Water surface dredging robot

Abstract

The utility model discloses a water surface desilting robot, relates to the technical field of desilting, and aims to solve the problem that an existing desilting robot cannot clean pool panel-shaped scum and silt lumps, the water surface desilting robot comprises a rack, a sewage suction pump is arranged at the bottom of the rack, spiral driving devices are rotatably arranged on the two sides of the rack, and the spiral driving devices are arranged on the rack. The spiral driving device is of a hollow structure, the spiral driving device is used for providing amphibious driving capacity, the spiral driving device is used for driving the rack to advance, retreat or steer, the smashing devices are rotatably arranged at the front end and the rear end of the rack, and the smashing devices are used for smashing pool panel-shaped scum and silt blocks. The water surface dredging device can walk in a sludge medium and can also walk on the complete water surface, scabbed plate-shaped floating sludge is stirred and crushed through the stirring and crushing device, the plate-shaped floating sludge is rapidly thickened and thinly crushed, suction is facilitated, and therefore the water surface is dredged.

Description

Technical Field

[0001] This utility model relates to the field of dredging technology, and more specifically, to a water surface dredging robot. Background Technology

[0002] In the process of harmless treatment of municipal solid waste, enclosed underground reinforced concrete pools are generally set up to treat waste and sewage. Over time, the scum that accumulates on the surface of the pool forms a crust-like structure. Due to the limited space, traditional manual sludge removal methods pose significant safety hazards. Existing sludge removal robots mainly move along the bottom of the pool using tracks and cannot overcome their own weight. Therefore, they can only clean the sludge at the bottom of the pool, but are helpless against the crust-like scum and clumps on the pool surface.

[0003] Therefore, how to solve the problem that existing dredging robots cannot clean the surface scum and silt in the pool is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a water surface dredging robot that can walk on the water surface where scum forms a thick floating substance for a long time, and can also stir and break up the crusted plate-like floating mud. At the same time, the broken mud is discharged out of the pool by suction and sucked to the ground layer, thereby achieving the effect of water surface dredging.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A water surface dredging robot includes:

[0007] The frame has a suction pump at its bottom;

[0008] The screw drive device is rotatably mounted on both sides of the frame. The screw drive device has a hollow structure and is used to provide amphibious driving capability. The screw drive device is used to drive the frame forward, backward or turn.

[0009] The crushing device is rotatably mounted at the front and rear ends of the frame. It is used to crush scum and silt in the pool.

[0010] Preferably, it also includes a navigation device, which is located at the front end of the frame and is used to collect the attitude, position and speed information of the dredging robot.

[0011] Preferably, it also includes a control device, which is located inside the frame and is electrically connected to the sewage pump, the screw drive device, the shredder and the navigation device respectively. The control device is used to transmit signals to the operating platform on the ground.

[0012] Preferably, it also includes a visual monitoring device and an illumination device located at the front end of the top of the rack, both of which are signal-connected to the control device.

[0013] Preferably, the spiral drive device includes a hollow drum and a first drive device. The output end of the first drive device is connected to the drum. A cutting blade is provided on the outer periphery of the drum, and the cutting blade is spirally arranged along the axial direction of the drum.

[0014] Preferably, the pulverizing device includes a hollow rotating shaft, a second driving device for driving the rotating shaft to rotate is provided inside the rotating shaft, and a plurality of connecting plates extending axially along the outer periphery of the rotating shaft are provided, with serrations on the outer edges of the connecting plates.

[0015] Preferably, there are several serrations, which are arranged along the extension direction of the outer edge of the connecting plate, and the serrations are arranged at an angle to the connecting plate.

[0016] Preferably, both ends of the rotating shaft are hinged to the frame via adapter plates, and one end of the adapter plate that is hinged to the rotating shaft is hinged to the output end of the hydraulic drive device, so that the rotating shaft is raised and lowered at the bottom of the frame. The hydraulic drive device is connected to a hydraulic power source, and the hydraulic power source is electrically connected to the operating table.

[0017] Preferably, a water gun pump is provided at the front end of the frame, and the water gun pump is electrically connected to the operating table.

