Multi-degree-of-freedom dredging working arm and multi-degree-of-freedom dredging robot

Abstract

The invention belongs to the technical field of desilting, and particularly relates to a multi-degree-of-freedom desilting working arm and a multi-degree-of-freedom desilting robot. The multi-degree-of-freedom dredging working arm comprises a first adjusting mechanism and at least two second adjusting mechanisms, the free ends of the second adjusting mechanisms are movably connected with the drill bits through mounting plates, and the free end of the first adjusting mechanism is movably connected with the second adjusting mechanisms so that the positions of the drill bits can be adjusted in a multi-angle mode. According to the multi-degree-of-freedom desilting working arm and the multi-degree-of-freedom desilting robot, when desilting operation is conducted on a chemical pool, the desilting robot can enter the chemical pool to clean hard silt, the position of a drill bit is changed by controlling the first adjusting mechanism and the second adjusting mechanism, and therefore dead-corner-free cleaning is conducted on the chemical pool.

Description

Technical Field

[0001] The invention belongs to the technical field of dredging, and in particular to the technical field of dredging in chemical sedimentation tanks, and specifically is a multi-degree-of-freedom dredging working arm and a multi-degree-of-freedom dredging robot. Background Art

[0002] The chemical pool of a chemical plant is a place used for large-scale chemical reactions and the production of chemical products. Under long-term chemical reactions, a large amount of precipitate (such as barium sulfate, calcium sulfate, etc.) will be produced, and it is rich in toxic and harmful gases (such as hydrogen sulfide, sulfur dioxide, etc.), and also contains flammable and explosive disaster hazards.

[0003] Therefore, all major chemical plants need to carry out dredging work on chemical pools on a regular basis, which consumes a lot of manpower, material resources and financial resources. At the same time, most chemical pools are in oxygen-deficient environments such as confined spaces, and toxic, harmful, flammable and explosive gases in the pools cannot be released, which poses a serious safety hazard to dredging workers. Therefore, there is an urgent need for a dredging robot that can replace manual entry into the pool.

[0004] Although there are dredging robots for special working conditions such as chemical pools, the chemical pools in various chemical plants are not of uniform specifications, shapes, and sizes. The existing dredging robots cannot clean the sediment in the chemical pools in all directions, and the freedom of the dredging structure (drill bit) is limited to a certain extent, resulting in blind spots in dredging.

[0005] Therefore, it is necessary to propose a multi-degree-of-freedom dredging robot that can achieve the technical requirements of dredging without dead angles while meeting the explosion-proof requirements in working environments such as chemical pools and tanks. Summary of the invention

[0006] The purpose of the present invention is to provide a multi-degree-of-freedom dredging working arm and a multi-degree-of-freedom dredging robot in view of the deficiencies in the prior art. The first adjustment mechanism and the second adjustment mechanism of the multi-degree-of-freedom dredging working arm cooperate to achieve complex adjustments in a small space, thereby achieving the function of realizing complex changes in a small space. The multi-degree-of-freedom dredging robot of the present invention can clean the dredging site without dead ends, thereby improving the dredging efficiency.

[0007] In order to solve the deficiencies of the prior art, the first aspect of the present invention provides a multi-degree-of-freedom dredging working arm, comprising a first adjustment mechanism and at least two second adjustment mechanisms:

[0008] The free end of the second adjusting mechanism is movably connected to the drill bit through the mounting plate, and the free end of the first adjusting mechanism is movably connected to the second adjusting mechanism to adjust the position of the drill bit at multiple angles.

[0009] Furthermore, the first adjustment mechanism includes:

[0010] A connecting arm having a first channel a therein;

[0011] A first connecting plate, which is fixed on the free end of the connecting arm;

[0012] A first special-shaped hydraulic push rod, one end of which is fixed at the center of the first connecting plate, and the other end of which is movably connected to the second adjusting mechanism through a first special-shaped universal ball joint; the first special-shaped hydraulic push rod has a first channel b inside, and the first channel b is connected with the first channel a to form a first channel for the silt removal hose to pass through;

[0013] At least three first hydraulic rods are arranged on the first connecting plate, and the first hydraulic pressure is distributed around the first special-shaped hydraulic push rod. One end of the first hydraulic rod is movably connected to the first connecting plate, and the other end thereof is movably connected to the second adjusting mechanism.

