Mobile drainage robot

Abstract

The present invention provides a mobile drainage robot, which relates to the technical field of emergency rescue and includes a vehicle frame assembly, a traveling mechanism, a drainage assembly, and a hydraulic power assembly. The vehicle frame assembly includes a lower vehicle frame, an upper vehicle frame, and a lifting and adjusting mechanism; the upper vehicle frame is located above the lower vehicle frame; the lifting and adjusting mechanism is arranged between the upper vehicle frame and the lower vehicle frame and can drive the upper vehicle frame to perform height adjustment relative to the lower vehicle frame to lower or raise the height of the upper vehicle frame; the traveling mechanism includes a first crawler traveling mechanism, a second crawler traveling mechanism, a third crawler traveling mechanism, and a fourth crawler traveling mechanism; the drainage assembly includes a drainage pump and a robotic arm; the drainage pump is installed on the robotic arm; the robotic arm is installed at the front of the lower vehicle frame; the hydraulic power assembly is carried and installed on the upper vehicle frame. The mobile drainage robot provided by this application optimizes the structural layout and can be adapted to the operation in narrow spaces.

Description

Technical Field

[0001] This application relates to the field of emergency rescue technology, and particularly to a mobile drainage robot. Background Art

[0002] A mobile drainage device is equipped with a water pump and can be applied to various special scenarios. It performs particularly well in emergency rescue and complex working conditions. When heavy rain causes serious waterlogging in low-lying areas and roads in cities, the mobile drainage device can quickly reach the scene for emergency drainage operations, quickly restore traffic order, and reduce the impact of waterlogging on residents' lives and property.

[0003] Currently, due to their large volume, ordinary mobile drainage devices are difficult to apply to some narrow-space scenarios, such as indoor scenarios like subways and underground garages, resulting in the difficulty of quickly eliminating flood disasters in these locations and the continuous expansion of the disaster impact. In addition, when existing mobile drainage devices encounter obstacles or complex terrain, they are difficult to pass through, such as stairs and high-step ground. Therefore, there is an urgent need in the market for a drainage device that can enter narrow spaces and has an obstacle-crossing function for drainage operations. Summary of the Invention

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

[0005] A mobile drainage robot, the mobile drainage robot includes:

[0006] A frame assembly, including a lower frame, an upper frame, and a lifting and adjusting mechanism; the upper frame is located above the lower frame; the lifting and adjusting 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 lower or raise the height of the upper frame;

[0007] A traveling mechanism, including a first crawler traveling mechanism, a second crawler traveling mechanism, a third crawler traveling mechanism, and a fourth crawler traveling mechanism; wherein, the first crawler traveling mechanism and the second crawler traveling mechanism are arranged at corresponding positions on the left and right sides of the front part of the frame assembly; the third crawler traveling mechanism and the fourth crawler traveling mechanism are arranged at corresponding positions on the left and right sides of the rear part of the frame assembly;

[0008] Drainage component, including a drainage pump and a robotic arm; the drainage pump is installed on the robotic arm; the robotic arm is installed at the front of the lower frame; the robotic arm includes a rotating arm and a first driving element; one end of the rotating arm is rotatably connected to the front of the lower frame and the rotating arm can rotate upward to a vertical state or forward to a horizontal state; the drainage pump includes 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 act;

[0009] Hydraulic power component, mounted and installed on the upper frame; the hydraulic power component 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 hydraulic oil.

[0010] 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 restricted by the four guide columns to lift in the vertical direction.

[0011] Optionally, the four guide columns specifically include a first guide column, a second guide column, a third guide column and a fourth guide column; wherein, the first guide column and the third guide column are located at diagonal positions, and the second guide column and the fourth guide column are located at diagonal positions;

[0012] The lifting and adjusting mechanism includes a first lifting oil cylinder and a second lifting oil cylinder; wherein, the first lifting oil cylinder connects the upper frame and the lower frame and is arranged near the first guide column, and the second lifting oil cylinder connects the upper frame and the lower frame and is arranged near the third guide column.

[0013] Optionally, the robotic arm further includes:

[0014] Swing arms, including a first swing arm and a second swing arm, 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;

[0015] Sliding member, slidably arranged on the rotating arm;

[0016] Connecting arms, including a first connecting arm and a second connecting arm, 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; 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;

[0017] A second driving element for driving the slider to slide along the rotating arm. As the second driving element drives the slider 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 retracted or opened relative to the rotating arm.

