Electrically-driven swing arm dredging robot

Abstract

The utility model discloses an electric drive swing arm dredging robot which comprises a base, a shell and a dredging mechanism. A mounting groove is formed in the inner wall of the base, second rotating shafts are rotationally connected to the front and rear ends of the inner wall of the left side of the mounting groove, a first rotating shaft is rotationally connected between the front and rear inner walls of the right side of the mounting groove, tires fixedly sleeve the ends of the first rotating shaft and the second rotating shafts, and anti-skid grooves are formed in the outer surfaces of the tires; the shell is fixedly connected to the upper surface of the base, the front end and the rear end of the left side face of the shell are fixedly connected with first U-shaped seats correspondingly, the inner walls of the first U-shaped seats are rotationally connected with connecting arms through pin shafts correspondingly, and an angle-adjustable desilting shell is installed between the right ends of the connecting arms through bolts. According to the dredging robot, the sludge condition can be more flexibly handled, the flowing direction of the sludge can be more effectively controlled, the blockage problem of the dredging robot is avoided, and therefore the efficiency and speed of the dredging robot in the dredging operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of water area cleaning, in particular to an electric-driven swing-arm silt-clearing robot. Background Art

[0002] An electric-driven swing-arm dredging robot is a robot specifically designed for inspecting and clearing silt, mud, and other debris from water bodies. It is typically powered by an electric engine and equipped with a swing arm and cleaning device, allowing it to move and operate freely in water. This type of robot can be used in water environments such as rivers, lakes, and reservoirs, aiming to improve the efficiency and safety of dredging operations.

[0003] Traditional electric-driven swing-arm dredging robots use the output shaft of the motor to drive the rotating shaft to rotate, which drives the propeller to rotate. The propeller rotates and stirs the silt on the bottom of the water, loosening the silt and suspending it in the water, forming a silt suspension. The water flow generated by the rotation transports the stirred silt to the sand suction pipe or suction port inside the dredging robot, and then transports it to the outside through the sand suction pipe;

[0004] Traditional electric-driven swing-arm dredging robots have the following problems: due to the use of a single propeller, they may not be able to provide sufficient propulsion during the dredging process, resulting in low dredging efficiency. In particular, the effect is limited when dealing with large areas or deep silt, requiring repeated cleaning and processing, which increases the complexity and time consumption of the work. To this end, we propose an electric-driven swing-arm dredging robot. Utility Model Content

[0005] The technical problem to be solved by the present invention is to overcome the existing defects and provide an electric-driven swing-arm dredging robot that can respond to silt conditions more flexibly, more effectively control the flow direction of silt, avoid clogging of the silt cleaning robot, thereby improving the efficiency and speed of the silt cleaning robot in silt cleaning operations, and can effectively solve the problems in the background technology.

[0006] To achieve the above-mentioned object, the present utility model provides the following technical solutions: an electric-driven swing-arm dredging robot, comprising a base, a housing and a dredging mechanism;

[0007] Base: The inner wall of the base is provided with a mounting groove, the front and rear ends of the left inner wall of the mounting groove are rotatably connected to the second rotating shaft, and the front and rear inner walls of the right inner wall of the mounting groove are rotatably connected to the first rotating shaft. The ends of the first and second rotating shafts are fixed with tires, and the outer surfaces of the tires are provided with anti-skid grooves;

[0008] Shell: It is fixedly connected to the upper surface of the base, and the front and rear ends of the left side of the shell are respectively fixedly connected to a U-shaped seat. The inner wall of the U-shaped seat is rotatably connected to a connecting arm through a pin shaft. An angle-adjustable dredging shell is installed between the right ends of the connecting arms through bolts;

[0009] Mounting shell: It is fixedly connected to the front side of the dredging shell. A dredging mechanism is provided inside the mounting shell. The rear end of the dredging mechanism extends to the outside of the rear side of the dredging shell. It can respond to silt conditions more flexibly and control the flow direction of silt more effectively, avoiding blockage problems of the dredging robot, thereby improving the efficiency and speed of the dredging robot in dredging operations.