[0014] Furthermore, the second adjustment mechanism includes:

[0015] A second connection plate;

[0016] A universal adjustment disk, arranged opposite to the second adjustment disk;

[0017] A hose support tube, connecting the second connection disk with the universal adjustment disk, and the hose support tube has a second channel a inside;

[0018] At least two support frames are arranged around the hose support pipe;

[0019] A second special-shaped hydraulic push rod, one end of which is fixed to the center of the second connecting plate, and the other end of which is movably connected to the mounting plate or the universal adjusting plate of the adjacent second adjusting mechanism through a second special-shaped universal ball joint; and the second special-shaped hydraulic push rod has a second channel b, and the second channel b and the second channel a form a second channel for the silt removal hose to pass through;

[0020] At least three second hydraulic rods are arranged around the second special-shaped hydraulic push rod; universal balls are respectively provided at both ends of the second hydraulic rod, the universal ball at one end is movably arranged on the first universal ball seat on the second connecting disk, and the universal ball at the other end is movably arranged on the second universal ball seat of the mounting plate or the universal adjustment disk of the adjacent second adjustment mechanism.

[0021] Furthermore, the special-shaped universal ball joint includes a special-shaped universal ball head and a special-shaped universal ball mouth that cooperate with each other. The special-shaped universal ball head is fixed on the end of the special-shaped hydraulic push rod, and the special-shaped universal ball mouth is opened in the center of the universal adjustment disk and the mounting plate.

[0022] Furthermore, the support frame has an oil chamber for storing lubricating oil, and the universal adjustment disk and the second connecting disk are respectively penetrated by a first lubricating oil channel; wherein, one end of the first lubricating oil channel of the universal adjustment disk is connected to the oil chamber, and the other end is connected to the second universal ball seat on the lower surface of the universal adjustment disk; one end of the first lubricating oil channel of the second connecting disk is connected to the oil chamber, and the other end is connected to the first universal ball seat on the second connecting disk.

[0023] Furthermore, the universal adjustment disk has a second lubricating oil channel extending in the radial direction of the universal adjustment disk. One end of the second lubricating oil channel is connected to the first lubricating oil channel, and the other end is connected to the special-shaped universal ball port of the universal adjustment disk to lubricate the special-shaped universal ball head.

[0024] The second aspect of the present invention provides a multi-freedom dredging robot, comprising the above-mentioned multi-degree-of-freedom dredging working arm, a movable robot and a silt removal hose: the connecting arm of the multi-degree-of-freedom dredging working arm is hinged on the robot, one end of the silt removal hose is fixed to the drill bit, and the other end thereof passes through the second channel of the second adjusting mechanism and the first channel of the first adjusting mechanism to be connected to an external silt extraction motor.

[0025] Furthermore, the robot is a tracked robot, which includes two sets of track wheels. The track wheel connecting frame of the track wheels is equipped with an explosion-proof chassis, and a connecting plate for connecting the two sets of track wheels is installed above the explosion-proof chassis. The explosion-proof chassis on one of the track wheels is control-connected to the track wheel, and the explosion-proof chassis on the other track wheel is control-connected to the multi-degree-of-freedom dredging working arm.

[0026] Furthermore, it also includes a hydraulic cylinder and a hydraulic motor, and the hydraulic motor provides continuous and stable hydraulic pressure through the hydraulic cylinder to drive the crawler wheels to move.