[0018] 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 the drainage pumps from both sides respectively;

[0019] The connecting arm is composed of a first connecting rod, a second connecting rod, a third connecting rod, and a transverse connecting member;

[0020] The first end of the first connecting rod is rotatably connected to the first side arm;

[0021] The first end of the second connecting rod is rotatably connected to the second side arm;

[0022] The first end of the third connecting rod is rotatably connected to the slider;

[0023] The second ends of the first connecting rod, the second connecting rod, and 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.

[0024] Optionally, a water pump clamping assembly is installed on the drainage pump;

[0025] The water pump clamping assembly includes: a clamp ring; the clamp ring can surround the outer peripheral surface of the water pump in a ring shape and is disconnected to form a first connection end and a second connection end, and the first connection end and the second connection end can be detachably connected together; a ring-shaped surface structure adapted to the shape of the outer peripheral surface of the water pump is provided on the inner ring surface of the clamp ring; in the radial cross-section of the clamp ring, the surface structure is of a non-planar shape and can be adapted to the shape of the outer peripheral surface of the water pump to form an axial limit;

[0026] A rotating member is provided on the first connection end, and the rotating member is rotatably assembled on the first connection end;

[0027] A connection seat is provided on the second connection end, and an open notch is provided on the connection seat; the rotating member can rotate into or out of the notch;

[0028] A nut member is assembled on the rotating member, and the nut member is installed on the rotating member by screw fit; when the rotating member rotates into the notch, the nut member can abut 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;

[0029] The clamp ring is connected to the swing arm.

[0030] Optionally, the clamp ring is formed by splicing a first section of the clamp body and a second section of the clamp body;

[0031] 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, and 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.

[0032] Optionally, four connecting supports are provided on the lower frame, corresponding to the first crawler travel mechanism, the second crawler travel mechanism, the third crawler travel mechanism, and the fourth crawler travel mechanism respectively; the crawler travel mechanism includes 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 assembled on the plurality of crawler wheels; the crawler support is assembled on the connecting support, and the crawler support can be adaptively rotated and adjusted within a set angle range relative to the connecting support;

[0033] An elastic limiting member is arranged between the crawler support and the connecting support, and the elastic limiting member can exert an elastic block on the crawler support when the crawler support rotates relative to the connecting support to the limit position.

[0034] Optionally, a connecting block is provided on the side of the crawler support, and the connecting block is connected to the crawler support 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;

[0035] A third connecting portion is further provided on the connecting block, and the third connecting portion is located between the first connecting portion and the second connecting portion; a downward assembly notch is provided on the connecting support for the third connecting portion of the connecting block to be inserted; the connecting support is hinged to the third connecting portion inserted into the assembly notch;

[0036] The elastic limiting member is arranged at the top position of the assembly notch; as the connecting block rotates relative to the connecting support to the limit position, the elastic limiting member comes into contact with the connecting block to form an elastic block on the connecting block.

[0037] The mobile drainage robot provided by this application optimizes the structural layout, can adapt to the operation in narrow spaces, and adopts the structural design of a four-track walking mechanism, enabling it to climb up and down stairs, with better passing performance and being more suitable for operations in indoor scenarios such as subways and underground parking lots.

[0038] In the first aspect, compared with ordinary mobile drainage equipment, the mobile drainage robot provided by this application can pass through narrow spaces by reducing its height, without sacrificing the passing performance of the narrow space for water-crossing operations. In addition, after the height of the upper frame is reduced, the mobile drainage robot lowers its center of gravity and travels more smoothly.

[0039] In the second aspect, this application adopts the structural design of a four-track walking mechanism. When the mobile drainage robot enters an indoor scenario for operation, the structural design of the four-track walking mechanism allows it to climb up and down stairs, making the passing performance of the mobile drainage robot better.

[0040] In the third aspect, the mobile drainage robot provided by this application arranges the drainage pump at the front of the lower frame through a robotic 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

[0041] Figure 1 is one of the structural schematic diagrams of the mobile drainage robot in the embodiment of this application.

[0042] Figure 2 is the second structural schematic diagram of the mobile drainage robot in the embodiment of this application.

[0043] Figure 3 is the third structural schematic diagram of the mobile drainage robot in the embodiment of this application.

[0044] Figure 4 is the fourth structural schematic diagram of the mobile drainage robot in the embodiment of this application.

[0045] Figure 5 is the fifth structural schematic diagram of the mobile drainage robot in the embodiment of this application.

[0046] Figure 6 is one of the structural schematic diagrams of the robotic arm in the embodiment of this application.

