Movable drainage robot

Abstract

The invention provides a movable drainage robot, which relates to the technical field of emergency rescue and comprises a frame assembly, a walking mechanism, a drainage assembly and a hydraulic power assembly. The frame assembly comprises a lower frame, an upper frame and a lifting adjusting mechanism; the upper frame is positioned above the lower frame; the lifting adjusting mechanism is arranged between the upper frame and the lower frame and can drive the upper frame to perform height adjustment relative to the lower frame so as to reduce the height of the upper frame or increase the height of the upper frame; the walking mechanism comprises a first crawler walking mechanism, a second crawler walking mechanism, a third crawler walking mechanism and a fourth crawler walking mechanism; the drainage assembly comprises a drainage pump and a mechanical arm; the draining pump is mounted on the mechanical arm; the mechanical arm is mounted at the front part of the lower frame; and the hydraulic power assembly is mounted on the upper frame in a bearing manner. According to the movable drainage robot, the structural arrangement is optimized, and the movable drainage robot can adapt to operation in a narrow space.

Description

Technical Field

[0001] The present application relates to the field of emergency rescue technology, and in particular to a mobile drainage robot. Background Art

[0002] The mobile drainage equipment is equipped with a water pump and can be used in a variety of special scenarios. It performs especially well in emergency rescue and complex working conditions. When heavy rain causes serious waterlogging in low-lying areas and roads in the city, the mobile drainage equipment can quickly arrive at the scene to perform emergency drainage operations, quickly restore traffic order, and reduce the impact of urban waterlogging on residents' lives and property.

[0003] At present, ordinary mobile drainage equipment is difficult to apply to some scenes with small spaces due to its large size, such as indoor scenes such as subways and underground garages, making it difficult to quickly eliminate flood disasters in these locations, and the impact of disasters continues to expand. In addition, existing mobile drainage equipment is difficult to pass through obstacles or complex terrain, such as stairs, high steps, etc. Therefore, there is an urgent need for a drainage equipment that can enter a small space and has the function of overcoming obstacles to perform drainage operations in the market. Summary of the invention

[0004] The technical problem to be solved by the present application is to propose a mobile drainage robot in view of the above-mentioned deficiencies in the prior art.

[0005] A mobile drainage robot, comprising: A frame assembly, comprising a lower frame, an upper frame, and a lifting and lowering adjustment mechanism; the upper frame is located above the lower frame; the lifting and lowering adjustment mechanism is arranged between the upper frame and the lower frame, and can drive the upper frame to adjust its height relative to the lower frame to reduce the height of the upper frame or increase the height of the upper frame; The walking mechanism comprises a first crawler walking mechanism, a second crawler walking mechanism, a third crawler walking mechanism and a fourth crawler walking mechanism; wherein the first crawler walking mechanism and the second crawler walking mechanism are arranged at corresponding positions on the left and right sides of the front part of the frame assembly; the third crawler walking mechanism and the fourth crawler walking mechanism are arranged at corresponding positions on the left and right sides of the rear part of the frame assembly; A drainage assembly, comprising a drainage pump and a mechanical arm; the drainage pump is mounted on the mechanical arm; the mechanical arm is mounted on the front part of the lower frame; the mechanical arm comprises a rotating arm and a first driving element; one end of the rotating arm is rotatably connected to the front part of the lower frame and the rotating arm can be rotated upward to a vertical state or rotated forward to a horizontal state; the drainage pump comprises a first drainage pump and a second drainage pump, which are respectively arranged on the left and right sides of the rotating arm; the first driving element is used to drive the rotating arm to move; A hydraulic power assembly is supported and mounted on the upper frame; the hydraulic power assembly comprises a driving device, a hydraulic pump, and a hydraulic oil tank; the driving device is used to drive the hydraulic pump to output pressure oil.

[0006] Optionally, four guide columns are arranged on the lower frame, and the four guide columns are distributed at the four corners of the lower frame; the upper frame is assembled on the four guide columns, and is limited by the four guide columns to be lifted and lowered in the vertical direction.

[0007] Optionally, the four guide posts specifically include a first guide post, a second guide post, a third guide post, and a fourth guide post; wherein the first guide post and the third guide post are located at diagonal positions, and the second guide post and the fourth guide post are located at diagonal positions; The lifting and adjusting mechanism includes a first lifting cylinder and a second lifting cylinder; wherein the first lifting cylinder is connected to the upper frame and the lower frame and is arranged near the first guide column, and the second lifting cylinder is connected to the upper frame and the lower frame and is arranged near the third guide column.

[0008] Optionally, the robotic arm further includes: The swing arm comprises a first swing arm and a second swing arm, wherein the first swing arm and the second swing arm are rotatably connected to the rotating arm and are symmetrically arranged on the left and right sides of the rotating arm; the first drainage pump and the second drainage pump are respectively connected to the first swing arm and the second swing arm; A sliding member, slidably disposed on the rotating arm; A connecting arm, comprising a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are symmetrically arranged on the left and right sides of the rotating arm; wherein the first end of the first connecting arm is rotatably connected to the sliding member, and the second end is rotatably connected to the first swing arm; wherein the first end of the second connecting arm is rotatably connected to the sliding member, and the second end is rotatably connected to the second swing arm; A second driving element, the second driving element is used to drive the sliding member to slide along the rotating arm. As the second driving element drives the sliding member to slide on the rotating arm, the first connecting arm and the second connecting arm respectively drive the first swing arm and the second swing arm to rotate symmetrically, so that the first drainage pump and the second drainage pump are recovered or opened relative to the rotating arm.

[0009] Optionally, the swing arm is composed of a first side arm and a second side arm, and the first side arm and the second side arm are used to connect to the drainage pump from two sides respectively; The connecting arm is composed of a first connecting rod, a second connecting rod, a third connecting rod, and a transverse connecting member; The first end of the first connecting rod is rotatably connected to the first side arm; The first end of the second connecting rod is rotatably connected to the second side arm; The first end of the third connecting rod is rotatably connected to the sliding member; The second end of the first connecting rod, the second end of the second connecting rod, and the second end of the third connecting rod are all fixed on the transverse connecting member, and the third connecting rod is located between the first connecting rod and the second connecting rod.

