Shore transfer manipulator and transfer system for dry mud box in urban small watershed pollution control

Abstract

A shore transfer manipulator and transfer system for dry mud boxes in pollution control of small urban watersheds, relating to the technical field of transfer manipulators, in order to solve the problems of high working cost and low working efficiency in existing purification and dredging of water bodies in small urban watersheds, the transfer manipulator described in the present application includes a support structure, a clamping mechanism and a counterweight mechanism, both of which are installed on the support structure, and also includes an auxiliary clamping mechanism, the auxiliary clamping mechanism is located between the clamping mechanism and the support structure, and one end of the auxiliary clamping mechanism is detachably connected to the piston rod end of the second push rod motor, and the other end of the auxiliary clamping mechanism is detachably connected to the closed end of the U-shaped clamping groove, and the transfer system described in the present application includes a dry mud box collection bin, a dry mud box replacement bin, a pre-buried power supply assembly, two shore transfer manipulators and two guide rail assemblies. The present application is mainly used as a transfer device for dry mud boxes when small and medium-sized bottom mud washing vessels are continuously operating in dredging work in small urban watersheds.

Description

Technical Field

[0001] The invention relates to the technical field of transfer manipulators, and in particular to a shore transfer manipulator and a transfer system for dry mud boxes in pollution control of small urban watersheds. Background Art

[0002] The commonly used working equipment in river and lake pollution control is the sediment washing ship, which can effectively improve the appearance of water bodies, remove black and odorous substances, and improve the water quality environment. The sediment washing ship usually integrates the functions of sludge suction, mud and water mixing sedimentation, tailwater treatment, sediment secondary treatment and dry mud collection. It is suitable for water quality cleaning of water bodies such as rivers, harbors, and lakes. However, there are often some small watersheds in towns. They run through urban buildings and enrich people's living environment. The structural characteristics of these small watersheds in towns are that the river width is small and the water depth is limited. However, affected by the water flow, silt will also be deposited at the bottom of the ditch, causing water deterioration. Especially in summer or hot weather, the odor emitted by the water body greatly affects the living environment of the surrounding residents. Therefore, in order to improve the water body of the urban ditch, Relevant institutions have developed small-scale sediment washing vessels, which retain the functionality of traditional sediment washing vessels. However, in order to adapt to the structural characteristics of small urban watersheds, the hull structure is compressed. With the compression of the hull structure, the total amount of water purified at a single time is relatively reduced. In order to meet the full purification of the water in the river, multiple small-scale sediment washing vessels are often required to carry out batch purification work multiple times. This leads to an increase in the operating distance of small-scale sediment washing vessels, an increase in the cost of basin purification, and a reduction in the purification efficiency of the basin. In addition, in this working mode, the dry mud absorbed by the sediment washing vessel will be piled up in the same area each time waiting for unified transportation and processing, which also leads to the dry mud storage area occupying too large an area and being relatively remote, and also increases the transportation cost when using trucks for transportation;

[0003] In summary, in order to overcome the drawbacks of existing small urban watershed water purification treatment, a transfer robot and transfer system for dry mud boxes in small sludge washing ships are developed to improve the efficiency of urban river water purification while reducing the cost of river water purification, which is in line with actual needs. Summary of the invention

[0004] In order to solve the problems of high working cost and low working efficiency in the existing purification and dredging of small urban watersheds, the present invention provides a shore transfer manipulator and transfer system for dry mud boxes in river and lake pollution control;

[0005] A shore transfer manipulator for dry mud boxes in pollution control of small urban watersheds, the transfer manipulator comprises a support structure, a clamping mechanism and a counterweight mechanism, and the clamping mechanism and the counterweight mechanism are both installed on the support structure;

[0006] The supporting structure includes a push rod motor No. 1, a top connecting sleeve, and a push rod motor No. 2. The push rod motor No. 1 is arranged in a vertical direction, the top connecting sleeve is fixedly connected to the piston rod end of the push rod motor No. 1, the push rod motor No. 2 is inserted in the top connecting sleeve, and the axis of the push rod motor No. 2 is arranged perpendicular to the axis of the push rod motor No. 1, the top connecting sleeve is tightly connected to the open end of the cylinder body of the push rod motor No. 2, the clamping mechanism is installed on the piston rod end of the push rod motor No. 2, and the counterweight mechanism is installed on the closed end of the cylinder body of the push rod motor No. 2;

[0007] The clamping mechanism includes a U-shaped clamping groove, a driving motor, a motor support frame, a transmission unit and a plurality of clamping units, the U-shaped clamping groove is horizontally arranged at the end of the piston rod end in the No. 2 push rod motor, and the closed end of the U-shaped clamping groove is detachably connected to the piston rod end of the No. 2 push rod motor, the motor support frame is fixedly connected to the top of the U-shaped clamping groove, the driving motor is inverted on the top of the motor support frame, and the housing of the driving motor is fixedly connected to the motor support frame, the power output shaft of the driving motor passes through the top of the motor support frame and extends to the motor support frame, a plurality of clamping units are equidistantly inserted in the top of the U-shaped clamping groove in sequence along the length extension direction of the U-shaped clamping groove, and each clamping unit is rotatably connected to the U-shaped clamping groove, the transmission end of each clamping unit extends upward to the outside of the U-shaped clamping groove, and the clamping end of each clamping unit extends downward into the U-shaped clamping groove, the active end of the transmission unit is connected to the power output shaft of the driving motor, the driven end of the transmission unit is connected to a plurality of clamping units, and the driving motor drives the plurality of clamping units to rotate synchronously through the transmission unit;

[0008] The counterweight mechanism includes a counterweight fixing sleeve and a counterweight box. The counterweight fixing sleeve is sleeved on the closed end of the cylinder body of the second push rod motor. The counterweight box is arranged below the second push rod motor and is fixedly connected to the bottom of the counterweight fixing sleeve.

[0009] Further, the outer sleeve of the piston rod in the No. 1 push rod motor is provided with a No. 1 bellows, one end of which is fixedly connected to the top connecting sleeve, and the other end of which is fixedly connected to the open end of the cylinder body in the No. 1 push rod motor; the outer sleeve of the piston rod in the No. 2 push rod motor is provided with a No. 2 bellows, one end of which is fixedly connected to the closed end of the U-shaped clamping groove, and the other end of which is fixedly connected to the open end of the cylinder body in the No. 2 push rod motor;

[0010] Furthermore, an auxiliary support telescopic damping rod is provided between the No. 1 push rod motor and the No. 2 push rod motor, one end of the auxiliary support telescopic damping rod is connected to the outer wall of the cylinder body of the No. 1 push rod motor through the No. 1 hinge seat, and the other end of the auxiliary support telescopic damping rod is connected to the outer wall of the cylinder body of the No. 2 push rod motor through the No. 2 hinge seat;

[0011] Further, the transmission unit includes a driving sprocket, a transmission chain and a plurality of driven sprockets, the driving sprocket is arranged in the motor support frame, and the driving sprocket is sleeved on the power output shaft of the driving motor, the plurality of driven sprockets are all located above the U-shaped clamping groove, and each driven sprocket is correspondingly sleeved on a clamping unit, the transmission chain is sleeved on a driving sprocket and a plurality of driven sprockets, and the driving sprocket drives the plurality of driven sprockets to rotate synchronously through the transmission chain;

