A manipulator for urban municipal sidewalk ditch maintenance operations

Abstract

The present invention relates to the technical field of ditch maintenance operations, and discloses a manipulator for urban municipal sidewalk ditch maintenance operations, comprising a base and a gear disc rotatably arranged on the outer side thereof, a motor being fixed to one side of the base through a connecting component, a driving end of the motor being connected to a first gear, and the first gear being meshed with the gear disc, a manipulator arm being fixed on the gear disc, a bucket being provided at one end of the manipulator arm, and a plurality of bucket teeth being fixed at the end of the bucket to maintain the ditch, characterized in that it also comprises: a rotation adjustment part, which is provided between the bucket and the manipulator arm; a branch cutting part, which is provided on the bucket, close to the end, and connected to the rotation adjustment part; a crushing part, which passes through the bucket tooth arrangement, and is transmission-connected to the branch cutting part; the present invention integrates bucket rotation adjustment, a high-speed cutting mechanism, and a rock crushing assembly, so that the manipulator can synchronously complete sludge removal, branch cutting, and rock crushing, and efficiently deal with various obstacles in the ditch in a single operation.

Description

Technical Field

[0001] The present invention relates to the technical field of ditch maintenance operations, and in particular to a manipulator for urban municipal sidewalk ditch maintenance operations. Background Art

[0002] Urban sidewalk ditches often face poor drainage due to sludge accumulation, tree branch intrusion, and rock accumulation, necessitating periodic maintenance. Existing maintenance equipment often uses single-function robotic arms and buckets, or robotic arms and cutting tools, to perform ditch maintenance. However, faced with a mix of sludge, tree branches, and large, hardened rocks, manual cleaning or repeated equipment replacement are required, making the operation cumbersome and inefficient. For example, traditional buckets struggle to remove embedded branches and large rocks, while cutting tools are unable to simultaneously clear sludge. Furthermore, residual, adherent sludge requires additional cleaning steps, further extending the operation cycle. Existing technologies lack an integrated solution, resulting in high maintenance costs and significant safety hazards.

[0003] Existing ditch maintenance equipment is unable to efficiently handle various types of complex debris such as sludge, branches and rocks in a single operation. It needs to rely on multiple equipment switching and manual intervention for cleaning, resulting in low operation efficiency and inconvenient ditch maintenance. Summary of the Invention

[0004] The present invention provides a manipulator for urban municipal sidewalk ditch maintenance operations, which can efficiently deal with various obstacles in the ditch in a single operation, significantly reducing equipment switching and manual intervention cleaning, and improving maintenance efficiency, safety and convenience of ditch maintenance.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0006] In a first aspect, a manipulator for urban municipal sidewalk ditch maintenance operations includes a base and a geared disc rotatably disposed on the outer side of the base, a motor is fixed to one side of the base via a connecting component, a driving end of the motor is connected to a first gear, and the first gear is meshed with the geared disc, a manipulator arm is fixed to the geared disc, a bucket is provided at one end of the manipulator arm, and a plurality of bucket teeth are fixed to the end of the bucket for ditch maintenance, and further includes: an inclined rubber ring and a square tube;

[0007] The rotating part is provided between the bucket and the mechanical arm to rotate and adjust the bucket;

[0008] The branch cutting part is arranged on the bucket and is close to the end thereof and is connected to the rotating part so as to be driven by the rotating part to cut off the branches;

[0009] The crushing part is arranged through the bucket teeth and is in driving connection with the cutting part, so as to cooperate with the cutting part and the rotating part to crush the rocks in the water channel;

[0010] The rotation adjustment part includes a push-rotate member and an adjustment member, wherein the push-rotate member is provided at the end of the mechanical arm and supports the bucket, and the adjustment member is connected to the push-rotate member to adjust the driving target;

[0011] The branch cutting part includes a driving and adjusting member and a swinging and cutting member, wherein the swinging and cutting member is arranged on the bucket, the driving and adjusting member is rotatably arranged at one end of the swinging and cutting member and is connected to the adjusting member, wherein the driving and adjusting member is provided with an adjusting part;

[0012] The crushing part includes a pushing member and a biting member. The pushing member is arranged outside the driving member, and the biting member is elastically connected and arranged in the bucket tooth and connected to the pushing member.

[0013] The push-rotating member comprises:

[0014] The second gear is rotatably connected to one end of the mechanical arm and is fixedly connected to the bucket through a connecting member;

[0015] The servo motor is fixed to the outside of the robotic arm through a connecting component;

[0016] a third gear, disposed at one end of the servo motor and meshing with the second gear;

[0017] The adjusting member includes: a remote control electric rod fixed to the driving end of the servo motor, passing through the center of the third gear and being rotationally connected to the third gear; a bevel rubber wheel fixed to one end of the connecting rod and in contact with the bevel rubber ring;

[0018] The drive and adjustment member includes: a rotary tube, which is rotatably arranged on the bucket through a connecting member; a sleeve, which is rotatably connected to the end of the rotary tube;

[0019] The swing cutting member includes: a swing rope symmetrically arranged in the square tube;

[0020] The cutting piece includes: a plurality of conical teeth corresponding to the positions of the bucket teeth.

[0021] Furthermore, it is characterized in that the adjusting member further includes:

[0022] A turntable is fixed to the telescopic end of the remote control electric lever and is located between the third gear and the bucket;

[0023] The oblique rubber ring is fixed on the side of the turntable away from the bucket;

[0024] Connecting rod, rotated through the bucket setting;

[0025] The inclined rubber wheel is fixed on one end of the connecting rod.

