Dredging robot and dredging method thereof

Abstract

The invention discloses a desilting robot and a desilting method thereof.The desilting robot comprises a crawler silt remover, a bucket and a suction pump are arranged on the crawler silt remover, a suction pipe is connected to the bucket, and the suction pipe is connected to the suction pump; a filter bin and an electric push rod are mounted on the crawler silt remover; the density sensor is arranged to detect the density of sludge sucked by the dredging robot, if the density of the sucked sludge is low and is close to the density of water, the audible and visual alarm can be controlled to give an alarm, a worker is reminded to adjust the position of the dredging robot in time, and it is indicated that adsorption of the sludge at the current position is completed; or whether the suction pipe is blocked or not is checked, and meanwhile, the switching motor is started to guide water into the filtering bin, so that the water can flow back into a river channel or a ditch through the drainage pipe, the content of the water in the sucked sludge can be reduced, the extra time required for dewatering and filtering is shortened, and then the subsequent sludge treatment cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging equipment, and in particular to a dredging robot and a dredging method thereof. Background Art

[0002] The crawler dredging robot is a multifunctional engineering equipment designed specifically for complex terrain. It achieves stable movement through a crawler walking system. Combined with efficient silt suction, mixing and conveying technology, it can be widely used in silt cleaning in rivers, lakes, mine water tanks and other scenarios. It can not only dredge deep underwater, but also flexibly adjust power through the hydraulic system, taking into account stability and energy saving.

[0003] In the existing technology, when a tracked dredging robot sucks silt from a river or ditch, the silt will be stirred in the water, muddying the water and reducing the visibility of the silt in the water. It is inconvenient for staff to observe whether the silt in the current area has been completely sucked out. If the equipment position is not adjusted in time after the silt has been sucked out, a large amount of water will easily be sucked up, resulting in a low silt content. The time required for subsequent dehydration and filtration will also increase, thereby increasing the subsequent silt treatment cost. Therefore, a dredging robot and a dredging method thereof are needed to meet people's needs. Summary of the Invention

[0004] The purpose of the present invention is to provide a dredging robot and a dredging method thereof, so as to solve the problem raised in the above background technology that when using a crawler dredging robot to suck silt, it is inconvenient to observe whether the silt in the current area has been sucked up, and it is easy to suck up a large amount of water, resulting in low silt content and increasing the subsequent silt treatment cost.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a dredging robot, comprising a crawler dredging machine, wherein the crawler dredging machine is provided with a bucket and a suction pump, the bucket is connected to a suction pipe, and the suction pipe is connected to the suction pump; the crawler dredging machine is installed with a filter bin and an electric push rod, the filter bin is connected to a detection structure, the electric push rod is connected to an alarm structure, the filter bin is connected to a screening structure, the bucket is installed with a fixed cover, and the fixed cover is connected to an anti-blocking structure.

[0006] Preferably, the detection structure includes a mounting frame, which is installed above the filter bin, a discharge pipe is installed inside the mounting frame, the discharge pipe is installed on the delivery end of the suction pump, and a density sensor is installed inside the discharge pipe.

[0007] Preferably, a ball valve is rotatably installed inside the discharge pipe, a three-way hole is opened inside the ball valve, the three-way hole is connected to the discharge pipe, a support frame is fixedly sleeved on the discharge pipe, a switching motor is installed on one side of the support frame, the output end of the switching motor is installed on the surface of the ball valve, a drain pipe is installed on one side of the filter bin, a diversion pipe is installed on the discharge pipe, and the diversion pipe is connected to the discharge pipe.

[0008] Preferably, the alarm structure includes a U-shaped frame, which is installed on the telescopic end of the electric push rod. An audible and visual alarm is installed above the U-shaped frame, and the audible and visual alarm, the density sensor and the switching motor are electrically connected to a single-chip microcomputer.

[0009] Preferably, two fixed guide rods are slidably mounted inside the U-shaped frame, and both fixed guide rods are mounted on the crawler dredging machine.

