope; 31, limiting block; 32, push plate; 33, transmission plate; 331, long tooth section; 332, short tooth section; 333, smooth end; 334, sliding groove; 335, boss; 34, anti-dropping plate; 35, winding wheel; 4, lifting box; 41, motor; 42, drive shaft; 43, gear A; 5, limiting rod; 51, gear B; 52, ratchet wheel; 6, locking assembly; 61, fixed rod; 62, pin shaft A; 63, pawl; 64, torsional spring A; 65, push rod; 66, pin shaft B; 67, cam; 68, torsional spring B; 69, blocking rod; 7, buffer assembly; 71, frame; 72, sliding column; 73, sliding sleeve; 74, spring; 75, inclined surface; 8, machine body; 81, mounting plate; 82, rotating table; 83, telescopic arm; 84, connecting sleeve. DETAILED DESCRIPTION

[0049] The present application is further described in detail below with reference to the accompanying drawings.

[0050] With reference to Figure 1 and Figure 2 , the embodiment of the present application discloses a hydraulic grab arm type pollution cleaning robot, which comprises a grab bucket assembly 1 for clamping pollutants and a machine body 8 for driving the grab bucket assembly 1 to move, a limiting plate 2 and a rope 3 are fixedly arranged at the top of the grab bucket assembly 1, the other end of the rope 3 is arranged in the inside of a lifting box 4 through the limiting plate 2, a motor 41 for driving the rope 3 to wind is fixedly arranged on the outside of the lifting box 4, the limiting rod 5 on the outside of the lifting box 4 is driven to rotate when the rope 3 drives the grab bucket assembly 1 and the limiting plate 2 to rise to a certain height under the driving of the motor 41, the limiting plate 2 is limited when the limiting rod 5 rotates to the vertical state, a buffer assembly 7 for buffering the limiting plate 2 is arranged at the bottom of the lifting box 4, and the limiting plate 2 is located at the bottom of the buffer assembly 7 under the limiting action of the limiting rod 5.

[0051] The body 8 drives the grab bucket assembly 1 to move to the pollution cleaning position, the motor 41 outside the lifting box 4 is started to drive the rope 3 to relax, so that the rope 3 lowers the grab bucket assembly 1, and the rope 3 is reeled in by the motor 41 to the inside of the lifting box 4, so that the rope 3 drives the grab bucket assembly 1 to move upwards, when the grab bucket assembly 1 rises to a certain height, the motor 41 drives the limiting rod 5 on one side of the lifting box 4 to rotate and approach the limiting plate 2, and the limiting rod 5 stops rotating when it is in a vertical state, at this time, the limiting plate 2 moves vertically upwards under the limiting action of the limiting rod 5, preventing the grab bucket assembly 1 from shaking greatly, and with the rising of the grab bucket assembly 1, the change of the buffer assembly 7 at the bottom of the lifting box 4 can be observed by naked eyes when the limiting plate 2 reaches the buffer assembly 7, and the upward lifting of the grab bucket assembly 1 is stopped at this time, and the limiting plate 2 cannot shake under the action of the buffer assembly 7, thereby playing a role in stabilizing and reinforcing the grab bucket assembly 1.

[0052] Referring to 1 and Figure 2 , the grab bucket assembly 1 comprises a fixed jaw 11, a movable jaw 12 is rotatably arranged on one side of the fixed jaw 11, symmetrical connecting rods 13 are fixedly arranged on the outer side of the movable jaw 12, hydraulic push rods 14 are rotatably arranged at the other ends of the connecting rods 13, the other ends of the hydraulic push rods 14 are rotatably arranged on the top of the fixed jaw 11, a fixing bolt 15 for installing the limiting plate 2 is fixedly arranged on the top of the fixed jaw 11, and one end of the rope 3 is fixedly arranged on the top of the fixed jaw 11.

[0053] When the grab bucket assembly 1 is located at the pollution cleaning position, the connecting rods 13 are pushed by the hydraulic push rods 14, so that the connecting rods 13 drive the movable jaw 12 to approach the fixed jaw 11, the pollution is clamped and lifted under the cooperation of the fixed jaw 11 and the movable jaw 12, and the hydraulic push rods 14 are arranged below the limiting plate 2, so that the grab bucket assembly 1 is protected by the limiting plate 2.