[0010] Furthermore, it also includes a battery and a single-chip microcomputer. The battery is arranged on the rear side of the bottom wall of the shell, and the single-chip microcomputer is arranged on the left side of the bottom wall of the shell. The input end of the single-chip microcomputer is electrically connected to the output end of the battery to facilitate the regulation of the operation of each electrical appliance.

[0011] Furthermore, it also includes motor 2, and the number of motor 2 is two. The two motors 2 are respectively arranged on the front and rear inner walls on the left side of the installation groove. The output shafts of motor 2 are fixedly connected to the ends of the adjacent rotating shaft 2. The input end of motor 2 is electrically connected to the output end of the single-chip microcomputer to drive the dredging robot to walk in the water.

[0012] Furthermore, it also includes a U-shaped seat three, which is fixedly connected to the middle of the left side of the shell. The interior of the U-shaped seat three is rotatably connected to an electric push rod through a pin shaft. The telescopic end of the electric push rod is rotatably connected to the U-shaped seat two through a pin shaft. The left side of the U-shaped seat two is fixedly connected to the right side of the dredging shell. The input end of the electric push rod is electrically connected to the output end of the single-chip microcomputer, which is convenient for adjusting the angle of the dredging shell.

[0013] Furthermore, it also includes a sand suction cover, which is fixedly connected to the installation port at the lower end of the right side of the dredging shell. A sand suction pipe is inserted into the interior of the sand suction cover, and the right end of the sand suction pipe extends to the outside of the right side of the shell to effectively collect and clean the silt.

[0014] Furthermore, the dredging mechanism includes a rotating shaft 1, a spiral blade, a rotating shaft 2 and a stirring blade. The rotating shaft 1 is rotatably connected to the upper and lower ends of the front inner wall of the mounting shell, and the rear end of the rotating shaft 1 extends to the rear inner wall of the dredging shell. The outer surface of the rotating shaft 1 is fixedly sleeved with a spiral blade. The rotating shaft 2 is rotatably connected to the right end of the front inner wall of the mounting shell, and the rear end of the rotating shaft 2 extends to the outside of the rear side surface of the dredging shell. The outer surface of the rotating shaft 2 is fixedly sleeved with a stirring blade. The stirring blade and the spiral blade are installed in coordination, which helps to evenly spread the silt in the water, so that the dredging robot can clean and remove the silt more easily.

[0015] Furthermore, the dredging mechanism also includes a small-diameter gear and a large-diameter gear. The large-diameter gear is fixedly sleeved on the front end of the rotating shaft 2, and the small-diameter gears are all sleeved on the front end of the rotating shaft 1. The small-diameter gears are all meshed and connected with a large-diameter gear, and the synchronous direction rotation of the spiral blades is achieved through the transmission of the gears.

[0016] Furthermore, the dredging mechanism also includes motor 1, which is installed on the rear side of the mounting shell by bolts. The front end of the output shaft of motor 1 is fixedly connected to the rear end of rotating shaft 2, and the input end of motor 1 is electrically connected to the output end of the single-chip microcomputer to drive the dredging mechanism to operate.

[0017] Compared with the existing technology, the beneficial effects of the present invention are: the electric drive swing arm dredging robot has the following advantages:

[0018] 1. When the angle is adjusted, the operation of motor 1 is controlled by the single-chip microcomputer. The output shaft of motor 1 rotates to drive the rotating shaft 2 to start rotating. The stirring blade and large-diameter gear on the rotating shaft 2 also rotate clockwise. The large-diameter gear and the adjacent small-diameter gear begin to mesh and rotate. When the large-diameter gear meshes with the small-diameter gear at the upper end, the small-diameter gear at the upper end rotates counterclockwise; when it meshes with the small-diameter gear at the lower end, the small-diameter gear at the lower end also rotates counterclockwise. Due to the gear transmission mechanism, the two small-diameter gears will rotate in one direction, thereby causing the spiral blades to rotate in the same direction, which can break up the silt outward or inward, and can deal with the silt situation more flexibly, thereby improving the propulsion force of the dredging robot during the dredging operation.