[0047] Figure 7 is the second structural schematic diagram of the robotic arm in the embodiment of this application.

[0048] Figure 8 is the third structural schematic diagram of the robotic arm in the embodiment of this application.

[0049] Figure 9 is the fourth structural schematic diagram of the robotic arm in the embodiment of this application.

[0050] Figure 10 It is the fifth structural schematic diagram of the robotic arm in the embodiments of the present application.

[0051] Figure 11 It is the sixth structural schematic diagram of the robotic arm in the embodiments of the present application.

[0052] Figure 12 It is the structural schematic diagram of the water pump clamping assembly in the embodiments of the present application.

[0053] Figure 13 It is Figure 12 The partial enlarged view of part A in

[0054] Figure 14 It is the structural schematic diagram of the connection between the water pump clamping assembly and the drainage pump in the embodiments of the present application.

[0055] Figure 15 It is the structural schematic diagram of the crawler traveling mechanism in the embodiments of the present application.

[0056] Figure 16 It is the structural schematic diagram of the connection support and the connection block in the embodiments of the present application.

[0057] Reference numerals: frame assembly 10, lower frame 11, first guide post 111, second guide post 112, third guide post 113, fourth guide post 114, lifting ring 115, guide post bracket 116, connection support 117, assembly notch 1171, upper frame 12, first lifting oil cylinder 131, second lifting oil cylinder 132, traveling mechanism 20, first crawler traveling mechanism 20a, second crawler traveling mechanism 20b, third crawler traveling mechanism 20c, fourth crawler traveling mechanism 20d, crawler bracket 21, connection block 211, first connection part 2111, second connection part 2112, third connection part 2113, crawler 23, elastic limiting member 24, drainage assembly 30, drainage pump 31, first drainage pump 311, second drainage pump 312, robotic 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 connection end 511, second connection end 512, first clamp body 513, second clamp body 514, clamp body 515, reinforcing rib 516, protruding structure 517, rotating member 52, holding handle 521, nut member 53, connection seat 54, notch 541. Detailed implementation manners

[0058] The following are specific embodiments of the present application, in combination with the accompanying drawings, to further describe the technical solutions of the present application. However, the present application is not limited to these embodiments. In the following description, providing specific details such as specific configurations and components is only to help comprehensively understand the embodiments of the present application. Therefore, those skilled in the art should clearly understand that various changes and modifications can be made to the embodiments described here without departing from the protection scope of the present application. In addition, descriptions of known functions and structures are omitted for clarity and conciseness.

[0059] It should be noted that, without conflict, the implementation manners and features in the implementation manners of the present application can be combined with each other.

[0060] It should be noted that the mobile drainage equipment is used for emergency drainage. The mobile drainage equipment can quickly reach the site for emergency drainage operations, quickly restore traffic order, and reduce the impact of waterlogging on residents' lives and property. At present, due to the large volume of ordinary mobile drainage equipment, it 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. For this reason, the present application provides a mobile drainage robot that can enter narrow spaces for drainage operations. The following specifically describes the mobile drainage robot in combination with the accompanying drawings.

[0061] Refer to Figures 1-4 , the mobile drainage robot includes a frame assembly 10, a traveling mechanism 20, a drainage assembly 30, and a hydraulic power assembly 40.

[0062] 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 the height relative to the lower frame 11 to lower or raise the height of the upper frame 12.

[0063] 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.

[0064] 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.

[0065] The hydraulic power assembly 40 is carried and installed on the upper vehicle 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 hydraulic oil.

[0066] The mobile drainage robot often needs to operate in water, and many of its functional components cannot be immersed in water. In the embodiment of the present 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 hydraulic oil to drive the hydraulic motors of the drainage pump and the hydraulic motors of the traveling mechanism.

[0067] Therefore, it should be understood that in order for ordinary mobile drainage equipment to operate in water, the functional components that cannot be immersed in water need to be set at a relatively high height. However, this will also increase the height of the entire equipment, resulting in its inability to enter some narrow working spaces for operation. In the embodiment of the present application, when the mobile drainage robot needs to operate in water, the lifting and adjusting mechanism can drive the upper vehicle frame 12 to lift relative to the lower vehicle frame 11, thereby raising the height of the functional components on the upper vehicle frame 12 to avoid the functional components on the upper vehicle frame 12 from being soaked in water. In addition, the lifting and adjusting mechanism can drive the upper vehicle frame 12 to lower relative to the lower vehicle frame 11 to pass through spaces with a narrow height, such as indoor scenes like subways and underground parking lots. Therefore, the lifting and adjusting mechanism can adjust the height of the equipment as needed, and is more adaptable to passing through spaces with a narrow height without affecting the water-crossing performance. Compared with ordinary mobile drainage equipment, the mobile drainage robot provided in the present application can pass through narrow spaces by reducing the height, without sacrificing the passing performance of narrow spaces for water-crossing operations. In addition, after the height of the upper vehicle 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 vehicle frame 12 is reduced can be referred to Figure 2 and Figure 4 , and the state after the height of the upper vehicle frame 12 is raised can be seen in Figure 1 and Figure 3 .