[0027] The present invention has at least the following beneficial effects:

[0028] 1. The multi-degree-of-freedom dredging arm of the present invention realizes multi-degree-of-freedom adjustment of the drill bit through the cooperation of the first adjustment mechanism and the second adjustment mechanism, so that the drill bit can change any posture, thereby adapting to different chemical pools, irregular areas of chemical pools, etc., effectively preventing the occurrence of dredging dead corners and improving the dredging quality; at the same time, the number of the second adjustment mechanism can be selected according to the actual situation, further increasing the applicability;

[0029] 2. The first hydraulic rod and the first special-shaped hydraulic push rod of the first adjustment mechanism cooperate with the second hydraulic rod and the second special-shaped hydraulic push rod of the second adjustment mechanism to control the position and posture of the drill bit by driving the extension and contraction length of the first hydraulic rod and the second hydraulic rod, so as to achieve multiple degrees of freedom, realize swing at any angle and multi-degree-of-freedom dredging operation without dead angles; at the same time, the hydraulic drive is convenient for adjustment, and the adjustment can be completed in the chemical pool without moving out of the chemical pool to adjust the drill bit posture;

[0030] 3. A sufficient amount of lubricating oil is stored inside the support frame. The lubricating oil flows into the second universal ball seat and the first universal ball seat through the first lubricating oil channel to lubricate the universal ball. At the same time, the lubricating oil flows into the special-shaped universal ball mouth through the second lubricating oil channel to lubricate the special-shaped universal ball head, thereby ensuring the performance of the second adjustment mechanism, the first adjustment mechanism and the special-shaped hydraulic push rod in the harsh dredging operation and preventing them from being stuck due to excessive wear or hard silt;

[0031] 4. The special-shaped hydraulic push rod is used. On the one hand, it provides thrust support to make the second adjustment mechanism work smoothly. On the other hand, it allows the silt discharge hose to pass normally and also plays a role in protecting the silt discharge hose.

[0032] 5. The multi-degree-of-freedom dredging robot of the present invention is used in conjunction with a hydraulically driven crawler robot, a multi-degree-of-freedom dredging working arm, a sludge crushing drill bit, and a dredging hose. When dredging is required in irregular areas or relatively narrow working spaces, the robot can smoothly carry out dredging work. By controlling the extension and retraction length of the hydraulic rods at various parts of the multi-degree-of-freedom dredging working arm, a multi-degree-of-freedom dredging effect without dead angles can be achieved. The robot is suitable for dredging sediments in various chemical pools. There is no need for personnel to enter the chemical pool, which not only improves the dredging efficiency, but also avoids safety accidents in the chemical pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic structural diagram of the multi-freedom dredging robot of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the first adjusting mechanism of the present invention.

[0035] Figure 3 It is a structural schematic diagram of a special-shaped hydraulic push rod and a special-shaped universal ball head of the present invention.

[0036] Figure 4 It is a schematic diagram of the cross-sectional structure of the first special-shaped hydraulic push rod of the present invention.

[0037] Figure 5 It is a structural schematic diagram of the second adjusting mechanism of the present invention.

[0038] Figure 6 It is a schematic cross-sectional structure diagram of the second adjustment mechanism of the present invention.

[0039] Figure 7 The present invention Figure 6 Schematic diagram of the locally enlarged structure of A in the middle.

[0040] Reference numerals: 100-first adjustment mechanism, 110-connecting arm, 120-first connecting plate, 130-first special-shaped hydraulic push rod, 131-first special-shaped universal ball joint, 132-first channel b, 140-first hydraulic rod, 150-infrared high-definition camera, 200-second adjustment mechanism, 210-second connecting plate, 211-first universal ball seat, 220-universal adjustment plate, 221-second lubricating oil channel, 230-hose support pipe, 231-second channel a, 240-support frame, 241-oil chamber, 250-second special-shaped hydraulic push rod, 251-second channel b, 26 0-second special-shaped universal ball joint, 270-second hydraulic rod, 271-universal ball, 290-first lubricating oil channel, 300-drill bit, 310-mounting plate, 400-drainage hose, 500-second universal ball seat, 360-special-shaped universal ball head, 361-special-shaped universal ball mouth, 600-robot, 610-track robot, 611-track wheel, 612-track wheel connecting frame, 700-explosion-proof chassis, 800-connecting plate, 900 hydraulic motor, 910-hydraulic cylinder, 362-make way channel, 2513-fixed rod, 2514-telescopic rod, 2515-hydraulic cylinder. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when the application product is used, or the orientation or position relationship commonly understood by those skilled in the art. The terms "set", "open", "install", "connected" and "connected" should be understood in a broad sense. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. And in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0043] See also Figures 1 to 7 The present invention provides a multi-degree-of-freedom dredging working arm, comprising a first adjustment mechanism 100 and at least two second adjustment mechanisms 200:

[0044] The free end of the second adjusting mechanism 200 is movably connected to the drill bit 300 via the mounting plate 310 , and the free end of the first adjusting mechanism 100 is movably connected to the second adjusting mechanism 200 to adjust the position of the drill bit 300 at multiple angles.