[0010] Optionally, a water pump clamping assembly is mounted on the drainage pump; The water pump clamping assembly comprises: a clamp ring; the clamp ring can be encircled on the outer peripheral surface of the water pump in an annular form, and is broken to form a first connection end and a second connection end, and the first connection end and the second connection end can be connected together in a detachable manner; an annular surface structure matching the shape of the outer peripheral surface of the water pump is arranged on the inner ring surface of the clamp ring; on the radial cross section of the clamp ring, the surface structure is a non-flat shape, which can match the shape of the outer peripheral surface of the water pump to form an axial limit; The first connecting end is provided with a rotating member, and the rotating member is rotatably mounted on the first connecting end; The second connecting end is provided with a connecting seat, and an open notch is provided on the connecting seat; the rotating member can rotate into or out of the notch; The rotating member is equipped with a nut member, and the nut member is installed on the rotating member through threaded cooperation; when the rotating member rotates and enters the notch, the nut member can press against the connecting seat from the side of the notch facing away from the first connecting end, so that the rotating member tightens the first connecting end and the second connecting end; The clamp ring is connected to the swing arm.

[0011] Optionally, the clamp ring is formed by splicing a first section of a clamp body and a second section of a clamp body; The first end of the first section of the clamp body and the first end of the second section of the clamp body are hinged together, the second end of the first section of the clamp body forms the first connecting end; the second end of the second section of the clamp body forms the second connecting end.

[0012] Optionally, the lower frame is provided with four connecting supports, which correspond to the first crawler walking mechanism, the second crawler walking mechanism, the third crawler walking mechanism and the fourth crawler walking mechanism respectively; the crawler walking mechanism comprises a crawler support, a plurality of crawler wheels and a crawler; the plurality of crawler wheels are arranged on the crawler support; the crawler is mounted on the plurality of crawler wheels; the crawler support is mounted on the connecting supports, and the crawler support can be adaptively rotated and adjusted within a set angle range relative to the connecting supports; An elastic limiting member is arranged between the crawler support and the connecting support, and the elastic limiting member can apply elastic blocking to the crawler support when the crawler support rotates to an extreme position relative to the connecting support.

[0013] Optionally, a connecting block is provided on the side of the crawler bracket, and the connecting block is connected to the crawler bracket at a first connecting portion and a second connecting portion respectively, and the first connecting portion and the second connecting portion are distributed at different front and rear positions on the connecting block; The connecting block is also provided with a third connecting portion, and the third connecting portion is located between the first connecting portion and the second connecting portion; the connecting support is provided with a downwardly facing assembly recess for the third connecting portion of the connecting block to be installed; the connecting support is hingedly connected with the third connecting portion installed in the assembly recess; The elastic limiting member is arranged at the top position of the assembly recess; as the connection block rotates to the limit position relative to the connection support, the elastic limiting member comes into contact with the connection block to form an elastic barrier for the connection block.

[0014] The mobile drainage robot provided in the present application has an optimized structural layout, can adapt to operations in narrow spaces, and adopts a four-track walking mechanism structural design that can go up and down stairs. It has better passing performance and is more suitable for operations in indoor scenes such as subways and underground parking lots.

[0015] First, compared with ordinary mobile drainage equipment, the mobile drainage robot provided by the present application can pass through a narrow space by lowering its height, without reducing the passability of the narrow space for wading operations. In addition, after the height of the upper frame is lowered, the mobile drainage robot lowers its center of gravity and travels more smoothly.

[0016] In the second aspect, the present application adopts a four-track walking mechanism structural design. When the mobile drainage robot enters an indoor scene for operation, the four-track walking mechanism structural design can go up and down stairs, making the mobile drainage robot have better passing performance.

[0017] On the third aspect, the mobile drainage robot provided in the present application arranges the drainage pump at the front of the lower frame through a mechanical arm, without occupying the height space and lateral space of the chassis, and is more suitable for passing through spaces with narrow height and width. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the structural schematic diagrams of the mobile drainage robot in the embodiment of the present application.

[0019] Figure 2 This is the second structural schematic diagram of the mobile drainage robot in the embodiment of the present application.

[0020] Figure 3 This is the third structural schematic diagram of the mobile drainage robot in the embodiment of the present application.

[0021] Figure 4 This is the fourth structural schematic diagram of the mobile drainage robot in the embodiment of the present application.

[0022] Figure 5 This is the fifth structural diagram of the mobile drainage robot in the embodiment of the present application.

[0023] Figure 6 It is one of the structural schematic diagrams of the robotic arm in the embodiment of the present application.

[0024] Figure 7 This is the second structural schematic diagram of the robotic arm in the embodiment of the present application.

[0025] Figure 8 This is the third structural diagram of the robotic arm in the embodiment of the present application.

[0026] Fig. 9 This is the fourth structural schematic diagram of the robotic arm in the embodiment of the present application.

[0027] Fig.10 This is the fifth structural diagram of the robotic arm in the embodiment of the present application.

[0028] Fig.11 This is the sixth structural diagram of the robotic arm in the embodiment of the present application.

[0029] Fig.12 It is a schematic diagram of the structure of the water pump clamping assembly in an embodiment of the present application.

[0030] Fig.13 yes Fig.12 A partial enlarged view of point A in the middle.

[0031] Fig.14 It is a structural schematic diagram of the connection between the water pump clamping assembly and the drainage pump in an embodiment of the present application.

[0032] Fig.15It is a structural schematic diagram of the crawler walking mechanism in an embodiment of the present application.

[0033] Fig.16 It is a schematic diagram of the structure of the connecting support and the connecting block in the embodiment of the present application.

