Supporting arm shoveling dredging robot

Abstract

The utility model discloses a supporting arm shoveling dredging robot which comprises a moving seat and a precise turnover mechanism. A center control box is arranged on the upper side of the moving seat, a supporting arm is arranged on the left side of the center control box, the upper end of the supporting arm is rotationally connected with a rotating arm through a first rotating shaft, the left end of the rotating arm is rotationally connected with an adjusting shell through second uniformly-distributed rotating shafts, and the left wall of the adjusting shell is rotationally connected with an excavator bucket through a rotating shaft; the precise turnover mechanism is arranged in the adjusting shell and fixedly connected with the rotating shaft, a storage battery pack is arranged in the center control box, a single-chip microcomputer is arranged on the front side of the center control box, and the input end of the single-chip microcomputer is electrically connected with the output end of the storage battery pack. The excavation part can be precisely and horizontally overturned and adjusted through the transmission element and the detection element, the desilting operable range of the supporting arm shoveling and excavating desilting robot on the underground pipeline is widened, desilting dead corners are avoided, and use is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of silt removal, in particular to a supporting arm shoveling and silt removal robot. Background Art

[0002] With the acceleration of my country's urbanization process, the scale of urban drainage systems has gradually expanded. Due to long-term silt deposition, urban drainage pipes and box culverts are blocked and sewage overflows, which in turn causes "inland waterlogging". Therefore, dredging robots are usually used for emergency cleaning. Some arm shovel and dredging robots include a crawler walking device, a bucket arranged in front of the crawler walking device, a support platform arranged above the crawler walking device, and hydraulic lever arms arranged on both sides of the support platform. When the device dredges the underground pipeline, the telescopic end of the hydraulic lever arm is moved by the hydraulic pump, so that the bucket is vertically flipped around the corresponding connecting shaft axis, thereby realizing the dredging operation of the underground pipeline. However, the internal environment of the underground pipeline is complex, and the bucket part of the device is vertically flipped around the connecting shaft axis to adjust the vertical excavation angle. The dredging excavation angle adjustment method of the device is relatively limited, resulting in the device being unable to clean the silt in the dead corners of the underground pipeline well, which needs to be improved. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the existing defects and provide a support arm shovel digging and dredging robot. The device can accurately adjust the excavation site horizontally through transmission elements and detection elements, thereby improving the operating range of the support arm shovel digging and dredging robot for dredging underground pipelines, avoiding the occurrence of dredging dead corners, and is easy to use, which can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a supporting arm shoveling and dredging robot, comprising a moving seat and a precise flipping mechanism;

[0005] Mobile base: A central control box is provided on its upper side, a support arm is provided on the left side of the central control box, the upper end of the support arm is rotatably connected to a rotating arm via a rotating shaft 1, the left end of the rotating arm is rotatably connected to an adjustment shell via a uniformly distributed rotating shaft 2, and the left wall of the adjustment shell is rotatably connected to a bucket via a rotating shaft;

[0006] Precision flipping mechanism: It is arranged inside the adjustment shell and is fixedly connected to the rotating shaft. The device can perform precise horizontal flipping adjustment on the excavation site through transmission elements and detection elements, thereby improving the operable range of the arm shoveling and dredging robot for dredging underground pipelines, avoiding dredging dead corners, and is easy to use.

[0007] Furthermore, a battery pack is provided inside the central control box, and a single-chip microcomputer is provided on the front side of the central control box. The input end of the single-chip microcomputer is electrically connected to the output end of the battery pack, which facilitates the control of electrical components.

[0008] Furthermore, a connecting seat 1 is provided on the left side of the central control box and the lower side of the rotating arm. An electro-hydraulic push rod 1 is rotatably connected between the connecting seat 1 through a rotating shaft 3. The input end of the electro-hydraulic push rod 1 is electrically connected to the output end of the single-chip microcomputer to adjust the rotating arm of the support arm shoveling and dredging robot.