[0012] Further, the clamping unit includes a screw, a threaded sleeve and a rubber pad, the screw is inserted at the top of the U-shaped clamping groove, the smooth rod portion of the screw passes through the top of the U-shaped clamping groove and extends to the top of the U-shaped clamping groove, and the smooth rod portion of the screw is rotatably connected to the U-shaped clamping groove through a bearing, the threaded section of the screw extends into the U-shaped clamping groove, the threaded sleeve is arranged in the U-shaped clamping groove and sleeved on the threaded section of the screw, and the threaded sleeve is threadedly connected to the screw, and the rubber pad is bonded to the bottom of the threaded sleeve and arranged opposite to the rubber layer bonded to the bottom of the U-shaped clamping groove;

[0013] Furthermore, the transfer robot also includes an auxiliary clamping mechanism, which is located between the clamping mechanism and the supporting structure, and one end of the auxiliary clamping mechanism is detachably connected to the piston rod end of the second push rod motor, and the other end of the auxiliary clamping mechanism is detachably connected to the closed end of the U-shaped clamping groove;

[0014] Furthermore, the auxiliary clamping mechanism includes a motor mounting sleeve, a rotating disk, a connecting disk, a rotating motor, a circumferential slide rail, an auxiliary clamping unit and an auxiliary drive assembly. The motor mounting sleeve is a cylinder with one end closed. The closed end of the motor mounting sleeve is detachably connected to the piston rod end of the No. 2 push rod motor. The rotating motor is installed in the motor mounting sleeve, and the power output shaft of the rotating motor passes through the open end of the motor mounting sleeve and extends to the outside of the motor mounting sleeve. The rotating disk is mounted on the power output shaft of the rotating motor, and the rotating disk rotates synchronously with the power output shaft of the rotating motor. An extension section is provided on the outer circumferential surface of the open end of the motor mounting sleeve, and one end of the extension section is integrally formed with the motor mounting sleeve, and one end of the extension section extends to the rotating disk away from the motor. One side of the mounting sleeve is detachably connected to a connecting disk located on a side of the rotating disk away from the motor mounting sleeve, one end of the connecting disk is sleeved on the power output shaft of the rotating motor and is rotatably connected to the power output shaft of the rotating motor through a bearing, the other end of the connecting disk is detachably connected to the closed end of the U-shaped clamping groove, an extension protrusion is provided on the outer circumferential surface of the rotating disk, one end of the auxiliary clamping unit is hingedly arranged with the extension protrusion, a circumferential slide rail is fixedly connected to the outer circumferential surface of the motor mounting sleeve, one end of the auxiliary drive assembly is mounted on the circumferential slide rail and is slidably connected to the circumferential slide rail, the other end of the auxiliary drive assembly is fixedly connected to the auxiliary clamping unit, and a limit inclination angle of at least 12° is provided between the axis of the auxiliary drive assembly and the axis of the auxiliary clamping unit;

[0015] Further, the auxiliary clamping unit includes a swing plate and a fitting plate. One end of the swing plate is hinged to the extending protrusion, and one end of the fitting plate is hinged to the other end of the swing plate. A flexible electrode is attached to the fitting side of the fitting plate, and a high-voltage power supply is provided on the back side of the fitting plate. The flexible electrode is electrically connected to the high-voltage power supply. The flexible electrode generates an electrostatic adsorption force through the power supply of the high-voltage power supply, and the fitting plate is tightly attached to the dry mud box to be transported under the action of the electrostatic adsorption force;

[0016] Further, the auxiliary driving assembly includes a first guiding slider, a connecting rod, a driving electric cylinder, a piston connecting head and a mounting seat. The first guiding slider is installed on the circumferential slide rail and is slidably connected to the circumferential slide rail. One end of the connecting rod is hinged to the first guiding slider, and the other end of the connecting rod is fixedly connected to the closed end of the cylinder body of the driving electric cylinder. The end of the piston rod of the driving electric cylinder is fixedly connected to one end of the piston connecting head, and the other end of the piston connecting head is hinged to the mounting seat. The mounting seat is detachably connected to the swing plate. There is a limit inclination angle of at least 12° between the axis of the driving electric cylinder and the axis of the swing plate;

[0017] A transfer system for a dry mud box in the treatment of pollution in small urban watersheds. The transfer system includes a dry mud box collection bin, a dry mud box replacement bin, a pre-buried power supply assembly, two shore transfer manipulators and two guide rail assemblies;

[0018] The two guide rail assemblies are parallelly installed on both sides of the shore sediment elution ship docking port. The pre-buried power supply assembly is pre-buried between the two guide rail assemblies, and the two guide rail assemblies and the pre-buried power supply assembly are arranged in a "U" shape. The power supply end of each guide rail assembly is connected to the power output end of the pre-buried power supply assembly through a wire. Both the dry mud box collection bin and the dry mud box replacement bin are arranged between the two guide rail assemblies, and the dry mud box collection bin and the dry mud box replacement bin are arranged in parallel on the top of the pre-buried power supply assembly. Each shore transfer manipulator is correspondingly installed on one guide rail assembly, and the guide rail assembly guides the corresponding shore transfer manipulator to reciprocate along the length extension direction of the guide rail assembly where it is located;

[0019] The pre-buried power supply assembly includes a pre-buried bin and a pre-buried power supply. The pre-buried bin is pre-buried on the closed side of the shore sediment elution ship docking port. The pre-buried power supply is installed in the pre-buried bin and is connected to the power supply ends of the two guide rail assemblies through wires. A cover is provided at the top opening of the pre-buried bin, and the cover is detachably connected to the pre-buried bin;

[0020] The guide rail assembly includes a screw guide rail, a screw drive motor and a No. 2 guide slider. The screw guide rail and the screw drive motor are both installed in a mounting groove. The mounting groove is installed on one side of the berthing port of the shore mud washing ship. The screw drive motor is arranged at the end of the screw guide rail away from the river, and the motor output shaft of the screw drive motor is connected to the screw in the screw guide rail through a coupling, and the power supply end of the screw drive motor is connected to the embedded power supply through a wire. The No. 2 guide slider is arranged on the screw guide rail and is slidably connected to the screw guide rail. A cloth placing roller with a spring is respectively provided at both ends of the No. 2 guide slider, and a waterproof cloth is wrapped around each cloth placing roller, one end of the waterproof cloth is fixedly connected to the cloth placing roller, and the other end of the waterproof cloth is fixedly connected to a corresponding end baffle in the screw guide rail. A buckle plate is provided at the top opening of the mounting groove, and the buckle plate is buckled on the mounting groove. A guide through groove corresponding to the screw guide rail is processed on the buckle plate. The top of the No. 2 guide slider passes through the guide through groove on the buckle plate and is detachably connected to the closed end of the No. 1 push rod motor.

