Flood drainage and forcible entry integrated robot

Abstract

The invention belongs to the technical field of robots, and discloses a flood drainage and forcible entry integrated robot which comprises a robot base body, a hydraulic pump is installed in the robot base body, a hydraulic water suction pump is fixedly installed at the bottom end of the robot base body, and a water outlet of the hydraulic water suction pump is connected with a water drainage pipe. A movable frame is fixedly mounted on the outer side of the drainage pipe, a water inlet of the hydraulic water suction pump is connected with a water inlet pipe, a flow guide cover is fixedly mounted at the bottom end of the outer side of the water inlet pipe, an inner cover is fixedly mounted in the flow guide cover, and a rotating disc is rotationally connected to the top end of the inner cover. The rotation of the rotating disc not only drives water flow to enter the water inlet pipe, but also drives the turbine blades to rotate to stir liquid, and when the robot moves on the water surface, the process provides additional upward driving force for the robot, increases buoyancy, reduces the contact pressure between the robot and the water surface, and improves the moving speed and stability.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to an integrated robot for drainage and demolition. Background Art

[0002] Integrated drainage and demolition robots play an important role in China's research and development background. This type of robot was originally designed to deal with complex flood-affected areas and can effectively perform drainage and demolition tasks, thereby reducing the workload of rescuers and improving rescue efficiency;

[0003] In order to achieve the effective combination of drainage and demolition functions, robots usually use hydraulic transmission systems to control large-flow pumps and demolition tools. The drainage and demolition integrated robot uses a hydraulic transmission system to control the large-flow pump of the drainage and demolition integrated robot. This power transmission and control method can flexibly allocate power according to different operation requirements, improve the robot's work efficiency and operational flexibility, and the robot can move on the water surface while performing pumping operations, thereby improving drainage efficiency and rescue speed;

[0004] The integrated drainage and demolition robot has a large overall weight, which leads to a great diving depth, affecting its driving speed and further affecting the use effect of the integrated drainage and demolition robot on the water surface. Summary of the invention

[0005] The present invention aims to solve the problem that the robot in the prior art has a large overall weight, resulting in an excessive diving depth, which affects the driving speed and further affects the use effect of the integrated drainage and demolition robot on the water surface. The present invention proposes the following technical solutions:

[0006] A drainage and demolition integrated robot comprises: a robot base, a hydraulic pump is installed inside the robot base, a hydraulic water pump is fixedly installed at the bottom of the robot base, a water outlet of the hydraulic water pump is connected to a drain pipe, a movable frame is fixedly installed on the outside of the drain pipe, a water inlet of the hydraulic water pump is connected to a water inlet pipe, a guide cover is fixedly installed on the bottom of the outside of the water inlet pipe, an inner cover is fixedly installed inside the guide cover, a rotating disk is rotatably connected to the top of the inner cover, a guide pipe is equidistantly embedded inside the guide cover, the rotating disk is composed of a circular disk and inclined blades, the water outlet of the guide pipe corresponds to the inclined blades on the outside of the rotating disk, and turbine blades are synchronously rotatably connected to the bottom of the rotating disk.

[0007] As a preferred embodiment of the above technical solution, the bottom end of the movable frame is rotatably connected to the inside of the robot base through a circular axis, and the top end of the movable frame is symmetrically installed with a hydraulic lifting rod through a spherical movement, and the hydraulic lifting rod is fixedly installed on the top of the inner wall of the robot base.

[0008] As a preferred embodiment of the above technical solution, a groove is provided on the inner wall of the inner cover, the top of the inner ring of the one-way bearing and the bottom of the rotating disk are welded together, a guide ring is integrally formed on the top of the inner wall of the guide cover, a ball is embedded in the guide ring, and the outer surface of the ball fits with the lowest point of the ground and the top of the rotating disk.

[0009] As a preferred embodiment of the above technical solution, a support ring is welded to the bottom of the outer surface of the inner cover, a column is fixedly installed inside the turbine blade, the top end of the column and the bottom end of the rotating disk are fixedly connected, and the center points of the support ring, the column and the turbine blade are on the same vertical line.