[0026] Furthermore, it is characterized in that the drive and adjustment member further includes:

[0027] a second helical gear fixed to the end of the sleeve;

[0028] a first helical gear meshing with the second helical gear and connected to the other end of the connecting rod;

[0029] The adjusting part is arranged in the sleeve and plugged into the spiral tube.

[0030] Furthermore, it is characterized in that the adjusting part includes:

[0031] The remote control telescopic rod is welded to the inner side of the sleeve through the connecting parts;

[0032] There are two sockets, one of which is opened at one end of the spiral tube;

[0033] There are two plugs with an inclined angle, which are arranged at both ends of the remote control telescopic rod, one of which is directly welded to the telescopic end of the remote control telescopic rod, and the other is connected to the telescopic end of the remote control telescopic rod through a connecting component.

[0034] Furthermore, it is characterized in that the cutting piece includes:

[0035] The rotating rod is symmetrically arranged on the inner side of the square tube;

[0036] There are two square tubes, which pass through the spiral tube and are symmetrically arranged and located on the outside of the rotating rod;

[0037] There are multiple elastic ropes, which are symmetrically arranged in the spiral tube, with one end fixed to the inner wall of the spiral tube and the other end fixed to the rotary rod;

[0038] The swing rope is wound around the outside of the rotating rod, and one end is connected to the rotating rod;

[0039] The counterweight is symmetrically arranged throughout the square tube and is connected to the other end of the swing rope.

[0040] Furthermore, it is characterized in that the pushing member includes:

[0041] Through-mouth, opened through the bucket teeth;

[0042] Movable groove, set on the bucket teeth;

[0043] A through hole is provided in the bucket tooth and is connected with the through port and the movable groove;

[0044] Push parts through openings, movable slots and through-hole settings.

[0045] Furthermore, it is characterized in that the pushing part includes:

[0046] The cam is sleeved on the outer side of the sleeve and is fixedly connected;

[0047] An L rod is disposed in the movable groove;

[0048] The abutment plate is fixed to the upper end of the L rod and extends through the movable slot to one side of the cam.

[0049] Furthermore, it is characterized in that the cutting member includes:

[0050] The spring is sleeved on the outside of the L-rod, and one end of the spring is fixed to the inner wall of the bucket tooth;

[0051] A push plate is provided on the inner side of the through opening and is connected to the end of the L-rod away from the abutment plate;

[0052] The bevel gear is fixed on one side of the push plate.

[0053] Furthermore, it is characterized in that it further comprises: a scraping part, which is arranged in the bucket to scrape the bucket, the scraping part comprises a pulling guide and an executive member, the executive member is located inside the bucket, the pulling guide is arranged on the bucket and is connected to the executive member and the drive member, the pulling guide comprises:

[0054] A T-tube is rotatably connected to the inner side of the second bevel gear and has another socket formed at one end close to the spiral tube;

[0055] The track is fixed to the bucket through a fixing member;

[0056] A pull rope is provided through one end of the track, and one end of the pull rope is connected to the T-tube;

[0057] The actuator includes a scraper, which is arranged in the bucket, can be elastically extended and retracted, is connected to the track guide through a guide component, and is connected to the other end of the pull rope through the guide component.

[0058] The above solution of the present invention includes at least the following beneficial effects:

[0059] By setting up the rotating part, branch cutting part and crushing part to integrate the bucket rotation adjustment, high-speed cutting mechanism and rock crushing components, the robot arm can simultaneously complete sludge removal, branch cutting and rock crushing, and efficiently deal with various obstacles in the ditch in a single operation, significantly reducing equipment switching and manual intervention, and improving maintenance efficiency, safety and convenience of ditch maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of the overall three-dimensional structure of a manipulator for urban municipal sidewalk ditch maintenance operations provided by an embodiment of the present invention;

[0061] Figure 2 Provides a three-dimensional exploded view of a bucket, a servo motor, and a rotating shaft for an embodiment of the present invention;

[0062] Figure 3 A three-dimensional exploded view of the servo motor, remote control electric rod, and inclined rubber ring provided in an embodiment of the present invention;

[0063] Figure 4 A three-dimensional diagram of a connecting rod, a bevel rubber wheel, and a first bevel gear provided in an embodiment of the present invention;

[0064] Figure 5 A cross-sectional plan view of a coil and a sleeve according to an embodiment of the present invention;

[0065] Figure 6 A three-dimensional exploded view of the T-tube, second bevel gear, remote control telescopic rod, cam and sleeve provided in an embodiment of the present invention;

[0066] Figure 7 A three-dimensional diagram of a spiral tube and a square tube provided in an embodiment of the present invention;

[0067] Figure 8 A cross-sectional plan view of a bucket tooth and a push plate provided in an embodiment of the present invention;

[0068] Figure 9 The embodiment of the present invention provides Figure 2 Schematic diagram of the structure at A in FIG;

[0069] Figure 10 The embodiment of the present invention provides Figure 2 Schematic diagram of the structure at B in FIG;

[0070] Figure 11 A three-dimensional exploded view of the abutment plate, cam, spring, and push plate provided in an embodiment of the present invention;

[0071] Figure 12 The embodiment of the present invention provides Figure 2 Schematic diagram of the structure at C in FIG;

[0072] Figure 13 A three-dimensional exploded view of the track, pull rope and guide component combination provided in an embodiment of the present invention.