[0010] Preferably, the screening structure includes a sludge screen plate, which is slidably mounted inside the filter bin, and connecting plates are installed on both sides of the sludge screen plate, which are slidably mounted on the filter bin, and vibration motors are installed on both connecting plates.

[0011] Preferably, a limiting chute is provided inside the filter bin, the sludge screen plate is slidably installed in the limiting chute, one end of a plurality of springs is installed on the inner wall of the limiting chute, and the other end of the spring is installed on one side of the sludge screen plate.

[0012] Preferably, the anti-blocking structure includes an L-shaped connecting rod, which is slidably installed inside the fixed cover, a baffle installed on one side of the L-shaped connecting rod, a scraper installed on the baffle, an anti-blocking mesh plate installed inside the bucket, the anti-blocking mesh plate is located at one end of the suction pipe, the scraper is in contact with the surface of the anti-blocking mesh plate, an auxiliary motor is installed on one side of the fixed cover, the output end of the auxiliary motor passes through the fixed cover and is installed with a turntable, a linkage shaft is installed on one side of the turntable, a linkage hole is opened inside the L-shaped connecting rod, and the linkage shaft is movably installed in the linkage hole.

[0013] Preferably, a limiting guide rod is slidably installed inside the L-shaped connecting rod, and the limiting guide rod is installed on the inner wall of the fixed cover.

[0014] A dredging method using a dredging robot comprises the following steps: S1. Place the crawler silt remover in the river or ditch and use the bucket to shovel the silt. Use the suction pump to suck up the silt and discharge it through the discharge pipe. The anti-blocking mesh plate can block larger debris and prevent clogging of the suction pipe. S2. The density sensor can detect the density of the silt flowing through the discharge pipe. If the density decreases, it will control the sound and light alarm to generate sound and light alarms to remind the staff, indicating that the silt at the current position has been completely sucked out or a blockage has occurred. You can try to adjust the position of the crawler silt remover first. S3. When the density decreases, the switching motor will be turned on to drive the three-way hole to rotate 90 degrees, so that the discharge pipe and the diversion pipe are in a connected state. At this time, the absorbed water will fall into the filter chamber and eventually flow back to the river or ditch through the diversion pipe; S4. By setting a sludge screen plate inside the filter chamber, the water in the sludge can be filtered. Turning on the vibration motor can drive the sludge screen plate to vibrate, thereby improving the filtering effect. S5. If the sound and light alarm still sounds after the crawler silt remover is moved, the auxiliary motor can be turned on to control the scraper to scrape the debris off the anti-blocking mesh plate, and then try to suck the silt again and observe the status of the sound and light alarm. When the density sensor detects that the density has recovered, the sound and light alarm can be controlled to stop the alarm.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention can be used to detect the density of the silt sucked by the dredging robot through the setting of a density sensor. If the density of the sucked silt is low and close to the density of water, the sound and light alarm will be controlled to alarm, reminding the staff to adjust the position of the dredging robot in time, indicating that the silt at the current position has been adsorbed, or to check whether the suction pipe is blocked. At the same time, the switching motor will be turned on to drain water into the filter tank so that the water can flow back to the river or ditch through the drainage pipe, which helps to reduce the water content in the sucked silt, reduce the time required for additional dehydration and filtration, and thus reduce the subsequent silt treatment cost.

[0016] (2) The silt screen plate can be set up to filter and separate the silt and water discharged into the filter tank, reducing the loss of silt. The silt screen plate can be driven to vibrate by turning on the vibration motor, further improving the filtering effect.