[0010] As a preferred embodiment of the above technical solution, a reel is fixedly installed on one end face of the robot base, a hook is connected to the steel cable of the reel, a limit cover is installed at the outer side of the hook at one end of the robot base, the reel is composed of a hydraulic motor and a winding drum, and a steel cable is wound around the outer side of the winding drum.

[0011] As a preferred embodiment of the above technical solution, a cylinder is fixedly installed at the bottom end of the water inlet pipe, a drainage cover is fixedly installed inside the cylinder, a blocking block is movably connected up and down inside the drainage cover, the top diameter of the blocking block is larger than the bottom diameter, and an inclination angle is opened at the top of the inner wall of the cylinder.

[0012] As a preferred embodiment of the above technical solution, a support rod is fixedly installed on the inner wall of the cylinder, a spring rod is embedded in the bottom end of the support rod, and the bottom end of the spring rod is fixedly connected to the top end of the blocking block.

[0013] As a preferred embodiment of the above technical solution, a cylinder is fixedly installed on the bottom end of the barrier block, a filter cloth is sleeved on the outside of the cylinder, and the outside of the filter cloth is fixedly installed on the inner wall of the cylinder.

[0014] As a preferred embodiment of the above technical solution, a lifting plate is fixedly installed on the bottom edge of the air deflector, and hydraulic telescopic rods are installed at the four corners of the top of the lifting plate. The top of the hydraulic telescopic rod is fixedly connected to the bottom of the inner wall of the robot base.

[0015] The beneficial effects of the present invention are:

[0016] (1) The rotation of the rotating disk not only drives the water flow into the water inlet pipe, but also drives the turbine blades to rotate and stir the liquid. When the robot moves on the water surface, this process provides the robot with additional upward driving force, increases buoyancy, reduces the contact pressure between the robot and the water surface, and improves the moving speed and stability;

[0017] (2) When the water level drops, the hydraulic telescopic rod drives the lifting plate down, which in turn causes the cylinder to drop and contact the ground. The squeezing force of the soil pushes the cylinder to move, driving the barrier block to rise, changing the distance between the barrier block and the drainage cover, thereby increasing the amount of water pumped. This design enables the robot to adapt to different water level conditions and ensures effective pumping even at low water levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The structure diagram of a drainage and demolition integrated robot in Example 1 is shown;

[0019] Figure 2 Shown is a bottom view of the robot base in Example 1;

[0020] Figure 3 The figure shows a schematic diagram of the installation structure of the hydraulic pump in Example 1;

[0021] Figure 4 The structure diagram of the air guide cover in Example 1 is shown;

[0022] Figure 5 Shown is a cross-sectional view of the air deflector in Example 1;

[0023] Figure 6 The figure shows a schematic diagram of the installation structure of the inner cover in Example 1;

[0024] Figure 7 What is shown is a schematic diagram of the installation structure of the cylinder in Example 1.

[0025] In the figure: 1. robot base; 2. hydraulic pump; 3. hydraulic water pump; 4. drainage pipe; 5. movable frame; 6. lifting plate; 7. reel; 8. hydraulic telescopic rod; 9. deflector; 10. inner cover; 11. rotating disk; 12. water inlet pipe; 13. support ring; 14. turbine blade; 15. groove; 16. one-way bearing; 17. deflector ring; 18. ball; 19. column; 20. cylinder; 21. support rod; 22. spring rod; 23. barrier block; 24. deflector; 25. cylinder; 26. hook; 27. limit cover; 28. deflector pipe; 30. filter cloth. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0027] Example 1

[0028] The present invention provides an integrated drainage and demolition robot. Figures 1 to 7As shown, it includes a robot base 1, a hydraulic pump 2 is installed inside the robot base 1, a hydraulic water pump 3 is fixedly installed at the bottom end of the robot base 1, the water outlet of the hydraulic water pump 3 is connected to a drain pipe 4, a movable frame 5 is fixedly installed on the outside of the drain pipe 4, the water inlet of the hydraulic water pump 3 is connected to the water inlet pipe 12, a guide cover 9 is fixedly installed on the bottom end of the outside of the water inlet pipe 12, an inner cover 10 is fixedly installed inside the guide cover 9, a rotating disk 11 is rotatably connected to the top of the inner cover 10, a guide pipe 28 is equidistantly embedded inside the guide cover 9, the rotating disk 11 is composed of a circular disk and inclined blades, the water outlet of the guide pipe 28 corresponds to the inclined blades on the outside of the rotating disk 11, and the bottom end of the rotating disk 11 is connected to turbine blades 14 for synchronous rotation.