[0068] 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, adopting the structural design of a four-crawler traveling mechanism. When the mobile drainage robot enters an indoor scene for operation, the structural design of the four-crawler traveling mechanism can step up and down, making the passing performance of the mobile drainage robot better.

[0069] Further, four guiding columns are arranged on the lower frame 11, and the four guiding columns are distributed at the four corner positions of the lower frame 11; the upper frame 12 is assembled on the four guiding columns and is restricted by the four guiding columns to lift in the vertical direction. The four guiding columns specifically include a first guiding column 111, a second guiding column 112, a third guiding column 113, and a fourth guiding column 114; among them, the first guiding column 111 and the third guiding column 113 are located at diagonal positions, and the second guiding column 112 and the fourth guiding column 114 are located at diagonal positions. The lifting and adjusting mechanism includes a first lifting oil cylinder 131 and a second lifting oil cylinder 132; among them, the first lifting oil cylinder 131 connects the upper frame 12 and the lower frame 11 and is arranged at a position close to the first guiding column 111, and the second lifting oil cylinder 132 connects the upper frame 12 and the lower frame 11 and is arranged at a position close to the third guiding column 113.

[0070] When the lifting and adjusting mechanism drives the upper frame 12 to adjust the height relative to the lower frame 11, the four guiding columns can jointly guide the upper frame 12 to lift, so as to increase the stability of the upper frame 12 during the lifting and adjusting process. The first lifting oil cylinder 131 and the second lifting oil cylinder 132 are arranged at diagonal positions, which can make the force on the upper frame 12 more balanced and more stable during lifting.

[0071] Reference Figure 3 and Figure 4 , four guide post brackets 116 corresponding to the four guiding columns are further provided on the lower frame 11; the guide post brackets 116 are arranged at the side positions of the corresponding guiding columns and laterally support the guiding columns at a set height. The guide post brackets 116 are provided with socket rings at the set height, and the socket rings are sleeved on the outer periphery of the guiding columns to form lateral limits on the guiding columns. The guide post brackets 116 can exert lateral support on the guiding columns. When the guiding columns are stressed and deformed by bending, the guide post brackets 116 can resist the bending deformation of the guiding columns, increasing the ability of the guiding columns to resist external forces, thereby making the guiding columns more stable and reliable. In the Figure 3 and Figure 4 shown structure, the socket rings are arranged at the upper ends of the guide post brackets 116 and are sleeved on the outer periphery of the guiding columns. When the guiding columns are bent and deformed in any direction, they will be directly restricted and resisted by the socket rings.

[0072] Reference Figure 3 and Figure 4 , in an embodiment of the present application, lifting rings 115 are provided at the upper ends of each guiding column for lifting the whole machine. Arranging the lifting rings at the upper ends of the guiding columns here can facilitate the lifting of the whole mobile drainage robot, and the structural design is simple and reasonable.

[0073] The mobile drainage robot also has a robotic arm 32. The robotic arm 32 is installed on the lower frame 11, and the drainage pump 31 is installed on the robotic arm 32. The robotic arm 32 can adjust its posture to change the position of the drainage pump 31. The robotic arm 32 can be folded. When traveling, the robotic arm 32 folds towards the frame to a folded state. When performing drainage operations, the robotic arm 32 moves to an unfolded state to place the drainage pump 31 on it into the water. With the help of the robotic arm 32, the position of the drainage pump 31 can be adjusted, which can adapt to the driving conditions and drainage conditions, and is more convenient and flexible to use.

[0074] 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 cause the overall height of the equipment to increase. On the other hand, the drainage pump under the chassis is arranged between the crawler travel mechanisms on both sides, which needs to occupy a certain lateral space, and the interval between the crawler travel mechanisms on both sides is relatively large, which may cause the overall width of the equipment to be relatively large. The mobile drainage robot provided by this application arranges the drainage pump 31 at the front of the lower frame 11 through the robotic 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.