[0017] (3) The anti-blocking screen can be used to block large debris, such as gravel and bricks. When the sound and light alarm sounds, the auxiliary motor can be turned on to control the scraper to move back and forth on the surface of the anti-blocking screen to push the debris away from the surface of the anti-blocking screen to prevent the anti-blocking screen from being blocked. After that, the status of the sound and light alarm can be observed to determine whether the absorption density is reduced due to the blockage of the anti-blocking screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a dredging robot and a dredging method thereof proposed in the present invention; Figure 2 This is a schematic diagram of the filter chamber structure of a dredging robot and dredging method thereof proposed in the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of a filter chamber of a dredging robot and a dredging method thereof proposed in the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of a silt screen plate of a silt clearing robot and a silt clearing method thereof proposed in the present invention; Figure 5 A schematic diagram of a U-shaped frame structure of a dredging robot and a dredging method thereof proposed in the present invention; Figure 6 This is a schematic diagram of the fixed cover structure of a dredging robot and a dredging method thereof proposed in the present invention; Figure 7 This is a schematic diagram of the structure inside the bucket of a dredging robot and dredging method thereof proposed in the present invention; Figure 8 A schematic diagram of the turntable structure of a dredging robot and a dredging method thereof proposed in the present invention; Figure 9 This is a schematic diagram of the L-shaped connecting rod structure of a dredging robot and dredging method proposed in the present invention.

[0019] Figure: 100, crawler silt remover; 101, bucket; 102, suction pipe; 103, suction pump; 200, filter chamber; 201, mounting frame; 202, discharge pipe; 203, density sensor; 204, ball valve; 205, three-way hole; 206, support frame; 207, switching motor; 208, drain pipe; 209, diverter pipe; 300, electric push rod; 301, U-shaped frame; 302 , sound and light alarm; 303, fixed guide rod; 400, sludge screen plate; 401, connecting plate; 402, vibration motor; 403, limiting slide; 404, spring; 500, fixed cover; 501, L-shaped connecting rod; 502, baffle; 503, scraper; 504, anti-blocking mesh plate; 505, auxiliary motor; 506, turntable; 507, linkage hole; 508, linkage shaft; 509, limiting guide rod. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] like Figure 1-9 As shown, the present invention has the following specific embodiments. Example 1

[0022] A dredging robot includes a crawler dredging machine 100, which is provided with a bucket 101 and a suction pump 103, the bucket 101 is connected to a suction pipe 102, and the suction pipe 102 is connected to the suction pump 103; the crawler dredging machine 100 is installed with a filter chamber 200 and an electric push rod 300, the filter chamber 200 is connected to a detection structure, the electric push rod 300 is connected to an alarm structure, the filter chamber 200 is connected to a screening structure, the bucket 101 is installed with a fixed cover 500, and the fixed cover 500 is connected to an anti-blocking structure.

[0023] The detection structure includes a mounting frame 201, which is installed above the filter bin 200. A discharge pipe 202 is installed inside the mounting frame 201. The discharge pipe 202 is installed on the delivery end of the suction pump 103. A density sensor 203 is installed inside the discharge pipe 202.

[0024] By adopting the above technical solution, the crawler silt remover 100 can control the silt removal bucket 101 to shovel the silt. By turning on the suction pump 103, the silt can be sucked up by the suction pipe 102 and transported to the shore through the discharge pipe 202. The silt is mostly a mixture of water and mud. During the process, the density sensor 203 is turned on to detect the density of the silt passing through the discharge pipe 202. High density (1.2~1.8g / cm³) corresponds to high-concentration silt, and low density (1.0~1.1 g / cm³) is close to water or thin mud. When it is detected that the silt density in the discharge pipe 202 is close to the density of water, it means that the silt at the current position has been sucked up or the end of the suction pipe 102 is blocked.

[0025] A spherical valve 204 is rotatably installed inside the discharge pipe 202, and a three-way hole 205 is opened inside the spherical valve 204, which is connected to the discharge pipe 202. A support frame 206 is fixedly sleeved on the discharge pipe 202, and a switching motor 207 is installed on one side of the support frame 206. The output end of the switching motor 207 is installed on the surface of the spherical valve 204, and a drain pipe 208 is installed on one side of the filter bin 200. A diverter pipe 209 is installed on the discharge pipe 202, and the diverter pipe 209 is connected to the discharge pipe 202.