[0054] Referring to Figure 2 , Figure 3 and Figure 4 , a limiting block 31 is fixedly arranged on the outer side of the rope 3, a push plate 32 is arranged above the limiting block 31 on the outer side of the rope 3, when the limiting plate 2 rises to a certain height driven by the rope 3, the push plate 32 moves upwards driven by the limiting block 31, symmetrical transmission plates 33 are fixedly arranged on the top of the push plate 32, anti-disengagement plates 34 are fixedly arranged on the top of the transmission plates 33, the transmission plates 33 are slidingly arranged on the bottom of the lifting box 4, a winding wheel 35 for winding the rope 3 is fixedly arranged on the outer side of a driving shaft 42, the driving shaft 42 rotates under the drive of the motor 41, and the limiting rod 5 rotates under the drive of the motor 41 when the transmission plates 33 move upwards.

[0055] When the rope 3 drives the grab bucket assembly 1 to rise to a certain height, the limiting block 31 outside the rope 3 approaches the bottom of the push plate 32 with the height rising, at this time the push plate 32 is hung below the buffer assembly 7 by the transmission plate 33, and the transmission plate 33 is hung at the bottom of the lifting box 4 through the anti-off plate 34, when the push plate 32 is lifted by the limiting block 31, the push plate 32 pushes the transmission plate 33 to move to the inside of the lifting box 4, and the transmission plate 33 forms a transmission between the motor 41 and the limiting rod 5, at this time the limiting plate 2 is located in the rotation range of the limiting rod 5, so that the motor 41 drives the limiting rod 5 to rotate to the vertical state, and the limiting plate 2 is limited in the rotation process to prevent the limiting plate 2 from swinging greatly in the rising process, and then the motor 41 continues to drive the transmission plate 33 to rise, so that the rope 3 continues to drive the grab bucket assembly 1 to approach the bottom of the buffer assembly 7.

[0056] With reference to Figure 3 , Figure 4 and Figure 5 , the long tooth segment 331 is fixedly arranged on the side of the transmission plate 33 close to the drive shaft 42, the long tooth segment 331 is meshingly arranged outside the gear A43, the gear A43 is fixedly arranged outside the drive shaft 42, the short tooth segment 332 is fixedly arranged on the side of the transmission plate 33 away from the drive shaft 42, the short tooth segment 332 is meshingly arranged outside the gear B51, the gear B51 is fixedly arranged with the limiting rod 5, and the smooth end 333 is arranged below the short tooth segment 332 on one side of the transmission plate 33, so as to keep the stability of the limiting rod 5 through the locking assembly 6 when the short tooth segment 332 is disengaged from the gear B51, and at this time the limiting rod 5 is in the vertical state.

[0057] When the transmission plate 33 rises, the long tooth segment 331 outside the transmission plate 33 first forms a transmission with the gear A43 outside the drive shaft 42, when the gear A43 drives the transmission plate 33 to rise, the transmission plate 33 drives the gear B51 to rotate through the short tooth segment 332 on the other side, so that the gear B51 drives the limiting rod 5 to rotate, when the short tooth segment 332 is disengaged from the gear B51, at this time the limiting rod 5 is kept in the vertical state under the action of the locking assembly 6, at this time the smooth end 333 is located outside the gear B51 and cannot be transmitted, and the gear A43 can continue to drive the transmission plate 33 to move upward through the long tooth segment 331, until the grab bucket assembly 1 is located at the bottom of the buffer assembly 7.

[0058] With reference to Figure 5 and Figure 6The locking assembly 6 comprises a fixed rod 61 fixedly arranged on the inner side of the lifting box 4, a pin shaft A62 fixedly arranged on the outer side of the fixed rod 61, a ratchet pawl 63 rotatably arranged on the outer side of the pin shaft A62, a torsion spring A64 arranged on the outer side of the pin shaft A62 between the fixed rod 61 and the ratchet pawl 63, the other end of the ratchet pawl 63 being clamped to the outer side of the ratchet wheel 52, the ratchet wheel 52 being coaxially and fixedly arranged with the gear B51, a push rod 65 fixedly arranged on the outer side of the end of the ratchet pawl 63 away from the ratchet wheel 52, the push rod 65 being driven by the cam 67 to drive the ratchet pawl 63 to disengage from the ratchet wheel 52, the cam 67 being rotatably arranged on the outer side of the fixed rod 61 through a pin shaft B66, and the cam 67 being rotated by a certain angle under the sliding of the transmission plate 33.