[0034] Figure numerals: frame assembly 10, lower frame 11, first guide column 111, second guide column 112, third guide column 113, fourth guide column 114, lifting ring 115, guide column bracket 116, connecting support 117, assembly recess 1171, upper frame 12, first lifting cylinder 131, second lifting cylinder 132, walking mechanism 20, first crawler walking mechanism 20a, second crawler walking mechanism 20b, third crawler walking mechanism 20c, fourth crawler walking mechanism 20d, crawler bracket 21, connecting block 211, first connecting part 2111, second connecting part 2112, third connecting part 2113, crawler 23, elastic limiter 24, drainage assembly 30, drainage pump 31, first drainage pump 311, second drainage pump 312, mechanical arm 32 , rotating arm 321, first driving element 322, swing arm 323, first swing arm 323a, second swing arm 323b, first side arm 3231, second side arm 3232, sliding member 324, connecting arm 325, first connecting arm 325a, second connecting arm 325b, first connecting rod 3251, second connecting rod 3252, third connecting rod 3253, transverse connecting member 3254, second driving element 326, hydraulic power assembly 40, water pump clamping assembly 50, clamp ring 51, first connecting end 511, second connecting end 512, first section clamp body 513, second section clamp body 514, clamp body 515, reinforcing rib 516, protruding structure 517, rotating member 52, holding handle 521, nut member 53, connecting seat 54, notch 541. DETAILED DESCRIPTION

[0035] The following is the specific embodiment of the present application and in conjunction with the accompanying drawings, the technical scheme of the present application is further described, but the present application is not limited to these embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the protection scope of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other.

[0037] It should be noted that the mobile drainage equipment is used for emergency drainage. The mobile drainage equipment can quickly reach the scene for emergency drainage operations, quickly restore traffic order, and reduce the impact of waterlogging on residents' lives and property. At present, due to their large volume, ordinary mobile drainage equipment is difficult to be applied to some narrow spaces, such as subways, underground garages, etc., resulting in the difficulty of quickly eliminating waterlogging disasters in these locations and the continuous expansion of the disaster impact. Therefore, this application provides a mobile drainage robot that can enter narrow spaces for drainage operations. The following specifically describes this mobile drainage robot with reference to the accompanying drawings.

[0038] Reference Figure 1-Figure 4 , the mobile drainage robot includes a frame assembly 10, a traveling mechanism 20, a drainage assembly 30, and a hydraulic power assembly 40.

[0039] The frame assembly 10 includes a lower frame 11, an upper frame 12, and a lifting adjustment mechanism; the upper frame 12 is located above the lower frame 11; the lifting adjustment mechanism is arranged between the upper frame 12 and the lower frame 11 and can drive the upper frame 12 to adjust its height relative to the lower frame 11 to lower or raise the height of the upper frame 12.

[0040] The traveling mechanism 20 includes a first crawler traveling mechanism 20a, a second crawler traveling mechanism 20b, a third crawler traveling mechanism 20c, and a fourth crawler traveling mechanism 20d; wherein, the first crawler traveling mechanism 20a and the second crawler traveling mechanism 20b are arranged at corresponding positions on the left and right sides of the front part of the frame assembly 10; the third crawler traveling mechanism 20c and the fourth crawler traveling mechanism 20d are arranged at corresponding positions on the left and right sides of the rear part of the frame assembly 10.

[0041] The drainage assembly 30 includes a drainage pump 31 and a robotic arm 32; the drainage pump 31 is installed on the robotic arm 32; the robotic arm 32 is installed at the front part of the lower frame 11.

[0042] The hydraulic power assembly 40 is carried and installed on the upper frame 12; the hydraulic power assembly 40 includes a driving device, a hydraulic pump, and a hydraulic oil tank; the driving device is used to drive the hydraulic pump to work so that it outputs pressurized oil.

[0043] The mobile drainage robot often needs to operate wading through water, and many of its functional components cannot be immersed in water. In the embodiment of this application, the functional components are components used to implement various functions, at least including the hydraulic power unit 40. The hydraulic power unit 40 includes an engine, a hydraulic pump, a hydraulic oil tank, etc., and can be used to provide pressurized oil to drive the hydraulic motors of the drainage pump and the traveling mechanism.

[0044] Therefore, it is necessary to understand that in order to be able to wade through water, ordinary mobile drainage equipment needs to set the functional components that cannot be soaked in water at a higher height, but this will also increase the height of the entire equipment, so that it cannot enter some narrow working spaces for operation. In the embodiment of the present application, when the mobile drainage robot needs to wade through water, the lifting and adjusting mechanism can drive the upper frame 12 to increase its height relative to the lower frame 11, thereby increasing the height of the functional components on the upper frame 12 to avoid the functional components on the upper frame 12 from being soaked in water. In addition, the lifting and adjusting mechanism can drive the upper frame 12 to lower its height relative to the lower frame 11 to pass through a highly narrow space, such as indoor scenes such as subways and underground parking lots. Therefore, the lifting and adjusting mechanism can adjust the height of the equipment as needed, and is more suitable for passing through a highly narrow space without affecting the wading performance. Compared with ordinary mobile drainage equipment, the mobile drainage robot provided in the present application can pass through a narrow space by lowering its height, without reducing the passability of the narrow space for wading operations. In addition, after the height of the upper frame 12 is reduced, the mobile drainage robot lowers its center of gravity and travels more smoothly. The state after the height of the upper frame 12 is lowered can be referred to Figure 2 and Figure 4 The state after the height of the upper frame 12 is raised can be seen in Figure 1 and Figure 3 .

[0045] The walking mechanism 20 includes a first crawler walking mechanism 20a, a second crawler walking mechanism 20b, a third crawler walking mechanism 20c, and a fourth crawler walking mechanism 20d, and adopts a four-crawler walking mechanism structure design. When the mobile drainage robot enters an indoor scene for operation, the four-crawler walking mechanism structure design can go up and down stairs, so that the mobile drainage robot has better passing performance.