[0021] The beneficial effects of this application compared to the prior art are as follows:

[0022] The present application proposes a shore transfer manipulator and transfer system for dry mud boxes in urban small watershed pollution control, which provides a new idea for urban ditch dredging. Taking into account the limited amount of water for a single dredging and a single purification by a small sludge washing ship, the water body cannot be purified when the dry mud box is full. Therefore, based on the maximum single dredging volume of the small sludge washing ship, the maximum range of the small sludge washing ship in the ditch during one operation is determined according to experiments. The range is not fixed according to the characteristics of the water area. If the water area has more sediment, the sailing distance is relatively short. If the water area has less sediment, the sailing distance is relatively long. The transfer system is set on the shore on both sides of the ditch according to the navigation nodes. The transfer system serves as a stopover point for the sludge washing ship after a single dredging, and is used to recover the dry mud box generated by the sludge washing ship after a single dredging. The new dry mud box is replaced for the next stage of dredging work. The dry mud box filled with dry mud is waiting for the transfer vehicle to collect it uniformly to the designated area for treatment. In this working mode, only a single ship needs to sail in one direction to realize the work of purifying the water body of the entire ditch. Compared with the traditional working mode, the number of small sludge washing ships is reduced, and the accumulation of ship hulls in the ditch is avoided. At the same time, the safety of the hull passing through the narrow ditch is also ensured, which reduces the dredging cost of urban ditches and improves the dredging efficiency. Although the construction of the transfer system and the transfer network formed by multiple transfer systems requires a certain amount of investment in the early stage, compared with the production cost of multiple sludge washing ships, the later maintenance cost, the fuel cost of each operation and the unified transportation cost of dry mud in remote areas, the urban ditch dredging idea provided by this application is still more economically advantageous;

[0023] The present application proposes a shore transfer manipulator and transfer system for dry mud boxes in urban small watershed pollution control, wherein the shore transfer manipulator structure is a dual-degree-of-freedom manipulator, which cooperates with a slide rail in the transfer system to perform reciprocating motion along the length of the slide rail to realize the transfer of the dry mud box. The main support structure of the shore transfer manipulator consists of two push rod motors, which are respectively used to control the position adjustment of the clamping mechanism. An auxiliary support structure is provided between the two push rod motors to ensure the connection stability of the two push rod motors when clamping heavy objects. At the same time, a counterweight mechanism is provided on the main support structure. The counterweight mechanism of the present application is used to prevent a large weight difference between the two ends of the horizontal push rod motor when the manipulator clamps heavy objects, causing the horizontal push rod motor to overturn to one side and causing a transfer accident. The counterweight mechanism in the present application is used to prevent the manipulator from having a large weight difference at both ends of the horizontal push rod motor when clamping heavy objects, causing the horizontal push rod motor to overturn to one side and causing a transfer accident. The structure adopts an adjustable design, and its main body is a water tank structure. When in use, it is used in conjunction with a water pump and a conduit on the shore. When counterweight is required, the water pump works to inject water into the counterweight mechanism to increase the weight of the counterweight box. When the manipulator does not carry heavy objects and does not need counterweight, the water pump returns the water in the counterweight box to the ditch to reduce the weight of the counterweight box. This design can avoid the long-term counterweight of the mechanical structure affecting the service life of the manipulator. The clamping mechanism in this application relies on a sprocket mechanism to drive multiple studs to rotate, so that the screw sleeves at the ends of the multiple studs can achieve synchronous longitudinal displacement to achieve clamping of the wide side of the top edge of the dry mud box body. Synchronous clamping will make the contact force between the bottom of each screw sleeve and the top edge of the dry mud box body the same, which is beneficial to improving the clamping stability of the manipulator structure to the dry mud box;

[0024] The present application provides a shore transfer manipulator and transfer system for dry mud boxes in urban small watershed pollution control, wherein the shore transfer manipulator also includes an auxiliary clamping mechanism. Considering the deepness of the dry mud box, the clamping mechanism is only clamped on the top of the dry mud box, and the distance from the center of gravity of the dry mud box is relatively far, which may easily cause the lower part of the dry mud box to shake during the transfer process. Therefore, the lower part of the dry mud box is fixed by the auxiliary clamping mechanism to ensure its stability during transfer. The auxiliary clamping mechanism relies on the driving electric cylinder as the power source to drive the swing plate to swing, so that the bonding plate at the end of the swing plate is close to the outer wall of the dry mud box. Since the bonding plate and the swing plate are hinged, when the end of the bonding plate is connected with the dry mud box When the bonding plate is touched, continuing to push the swing plate to swing will make the bonding side of the bonding plate completely bonded to the outer wall of the dry mud box. A flexible electrode is provided on the bonding side of the bonding plate. The flexible electrode will generate electrostatic adsorption force after being energized. Under the action of the electrostatic adsorption force, the tightness of the contact between the bonding plate and the dry mud box will be improved to prevent the bonding plate from falling off the dry mud box during transportation. During the transportation process, the driving electric cylinder will continuously apply propulsion force and form a triangular structure with the swing plate and the motor mounting sleeve. At the same time, the swing plate, the clamping mechanism and the dry mud box wall also form a triangular structure. On the basis of the superposition of the two triangular structures, the clamping stability of the auxiliary clamping mechanism can be greatly improved, and the overall clamping stability of the manipulator structure can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the main view of the shore transfer manipulator described in this application;

[0026] Figure 2 This is a schematic diagram of the main view of the shore transfer manipulator described in this application (when an auxiliary clamping mechanism is installed);

[0027] Figure 3 This is a schematic diagram of the front view of the shore transfer manipulator described in this application (in the extended state);

[0028] Figure 4 A schematic top view of the shore transfer manipulator described in the present application (in the extended state);

[0029] Figure 5 This is a schematic diagram of the front view of the auxiliary clamping mechanism in the shore transfer robot described in this application;

[0030] Figure 6 This is a main cross-sectional schematic diagram of the clamping mechanism in the shore transfer robot described in the present application;

[0031] Figure 7 This is a schematic diagram of the arrangement of the rotating motor in the shore transfer robot described in this application;

[0032] Figure 8 It is a top view schematic diagram of the connection between the auxiliary clamping mechanism and the clamping mechanism in the shore transfer robot described in the present application;

[0033] Fig. 9 This is a schematic diagram of the connection between the auxiliary clamping mechanism and the clamping mechanism in the shore transfer robot described in the present application;

[0034] Fig.10 This is a cross-sectional view of the motor mounting sleeve in the shore transfer robot described in this application along the AA direction;

[0035] Fig.11 This is a schematic diagram of the working state of the shore transfer manipulator described in this application;

[0036] Fig.12 This is a schematic diagram of the structure of the transfer system described in this application;

[0037] Fig.13 This is a schematic diagram of the structure of the transfer system described in this application (with a dry mud box collection bin and a dry mud box replacement bin);

[0038] Fig.14 This is a schematic structural diagram of the middle guide rail assembly of the transfer system described in this application;

[0039] Fig.15 A schematic top view of the middle guide rail assembly of the transfer system described in the present application;

[0040] Fig.16 This is a schematic diagram of the structure of the middle guide slider of the transfer system described in this application;

[0041] In the figure, 1 is a push rod motor, 2 is a top connecting sleeve, 3 is a bellows, 4 is a push rod motor, 5 is a counterweight fixing sleeve, 6 is a counterweight box, 7 is an auxiliary support telescopic damping rod, 8 is a second bellows, 9 is a U-shaped clamping groove, 10 is a driving motor, 11 is a motor support frame, 12 is a driving sprocket, 13 is a screw, 14 is a driven sprocket, 15 is a transmission chain, 16 is a threaded sleeve, 17 is a rubber pad, 18 is a rubber layer, 19 is a motor mounting sleeve, 19 is an extension section, 20 is a rotating disk, 21 is a connecting disk, 22 is a rotating motor machine, 23 circumferential slide rails, 24 swing plates, 25 laminating plates, 26 high voltage power supply, 27 flexible electrodes, 28 No. 1 guide slider, 29 connecting rods, 30 driving electric cylinders, 31 piston connectors, 32 mounting seats, 33 lead screw guide rails, 34 lead screw drive motors, 35 embedded bins, 36 embedded power supply, 37 No. 2 guide sliders, 371 cloth placing rollers, 38 buckle plates, 39 waterproof cloths, 40 dry mud boxes, 41 small bottom mud washing vessels, 42 dry mud box collecting bins and 43 dry mud box replacement bins. DETAILED DESCRIPTION

[0042] Specific implementation method 1: Combination Figures 1 to 16 This embodiment is described. In this embodiment, a shore transfer manipulator for dry mud boxes in urban small watershed pollution control is provided. The transfer manipulator includes a support structure, a clamping mechanism and a counterweight mechanism. The clamping mechanism and the counterweight mechanism are both installed on the support structure.

