Automatic sludge loosening equipment of dredging robot
By designing loose silt components and orientation adjustment mechanisms on the silt robot, the existing silt robot has solved the problem of poor loosening effect and inconvenient operation in high viscosity silt, and more efficient silt loosening and more convenient operation are achieved.
Patent Information
- Application Number
- CN202421895059.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-07
- Publication Date
- 2025-06-10
- Estimated Expiration
- 2034-08-07
AI Technical Summary
When existing silt cleaning robots deal with high viscosity silt, the loosening effect is poor, and the loosening equipment cannot independently adjust the silt width and depth, which is inconvenient to operate.
A silt robot automatic silt loosening equipment is designed, including silt loosening components and orientation adjustment mechanism. Several loose silt units are provided on the loose silt assembly, and the silt is cut and loosened horizontally and longitudinally through the spirally arranged loose silt unit. The orientation adjustment mechanism includes a horizontal adjustment assembly and a pitch adjustment assembly for adjusting the working width and depth of the loose silt assembly.
Through the coordinated operation of multiple loose silt units, the loosening effect of silt is improved, the probability of silt pipe blockage is reduced, and the efficiency of silt is improved. At the same time, the use of the orientation adjustment mechanism makes loosening and silting operation more convenient and wider application.
Smart Images
Figure CN222962152U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of dredging equipment, in particular to an automatic silt loosening device for a dredging robot. Background Art
[0002] Traditional underwater dredging operations mostly rely on manual labor or simple machinery, which have problems such as high labor intensity, low efficiency, and high safety risks. Especially when dealing with relatively viscous silt, it is easy to cause blockage of the dredging pipeline, increasing the difficulty of cleaning.
[0003] With the development of automation technology, dredging robots have gradually been applied in this field. However, existing dredging robots still have deficiencies in automatic silt loosening and are difficult to effectively cope with high-viscosity silt environments. For example, when cleaning silt with a relatively high viscosity that has been deposited for a long time, only simple turning of the silt layer is carried out through the loosening device, which easily leads to the possibility that the silt blocks still adhere to the bottom of the silt layer after loosening, resulting in poor loosening effect and affecting the subsequent dredging effect. In addition, when the existing silt loosening device is performing silt loosening operations, it cannot independently adjust the width and depth of the dredging operation, resulting in inconvenient operation of the silt loosening operation.
[0004] Therefore, it is necessary to provide an automatic silt loosening device for a dredging robot to solve the problems mentioned in the above background art. Summary of the Utility Model
[0005] To achieve the above object, the utility model provides the following technical solution: An automatic silt loosening device for a dredging robot, including a silt loosening component and an azimuth adjustment mechanism. The two ends of the silt loosening component are successively and adjacently rotatably provided with a first connecting arm and a second connecting arm as they are away from the end. Both ends of the first connecting arm and the second connecting arm are respectively rotatably connected to the silt loosening component and the azimuth adjustment mechanism;
[0006] A number of silt loosening units are provided on the silt loosening component, and the silt loosening units are used for horizontally and vertically loosening the silt;
[0007] The azimuth adjustment mechanism includes a horizontal adjustment component and a pitch adjustment component. The horizontal adjustment component is connected to the first connecting arm and is used for adjusting the silt loosening operation width of the silt loosening component. The pitch adjustment component is connected to the second connecting arm and is used for adjusting the silt loosening operation depth of the silt loosening component;
[0008] The azimuth adjustment mechanism further includes a fixed seat, and is installed on the dredging robot through the fixed seat and is located directly in front of the dredging end of the dredging robot.
[0009] As a preferred technical solution of the utility model, the silt loosening component includes:
[0010] The rotating shaft is a hollow shaft. The first connecting arm and the second connecting arm are rotatably arranged at both ends of the rotating shaft, and the loosening and silt-removing units are spirally arranged on the shaft body of the rotating shaft.
[0011] The loosening and silt-removing unit includes a mounting seat. Sleeve rods are symmetrically installed on the outer side of the mounting seat perpendicular to the axis of the rotating shaft. A sliding rod is slidably and limitedly arranged in the sleeve rod. The outer end of the sliding rod is provided with a loosening and silt-removing head. The two groups of loosening and silt-removing heads on each loosening and silt-removing unit are symmetrically arranged at the center. A spring is arranged between the sliding rod and the bottom of the sliding cavity of the sleeve rod for elastically avoiding obstacles in the silt.
