A dredging robot arm multi-angle flexible control mechanism and control method

Abstract

The application relates to the field of automatic control technology and discloses a dredging robot mechanical arm multi-angle flexible control mechanism and a control method.The mechanism comprises a swing assembly, a swing piece, a swing frame, a moving block, a driving frame, a centrifugal block, an eccentric wheel and a motor.The moving block is located on one side of the swing frame, the driving frame is arranged on one side of the swing frame, the centrifugal block is fixed to one end of the driving frame, the eccentric wheel is fixed to one side of the centrifugal block, and the motor is fixed to one end of the eccentric wheel; and a cleaning assembly is arranged on one side of the swing piece.The application has the beneficial effect that the angle of the mechanical arm can be adjusted left and right, the left and right angle adjustment can break through the limitation of a single plane, greatly expand the working range of the mechanical arm, enable the mechanical arm to easily reach the two-side areas that cannot be reached originally, and thus realize comprehensive cleaning of the sludge in the whole working area, reduce dredging dead angles, and improve the coverage rate of dredging.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control technology, in particular to a multi-angle flexible control mechanism and control method of a dredging robot mechanical arm. BACKGROUND

[0002] The dredging robot is an automatic device, which is mainly used in water conservancy, municipal, port and channel engineering, etc., and can clean the silt in the water bottom, sewer, channel, etc. through the digging tool, and has the functions of conveying silt, moving and positioning flexibly in the working environment. The hydraulic pump station on the dredging robot is a device for providing power for the hydraulic system of the robot, which converts mechanical energy into hydraulic energy to drive the movement of the mechanical arm, the cutter head and the track of the dredging robot through hydraulic oil, so that the robot can complete the operations of digging, conveying silt and moving in the working site. The hydraulic pump station is connected with the robot through a pipeline to provide power for the robot, and the hydraulic pump station is not arranged on the robot body, which can greatly reduce the volume of the robot body. The mechanical arm is a component similar to an arm on the dredging robot, which is mainly used for grabbing, digging and cleaning silt, etc. By adjusting the angle, the mechanical arm can adapt to different working environments and silt positions, accurately place the cutter head in the area to be cleaned, and flexibly adjust the digging depth and direction to improve the dredging efficiency. The mechanical arm has a supporting structure to realize the flexible change in the up-down direction, but in its design and structure, there is no corresponding adjusting mechanism to achieve the position adjusting function in the left-right direction. The inability to adjust the angle in the left-right direction makes the mechanical arm only move up and down in one plane, which greatly limits its working range. The mechanical arm may not be able to reach the silt on both sides, resulting in incomplete dredging, which requires manual or other equipment to assist in cleaning the silt on both sides, increasing the dredging workload and time cost. SUMMARY

[0003] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification of the present application to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0004] In view of the above and / or existing problems in the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm, the present application is proposed.

[0005] Therefore, the problem to be solved by the present application is that the mechanical arm has no left-right direction adjusting mechanism, which limits the working range and cannot reach the silt on both sides, resulting in incomplete dredging, which requires manual or other equipment, increasing the dredging workload and time cost.

[0006] To solve the above technical problems, the application provides the following technical scheme: a dredging robot mechanical arm multi-angle flexible control mechanism and control method, which comprises a swing assembly, a swing piece, a swing frame, a moving block, a driving frame, a centrifugal block, an eccentric wheel and a motor, the moving block is located on one side of the swing frame, the driving frame is arranged on one side of the swing frame, the centrifugal block is fixed to one end of the driving frame, the eccentric wheel is fixed to one side of the centrifugal block, and the motor is fixed to one end of the eccentric wheel;

[0007] A cleaning assembly is arranged on one side of the swing piece and comprises a cleaning piece, a cleaning roller, a toothed groove wheel, a driving wheel, a movable shell, a rotating rod and a clamping block, the cleaning roller is arranged on one side of the swing frame, the toothed groove wheel is fixed to one side of the cleaning roller, the driving wheel is arranged on one side of the toothed groove wheel, the movable shell is fixed to one side of the driving wheel, the rotating rod is inserted into one side of the movable shell, the rotating rod and the movable shell are movably connected, and the clamping block is fixed to one side of the rotating rod.