[0073] Description of reference numerals:

[0074] In the figure: 1. Base; 2. Gear plate; 3. Motor; 4. First gear; 5. Robotic arm; 6. Bucket; 7. Rotating shaft; 8. Second gear; 9. Fixed plate; 10. Servo motor; 11. Remote control electric rod; 12. Third gear; 13. Turntable; 14. Bevel rubber ring; 15. Bevel rubber wheel; 16. Connecting rod; 17. First bevel gear; 18. Fixed plate; 19. Rotary tube; 20. Sleeve; 21. Second bevel gear; 22. Remote control telescopic rod; 23. Socket; 24. Connecting plate; 25. Socket Head; 26. Square tube; 27. Rotary rod; 28. Elastic rope; 29. Swing rope; 30. Counterweight; 31. Cam; 32. Bucket tooth; 33. Through port; 34. Movable slot; 35. Through hole; 36. L-rod; 37. Push plate; 38. Conical teeth; 39. Spring; 40. Back plate; 41. T-tube; 42. Track; 43. Pull rope; 44. Guide block; 45. Connecting rod; 46. Scraper; 47. Telescopic rod; 48. Spring; 49. Rubber folding plate; 50. Oblique folding plate; 51. Controller. DETAILED DESCRIPTION

[0075] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0076] like Figures 1 to 13 As shown, an embodiment of the present invention provides a manipulator for urban municipal sidewalk ditch maintenance operations, comprising a base 1 and a toothed disc 2 rotatably arranged on the outer side thereof. A motor 3 is fixed to one side of the base 1 via a connecting component. The driving end of the motor 3 is connected to a first gear 4, and the first gear 4 is engaged with the toothed disc 2. A manipulator arm 5 is fixed to the toothed disc 2. A bucket 6 is provided at one end of the manipulator arm 5. A plurality of bucket teeth 32 are fixed to the end of the bucket 6 to maintain the ditch. The manipulator arm 5 also includes:

[0077] The adjusting part is provided between the bucket 6 and the mechanical arm 5 to rotate and adjust the bucket 6;

[0078] The branch cutting part is provided on the bucket 6 and is close to the end thereof and is connected to the rotary part so as to be driven by the rotary part to cut off the branches;

[0079] The crushing part is provided through the bucket teeth 32 and is in driving connection with the branch cutting part, so as to cooperate with the branch cutting part and the rotating part to crush the rocks in the water channel;

[0080] The adjusting part includes a push-rotating member and an adjusting member. The push-rotating member is provided at the end of the mechanical arm 5 and supports the bucket 6. The adjusting member is connected to the push-rotating member to adjust the driving target.

[0081] The branch cutting part includes a driving and adjusting member and a swinging and cutting member. The swinging and cutting member is arranged on the bucket 6. The driving and adjusting member is rotatably arranged at one end of the swinging and cutting member and is connected to the adjusting member.

[0082] The biting part includes a pushing member and a biting member. The pushing member is arranged outside the driving member, and the biting member is elastically connected to the bucket tooth 32 and connected to the pushing member.

[0083] Specifically, a controller 51 is installed on the base 1 through a fixing component. The base 1 can provide a through channel for the fixing component, and can provide rotational support for the gear disc 2, and can firmly support the motor 3 through the connecting component. When the motor 3 is started, it will drive the first gear 4 to rotate, and the first gear 4 can use the meshing action to push the gear disc 2 to rotate. The gear disc 2 can provide support for the robotic arm 5, and the robotic arm 5 can provide support for the bucket 6 through the connecting component, and can adjust the position of the bucket 6 under the control of the controller 51.

[0084] During the actual application of this embodiment: the staff can use the fixing parts to fix the base 1 on the mobile vehicle, so that the vehicle can drive the manipulator to move near the urban sidewalk ditch. The staff can operate the controller 51 as needed to control the manipulator 5 to bend or stretch to adjust the angle, thereby driving the bucket 6 to move, and at the same time control the motor 3 to operate so that it drives the first gear 4 to rotate with the driving end, so that the first gear 4 can use the rotational power and meshing action to drive the second gear 8 to rotate, and then the second gear 8 drives the manipulator 5 and the bucket 6 to rotate horizontally to adjust the position, so that the bucket 6 can be inserted into the ditch to shovel the sludge and garbage in the ditch, and the bucket 6 can be moved out of the ditch and the shoveled sludge and garbage can be dumped for disposal, so as to perform maintenance on the sidewalk ditch.

[0085] As a preferred embodiment of the present invention, the push-rotating member includes:

[0086] The second gear 8 is rotatably connected to one end of the mechanical arm 5 and is fixedly connected to the bucket 6 through a connecting component;

[0087] The servo motor 10 is fixed to the outside of the robot arm 5 through a connecting component;

[0088] The third gear 12 is disposed at one end of the servo motor 10 and meshes with the second gear 8 .

[0089] Specifically, a fixed plate 9 is welded to the side of the second gear 8 away from the robotic arm 5, and the fixed plate 9 is connected to the bucket 6 through a fixing component. A rotating shaft 7 is fixed to the end of the robotic arm 5, and the rotating shaft 7 is rotatably connected to the second gear 8. It can provide support for the second gear 8 under the support of the robotic arm 5, and the robotic arm 5 can provide stable support for the servo motor 10.