[0019] 2. When moving outward, the silt is dispersed toward the direction around the water body, which helps to evenly distribute the silt in the water, making it easier for the dredging robot to clean and remove the silt. However, when moving inward, the silt scattered on the bottom of the water can be gathered into the sand suction cover and concentrated around the sand suction cover, which facilitates the subsequent sand suction pipe to absorb, thereby helping to effectively collect and clean the silt and improve the efficiency and accuracy of the dredging operation. When the sand suction pipe absorbs the silt, the rotation of the stirring blade can help break up the silt to prevent the silt from being blocked in the sand suction pipe, ensuring the suction efficiency, thereby more effectively controlling the flow direction of the silt and avoiding the blockage of the dredging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the utility model from the top;

[0022] Figure 3 This is an enlarged structural diagram of point A of the present utility model;

[0023] Figure 4 This is a schematic diagram of the partial structure of the dredging shell of the utility model;

[0024] Figure 5 This is a schematic diagram of the top cross-sectional structure of the base of the utility model.

[0025] In the figure: 1 base, 2 anti-skid groove, 3 tire, 4 housing, 5 rotating shaft 1, 6 U-type seat 1, 7 connecting arm, 8 mounting housing, 9 dredging housing, 10 U-type seat 2, 11 electric push rod, 12 U-type seat 3, 13 sand suction pipe, 14 dredging mechanism, 141 rotating shaft 1, 142 small diameter gear, 143 large diameter gear, 144 rotating shaft 2, 145 spiral piece, 146 stirring piece, 147 motor 1, 15 battery, 16 single-chip microcomputer, 17 sand suction cover, 18 rotating shaft 2, 19 motor 2, 20 mounting groove. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1-5 , this embodiment provides a technical solution: an electric drive swing arm dredging robot, comprising a base 1, a shell 4 and a dredging mechanism 14;

[0028] Base 1: Its inner wall is provided with a mounting groove 20, and the front and rear ends of the inner wall on the left side of the mounting groove 20 are respectively rotatably connected with a rotating shaft 2 18, and the front and rear inner walls on the right side of the mounting groove 20 are rotatably connected with a rotating shaft 1 5. The ends of the rotating shaft 1 5 and the rotating shaft 2 18 are fixedly sleeved with tires 3, and the outer surfaces of the tires 3 are provided with anti-skid grooves 2. It also includes a motor 2 19, and the number of motors 19 is two. The two motors 19 are respectively arranged on the front and rear inner walls on the left side of the mounting groove 20, and the output shafts of the motors 19 are fixedly connected to the ends of the adjacent rotating shafts 2 18. The input end of the second motor 19 is electrically connected to the output end of the single-chip microcomputer 16. The operation of the second motor 19 is controlled by the single-chip microcomputer 16. The output shaft of the second motor 19 starts to rotate, and drives the adjacent second shaft 18 to rotate together, and drives the tire 3 installed on the second shaft 18 to rotate. However, the anti-skid groove 2 on the tire 3 ensures that the dredging robot will not slip when walking in the water. At the same time, when the two front tires 3 move underwater, they also drive the two rear tires 3 to rotate synchronously, so that the entire robot can move smoothly in the water.