[0043] The supporting structure includes a push rod motor 1, a top connecting sleeve 2, and a push rod motor 4. The push rod motor 1 is arranged in a vertical direction, the top connecting sleeve 2 is fixedly connected to the piston rod end of the push rod motor 1, the push rod motor 4 is inserted in the top connecting sleeve 2, and the axis of the push rod motor 4 is perpendicular to the axis of the push rod motor 1. The top connecting sleeve 2 is tightly connected to the open end of the cylinder body of the push rod motor 4, the clamping mechanism is installed on the piston rod end of the push rod motor 4, and the counterweight mechanism is installed on the closed end of the cylinder body of the push rod motor 4;

[0044] The clamping mechanism includes a U-shaped clamping groove 9, a drive motor 10, a motor support frame 11, a transmission unit and a plurality of clamping units. The U-shaped clamping groove 9 is horizontally arranged at the end of the piston rod end of the No. 2 push rod motor 4, and the closed end of the U-shaped clamping groove 9 is detachably connected to the piston rod end of the No. 2 push rod motor 4. The motor support frame 11 is fixedly connected to the top of the U-shaped clamping groove 9. The drive motor 10 is inverted on the top of the motor support frame 11, and the housing of the drive motor 10 is fixedly connected to the motor support frame 11. The power output shaft of the drive motor 10 passes through the top of the motor support frame 11. And extends into the motor support frame 11, multiple clamping units are inserted at the top of the U-shaped clamping groove 9 in sequence and equidistantly along the length extension direction of the U-shaped clamping groove 9, and each clamping unit is rotatably connected to the U-shaped clamping groove 9, the transmission end of each clamping unit extends upward to the outside of the U-shaped clamping groove 9, and the clamping end of each clamping unit extends downward into the U-shaped clamping groove 9, the active end of the transmission unit is connected to the power output shaft of the drive motor 10, the driven end of the transmission unit is connected to multiple clamping units, and the drive motor 10 drives the multiple clamping units to rotate synchronously through the transmission unit;

[0045] The counterweight mechanism includes a counterweight fixing sleeve 5 and a counterweight box 6. The counterweight fixing sleeve 5 is sleeved on the closed end of the cylinder body of the No. 2 push rod motor 4. The counterweight box 6 is arranged below the No. 2 push rod motor 4, and the counterweight box 6 is fixedly connected to the bottom of the counterweight fixing sleeve 5.

[0046] In the present embodiment, a shore transfer manipulator for dry mud boxes in urban small watershed pollution control is provided, and its supporting structure is composed of two push rod motors, which are respectively used to control the lifting and extending actions of the clamping mechanism. The clamping mechanism uses the driving motor 10 as a power source to synchronously drive multiple clamping units through the transmission unit to realize the clamping action. A mobile power supply is integrated on the main structure of the transfer manipulator to power each motor in the manipulator structure. The integrated mobile power supply is connected to the embedded power supply in the shore transfer system by a wire, and each integrated mobile power supply is powered by the embedded power supply. The counterweight box 6 in the counterweight mechanism is a hollow structure, which is connected to the water pump on the shore through a bendable and extendable conduit. When counterweighting is required, water in the ditch is pumped into the counterweight box 6 by the water pump to increase the weight of the counterweight box 6. When counterweighting is not required, water in the counterweight box 6 is pumped into the ditch by the water pump to reduce the weight of the counterweight box 6, thereby realizing the adaptive adjustability of the counterweight box 6.

[0047] Specific implementation method 2: Combination Figures 1 to 16This embodiment is described. The difference between this embodiment and the specific embodiment 1 is that the outer sleeve of the piston rod in the No. 1 push rod motor 1 is provided with a No. 1 bellows 3, one end of the No. 1 bellows 3 is fixedly connected to the top connecting sleeve 2, and the other end of the No. 1 bellows 3 is fixedly connected to the open end of the cylinder body in the No. 1 push rod motor 1, and the outer sleeve of the piston rod in the No. 2 push rod motor 4 is provided with a No. 2 bellows 8, one end of the No. 2 bellows 8 is fixedly connected to the closed end of the U-shaped clamping groove 9, and the other end of the No. 2 bellows 8 is fixedly connected to the open end of the cylinder body in the No. 2 push rod motor 4. Other components and connection methods are the same as those in the specific embodiment 1.

[0048] In the present embodiment, considering that the working environment of the No. 1 push rod motor 1 and the No. 2 push rod motor 4 is at the riverside, the air humidity is relatively high, and the outdoor working environment is relatively windy and sandy, the piston rod of the push rod motor is protected by a bellows to prevent moisture and sand in the air from affecting the service life of the push rod motor.

[0049] Specific implementation method three: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the second embodiment is that an auxiliary support telescopic damping rod 7 is provided between the first push rod motor 1 and the second push rod motor 4. One end of the auxiliary support telescopic damping rod 7 is connected to the outer wall of the cylinder body of the first push rod motor 1 through the first hinge seat, and the other end of the auxiliary support telescopic damping rod 7 is connected to the outer wall of the cylinder body of the second push rod motor 4 through the second hinge seat. Other components and connection methods are the same as those of the second embodiment.

[0050] In the present embodiment, the auxiliary support telescopic damping rod 7 is used to auxiliary support the No. 2 push rod motor 4. When the No. 1 push rod motor 1 drives the No. 2 push rod motor 4 to rise, the length of the auxiliary support telescopic damping rod 7 will increase accordingly, and it will always form a right-angled triangle structure with the No. 1 push rod motor 1 and the No. 2 push rod motor 4, thereby improving the installation stability between the No. 1 push rod motor 1 and the No. 2 push rod motor 4.

[0051] Specific implementation method four: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the third embodiment is that the transmission unit includes a driving sprocket 12, a transmission chain 15 and a plurality of driven sprockets 14. The driving sprocket 12 is arranged in the motor support frame 11, and the driving sprocket 12 is mounted on the power output shaft of the drive motor 10. The plurality of driven sprockets 14 are all located above the U-shaped clamping groove 9, and each driven sprocket 14 is correspondingly mounted on a clamping unit. The transmission chain 15 is mounted on a driving sprocket 12 and a plurality of driven sprockets 14, and the driving sprocket 12 drives the plurality of driven sprockets 14 to rotate synchronously through the transmission chain 15. Other components and connection methods are the same as those of the third embodiment.

[0052] Specific implementation method five: Combination Figures 1 to 16This embodiment is described. The difference between this embodiment and the fourth embodiment is that the clamping unit includes a screw 13, a threaded sleeve 16 and a rubber pad 17. The screw 13 is inserted at the top of the U-shaped clamping groove 9. The light rod portion of the screw 13 passes through the top of the U-shaped clamping groove 9 and extends to the top of the U-shaped clamping groove 9. The light rod portion of the screw 13 is rotatably connected to the U-shaped clamping groove 9 through a bearing. The threaded section of the screw 13 extends into the U-shaped clamping groove 9. The threaded sleeve 16 is arranged in the U-shaped clamping groove 9 and sleeved on the threaded section of the screw 13. The threaded sleeve 16 is threadedly connected to the screw 13. The rubber pad 17 is bonded to the bottom of the threaded sleeve 16 and is arranged opposite to the rubber layer 18 bonded to the bottom of the U-shaped clamping groove 9. Other components and connection methods are the same as those of the fourth embodiment.