[0046] Furthermore, four guide columns are arranged on the lower frame 11, and the four guide columns are distributed at the four corners of the lower frame 11; the upper frame 12 is assembled on the four guide columns, and is limited by the four guide columns to be lifted and lowered in the vertical direction. The four guide columns specifically include a first guide column 111, a second guide column 112, a third guide column 113, and a fourth guide column 114; wherein the first guide column 111 and the third guide column 113 are located at diagonal positions, and the second guide column 112 and the fourth guide column 114 are located at diagonal positions. The lifting and lowering adjustment mechanism includes a first lifting cylinder 131 and a second lifting cylinder 132; wherein the first lifting cylinder 131 connects the upper frame 12 and the lower frame 11, and is arranged near the first guide column 111, and the second lifting cylinder 132 connects the upper frame 12 and the lower frame 11, and is arranged near the third guide column 113.

[0047] When the lifting adjustment mechanism drives the upper frame 12 to adjust its height relative to the lower frame 11, the four guide posts can jointly guide the upper frame 12 to lift, so as to increase the stability of the upper frame 12 during the lifting adjustment process. The first lifting cylinder 131 and the second lifting cylinder 132 are arranged at diagonal positions, so that the force on the upper frame 12 can be more stable and the lifting can be more stable.

[0048] refer to Figure 3 and Figure 4 , the lower frame 11 is also provided with four guide column brackets 116 corresponding to the four guide columns; the guide column brackets 116 are arranged at the lateral position of the corresponding guide column, and provide lateral support to the guide column at a set height. The guide column bracket 116 is provided with a sleeve ring at a set height, and the sleeve ring is sleeved on the outer periphery of the guide column to form a lateral limit for the guide column. The guide column bracket 116 can provide lateral support to the guide column. When the guide column is subjected to force and generates bending deformation, the guide column bracket 116 can resist the bending deformation of the guide column, thereby increasing the ability of the guide column to resist external forces, thereby making the guide column more stable and reliable. Figure 3 and Figure 4 In the structure shown, the sleeve ring is arranged at the upper end of the guide post bracket 116 and sleeved on the outer circumference of the guide post. When the guide post is bent and deformed in any direction, it will be directly restricted and resisted by the sleeve ring.

[0049] refer to Figure 3 and Figure 4 In one embodiment of the present application, a lifting ring 115 is provided at the upper end of each guide column for lifting the whole machine. Here, the lifting ring is arranged at the upper end of the guide column, which can facilitate the lifting of the whole mobile drainage robot, and the structural design is simple and reasonable.

[0050] The mobile drainage robot also has a mechanical arm 32, which is mounted on the lower frame 11, and the drainage pump 31 is mounted on the mechanical arm 32; the mechanical arm 32 can adjust its posture to change the position of the drainage pump 31. The mechanical arm 32 can be folded. When driving, the mechanical arm 32 is folded toward the frame to a folded state; when draining, the mechanical arm 32 moves to an unfolded state to place the drainage pump 31 thereon into the water. With the help of the mechanical arm 32, the position of the drainage pump 31 can be adjusted to adapt to driving conditions and drainage conditions, and is more convenient and flexible to use.

[0051] It should be noted that ordinary mobile drainage equipment usually arranges the drainage pump under the chassis. On the one hand, the drainage pump under the chassis needs to occupy a certain height space, which may increase the overall height of the equipment; on the other hand, the drainage pump under the chassis is arranged between the crawler walking mechanisms on both sides, which needs to occupy a certain lateral space. The interval between the crawler walking mechanisms on both sides is large, which may cause the overall width of the equipment to be larger. The mobile drainage robot provided in the present application arranges the drainage pump 31 at the front of the lower frame 11 through the mechanical arm 32, without occupying the height space and lateral space of the chassis, and is more suitable for passing through spaces with narrow height and width.

[0052] To sum up, the mobile drainage robot provided in this application has optimized structural layout, can reduce the height space and lateral space occupied, is more suitable for passing through spaces with narrow height and width, and adopts a four-track walking mechanism structural design that can go up and down stairs, with better passing performance, and is more suitable for operations in indoor scenes such as subways and underground parking lots.

[0053] refer to Figure 5-Figure 8 The mechanical arm 32 includes a rotating arm 321 and a first driving element 322. One end of the rotating arm 321 is rotatably connected to the front part of the lower frame 11 and the rotating arm 321 can be rotated upward to a vertical state or rotated forward to a horizontal state; the drainage pump 31 includes a first drainage pump 311 and a second drainage pump 312, which are respectively arranged on the left and right sides of the rotating arm 321; the first driving element 322 is used to drive the rotating arm 321 to move.

[0054] When the mobile drainage robot is driving, Figure 5 and 6 As shown, the first driving element 322 drives the rotating arm 321 to rotate upward to a vertical state and fold to the front of the frame assembly 10, without occupying the height space and lateral space of the chassis, and is more suitable for passing through a space with narrow height and width. Figure 7 and Figure 8 As shown, the first driving element 322 drives the rotating arm 321 to rotate forward to a horizontal state or other angles, and the first drainage pump 311 and the second drainage pump 312 extend to the front of the frame assembly 10 to perform drainage operations, which is more convenient and flexible to use.

[0055] The first driving element 322 can be configured as a hydraulic cylinder, installed between the lower frame 11 and the rotating arm 321, and can be telescopically driven to rotate and adjust the rotating arm 321. Figure 5-8 In the structure shown, when the hydraulic cylinder contracts, the rotating arm 321 rotates upward; when the hydraulic cylinder extends, the rotating arm 321 rotates forward. The hydraulic power assembly 40 is a hydraulic power unit, which can be used to supply oil to drive the first driving element 322 to move.

[0056] refer to Fig. 9 and Fig.10 The mechanical arm 32 further includes a swing arm, a sliding member 324, a connecting arm, and a second driving element 326; wherein the swing arm includes a first swing arm 323a and a second swing arm 323b, the first swing arm 323a and the second swing arm 323b are rotatably connected to the rotating arm 321, and are symmetrically arranged on the left and right sides of the rotating arm 321; the first drainage pump 311 and the second drainage pump 312 are respectively connected to the first swing arm 323a and the second swing arm 323b. The sliding member 324 is slidably arranged on the rotating arm 321. The connecting arm includes a first connecting arm 325a and a second connecting arm 325b, and the first connecting arm 325a and the second connecting arm 325b are symmetrically arranged on the left and right sides of the rotating arm 321; wherein, the first end of the first connecting arm 325a is rotatably connected to the sliding member 324, and the second end is rotatably connected to the first swing arm 323a; the first end of the second connecting arm 325b is rotatably connected to the sliding member 324, and the second end is rotatably connected to the second swing arm 323b.