[0059] When the gear B51 drives the ratchet wheel 52 to rotate, the ratchet pawl 63 is always clamped to the outer side of the ratchet wheel 52 under the action of the torsion spring A64, and the gear B51 can be kept in the vertical state when it disengages from the short tooth segment 332, at this time, the cam 67 is in the small diameter and located on the outer side of the push rod 65, and the push rod 65 is not affected.

[0060] Referring to Figure 5 and Figure 6 , the transmission plate 33 is slidably arranged with the lifting box 4 through a sliding groove 334, a boss 335 is fixedly arranged on the inner side of the sliding groove 334, a blocking rod 69 is rotatably arranged on the inner side of the sliding groove 334, the blocking rod 69 is coaxially and fixedly arranged with the cam 67, a torsion spring B68 is fixedly arranged on the outer side of the pin shaft B66 between the cam 67 and the fixed rod 61, and the blocking rod 69 is rotated under the driving of the boss 335.

[0061] When the transmission plate 33 slides upward, the boss 335 on the inner side of the sliding groove 334 pushes the blocking rod 69 to rotate upward, so that the blocking rod 69 drives the cam 67 to rotate upward, at this time, the small diameter of the cam 67 is located on the outer side of the push rod 65, preventing the clamping of the ratchet pawl 63 from being affected, when the blocking rod 69 passes through the outer side of the boss 335, it will automatically reset to the horizontal state and be located on the inner side of the sliding groove 334, when the boss 335 moves downward under the driving of the transmission plate 33, the boss 335 pushes the blocking rod 69 to rotate downward, so that the blocking rod 69 drives the large diameter of the cam 67 to rotate outward of the push rod 65, the increase of the outer diameter drives the push rod 65 to rotate upward and disengage from the ratchet wheel 52, at this time, the ratchet wheel 52 is not locked by the ratchet pawl 63, when the short tooth segment 332 moves to the outer side of the gear B51 again, it can drive the limiting rod 5 to reset, when the limiting rod 5 resets, the blocking rod 69 is located on the top of the boss 335, at this time, the blocking rod 69 is not pushed by the boss 335 and automatically resets, so that the push rod 65 is not pushed by the cam 67 and automatically resets, the ratchet pawl 63 is locked to the ratchet wheel 52 again, so that the limiting rod 5 is in the inclined state, preventing the grab bucket assembly 1 from being lowered and hoisted again.

[0062] Referring to Figure 2 andFigure 3 The buffer assembly 7 comprises a frame 71, sliding columns 72 are fixedly arranged at the four corners of the top of the frame 71, sliding sleeves 73 are slidingly arranged outside the sliding columns 72, the sliding sleeves 73 are fixedly arranged outside the lifting box 4, springs 74 are arranged outside the sliding columns 72 between the frame 71 and the sliding sleeves 73, and the frame 71 moves upwards through the sliding columns 72 under the pushing of the limiting plate 2.

[0063] When the limiting plate 2 is located at the bottom of the buffer assembly 7, the limiting plate 2 first pushes the frame 71 to move upwards, so that the frame 71 moves upwards through the sliding columns 72, the springs 74 outside the sliding columns 72 are compressed by the frame 71, the limiting plate 2 is elastically pressed under the action of the frame 71, and the limiting plate 2 is tightly arranged with the limiting plate 2, so that the limiting plate 2 is prevented from swinging during horizontal movement.

[0064] Referring to Figure 3 and Figure 4 , a roller 22 is rotatably arranged at one side of the limiting plate 2, the limiting plate 2 moves upwards along the limiting rod 5 through the roller 22, symmetrical clamping grooves 21 are fixedly arranged at the top of the limiting plate 2, the clamping grooves 21 are located outside the frame 71, and an inclined surface 75 is arranged at the bottom of the frame 71 and corresponds to the clamping grooves 21.

[0065] When the limiting plate 2 is located within the rotating range of the limiting rod 5, if the limiting plate 2 swings, the swing is slowed down under the action of the limiting rod 5, when the limiting rod 5 is in a vertical state, the limiting plate 2 drives the roller 22 to roll outside the limiting rod 5 when the limiting plate 2 rises, so that friction between the limiting plate 2 and the limiting rod 5 is prevented, when the limiting plate 2 is located at the bottom of the frame 71 under the limiting action of the limiting rod 5, the clamping grooves 21 at the top of the limiting plate 2 are clamped outside the frame 71, so that the limiting plate 2 is stably reinforced, and the inclined surface 75 of the frame 71 facilitates automatic cooperation between the frame 71 and the clamping grooves 21.