[0053] In combination with the description of the fourth and fifth specific embodiments, the screw 13 is driven to rotate by the driven sprocket 14, so that the threaded sleeve 16 at the end of the screw 13 can realize synchronous lifting and lowering action along with the rotation of the screw 13, so as to cooperate with the bottom of the U-shaped clamping groove 9 to clamp the top edge of the dry mud box. When clamping, the rubber pad 17 and the rubber layer 18 as the contact parts with the top edge of the dry mud box can maximize the protection of the top edge structure of the dry mud box while having a high clamping force and will not be damaged by the clamping force, thereby ensuring the service life of the dry mud box.

[0054] Specific implementation method six: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the transfer robot further includes an auxiliary clamping mechanism, which is located between the clamping mechanism and the support structure, and one end of the auxiliary clamping mechanism is detachably connected to the piston rod end of the second push rod motor 4, and the other end of the auxiliary clamping mechanism is detachably connected to the closed end of the U-shaped clamping groove 9. Other components and connection methods are the same as those of the fifth embodiment.

[0055] Specific implementation method seven: Combination Figures 1 to 16Describe this embodiment. The difference between this embodiment and the specific embodiment six is ​​that the auxiliary clamping mechanism includes a motor mounting sleeve 19, a rotating disk 20, a connecting disk 21, a rotating motor 22, a circumferential slide rail 23, an auxiliary clamping unit and an auxiliary drive assembly. The motor mounting sleeve 19 is a cylinder with one end closed. The closed end of the motor mounting sleeve 19 is detachably connected to the piston rod end of the second push rod motor 4. The rotating motor 22 is installed in the motor mounting sleeve 19, and the power output shaft of the rotating motor 22 passes through the open end of the motor mounting sleeve 19 and extends to the outside of the motor mounting sleeve 19. The rotating disk 20 is mounted on the power output shaft of the rotating motor 22, and the rotating disk 20 rotates synchronously with the power output shaft of the rotating motor 22. An extension section 191 is provided on the outer circumferential surface of the open end of the motor mounting sleeve 19, and one end of the extension section 191 is integrally formed with the motor mounting sleeve 19 One end of the extension section 191 extends to the side of the rotating disk 20 away from the motor mounting sleeve 19 and is detachably connected to the connecting disk 21 located on the side of the rotating disk 20 away from the motor mounting sleeve 19. One end of the connecting disk 21 is sleeved on the power output shaft of the rotating motor 22 and is rotatably connected to the power output shaft of the rotating motor 22 through a bearing. The other end of the connecting disk 21 is detachably connected to the closed end of the U-shaped clamping groove 9. An extension protrusion is provided on the outer circumferential surface of the rotating disk 20. One end of the auxiliary clamping unit is hingedly arranged with the extension protrusion. A circumferential slide rail 23 is fixedly connected to the outer circumferential surface of the motor mounting sleeve 19. One end of the auxiliary drive assembly is installed on the circumferential slide rail 23 and is slidably connected to the circumferential slide rail 23. The other end of the auxiliary drive assembly is fixedly connected to the auxiliary clamping unit, and a limit inclination of at least 12° is provided between the axis of the auxiliary drive assembly and the axis of the auxiliary clamping unit. Other components and connection methods are the same as those in the fifth embodiment.

[0056] Specific implementation method eight: Combination Figures 1 to 16 This embodiment is described. The difference between this embodiment and the seventh embodiment is that the auxiliary clamping unit includes a swing plate 24 and a bonding plate 25. One end of the swing plate 24 is hinged to the extension protrusion, and one end of the bonding plate 25 is hinged to the other end of the swing plate 24. A flexible electrode 27 is attached to the bonding side of the bonding plate 25. A high-voltage power supply 26 is provided on the back side of the bonding plate 25, and the flexible electrode 27 is electrically connected to the high-voltage power supply 26. The flexible electrode 27 generates an electrostatic adsorption force through the power of the high-voltage power supply 26. Under the action of the electrostatic adsorption force, the bonding plate 25 is tightly bonded to the dry mud box 40 to be transported. Other components and connection methods are the same as those of the fifth embodiment.

[0057] Specific implementation method nine: Combination Figures 1 to 16This embodiment is described. The difference between this embodiment and the eighth embodiment is that the auxiliary drive assembly includes a guide slider 28, a connecting rod 29, a driving electric cylinder 30, a piston connector 31 and a mounting seat 32. The guide slider 28 is installed on the circumferential slide rail 23 and is slidably connected to the circumferential slide rail 23. One end of the connecting rod 29 is hinged to the guide slider 28, and the other end of the connecting rod 29 is fixed to the closed end of the cylinder body of the driving electric cylinder 30. The piston rod end of the driving electric cylinder 30 is fixed to one end of the piston connector 31, and the other end of the piston connector 31 is hinged to the mounting seat 32. The mounting seat 32 is detachably connected to the swing plate 24, and a limit inclination angle of at least 12° is provided between the axis of the driving electric cylinder 30 and the axis of the swing plate 24. Other components and connection methods are the same as those of the fifth embodiment.

[0058] In combination with the description of specific embodiments six to nine, the auxiliary clamping mechanism in the present application has multiple position states. When the manipulator structure is not working, the auxiliary clamping unit and the auxiliary drive assembly are located above the No. 2 push rod motor 4. Because there are no other components above the No. 2 push rod motor 4, a good folding space can be provided for the auxiliary clamping unit and the auxiliary drive assembly. When the manipulator is working, along with the outward extension of the piston rod end of the No. 2 push rod motor 4, there is also a working space for the auxiliary clamping unit and the auxiliary drive assembly below the No. 2 push rod motor 4. At this time, driven by the rotating motor 22, the auxiliary clamping unit and the auxiliary drive assembly rotate as a whole to the bottom of the No. 2 push rod motor 4, wherein the auxiliary clamping unit rotates synchronously with the rotating disk 21, and the auxiliary The driving assembly is driven and rotated by the circumferential slide rail 23 as a guide. It is worth noting that the circumferential slide rail 23 in the present application is a 3 / 4 circular structure, in which the notch is provided to facilitate the installation of the auxiliary driving assembly. The circumferential slide rail 23 is a T-shaped slide rail. In order to ensure that the auxiliary driving assembly can accurately push the auxiliary clamping unit to swing and avoid the occurrence of a swinging dead point, a limit inclination angle must be set at the initial arrangement position of the auxiliary driving assembly and the auxiliary clamping unit, that is, when the auxiliary clamping unit and the No. 2 push rod motor 4 are in a horizontal state, an initial inclination angle is set between the auxiliary clamping unit and the auxiliary driving assembly. After many tests, the auxiliary driving assembly drives the auxiliary clamping unit to swing when the inclination angle is greater than 12°.