[0090] Adjustment parts include:

[0091] The remote control electric rod 11 is fixed to the driving end of the servo motor 10, passes through the center of the third gear 12, and is rotationally connected to the third gear 12;

[0092] The turntable 13 is fixed to the telescopic end of the remote control electric rod 11 and is located between the third gear 12 and the bucket 6;

[0093] The oblique rubber ring 14 is fixed on the side of the turntable 13 away from the bucket 6;

[0094] Connecting rod 16, rotatably extending through bucket 6;

[0095] The inclined rubber wheel 15 is fixed to one end of the connecting rod 16 and contacts the inclined rubber ring 14 .

[0096] Specifically, the remote control electric rod 11 is rechargeable and can be remotely extended and retracted by the controller 51, and can provide rotational support for the third gear 12 with the support of the servo motor 10. After the servo motor 10 is started, the driving end will be used to drive the remote control electric rod 11 to rotate, so that the remote control electric rod 11 can drive the turntable 13 to rotate. The turntable 13 can provide support for the bevel rubber ring 14. The bevel rubber ring 14 and the bevel rubber wheel 15 have an inclination angle and are made of rubber, which is relatively rough. The bucket 6 can provide rotational support for the connecting rod 16, so that the connecting rod 16 can provide support for the bevel rubber wheel 15.

[0097] When the shovel 6 is in a state of rotation and engagement with the rotating shaft 7, the operator can rotate the shovel 6 with the shovel 6 at a desired angle, thereby adjusting the angle of the shovel 6. When the shovel 6 is in a state of rotation and engagement with the rotating shaft 7, the operator can rotate the shovel 6 with the shovel 6 at a desired angle, thereby adjusting the angle of the shovel 6. When the shovel 6 is in a state of rotation and engagement with the rotating shaft 7, the operator can rotate the shovel 6 with the shovel 6 at a desired angle, thereby adjusting the angle of the shovel 6.

[0098] As a preferred embodiment of the present invention, the drive and adjustment member includes:

[0099] The spiral tube 19 is rotatably mounted on the bucket 6 via a connecting member;

[0100] Sleeve 20, rotatably connected to the end of coil 19;

[0101] The second helical gear 21 is fixed to the end of the sleeve 20;

[0102] The first helical gear 17 is meshed with the second helical gear 21 and connected to the other end of the connecting rod 16;

[0103] The adjusting part is disposed in the sleeve 20 and is plugged into the coil 19 .

[0104] Specifically, the bucket 6 is symmetrically welded with a fixed plate 18, and the fixed plate 18 is rotatably connected to the rotary tube 19. The fixed plate 18 can provide rotational support for the rotary tube 19, and the rotary tube 19 can firmly support the square tube 26 and provide rotational support for the sleeve 20. The sleeve 20 can provide stable support for the second bevel gear 21. The connecting rod 16 can provide support for the first bevel gear 17, and the first bevel gear 17 can use the meshing action to cooperate with the rotational power to drive the second bevel gear 21 to rotate.

[0105] Adjustment parts include:

[0106] Remote control telescopic rod 22, welded to the inner side of the sleeve 20 through the connecting member;

[0107] There are two sockets 23, one of which is opened at one end of the coil 19;

[0108] There are two plugs 25 with an inclined angle, which are set at both ends of the remote control telescopic rod 22. One of them is directly welded to the telescopic end of the remote control telescopic rod 22, and the other is connected to the telescopic end of the remote control telescopic rod 22 through a connecting component.

[0109] Specifically, the sleeve 20 can provide stable support for the remote control telescopic rod 22 through the connecting parts. The remote control telescopic rod 22 can adjust the telescopic position of the telescopic end under the control of the controller 51. The coil 19 can provide an opening space for the socket 23. The plug 25 can be inserted into the inner side of the socket 23 and fit with it, and then external force can be used to push the coil 19 to rotate.

[0110] The cutting parts include:

[0111] The rotating rod 27 is symmetrically arranged on the inner side of the square tube 26;

[0112] There are two square tubes 26 that pass through the spiral tube 19 and are symmetrically arranged and located on the outside of the rotary rod 27;

[0113] There are multiple elastic cords 28, which are symmetrically arranged in the spiral tube 19, with one end fixed to the inner wall of the spiral tube 19 and the other end fixed to the rotary rod 27;

[0114] The swing rope 29 is symmetrically arranged in the square tube 26 and is wound around the outside of the rotating rod 27, with one end connected to the rotating rod 27;

[0115] The counterweight 30 is symmetrically arranged through the square tube 26 and is connected to the other end of the swing rope 29.

[0116] Specifically, the coil 19 can provide rotational support for the rotary rod 27, and the coil 19 and the square tube 26 can provide rotation space for the rotary rod 27. The rotary rod 27 and the coil 19 can provide support for the elastic rope 28, and the rotary rod 27 can provide support for the swing rope 29, and can provide winding and wrapping space for the swing rope 29 and the elastic rope 28. The counterweight 30 can use centrifugal force to pull the swing rope 29. The elastic rope 28 is elastic and can be stretched and deformed under the action of external force. It will rebound after the external force disappears. The swing rope 29 is made of high molecular weight polyethylene, which is high strength, lightweight, water-resistant and UV-resistant, and is suitable for high-speed rotation and repeated winding.

