Underwater excavation multi-claw robot

Abstract

The invention belongs to the technical field of open caisson construction, and discloses an underwater excavation multi-claw robot which comprises a central base, an underwater excavation robot and an underwater excavation robot. The excavating claws are distributed on the periphery of the central base, and each excavating claw comprises a large arm which can be rotatably connected to the periphery of the central base around a first rotating axis, a joint arm which can be rotatably connected to the tail end of the large arm around a second rotating axis, and an excavating and sludge discharging device which can be rotatably connected to the tail end of the joint arm around a third rotating axis; the first rotating axis, the second rotating axis and the third rotating axis extend in the X direction, the Y direction and the Z direction respectively. A plurality of excavating claws are arranged to replace a grab bucket tool of an excavator to excavate a soil body, muck is discharged to the ground, and the open caisson soil body can be comprehensively excavated; the excavator is high in mechanization and automation degree, manpower assistance of construction is reduced, the excavation efficiency is improved, underwater excavation can be achieved, and the problem that the excavation depth of the excavator is small is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of sinking well construction, and particularly relates to an underwater excavating multi-claw robot. BACKGROUND

[0002] With the acceleration of urban construction in China, more and more deep shaft projects are built, and the traditional deep shaft construction process adopts the traditional sinking well construction, which realizes sinking by excavating the soil under the blade foot and relying on the self weight of the structure. The initial drag reduction measures for the shaft wall include processing the sidewall smooth, coating heavy oil, coating paraffin, coating clay slurry, etc. In the construction, problems such as sudden sinking of the structure, uneven sinking, tilting, and large ground settlement deformation are prone to occur. The non-draining excavation process in the well is adopted by the mechanized sinking well to avoid the occurrence of the above problems. However, the excavator in the form of the mechanized sinking well has limited excavation depth and low excavation efficiency, and therefore, the underwater excavating multi-claw robot is proposed to solve the above problems. SUMMARY

[0003] In order to solve the above problems, the underwater excavating multi-claw robot is provided, which solves the problems of limited excavation depth and low efficiency of the excavator.

[0004] The underwater excavating multi-claw robot is realized by the following scheme: the underwater excavating multi-claw robot comprises:

[0005] a central base;

[0006] a plurality of excavating claws arranged on the outer periphery of the central base, the excavating claw comprising a large arm rotatably connected to the outer periphery of the central base about a first rotation axis, a joint arm rotatably connected to the end of the large arm about a second rotation axis, and an excavating and mud discharging device rotatably connected to the end of the joint arm about a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis extending along the X, Y and Z directions respectively;

[0007] a first driving device arranged on the large arm and used for driving the plurality of joint arms to rotate;

[0008] a second driving device arranged on the joint arm and used for driving the plurality of excavating and mud discharging devices to rotate; and

[0009] a third driving device arranged on the central base and used for driving the plurality of large arms to rotate.

[0010] Further improvement of the underwater excavating multi-claw robot is that the plurality of large arms are rotatably connected to the central base through a connecting piece, the connecting piece comprises a fixed seat fixed on the central base and a movable seat rotatably connected to the fixed seat, and the large arm is connected to the corresponding movable seat; the movable seat is rotated about the first rotation axis to drive the large arm to rotate about the first rotation axis.

[0011] Further improvement of the underwater excavating multi-claw robot is that the third driving device comprises a plurality of first oil cylinders, output ends of the plurality of first oil cylinders are in one-to-one correspondence with a plurality of movable seats, and one end of the plurality of first oil cylinders away from the output ends is movably connected with the central base.

[0012] Further improvement of the underwater excavating multi-claw robot is that the large arm is movably connected to the upper end of the corresponding movable seat around the fourth rotation axis, and the fourth rotation axis is arranged in parallel with the second rotation axis.

[0013] The underwater excavating multi-claw robot further comprises a fourth driving device arranged on the movable seat, for driving the plurality of large arms to rotate around the corresponding fourth rotation axis.

[0014] Further improvement of the underwater excavating multi-claw robot is that the fourth driving device comprises a plurality of second oil cylinders, output ends of the plurality of second oil cylinders are in one-to-one correspondence with the plurality of large arms, and one end of the plurality of second oil cylinders away from the output ends is movably connected with the lower end of the plurality of movable seats, respectively.

[0015] Further improvement of the underwater excavating multi-claw robot is that the second driving device comprises a plurality of fourth oil cylinders, output ends of the plurality of fourth oil cylinders are eccentrically movably connected with the plurality of excavating and discharging devices, respectively, and one end of the plurality of fourth oil cylinders away from the output ends is movably connected with the plurality of joint arms, respectively.