[0009] Furthermore, a connecting seat 2 is provided on the upper side of the rotating arm, and an electro-hydraulic push rod 2 is rotatably connected between the connecting seat 2 and the adjustment shell through a rotating shaft 4. The input end of the electro-hydraulic push rod 2 is electrically connected to the output end of the single-chip microcomputer to perform vertical flipping and excavation control for the bucket of the support arm shoveling and dredging robot.

[0010] Furthermore, the precise flipping mechanism includes a worm, a worm wheel and a waterproof motor. The worm wheel is arranged at the right end of the rotating shaft. The bottom wall of the adjusting shell is connected to the worm through the driving shaft. The worm is meshed with the worm wheel. A waterproof motor is provided on the lower side of the adjusting shell. The input end of the waterproof motor is electrically connected to the output end of the single-chip microcomputer. The output shaft of the waterproof motor is fixedly connected to the lower end of the driving shaft to perform horizontal flipping adjustment on the bucket of the arm shoveling and dredging robot.

[0011] Furthermore, the precise flipping mechanism also includes an angle sensor, which is arranged on the left wall of the adjustment shell. The angle sensor is bidirectionally electrically connected to the single-chip microcomputer. The angle sensor is installed in conjunction with the rotating shaft to detect and upload the horizontal flipping angle of the bucket.

[0012] Furthermore, a muddy water camera is provided on the upper side of the central control box through a mounting rod, and the muddy water camera is electrically connected to the single-chip microcomputer in a bidirectional manner. Evenly distributed fill lights are provided on the left side of the central control box, and the input ends of the fill lights are electrically connected to the output ends of the single-chip microcomputer to collect images of the dredging construction environment of the support arm shovel and dredging robot in the underground pipeline.

[0013] Furthermore, a wireless transmitter is provided on the front side of the central control box, which is bidirectionally electrically connected to the single-chip microcomputer and is remotely wirelessly connected to an external control terminal via the wireless transmitter, thereby facilitating remote dredging control of the device.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the arm shoveling and dredging robot has the following advantages:

[0015] During the process of cleaning silt in underground pipelines, the single-chip microcomputer starts the angle sensor. The angle sensor adopts high-performance integrated magnetic sensitive elements and uses the non-contact characteristics of magnetic signal induction to measure the rotation angle of the rotating shaft and transmit the measurement results to the single-chip microcomputer in the form of electrical signals. The single-chip microcomputer starts the waterproof motor so that its output shaft drives the worm to rotate through the drive shaft. The worm is engaged so that the turbine drives the rotating shaft to rotate, and the rotating shaft drives the bucket to rotate around its own axis. The single-chip microcomputer controls the waterproof motor based on the data of the angle sensor, so that the horizontal precise flip adjustment of the excavation direction of the bucket groove can be performed, thereby improving the silt removal and excavation angle of the bucket, so that the device can clean the silt in the dead corners of the wall or top of the underground pipeline. It is easy to use. The arm shovel excavation and dredging robot can accurately flip the excavation part horizontally through the transmission element and the detection element, thereby improving the operable range of the arm shovel excavation and dredging robot for dredging underground pipelines, avoiding dredging dead corners, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the regulating shell structure of the utility model.

[0018] In the figure: 1 moving base, 2 central control box, 3 single-chip microcomputer, 4 support arm, 5 rotating arm, 6 adjustment shell, 7 rotating shaft, 8 bucket, 9 precise flip mechanism, 91 worm, 92 worm gear, 93 waterproof motor, 94 angle sensor, 10 connecting base 1, 11 electro-hydraulic push rod 1, 12 connecting base 2, 13 electro-hydraulic push rod 2, 14 mounting rod, 15 muddy water camera, 16 fill light, 17 wireless transmitter. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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.