[0029] like Figures 4 to 6 As shown, the bottom end of the movable frame 5 is rotatably connected to the inside of the robot base 1 through a circular shaft, and the top end of the movable frame 5 is symmetrically installed with a hydraulic lifting rod through a spherical movement, and the hydraulic lifting rod is fixedly installed on the top of the inner wall of the robot base 1;

[0030] The movable frame 5 is moved by the action of the hydraulic lifting rod. When the movable frame 5 moves, the circular shaft drives the movable frame 5 to swing. The swing of the movable frame 5 changes the angle of the drain pipe 4, thereby changing the drainage position of the drain pipe 4, further facilitating the movement of the robot base 1 on the water surface.

[0031] like Figures 4 to 6 As shown, a groove 15 is provided on the inner wall of the inner cover 10, the top of the inner ring of the one-way bearing 16 and the bottom of the rotating disk 11 are welded and connected, a guide ring 17 is integrally formed on the top of the inner wall of the guide cover 9, and a ball 18 is embedded and installed inside the guide ring 17, and the outer surface of the ball 18 fits with the lowest point of the ground and the top of the rotating disk 11;

[0032] The guide ring 17 and the ball bearing 18 limit the position of the rotating disk 11 without hindering the rotation of the rotating disk 11 . The groove 15 is used to install the one-way bearing 16 . The one-way bearing 16 is used to limit the rotation direction of the rotating disk 11 .

[0033] like Figures 4 to 6 As shown, a support ring 13 is welded to the bottom of the outer surface of the inner cover 10, and a column 19 is fixedly installed inside the turbine blade 14. The top end of the column 19 is fixedly connected to the bottom end of the rotating disk 11, and the center points of the support ring 13, the column 19 and the turbine blade 14 are on the same vertical line;

[0034] The rotating disk 11 drives the turbine blades 14 to rotate under the action of the pillars 19, thereby changing the difficulty of rotating the turbine blades 14, and under the action of the support ring 13, the problem of the turbine blades 14 coming into contact with objects is prevented.

[0035] like Figures 1 to 3As shown, a reel 7 is fixedly installed on one end face of the robot base 1, and a hook 26 is connected to the steel cable of the reel 7. A limit cover 27 is installed at one end of the robot base 1 at the outer side of the hook 26. The reel 7 is composed of a hydraulic motor and a winding drum, and a steel cable is wound around the outer side of the winding drum. Through the action of the reel 7 and the hook 26, objects on the water can be pulled, so that the blocked position on the water surface can be broken, thereby realizing the movement of the robot on the water surface.

[0036] like Figure 2 and Figure 7 As shown, a cylinder 20 is fixedly installed at the bottom of the water inlet pipe 12, a drainage cover 24 is fixedly installed inside the cylinder 20, and a blocking block 23 is movably connected up and down inside the drainage cover 24. The top diameter of the blocking block 23 is larger than the bottom diameter, and the top of the inner wall of the cylinder 20 is provided with an inclined angle;

[0037] The cylinder 20 is used to absorb water stains, and the drainage cover 24 is used to drain water. The position between the blocking block 23 and the drainage cover 24 is adjusted, thereby achieving the purpose of changing the gap between the blocking block 23 and the drainage cover 24, and further adjusting the water intake inside the water inlet pipe 12.

[0038] like Figure 7 As shown, a support rod 21 is fixedly installed on the inner wall of the cylinder 20, a spring rod 22 is embedded in the bottom end of the support rod 21, and the bottom end of the spring rod 22 is fixedly connected to the top end of the blocking block 23;

[0039] The support rod 21 facilitates the fixation of the spring rod 22, thereby reducing the difficulty of fixing the spring rod 22. At the same time, when the blocking block 23 contracts, the spring rod 22 is compressed, and the blocking block 23 is reset under the action of the spring reset force inside the spring rod 22, thereby reducing the difficulty of resetting the blocking block 23.