[0117] In actual application of this embodiment, when there are branches fallen from trees in the ditch that are difficult to be shoveled by the bucket 6, the staff needs to control the remote control electric rod 11 to extend, so that it uses the telescopic end to push the turntable 13 to move away from the third gear 12, so that the turntable 13 drives the inclined rubber ring 14 to move together, so that the inclined rubber ring 14 is separated from the third gear 12 and contacts the inclined rubber wheel 15 at an inclined angle, and then controls the servo motor 10 to operate, so that it drives the remote control electric rod 11 and the turntable 13 to rotate, so that the turntable 13 can drive the inclined rubber ring 14 to move. The ring 14 rotates together. At this time, the bevel rubber ring 14 is separated from the third gear 12 and will not drive the third gear 12 to rotate. Then, the bevel rubber ring 14 uses the rotational power and friction force to push the bevel rubber wheel 15 to rotate, so that the bevel rubber wheel 15 drives the connecting rod 16 to rotate under the support of the bucket 6. At the same time, the connecting rod 16 drives the first bevel gear 17 to rotate, so that the first bevel gear 17 can use the rotational power and meshing action to push the second bevel gear 21 to rotate, so that the second bevel gear 21 drives the sleeve 20 to rotate under the support of the spiral tube 19. At the same time, the sleeve 2 0 will drive the remote control telescopic rod 22 to rotate together, and the remote control telescopic rod 22 will drive the plug 25 and the connecting plate 24 to rotate together, so that the plug 25 uses the fit with the socket 23 to push the spiral tube 19 to rotate under the support of the fixed plate 18, so that the spiral tube 19 can use the rotational power to drive the square tube 26, the counterweight 30 and the rotating rod 27 to rotate together. During the rotation process, the counterweight 30 will use the centrifugal force generated by the rotation to pull the swing rope 29 in the direction away from the rotating rod 27, so that the swing rope 29 pulls the rotating rod 27 to rotate under the support of the spiral tube 19, and the swing rope 29 will pass through the square tube 26 and move out to the outside, and keep rotating with the square tube 26 and the round tube together with the counterweight 30. At the same time, the rotary rod 27 will stretch and reel the elastic rope 28 during the rotation process, so that the elastic rope 28 can be rotated and reeled by the rotary rod 27 and stretched to store energy under the support of the round tube. At the same time, the staff needs to adjust the mechanical arm 5 to move the bucket 6 so that the rotating rope 29 can contact the branches in the ditch, and then the rope 29 can use the rotational power to hit and cut off the branches, so that the branches can be smoothly shoveled by the bucket 6, providing convenience for ditch maintenance.

[0118] In another preferred embodiment of the present invention, the pusher comprises:

[0119] A through opening 33 is provided through the bucket tooth 32;

[0120] A movable groove 34 is provided on the bucket tooth 32;

[0121] A through hole 35 is provided in the bucket tooth 32 and is in communication with the through opening 33 and the movable groove 34;

[0122] The push part is provided through the through opening 33 , the movable groove 34 and the through hole 35 .

[0123] Specifically, the bucket tooth 32 can provide opening space for the through-port 33, the movable groove 34 and the through-hole 35. The through-hole 35 can provide a through-channel for the L-rod 36, while the through-port 33 can provide movement and guiding space for the push plate 37, and the movable groove 34 can provide movement space for the push plate 40.

[0124] The sliding parts include:

[0125] The cam 31 is sleeved on the outside of the sleeve 20 and is fixedly connected;

[0126] L rod 36, disposed in the movable slot 34;

[0127] The abutment plate 40 is fixed to the upper end of the L-shaped rod 36 and extends through the movable slot 34 to one side of the cam 31 .

[0128] Specifically, the sleeve 20 can provide a stable support for the cam 31 and can drive the cam 31 to rotate together. The cam 31 can use the rotational power and its own structure to periodically push the plate 40, so that the plate 40 can push the L rod 36 to move together.

[0129] The cutting parts include:

[0130] The spring 39 is sleeved on the outside of the L-bar 36 and one end of the spring is fixedly connected to the inner wall of the bucket tooth 32;

[0131] The push plate 37 is provided inside the through opening 33 and connected to the end of the L-shaped rod 36 away from the abutment plate 40;

[0132] There are multiple bevel teeth 38 , which are fixed on one side of the push plate 37 and correspond to the positions of the bucket teeth 32 .

[0133] Specifically, the L rod 36 can provide support for the spring 39, and the L rod 36 can use external force to push the push plate 37 to move along the through opening 33. When the push plate 37 moves, it will pull one end of the spring 39, so that the spring 39 is stretched and energy is stored under the support of the bucket tooth 32. When the external force applied to the L rod 36 disappears, the spring 39 will use the rebound force to pull the push plate 37 to return to its original position, and the push plate 37 can drive the bevel tooth 38 to move together. One end of the bevel tooth 38 is relatively sharp.