[0018] Preferably, the navigation device includes a laser unit, a sonar unit, and an inertial measurement unit.

[0019] The water surface dredging robot provided by this utility model includes a frame, a suction pump, a screw drive device, and a shredding device. Specifically, the screw drive device is rotatably located on both sides of the frame, providing amphibious driving capability and driving the frame forward, backward, or turning, allowing the dredging robot to walk on the already crusted, plate-like floating mud. The screw drive device has a hollow structure, which provides buoyancy, allowing the dredging robot to float on the water surface and walk on it. The shredding device is rotatably located at the front and rear ends of the frame, which can shred the plate-like scum and silt on the surface of the pool. The suction pump is located at the bottom of the frame, which pumps the crushed silt out of the pool and sucks it to the ground level, thereby achieving the effect of water surface dredging.

[0020] The water surface dredging robot designed in the above manner can walk in silt media as well as on the water surface. It uses a stirring device to stir and break up the crusted plate-shaped floating mud, making the plate-shaped sludge thicken and break it into smaller pieces, which is easy to pump out, thereby dredging the water surface. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 A schematic diagram of the water surface dredging robot provided by this utility model;

[0023] Figure 2 This is a partial structural schematic diagram of the water surface dredging robot provided by this utility model;

[0024] Figure 3 for Figure 1 A structural diagram from another perspective;

[0025] Figure 4 This is a diagram showing the composition of the water surface dredging robot provided by this utility model.

[0026] Figure label:

[0027] 1-Rack;

[0028] 2-Screw drive device, 21-Drum, 22-First drive device, 23-Cut blade;

[0029] 3-Grinding device, 31-Rotating shaft, 32-Connecting plate, 33-Sawtooth, 34-Adapter plate, 35-Hydraulic drive device;

[0030] 4-Navigation device;

[0031] 5-Visual monitoring device;

[0032] 6- Illumination device;

[0033] 7-Sewage suction pipe. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0036] It should be noted that the directional terms such as "up" and "down" in the following text are defined based on the accompanying drawings in the instruction manual.

[0037] The core of this utility model is to provide a water surface dredging robot. This robot can walk on the water surface where scum forms a thick floating substance for a long time, and can also stir and break up the crusted plate-like floating mud. At the same time, it can pump the broken mud out of the pool and suck it to the ground layer, thereby achieving the effect of water surface dredging.

[0038] Please refer to Figure 1 and Figure 4 A water surface dredging robot includes a frame 1, a sludge suction pump, a screw drive device 2, and a shredding device 3.

[0039] Specifically, the spiral drive device 2 is rotatably mounted on both sides of the frame 1. The spiral drive device 2 is used to provide amphibious driving capability and to drive the frame 1 forward, backward, or turn, so that the dredging robot can walk on the sludge that has been sludged. The spiral drive device 2 is designed with a hollow structure to provide buoyancy, so that the dredging robot can float on the water surface and walk on the water surface. The crushing device 3 is rotatably mounted on the front and rear ends of the frame 1. The crushing device 3 can crush the sludge and silt on the surface of the pool. The bottom of the frame 1 is equipped with a sludge suction pump, which pumps the crushed sludge out of the pool and sucks it to the ground layer, thereby achieving the effect of dredging the water surface.

[0040] The water surface dredging robot designed in the above manner can walk in silt media as well as on the water surface. The stirring device 3 stirs and breaks up the crusted plate-shaped floating mud, making the plate-shaped sludge thicken and break it into smaller pieces, which is easy to pump out, thereby dredging the water surface.

[0041] In the above embodiment, a navigation device 4 is also included. The navigation device 4 is located at the front end of the frame 1 and is used to collect the attitude, position and speed information of the dredging robot.

[0042] It should be noted that by setting up navigation device 4, the posture, position and speed of the dredging robot are collected in real time, and the real-time measured information is sent to the control device. The control device judges the current operating status of the dredging robot and adjusts the dredging robot according to the current status, so as to better clean the plate-shaped scum and silt on the surface of the pool.