[0075] In summary, the mobile drainage robot provided by this application optimizes the structural layout, can reduce the occupation of height space and lateral space, is more suitable for passing through spaces with narrow height and width, and adopts the structural design of a four-crawler travel mechanism to be able to climb up and down stairs, has better passing performance, and is more suitable for operations in indoor scenarios such as subways and underground parking lots.

[0076] Reference Figures 5-8 , the robotic 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 of the lower frame 11 and the rotating arm 321 can rotate upward to a vertical state or 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.

[0077] When the mobile drainage robot is traveling, as Figure 5 and 6 shown, the first driving element 322 drives the rotating arm 321 to rotate upward to a vertical state and folds 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 spaces with narrow height and width. When the mobile drainage robot performs drainage operations, as Figure 7 and Figure 8As shown, the first driving element 322 drives the rotating arm 321 to rotate forward to a horizontal state or other angles. The first drainage pump 311 and the second drainage pump 312 extend to the front of the frame assembly 10 for drainage operations, making it more convenient and flexible to use.

[0078] The first driving element 322 can be set as a hydraulic cylinder, installed between the lower frame 11 and the rotating arm 321, and can telescopically drive the rotation and adjustment of the rotating arm 321. In Figures 5-8 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 act.

[0079] Refer to Figure 9 and Figure 10 and, the robotic 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 disposed on the rotating arm 321. The connecting arm includes a first connecting arm 325a and a second connecting arm 325b. 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.

[0080] 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 retracted or opened relative to the rotating arm 321.

[0081] When the second driving element 326 drives the slider 324 to slide along the rotating arm 321, the slider 324 drives the first swing arm 323a to rotate through the first connecting arm 325a. At the same time, it 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 expands and contracts to drive the slider 324 to move along the rotating arm 321, the slider 324 drives the first swing arm 323a and the second swing arm 323b on both sides to rotate and open to different angular positions through the first connecting arm 325a and the second connecting arm 325b on both sides, so as to adjust the angles of the first drainage pump 311 and the second drainage pump 312 on the first swing arm 323a and the second swing arm 323b, enabling the first drainage pump 311 and the second drainage pump 312 to be retracted or opened relative to the rotating arm 321.

[0082] In addition, the second driving element 326 can be set as a hydraulic cylinder, installed on the rotating arm 321, and the hydraulic power assembly 40 is a hydraulic power unit, which can be used to supply oil to drive the second driving element 326 to act.

[0083] Continue to refer to Figure 11 , the swing arm 323 is composed of a first side arm 3231 and a second side arm 3232. The first side arm 3231 and the second side arm 3232 are used to connect the drainage pump 31 from both sides respectively. 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. Among them, 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 slider 324, the second ends of the first connecting rod 3251, the second connecting rod 3252, and 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.

[0084] The first swing arm 323a, the first connecting arm 325a correspond to the first drainage pump 311, and the first swing arm 323a is composed of a first side arm 3231 and a second side arm 3232; the first connecting arm 325a is composed of a first connecting rod 3251, a second connecting rod 3252, a third connecting rod 3253, and a transverse connecting member 3254. When the second driving element 326 drives the slider 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 to adjust the angle of the first drainage pump 311.

[0085] The second swing arm 323b and the second connecting arm 325b correspond to the second drain pump 312. The second swing arm 323b is composed of a first side arm 3231 and a second side arm 3232. The second connecting arm 325b is composed of a first connecting rod 3251, a second connecting rod 3252, a third connecting rod 3253, and a 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, thereby adjusting the angle of the second drain pump 312.

[0086] With the help of the structural arrangement of the above-mentioned mechanical arm 32, the angle and posture of the drainage pump can be adjusted to switch the water pump to different water pumping angles. Figure 10 When 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 easier to install the water hose.

[0087] refer to Figures 12-14 The drainage pump 31 is equipped with a water pump clamping assembly 50. The water pump clamping assembly 50 includes a clamp ring 51 and a rotating member 52.

[0088] 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 connecting end 511 and a second connecting end 512, which can be connected together in a detachable manner; an annular surface structure that is adapted to 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 cross-section of the clamp ring 51, the surface structure is a non-flat shape, which can be adapted to the shape of the outer peripheral surface of the water pump to form an axial limit.