[0016] Compared with the prior art, the underwater excavating multi-claw robot has the following beneficial effects:

[0017] The plurality of excavating claws are arranged to replace the grab tool of the excavator to excavate the soil body, and the spoil is discharged to the ground, the third driving device drives the plurality of excavating claws to swing left and right, the first driving device drives the joint arm to swing forward and backward, and the second driving device drives the excavating and discharging device to swing left and right, so that the soil body of the caisson can be fully excavated, and the fourth driving device drives the plurality of large arms to swing up and down, so that the caisson of different sizes can be adapted. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 The overall structure of the underwater excavating multi-claw robot is shown.

[0019] Fig. 2 The excavating claw side view of the underwater excavating multi-claw robot is shown.

[0020] In the figure: 1, central base; 2, large arm; 3, articulated arm; 4, excavating and sludge discharging device; 5, fixed seat; 6, movable seat; 7, first oil cylinder; 8, second oil cylinder; 9, third oil cylinder; 10, fourth oil cylinder; 11, first connecting plate; 12, second connecting plate. DETAILED DESCRIPTION

[0021] In order to solve the problem of limited digging depth and low efficiency of the excavator, the present application provides a kind of underwater excavating multi-claw robot. The following specific embodiments are further described in conjunction with the drawings.

[0022] Referring to Figs. 1-2 The underwater excavating multi-claw robot shown in the figure comprises:

[0023] Central base 1;

[0024] A plurality of excavating claws are arranged on the outer periphery of the central base 1, the excavating claw comprises a large arm 2 rotatably connected to the outer periphery of the central base 1 about a first rotation axis, an articulated arm 3 rotatably connected to the end of the large arm 2 about a second rotation axis, and an excavating and sludge discharging device 4 rotatably connected to the end of the articulated arm 3 about a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis extend along the X, Y and Z directions respectively;

[0025] A first driving device is provided on the large arm 2 for driving the plurality of articulated arms 3 to rotate;

[0026] A second driving device is provided on the articulated arm 3 for driving the plurality of excavating and sludge discharging devices 4 to rotate; and

[0027] A third driving device is provided on the central base 1 for driving the plurality of large arms 2 to rotate.

[0028] Specifically, in this embodiment, the number of excavating claws is four, and the four excavating claws are equally distributed on the outer periphery of the central base 1; the excavating and sludge discharging device 4 can be a dredging pump;

[0029] Further, the first driving device comprises a third oil cylinder 9, a pin shaft, a first connecting plate 11 and a second connecting plate 12, referring to Fig. 2 The upper end of the first connecting plate 11 is movably connected to the second connecting plate 12 through the pin shaft, the lower end of the first connecting plate 11 is movably connected to the end of the large arm 2 away from the central base 1, the end of the second connecting plate 12 away from the pin shaft is movably connected to the articulated arm 3, the output end of the third oil cylinder 9 is movably connected to the pin shaft, and the end of the third oil cylinder 9 away from the output end is movably connected to the large arm 2 (not shown in the figure), the third oil cylinder 9 can drive the articulated arm 3 with the excavating and sludge discharging device 4 to swing back and forth to adjust the position of the excavating and sludge discharging device 4, which is beneficial to the excavating work;

[0030] The excavating claws are arranged instead of the grab tool of the excavator to excavate the soil body, and the spoil is discharged to the ground, the joint arm 3 is driven to swing up and down by the first driving device, and the excavating and discharging device 4 is driven to swing left and right by the second driving device, so that the open caisson soil body can be excavated at multiple positions; the open caisson is high in mechanization and automation, reduces the labor assistance in construction, improves the excavating efficiency, and can be excavated underwater, and the problem that the excavator has a shallow excavating depth is solved.

[0031] The plurality of large arms 2 are rotationally connected to the central base 1 through connecting pieces, the connecting pieces include fixed seats 5 fixed on the central base 1 and movable seats 6 rotationally connected to the fixed seats 5, and the large arms 2 are connected to the corresponding movable seats 6; the movable seats 6 rotate around the first rotation axis to drive the large arms 2 to rotate around the first rotation axis.

[0032] The third driving device includes a plurality of first oil cylinders 7, the output ends of the plurality of first oil cylinders 7 are in one-to-one correspondence with the plurality of movable seats 6, and the ends of the plurality of first oil cylinders 7 away from the output ends are movably connected to the central base 1.