[0045] The number of the second adjustment mechanisms 200 can be selected according to actual needs, which further increases the applicability and is suitable for dredging sediments in various chemical pools; the first adjustment mechanism 100 cooperates with multiple second adjustment mechanisms 200 to achieve multi-degree-of-freedom adjustment of the drill bit 300, so that the drill bit can change any posture, thereby adapting to irregular areas of the chemical pool, effectively preventing the occurrence of dredging dead corners, and improving the dredging quality and effect.

[0046] Specifically, the first adjustment mechanism 100 includes: a connecting arm 110, which has a first channel a inside; a first connecting plate 120, which is fixed to the free end of the connecting arm 110; a first special-shaped hydraulic push rod 130, one end of which is fixed to the center of the first connecting plate 120, and the other end is movably connected to the second adjustment mechanism 200 through a first special-shaped universal ball joint 131; the first special-shaped hydraulic push rod 130 has a first channel b132 inside, and the first channel b132 is connected to the first channel a to form a first channel for the silt discharge hose 400 to pass through; the first connecting At least three first hydraulic rods 140 are arranged on the disk 120, and the first hydraulic rods 140 are distributed around the first special-shaped hydraulic push rod 130. One end of the first hydraulic rod 140 is movably connected to the first connecting disk 120, and the other end thereof is movably connected to the second adjusting mechanism 200. The first hydraulic rod 140 belongs to the prior art product. The first connecting disk 120 is preferably a circular disk. The center of the first special-shaped hydraulic push rod 130 coincides with the center of the first connecting disk 120. The three first hydraulic rods 140 play a role in determining the plane, so that the first adjusting mechanism 100 has multiple degrees of freedom.

[0047] Based on the above, the second adjustment mechanism 200 includes: a second connecting disk 210; a universal adjustment disk 220, which is arranged opposite to the second adjustment disk 210; a hose support tube 230, which connects the second connecting disk 210 with the universal adjustment disk 220, and the hose support tube 230 has a second channel a231 inside; at least two support frames 240, which are arranged around the hose support tube 230, and the support frames 240 can be round tubes or square tubes, and of course can also be any other shapes, and no specific restrictions are made here; a second special-shaped hydraulic push rod 250, one end of which is fixed to the center of the second connecting disk 210, and the other end is movably connected to the mounting plate 310 or the universal adjustment disk 220 of the adjacent second adjustment mechanism 200 through a second special-shaped universal ball joint 260; and the second The second special-shaped hydraulic push rod 250 has a second channel b251, and the second channel b251 and the second channel a231 form a second channel for the dredging hose 400 to pass through; at least three second hydraulic rods 270 are arranged around the second special-shaped hydraulic push rod 250; both ends of the second hydraulic rod 270 are respectively provided with universal balls 271, wherein the universal ball 271 at one end is movably set on the first universal ball seat 211 on the second connecting disk 210, and the universal ball 271 at the other end is movably set on the second universal ball seat 500 of the universal adjustment disk 220 of the mounting plate 310 or the adjacent second adjustment mechanism 200, and the two ends of the second hydraulic rod 270 respectively cooperate with the universal ball seat to realize rotation in all directions, thereby obtaining a rotation direction with multiple degrees of freedom, thereby adjusting the position of the drill bit 300.