[0029] The outer shell 4 is fixedly connected to the upper surface of the base 1, and the front and rear ends of the left side of the outer shell 4 are respectively fixedly connected with a U-shaped seat 6, and the inner walls of the U-shaped seat 6 are rotatably connected to the connecting arm 7 through a pin shaft. An angle-adjustable dredging outer shell 9 is installed between the right ends of the connecting arm 7 by bolts, and also includes a sand suction cover 17, which is fixedly connected to the installation port at the lower end of the right side of the dredging outer shell 9. A sand suction pipe 13 is inserted into the interior of the sand suction cover 17, and the right end of the sand suction pipe 13 extends to the outside of the right side of the outer shell 4. It also includes a battery 15 and a single-chip microcomputer 16. The battery 15 is arranged on the rear side of the bottom wall of the outer shell 4, and the single-chip microcomputer 16 is arranged on the left side of the bottom wall of the outer shell 4. The input end of the single-chip microcomputer 16 is electrically connected to the output end of the battery 15. The dredging robot is placed at a designated location, and then the battery 15 is controlled by an external single-chip microcomputer to provide power to the single-chip microcomputer 16. The power supply is used to ensure the operation of various electrical appliances of the single-chip microcomputer 16, and also includes a U-shaped seat three 12. The U-shaped seat three 12 is fixedly connected to the middle of the left side of the shell 4. The interior of the U-shaped seat three 12 is rotatably connected to the electric push rod 11 through a pin shaft. The telescopic end of the electric push rod 11 is rotatably connected to the U-shaped seat two 10 through a pin shaft. The left side of the U-shaped seat two 10 is fixedly connected to the right side of the dredging shell 9. The input end of the electric push rod 11 is electrically connected to the output end of the single-chip microcomputer 16, and then the operation of the electric push rod 11 is regulated by the single-chip microcomputer 16. The telescopic end of the electric push rod 11 pushes the U-shaped seat two 10, so that the electric push rod 11 rotates with the pin shaft in the U-shaped seat two 10 as the center, and at the same time, the connecting arm 7 rotates with the pin shaft at the U-shaped seat one 6 as the center. However, the rotation angle of the connecting arm 7 drives the dredging shell 9 to rotate a certain angle, so as to perform more precise dredging operations;

[0030] Installation shell 8: It is fixedly connected to the front side of dredging shell 9, and a dredging mechanism 14 is provided inside the installation shell 8. The rear end of the dredging mechanism 14 extends to the outside of the rear side of the dredging shell 9. The dredging mechanism 14 includes a rotating shaft 141, a spiral piece 145, a rotating shaft 2 144 and a stirring piece 146. The rotating shaft 141 is rotatably connected to the upper and lower ends of the front inner wall of the installation shell 8, and the rear end of the rotating shaft 141 extends to the rear inner wall of the dredging shell 9. The outer surface of the rotating shaft 141 is fixedly sleeved with a spiral piece 145. The rotating shaft 2 144 is rotatably connected to the right end of the front inner wall of the installation shell 8, and the rear end of the rotating shaft 2 144 extends to the outside of the rear side of the dredging shell 9. The outer surface of the second shaft 144 is fixedly sleeved with a stirring piece 146, and the stirring piece 146 is installed in conjunction with the spiral piece 145. The dredging mechanism 14 also includes a small-diameter gear 142 and a large-diameter gear 143. The large-diameter gear 143 is fixedly sleeved on the front end of the rotating shaft 2 144. The small-diameter gear 142 is sleeved on the front end of the rotating shaft 1 141. The small-diameter gear 142 is meshed with a large-diameter gear 143. The dredging mechanism 14 also includes a motor 147. The motor 147 is installed on the rear side of the mounting housing 8 by bolts. The front end of the output shaft of the motor 147 is fixedly connected to the rear end of the rotating shaft 2 144. The input end of the motor 147 is electrically connected to the output end of the single-chip computer 16. When the angle is adjusted, The operation of the motor 147 is controlled by the single chip computer 16. The output shaft of the motor 147 rotates to drive the rotating shaft 2 144 to start rotating. The stirring piece 146 and the large diameter gear 143 on the rotating shaft 2 144 also rotate clockwise. The large diameter gear 143 and the adjacent small diameter gear 142 begin to mesh and rotate. When the large diameter gear 143 meshes with the small diameter gear 142 at the upper end, the small diameter gear 142 at the upper end rotates counterclockwise; when it meshes with the small diameter gear 142 at the lower end, the small diameter gear 142 at the lower end also rotates counterclockwise. Due to the gear transmission mechanism, the two small diameter gears 142 will rotate in the same direction, thereby causing the spiral piece 145 to rotate in the same direction, which can break up the sludge or Inward, when moving outward, the silt is dispersed toward the direction around the water body, which helps to evenly distribute the silt in the water, so that the dredging robot can clean and remove the silt more easily. However, when moving inward, the silt scattered on the bottom of the water can be gathered into the sand suction cover 17, so that it is concentrated around the sand suction cover 17, which provides convenience for the subsequent sand suction pipe 13 to absorb, thereby helping to effectively collect and clean the silt, and improve the efficiency and accuracy of the dredging operation. When the sand suction pipe 13 absorbs the silt, the rotation of the stirring blade 146 can help to break up the silt, prevent the silt from being blocked in the sand suction pipe, ensure the suction efficiency, and thus more effectively control the flow direction of the silt, avoiding the blockage problem of the dredging robot.