[0066] Referring to Figure 1 , an installation plate 81 is fixedly arranged at the top of the machine body 8, a telescopic arm 83 is rotatably arranged at the top of the installation plate 81 through a rotating table 82, a connecting sleeve 84 is fixedly arranged at the telescopic end of the telescopic arm 83, and the connecting sleeve 84 is fixedly arranged outside the lifting box 4.

[0067] The direction of the telescopic arm 83 is adjusted through the rotating table 82 at the top of the machine body 8, the telescopic arm 83 drives the grab bucket assembly 1 to point to a pollution cleaning position, and then the grab bucket assembly 1 is pushed to above the pollution cleaning position through the telescopic arm 83, so that the grab bucket assembly 1 is moved to other positions in the river channel to perform pollution cleaning work.

[0068] Referring to Figures 1-6 , the application further discloses a use method of the hydraulic grab arm type pollution cleaning robot.

[0069] S1, the body 8 drives the grab bucket assembly 1 to move to the pollution cleaning position, and the motor 41 outside the lifting box 4 is started to drive the rope 3 to relax, so that the rope 3 lowers the grab bucket assembly 1, and when the grab bucket assembly 1 clamps the pollutants, the rope 3 is reeled in by the motor 41 to the inside of the lifting box 4, so that the rope 3 drives the grab bucket assembly 1 to move upwards;

[0070] S2, when the grab bucket assembly 1 rises to a certain height, the motor 41 drives the limiting rod 5 on one side of the lifting box 4 to rotate and approach the limiting plate 2, and when the limiting rod 5 is in a vertical state, the rotation is stopped, at this time, the limiting plate 2 moves vertically upwards under the limiting action of the limiting rod 5, preventing the grab bucket assembly 1 from shaking greatly.

[0071] S3, with the rising of the grab bucket assembly 1, the change of the buffer assembly 7 can be observed by naked eyes when the limiting plate 2 reaches the buffer assembly 7 at the bottom of the lifting box 4, and the upward lifting of the grab bucket assembly 1 is stopped, and the limiting plate 2 cannot shake under the action of the buffer assembly 7.

[0072] In summary, the hydraulic grab arm type pollution cleaning robot disclosed in the embodiment of the application is used as follows: first, the body 8 drives the grab bucket assembly 1 to move to the pollution cleaning position, then the direction of the telescopic arm 83 is adjusted by the rotating table 82 at the top of the body 8, so that the telescopic arm 83 drives the grab bucket assembly 1 to point to the pollution cleaning position, then the grab bucket assembly 1 is pushed to the top of the pollution cleaning position by the telescopic arm 83, and then the motor 41 outside the lifting box 4 is started to drive the winding wheel 35 outside the drive shaft 42 to rotate, so that the rope 3 lowers the grab bucket assembly 1.

[0073] When the grab bucket assembly 1 is located at the pollution cleaning position, the hydraulic push rod 14 pushes the connecting rod 13, so that the connecting rod 13 drives the movable jaw 12 to approach the fixed jaw 11, and the pollutants are clamped under the cooperation of the fixed jaw 11 and the movable jaw 12, and then the rope 3 is reeled in by the motor 41 to the inside of the lifting box 4, when the rope 3 drives the grab bucket assembly 1 to rise to a certain height, the limiting block 31 outside the rope 3 approaches the bottom of the push plate 32 with the height rising, at this time, the push plate 32 is hung below the buffer assembly 7 by the transmission plate 33, and the transmission plate 33 is hung at the bottom of the lifting box 4 by the anti-drop plate 34, when the push plate 32 is lifted by the limiting block 31, the push plate 32 pushes the transmission plate 33 to move to the inside of the lifting box 4, and the motor 41 and the limiting rod 5 form transmission through the transmission plate 33, at this time, the limiting plate 2 is located in the rotation range of the limiting rod 5.