[0048] Specifically, the first hydraulic rod 140 and the first special-shaped hydraulic push rod 130 of the first adjustment mechanism 100 cooperate with the second hydraulic rod 270 and the second special-shaped hydraulic push rod 250 of the second adjustment mechanism 200, and the position and posture of the drill bit 300 are controlled by driving the telescopic length of the first hydraulic rod 140 and the second hydraulic rod 270, so that the drill bit 300 has multiple degrees of freedom, and realizes swinging at any angle and multi-degree-of-freedom dredging operation without dead angles; at the same time, the hydraulic drive is convenient for adjustment, and the adjustment can be completed in the chemical pool, and there is no need to move out of the chemical pool and then adjust the posture of the drill bit 300. Compared with the prior art, the chemical pool is a nearly closed workplace with different dredging depth requirements in each operating area, so it is difficult to readjust the angle of the robot dredging arm each time, which also increases the complexity of the operation. The present invention can adjust the angle of the drill bit 300 through hydraulic drive during the operation, and then automatically adjust the dredging angle, thereby avoiding the cumbersome angle adjustment process and improving efficiency.

[0049] In addition, the special-shaped hydraulic push rod includes a fixed rod 2513 and a telescopic rod 2514, wherein the fixed rod 2513 has a first channel b132 or a second channel b251 for the silt discharge hose 400 to pass through, and the peripheral wall of the fixed rod 2513 has a ring-shaped hydraulic cylinder 2515, wherein the telescopic rod 2514 is slidably disposed in the hydraulic cylinder 2515, and the hydraulic cylinder 2515 pushes the telescopic rod 2514 upward under the input of hydraulic oil. With this design, the first channel b132 or the second channel b251 allows the silt discharge hose 400 to pass normally, thereby protecting the silt discharge hose 400.

[0050] Furthermore, the special-shaped universal ball joint includes a special-shaped universal ball head 360 and a special-shaped universal ball mouth 361 that cooperate with each other, wherein the special-shaped universal ball head 360 is fixed to the end of the special-shaped hydraulic push rod, and the special-shaped universal ball mouth 361 is opened in the center of the universal adjustment plate 220 and the mounting plate 310. Specifically, the special-shaped universal ball head 360 has a clearance channel 362 inside, and the clearance channel 362 is for the silt discharge hose 400 to pass through.

[0051] For ease of understanding, refer to Figure 1 , this embodiment takes three second adjustment mechanisms 200 as an example, and the three second adjustment mechanisms 200 are numbered as second adjustment mechanism A200, second adjustment mechanism B200 and second adjustment mechanism C200 respectively. Specifically, the universal adjustment disk 220 of the second adjustment mechanism A200 is movably connected with the first hydraulic rod 140 and the first special-shaped hydraulic push rod 130 of the first adjustment mechanism 100. It can be understood that the special-shaped universal ball head 360 of the first special-shaped universal ball joint 131 is installed on the end of the first special-shaped hydraulic push rod 130, and the special-shaped universal ball head 360 is matched and installed in the special-shaped universal ball mouth 361 on the universal adjustment disk 220 of the second adjustment mechanism A200. At this time, the first channel b132 is connected with the second channel a231 of the second adjustment mechanism A200, and the special-shaped universal ball head 360 is coaxial with the hose support tube 230 of the second adjustment mechanism A200 and the top of the special-shaped universal ball head 360 is located in the hose support tube 230;

[0052] At this time, the connection between the first hydraulic rod 140 and the universal adjustment disk 220 can adopt the connection method of the second hydraulic rod 270, that is, the universal ball 271 cooperates with the universal ball seat, and the universal ball 271 is installed at both ends of the first hydraulic rod 140, and the universal ball 271 at one end cooperates with the universal ball seat provided on the first connection disk 120, and the other end cooperates with the second universal ball seat 500 on the lower wall of the universal adjustment disk 220 of the second adjustment mechanism A200;

[0053] The second special-shaped hydraulic push rod 260 of the second adjustment mechanism B200 is connected to the special-shaped universal ball port 361 on the universal adjustment disk 220 of the third adjustment mechanism C200 through the special-shaped universal ball head 360. At this time, the universal ball 271 of the second hydraulic rod 270 of the second adjustment mechanism B200 is arranged in the second universal ball seat 500 on the universal adjustment disk 220 of the third adjustment mechanism C200.