[0031] The working principle of an electric-driven swing-arm dredging robot provided by the present invention is as follows: first, the dredging robot is placed at a designated location, and then the battery 15 is controlled by an external single-chip microcomputer to provide power to the single-chip microcomputer 16 to ensure the operation of various electrical appliances of the single-chip microcomputer 16, and then the single-chip microcomputer 16 controls the operation of the motor 2 19, the output shaft of the motor 2 19 starts to rotate, and drives the adjacent rotating shaft 2 18 to rotate together, and drives the tire 3 installed on the rotating shaft 2 18 to rotate, but the anti-skid groove 2 on the tire 3 ensures that the dredging robot will not slip when walking in the water, and at the same time, when the two tires 3 at the front move underwater, they also drive the rear end The two tires 3 rotate in a synchronous manner, so that the entire robot can walk smoothly in the water, and then the electric push rod 11 is controlled to operate by the single-chip microcomputer 16. The telescopic end of the electric push rod 11 pushes the U-shaped seat 2 10, so that the electric push rod 11 rotates with the pin shaft in the U-shaped seat 2 10 as the center, and at the same time, the connecting arm 7 rotates with the pin shaft at the U-shaped seat 1 6 as the center. However, the rotation angle of the connecting arm 7 drives the dredging shell 9 to rotate a certain angle, so as to perform more precise dredging operations. When the angle is adjusted, the motor 1 147 is controlled to operate by the single-chip microcomputer 16, and the output shaft of the motor 147 rotates to drive the rotating shaft 2 144 to turn on. When the large diameter gear 143 is engaged with the small diameter gear 142 at the upper end, the small diameter gear 142 at the upper end rotates counterclockwise; when the large diameter gear 143 is engaged with the small diameter gear 142 at the lower end, the small diameter gear 142 at the lower end also rotates counterclockwise. Due to the gear transmission mechanism, the two small diameter gears 142 will rotate in the same direction, thereby causing the spiral piece 145 to rotate in the same direction, which can break up the silt outward or inward. When it moves outward, the silt is moved toward the direction around the water body. Scattering helps to evenly distribute the silt in the water, so that the dredging robot can clean and remove the silt more easily. However, when moving inward, the silt scattered on the bottom of the water can be gathered into the sand suction cover 17, so that it is concentrated around the sand suction cover 17, which provides convenience for the subsequent sand suction pipe 13 to absorb, thereby helping to effectively collect and clean the silt, and improve the efficiency and accuracy of the dredging operation. When the sand suction pipe 13 absorbs the silt, the rotation of the stirring blade 146 can help to break up the silt, prevent the silt from being blocked in the sand suction pipe, ensure the absorption efficiency, and thus more effectively control the flow direction of the silt, avoiding the blockage problem of the dredging robot.

[0032] It is worth noting that the specific model of the single-chip microcomputer 16 disclosed in the above embodiment is S7-200, the electric push rod 11 is recommended to use SM-38STG-1000N, the motor 147 can be selected from D180M-0160030B-E, the battery 15 can be selected from 6-GFM-100, and the motor 2 19 is preferably YBE4-0.75KW-2. The single-chip microcomputer 16 controls the operation of the electric push rod 11, motor 147, battery 15 and motor 2 19 using methods commonly used in the prior art.

[0033] 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. An electric drive swing arm dredging robot, characterized by: It comprises a base (1), a shell (4) and a dredging mechanism (14); The base (1) has an inner wall provided with a mounting groove (20), the front and rear ends of the left inner wall of the mounting groove (20) are respectively rotatably connected to the second rotating shaft (18), the front and rear inner walls of the right inner wall of the mounting groove (20) are rotatably connected to the first rotating shaft (5), the ends of the first rotating shaft (5) and the second rotating shaft (18) are fixedly sleeved with tires (3), and the outer surfaces of the tires (3) are provided with anti-skid grooves (2); The housing (4) is fixedly connected to the upper surface of the base (1), and the front and rear ends of the left side of the housing (4) are respectively fixedly connected to a U-shaped seat (6), and the inner wall of the U-shaped seat (6) is rotatably connected to a connecting arm (7) through a pin shaft, and a dredging housing (9) with an adjustable angle is installed between the right ends of the connecting arm (7) through bolts; The mounting shell (8) is fixedly connected to the front side of the dredging shell (9). A dredging mechanism (14) is provided inside the mounting shell (8). The rear end of the dredging mechanism (14) extends to the outside of the rear side of the dredging shell (9).