[0043] The navigation device 4 of the dredging robot integrates the collected attitude, position and speed information of the dredging robot through an adaptive filtering gain algorithm, and displays the movement trajectory of the dredging robot in real time on the monitoring software of the control panel. By setting the navigation device 4, the dredging robot can walk autonomously on the water surface and in the floating mud. It can also be operated remotely by the operator on the ground. The dredging robot cleans up the sludge while walking until the dredging work is completed.

[0044] In the above scenario, the navigation device 4 includes a laser unit, a sonar unit, and an inertial measurement unit.

[0045] The navigation device 4 of the water surface dredging robot integrates the collected posture, position and speed information of the dredging robot through an adaptive filtering gain algorithm. The robot's movement trajectory is displayed in real time on the monitoring software of the control panel. With the navigation device 4, the robot can walk autonomously on the water surface and in the floating mud. It can also be operated remotely by the operator on the ground. The robot cleans up the mud while walking until the dredging work is completed.

[0046] The laser unit can measure the position of the dredging robot in the pool in real time and send the real-time position information to the control device. The control device controls the operation of the spiral drive device 2 and the shredding device 3 to drive the dredging robot forward, backward or turn.

[0047] The control device can control the dredging robot's movement within the pool based on distance and speed signals fed back from the sonar unit, achieving positioning and motion functions. The sonar unit collects the distance between the dredging robot and the pool wall in real time and feeds the data back to the control device. The control device can adjust the distance between the dredging robot and the pool wall to adjust the robot's movement within the pool, enabling the robot to perform dredging work on the entire pool and preventing collisions with the pool wall during the dredging process.

[0048] An Inertial Measurement Unit (IMU) is a device that measures an object's three-axis attitude angles (or angular rates) and acceleration. It is primarily used to detect and measure acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion. The IMU's core value in navigation is irreplaceable.

[0049] In the above case, a control device is also included. The control device is located inside the frame 1 and is electrically connected to the sewage suction pump, the screw drive device 2, the crushing device 3 and the navigation device 4 respectively. The control device is used to transmit signals to the operating platform on the ground.

[0050] Understandably, the dredging robot can monitor its own operating status in real time through its own control device and directly control its own operation. It can also transmit the data to the control panel on the ground, allowing the operators on the ground to control the dredging robot through the control panel.

[0051] The frame 1 is a box-type structure with a rectangular shape. The control device is located inside the frame 1, which protects it from water ingress. The frame 1 uses a buoyancy material to provide buoyancy, allowing the robot to float and overcome its own weight. Counterweights can be installed inside the frame 1 to balance gravity and buoyancy, improving overall balance and stability.

[0052] Furthermore, it also includes a visual monitoring device 5 and an illumination device 6 located at the top front end of the rack 1, both of which are signal connected to the control device.

[0053] It should be noted that by setting up the lighting device 6, the pool can be illuminated so that the visual monitoring device 5 can collect real-time images of the position of the dredging robot, as well as images of the plate-like scum and silt in the pool. The collected image information is then sent to the control device, which in turn sends it to the operating console, allowing the dredging personnel on the ground to observe the environment inside the pool.

[0054] Among them, visual monitoring device 5 is a camera, and lighting device 6 is a lamp.

[0055] In the above embodiment, the spiral drive device 2 includes a hollow drum and a first drive device 22. The output end of the first drive device 22 is connected to the drum. A cutting blade 23 is provided on the outer periphery of the drum. The cutting blade 23 is spirally arranged along the axial direction of the drum.

[0056] Understandably, the drum has a closed cavity. The first drive device 22 is controlled by the control device to drive the drum to rotate, so that the cutting blade 23 rotates synchronously, so that the cutting blade 23 cuts and breaks up the plate-shaped scum and silt on the surface of the pool. At the same time, the drum rotates to generate buoyancy, so that the dredging robot can walk on the water surface and ensure that the dredging robot does not sink.