[0054] The second special-shaped hydraulic push rod 260 of the third adjustment mechanism C200 is connected to the special-shaped universal ball mouth 361 of the mounting plate 310 through the special-shaped universal ball head 360. At this time, the universal ball 271 of the second hydraulic rod 270 of the second adjustment mechanism C200 is arranged in the second universal ball seat 500 of the mounting plate 310.

[0055] In actual dredging, in order to ensure normal movement in a harsh dredging operation environment, the support frame 240 has an oil chamber 241 for storing lubricating oil, and the universal adjustment disk 220 and the second connecting disk 210 are respectively penetrated by a first lubricating oil channel 290; wherein, one end of the first lubricating oil channel 290 of the universal adjustment disk 220 is connected to the oil chamber 241, and the other end is connected to the second universal ball seat 500 on the lower surface of the universal adjustment disk 220; one end of the first lubricating oil channel 290 of the second connecting disk 210 is connected to the oil chamber 241, and the other end is connected to the first universal ball seat 211 on the second connecting disk 210.

[0056] Furthermore, the universal adjustment disk 220 has a second lubricating oil channel 221 extending in the radial direction of the universal adjustment disk 220 , one end of the second lubricating oil channel 221 is connected to the first lubricating oil channel 290 , and the other end is connected to the special-shaped universal ball mouth 361 of the universal adjustment disk 220 to lubricate the special-shaped universal ball head 360 .

[0057] A sufficient amount of lubricating oil is stored inside the oil chamber 241 of the support frame 240. The lubricating oil flows into the second universal ball seat 500 and the first universal ball seat 211 through the first lubricating oil channel 290 to lubricate the universal ball. At the same time, the lubricating oil flows into the special-shaped universal ball mouth 361 through the second lubricating oil channel 221 to lubricate the special-shaped universal ball head 360, thereby ensuring the performance of the second adjustment mechanism 200, the first adjustment mechanism 100 and the special-shaped hydraulic push rod in harsh dredging operations and preventing them from getting stuck due to excessive wear or hard silt.

[0058] The second aspect of the present invention provides a multi-freedom dredging robot, comprising the above-mentioned multi-degree-of-freedom dredging working arm, a movable robot 600 and a silt removal hose 400: the connecting arm 110 of the multi-degree-of-freedom dredging working arm is hinged on the robot 600, one end of the silt removal hose 400 is fixed at the drill bit 300, and the other end thereof passes through the second channel of the second adjustment mechanism 200 and the first channel of the first adjustment mechanism 100 to be connected to an external silt extraction motor. Specifically, the silt removal hose 400 is preferably made of an anti-corrosion material, one end of which is connected to the drill bit 300 by bolts, and the other end passes through multiple groups of second adjustment mechanisms 200 and passes through the connecting arm 110 of the first dredging mechanism to be connected to an external silt extraction motor, and the external silt extraction motor belongs to a prior art product.

[0059] Based on the above, the robot 600 is a tracked robot 610, which includes two sets of track wheels 611. The track wheel connecting frame 612 of the track wheels 611 is equipped with an explosion-proof chassis 700. A connecting plate 800 for connecting the two sets of track wheels 611 is installed above the explosion-proof chassis 700. The explosion-proof chassis 700 on one of the track wheels 611 is control-connected to the track wheel 611, and the explosion-proof chassis 700 on the other track wheel 611 is control-connected to a multi-degree-of-freedom dredging working arm. It should be understood that there are two explosion-proof chassis 700. For ease of description, the two explosion-proof chassis 700 are numbered as explosion-proof chassis A700 and explosion-proof chassis B700 respectively. The explosion-proof chassis A700 is fixedly mounted on the track wheel connecting frame 612 of one set of track wheels 611 by bolt connection, and the explosion-proof chassis A700 is control-connected with the track wheels 611; the explosion-proof chassis B700 is fixedly mounted on the track wheel connecting frame 612 of another set of track wheels 611 by bolt connection, and the explosion-proof chassis B700 is control-connected with the multi-degree-of-freedom dredging working arm. The operating tools in the chemical pool must meet the explosion-proof requirements, so the control unit of the robot 600 is placed in the explosion-proof chassis A700 and the explosion-proof chassis B700 respectively. The explosion-proof chassis A700 controls the movement of the hydraulically driven crawler robot 610, and the explosion-proof chassis B700 controls the multi-degree-of-freedom dredging working arm to adjust the angle position of the drill bit 300.