[0012] A flow channel is formed by penetrating through the inside of the loosening and silt-removing unit and the inside of the rotating shaft.
[0013] As a preferred technical solution of the present invention, the front and rear sides of the loosening and silt-removing head in the rotation direction are two intersecting arc surfaces. The tip formed by the intersection of the two arc surfaces constitutes the silt cutting end of the loosening and silt-removing head. A plurality of first spray holes and second spray holes are formed in the loosening and silt-removing head. The first spray holes are located on the two arc surfaces, and the second spray holes are located on the two side surfaces of the loosening and silt-removing head.
[0014] The first spray holes and the second spray holes are communicated with the flow channel.
[0015] As a preferred technical solution of the present invention, a pressure equalizing cavity is formed in the loosening and silt-removing head, and the pressure equalizing cavity is communicated with the flow channel, the first spray holes and the second spray holes respectively.
[0016] As a preferred technical solution of the present invention, the cross-sectional sizes of the first spray holes and the second spray holes are the same.
[0017] As a preferred technical solution of the present invention, the horizontal adjustment assembly includes: a first hinge seat installed on the fixed seat. One end of an articulated member is hinged to the first hinge seat. The hinge axis of the first hinge seat and the articulated member is parallel to the Z axis. The other end of the articulated member is hinged to a second hinge seat. The hinge axis of the second hinge seat and the articulated member is parallel to the Y axis. The second hinge seat is installed in the middle of the first connecting rod. The two ends of the first connecting rod are respectively rotatably connected to the two groups of first connecting arms.
[0018] Two horizontal telescopic rods are arranged in an eight-character shape on the side of the articulated member facing the second hinge seat. The horizontal telescopic rods are respectively hinged to the articulated member and the first connecting rod.
[0019] As a preferred technical solution of the present invention, the pitching adjustment assembly includes: a pitching telescopic rod and a support rod. The pitching telescopic rod and the support rod are arranged in a triangular shape on the side of the fixed seat facing the loosening and silt-removing assembly, and the three are hinged to each other.
[0020] A limit piece is rotatably provided at the top of one end of the support rod away from the fixing seat, a through hole is penetrated through the side of the limit piece, a second connecting rod is installed in the through hole, and both ends of the second connecting rod are rotatably connected to the two groups of the second connecting arms respectively.
[0021] As a preferred technical solution of the utility model, one end of the rotating shaft is connected to a motor, and the other end of the rotating shaft is connected to a pump group through a pipeline.
[0022] Compared with the prior art, the utility model provides a silt automatic loosening device of a dredging robot, which has the following beneficial effects:
[0023] 1. By spirally arranging multiple silt loosening units on the silt loosening component, the silt layer is cut and loosened horizontally and vertically, thereby improving the silt loosening effect, reducing the probability of silt clearing pipe blockage, and improving the silt clearing efficiency of the silt clearing robot.
[0024] 2. By setting the azimuth adjustment component, the operating width and depth of the silt loosening component can be adjusted, thereby improving the convenience of the silt loosening robot in controlling the silt loosening operation of the silt loosening component. At the same time, the loosening effect of the silt layer can be adjusted by adjusting the operating width of the silt loosening component, thereby improving the applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 It is a schematic diagram of the overall structure of an automatic sludge loosening device of a dredging robot;
[0026] Figure 2 It is a schematic diagram of the structure of the azimuth adjustment mechanism of the automatic sludge loosening equipment of a dredging robot;
[0027] Figure 3 It is a schematic diagram of the structure of a silt loosening component of an automatic silt loosening device of a silt clearing robot;
[0028] Figure 4 It is a schematic diagram of the structure of a silt loosening unit of an automatic silt loosening device of a silt clearing robot;
[0029] In the figure: 1. silt loosening assembly; 11. rotating shaft; 12. mounting seat; 13. sleeve rod; 14. sliding rod; 15. silt loosening head; 16. pressure equalizing chamber; 17. spring; 151. first spray hole; 152. second spray hole; 2. azimuth adjustment mechanism; 21. first hinge seat; 22. hinged member; 23. second hinge seat; 24. horizontal telescopic rod; 25. first connecting rod; 26. pitch telescopic rod; 27. support rod; 28. second connecting rod; 29. fixing seat; 271. limiter; 3. first connecting arm; 4. second connecting arm. DETAILED DESCRIPTION
[0030] See also Figures 1-4, the present utility model provides an automatic silt loosening device for a dredging robot, which includes a silt loosening component 1 and an azimuth adjustment mechanism 2. At both ends of the silt loosening component 1, a first connecting arm 3 and a second connecting arm 4 are rotatably arranged adjacent to each other in sequence as they move away from the ends. Both ends of the first connecting arm 3 and the second connecting arm 4 are respectively rotatably connected to the silt loosening component 1 and the azimuth adjustment mechanism 2;
[0031] A plurality of silt loosening units are arranged on the silt loosening component 1, and the silt loosening units are used for horizontally and vertically loosening the silt;
[0032] The azimuth adjustment mechanism 2 includes a horizontal adjustment component and a pitch adjustment component. The horizontal adjustment component is connected to the first connecting arm 3 and is used for adjusting the silt loosening operation width of the silt loosening component 1. The pitch adjustment component is connected to the second connecting arm 4 and is used for adjusting the silt loosening operation depth of the silt loosening component 1;
[0033] The azimuth adjustment mechanism 2 further includes a fixed seat 29, and is installed on the dredging robot through the fixed seat 29 and is located directly in front of the dredging end of the dredging robot.