[0008] As a preferred scheme of the dredging robot mechanical arm multi-angle flexible control mechanism and control method, the swing assembly further comprises a support piece arranged on the swing frame, one end of the swing frame is fixed with a first support rod, the moving block is sleeved outside the first support rod, the moving block and the first support rod are movably connected, a second support rod is fixed in the swing frame, one side of the second support rod is fixed with the driving frame, and a support block is sleeved outside the motor.

[0009] As a preferred scheme of the dredging robot mechanical arm multi-angle flexible control mechanism and control method, a sliding block is fixed to the top of the moving block, a connecting frame is sleeved outside the sliding block, the sliding block and the connecting frame are movably connected, and a positioning frame is fixed to the top of the connecting frame.

[0010] As a preferred scheme of the dredging robot mechanical arm multi-angle flexible control mechanism and control method, the cleaning assembly further comprises a moving piece arranged on the cleaning roller, a protective cover is sleeved outside the cleaning roller, a positioning block is sleeved outside the toothed groove wheel, and the positioning block and the toothed groove wheel are rotationally connected through a rotating shaft.

[0011] As a preferred scheme of the dredging robot mechanical arm multi-angle flexible control mechanism and control method, a connecting block is sleeved outside the rotating rod, the connecting block and the rotating rod are movably connected, a spring is fixed to one side of the connecting block, and the spring is fixed to one side of the movable shell.

[0012] As a preferred scheme of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm, one end of the rotating rod is fixed with a first pulley, a belt is sleeved outside the first pulley, a second pulley is arranged in the belt, and a rotating wheel is fixed at one end of the second pulley.

[0013] As a preferred scheme of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm, a moving ring is sleeved outside the movable shell, the moving ring and the movable shell are rotationally connected through an axis, a moving frame is sleeved outside the moving ring, the moving frame and the moving ring are hinged, a swing rod is fixed at one end of the moving frame, an extrusion rod is fixed on one side of the swing rod, a pulley is arranged at one end of the extrusion rod, the pulley and the extrusion rod are rotationally connected through a bearing, and a torsional spring is fixed at the bottom of the swing rod.

[0014] As a preferred scheme of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm, a main body assembly is further included and arranged on the swing frame, including a dredging robot body and a track, the dredging robot body is sleeved outside the swing frame, the swing frame and the dredging robot body are rotationally connected through a bearing, and the track is arranged at the bottom of the dredging robot body.

[0015] As a preferred scheme of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm, one side of the moving block is provided with a mechanical arm body, and a reamer head is arranged at one end of the mechanical arm body.

[0016] The dredging robot mechanical arm can adjust the angle left and right, break through the limitation of a single plane, greatly expand the working range, easily reach the two side areas that cannot be reached originally, and realize comprehensive cleaning of the sludge in the entire working area, reduce the dredging dead angle, and improve the coverage rate of dredging. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0018] Figure 1 It is the overall structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.

[0019] Figure 2 It is the overall structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.Figure 1 Local enlarged structural view at middle A.

[0020] Figure 3 The track structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.

[0021] Figure 4 The swing frame structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.

[0022] Figure 5 The cleaning roller structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.

[0023] Figure 6 The torsional spring structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm.

[0024] Figure 7 The drive wheel structure diagram of the multi-angle flexible control mechanism and control method of the dredging robot mechanical arm. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0026] Embodiment 1

[0027] Reference Figures 2-7 , the first embodiment of the present application provides a multi-angle flexible control mechanism and control method of a dredging robot mechanical arm, which comprises a swing assembly 200, a cleaning assembly 300 and a main body assembly 100. The three assemblies can cooperate to realize comprehensive cleaning of the silt in the entire working area, reduce the dredging dead angle and improve the coverage rate of dredging.

[0028] The swing assembly 200 comprises a swing member 201, which comprises a swing frame 201a, a moving block 201b, a drive frame 201c, a centrifugal block 201d, an eccentric wheel 201e and a motor 201f. The moving block 201b is located on one side of the swing frame 201a, the drive frame 201c is arranged on one side of the swing frame 201a, the centrifugal block 201d is fixed to one end of the drive frame 201c, the eccentric wheel 201e is fixed to one side of the centrifugal block 201d, and the motor 201f is fixed to one end of the eccentric wheel 201e.