[0089] A rotating member 52 is rotatably mounted on the first connecting end 511. A connecting seat 54 is provided on the second connecting end 512, which has an open notch 541. The rotating member 52 can rotate into or out of the notch 541. A nut member 53 is mounted on the rotating member 52 and is threadably mounted on the rotating member 52. When the rotating member 52 rotates into the notch 541, the nut member 53 presses against the connecting seat 54 from the side of the notch 541 facing away from the first connecting end 511, causing the rotating member 52 to tighten between the first and second connecting ends 511 and 512. A clamp ring is connected to the swing arm.

[0090] Further, the clamp ring is formed by splicing a first-section clamp body 513 and a second-section clamp body 514; the first ends of the first-section clamp body 513 and the second-section clamp body 514 are hinged together, and the second end of the first-section clamp body 513 forms a first connection end 511; the second end of the second-section clamp body 514 forms a second connection end 512.

[0091] When connecting, first sleeve the clamp ring 51 on the connection position of the drainage pump, and make the surface structure in the inner circle of the clamp ring 51 combine with the outer peripheral surface of the drainage pump; then, operate the rotating member 52 on the first connection end 511 to make it rotate into the notch 541 of the second connection end 512 through rotation, and tighten the nut member 53 on the rotating member 52, so that the nut member 53 abuts 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 drainage pump. At this time, due to the non-planar shape of the surface structure and its adaptation to the outer peripheral surface shape of the drainage pump, the combination between the clamp ring 51 and the drainage pump can limit the clamp ring 51 at the fixed axial position of the drainage pump, forming a stable connection.

[0092] When disassembling, first loosen the nut member 53 on the rotating member 52 until the rotating member 52 can rotate unrestrictedly. Then, operate the rotating member 52 to make it rotate out of the notch 541 of the second connection end 512 through rotation. Finally, the clamp ring 51 can be separated from the drainage pump to complete the disassembly.

[0093] Therefore, in the embodiment of the present application, the water pump clamping assembly 50 can realize the quick disassembly and assembly of the drainage pump by means of the clamp structure, and moreover, through the adaptation of the non-planar surface structure to the outer peripheral surface shape of the drainage pump to form axial limit, a stable connection structure can be formed, so as to bear the working load of the drainage pump.

[0094] The nut member 53 and the rotating member 52 form a threaded fit for tightening the first connection end 511 and the second connection end 512, so that the clamp ring 51 is tightly combined on the drainage pump. In a specific solution, the nut member 53 is a wing nut, and the wing nut can be tightened by rotating operation. The operation is simple and convenient, and no professional tools are required, making the wing nut have obvious advantages in occasions such as emergency repair and quick assembly. In the embodiment of the present application, using the wing nut for tightening does not require professional tools, making the disassembly and assembly of the water pump clamping assembly 50 more convenient and fast.

[0095] The rotating member 52 is assembled to the first connection end 511 in a rotatable manner. In a specific solution, the rotating member 52 is hinged to the first connection end 511. During disassembly and assembly, the rotating member 52 enters or exits the notch 541 by rotation, and manual operation is required; in the embodiment of the present application, a holding handle 521 is provided at one end of the rotating member 52 away from the first connection end 511, and the operator can conveniently operate the rotation of the rotating member 52 by means of the holding handle 521.

[0096] The clamp ring 51 is used to embrace the drainage pump. During connection, the clamp ring 51 needs to be sleeved on the connection position of the drainage pump and the surface structure in the inner circle of the clamp ring 51 is combined with the outer peripheral surface of the drainage pump; during disassembly, the clamp ring 51 needs to be separated from the drainage pump. In an embodiment of the present application, the clamp ring 51 is formed by splicing a first clamp body 513 and a second clamp body 514; the first end of the first clamp body 513 and the first end of the second clamp body 514 are hinged together, and the second end of the first clamp body 513 forms the first connection end 511; the second end of the second clamp body 514 forms the second connection end 512. In this design, the first clamp body 513 and the second 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 conveniently sleeved on the drainage pump by the rotation between the first clamp body 513 and the second clamp body 514, and when disassembling, the clamp ring 51 can be conveniently removed from the drainage pump by the rotation between the first clamp body 513 and the second clamp body 514.

[0097] The clamp ring 51 is formed by splicing a first clamp body 513 and a second clamp body 514, and both the first clamp body 513 and the second clamp body 514 include a clamp body 515 and two reinforcing ribs 516. The two reinforcing ribs 516 are arranged on the outer side surface of the clamp body 515 and extend in the same direction as the clamp body 515. Here, arranging the reinforcing ribs 516 on the clamp body 515 can be used to enhance the overall structural strength of the first clamp body 513 and the second clamp body 514. Further, the rotating member 52 is hinged on the two reinforcing ribs 516 of the first clamp body 513.