[0074] When the transmission plate 33 rises, the long tooth section 331 on the outer side thereof first forms a transmission with the gear A 43 on the outer side of the drive shaft 42, and when the gear A 43 drives the transmission plate 33 to rise, the transmission plate 33 drives the gear B 51 to rotate through the short tooth section 332 on the other side, so that the gear B 51 drives the limiting rod 5 to rotate, and the gear B 51 drives the ratchet wheel 52 to rotate when rotating, and at this time the pawl 63 is always clamped on the outer side of the ratchet wheel 52 under the action of the torsional spring A 64, and when the gear B 51 is disengaged from the short tooth section 332, it can be kept in a vertical state, and the boss 335 inside the sliding groove 334 pushes the stop rod 69 to rotate upward, so that the stop rod 69 drives the cam 67 to rotate upward, and at this time the small diameter of the cam 67 is located on the outer side of the push rod 65, preventing the clamping of the pawl 63 from being affected;

[0075] When the short tooth section 332 is disengaged from the gear B 51, the rotation of the limiting rod 5 is stopped, and at this time the limiting rod 5 is kept in a vertical state under the action of the locking assembly 6, and the stop rod 69 passes the outer side of the boss 335 and is automatically reset to a horizontal state, and is located on the inner side of the sliding groove 334.

[0076] With the rising of the limiting plate 2, if the limiting plate 2 swings, it will slow down under the action of the limiting rod 5, and when the limiting rod 5 is in a vertical state, the limiting plate 2 drives the roller 22 to roll on the outer side of the limiting rod 5 when rising, preventing friction between the limiting plate 2 and the limiting rod 5, and under the limiting action of the limiting rod 5, when the limiting plate 2 is located at the bottom of the frame 71, the clamping groove 21 on the top of the limiting plate 2 is clamped on the outer side of the frame 71, which has a stabilizing and reinforcing effect on the limiting plate 2, and the inclined surface 75 of the frame 71 facilitates the automatic cooperation of the frame 71 with the clamping groove 21. Specifically, when the limiting plate 2 moves to the bottom of the buffer assembly 7, the limiting plate 2 first pushes the frame 71 upward, so that the frame 71 moves upward through the slide column 72, and the frame 71 compresses the spring 74 on the outer side of the slide column 72, which has a buffering effect on the limiting plate 2, and the limiting plate 2 is elastically compressed under the action of the frame 71 and is in close contact with the limiting plate 2, preventing the limiting plate 2 from swinging during horizontal movement;

[0077] When the grab bucket assembly 1 is lowered again, the gear A43 drives the transmission plate 33 to move downward, the transmission plate 33 drives the boss 335 to move downward, the boss 335 pushes the stop rod 69 to rotate downward, the stop rod 69 drives the large-diameter push rod 65 of the cam 67 to rotate outward, the increase of the outer diameter drives the pawl 63 to rotate upward and disengage from the ratchet wheel 52, at this time the ratchet wheel 52 is not locked by the pawl 63, when the short tooth section 332 moves to the outside of the gear B51 again, the limiting rod 5 can be reset, when the limiting rod 5 is reset, the stop rod 69 is located at the top of the boss 335, at this time the stop rod 69 is not pushed by the boss 335 and is automatically reset, the push rod 65 is not pushed by the cam 67 and is automatically reset, the pawl 63 re-locks the ratchet wheel 52, and the limiting rod 5 is in an inclined state, preventing the grab bucket assembly 1 from being lowered and lifted again.