2. The electric-driven swing-arm dredging robot according to claim 1, characterized in that: The device further comprises a storage battery (15) and a single-chip microcomputer (16), wherein the storage battery (15) is arranged on the rear side of the bottom wall of the housing (4), and the single-chip microcomputer (16) is arranged on the left side of the bottom wall of the housing (4), and the input end of the single-chip microcomputer (16) is electrically connected to the output end of the storage battery (15).

3. The electric-driven swing-arm dredging robot according to claim 2, characterized in that: The invention also includes a second motor (19), wherein the number of the second motor (19) is two, and the two second motors (19) are respectively arranged on the front and rear inner walls on the left side of the installation groove (20), and the output shafts of the second motor (19) are fixedly connected to the ends of the adjacent second rotating shaft (18), and the input end of the second motor (19) is electrically connected to the output end of the single chip computer (16).

4. The electric-driven swing-arm dredging robot according to claim 2, characterized in that: The invention also includes a U-shaped seat three (12), wherein the U-shaped seat three (12) is fixedly connected to the middle of the left side of the shell (4), the interior of the U-shaped seat three (12) is rotatably connected to an electric push rod (11) via a pin shaft, the telescopic end of the electric push rod (11) is rotatably connected to the U-shaped seat two (10) via a pin shaft, the left side of the U-shaped seat two (10) is fixedly connected to the right side of the dredging shell (9), and the input end of the electric push rod (11) is electrically connected to the output end of the single-chip computer (16).

5. The electric-driven swing-arm dredging robot according to claim 1, characterized in that: The utility model further comprises a sand suction cover (17), wherein the sand suction cover (17) is fixedly connected to the installation opening at the lower end of the right side surface of the dredging shell (9), a sand suction pipe (13) is inserted into the interior of the sand suction cover (17), and the right end of the sand suction pipe (13) extends to the outside of the right side surface of the shell (4).

6. The electric-driven swing-arm dredging robot according to claim 2, characterized in that: The desilting mechanism (14) comprises a rotating shaft (141), a spiral blade (145), a rotating shaft (144) and a stirring blade (146). The rotating shaft (141) is rotatably connected to the upper and lower ends of the front inner wall of the mounting shell (8). The rear end of the rotating shaft (141) extends to the rear inner wall of the desilting shell (9). The outer surface of the rotating shaft (141) is fixedly sleeved with a spiral blade (145). The rotating shaft (144) is rotatably connected to the right end of the front inner wall of the mounting shell (8). The rear end of the rotating shaft (144) extends to the outside of the rear side of the desilting shell (9). The outer surface of the rotating shaft (144) is fixedly sleeved with a stirring blade (146). The stirring blade (146) is mounted in coordination with the spiral blade (145).

7. The electric-driven swing-arm dredging robot according to claim 6, characterized in that: The desilting mechanism (14) further comprises a small-diameter gear (142) and a large-diameter gear (143), wherein the large-diameter gear (143) is fixedly sleeved on the front end of the second rotating shaft (144), and the small-diameter gears (142) are sleeved on the front end of the first rotating shaft (141), and the small-diameter gears (142) are meshed and connected with one of the large-diameter gears (143).

8. The electric-driven swing-arm dredging robot according to claim 6, characterized in that: The desilting mechanism (14) further comprises a motor (147), which is mounted on the rear side of the mounting housing (8) via bolts, the front end of the output shaft of the motor (147) being fixedly connected to the rear end of the rotating shaft (144), and the input end of the motor (147) being electrically connected to the output end of the single-chip microcomputer (16).

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