[0029] The number of the moving blocks 201b is two, and each is hinged to one side of the mechanical arm body 103. When the angle of the mechanical arm body 103 needs to be adjusted, the motor 201f is started to drive the eccentric wheel 201e to rotate, which in turn drives the centrifugal block 201d to rotate, and the driving frame 201c is driven to move by the rotation of the centrifugal block 201d, and the swinging frame 201a is driven to move by the movement of the driving frame 201c, and the moving block 201b is driven to move by the movement of the swinging frame 201a, and the mechanical arm body 103 is driven to move by the movement of the moving block 201b. The motor 201f is fixed to the inner wall of the dredging robot body 101.

[0030] The cleaning assembly 300 is arranged on one side of the swinging member 201 and includes a cleaning member 301, which includes a cleaning roller 301a, a toothed groove wheel 301b, a driving wheel 301c, a movable shell 301d, a rotating rod 301e, and a clamping block 301f. The cleaning roller 301a is arranged on one side of the swinging frame 201a, the toothed groove wheel 301b is fixed on one side of the cleaning roller 301a, the driving wheel 301c is arranged on one side of the toothed groove wheel 301b, the movable shell 301d is fixed on one side of the driving wheel 301c, the rotating rod 301e is inserted into one side of the movable shell 301d, and the rotating rod 301e and the movable shell 301d are movably connected, and the clamping block 301f is fixed on one side of the rotating rod 301e.

[0031] The cleaning member 301 is two groups, and each is arranged on the track 102. After the mechanical arm body 103 is adjusted to a specified angle, the corresponding track 102 is exposed, and the rotation of the cleaning roller 301a can clean the corresponding track 102 to prevent the track 102 from being contaminated with too much impurities.

[0032] The toothed groove wheel 301b is provided with a toothed groove corresponding to the driving wheel 301c. When the swinging frame 201a moves, the movable shell 301d is extruded to move, and the driving wheel 301c is driven to move by the movement of the movable shell 301d, so that the driving wheel 301c is engaged with the toothed groove wheel 301b. At this time, the rotating rod 301e is driven to rotate by the movement of the track 102, the clamping block 301f is driven to rotate by the rotating rod 301e, the movable shell 301d is driven to rotate by the rotation of the clamping block 301f, the driving wheel 301c is driven to rotate by the rotation of the movable shell 301d, the toothed groove wheel 301b is driven to rotate by the rotation of the driving wheel 301c, and the cleaning roller 301a is driven to rotate by the rotation of the toothed groove wheel 301b, so that the surface of the track 102 can be cleaned.

[0033] The rotating wheel 302h is provided with a clamping block, and the track 102 is provided with a corresponding clamping groove. When the dredging robot moves in the working area through the track 102, the rotation of the track 102 drives the synchronous rotation of the rotating wheel 302h engaged therewith. One end of the rotating wheel 302h is fixedly provided with a second pulley 302g. Therefore, the rotation of the rotating wheel 302h directly drives the rotation of the second pulley 302g. The second pulley 302g is externally sleeved with a belt 302f. The belt 302f is internally provided with a first pulley 302e fixedly connected with one end of the rotating rod 301e. When the second pulley 302g rotates, power is transmitted to the first pulley 302e through the transmission action of the belt 302f, so as to drive the rotation of the first pulley 302e, and further drive the synchronous rotation of the rotating rod 301e fixedly connected with the first pulley 302e. The rotating rod 301e is externally sleeved with a connecting block 302c fixedly connected with the inner wall of the dredging robot body 101, so as to ensure the stability of the rotation and prevent deviation.

[0034] The rotating rod 301e is fixedly provided with a clamping block 301f on one side, and the rotating rod 301e is inserted into one side of the movable shell 301d and movably connected with the movable shell 301d. When the rotating rod 301e rotates under the action of power, the clamping block 301f on one side of the rotating rod 301e is directly driven to rotate synchronously. The rotation of the clamping block 301f further drives the rotation of the movable shell 301d. The movable shell 301d is fixedly connected with one side of the driving wheel 301c. Finally, through the meshing of the driving wheel 301c and the toothed groove wheel 301b, the cleaning roller 301a is driven to rotate, so as to realize the cleaning function of the track 102.