[0059] The purpose of setting the auxiliary clamping mechanism is that considering the relatively deep depth of the dry mud box 40, the clamping mechanism only clamps at the top of the dry mud box 40, and the distance from the center of gravity of the dry mud box is relatively far. During the transfer process, the lower part of the dry mud box is likely to shake. Therefore, the lower part of the dry mud box is fixed by the auxiliary clamping mechanism to ensure its stability during transfer. The auxiliary clamping mechanism relies on the driving electric cylinder 30 as the power source to drive the swing plate 24 to swing, so that the fitting plate 25 at the end of the swing plate 24 approaches the outer wall of the dry mud box 40. Since the fitting plate 25 and the swing plate 24 are hinged, when the end of the fitting plate 25 contacts the dry mud box 40, continuing to push the swing plate 24 to swing will make the fitting side of the fitting plate 25 fully fit with the outer wall of the dry mud box. A flexible electrode 27 is provided on the fitting side of the fitting plate 25. After the flexible electrode 27 is energized, it will generate an electrostatic adsorption force. Under the action of the electrostatic adsorption force, the tightness of the contact between the fitting plate 25 and the dry mud box 40 will be improved, preventing the fitting plate 25 from falling off the dry mud box 40 during transfer. During the transfer process, the driving electric cylinder 30 will continuously apply a propulsive force and form a triangular structure with the swing plate 24 and the motor mounting sleeve 19. At the same time, the swing plate 24 and the clamping mechanism and the dry mud box wall also form a triangular structure. On the basis of the superposition of the two triangular structures, the clamping stability of the auxiliary clamping mechanism can be greatly improved, and the overall clamping stability of the manipulator structure can be further improved.

[0060] Specific Embodiment Ten: In combination with Figures 1 to 16 This embodiment is described. In this embodiment, a transfer system for a dry mud box in the treatment of urban small watershed pollution is provided. The transfer system includes a dry mud box collection bin 42, a dry mud box replacement bin 43, a buried power supply component, two shore transfer manipulators, and two guide rail components;

[0061] The two guide rail components are installed in parallel on both sides of the shore sediment elution ship docking port. The buried power supply component is buried between the two guide rail components, and the two guide rail components and the buried power supply component are arranged in a "U" shape. And the power supply end of each guide rail component is connected to the power output end of the buried power supply component through a wire. The dry mud box collection bin 42 and the dry mud box replacement bin 43 are both arranged between the two guide rail components, and the dry mud box collection bin 42 and the dry mud box replacement bin 43 are arranged in parallel on the top of the buried power supply component. Each shore transfer manipulator is correspondingly installed on a guide rail component, and the guide rail component guides the corresponding shore transfer manipulator to reciprocate along the length extension direction of the guide rail component where it is located;

[0062] The buried power supply component includes a buried bin 35 and a buried power supply 36. The buried bin 35 is buried on the closed side of the shore sediment elution ship docking port. The buried power supply 36 is installed in the buried bin 35 and is connected to the power supply ends of the two guide rail components through a wire. A cover is provided at the top opening of the buried bin 35, and the cover is detachably connected to the buried bin 35;

[0063] The guide rail assembly includes a screw guide rail 33, a screw drive motor 34 and a second guide slider 37. The screw guide rail 33 and the screw drive motor 34 are both installed in a mounting groove. The mounting groove is installed on one side of the berthing port of the shore mud washing ship. The screw drive motor 34 is arranged at the end of the screw guide rail 33 away from the river, and the motor output shaft of the screw drive motor 34 is connected to the screw in the screw guide rail 33 through a coupling. The power supply end of the screw drive motor 34 is connected to the embedded power supply 36 through a wire. The second guide slider 37 is arranged on the screw guide rail 33 and is slidably connected to the screw guide rail 33. A cloth-releasing roller 371 with a spring is respectively provided at both ends of the No. 2 guide slider 37, and a waterproof cloth 39 is wound around each cloth-releasing roller 371, one end of the waterproof cloth 39 is fixedly connected to the cloth-releasing roller 371, and the other end of the waterproof cloth 39 is fixedly connected to a corresponding end baffle in the screw guide rail 33, and a buckle plate 38 is provided at the top opening of the mounting groove, and the buckle plate 38 is buckled on the mounting groove, and a guide through groove corresponding to the screw guide rail 33 is processed on the buckle plate 38, and the top of the No. 2 guide slider 37 passes through the guide through groove on the buckle plate 38 and is detachably connected to the closed end of the No. 1 push rod motor 1.

[0064] In this embodiment, the embedded power supply component is used to provide power for each component in the transfer system. The dry mud box collection bin 42 is used to carry the fully loaded dry mud boxes recovered from the bottom mud washing ship 41. The dry mud box replacement bin 43 contains a plurality of unused dry mud boxes. When a fully loaded dry mud box is replaced, a new unused dry mud box will be reloaded into the bottom mud washing ship 41 for subsequent river ditch dredging. The guide rail assembly is used to guide the manipulator structure and drive the manipulator structure to move back and forth along the guide rail direction, thereby realizing the transfer action of the dry mud box. Considering that the working environment of the guide rail structure is outdoors and the humidity in the air is relatively high, in order to prevent the screw structure from being affected by water vapor and gravel, cloth release rollers 371 with a clockwork structure are provided at both ends of the guide rail slider 37. The waterproof cloth 39 is wrapped around the cloth release rollers 371, and the waterproof cloth 39 and the screw guide rail 33 The end baffle is fixed, and when the guide rail slider 37 slides, the cloth releasing rollers 371 on both sides of the guide rail slider 37 respectively release and wrap the cloth, so that the waterproof cloth 39 is always located on the upper part of the screw guide to protect the screw guide mechanism. This is a simple protection method. In actual work, if there is enough space at the end of the screw guide 33, the cloth releasing and cloth wrapping of the waterproof cloth 39 can be driven by arranging forward and reverse motors. In this layout, there is no need to set cloth releasing rollers 371 at both ends of the guide rail slider 37. One end of the waterproof cloth 39 is directly wound around the guide roller driven by the forward and reverse motor on the end baffle inside the screw guide 33, and the other end of the waterproof cloth 39 is connected to the guide rail slider 37. In this way, as the guide rail slider 37 slides, the forward and reverse motors at both ends perform corresponding cloth releasing and cloth wrapping actions, and the screw guide 33 can also be protected by the waterproof cloth 39.