[0134] In the actual application of this embodiment, when there are rocks in the ditch that are difficult to be removed by the bucket 6, the staff needs to operate the controller 51 to control the telescopic end of the remote control telescopic rod 22 to extend by two tenths of the length (such as Figure 5 The telescopic end of the remote control telescopic rod 22 is shown to be extended by one tenth of the length, so that the remote control telescopic rod 22 can use the telescopic end to push the connecting plate 24 and the two plugs 25 to move together in a direction away from the spiral tube 19, so that the plugs 25 can be pulled out from the socket 23 opened at one end of the spiral tube 19, so that both plugs 25 are not inserted into the socket 23, and the sleeve 20 cannot drive the spiral tube 19 and the T-tube 41 to rotate through the remote control telescopic rod 22 and the plug 25. Then the staff needs to control the mechanical arm 5 and the servo motor 10 and the remote control electric rod 11 to adjust the position of the bucket 6, so that the bucket 6 can move together with the bucket teeth 32 under the drive of the mechanical arm 5, so that the bucket teeth 32 drive the push plate 37 and the bevel teeth 38 to move, so that the bevel teeth 38 are against the rocks in the ditch. , and controls the remote control electric rod 11 to extend, and at the same time starts the servo motor 10, so that the second bevel gear 21 can drive the sleeve 20 and the cam 31 to rotate together under the support of the spiral tube 19, and then the cam 31 uses its own protruding end and rotational power to periodically push the push plate 40, so that the push plate 40 reciprocates inside the movable groove 34, and at the same time the push plate 40 drives the L rod 36 to pass through the through hole 33 to reciprocate, so that the L rod 36 can push the push plate 37, and at the same time the push plate 37 stretches the elastic force to store energy, and when the cam 31 is no longer in contact with the push plate 40, the rebound force pulls the push plate 37 and the push plate 40 to reset, so that the push plate 37 can drive the bevel gear 38 to reciprocate together, and use the external force of the reciprocating movement and the sharp end of the bevel gear 38 to impact and crush the rocks in the ditch;

[0135] Furthermore, the staff can continuously control the mechanical arm 5 to adjust the height of the bucket 6 so that the bucket 6 continuously applies pressure to the rocks through the bucket teeth 32 and the bevel teeth 38, thereby facilitating the crushing of the rocks in the ditch so that the bucket 6 can shovel up and remove the rocks in the ditch.

[0136] As a preferred embodiment of the present invention, the scraping part is arranged in the bucket 6 to scrape the bucket 6. The scraping part includes a pull guide and an actuator. The actuator is located inside the bucket 6. The pull guide is arranged on the bucket 6 and is connected to the actuator and the drive member. The pull guide includes:

[0137] The T cylinder 41 is rotatably connected to the inner side of the second bevel gear 21 and has another socket 23 at one end close to the coil 19;

[0138] The track 42 is fixed to the bucket 6 by a fixing member;

[0139] A pull rope 43 is provided through one end of the track 42, and one end of the pull rope 43 is connected to the T-tube 41;

[0140] The actuator includes a scraper 46 , which is arranged in the bucket 6 , is elastically retractable, and is connected to the track 42 through a guide component, and is connected to the other end of the pull rope 43 through the guide component.

[0141] Specifically, the pulling guide also includes: the inner moving guide of the track 42 is provided with a guide block 44, the edge of the guide block 44 has a curvature, and a connecting rod 45 is welded on one side of the guide block 44, and the connecting rod 45 passes through the track 42 and is welded to the scraper 46; the actuator also includes: there are two scrapers 46, and they are in contact with the inner wall of the bucket 6; the telescopic rod 47, the fixed end of which is welded to the scraper 46; the spring 48, one end of which is welded to the telescopic end of the telescopic rod 47, and the other end of which is welded to the fixed end of the telescopic rod 47; the rubber folding plate 49, which is arranged between the two scrapers 46, and is fixed to the scraper 46, and is located below the telescopic end of the telescopic rod 47; the oblique folding plate 50, which is fixed below the rubber folding plate 49, and is in contact with the inner side of the bottom wall of the bucket 6.

[0142] The second bevel gear 21 can provide rotational support for the T-tube 41, and the T-tube 41 can provide a winding space for the pull rope 43, and the T-tube 41 cooperates with the second bevel gear 21 to provide a limit for the pull rope 43, and the track 42 can provide a through channel for the pull rope 43, and can provide a moving guide and support limit for the guide block 44. The pull rope 43 can use external force to pull the guide block 44 to move along the inside of the track 42. At the same time, the guide block 44 will drive the scraper 46 to move together through the connecting rod 45, so that the scraper 46 can drive the telescopic rod 47, the spring 48, the rubber folding plate 49 and the oblique folding plate 50 to move together. During the movement, the scraper 46 will gradually move closer to the center due to the gradual narrowing of the inner wall of the bucket 6. The rubber folding plate 49 and the oblique folding plate 50 can be squeezed and folded under the action of external force. At the same time, the spring 48 will be squeezed and deformed and store energy under the action of external force.