[0035] Embodiment 2

[0036] Reference Figures 2-7 This embodiment is based on the previous embodiment.

[0037] Specifically, the swing assembly 200 further comprises a support 202 arranged on the swing frame 201a. One end of the swing frame 201a is fixedly provided with a first support rod 202a. The movable block 201b is externally sleeved with the first support rod 202a. The movable block 201b and the first support rod 202a are movably connected. The swing frame 201a is internally fixedly provided with a second support rod 202b. The second support rod 202b is fixedly connected with one side of the driving frame 201c. The motor 201f is externally sleeved with a support block 202c.

[0038] The first supporting rod 202a can support the moving block 201b to prevent the moving block 201b from deviating during movement. The second supporting rod 202b can be driven to move by the driving frame 201c during movement. The second supporting rod 202b can drive the swing frame 201a to move. The supporting block 202c is fixed in the dredging robot body 101 and is sleeved outside the output shaft of the motor 201f and is rotatably connected to the output shaft. The supporting block 202c can support the motor 201f to prevent the motor 201f from deviating.

[0039] Specifically, the moving block 201b is fixed on the top of the sliding block 202d. The connecting frame 202e is sleeved outside the sliding block 202d. The sliding block 202d and the connecting frame 202e are movably connected. The connecting frame 202e is fixed on the top of the positioning frame 202f.

[0040] The connecting frame 202e and the positioning frame 202f are fixed on one side of the dredging robot body 101. A sliding groove corresponding to the sliding block 202d is formed in the dredging robot body 101. The swing frame 201a can drive the sliding block 202d to slide on the connecting frame 202e when the moving block 201b is moved. The moving block 201b can be supported to prevent the moving block 201b from deviating during movement. The positioning frame 202f is used to support the connecting frame 202e.

[0041] Specifically, the cleaning assembly 300 further comprises a moving piece 302 arranged on the cleaning roller 301a. The cleaning roller 301a is sleeved with a protective cover 302a outside. The toothed wheel 301b is sleeved with a positioning block 302b outside. The positioning block 302b and the toothed wheel 301b are rotatably connected by a shaft.

[0042] The protective cover 302a is fixed on one side of the dredging robot body 101. The protective cover 302a can protect the cleaning roller 301a. The positioning block 302b is fixed on the inner wall of the dredging robot body 101. The positioning block 302b can support the toothed wheel 301b to prevent the toothed wheel 301b from deviating.

[0043] Specifically, the rotating rod 301e is sleeved with a connecting block 302c outside. The connecting block 302c and the rotating rod 301e are movably connected. The connecting block 302c is fixed on one side of the spring 302d. The spring 302d is fixed on one side of the movable shell 301d.

[0044] The connecting block 302c is fixed to the inner wall of the dredging robot body 101. The connecting block 302c can support the rotating rod 301e and prevent the rotating rod 301e from deviating. When the movable shell 301d moves to drive the toothed groove wheel 301b and the driving wheel 301c to engage, the movable shell 301d drives the spring 302d to move. At this time, the spring 302d can be pulled. When it is necessary to separate the toothed groove wheel 301b and the driving wheel 301c, the spring 302d can drive the driving wheel 301c to move and separate from the toothed groove wheel 301b.

[0045] Specifically, one end of the rotating rod 301e is fixed with a first belt pulley 302e. The first belt pulley 302e is provided with a belt 302f outside. The belt 302f is provided with a second belt pulley 302g inside. One end of the second belt pulley 302g is fixed with a rotating wheel 302h.

[0046] The rotating wheel 302h is provided with a clamping block. The track 102 is provided with a clamping groove corresponding to the clamping block. The rotating wheel 302h is engaged with the track 102. When the track 102 rotates, the rotating wheel 302h can be driven to rotate. The rotating wheel 302h can drive the second belt pulley 302g to rotate. The second belt pulley 302g drives the belt 302f to rotate. The belt 302f can drive the first belt pulley 302e to rotate. The first belt pulley 302e can drive the rotating rod 301e to rotate. When the toothed groove wheel 301b and the driving wheel 301c engage, the rotating rod 301e can drive the cleaning roller 301a to rotate to clean the surface of the track 102.