[0026] By adopting the above technical solution, when the density sensor 203 detects that the density of the silt in the discharge pipe 202 is close to the density of water, it can control the switching motor 207 to operate. The output end of the switching motor 207 can drive the ball valve 204 to flip ninety degrees, driving the three-way hole 205 to circulate with the discharge pipe 202 and the diversion pipe 209. At this time, the absorbed water will flow into the filter tank 200 through the diversion pipe 209, and finally flow back to the river or ditch from the drainage pipe 208. Example 2

[0027] The alarm structure includes a U-shaped frame 301, which is installed on the telescopic end of the electric push rod 300. An audible and visual alarm 302 is installed above the U-shaped frame 301. The audible and visual alarm 302, the density sensor 203 and the switching motor 207 are electrically connected to a single chip microcomputer.

[0028] By adopting the above technical solution, when the density sensor 203 detects that the density of the silt in the discharge pipe 202 is close to the density of water, the density sensor 203 will use the single-chip microcomputer to control the sound and light alarm 302 to generate an sound and light alarm, reminding the staff to dredge the suction pipe 102, or appropriately adjust the position of the crawler silt remover 100 to change the suction position, and judge whether the silt at the current position has been sucked away. By turning on the electric push rod 300 and making its telescopic end drive the U-shaped frame 301 to rise, the U-shaped frame 301 can drive the sound and light alarm 302 to rise, and adjust the height of the sound and light alarm 302 so that the sound and light alarm 302 exceeds the water level for the staff to check.

[0029] Two fixed guide rods 303 are slidably mounted inside the U-shaped frame 301 , and both fixed guide rods 303 are mounted on the crawler silt remover 100 .

[0030] By adopting the above technical solution, the U-shaped frame 301 will slide on the fixed guide rod 303 when it moves up and down, thereby limiting the moving direction of the fixed guide rod 303. Example 3

[0031] The screening structure includes a sludge screen plate 400, which is slidably installed inside the filter bin 200. Connecting plates 401 are installed on both sides of the sludge screen plate 400. Both connecting plates 401 are slidably installed on the filter bin 200, and both connecting plates 401 are installed with vibration motors 402.

[0032] By adopting the above technical solution, the silt screen plate 400 can be used to filter the water and silt flowing into the filter chamber 200. By turning on the vibration motor 402, the connecting plate 401 and the silt screen plate 400 can be driven to vibrate, thereby improving the filtering effect of the silt screen plate 400 on the silt.

[0033] A limiting chute 403 is provided inside the filter bin 200, and the sludge screen plate 400 is slidably installed in the limiting chute 403. One end of several springs 404 is installed on the inner wall of the limiting chute 403, and the other end of the spring 404 is installed on one side of the sludge screen plate 400.

[0034] By adopting the above technical solution, when the silt screen plate 400 vibrates, it will vibrate in the limiting chute 403 and repeatedly compress the spring 404. The provision of the spring 404 can reduce the rigid collision of the silt screen plate 400 during vibration. Example 4

[0035] The anti-blocking structure includes an L-shaped connecting rod 501, which is slidably installed inside the fixed cover 500. A baffle 502 is installed on one side of the L-shaped connecting rod 501, and a scraper 503 is installed on the baffle 502. An anti-blocking mesh plate 504 is installed inside the bucket 101. The anti-blocking mesh plate 504 is located at one end of the suction pipe 102, and the scraper 503 is in contact with the surface of the anti-blocking mesh plate 504. An auxiliary motor 505 is installed on one side of the fixed cover 500. The output end of the auxiliary motor 505 passes through the fixed cover 500 and is installed with a turntable 506. A linkage shaft 508 is installed on one side of the turntable 506. A linkage hole 507 is opened inside the L-shaped connecting rod 501, and the linkage shaft 508 is movably installed in the linkage hole 507.