[0057] The second driving element 326 is used to drive the sliding member 324 to slide along the rotating arm 321. As the second driving element 326 drives the sliding member 324 to slide on the rotating arm 321, the first connecting arm 325a and the second connecting arm 325b respectively drive the first swing arm 323a and the second swing arm 323b to rotate symmetrically, so that the first drainage pump 311 and the second drainage pump 312 can be recovered or opened relative to the rotating arm 321.

[0058] When the second driving element 326 drives the sliding member 324 to slide along the rotating arm 321, the sliding member 324 drives the first swing arm 323a to rotate through the first connecting arm 325a, and drives the second swing arm 323b to rotate through the second connecting arm 325b, and the first swing arm 323a and the second swing arm 323b rotate symmetrically. Therefore, as the second driving element 326 telescopically drives the sliding member 324 to move along the rotating arm 321, the sliding member 324 drives the first swing arm 323a and the second swing arm 323b on both sides to rotate and open to different angles, thereby achieving angle adjustment of the first drain pump 311 and the second drain pump 312 on the first swing arm 323a and the second swing arm 323b, so that the first drain pump 311 and the second drain pump 312 can be recovered or opened relative to the rotating arm 321.

[0059] In addition, the second driving element 326 can be configured as a hydraulic cylinder installed on the rotating arm 321 , and the hydraulic power assembly 40 is a hydraulic power unit that can be used to supply oil to drive the second driving element 326 to move.

[0060] Continue to refer Fig.11The swing arm 323 is composed of a first side arm 3231 and a second side arm 3232, and the first side arm 3231 and the second side arm 3232 are used to connect the drainage pump 31 from both sides. The connecting arm 325 is composed of a first connecting rod 3251, a second connecting rod 3252, a third connecting rod 3253, and a transverse connecting member 3254, wherein the first end of the first connecting rod 3251 is rotatably connected to the first side arm 3231, the first end of the second connecting rod 3252 is rotatably connected to the second side arm 3232, the first end of the third connecting rod 3253 is rotatably connected to the sliding member 324, the second end of the first connecting rod 3251, the second end of the second connecting rod 3252, and the second end of the third connecting rod 3253 are all fixed on the transverse connecting member 3254, and the third connecting rod 3253 is located between the first connecting rod 3251 and the second connecting rod 3252.

[0061] The first swing arm 323a and the first connecting arm 325a correspond to the first drainage pump 311. The first swing arm 323a is composed of the first side arm 3231 and the second side arm 3232. The first connecting arm 325a is composed of the first connecting rod 3251, the second connecting rod 3252, the third connecting rod 3253 and the transverse connecting member 3254. When the second driving element 326 drives the sliding member 324 to slide along the rotating arm 321, the first connecting arm 325a composed of the first connecting rod 3251, the second connecting rod 3252, the third connecting rod 3253 and the transverse connecting member 3254 drives the first swing arm 323a composed of the first side arm 3231 and the second side arm 3232 to rotate, so as to adjust the angle of the first drainage pump 311.

[0062] The second swing arm 323b and the second connecting arm 325b correspond to the second drainage pump 312. The second swing arm 323b is composed of the first side arm 3231 and the second side arm 3232. The second connecting arm 325b is composed of the first connecting rod 3251, the second connecting rod 3252, the third connecting rod 3253 and the transverse connecting member 3254. When the second driving element 326 drives the sliding member 324 to slide along the rotating arm 321, the second connecting arm 325b composed of the first connecting rod 3251, the second connecting rod 3252, the third connecting rod 3253 and the transverse connecting member 3254 drives the second swing arm 323b composed of the first side arm 3231 and the second side arm 3232 to rotate, so as to adjust the angle of the second drainage pump 312.

[0063] With the structural arrangement of the mechanical arm 32, the angle of the drainage pump can be adjusted to switch the water pump to different water pumping angles. Fig.10When the first swing arm 323a and the second swing arm 323b drive the first drainage pump 311 and the second drainage pump 312 to open to both sides, the drainage outlets of the first drainage pump 311 and the second drainage pump 312 face both sides, which makes it easy to install the water hose.

[0064] refer to Figure 12-14 The drainage pump 31 is provided with a water pump clamping assembly 50. The water pump clamping assembly 50 comprises: a clamp ring 51 and a rotating member 52.

[0065] The clamp ring 51 can be encircled on the outer peripheral surface of the water pump in an annular form, and can be broken to form a first connection end 511 and a second connection end 512, and the first connection end 511 and the second connection end 512 can be connected together in a detachable manner; an annular surface structure that matches the shape of the outer peripheral surface of the water pump is provided on the inner ring surface of the clamp ring 51; on the radial section of the clamp ring 51, the surface structure is a non-flat shape, which can match the shape of the outer peripheral surface of the water pump to form an axial limit.

[0066] The first connection end 511 is provided with a rotating member 52, which is rotatably mounted on the first connection end 511; the second connection end 512 is provided with a connecting seat 54, which is provided with an open notch 541; the rotating member 52 can rotate into or out of the notch 541; the rotating member 52 is provided with a nut member 53, which is mounted on the rotating member 52 through threaded engagement; when the rotating member 52 rotates into the notch 541, the nut member 53 can press against the connecting seat 54 from the side of the notch 541 facing away from the first connection end 511, so that the rotating member 52 tightens the first connection end 511 and the second connection end 512. The clamp ring is connected to the swing arm.