[0034] During underwater dredging operations, the dredging robot drives the silt loosening component 1 to move forward, horizontally and vertically cut and loosen the silt layer, and the azimuth adjustment mechanism 2 adjusts the operation width and depth of the silt loosening component 1 to adapt to different dredging environments. At the same time, the dredging end of the dredging robot cleans the loosened silt to prevent the silt from being too viscous, resulting in low dredging efficiency or clogging of the dredging pipeline.
[0035] Further, the silt loosening component 1 includes: a rotating shaft 11. The rotating shaft 11 is a hollow shaft. The first connecting arm 3 and the second connecting arm 4 are rotatably arranged at both ends of the rotating shaft 11, and the silt loosening units are spirally arranged on the shaft body of the rotating shaft 11;
[0036] The silt loosening unit includes a mounting seat 12. A sleeve rod 13 is symmetrically installed on the outside of the mounting seat 12 perpendicular to the axis of the rotating shaft 11. A sliding rod 14 is slidably and limitedly arranged in the sleeve rod 13. A silt loosening head 15 is arranged at the outer end of the sliding rod 14. The two groups of silt loosening heads 15 on each silt loosening unit are symmetrically arranged. A spring 17 is arranged between the bottom of the sliding cavity of the sliding rod 14 and the sleeve rod 13 for elastically avoiding obstacles in the silt;
[0037] A flow channel is formed inside the silt loosening unit and is communicated with the inside of the rotating shaft 11.
[0038] Specifically, the sliding limiting setting of the sliding rod 14 inside the sleeve rod 13 is such that it can slide relatively but cannot slide out. Among them, several silt loosening units are spirally arranged on the shaft body of the rotating shaft 11. Specifically, due to a certain installation angle existing axially between adjacent silt loosening units in sequence, the silt loosening heads 15 are staggered for silt loosening, reducing the number of silt loosening heads 15 in contact with the silt layer at the same time, reducing the silt loosening resistance, and improving the silt loosening efficiency.
[0039] Further, the front and rear side surfaces in the rotation direction of the silt loosening head 15 are two groups of intersecting arc surfaces, and the tip formed by the intersection of the two groups of arc surfaces constitutes the silt cutting-in end of the silt loosening head 15. A plurality of first spray holes 151 and second spray holes 152 are formed on the silt loosening head 15. The first spray holes 151 are located on the two groups of arc surfaces, and the second spray holes 152 are located on the two side surfaces of the silt loosening head 15;
[0040] The first spray holes 151 and the second spray holes 152 are communicated with the flow channel.
[0041] Further, a pressure equalizing cavity 16 is formed inside the silt loosening head 15, and the pressure equalizing cavity 16 is communicated with the flow channel, the first spray holes 151 and the second spray holes 152 respectively.
[0042] Further, the cross-sectional sizes of the channels of the first spray holes 151 and the second spray holes 152 are the same.
[0043] Further, one end of the rotating shaft 11 is connected to a motor, and the other end of the rotating shaft 11 is connected to a pump set through a pipeline.
[0044] It should be explained that when performing transverse and longitudinal cutting and loosening treatment on the silt layer, the silt layer is longitudinally cut and loosened by the sleeve rod 13, the sliding rod 14 and the silt loosening head 15. At the same time, high-pressure air or water flow is output to the first spray holes 151 and the second spray holes 152 through the pump set to perform hydraulic / pneumatic cutting on the silt layer.