[0033] The movable seats 6 are driven to rotate left and right by the first oil cylinders 7, and the large arms 2 are driven to rotate around the first rotation axis, so that the position of the excavating and discharging device 4 can be changed, the open caisson soil body can be excavated at multiple positions, the degree of automation is high, the large arms 2 have multiple degrees of freedom, are highly flexible, and have high excavating efficiency; a single first oil cylinder 7 can drive a single excavating claw to rotate in a range of ±90°, and each excavating claw can work independently.

[0034] The large arms 2 are rotationally connected to the upper ends of the corresponding movable seats 6 around the fourth rotation axis, and the fourth rotation axis is parallel to the second rotation axis.

[0035] The underwater excavating multi-claw robot further includes a fourth driving device arranged on the movable seat 6 and used for driving the plurality of large arms 2 to rotate around the corresponding fourth rotation axis.

[0036] The fourth driving device includes a plurality of second oil cylinders 8, the output ends of the plurality of second oil cylinders 8 are in one-to-one correspondence with the plurality of large arms 2, and the ends of the plurality of second oil cylinders 8 away from the output ends are movably connected to the lower ends of the plurality of movable seats 6.

[0037] The large arms 2 are driven to swing up and down by the second oil cylinders 8 to adjust the extension and retraction of the excavating claws, so that the open caisson of different sizes can be adapted, and the practical effect is good.

[0038] The second driving device includes a plurality of fourth oil cylinders 10, the output ends of the plurality of fourth oil cylinders 10 are eccentrically movably connected to the plurality of excavating and discharging devices 4, and the ends of the plurality of fourth oil cylinders 10 away from the output ends are movably connected to the plurality of joint arms 3.

[0039] The excavating and dredging device 4 is automatically changed in position by driving the fourth oil cylinder 10 to swing the excavating and dredging device 4 left and right, which is beneficial to excavate soil at different positions.

[0040] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0041] The above detailed description of the application has been presented in connection with the accompanying drawings. Those skilled in the art can make various changes to the application according to the above description. Therefore, some details in the embodiments should not be regarded as limiting the application, and the scope of the application will be defined by the appended claims.

Claims

1. An underwater excavating multi-claw robot, characterized by, The utility model relates to an underwater excavating multi-claw robot, comprising: a central base; a plurality of excavating claws arranged on the outer periphery of the central base, each of the excavating claws comprising a large arm rotatably connected to the outer periphery of the central base about a first rotation axis, a joint arm rotatably connected to the end of the large arm about a second rotation axis, and an excavating and dredging device rotatably connected to the end of the joint arm about a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis extending along the X, Y and Z directions respectively; a first driving device arranged on the large arm and configured to drive the plurality of joint arms to rotate; a second driving device arranged on the joint arm and configured to drive the plurality of excavating and dredging devices to rotate; and a third driving device arranged on the central base and configured to drive the plurality of large arms to rotate. Each of the plurality of large arms is rotatably connected to the central base via a connecting member, the connecting member comprising a fixed seat fixed to the central base and a movable seat rotatably connected to the fixed seat, the large arm being connected to the corresponding movable seat, and the large arm being driven to rotate about the first rotation axis via the movable seat.

2. The underwater excavating multi-claw robot according to claim 1, wherein, The third driving device comprises a plurality of first oil cylinders, the output ends of the plurality of first oil cylinders being one-to-one correspondingly connected to the plurality of movable seats, and one end of each of the plurality of first oil cylinders, which is away from the output end, being connected to the central base.

3. The underwater excavating multi-claw robot according to claim 2, wherein, The large arm is rotatably connected to the upper end of the corresponding movable seat about a fourth rotation axis, the fourth rotation axis being arranged in parallel with the second rotation axis.

4. The underwater excavating multi-claw robot according to claim 2, wherein, The underwater excavating multi-claw robot further comprises a fourth driving device arranged on the movable seat and configured to drive the plurality of large arms to rotate about the corresponding fourth rotation axis. The fourth driving device comprises a plurality of second oil cylinders, the output ends of the plurality of second oil cylinders being one-to-one correspondingly connected to the plurality of large arms, and one end of each of the plurality of second oil cylinders, which is away from the output end, being connected to the lower end of the corresponding movable seat.

5. The underwater excavating multi-claw robot according to claim 4, wherein, The second driving device comprises a plurality of fourth oil cylinders, the output ends of the plurality of fourth oil cylinders being eccentrically connected to the plurality of excavating and dredging devices, and one end of each of the plurality of fourth oil cylinders, which is away from the output end, being connected to the corresponding joint arm.

6. The underwater excavating multi-claw robot according to claim 1, wherein, ​

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