[0036] By adopting the above technical solution, the anti-blocking mesh plate 504 can be used to block larger debris and prevent it from entering the suction pipe 102. By turning on the auxiliary motor 505, the turntable 506 can be driven to rotate, so that the turntable 506 drives the linkage shaft 508 to move in a circular motion. The circularly moving linkage shaft 508 will move in the linkage hole 507 and drive the L-shaped connecting rod 501 to slide horizontally back and forth. The sliding L-shaped connecting rod 501 will drive the baffle 502 and the scraper 503 to slide. The moving scraper 503 can scrape away the debris blocked by the anti-blocking mesh plate 504, and the baffle 502 can be blocked at the sliding slot of the dredging bucket 101 to prevent debris from entering the fixed cover 500. If the sound and light alarm 302 is still alarming, if there is still no change, the crawler dredging machine 100 needs to be taken out for inspection.

[0037] A limiting guide rod 509 is slidably installed inside the L-shaped connecting rod 501 , and the limiting guide rod 509 is installed on the inner wall of the fixed cover 500 .

[0038] By adopting the above technical solution, the L-shaped connecting rod 501 can slide on the limiting guide rod 509 when moving. The setting of the limiting guide rod 509 can limit the L-shaped connecting rod 501 to move only in the horizontal direction.

[0039] A dredging method using a dredging robot comprises the following steps: S1. Place the crawler silt remover 100 in a river or ditch and use the bucket 101 to shovel the silt. Use the suction pump 103 to suck up the silt and discharge it through the discharge pipe 202. The anti-blocking mesh plate 504 can block larger debris and prevent it from clogging the suction pipe 102. S2, the density sensor 203 can detect the density of the silt flowing through the discharge pipe 202. If the density decreases, the sound and light alarm 302 will be controlled to generate a sound and light alarm to remind the staff that the silt at the current position has been sucked out or a blockage has occurred. You can try to adjust the position of the crawler silt remover 100 first; S3: When the density decreases, the switching motor 207 is turned on to drive the three-way hole 205 to rotate 90 degrees, so that the discharge pipe 202 and the diversion pipe 209 are in a connected state. At this time, the absorbed water will fall into the filter chamber 200 and eventually flow back to the river or ditch through the diversion pipe 209; S4. By setting a sludge screen plate 400 inside the filter chamber 200, water in the sludge can be filtered. The vibration motor 402 can be turned on to drive the sludge screen plate 400 to vibrate, thereby improving the filtering effect. S5. If the sound and light alarm 302 still sounds after the crawler silt remover 100 is moved, the auxiliary motor 505 can be turned on to control the scraper 503 to scrape the debris off the anti-blocking mesh plate 504. Then try to suck the silt again and observe the status of the sound and light alarm 302. When the density sensor 203 detects that the density is restored, the sound and light alarm 302 is controlled to stop the alarm.

[0040] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A dredging robot, comprising a crawler dredging machine (100), wherein the crawler dredging machine (100) is provided with a bucket (101) and a suction pump (103), the bucket (101) is connected to a suction pipe (102), and the suction pipe (102) is connected to the suction pump (103); characterized in that: The crawler silt remover (100) is equipped with a filter chamber (200) and an electric push rod (300), the filter chamber (200) is connected to a detection structure, the electric push rod (300) is connected to an alarm structure, the filter chamber (200) is connected to a screening structure, the bucket (101) is equipped with a fixed cover (500), and the fixed cover (500) is connected to an anti-blocking structure.

2. The dredging robot according to claim 1, characterized in that: The detection structure comprises a mounting frame (201), the mounting frame (201) being mounted above the filter bin (200), a discharge pipe (202) being mounted inside the mounting frame (201), the discharge pipe (202) being mounted on the delivery end of the suction pump (103), and a density sensor (203) being mounted inside the discharge pipe (202).

3. The dredging robot according to claim 2, characterized in that: A spherical valve (204) is rotatably mounted inside the discharge pipe (202), a three-way hole (205) is provided inside the spherical valve (204), and the three-way hole (205) is communicated with the discharge pipe (202). A support frame (206) is fixedly sleeved on the discharge pipe (202), a switching motor (207) is mounted on one side of the support frame (206), and an output end of the switching motor (207) is mounted on the surface of the spherical valve (204). A drainage pipe (208) is mounted on one side of the filter bin (200), and a diverter pipe (209) is mounted on the discharge pipe (202), and the diverter pipe (209) is communicated with the discharge pipe (202).