[0045] Among them, when the sleeve rod 13, the sliding rod 14 and the silt loosening head 15 perform longitudinal cutting, the first spray holes 151 can pre-cut the front of the cutting part, reduce the next cutting resistance, and improve the cutting efficiency; the second spray holes 152 perform transverse cutting and loosening on the silt layer, and through hydraulic / pneumatic cutting, the silt between adjacent silt loosening units can be cut into blocks, improving the silt loosening effect.
[0046] In addition, when encountering an obstacle, the silt loosening head 15 is buffered by the spring 17, avoiding rigid collision damage between the silt loosening unit and the obstacle, and improving its service life.
[0047] Further, the horizontal adjustment assembly includes: a first hinge seat 21 installed on the fixed seat 29, the first hinge seat 21 is hinged to one end of a hinged member 22, the hinge axis of the first hinge seat 21 and the hinged member 22 is parallel to the Z axis, the other end of the hinged member 22 is hinged to a second hinge seat 23, the hinge axis of the second hinge seat 23 and the hinged member 22 is parallel to the Y axis, the second hinge seat 23 is installed in the middle of the first connecting rod 25, and the two ends of the first connecting rod 25 are respectively rotatably connected to the two groups of the first connecting arms 3;
[0048] Two groups of horizontal telescopic rods 24 are arranged in an "eight" shape on one side of the hinged member 22 facing the second hinge seat 23 . The horizontal telescopic rods 24 are hinged to the hinged member 22 and the first connecting rod 25 , respectively.
[0049] Furthermore, the pitch adjustment assembly includes: a pitch telescopic rod 26 and a support rod 27, wherein the pitch telescopic rod 26 and the support rod 27 are arranged in a triangle with the fixing seat 29 toward one side of the silt loosening assembly 1, and the three are hinged to each other;
[0050] A limit piece 271 is rotatably provided at the top of one end of the support rod 27 away from the fixing seat 29 , a through hole is penetrated through the side of the limit piece 271 , a second connecting rod 28 is installed in the through hole, and both ends of the second connecting rod 28 are rotatably connected to the two groups of the second connecting arms 4 respectively.
[0051] It needs to be explained that when the operating width of the silt loosening component 1 is adjusted, the two groups of horizontal telescopic rods 24 are controlled by the control device to telescope and cooperate, so as to realize the deflection of the silt loosening component 1 in the horizontal direction and change the silt loosening operating width, wherein the size of the sludge blocks during loosening is adjusted at the same time by adjusting the operating width. Specifically, when the silt loosening unit of the silt loosening component 1 loosens the silt after the deflection, the adjacent silt loosening unit on the side of the dredging robot can loosen the silt blocks loosened by the silt loosening unit on the side away from the dredging robot, so that the loosened silt blocks are smaller, which is beneficial to the suction and dredging of the dredging robot and reduces the probability of blockage of the dredging pipe.
[0052] When the operating height of the silt loosening assembly 1 is adjusted, the silt loosening operating depth of the silt loosening assembly 1 is correspondingly adjusted by controlling the pitch telescopic rod 26 to extend and retract, thereby improving the convenience of the silt loosening operation of the silt loosening assembly 1 by the dredging robot.
[0053] During specific implementation, the dredging robot is controlled to move underwater to dredge, and the silt layer is cut and loosened by the silt loosening component installed in front of the dredging end. Then, the silt that has been cut and loosened is sucked and dredged through the dredging end of the dredging robot, thereby improving the dredging efficiency of the dredging robot and reducing the probability of blockage of the dredging pipe.
[0054] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present utility model.
Claims
1. A dredging robot automatic sludge loosening device, characterized in that: It comprises a silt loosening component (1) and an orientation adjustment mechanism (2), wherein two ends of the silt loosening component (1) are provided with a first connecting arm (3) and a second connecting arm (4) which are rotated adjacent to each other in sequence as they move away from the end, and both ends of the first connecting arm (3) and the second connecting arm (4) are respectively rotatably connected to the silt loosening component (1) and the orientation adjustment mechanism (2); The silt loosening assembly (1) is provided with a plurality of silt loosening units, and the silt loosening units are used to loosen the silt horizontally and vertically; The azimuth adjustment mechanism (2) comprises a horizontal adjustment component and a pitch adjustment component, wherein the horizontal adjustment component is connected to the first connecting arm (3) and is used to adjust the silt loosening operation width of the silt loosening component (1), and the pitch adjustment component is connected to the second connecting arm (4) and is used to adjust the silt loosening operation depth of the silt loosening component (1); The azimuth adjustment mechanism (2) also includes a fixing seat (29), and is mounted on the dredging robot via the fixing seat (29), and is located directly in front of the dredging end of the dredging robot.