[0020] See also Figure 1-2 , this embodiment provides a technical solution: a supporting arm shoveling and dredging robot, comprising a moving base 1 and a precise flipping mechanism 9;

[0021] Mobile seat 1: a central control box 2 is provided on its upper side. The mobile seat 1 is a mobile chassis structure commonly used in existing crawler mobile machines. A support arm 4 is provided on the left side of the central control box 2. The upper end of the support arm 4 is connected to a rotating arm 5 by rotating shaft 1. The left end of the rotating arm 5 is connected to an adjustment shell 6 by rotating shaft 2 that is evenly distributed. The left wall of the adjusting shell 6 is connected to a bucket 8 by rotating shaft 7. A battery pack is provided inside the central control box 2. A single-chip microcomputer 3 is provided on the front side of the central control box 2. The input end of the single-chip microcomputer 3 is electrically connected to the output end of the battery pack. A connecting seat 10 is provided on the left side of the central control box 2 and the lower side of the rotating arm 5. 10 is connected to an electro-hydraulic push rod 11 by a rotating shaft 3, and the input end of the electro-hydraulic push rod 11 is electrically connected to the output end of the single-chip computer 3. A connecting seat 2 12 is provided on the upper side of the rotating arm 5. An electro-hydraulic push rod 2 13 is connected to the connecting seat 2 12 and the adjustment shell 6 by a rotating shaft 4. The input end of the electro-hydraulic push rod 2 13 is electrically connected to the output end of the single-chip computer 3. A muddy water camera 15 is provided on the upper side of the central control box 2 through a mounting rod 14. The muddy water camera 15 is bidirectionally electrically connected to the single-chip computer 3. The left side of the central control box 2 is provided with evenly distributed fill lights 16. The input ends of the fill lights 16 are all electrically connected to the output end of the single-chip computer 3. A wireless transmitter 17 is provided on the front side of the box 2, and the wireless transmitter 17 is bidirectionally electrically connected to the single-chip computer 3. When the arm shovel excavator robot is used to clean the silt in the underground pipeline, the battery pack provides power support for the operation of the single-chip computer 3. The single-chip computer 3 starts the electro-hydraulic push rod 11 so that its telescopic end indirectly drives the rotating arm 5 to rotate around the axis of the rotating shaft 1, thereby regulating the rotating arm 5. The single-chip computer 3 starts the electro-hydraulic push rod 2 13 so that its telescopic end indirectly drives the adjustment shell 6 to rotate around the axis of the rotating shaft 2, thereby vertically adjusting the excavation angle of the bucket 8. During the process of the device cleaning the silt in the underground pipeline, the single-chip computer 3 The muddy water camera 15 is activated to collect images of the surrounding dredging construction and transmit them to the single-chip microcomputer 3 in the form of electrical signals. The single-chip microcomputer 3 transmits the image signals to the external control terminal via the wireless transmitter 17 in the form of radio signals. At the same time, the wireless transmitter 17 receives the wireless signal instructions sent by the external control terminal and transmits them to the single-chip microcomputer 3 in the form of electrical signals, so that the staff can remotely control the dredging operation of the device through the external control terminal according to the transmitted images. It is easy to use. The single-chip microcomputer 3 activates the fill light 16 to provide auxiliary fill light for the image collection of the muddy water camera 15, thereby improving the clarity of the image itself.