[0143] During the actual application of this embodiment, when the ditch maintenance work is completed, the staff can control the telescopic end of the remote control telescopic rod 22 to extend to three-tenths of the length, so that the remote control telescopic rod 22 can use the telescopic end to drive the plug 25 to be inserted into the socket 23 opened at the end of the T-tube 41, and start the servo motor 10 to drive the sleeve 20 to rotate through the first bevel gear 17 and the second bevel gear 21, so that the sleeve 20 can use the remote control telescopic rod 22 and the plug 25 to cooperate with the socket 23 to drive the T-tube 41 to rotate together, and then the T-tube 41 can use the rotational power to gradually reel in the pull rope 43, so that the pull rope 43 pulls the guide block 44 along the track 42 during the reeling process, so that the guide block 44 drives the connecting rod 45 and the scraper 46 to move along the track 42 in the direction away from the rotating shaft 7, and at the same time the scraper 46 will move along the inner wall of the bucket 6 and drive the telescopic rod 47, spring 48, rubber folding plate 49 and oblique folding plate 50 move together. During the movement, the scraper 46 will use the external force gradually moving toward the center to squeeze the telescopic rod 47 and the rubber folding plate 49, causing the telescopic rod 47 to shrink, and use the shrinking telescopic rod 47 to squeeze the spring 48 under the support of the fixed end. At the same time, the rubber folding plate 49 will drive the oblique folding plate 50 to be gradually squeezed and folded together, so that the width of the scraper 46, rubber folding plate 49 and oblique folding plate 50 can adapt to the gradually narrowing inner wall of the bucket 6, and use the rebound force of the spring 48 to push the scraper 46 to continuously fit with the inner wall of the bucket 6 through the fixed end of the telescopic rod 47, so that the scraper 46, oblique folding plate 50 and rubber folding plate 49 can maintain contact with the inner wall of the bucket 6 during the movement, and scrape off the sludge and impurities adhering to the inner wall of the bucket 6 during the movement, so as to facilitate the cleaning of the bucket 6 after the ditch maintenance work.

[0144] After the cleaning is completed, the staff can use the spring 48 to pull the telescopic rod 47, scraper 46, rubber folding plate 49, oblique folding plate 50, connecting rod 45 and guide block 44 along the track 42 toward the direction of the rotating shaft 7. As the spring 48 moves, the rebound force will push the telescopic rod 47 to extend, and drive the two scrapers 46 away from each other, so that the spring 48, telescopic rod 47, scraper 46, rubber folding plate 49 and oblique folding plate 50 can be reset.

[0145] Working principle: the base 1 is installed on the mobile vehicle through a fixed component, and the built-in motor 3 drives the first gear 4, which engages with the gear disc 2 to realize 360° rotation of the robotic arm 5 and the bucket 6, and flexibly adjusts the working direction; the controller 51 adjusts the extension and bending of the robotic arm 5, and cooperates with the gear disc 2 to rotate and accurately position the bucket 6, so that it can go deep into the ditch to shovel sludge and garbage, and transfer and dump it.

[0146] The servo motor 10 drives the third gear 12 to engage with the second gear 8 , driving the bucket 6 to rotate around the rotation axis 7 , and adjusting the tilt angle to adapt to the ditch terrain.

[0147] The remote control electric rod 11 is extended and retracted to control the clutch of the bevel rubber ring 14 and the bevel rubber wheel 15, and switches the driving modes of angle adjustment, cutting and crushing functions;

[0148] The beveled rubber ring 14 drives the connecting rod 16, which in turn transmits power to the helical gear set. The beveled rubber ring 14 drives the connecting rod 16, which in turn transmits power to the rotating tube 19. The rotating tube 19 drives the square tube 26 to rotate at high speed. The centrifugal force causes the counterweight 30 to pull the swing rope 29, forming a rotating cutting surface that breaks the entangled branches. The elastic cord 28 provides the swing rope 29 with automatic retraction and reset.

[0149] The cam 31 outside the sleeve 20 rotates periodically to push the plate 40, driving the L rod 36 to reciprocate. The L rod 36 links the push plate 37 and the bevel gear 38 to impact the rock at high frequency. The spring 39 stores energy and resets, and the rock is crushed in combination with the pressure of the robotic arm 5.

[0150] The T-tube 41 reels the pull rope 43 and pulls the scraper 46 to move along the track 42. The scraper 46 elastically fits the inner wall of the bucket 6. The rubber folding plate 49 and the oblique folding plate 50 adaptively deform to scrape off the adhered sludge, and the reed 48 drives the reset.

[0151] With integrated shoveling, branch cutting, rock crushing, and self-cleaning functions, a single machine can handle multiple issues such as ditch sludge, plant roots, and rock blockage, reducing equipment switching time.

[0152] The remote control electric lever 11 and servo motor 10 work together to quickly switch between functional modules (such as bucket 6 angle rotation adjustment, branch cutting and rock crushing), simplifying the operation process and the space occupied by the structure. The centrifugal cutting of the rope 29 and the impact crushing of the bevel teeth 38 target flexible branches and hard rocks respectively, and their efficiency is higher than that of traditional hydraulic crushing.

[0153] The scraper 46, the rubber folding plate 49 and the oblique folding plate 50 are adapted to the inner wall of the bucket 6, thereby improving the cleaning efficiency of the bucket 6 and reducing the frequency of manual cleaning;

[0154] The swing rope 29 is made of high molecular weight polyethylene, and the bucket teeth 32 are inlaid with carbide cone teeth 38, which prolongs the service life of the components by 2-3 times.