[0060] Furthermore, it also includes a hydraulic cylinder 910 and a hydraulic motor 900. The hydraulic motor 900 provides continuous and stable hydraulic pressure through the hydraulic cylinder 910 to drive the track wheel 611 to move, thereby ensuring the stability of the movement of the robot 600. Specifically, the hydraulic cylinder 910 is mounted on the connecting plate 800, the hydraulic motor 900 is mounted on the track wheel connecting frame 612, and the output shaft of the hydraulic motor 900 and the track driving wheel of the track wheel 611 are simultaneously connected to the hydraulic motor by keys and bolts.

[0061] The multi-degree-of-freedom dredging robot of the present invention cooperates with the hydraulically driven crawler robot 600, the multi-degree-of-freedom dredging working arm, the drill bit 300, and the dredging hose 400. When dredging is required in irregular areas or in a relatively narrow working space, the drill bit 300 can achieve a dredging effect with multiple degrees of freedom and no dead angle by controlling the extension and retraction length of the hydraulic rods at various parts of the multi-degree-of-freedom dredging working arm. The robot is suitable for dredging sediments in various chemical pools. After the drill bit 300 breaks the hard sludge, the sludge or water is sucked out from the working site through the dredging hose 400 to achieve a dredging effect without the need for personnel to enter the chemical pool. This not only improves the dredging efficiency, but also avoids safety accidents involving personnel in the chemical pool.

[0062] In other embodiments, an infrared high-definition camera 150 may be installed on the first adjustment mechanism 100, and the operation of the dredging robot in the chemical pool in the closed environment may be monitored in real time through the infrared high-definition camera 150 group to improve work efficiency.

[0063] By using the present invention, when silting in a chemical pool, the silting of a multi-step chemical pool can also achieve a silting effect without dead angles. With the changes in the steps and the heights, only the number of the second adjustment mechanisms needs to be adjusted to meet different needs. The silting robot can operate normally in a narrow space to be cleaned, and even the walking structure of the crawler part of the robot itself does not need to enter a narrow silting site, and only the silting robot arm needs to enter the site to be cleaned.

[0064] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes, and can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention.

Claims

1. A multi-degree-of-freedom dredging working arm, characterized in that: It comprises a first adjustment mechanism (100) and at least two second adjustment mechanisms (200): The free end of the second adjustment mechanism (200) is movably connected to the drill bit (300) via a mounting plate (310), and the free end of the first adjustment mechanism (100) is movably connected to the second adjustment mechanism (200) to adjust the position of the drill bit (300) at multiple angles.

2. A multi-degree-of-freedom dredging working arm according to claim 1, characterized in that: The first adjustment mechanism (100) comprises: A connecting arm (110) having a first channel a therein; A first connecting plate (120) fixed on the free end of the connecting arm (110); A first special-shaped hydraulic push rod (130), one end of which is fixed at the center of the first connecting plate (120), and the other end of which is movably connected to the second adjusting mechanism (200) via a first special-shaped universal ball joint (131); a first channel b (132) is provided inside the first special-shaped hydraulic push rod (130), and the first channel b (132) is connected to the first channel a to form a first channel for the silt removal hose (400) to pass through; At least three first hydraulic rods (140) are arranged on the first connecting plate (120), and the first hydraulic rods (140) are distributed around the first special-shaped hydraulic push rod (130). One end of the first hydraulic rod (140) is movably connected to the first connecting plate (120), and the other end thereof is movably connected to the second adjusting mechanism (200).