2. The automatic sludge loosening device of a dredging robot according to claim 1 is characterized in that: The silt loosening component (1) comprises: A rotating shaft (11), wherein the rotating shaft (11) is a hollow shaft, the first connecting arm (3) and the second connecting arm (4) are rotatably arranged at both ends of the rotating shaft (11), and the silt loosening unit is spirally arranged on the shaft body of the rotating shaft (11); The silt loosening unit comprises a mounting seat (12), a sleeve rod (13) is mounted on the outer side of the mounting seat (12) perpendicularly and symmetrically to the axis of the rotating shaft (11), a sliding rod (14) is arranged inside the sleeve rod (13) for sliding limit, a silt loosening head (15) is arranged at the outer end of the sliding rod (14), two groups of silt loosening heads (15) on each silt loosening unit are arranged symmetrically about the center, and a spring (17) is arranged between the sliding rod (14) and the bottom of the sliding cavity of the sleeve rod (13) for elastically avoiding obstacles in the silt; A flow channel is provided inside the silt loosening unit and inside the rotating shaft (11).
3. The automatic sludge loosening device of a dredging robot according to claim 2 is characterized in that: The front and rear side surfaces of the silt loosening head (15) in the rotation direction are two groups of intersecting arcuate surfaces, and the tip formed by the intersection of the two groups of arcuate surfaces constitutes the silt cutting end of the silt loosening head (15). The silt loosening head (15) is provided with a plurality of first spray holes (151) and second spray holes (152), wherein the first spray holes (151) are located on the two groups of arcuate surfaces, and the second spray holes (152) are located on the two side surfaces of the silt loosening head (15); The first spray hole (151) and the second spray hole (152) are in communication with the flow channel.
4. The automatic sludge loosening device of a dredging robot according to claim 3 is characterized in that: A pressure equalizing chamber (16) is provided in the degassing head (15), and the pressure equalizing chamber (16) is communicated with the flow channel and the first spray hole (151) and the second spray hole (152) respectively.
5. The automatic sludge loosening device of a dredging robot according to claim 3 is characterized in that: The first spray hole (151) and the second spray hole (152) have the same hole cross-section size.
6. The automatic sludge loosening device of a dredging robot according to claim 1, characterized in that: The horizontal adjustment assembly comprises: a first hinge seat (21) mounted on the fixed seat (29), the first hinge seat (21) being hinged to one end of a hinged member (22), the hinge axis between the first hinge seat (21) and the hinged member (22) being parallel to the Z axis, the other end of the hinged member (22) being hinged to a second hinge seat (23), the hinge axis between the second hinge seat (23) and the hinged member (22) being parallel to the Y axis, the second hinge seat (23) being mounted at the middle of a first connecting rod (25), the two ends of the first connecting rod (25) being rotatably connected to the two groups of the first connecting arms (3) respectively; Two groups of horizontal telescopic rods (24) are arranged in an "eight" shape on one side of the hinged component (22) facing the second hinge seat (23), and the horizontal telescopic rods (24) are respectively hinged to the hinged component (22) and the first connecting rod (25).
7. The automatic sludge loosening device of a dredging robot according to claim 1 is characterized in that: The pitch adjustment assembly comprises: a pitch telescopic rod (26) and a support rod (27); the pitch telescopic rod (26) and the support rod (27) are arranged in a triangle with the fixing seat (29) toward one side of the silt loosening assembly (1), and the three are hinged to each other; A limiting member (271) is rotatably provided at the top of one end of the support rod (27) away from the fixing seat (29); a through hole is penetrated through the side of the limiting member (271); a second connecting rod (28) is installed in the through hole; and two ends of the second connecting rod (28) are rotatably connected to the two sets of the second connecting arms (4) respectively.
8. The automatic sludge loosening device of a dredging robot according to claim 2, characterized in that: One end of the rotating shaft (11) is connected to a motor, and the other end of the rotating shaft (11) is connected to a pump group via a pipeline.