[0065] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0066] How it works

[0067] When the present application is used, it is first based on the maximum single dredging volume of the small-scale sludge washing ship as the standard, and the maximum range of the small-scale sludge washing ship in the ditch during one operation is determined according to experiments. The range is not fixed according to the characteristics of the water area. If the water area has more sediment, the sailing distance is relatively short. If the water area has less sediment, the sailing distance is relatively long. A transfer system is set up on the banks on both sides of the ditch according to the navigation nodes, and a transfer network is formed by multiple transfer systems. After the various transfer systems are arranged, the small-scale sludge washing ship 41 will start dredging from the starting point. When the first stage of dredging is completed, the small-scale sludge washing ship 41 will move between the two screw guide rails 33 in the first transfer system, and through the lifting structure inside the hull, the small-scale sludge washing ship 41 will start dredging. The structure lifts up the dry mud box 40 located at the stern of the small mud elution ship 41. At this time, the transfer manipulator structures located on both sides of the small mud elution ship 41 work. The No. 1 push motor 1 and the No. 2 push motor 4 in the transfer manipulator drive the clamping structure to approach the dry mud box 40, and make the top edge of the dry mud box 40 enter the U-shaped clamping groove 9. At this time, the driving motor 10 drives the sprocket transmission unit to synchronously drive multiple screws 13 to rotate forward. Along with the forward rotation of the screw 13, multiple threaded sleeves 16 move downward to cooperate with the rubber layer 18 to clamp the top edge of the dry mud box 40. At the same time, the auxiliary clamping mechanism works. Driven by the rotating motor 22, the rotating disk 21 rotates. At this time, the auxiliary clamping unit and the auxiliary drive assembly rotate with the rotation of the rotating disk 21. Below the No. 2 push rod motor 4, the driving electric cylinder 30 in the auxiliary driving assembly serves as a power source to drive the swing plate 24 to swing, so that the bonding plate 25 at the end of the swing plate 24 is close to the outer wall of the dry mud box 40. Since the bonding plate 25 and the swing plate 24 are hinged, when the end of the bonding plate 25 contacts the dry mud box 40, continuing to push the swing plate 24 to swing will make the bonding side of the bonding plate 25 completely fit with the outer wall of the dry mud box. A flexible electrode 27 is provided on the bonding side of the bonding plate 25. The flexible electrode 27 will generate electrostatic adsorption force after being energized. Under the action of the electrostatic adsorption force, the tightness of the contact between the bonding plate 25 and the dry mud box 40 will be improved. At this time, the two manipulator structures have clamped the dry mud box 40. When the manipulator structure clamps the dry mud box 4 0, the counterweight mechanism works to bring the water in the ditch into the counterweight box 6 through the water pump and the conduit, increasing the weight of the counterweight box 6 to meet the counterweight requirement, and then the two screw guides 33 work synchronously to drive the two manipulators to move along the length direction of the screw guides 33, and the dry mud box 40 moves away from the small bottom mud washing boat 41 with the movement of the manipulator. When the manipulator moves along the length direction of the screw guides 33, the No. 2 push rod motors 4 in the two manipulators move synchronously (one side extends and the other side contracts) to align the dry mud box 40 with the dry mud box collecting bin 42, and driven by the manipulator, the dry mud box 40 is located above the deepest part of the dry mud box collecting bin 42. At this time, the No. 1 push rod motor 1 moves downward, driving the dry mud box 40 to sit in the dry mud box collecting bin 42,At this time, the counterweight mechanism can be controlled to discharge the water in the counterweight box 6 into the ditch by the water pump, and then the driving motor 10 can be controlled to drive the sprocket transmission unit to synchronously drive the multiple screws 13 to reverse. Along with the reversal of the screws 13, the multiple threaded sleeves 16 move upward away from the rubber layer 18 to relax the top edge of the dry mud box 40. At this time, the second push rod motor 4 is controlled to synchronously retract, so that the manipulator is away from the dry mud box 40 and moves to the outside of the dry mud box collection bin 42 under the action of the screw guide rail 33, and the two manipulators are synchronously adjusted. The second push rod motor 4 aligns the clamping part with the dry mud box replacement bin 43, and clamps the first empty dry mud box in the dry mud box replacement bin 43 in the above manner and places it on the lifting structure at the tail of the small bottom mud washing ship 41. At this time, the lifting structure moves to reinstall the empty dry mud box into the small bottom mud washing ship 41 and then leaves the transfer system to carry out the second stage of dredging. After the second stage of dredging is completed, it is located in the second transfer system and repeats the above operation to complete the transfer of the fully loaded dry mud box.

Claims

1. The shore transfer manipulator of the dry mud box in the pollution control of small urban watersheds, the transfer manipulator includes a support structure, a clamping mechanism and a counterweight mechanism, the clamping mechanism and the counterweight mechanism are both installed on the support structure, and the characteristics are: The supporting structure comprises a first push rod motor (1), a top connecting sleeve (2), and a second push rod motor (4), wherein the first push rod motor (1) is arranged in a vertical direction, the top connecting sleeve (2) is fixedly connected to the piston rod end of the first push rod motor (1), the second push rod motor (4) is inserted into the top connecting sleeve (2), and the axis of the second push rod motor (4) is arranged perpendicular to the axis of the first push rod motor (1), the top connecting sleeve (2) is tightly connected to the open end of the cylinder body of the second push rod motor (4), the clamping mechanism is installed on the piston rod end of the second push rod motor (4), and the counterweight mechanism is installed on the closed end of the cylinder body of the second push rod motor (4); The clamping mechanism comprises a U-shaped clamping groove (9), a driving motor (10), a motor support frame (11), a transmission unit and a plurality of clamping units, wherein the U-shaped clamping groove (9) is horizontally arranged at the end of the piston rod end of the second push rod motor (4), and the closed end of the U-shaped clamping groove (9) is detachably connected to the piston rod end of the second push rod motor (4), the motor support frame (11) is fixedly connected to the top of the U-shaped clamping groove (9), the driving motor (10) is inverted on the top of the motor support frame (11), and the housing of the driving motor (10) is fixedly connected to the motor support frame (11), and the power output shaft of the driving motor (10) passes through the motor support frame (11) and extending into the motor support frame (11), a plurality of clamping units are inserted in the top of the U-shaped clamping groove (9) in sequence and equidistantly along the length extension direction of the U-shaped clamping groove (9), and each clamping unit is rotatably connected to the U-shaped clamping groove (9), a transmission end of each clamping unit extends upward to the outside of the U-shaped clamping groove (9), and a clamping end of each clamping unit extends downward into the U-shaped clamping groove (9), an active end of the transmission unit is connected to a power output shaft of a drive motor (10), a driven end of the transmission unit is connected to a plurality of clamping units, and the drive motor (10) drives the plurality of clamping units to rotate synchronously through the transmission unit; The counterweight mechanism comprises a counterweight fixing sleeve (5) and a counterweight box (6), wherein the counterweight fixing sleeve (5) is sleeved on the closed end of the cylinder body of the second push rod motor (4), the counterweight box (6) is arranged below the second push rod motor (4), and the counterweight box (6) is fixedly connected to the bottom of the counterweight fixing sleeve (5); The transfer robot also includes an auxiliary clamping mechanism, which is located between the clamping mechanism and the support structure, and one end of the auxiliary clamping mechanism is detachably connected to the piston rod end of the second push rod motor (4), and the other end of the auxiliary clamping mechanism is detachably connected to the closed end of the U-shaped clamping groove (9); The auxiliary clamping mechanism comprises a motor mounting sleeve (19), a rotating disk (20), a connecting disk (21), a rotating motor (22), a circumferential slide rail (23), an auxiliary clamping unit and an auxiliary driving assembly. The motor mounting sleeve (19) is a cylinder with one end closed. The closed end of the motor mounting sleeve (19) is detachably connected to the piston rod end of the second push rod motor (4). The rotating motor (22) is mounted in the motor mounting sleeve (19), and the power output shaft of the rotating motor (22) passes through the open end of the motor mounting sleeve (19) and extends to the outside of the motor mounting sleeve (19). The rotating disk (20) is sleeved on the power output shaft of the rotating motor (22), and the rotating disk (20) rotates synchronously with the power output shaft of the rotating motor (22). An extension section (191) is provided on the outer circumferential surface of the open end of the motor mounting sleeve (19). One end of the extension section (191) is integrally formed with the motor mounting sleeve (19). The extension section (191) One end of the connecting disk (21) extends to a side of the rotating disk (20) away from the motor mounting sleeve (19) and is detachably connected to a connecting disk (21) located on a side of the rotating disk (20) away from the motor mounting sleeve (19); one end of the connecting disk (21) is sleeved on a power output shaft of the rotating motor (22) and is rotatably connected to the power output shaft of the rotating motor (22) through a bearing; the other end of the connecting disk (21) is detachably connected to a closed end of the U-shaped clamping groove (9); an extending protrusion is provided on the outer circumferential surface of the rotating disk (20); one end of the auxiliary clamping unit is hingedly connected to the extending protrusion; a circumferential slide rail (23) is fixedly connected to the outer circumferential surface of the motor mounting sleeve (19); one end of the auxiliary drive assembly is mounted on the circumferential slide rail (23) and is slidably connected to the circumferential slide rail (23); the other end of the auxiliary drive assembly is fixedly connected to the auxiliary clamping unit; and an axis of the auxiliary drive assembly and an axis of the auxiliary clamping unit are provided with a limit inclination of at least 12°.

2. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 1 is characterized by: The outer sleeve of the piston rod of the No. 1 push rod motor (1) is provided with a No. 1 bellows (3), one end of which is fixedly connected to the top connecting sleeve (2), and the other end of which is fixedly connected to the open end of the cylinder body of the No. 1 push rod motor (1). The outer sleeve of the piston rod of the No. 2 push rod motor (4) is provided with a No. 2 bellows (8), one end of which is fixedly connected to the closed end of the U-shaped clamping groove (9), and the other end of which is fixedly connected to the open end of the cylinder body of the No. 2 push rod motor (4).

3. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 1 is characterized by: An auxiliary support telescopic damping rod (7) is provided between the first push rod motor (1) and the second push rod motor (4), one end of the auxiliary support telescopic damping rod (7) is connected to the outer wall of the cylinder body of the first push rod motor (1) through a first hinge seat, and the other end of the auxiliary support telescopic damping rod (7) is connected to the outer wall of the cylinder body of the second push rod motor (4) through a second hinge seat.

4. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 1 is characterized by: The transmission unit comprises a driving sprocket (12), a transmission chain (15) and a plurality of driven sprockets (14); the driving sprocket (12) is arranged in a motor support frame (11), and the driving sprocket (12) is sleeved on a power output shaft of a driving motor (10); the plurality of driven sprockets (14) are all located above a U-shaped clamping groove (9), and each driven sprocket (14) is sleeved on a corresponding clamping unit; the transmission chain (15) is sleeved on a driving sprocket (12) and a plurality of driven sprockets (14), and the driving sprocket (12) drives the plurality of driven sprockets (14) to rotate synchronously via the transmission chain (15).

5. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 1 is characterized by: The clamping unit comprises a screw rod (13), a threaded sleeve (16) and a rubber pad (17), wherein the screw rod (13) is inserted into the top of the U-shaped clamping groove (9), the bare rod portion of the screw rod (13) passes through the top of the U-shaped clamping groove (9) and extends to the top of the U-shaped clamping groove (9), and the bare rod portion of the screw rod (13) is rotatably connected to the U-shaped clamping groove (9) via a bearing, the threaded section of the screw rod (13) extends into the U-shaped clamping groove (9), the threaded sleeve (16) is arranged in the U-shaped clamping groove (9) and sleeved on the threaded section of the screw rod (13), and the threaded sleeve (16) is threadedly connected to the screw rod (13), and the rubber pad (17) is bonded to the bottom of the threaded sleeve (16) and is arranged opposite to the rubber layer (18) bonded to the bottom of the U-shaped clamping groove (9).

6. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 5 is characterized by: The auxiliary clamping unit comprises a swing plate (24) and a bonding plate (25), one end of the swing plate (24) is hinged to the extension protrusion, one end of the bonding plate (25) is hinged to the other end of the swing plate (24), a flexible electrode (27) is attached to the bonding side of the bonding plate (25), a high-voltage power supply (26) is provided on the back side of the bonding plate (25), and the flexible electrode (27) is electrically connected to the high-voltage power supply (26), the flexible electrode (27) is powered by the high-voltage power supply (26) to generate an electrostatic adsorption force, and the bonding plate (25) is tightly bonded to the dry mud box (40) to be transported under the action of the electrostatic adsorption force.

7. The shore transfer manipulator for dry mud box in urban small watershed pollution control according to claim 6 is characterized by: The auxiliary drive assembly comprises a guide slider (28), a connecting rod (29), a driving electric cylinder (30), a piston connector (31) and a mounting seat (32); the guide slider (28) is mounted on the circumferential slide rail (23) and is slidably connected to the circumferential slide rail (23); one end of the connecting rod (29) is hinged to the guide slider (28); the other end of the connecting rod (29) is fixedly connected to the closed end of the cylinder body of the driving electric cylinder (30); the end of the piston rod of the driving electric cylinder (30) is fixedly connected to one end of the piston connector (31); the other end of the piston connector (31) is hinged to the mounting seat (32); the mounting seat (32) is detachably connected to the swing plate (24); and a limit inclination angle of at least 12° is provided between the axis of the driving electric cylinder (30) and the axis of the swing plate (24).

8. A transfer system constructed by a shore transfer manipulator of a dry mud box in pollution control of a small urban watershed based on any one of claims 1 to 7, characterized in that: The transfer system includes a dry mud box collection bin (42), a dry mud box replacement bin (43), a pre-buried power supply assembly, two shore transfer manipulators and two guide rail assemblies; Two guide rail assemblies are installed in parallel on both sides of the docking opening of the shore sediment elution ship. The embedded power supply assembly is embedded between the two guide rail assemblies, and the two guide rail assemblies and the embedded power supply assembly are arranged in a "U" shape. The power supply end of each guide rail assembly is connected to the power output end of the embedded power supply assembly through a wire. The dry mud box collection bin (42) and the dry mud box replacement bin (43) are both arranged between the two guide rail assemblies, and the dry mud box collection bin (42) and the dry mud box replacement bin (43) are arranged in parallel on the top of the embedded power supply assembly. Each shore transfer manipulator is correspondingly installed on one guide rail assembly, and the guide rail assembly guides the corresponding shore transfer manipulator to reciprocate along the length extension direction of the guide rail assembly where it is located; The embedded power supply assembly includes an embedded bin (35) and an embedded power supply (36). The embedded bin (35) is embedded in the closed side of the docking opening of the shore sediment elution ship. The embedded power supply (36) is installed in the embedded bin (35) and is connected to the power supply ends of the two guide rail assemblies through a wire. A cover is provided at the top opening of the embedded bin (35), and the cover is detachably connected to the embedded bin (35); The guide rail assembly includes a lead screw guide rail (33), a lead screw drive motor (34), and a guide slider (37). The lead screw guide rail (33) and the lead screw drive motor (34) are both installed in the installation groove. The installation groove is installed on one side of the docking opening of the shore sediment elution ship. The lead screw drive motor (34) is arranged at the end of the lead screw guide rail (33) away from the river, and the motor output shaft of the lead screw drive motor (34) is connected to the lead screw in the lead screw guide rail (33) through a coupling. The power supply end of the lead screw drive motor (34) is connected to the embedded power supply (36) through a wire. The guide slider (37) is arranged on the lead screw guide rail (33) and is slidably connected to the lead screw guide rail (33). A cloth-releasing roller (371) with a spring is provided at each end of the guide slider (37), and a waterproof cloth (39) is wound around each cloth-releasing roller (371). One end of the waterproof cloth (39) is fixedly connected to the cloth-releasing roller (371), and the other end of the waterproof cloth (39) is fixedly connected to a corresponding end baffle in the lead screw guide rail (33). A buckle plate (38) is provided at the top opening of the installation groove. The buckle plate (38) is buckled on the installation groove. A guide through groove corresponding to the lead screw guide rail (33) is processed on the buckle plate (38). The top of the guide slider (37) passes through the guide through groove on the buckle plate (38) and is detachably connected to the closed end of the first push rod motor (1).

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