3. A multi-degree-of-freedom dredging working arm according to any one of claims 1-2, characterized in that: The second adjustment mechanism (200) comprises: A second connection plate (210); A universal adjustment disk (220), arranged opposite to the second adjustment disk (210); A hose support tube (230) connects the second connection disk (210) and the universal adjustment disk (220), and the hose support tube (230) has a second channel a (231) inside; At least two support frames (240) are arranged around the hose support pipe (230); A second special-shaped hydraulic push rod (250), one end of which is fixed at the center of the second connection plate (210), and the other end of which is movably connected to the mounting plate (310) or the universal adjustment plate (220) of the adjacent second adjustment mechanism (200) through a second special-shaped universal ball joint (260); and the second special-shaped hydraulic push rod (250) has a second channel b (251) therein, and the second channel b (251) and the second channel a (231) form a second channel for the silt removal hose (400) to pass through; At least three second hydraulic rods (270) are arranged around the second special-shaped hydraulic push rod (250); universal balls (271) are respectively provided at both ends of the second hydraulic rod (270), wherein the universal ball (271) at one end is movably arranged on a first universal ball seat (211) on the second connecting disk (210), and the universal ball (271) at the other end is movably arranged on a second universal ball seat (500) of the universal adjustment disk (220) of the mounting plate (310) or the adjacent second adjustment mechanism (200).

4. A multi-degree-of-freedom dredging working arm according to claim 3, characterized in that: The special-shaped universal ball joint comprises a special-shaped universal ball head (360) and a special-shaped universal ball mouth (361) which cooperate with each other. The special-shaped universal ball head (360) is fixed on the end of the special-shaped hydraulic push rod, and the special-shaped universal ball mouth (361) is arranged in the center of the universal adjustment disk (220) and the mounting plate (310).

5. The multi-degree-of-freedom dredging working arm according to claim 4, characterized in that: The support frame (240) has an oil cavity (241) for storing lubricating oil inside, and the universal adjustment disk (220) and the second connecting disk (210) are respectively penetrated by a first lubricating oil passage (290); wherein one end of the first lubricating oil passage (290) of the universal adjustment disk (220) is connected to the oil cavity (241), and the other end is connected to the second universal ball seat (500) on the lower surface of the universal adjustment disk (220); one end of the first lubricating oil passage (290) of the second connecting disk (210) is connected to the oil cavity (241), and the other end is connected to the first universal ball seat (211) on the second connecting disk (210).

6. A multi-degree-of-freedom dredging working arm according to claim 5, characterized in that: The universal adjustment disk (220) has a second lubricating oil passage (221) extending in the radial direction of the universal adjustment disk (220) inside, one end of the second lubricating oil passage (221) is connected to the first lubricating oil passage (290), and the other end is connected to the special-shaped universal ball port (361) of the universal adjustment disk (220) to lubricate the special-shaped universal ball head (360).

7. A multi-freedom dredging robot, characterized in that: It comprises a multi-degree-of-freedom dredging working arm as described in any one of claims 1 to 6, a movable robot (600) and a silt removal hose (400): the connecting arm (110) of the multi-degree-of-freedom dredging working arm is hinged on the robot (600), one end of the silt removal hose (400) is fixed to the drill bit (300), and the other end thereof passes through the second channel of the second adjustment mechanism (200) and the first channel of the first adjustment mechanism (100) to be connected to an external silt extraction motor.

8. The multi-freedom dredging robot according to claim 7, characterized in that: The robot (600) is a tracked robot (610), and the tracked robot (610) includes two groups of tracked wheels (611). The tracked wheel connecting carriage (612) of the tracked wheels (611) is equipped with an explosion-proof chassis (700), and a connecting plate (800) for connecting the two groups of tracked wheels (611) is installed above the explosion-proof chassis (700). The explosion-proof chassis (700) on one of the tracked wheels (611) is control-connected to the tracked wheel (611), and the explosion-proof chassis (700) on the other tracked wheel (611) is control-connected to a multi-degree-of-freedom dredging working arm.

9. The multi-freedom dredging robot according to claim 8, characterized in that: It also includes a hydraulic cylinder (910) and a hydraulic motor (900), wherein the hydraulic motor (900) provides continuous and stable hydraulic pressure through the hydraulic cylinder (910) to drive the crawler wheel (611) to move.

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