4. The dredging robot according to claim 1, characterized in that: The alarm structure comprises a U-shaped frame (301), the U-shaped frame (301) being mounted on the telescopic end of the electric push rod (300), an audible and visual alarm (302) being mounted above the U-shaped frame (301), and a single-chip microcomputer being electrically connected to the audible and visual alarm (302), the density sensor (203) and the switching motor (207).

5. The dredging robot according to claim 4, characterized in that: Two fixed guide rods (303) are slidably mounted inside the U-shaped frame (301), and both fixed guide rods (303) are mounted on the crawler silt remover (100).

6. The dredging robot according to claim 1, characterized in that: The screening structure comprises a sludge screen plate (400), the sludge screen plate (400) being slidably mounted inside the filter bin (200), connecting plates (401) being mounted on both sides of the sludge screen plate (400), both connecting plates (401) being slidably mounted on the filter bin (200), and both connecting plates (401) being mounted with a vibration motor (402).

7. The dredging robot according to claim 6, characterized in that: A limiting chute (403) is provided inside the filter bin (200), and the sludge screen plate (400) is slidably installed in the limiting chute (403). One end of a plurality of springs (404) is installed on the inner wall of the limiting chute (403), and the other end of the spring (404) is installed on one side of the sludge screen plate (400).

8. The dredging robot according to claim 1, characterized in that: The anti-blocking structure comprises an L-shaped connecting rod (501), the L-shaped connecting rod (501) being slidably mounted inside the fixed cover (500), a blocking bar (502) being mounted on one side of the L-shaped connecting rod (501), a scraper (503) being mounted on the blocking bar (502), an anti-blocking mesh plate (504) being mounted inside the bucket (101), the anti-blocking mesh plate (504) being located at one end of the suction pipe (102), the scraper (503) being in contact with the surface of the anti-blocking mesh plate (504), an auxiliary motor (505) being mounted on one side of the fixed cover (500), an output end of the auxiliary motor (505) passing through the fixed cover (500) and being mounted with a turntable (506), a linkage shaft (508) being mounted on one side of the turntable (506), a linkage hole (507) being opened inside the L-shaped connecting rod (501), and the linkage shaft (508) being movably mounted in the linkage hole (507).

9. The dredging robot according to claim 8, characterized in that: A limiting guide rod (509) is slidably mounted inside the L-shaped connecting rod (501), and the limiting guide rod (509) is mounted on the inner wall of the fixed cover (500).

10. A dredging method for a dredging robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Place the crawler silt remover (100) in a river or ditch and use the bucket (101) to shovel the silt. Use the suction pump (103) to suck up the silt and discharge it through the discharge pipe (202). The anti-blocking mesh plate (504) can block larger debris to prevent clogging of the suction pipe (102). S2. The density sensor (203) can detect the density of the silt flowing through the discharge pipe (202). If the density decreases, the sound and light alarm (302) will be controlled to generate a sound and light alarm to remind the staff that the silt at the current position has been completely sucked out or a blockage has occurred. The staff can try to adjust the position of the crawler silt remover (100) first. S3, when the density decreases, the switching motor (207) is turned on to drive the three-way hole (205) to rotate ninety degrees, so that the discharge pipe (202) and the diversion pipe (209) are in a connected state. At this time, the absorbed water will fall into the filter chamber (200) and eventually flow back to the river or ditch through the diversion pipe (209); S4. By arranging a sludge screen plate (400) inside the filter chamber (200), water in the sludge can be filtered. The vibration motor (402) can be turned on to drive the sludge screen plate (400) to vibrate, thereby improving the filtering effect. S5. If the sound and light alarm (302) still sounds after the crawler silt remover (100) is moved, the auxiliary motor (505) can be turned on to control the scraper (503) to scrape the debris away from the anti-blocking mesh plate (504). Then, the silt can be sucked again and the state of the sound and light alarm (302) can be observed. When the density sensor (203) detects that the density is restored, the sound and light alarm (302) can be controlled to stop the alarm.

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