[0040] like Figure 7 As shown, a cylinder 25 is fixedly mounted on the bottom end of the barrier block 23, a filter cloth 30 is sleeved on the outside of the cylinder 25, and the outside of the filter cloth 30 is fixedly mounted on the inner wall of the cylinder 20;

[0041] The filter cloth 30 can be used to filter impurities in the water, thereby reducing the impurities in the water, thereby preventing the hydraulic water pump 3 from being blocked by dirt, and driving the barrier block 23 to rise when the cylinder 25 is in contact with the ground, thereby changing the difficulty of rising the barrier block 23.

[0042] like Figures 4 to 6 As shown, a lifting plate 6 is fixedly installed at the bottom edge of the air deflector 9, and hydraulic telescopic rods 8 are installed at the four corners of the top of the lifting plate 6. The top of the hydraulic telescopic rod 8 is fixedly connected to the bottom of the inner wall of the robot base 1;

[0043] The lifting plate 6 is driven to rise / fall by the action of the hydraulic telescopic rod 8, and at this time, the deflector 9 can be driven to rise / fall, thereby changing the difficulty of rising / falling the deflector 9, thereby facilitating the adjustment of the water pumping height of the deflector 9.

[0044] Working principle: During the actual use of the device, the robot base 1 needs to enter a pre-determined water area. Since there are blockages on the surface of the water area, the operation of the robot base 1 is affected. At this time, the hook 26 is connected to the blockage. At this time, the reel 7 is connected to the hydraulic pump 2, so that the reel 7 is running. When the reel 7 is running, it drives the hook 26 to move. When the hook 26 moves, it drives the blockage to move, thereby forming a water surface demolition;

[0045] Then, when the robot base 1 enters the water area, when the water in the water area needs to be extracted, the hydraulic water pump 3 is connected to the hydraulic pump 2 and starts to operate. When the hydraulic water pump 3 is in operation, it drives the water to enter the guide pipe 28 along the cylinder 20, and enter the outside of the rotating disk 11 along the guide pipe 28, thereby driving the rotating disk 11 to rotate. When the rotating disk 11 rotates, it drives the ball 18 to rotate inside the guide ring 17, and the liquid flowing along the outside of the rotating disk 11 enters the water inlet pipe 12, and finally enters the hydraulic water pump 3 along the water inlet pipe 12, and then is discharged along the drain pipe 4 of the hydraulic water pump 3, and the water extraction process is completed at this time;

[0046] At the same time, the rotation of the rotating disk 11 drives the column 19 to rotate, and the rotation of the column 19 drives the turbine blades 14 to rotate. When the turbine blades 14 rotate, the liquid is stirred. When the robot base 1 moves, it performs a pumping operation at the same time. At this time, the drain pipe 4 is not connected to the external water pipe or is connected to the external water pipe. At this time, an upward driving force is given to the robot base 1. At this time, when the robot base 1 floats on the water surface and moves, the height of the robot base 1 inside the water area is changed, thereby facilitating the movement of the robot base 1, increasing the buoyancy of the robot base 1, and reducing the pressure between the robot base 1 and the ground.