[0155] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A manipulator for urban municipal sidewalk ditch maintenance operations, comprising a base and a geared disc rotatably arranged on the outer side of the base, a motor being fixed to one side of the base via a connecting component, a driving end of the motor being connected to a first gear, and the first gear being meshed with the geared disc, a manipulator arm being fixed to the geared disc, a bucket being provided at one end of the manipulator arm, and a plurality of bucket teeth being fixed at the end of the bucket for ditch maintenance, characterized in that: Also includes: Bevel rubber ring and square tube; The rotating part is provided between the bucket and the mechanical arm to rotate and adjust the bucket; The branch cutting part is arranged on the bucket and is close to the end thereof and is connected to the rotating part so as to be driven by the rotating part to cut off the branches; The crushing part is arranged through the bucket teeth and is in driving connection with the cutting part, so as to cooperate with the cutting part and the rotating part to crush the rocks in the water channel; The rotation adjustment part includes a push-rotate member and an adjustment member, wherein the push-rotate member is provided at the end of the mechanical arm and supports the bucket, and the adjustment member is connected to the push-rotate member to adjust the driving target; The branch cutting part includes a driving and adjusting member and a swinging and cutting member, wherein the swinging and cutting member is arranged on the bucket, the driving and adjusting member is rotatably arranged at one end of the swinging and cutting member and is connected to the adjusting member, wherein the driving and adjusting member is provided with an adjusting part; The crushing part includes a pusher and a bite member, wherein the pusher is arranged outside the drive member, and the bite member is elastically connected and arranged in the bucket tooth and connected to the pusher; The push-rotating member comprises: The second gear is rotatably connected to one end of the mechanical arm and is fixedly connected to the bucket through a connecting member; The servo motor is fixed to the outside of the robotic arm through a connecting component; a third gear, disposed at one end of the servo motor and meshing with the second gear; The adjusting member includes: a remote control electric rod fixed to the driving end of the servo motor, passing through the center of the third gear and being rotationally connected to the third gear; a bevel rubber wheel fixed to one end of the connecting rod and in contact with the bevel rubber ring; The drive and adjustment member includes: a rotary tube, which is rotatably arranged on the bucket through a connecting member; a sleeve, which is rotatably connected to the end of the rotary tube; The swing cutting member includes: a swing rope symmetrically arranged in the square tube; The cutting piece includes: a plurality of conical teeth corresponding to the positions of the bucket teeth.

2. The manipulator for urban municipal sidewalk ditch maintenance according to claim 1 is characterized in that: The adjusting member further comprises: The turntable is fixed to the telescopic end of the remote control electric rod and is located between the third gear and the bucket; The oblique rubber ring is fixed on the side of the turntable away from the bucket; Connecting rod, rotated through the bucket setting; The inclined rubber wheel is fixed on one end of the connecting rod.

3. The manipulator for urban municipal sidewalk ditch maintenance according to claim 2 is characterized in that: The drive member further comprises: a second helical gear fixed to the end of the sleeve; a first helical gear meshing with the second helical gear and connected to the other end of the connecting rod; The adjusting part is arranged in the sleeve and plugged into the spiral tube.

4. The manipulator for urban municipal sidewalk ditch maintenance according to claim 3 is characterized in that: The adjusting part includes: The remote control telescopic rod is welded to the inner side of the sleeve through the connecting parts; There are two sockets, one of which is opened at one end of the spiral tube; There are two plugs with an inclined angle, which are arranged at both ends of the remote control telescopic rod, one of which is directly welded to the telescopic end of the remote control telescopic rod, and the other is connected to the telescopic end of the remote control telescopic rod through a connecting component.

5. The manipulator for urban municipal sidewalk ditch maintenance according to claim 4 is characterized in that: The cutting piece comprises: The rotating rod is symmetrically arranged on the inner side of the square tube; There are two square tubes, which pass through the spiral tube and are symmetrically arranged and located on the outside of the rotating rod; There are multiple elastic ropes, which are symmetrically arranged in the spiral tube, with one end fixed to the inner wall of the spiral tube and the other end fixed to the rotary rod; The swing rope is wound around the outside of the rotating rod, and one end is connected to the rotating rod; The counterweight is symmetrically arranged throughout the square tube and is connected to the other end of the swing rope.

6. The manipulator for urban municipal sidewalk ditch maintenance according to claim 5 is characterized in that: The pusher comprises: Through-mouth, opened through the bucket teeth; Movable groove, set on the bucket teeth; A through hole is provided in the bucket tooth and is connected with the through port and the movable groove; Push parts through openings, movable slots and through-hole settings.

7. The manipulator for urban municipal sidewalk ditch maintenance according to claim 6 is characterized in that: The push part includes: The cam is sleeved on the outer side of the sleeve and is fixedly connected; An L rod is disposed in the movable groove; The abutment plate is fixed to the upper end of the L rod and extends through the movable slot to one side of the cam.

8. The manipulator for urban municipal sidewalk ditch maintenance according to claim 7 is characterized in that: The cutting piece includes: The spring is sleeved on the outside of the L-rod, and one end of the spring is fixed to the inner wall of the bucket tooth; A push plate is provided on the inner side of the through opening and is connected to the end of the L-rod away from the abutment plate; The bevel gear is fixed on one side of the push plate.

9. The manipulator for urban municipal sidewalk ditch maintenance according to claim 8, characterized in that: Also includes: The scraping part is provided in the bucket to clean the bucket. The scraping part includes a pulling guide and an actuator. The actuator is located inside the bucket. The pulling guide is provided on the bucket and connected to the actuator and the drive member. The pulling guide includes: A T-tube is rotatably connected to the inner side of the second bevel gear and has another socket formed at one end close to the spiral tube; The track is fixed to the bucket through a fixing member; A pull rope is provided through one end of the track, and one end of the pull rope is connected to the T-tube; The actuator includes a scraper, which is arranged in the bucket, can be elastically extended and retracted, is connected to the track guide through a guide component, and is connected to the other end of the pull rope through the guide component.

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