[0022] Precision flip mechanism 9: It is arranged inside the adjustment shell 6, and the precision flip mechanism 9 is fixedly connected to the rotating shaft 7. The precision flip mechanism 9 includes a worm 91, a worm wheel 92 and a waterproof motor 93. The worm wheel 92 is arranged at the right end of the rotating shaft 7. The bottom wall of the adjustment shell 6 is connected to the worm 91 through the drive shaft. The worm 91 is meshed with the worm wheel 92. A waterproof motor 93 is provided on the lower side of the adjustment shell 6. The input end of the waterproof motor 93 is electrically connected to the output end of the single-chip microcomputer 3. The output shaft of the waterproof motor 93 is fixedly connected to the lower end of the drive shaft. The precision flip mechanism 9 also includes an angle sensor 94. The angle sensor 94 is arranged on the left wall of the adjustment shell 6. The angle sensor 94 is bidirectionally electrically connected to the single-chip microcomputer 3. The angle sensor 94 is installed in conjunction with the rotating shaft 7. During the process of cleaning the silt in the underground pipeline, the single-chip microcomputer 3 starts the angle sensor 94. The angle sensor 94 adopts a high-performance integrated magnetic sensitive element and uses magnetic signals The non-contact sensing feature measures the rotation angle of the rotating shaft 7 and transmits the measurement result to the single-chip computer 3 in the form of an electrical signal. The single-chip computer 3 starts the waterproof motor 93 so that its output shaft drives the worm 91 to rotate through the drive shaft. The worm 91 is engaged so that the turbine 92 drives the rotating shaft 7 to rotate, and the rotating shaft 7 drives the bucket 8 to rotate around its own axis. The single-chip computer 3 controls the waterproof motor 93 in combination with the data of the angle sensor 94, so that the groove excavation direction of the bucket 8 can be accurately flipped horizontally and adjusted, thereby improving the dredging and excavation angle of the bucket 8, thereby facilitating the device to clean the silt in the dead corners of the wall or top of the underground pipeline, and is easy to use. The arm shovel digging and dredging robot can accurately flip and adjust the excavation part horizontally through the transmission element and the detection element, thereby improving the operational range of the arm shovel digging and dredging robot for dredging underground pipelines, avoiding dredging dead corners, and is easy to use.

[0023] The working principle of the support arm shovel excavation and dredging robot provided by the present invention is as follows: when the support arm shovel excavation and dredging robot is used to clean the silt in the underground pipeline, the battery pack provides power support for the operation of the single chip computer 3, the single chip computer 3 starts the electro-hydraulic push rod 11 so that its telescopic end indirectly drives the rotating arm 5 to rotate around the axis of the rotating shaft 1, thereby regulating the rotating arm 5, the single chip computer 3 starts the electro-hydraulic push rod 2 13 so that its telescopic end indirectly drives the adjusting shell 6 to rotate around the axis of the rotating shaft 2, thereby vertically adjusting the digging angle of the bucket 8, and during the process of the device cleaning the silt in the underground pipeline, the single chip computer 3 starts the angle sensor 94, which adopts a high-performance integrated magnetic sensitive element and utilizes the non-contact characteristics of magnetic signal induction to measure the rotation angle of the rotating shaft 7, and transmits the measurement result to the single chip computer 3 in the form of an electrical signal, the single chip computer 3 starts the waterproof motor 93 so that its output shaft drives the worm 91 to rotate through the drive shaft, and the worm 91 is engaged so that the turbine 92 drives the rotating shaft 7 to rotate, and the rotating shaft 7 drives The movable bucket 8 rotates around its own axis, and the single-chip microcomputer 3 controls the waterproof motor 93 in combination with the data of the angle sensor 94, so that the groove excavation direction of the bucket 8 can be horizontally and accurately flipped and adjusted, thereby improving the dredging and excavation angle of the bucket 8, thereby facilitating the device to clean the silt in the dead corners of the wall or top of the underground pipeline. It is easy to use. During the process of the device cleaning the silt in the underground pipeline, the single-chip microcomputer 3 starts the muddy water camera 15 to collect the surrounding dredging construction images and transmit them to the single-chip microcomputer 3 in the form of electrical signals. The single-chip microcomputer 3 transmits the image signal to the external control terminal via the wireless transmitter 17 in the form of radio signals. At the same time, the wireless transmitter 17 receives the wireless signal command issued by the external control terminal and transmits it to the single-chip microcomputer 3 in the form of electrical signals, so that the staff can remotely control the dredging operation of the device through the external control terminal according to the transmitted image. It is easy to use. The single-chip microcomputer 3 starts the fill light 16 to assist in filling the image collection of the muddy water camera 15 to improve the clarity of the image itself.