[0057] Furthermore, two helical drive units 2 are positioned on opposite sides of the frame 1 to drive the frame 1 to move forward, backward, or turn stably in the water, improving drive efficiency, balance, and stability. Specifically, the propulsive force generated by the helical drive unit 2 on the left side of the frame 1 can drive the frame 1 to turn right, move forward, or move backward, while the propulsive force generated by the helical drive unit 2 on the right side of the frame 1 can drive the frame 1 to turn left, move forward, or move backward, thereby enabling the dredging robot to turn, move forward, or move backward in the water.

[0058] In this embodiment, the roller is made of non-metallic material and the cutting blade 23 is made of metallic material. However, in practical applications, this is not a limitation, as long as the above-mentioned technical effects can be achieved.

[0059] Please refer to Figure 2 and Figure 3 The crushing device 3 includes a hollow rotating shaft 31. A second driving device for driving the rotating shaft 31 to rotate is provided inside the rotating shaft 31. Several connecting plates 32 extending along the axial direction of the rotating shaft 31 are provided on the outer periphery of the rotating shaft 31. The outer edge of the connecting plates 32 is provided with serrations 33.

[0060] It should be noted that the second drive device is controlled by the control unit to drive the rotating shaft 31 to rotate, thereby causing the saw teeth 33 to rotate synchronously, so that the saw teeth 33 can cut and break up the plate-shaped scum and silt on the surface of the pool. Both the first drive device 22 and the second drive device are equipped with waterproof and explosion-proof motors, and the motors are equipped with encoders.

[0061] The spiral drive device 2 and the pulverizing device 3 together provide the power for the dredging robot to move in the sludge and sewage on the water surface.

[0062] In the above embodiment, there are a plurality of serrations 33, which are arranged along the extension direction of the outer edge of the connecting plate 32, and the serrations 33 are arranged at an angle to the connecting plate 32.

[0063] Understandably, multiple saw teeth 33 are used to increase the efficiency of cutting and crushing plate-shaped scum and silt. The saw teeth 33 and the connecting plate 32 are set at an angle to facilitate cutting and crushing plate-shaped scum and silt. At the same time, the crushed thick sludge can be sent to the collection port through the saw teeth 33. The collection port is equipped with a sludge suction pump and a sludge suction pipe 7, which can wash and thicken the sludge and pump it to the ground.

[0064] In a preferred embodiment, both ends of the rotating shaft 31 are hinged to the frame 1 via an adapter plate 34. One end of the adapter plate 34 that is hinged to the rotating shaft 31 is hinged to the output end of the hydraulic drive device 35, so that the rotating shaft 31 can be raised and lowered at the bottom of the frame 1. The hydraulic drive device 35 is connected to a hydraulic source, and the hydraulic source is electrically connected to the operating table.

[0065] It should be noted that the hydraulic power source is controlled by the control panel to supply oil to the hydraulic drive device 35, so that the hydraulic push rod of the hydraulic drive device 35 can extend and retract, thereby driving the rotating shaft 31 to lower and raise. During use, the hydraulic push rod is extended by the control panel to drive the rotating shaft 31 to lower, so that when the rotating shaft 31 rotates, the saw teeth 33 can cut and crush the plate-shaped scum and silt, while avoiding interference between the saw teeth 33 and the frame 1. After use, the hydraulic push rod is retracted by the control panel to drive the rotating shaft 31 to raise, so as to save the space occupied by the dredging robot.

[0066] The hydraulic drive device 35 is connected to the operating table via a hydraulic cable. The transmission medium in this solution is hydraulic, but it can also be replaced by an electronic control method. There are no restrictions on this, as long as the above-mentioned technical effects can be achieved.

[0067] In the above embodiment, a water gun pump is provided at the front end of the frame 1, and the water gun pump is electrically connected to the operating table.

[0068] It should be noted that the water gun pump is controlled via an operating panel to break up the sludge. Sludge breaking can be achieved using high-pressure water guns, impact drills, etc. The water gun pump uses pressurized water from the pool to spray out and break up the sludge.