[0047] Then when the water level drops, the water inlet pipe 12 cannot absorb the water level, and the hydraulic telescopic rod 8 starts running. When the hydraulic telescopic rod 8 starts running, it drives the lifting plate 6 to drop. When the lifting plate 6 drops, it drives the cylinder 20 to drop. When the cylinder 20 drops, it drives the cylinder 25 to contact with the soil, and the cylinder 25 is pushed to move by the squeezing force of the soil. When the cylinder 25 moves, it drives the blocking block 23 to rise. When the blocking block 23 rises, it drives the spring rod 22 to be compressed. At this time, the distance between the blocking block 23 and the inner wall of the drainage cover 24 is changed, thereby increasing the water pumping amount, so that the lower the contact distance between the cylinder 20 and the ground, the greater the water pumping amount, further improving the water pumping efficiency, and the water pumping process is summarized by filtering dirt through the filter cloth 30.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A drainage and demolition integrated robot, characterized in that: include: A robot base (1), wherein a hydraulic pump (2) is installed inside the robot base (1), a hydraulic water pump (3) is fixedly installed at the bottom end of the robot base (1), a water outlet of the hydraulic water pump (3) is connected to a drain pipe (4), a movable frame (5) is fixedly installed outside the drain pipe (4), a water inlet of the hydraulic water pump (3) is connected to a water inlet pipe (12), a guide cover (9) is fixedly installed at the bottom end of the outside of the water inlet pipe (12), an inner cover (10) is fixedly installed inside the guide cover (9), a rotating disk (11) is rotatably connected to the top of the inner cover (10), a guide pipe (28) is equidistantly embedded inside the guide cover (9), the rotating disk (11) is composed of a disk and inclined blades, the water outlet of the guide pipe (28) corresponds to the inclined blades on the outside of the rotating disk (11), and a turbine blade (14) is synchronously rotatably connected to the bottom end of the rotating disk (11).

2. The integrated drainage and demolition robot according to claim 1, characterized in that: The bottom end of the movable frame (5) is rotatably connected to the inside of the robot base (1) via a circular shaft, and a hydraulic lifting rod is symmetrically installed on the top end of the movable frame (5) via a spherical movement, and the hydraulic lifting rod is fixedly installed on the top end of the inner wall of the robot base (1).

3. The integrated drainage and demolition robot according to claim 1, characterized in that: The inner wall of the inner cover (10) is provided with a groove (15), the top end of the inner ring of the one-way bearing (16) and the bottom end of the rotating disk (11) are welded and connected, the top end of the inner wall of the deflector cover (9) is integrally formed with a deflector ring (17), a ball bearing (18) is embedded and installed inside the deflector ring (17), and the outer surface of the ball bearing (18) is in contact with the lowest point of the ground and the top end of the rotating disk (11).

4. The integrated drainage and demolition robot according to claim 1, characterized in that: A support ring (13) is welded to the bottom of the outer surface of the inner cover (10), a column (19) is fixedly installed inside the turbine blade (14), the top end of the column (19) and the bottom end of the rotating disk (11) are fixedly connected, and the center points of the support ring (13), the column (19) and the turbine blade (14) are on the same vertical line.

5. The integrated drainage and demolition robot according to claim 1, characterized in that: A reel (7) is fixedly mounted on one end surface of the robot base (1), a hook (26) is connected to the steel cable of the reel (7), a limit cover (27) is mounted on one end of the robot base (1) at a position outside the hook (26), the reel (7) is composed of a hydraulic motor and a reel, and a steel cable is wound around the outside of the reel.

6. The integrated drainage and demolition robot according to claim 1, characterized in that: A cylinder (20) is fixedly mounted at the bottom end of the water inlet pipe (12), a drainage cover (24) is fixedly mounted inside the cylinder (20), a barrier block (23) is movably connected up and down inside the drainage cover (24), the top diameter of the barrier block (23) is larger than the bottom diameter, and an inclination angle is provided at the top end of the inner wall of the cylinder (20).

7. The integrated drainage and demolition robot according to claim 6, characterized in that: A support rod (21) is fixedly mounted on the inner wall of the cylinder (20), a spring rod (22) is embedded in the bottom end of the support rod (21), and the bottom end of the spring rod (22) is fixedly connected to the top end of the blocking block (23).

8. The integrated drainage and demolition robot according to claim 7, characterized in that: A cylinder (25) is fixedly mounted on the bottom end of the barrier block (23), a filter cloth (30) is sleeved on the outside of the cylinder (25), and the outside of the filter cloth (30) is fixedly mounted on the inner wall of the cylinder (20).

9. The integrated drainage and demolition robot according to claim 1, characterized in that: A lifting plate (6) is fixedly mounted on the bottom edge of the deflector (9), and hydraulic telescopic rods (8) are mounted at the four corners of the top of the lifting plate (6). The top of the hydraulic telescopic rod (8) is fixedly connected to the bottom of the inner wall of the robot base (1).

Images