[0098] A ring-shaped surface structure is provided on the inner circle surface of the clamp ring 51, and the surface structure is adapted to the shape of the outer peripheral surface of the drainage pump. In the radial cross-section of the clamp ring 51, the surface structure is a non-planar shape and can be adapted to the shape of the outer peripheral surface 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. In Figure 12 and Figure 14 In the structure shown, the surface structure is set as a convex structure 517; in Figure 14In the shown structure, the protruding structure 517 on the clamp ring 51 enters into the recessed structure on the outer peripheral surface of the water pump and combines with it 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 acts as a connecting structure between the water pump and the robotic arm frame. With the help of the water pump clamping assembly, the robotic arm frame can be used to change the position and angle of the water pump.

[0099] Reference Figure 15 and Figure 16 On the undercarriage 11, there are four connecting supports 117, which respectively correspond to the first crawler travel mechanism, the second crawler travel mechanism, the third crawler travel mechanism, and the fourth crawler travel mechanism; the crawler travel mechanism includes a crawler support 21, multiple crawler wheels, and a crawler 23; the multiple crawler wheels are arranged on the crawler support 21; the crawler 23 is assembled on the multiple crawler wheels; the crawler support 21 is assembled on the connecting support 117, and the crawler support 21 can be adaptively rotated and adjusted relative to the connecting support 117 within a set angle range. An elastic limiting member 24 is provided between the crawler support 21 and the connecting support 117, and the elastic limiting member 24 can exert an elastic block on the crawler support 21 when the crawler support 21 rotates relative to the connecting support 117 to the limit position.

[0100] Furthermore, a connecting block 211 is provided on the side of the crawler support 21. The connecting block 211 is connected to the crawler support 21 at the first connecting portion 2111 and the 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 notch 1171 is provided on the connecting support 117 for the third connecting portion 2113 of the connecting block 211 to be inserted; the connecting support 117 is hinged to the third connecting portion 2113 inserted into the assembly notch 1171; the elastic limiting member 24 is arranged at the top position of the assembly notch 1171; as the connecting block 211 rotates relative to the connecting support 117 to the limit position, the elastic limiting member 24 comes into contact with the connecting block 211 to form an elastic block on the connecting block 211.

[0101] In an exemplary structure, the crawler wheel includes: a driving wheel, a guiding wheel, at least one supporting wheel, and a tensioning mechanism; the tensioning mechanism acts on the guiding wheel to tension the crawler; the driving wheel and the guiding wheel are respectively located on both sides, and the supporting wheels are located between the driving wheel and the guiding wheel. Further, a driving source is configured for each driving wheel of the crawler traveling mechanism. The crawler traveling mechanism can be driven by a hydraulic system, and the driving source can be set as a hydraulic motor, which is driven by the hydraulic power component 40 to supply oil. Specifically, the crawler is a flexible chain link, which is driven by the driving wheel and surrounds the driving wheel, the supporting wheels, and the guiding wheel; the tensioning mechanism acts on the guiding wheel to tension the crawler; the supporting wheels are used to support the load of the chassis. It should be understood that the structure of the above crawler traveling mechanism is only exemplary, and its structure can be designed according to actual needs in actual products.

[0102] The elastic limiting member 24 can exert an elastic block on the crawler bracket 21 when the crawler bracket 21 rotates relative to the connecting support 117 to the limit position. Specifically, the elastic limiting member 24 is made of an elastic material and can provide a rebound force when being extruded. Therefore, when the crawler bracket 21 rotates to the limit position, the crawler bracket 21 can squeeze the elastic limiting member 24, and the elastic limiting member 24 exerts a reverse buffer elastic force on the crawler bracket 21 to block the further rotation of the crawler bracket 21. Thus, on the one hand, the elastic limiting member 24 can limit the limit position of the crawler bracket 21 to ensure that the crawler bracket 21 remains within a set angle range relative to the connecting support 117; on the other hand, the elastic limiting member 24 can provide a reverse elastic force and can play a buffering role on the crawler bracket 21.