[0047] Embodiment 3

[0048] Reference Figures 1-7 This is the third embodiment of the present application, which is based on the first two embodiments.

[0049] Specifically, the movable shell 301d is provided with a moving ring 302i outside. The moving ring 302i and the movable shell 301d are rotatably connected through a rotating shaft. The moving ring 302i is provided with a moving frame 302j outside. The moving frame 302j and the moving ring 302i are hinged. One end of the moving frame 302j is fixed with a swing rod 302k. One side of the swing rod 302k is fixed with an extrusion rod 302l. One end of the extrusion rod 302l is provided with a pulley 302m. The pulley 302m and the extrusion rod 302l are rotatably connected through a bearing. The bottom of the swing rod 302k is fixed with a torsional spring 302n.

[0050] When the swing frame 201a moves, the pulley 302m can be pressed to move, and the movement of the pulley 302m can drive the pressing rod 302l to move, and the movement of the pressing rod 302l can drive the swing rod 302k to move, the swing rod 302k is rotatably connected with the inner wall of the dredging robot body 101 through a rotating shaft, and the torsional spring 302n is fixed to the inner wall of the dredging robot body 101. When the swing rod 302k moves, a torsional force can be applied to the torsional spring 302n, the movement of the swing rod 302k drives the movement of the moving frame 302j, and the movement of the moving frame 302j drives the movement of the moving ring 302i. At this time, the movement of the moving ring 302i can drive the movement of the movable shell 301d. When the swing frame 201a releases the pressing of the pulley 302m, the swing rod 302k can be returned to the original position by the returning force of the torsional spring 302n, so as to separate the toothed groove wheel 301b and the driving wheel 301c.

[0051] Specifically, the main body assembly 100 is arranged on the swing frame 201a, and includes the dredging robot body 101 and the track 102. The dredging robot body 101 is arranged outside the swing frame 201a, and the swing frame 201a and the dredging robot body 101 are rotatably connected through a bearing. The track 102 is arranged at the bottom of the dredging robot body 101.

[0052] The dredging robot body 101 is used for cleaning silt in environments such as the bottom of a river, a sewer, and a port. The track 102 can move the dredging robot body 101 in a complex working environment, so that the dredging robot body 101 can stably travel to a position where dredging is needed, and ensure that the dredging work can be smoothly carried out.

[0053] Specifically, the moving block 201b is provided with the mechanical arm body 103 on one side, and the mechanical arm body 103 is provided with the cutter head 104 at one end.

[0054] The mechanical arm body 103 is an important component of the dredging robot, and mainly plays a connecting and supporting role. It can flexibly adjust the position and posture, and accurately deliver the cutter head 104 to the dredging area. The cutter head 104 is a tool for cleaning silt, which can cut and stir the silt through rotation, so that the silt is convenient for subsequent cleaning and conveying.

[0055] Specifically, when the dredging robot body 101 is used, the system is first started, the sensor starts to work, and the angle data of each joint of the mechanical arm body 103 and the force acting on it during operation are collected in real time, and the data are transmitted to the control system.

[0056] The control system rapidly calculates the adjustment amount of the angle of each joint of the mechanical arm body 103 required to reach the target dredging position and posture according to the built-in kinematic model and algorithm, and combines the feedback information of the sensor.

[0057] The operator can manually fine-tune the angle of the mechanical arm body 103 according to the actual dredging situation through the remote control device, or start the preset programming instructions to make the mechanical arm body 103 automatically run according to the established angle transformation sequence, so as to flexibly and accurately control the multi-angle operation of the mechanical arm in the dredging process, efficiently complete the dredging task, and adapt to complex and variable dredging environment and work requirements.

[0058] When the dredging robot body 101 is in use, the sensor is activated by starting the system, which is responsible for collecting joint angle and force data of the mechanical arm body 103 and transmitting them to the control system.

[0059] The control system uses a specific model and algorithm to calculate the joint angle adjustment amount based on the feedback data to achieve the target dredging position and attitude.