[0067] Furthermore, the clamp ring is spliced ​​by a first section of the clamp body 513 and a second section of the clamp body 514; the first end of the first section of the clamp body 513 and the first end of the second section of the clamp body 514 are hinged together, and the second end of the first section of the clamp body 513 forms a first connecting end 511; the second end of the second section of the clamp body 514 forms a second connecting end 512.

[0068] When connecting, firstly, the clamp ring 51 is sleeved on the connection position of the drain pump, and the surface structure in the inner circle of the clamp ring 51 is combined with the outer peripheral surface of the drain pump; then, the rotating member 52 on the first connection end 511 is operated to enter the notch 541 of the second connection end 512 by rotation, and the nut member 53 on the rotating member 52 is tightened, so that the nut member 53 is pressed against the connection seat 54 from the side of the notch 541 facing away from the first connection end 511. At this time, the rotating member 52 tightens the first connection end 511 and the second connection end 512, and the clamp ring 51 is tightly combined with the drain pump. At this time, since the surface structure is a non-flat shape and is adapted to the shape of the outer peripheral surface of the drain pump, the combination between the clamp ring 51 and the drain pump can limit the clamp ring 51 to a fixed axial position of the drain pump, forming a stable connection.

[0069] During disassembly, first loosen the nut member 53 on the rotating member 52 until the rotating member 52 can rotate without restriction. Then, operate the rotating member 52 to rotate out of the notch 541 of the second connecting end 512. Finally, the clamp ring 51 can be separated from the drainage pump to complete the disassembly.

[0070] Therefore, in the embodiment of the present application, the water pump clamping assembly 50 can realize the rapid disassembly and assembly of the drain pump with the help of the clamp structure, and a stable connection structure can be formed by adapting the non-flat surface structure to the outer peripheral surface shape of the drain pump to form an axial limit, thereby bearing the working load of the drain pump.

[0071] The nut member 53 and the rotating member 52 form a threaded fit, which is used to tighten the first connection end 511 and the second connection end 512, so that the clamp ring 51 is tightly combined with the drainage pump. In a specific solution, the nut member 53 is a butterfly nut, which can be tightened by rotating. The operation is simple and convenient, and no professional tools are required, which makes the butterfly nut have obvious advantages in emergency repairs, quick assembly, etc. In the embodiment of the present application, the butterfly nut is used for tightening, and no professional tools are required, making the disassembly and assembly of the water pump clamping assembly 50 more convenient and quick.

[0072] The rotating member 52 is rotatably mounted on the first connecting end 511. In a specific embodiment, the rotating member 52 is hinged on the first connecting end 511. When disassembling, the rotating member 52 enters or exits the notch 541 by rotating, which requires manual operation. In the embodiment of the present application, the rotating member 52 is provided with a gripping handle 521 at one end away from the first connecting end 511, and the operator can conveniently operate the rotating member 52 to rotate by means of the gripping handle 521.

[0073] The clamp ring 51 is used to embrace the drain pump. When connected, the clamp ring 51 needs to be sleeved on the connection position of the drain pump and the surface structure in the inner circle of the clamp ring 51 is combined with the outer peripheral surface of the drain pump; when disassembled, the clamp ring 51 needs to be separated from the drain pump. In one embodiment of the present application, the clamp ring 51 is spliced ​​by a first section of the clamp body 513 and a second section of the clamp body 514; the first end of the first section of the clamp body 513 and the first end of the second section of the clamp body 514 are hinged together, and the second end of the first section of the clamp body 513 forms a first connection end 511; the second end of the second section of the clamp body 514 forms a second connection end 512. In this design, the first section of the clamp body 513 and the second section of the clamp body 514 are hinged together and can rotate relative to each other. Therefore, when installing the clamp ring 51, the clamp ring 51 can be easily put on the drainage pump by rotating the first section of the clamp body 513 and the second section of the clamp body 514. When disassembling, the clamp ring 51 can be easily removed from the drainage pump by rotating the first section of the clamp body 513 and the second section of the clamp body 514.

[0074] The clamp ring 51 is formed by splicing a first section of the clamp body 513 and a second section of the clamp body 514, and the first section of the clamp body 513 and the second section of the clamp body 514 both include a clamp body 515 and two reinforcing ribs 516, and the two reinforcing ribs 516 are arranged on the outer surface of the clamp body 515 and extend in the same direction as the clamp body 515. Here, the reinforcing ribs 516 are arranged on the clamp body 515 to enhance the overall structural strength of the first section of the clamp body 513 and the second section of the clamp body 514. Further, the rotating member 52 is hinged on the two reinforcing ribs 516 on the first section of the clamp body 513.

[0075] An annular surface structure is provided on the inner surface of the clamp ring 51, and the surface structure is adapted to the outer peripheral surface shape of the drainage pump. On the radial cross section of the clamp ring 51, the surface structure is a non-flat shape, which can be adapted to the outer peripheral surface shape of the drainage pump to form an axial limit. In the embodiment of the present application, the surface structure is a concave structure or a convex structure. Fig.12 and Fig.14 In the structure shown, the surface structure is configured as a protruding structure 517; Fig.14 In the structure shown, the protruding structure 517 on the clamp ring 51 enters into the concave structure on the outer peripheral surface of the water pump and combines to form an axial limit, so that the clamp ring 51 cannot move axially on the surface of the water pump. The water pump clamping assembly serves as a connecting structure between the water pump and the mechanical arm frame. With the help of the water pump clamping assembly, the mechanical arm frame can be used to change the position and angle of the water pump.

[0076] refer to Fig.15 and Fig.16, four connecting supports 117 are provided on the lower frame 11, corresponding to the first crawler walking mechanism, the second crawler walking mechanism, the third crawler walking mechanism, and the fourth crawler walking mechanism respectively; the crawler walking mechanism includes a crawler support 21, a plurality of crawler wheels, and a crawler 23; a plurality of crawler wheels are arranged on the crawler support 21; the crawler 23 is assembled on a plurality of crawler wheels; the crawler support 21 is assembled on the connecting support 117, and the crawler support 21 can be adaptively rotated and adjusted within a set angle range relative to the connecting support 117. An elastic limiter 24 is provided between the crawler support 21 and the connecting support 117, and the elastic limiter 24 can apply elastic resistance to the crawler support 21 when the crawler support 21 rotates to the limit position relative to the connecting support 117.