[0103] The connecting block 211, as an intermediate structure for connection, can be regarded as a part of the crawler bracket 21. The first connecting part 2111, the second connecting part 2112, and the third connecting part 2113 are provided thereon, and the third connecting part 2113 is located between the first connecting part 2111 and the second connecting part 2112. Among them, the first connecting part 2111 and the second connecting part 2112 are used to connect with the crawler bracket 21, and the third connecting part 2113 is used to connect with the connecting support 11. When connecting, the third connecting part 2113 of the connecting block 211 is inserted upward into the assembly notch 12 of the connecting support 11 and an articulated relationship is set. At this time, the connecting block 211 can rotate freely around the articulated part. The above connecting structure forms a rotational connection relationship between the crawler bracket 21 and the connecting support 11, and the above connecting structure is compact and reliable.

[0104] The elastic limiting member 24 is located at the top of the assembly notch 12 and above the connecting block 211; when the connecting block 211 rotates forward or backward to the limit position, it will contact the elastic limiting member 24, thereby squeezing the elastic limiting member 24 and prompting the elastic limiting member 24 to generate a reverse elastic force to achieve buffering.

[0105] In an embodiment of the present application, the elastic limiting member 24 is a block structure and is fixed at the top position of the assembly notch 12 in a detachable manner. Therefore, when the elastic limiting member 24 is damaged, the elastic limiting member 24 can be replaced. In a specific solution, the elastic limiting member 24 is fixed at the top position of the assembly notch 12 by bolts.

[0106] In an embodiment of the present application, the connecting block 211 is bolted to the crawler bracket 21 at the first connecting portion 2111 and the second connecting portion 2112 respectively. Specifically, the connecting block 211 is connected to the connecting support 11 at the third connecting portion 2113, and the first connecting portion 2111 and the second connecting portion 2112 are distributed on both sides of the third connecting portion 2113, which can keep the connecting block 211 balanced when bearing the load.

[0107] In the above embodiments of the present application, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Claims

1. A mobile drainage robot, characterized in that: The mobile drainage robot comprises: The frame assembly includes a lower frame, an upper frame, and a lifting adjustment mechanism; the upper frame is located above the lower frame; the lifting 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 lower or raise the height of the upper frame; The walking mechanism includes 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 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 of the frame assembly; A drainage assembly includes a drainage pump and a mechanical arm; the drainage pump is mounted on the mechanical arm; the mechanical arm is mounted on the front of the lower frame; the mechanical arm includes a rotating arm and a first driving element; one end of the rotating arm is rotatably connected to the front 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 includes 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 mounted on the upper frame; the hydraulic power assembly includes a drive device, a hydraulic pump, and a hydraulic oil tank; the drive device is used to drive the hydraulic pump to output pressurized oil; 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 includes a crawler frame, a plurality of crawler wheels, and a crawler; the plurality of crawler wheels are arranged on the crawler frame; the crawler is assembled on the plurality of crawler wheels; the crawler frame is assembled on the connecting supports, and the crawler frame can be adaptively rotated and adjusted within a set angle range relative to the connecting supports; An elastic limiting member is provided between the track support and the connecting support, and the elastic limiting member can apply elastic resistance to the track support when the track support rotates to an extreme position relative to the connecting support.

2. The mobile drainage robot according to claim 1, characterized in that: The lower frame is provided with four guide columns, which 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 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 further comprises: The swing arm includes 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; and 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. 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 drainage pump is equipped with a water pump clamping assembly; The water pump clamping assembly includes: a clamp ring; the clamp ring can be annularly encircled on the outer peripheral surface of the water pump and can be separated to form a first connection end and a second connection end, and the first connection end and the second connection end can be detachably connected together; an annular surface structure that adapts to the shape of the outer peripheral surface of the water pump is provided on the inner ring surface of the clamp ring; in the radial cross section of the clamp ring, the surface structure is a non-flat shape that can adapt to the shape of the outer peripheral surface of the water pump to form an axial limit; A rotating member is provided on the first connecting end, and the rotating member is rotatably assembled 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, which is mounted on the rotating member by threaded engagement; when the rotating member rotates into 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.

6. The mobile drainage robot according to claim 5, 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.

7. The mobile drainage robot according to claim 1, characterized in that: A connecting block is provided on the side of the crawler frame, and the connecting block is connected to the crawler frame 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 further provided with a third connecting portion, the third connecting portion being located between the first connecting portion and the second connecting portion; the connecting support is provided with a downwardly facing assembly recess for receiving the third connecting portion of the connecting block; the connecting support is hingedly connected to the third connecting portion received in the assembly recess; The elastic limiting member is arranged at the top position of the assembly recess; as the connecting block rotates to the limit position relative to the connecting support, the elastic limiting member comes into contact with the connecting block to form an elastic barrier for the connecting block.

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