[0060] The operator has two control methods to choose from: one is to manually fine-tune the angle of the mechanical arm according to the site conditions using the remote control device, and the other is to start the preset programming instructions to make the mechanical arm automatically run according to the established sequence. In this way, the mechanical arm can flexibly and accurately operate at multiple angles in the dredging operation, effectively cope with complex dredging environment and requirements, and improve dredging efficiency.

[0061] When the dredging operation starts and the angle of the mechanical arm body 103 needs to be adjusted, the operator issues an instruction, the system starts the motor 201f, the motor 201f starts to rotate, driving the eccentric wheel 201e to rotate synchronously, the rotation of the eccentric wheel 201e makes the fixed centrifugal block 201d move in a circular motion, the centrifugal force generated by the rotation of the centrifugal block 201d drives the driving frame 201c to move, since the driving frame 201c is fixedly connected with the second support rod 202b in the swing frame 201a, the movement of the driving frame 201c will drive the swing frame 201a to move, and the moving block 201b is sleeved on the first support rod 202a at one end of the swing frame 201a and movably connected therewith, while the sliding block 202d on the top of the moving block 201b slides in the connecting frame 202e, the connecting frame 202e and the positioning frame 202f are fixed to one side of the dredging robot body 101, and a sliding groove corresponding to the sliding block 202d is formed on the dredging robot body 101, under the drive of the swing frame 201a, the moving block 201b can stably move, thereby driving the mechanical arm body 103 hinged to one side of the moving block 201b to move, by controlling the rotation direction of the motor 201f, the mechanical arm body 103 can be adjusted to different angles as required, so as to clean the silt at different positions.

[0062] When the swing frame 201a moves, it will extrude the pulley 302m on the moving ring 302i outside the movable shell 301d to make it move, the movement of the pulley 302m drives the extrusion rod 302l to move, the movement of the extrusion rod 302l drives the swing rod 302k to move, the swing rod 302k is rotatably connected with the inner wall of the dredging robot body 101 through a rotating shaft, and the bottom fixed torsional spring 302n of the swing rod 302k is fixed to the inner wall of the dredging robot body 101, the swing rod 302k exerts a torsional force on the torsional spring 302n when moving, the movement of the swing rod 302k drives the movement of the movement frame 302j fixed at one end of the swing rod 302k, the movement of the movement frame 302j drives the movement of the movement ring 302i hinged with the movement ring 302i, and then drives the movement of the movable shell 301d, so that the driving wheel 301c is engaged with the toothed groove wheel 301b, the rotation of the cleaning roller 301a is realized, and when the swing frame 201a releases the extrusion of the pulley 302m, the swing rod 302k can be returned to the original position by the returning force of the torsional spring 302n, and the driving wheel 301c can be moved away from the toothed groove wheel 301b by the elastic force of the spring 302d, so that the rotation of the cleaning roller 301a is stopped.

[0063] During the whole dredging operation process, the crawler 102 at the bottom of the dredging robot body 101 can stably move in complex working environments such as the bottom of water, sewer, port, etc., so that the dredging robot body 101 can smoothly travel to the position where dredging is needed, and the reamer head 104 provided at one end of the mechanical arm body 103 serves as a tool for cleaning silt, under the accurate positioning of the mechanical arm body 103, the silt is cut and stirred through rotation and other actions, so that the silt is convenient for subsequent cleaning and conveying, and all parts work together to complete the dredging task.