[0077] Furthermore, a connecting block 211 is provided on the side of the crawler bracket 21, and the connecting block 211 is connected to the crawler bracket 21 at a first connecting portion 2111 and a second connecting portion 2112 respectively, and the first connecting portion 2111 and the second connecting portion 2112 are distributed at different front and rear positions on the connecting block 211; a third connecting portion 2113 is also provided on the connecting block 211, and the third connecting portion 2113 is located between the first connecting portion 2111 and the second connecting portion 2112; a downward assembly recess 1171 is provided on the connecting support 117 for the third connecting portion 2113 of the connecting block 211 to be installed; the connecting support 117 is hinged together with the third connecting portion 2113 installed in the assembly recess 1171; the elastic limit member 24 is arranged at the top position of the assembly recess 1171; as the connecting block 211 rotates to the extreme position relative to the connecting support 117, the elastic limit member 24 comes into contact with the connecting block 211 to form an elastic barrier to the connecting block 211.

[0078] In an exemplary structure, the track wheel includes: a driving wheel, a guide wheel, at least one supporting roller, and a tensioning mechanism; the tensioning mechanism acts on the guide wheel to tension the track; the driving wheel and the guide wheel are respectively located at two sides, and the supporting roller is located between the driving wheel and the guide wheel. Further, the driving wheel of each track travel mechanism is equipped with a driving source, and the track travel mechanism can be driven by a hydraulic system. The driving source can be set as a hydraulic motor, and the hydraulic power assembly 40 is used for oil supply and driving. Specifically, the track is a flexible chain ring, driven by the driving wheel, and surrounds the driving wheel, the supporting roller, and the guide wheel; the tensioning mechanism acts on the guide wheel to tension the track; the supporting roller is used to support the load of the chassis. It should be understood that the structure of the above-mentioned track travel mechanism is only exemplary, and its structure can be designed according to actual needs in actual products.

[0079] The elastic limiter 24 can apply elastic resistance to the track bracket 21 when the track bracket 21 rotates to the extreme position relative to the connecting support 117. Specifically, the elastic limiter 24 is made of elastic material and can provide rebound force when squeezed. Therefore, when the track bracket 21 rotates to the extreme position, the track bracket 21 can squeeze the elastic limiter 24, and the elastic limiter 24 applies a reverse buffering elastic force to the track bracket 21 to prevent the track bracket 21 from further rotating. In this way, on the one hand, the elastic limiter 24 can limit the track bracket 21 to the extreme position to ensure that the track bracket 21 remains within the set angle range relative to the connecting support 117; on the other hand, the elastic limiter 24 can provide a reverse elastic force to buffer the track bracket 21.

[0080] The connecting block 211, as an intermediate structure of the connection, can be regarded as a part of the crawler support 21, and is provided with a first connecting portion 2111, a second connecting portion 2112, and a third connecting portion 2113, and the third connecting portion 2113 is located between the first connecting portion 2111 and the second connecting portion 2112. Among them, the first connecting portion 2111 and the second connecting portion 2112 are used to connect with the crawler support 21, and the third connecting portion 2113 is used to connect with the connecting support 11. When connected, the third connecting portion 2113 of the connecting block 211 is inserted upward into the assembly recess 12 of the connecting support 11, and a hinged relationship is set. At this time, the connecting block 211 can rotate freely around the hinged portion. The above-mentioned connecting structure forms a rotating connection relationship between the crawler support 21 and the connecting support 11, and the above-mentioned connecting structure is compact and reliable.

[0081] The elastic limiter 24 is located at the top of the assembly recess 12, above the connecting block 211; when the connecting block 211 rotates forward or reverse to the extreme position, it will come into contact with the elastic limiter 24, thereby squeezing the elastic limiter 24, causing the elastic limiter 24 to generate a reverse elastic force to achieve buffering.

[0082] In one embodiment of the present application, the elastic stopper 24 is a block structure and is detachably fixed to the top position of the assembly recess 12. Therefore, when the elastic stopper 24 is damaged, the elastic stopper 24 can be replaced. In a specific solution, the elastic stopper 24 is fixed to the top position of the assembly recess 12 by bolts.

[0083] In one embodiment of the present application, the connection block 211 is connected to the track frame 21 by bolts at the first connection part 2111 and the second connection part 2112. Specifically, the connection block 211 is connected to the connection support 11 at the third connection part 2113, and the first connection part 2111 and the second connection part 2112 are distributed on both sides of the third connection part 2113, so that the connection block 211 can maintain balance when bearing a load.

[0084] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

Claims

1. A mobile drainage robot, characterized in that: The mobile drainage robot comprises: A frame assembly, comprising a lower frame, an upper frame, and a lifting and lowering adjustment mechanism; the upper frame is located above the lower frame; the lifting and lowering adjustment mechanism is arranged between the upper frame and the lower frame, and can drive the upper frame to adjust its height relative to the lower frame to reduce the height of the upper frame or increase the height of the upper frame; The walking mechanism comprises a first crawler walking mechanism, a second crawler walking mechanism, a third crawler walking mechanism and a fourth crawler walking mechanism; wherein the first crawler walking mechanism and the second crawler walking mechanism are arranged at corresponding positions on the left and right sides of the front part of the frame assembly; the third crawler walking mechanism and the fourth crawler walking mechanism are arranged at corresponding positions on the left and right sides of the rear part of the frame assembly; A drainage assembly, comprising a drainage pump and a mechanical arm; the drainage pump is mounted on the mechanical arm; the mechanical arm is mounted on the front part of the lower frame; the mechanical arm comprises a rotating arm and a first driving element; one end of the rotating arm is rotatably connected to the front part of the lower frame and the rotating arm can be rotated upward to a vertical state or rotated forward to a horizontal state; the drainage pump comprises a first drainage pump and a second drainage pump, which are respectively arranged on the left and right sides of the rotating arm; the first driving element is used to drive the rotating arm to move; A hydraulic power assembly is supported and mounted on the upper frame; the hydraulic power assembly comprises a driving device, a hydraulic pump, and a hydraulic oil tank; the driving device is used to drive the hydraulic pump to output pressure oil.