[0069] In this application, a cable-driven power supply method can be used, or a rechargeable battery can be used. Specifically, the dredging robot also includes a power supply device. The frame 1 has a mounting slot, and the power supply device is installed in the mounting slot and electrically connected to the control device. By creating a mounting slot on the frame 1 and installing the power supply device in the mounting slot, a stable and sealed installation is achieved. The power supply device is electrically connected to the control device to provide power to the dredging robot, thereby improving its endurance. The power supply device can be a secondary battery module (rechargeable battery), such as a lithium-ion battery or a sodium-ion battery.

[0070] In summary, the water surface dredging robot provided by this utility model adopts a spiral propulsion structure to achieve movement in both silt media and on the water surface. The robot is equipped with a shredding device 3 for shredding and crushing silt, which can quickly thicken and break up plate-shaped sludge for easy suction. Multi-media navigation and positioning of the robot is achieved by setting up multi-fusion (rotating sonar, laser, inertial unit) navigation technology.

[0071] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0072] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0073] The above provides a detailed description of the water surface dredging robot provided by this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that those skilled in the art can make several improvements and modifications to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A water surface dredging robot, characterized in that, The utility model relates to a kind of dredging robot, including: Rack (1), the bottom of the rack (1) is equipped with sewage pump; Screw drive device (2), rotatably arranged in the both sides of the rack (1), the screw drive device (2) is hollow structure, the screw drive device (2) is used to provide amphibious driving capability, the screw drive device (2) is used to drive the rack (1) advance, retreat or turn to direction; The chopper device (3) is rotatably arranged in the front end and rear end of the rack (1), and the chopper device (3) is used to stir the pool panel-shaped scum, silt block; The chopper device (3) includes hollow rotating shaft (31), the rotating shaft (31) is equipped with second drive device for driving the rotating shaft (31) rotation, the outer periphery of the rotating shaft (31) is equipped with a plurality of connecting plates (32) extending along the axial direction of the rotating shaft (31), and the outer edge of the connecting plate (32) is equipped with sawtooth (33).

2. The water surface dredging robot according to claim 1, characterized in that, Navigation device (4) is also included, and the navigation device (4) is arranged at the front end of the rack (1), and the navigation device (4) is used to collect the posture, position, speed information of dredging robot.

3. The water surface dredging robot according to claim 2, characterized in that, Control device is also included, and the control device is arranged in the rack (1), and is electrically connected with the sewage pump, the screw drive device (2), the chopper device (3) and the navigation device (4) respectively, and the control device is used to transmit signal to the operating platform on the ground.

4. The water surface dredging robot according to claim 3, characterized in that, Visual monitoring device (5) and lighting device (6) arranged at the top front end of the rack (1) are also included, and the visual monitoring device (5) and the lighting device (6) are signal connected with the control device.

5. The water surface dredging robot according to claim 1, characterized in that, The screw drive device (2) includes hollow cylinder (21) and first drive device (22), the output end of the first drive device (22) is connected with the cylinder (21), the outer periphery of the cylinder (21) is equipped with cutting knife (23), and the cutting knife (23) is arranged in spiral along the axial direction of the cylinder (21).

6. The water surface dredging robot according to claim 3, characterized in that, The sawtooth (33) is equipped with a plurality of, and a plurality of sawtooth (33) is arranged along the extension direction of the outer edge of the connecting plate (32), and the sawtooth (33) is arranged at an angle with the connecting plate (32).

7. The water surface dredging robot according to claim 6, characterized in that, The both ends of the rotating shaft (31) are hinged with the rack (1) through adapter plate (34), one end of the adapter plate (34) hinged with the rotating shaft (31) is hinged with the output end of hydraulic drive device (35), so that the rotating shaft (31) can be arranged on the bottom of the rack (1) by lifting, the hydraulic drive device (35) is connected with hydraulic source, and the hydraulic source is electrically connected with the operating platform.

8. The water surface de-clogging robot according to any one of claims 3, 4, 6 or 7, characterized in that, The front end of the rack (1) is equipped with water gun pump, and the water gun pump is electrically connected with the operating platform.

9. The water surface degrading robot according to any one of claims 2, 3, 4, 6 or 7, characterized in that, The navigation device (4) includes laser unit, sonar unit and inertial measurement unit.

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