[0064] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A multi-angle flexible control mechanism for the manipulator arm of a dredging robot, characterized by: Including, The swing assembly (200) comprises a swing part (201), the swing part (201) comprises a swing frame (201a), a moving block (201b), a driving frame (201c), a centrifugal block (201d), an eccentric wheel (201e) and a motor (201f), the moving block (201b) is located on one side of the swing frame (201a), the driving frame (201c) is arranged on one side of the swing frame (201a), the centrifugal block (201d) is fixed to one end of the driving frame (201c), the eccentric wheel (201e) is fixed to one side of the centrifugal block (201d), and the motor (201f) is fixed to one end of the eccentric wheel (201e); The cleaning assembly (300) is arranged on one side of the swing part (201) and comprises a cleaning part (301), the cleaning part (301) comprises a cleaning roller (301a), a gear and groove wheel (301b), a driving wheel (301c), a movable shell (301d), a rotating rod (301e) and a clamping block (301f), the cleaning roller (301a) is arranged on one side of the swing frame (201a), the gear and groove wheel (301b) is fixed on one side of the cleaning roller (301a), the driving wheel (301c) is arranged on one side of the gear and groove wheel (301b), the movable shell (301d) is fixed on one side of the driving wheel (301c), the rotating rod (301e) is inserted into one side of the movable shell (301d), the rotating rod (301e) and the movable shell (301d) are movably connected, and the clamping block (301f) is fixed on one side of the rotating rod (301e); the number of the moving blocks (201b) is two, and the moving blocks (201b) are hingedly connected to one side of the mechanical arm body (103); the moving blocks (201b) can move the mechanical arm body (103) by moving, the cleaning part (301) is two groups, and the cleaning rollers (301a) can rotate to clean the caterpillar belt (102); Further comprising a main body assembly (100) arranged on the swing frame (201a), the main body assembly (100) comprises a dredging robot body (101) and a caterpillar belt (102), the dredging robot body (101) is arranged outside the swing frame (201a), the swing frame (201a) and the dredging robot body (101) are rotatably connected through a bearing, and the caterpillar belt (102) is arranged at the bottom of the dredging robot body (101); A mechanical arm body (103) is arranged on one side of the moving block (201b), and a reamer head (104) is arranged at one end of the mechanical arm body (103).

2. The dredging robot arm multi-angle flexible control mechanism of claim 1, wherein: The swing assembly (200) further comprises a support (202) arranged on the swing frame (201a), one end of the swing frame (201a) is fixed with a first support rod (202a), the moving block (201b) is sleeved outside the first support rod (202a), the moving block (201b) and the first support rod (202a) are movably connected, the swing frame (201a) is fixed with a second support rod (202b) inside, the second support rod (202b) is fixed with the drive frame (201c) on one side, and the motor (201f) is sleeved with a support block (202c) outside.

3. The dredging robot arm multi-angle flexible control mechanism of claim 2, wherein: The top of the moving block (201b) is fixed with a sliding block (202d), the sliding block (202d) is sleeved with a connecting frame (202e) outside, the sliding block (202d) and the connecting frame (202e) are movably connected, and the connecting frame (202e) is fixed with a positioning frame (202f) at the top.

4. The dredging robot arm multi-angle flexible control mechanism of claim 3, wherein: The cleaning assembly (300) further comprises a moving piece (302) arranged on the cleaning roller (301a), the cleaning roller (301a) is sleeved with a protective cover (302a) outside, the toothed wheel (301b) is sleeved with a positioning block (302b) outside, and the positioning block (302b) and the toothed wheel (301b) are rotatably connected through the rotating shaft.

5. The dredging robot arm multi-angle flexible control mechanism of claim 4, wherein: The rotating rod (301e) is sleeved with a connecting block (302c) outside, the connecting block (302c) and the rotating rod (301e) are movably connected, one side of the connecting block (302c) is fixed with a spring (302d), and the spring (302d) is fixed on one side of the movable shell (301d).

6. The dredging robot arm multi-angle flexible control mechanism of claim 5, wherein: One end of the rotating rod (301e) is fixed with a first belt pulley (302e), the first belt pulley (302e) is sleeved with a belt (302f) outside, the belt (302f) is provided with a second belt pulley (302g) inside, and one end of the second belt pulley (302g) is fixed with a rotating wheel (302h).

7. The dredging robot arm multi-angle flexible control mechanism of claim 6, wherein: The movable shell (301d) is sleeved with a moving ring (302i) outside, the moving ring (302i) and the movable shell (301d) are rotatably connected through the rotating shaft, the moving ring (302i) is sleeved with a moving frame (302j) outside, the moving frame (302j) and the moving ring (302i) are hinged, one end of the moving frame (302j) is fixed with a swing rod (302k), one side of the swing rod (302k) is fixed with an extrusion rod (302l), one end of the extrusion rod (302l) is provided with a pulley (302m), the pulley (302m) and the extrusion rod (302l) are rotatably connected through the bearing, and the bottom of the swing rod (302k) is fixed with a torsional spring (302n).

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