2. The mobile drainage robot according to claim 1, characterized in that: The lower frame is provided with four guide posts, which are distributed at the four corners of the lower frame; the upper frame is assembled on the four guide posts, and is limited by the four guide posts to be lifted and lowered in a vertical direction.

3. The mobile drainage robot according to claim 2, characterized in that: The four guide posts specifically include a first guide post, a second guide post, a third guide post, and a fourth guide post; wherein the first guide post and the third guide post are located at diagonal positions, and the second guide post and the fourth guide post are located at diagonal positions; The lifting and adjusting mechanism includes a first lifting cylinder and a second lifting cylinder; wherein the first lifting cylinder is connected to the upper frame and the lower frame and is arranged near the first guide column, and the second lifting cylinder is connected to the upper frame and the lower frame and is arranged near the third guide column.

4. The mobile drainage robot according to claim 1, characterized in that: The robotic arm also includes: The swing arm comprises a first swing arm and a second swing arm, wherein the first swing arm and the second swing arm are rotatably connected to the rotating arm and are symmetrically arranged on the left and right sides of the rotating arm; the first drainage pump and the second drainage pump are respectively connected to the first swing arm and the second swing arm; A sliding member, slidably disposed on the rotating arm; A connecting arm, comprising a first connecting arm and a second connecting arm, wherein the first connecting arm and the second connecting arm are symmetrically arranged on the left and right sides of the rotating arm; wherein the first end of the first connecting arm is rotatably connected to the sliding member, and the second end is rotatably connected to the first swing arm; wherein the first end of the second connecting arm is rotatably connected to the sliding member, and the second end is rotatably connected to the second swing arm; A second driving element, the second driving element is used to drive the sliding member to slide along the rotating arm. As the second driving element drives the sliding member to slide on the rotating arm, the first connecting arm and the second connecting arm respectively drive the first swing arm and the second swing arm to rotate symmetrically, so that the first drainage pump and the second drainage pump are recovered or opened relative to the rotating arm.

5. The mobile drainage robot according to claim 4, characterized in that: The swing arm is composed of a first side arm and a second side arm, and the first side arm and the second side arm are used to connect to the drainage pump from both sides respectively; The connecting arm is composed of a first connecting rod, a second connecting rod, a third connecting rod, and a transverse connecting member; The first end of the first connecting rod is rotatably connected to the first side arm; The first end of the second connecting rod is rotatably connected to the second side arm; The first end of the third connecting rod is rotatably connected to the sliding member; The second end of the first connecting rod, the second end of the second connecting rod, and the second end of the third connecting rod are all fixed on the transverse connecting member, and the third connecting rod is located between the first connecting rod and the second connecting rod.

6. The mobile drainage robot according to claim 4, characterized in that: The drainage pump is equipped with a water pump clamping assembly; The water pump clamping assembly comprises: a clamp ring; the clamp ring can be encircled on the outer peripheral surface of the water pump in an annular form, and is broken to form a first connection end and a second connection end, and the first connection end and the second connection end can be connected together in a detachable manner; an annular surface structure matching the shape of the outer peripheral surface of the water pump is arranged on the inner ring surface of the clamp ring; on the radial cross section of the clamp ring, the surface structure is a non-flat shape, which can match the shape of the outer peripheral surface of the water pump to form an axial limit; The first connecting end is provided with a rotating member, and the rotating member is rotatably mounted on the first connecting end; The second connecting end is provided with a connecting seat, and an open notch is provided on the connecting seat; the rotating member can rotate into or out of the notch; The rotating member is equipped with a nut member, and the nut member is installed on the rotating member through threaded cooperation; when the rotating member rotates and enters the notch, the nut member can press against the connecting seat from the side of the notch facing away from the first connecting end, so that the rotating member tightens the first connecting end and the second connecting end; The clamp ring is connected to the swing arm.

7. The mobile drainage robot according to claim 6, characterized in that: The clamp ring is formed by splicing a first section of the clamp body and a second section of the clamp body; The first end of the first section of the clamp body and the first end of the second section of the clamp body are hinged together, the second end of the first section of the clamp body forms the first connecting end; the second end of the second section of the clamp body forms the second connecting end.

8. The mobile drainage robot according to claim 1, characterized in that: The lower frame is provided with four connecting supports, which correspond to the first crawler walking mechanism, the second crawler walking mechanism, the third crawler walking mechanism and the fourth crawler walking mechanism respectively; the crawler walking mechanism comprises a crawler support, a plurality of crawler wheels and a crawler; the plurality of crawler wheels are arranged on the crawler support; the crawler is mounted on the plurality of crawler wheels; the crawler support is mounted on the connecting supports, and the crawler support can be adaptively rotated and adjusted within a set angle range relative to the connecting supports; An elastic limiting member is arranged between the crawler support and the connecting support, and the elastic limiting member can apply elastic blocking to the crawler support when the crawler support rotates to an extreme position relative to the connecting support.

9. The mobile drainage robot according to claim 8, characterized in that: A connecting block is provided on the side of the crawler bracket, and the connecting block is connected to the crawler bracket at a first connecting portion and a second connecting portion respectively, and the first connecting portion and the second connecting portion are distributed at different front and rear positions on the connecting block; The connecting block is also provided with a third connecting portion, and the third connecting portion is located between the first connecting portion and the second connecting portion; the connecting support is provided with a downwardly facing assembly recess for the third connecting portion of the connecting block to be installed; the connecting support is hingedly connected with the third connecting portion installed in the assembly recess; The elastic limiting member is arranged at the top position of the assembly recess; as the connection block rotates to the limit position relative to the connection support, the elastic limiting member comes into contact with the connection block to form an elastic barrier for the connection block.

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