Claims

1. Hydraulic grab arm type cleaning robot, characterized by: Include: A grab bucket assembly for clamping pollutants and a body for driving the grab bucket assembly to move, wherein a limit plate is fixedly provided on the top of the grab bucket assembly; A rope, one end of which is fixed to the top of the grab bucket assembly, and the other end of which passes through the inner side of the limit plate and is wound inside the lifting box; A motor for driving the rope to be wound, wherein the motor is fixedly arranged on the outside of the lifting box; A limiting rod for limiting the position of the limiting plate, wherein the limiting rod is rotatably arranged on the outside of the lifting box and is rotated under the drive of the motor; A buffer assembly for buffering the limit plate, wherein the buffer assembly is located at the bottom of the lifting box; The grab assembly includes a fixed jaw, a movable jaw is rotatably provided on one side of the fixed jaw, a connecting rod is symmetrically fixedly provided on the outside of the movable jaw, a hydraulic push rod is rotatably provided on the other end of each connecting rod, and the other end of each hydraulic push rod is rotatably provided on the top of the fixed jaw, a fixing bolt is fixedly provided on the top of the fixed jaw, the fixed jaw is fixed to the limit plate through the fixing bolt, and the bottom of the fixed jaw is fixed to one end of the rope; A limit block is fixedly provided on the outside of the rope, a push plate is sleeved on the outside of the rope, a transmission plate is symmetrically fixed on the top of the push plate, an anti-slip plate is fixed on the top of the transmission plate, and the transmission plate is slidably provided on the bottom of the lifting box, and the rope drives the push plate to move upward through the limit block, and the rope is reeled under the drive of the reeling wheel, and the reeling wheel is fixedly provided on the outside of the driving shaft, and the driving shaft rotates under the drive of the motor, and the push plate pushes the transmission plate to form a linkage with the motor and the limit rod; A long tooth segment is fixedly provided on the side of the transmission plate close to the drive shaft, and a gear A is meshed with the outer side of the long tooth segment. The gear A is fixedly provided on the outer side of the drive shaft. A short tooth segment is fixedly provided on the side of the transmission plate away from the drive shaft, and a gear B is meshed with the outer side of the short tooth segment. A limit rod is fixedly provided on the outer side of the gear B. A smooth end is provided on one side of the transmission plate below the short tooth segment. When the smooth end is located on the outer side of the gear B, the stability of the limit rod is maintained by a locking assembly. The locking assembly includes a fixing rod, which is fixedly arranged on the inner side of the lifting box. A pawl is provided on the outer side of the fixing rod for rotation via a pin A. The pawl is engaged with the outer side of the ratchet. The ratchet is coaxially fixed with the gear B. A torsion spring A is provided on the outer side of the pin A between the fixing rod and the pawl. A push rod is fixedly provided on the outer side of the end of the pawl away from the gear B. The push rod drives the pawl to disengage from the ratchet under the push of a cam. The cam rotates under the drive of the transmission plate. The cam is rotated on the outside of the fixed rod through the pin shaft B, and a torsion spring B is provided on the outside of the pin shaft B between the fixed rod and the cam. A baffle rod is fixedly provided on the outside of the cam, and the baffle rod rotates under the drive of the transmission plate. The transmission plate is slidably arranged with the lifting box through a slide groove, and a boss is fixedly provided on the inside of the slide groove. When the transmission plate slides, the boss pushes the baffle rod to rotate.

2. The hydraulic grab arm type cleaning robot according to claim 1, characterized in that: The buffer assembly includes a frame, with sliding columns fixedly provided at the four corners of the top of the frame, sliding sleeves slidingly provided on the outside of the sliding columns, and the sliding sleeves fixedly provided on the outside of the lifting box. A spring is provided on the outside of the sliding column between the frame and the sliding sleeve, and the frame is located below the lifting box. The frame moves upward under the push of the limit plate.

3. The hydraulic grab arm type cleaning robot according to claim 2, characterized in that: A roller is rotatably provided on one side of the limit plate close to the limit rod, and a clamping slot is symmetrically fixedly provided on the top of the limit plate. The clamping slot cooperates with the bottom of the frame, and the bottom of the frame is provided with an inclined surface.

4. The hydraulic grab arm type cleaning robot according to claim 1, characterized in that: A mounting plate is fixedly provided on the top of the machine body, a telescopic arm is rotatably provided on the top of the mounting plate through a rotating platform, a connecting sleeve is fixedly provided on the telescopic end of the telescopic arm, and the connecting sleeve is fixedly provided on the outside of the lifting box.

5. The method for using the hydraulic grab arm type cleaning robot according to any one of claims 1 to 4, characterized in that: include: The machine body drives the grab bucket assembly to the cleaning position, and the motor outside the lifting box is started to drive the rope to loosen, so that the rope lowers the grab bucket assembly. After the grab bucket assembly clamps the pollutants, the motor reels the rope into the lifting box, so that the rope drives the grab bucket assembly upward; When the grab assembly rises to a certain height, the motor will drive the limit rod on one side of the lifting box to rotate closer to the limit plate. When the limit rod is in a vertical state, it stops rotating. At this time, the limit plate moves vertically upward under the limiting action of the limit rod to prevent the grab assembly from shaking significantly. As the grab assembly rises, when the limit plate reaches the buffer assembly at the bottom of the lifting box, the changes in the buffer assembly can be observed with the naked eye. At this time, stop lifting the grab assembly upward, and the limit plate will not shake under the action of the buffer assembly.

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