[0024] It is worth noting that the single-chip microcomputer 3 disclosed in the above embodiment can adopt COP8CBE9, the waterproof motor 93 can adopt YX3-180M-2, the angle sensor 94 can adopt HSM22M multi-turn non-contact magnetic potentiometer, the electro-hydraulic push rod 1 11 and the electro-hydraulic push rod 2 13 can both adopt DYTZ-1000, the muddy water camera 15 can adopt ty-x17, the fill light 16 can adopt SK-LED48-PSH2, and the wireless transmitter 17 can adopt FA233W wireless transmitter and receiver. The single-chip microcomputer 3 controls the waterproof motor 93, the angle sensor 94, the electro-hydraulic push rod 1 1, the electro-hydraulic push rod 2 13, the muddy water camera 15, the fill light 16 and the wireless transmitter 17, all of which adopt the methods commonly used in the prior art.

[0025] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A supporting arm shoveling and dredging robot, characterized by: It comprises a moving seat (1) and a precise turning mechanism (9); The movable seat (1) is provided with a central control box (2) on its upper side, a support arm (4) is provided on the left side of the central control box (2), the upper end of the support arm (4) is rotatably connected to a rotating arm (5) via a rotating shaft 1, the left end of the rotating arm (5) is rotatably connected to an adjustment housing (6) via a uniformly distributed rotating shaft 2, and the left wall of the adjustment housing (6) is rotatably connected to a bucket (8) via a rotating shaft (7); A precise flipping mechanism (9): the precise flipping mechanism (9) is arranged inside the regulating shell (6), and the precise flipping mechanism (9) is fixedly connected to the rotating shaft (7).

2. The supporting arm shoveling and dredging robot according to claim 1, characterized in that: A battery pack is provided inside the central control box (2), a single-chip computer (3) is provided on the front side of the central control box (2), and an input end of the single-chip computer (3) is electrically connected to an output end of the battery pack.

3. The supporting arm shoveling and dredging robot according to claim 2, characterized in that: A connecting seat (10) is provided on the left side of the central control box (2) and the lower side of the rotating arm (5). An electro-hydraulic push rod (11) is rotatably connected between the connecting seat (10) via a rotating shaft. The input end of the electro-hydraulic push rod (11) is electrically connected to the output end of the single-chip computer (3).

4. The supporting arm shoveling and dredging robot according to claim 2, characterized in that: A second connecting seat (12) is provided on the upper side of the rotating arm (5); an electro-hydraulic push rod (13) is rotatably connected between the second connecting seat (12) and the regulating shell (6) via a fourth rotating shaft; an input end of the second electro-hydraulic push rod (13) is electrically connected to an output end of the single chip computer (3).

5. The supporting arm shoveling and dredging robot according to claim 2, characterized in that: The precise flipping mechanism (9) comprises a worm (91), a worm wheel (92) and a waterproof motor (93); the worm wheel (92) is arranged at the right end of the rotating shaft (7); the bottom wall of the regulating housing (6) is rotatably connected to the worm (91) via a driving shaft; the worm (91) and the worm wheel (92) are meshed and connected; a waterproof motor (93) is provided on the lower side of the regulating housing (6); the input end of the waterproof motor (93) is electrically connected to the output end of the single chip microcomputer (3); and the output shaft of the waterproof motor (93) is fixedly connected to the lower end of the driving shaft.

6. The supporting arm shoveling and dredging robot according to claim 5, characterized in that: The precise flipping mechanism (9) further comprises an angle sensor (94), which is arranged on the left wall of the adjustment housing (6), is bidirectionally electrically connected to the single-chip microcomputer (3), and is mounted in conjunction with the rotating shaft (7).

7. The arm-shoveling and dredging robot according to claim 2, characterized in that: A muddy water camera (15) is provided on the upper side of the central control box (2) via a mounting rod (14), and the muddy water camera (15) is bidirectionally electrically connected to the single-chip computer (3). Evenly distributed fill lights (16) are provided on the left side of the central control box (2), and the input ends of the fill lights (16) are electrically connected to the output ends of the single-chip computer (3).

8. The arm-shoveling and dredging robot according to claim 2, characterized in that: A wireless transmitter (17) is provided on the front side of the central control box (2), and the wireless transmitter (17) is bidirectionally electrically connected to the single-chip computer (3).

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