A small, intelligent underwater dredging robot

Abstract

This utility model applies to the field of nuclear power plant inspection and discloses a small intelligent underwater dredging robot, comprising: a main frame, a drive unit disposed below the main frame for moving the main frame, a winch mechanism disposed on one side of the main frame in the forward direction for dredging, a detection unit disposed on the main frame for detecting the surrounding environment, and a control unit disposed on the main frame and electrically connected to the drive unit, the winch mechanism, and the detection unit; wherein, a rocker arm assembly for raising and lowering the winch mechanism is provided at the connection between the winch mechanism and the main frame; the drive unit moves the main frame to the corresponding dredging area, the winch mechanism churns up and cleans the silt or garbage, the detection unit identifies the surrounding environment, and when obstacles or slopes are detected, the rocker arm assembly can drive the winch mechanism to rise or fall, and the height and angle of the winch mechanism can be adjusted.

Description

Technical Field

[0001] This utility model relates to the field of nuclear power plant inspection, and in particular to a small intelligent underwater dredging robot. Background Technology

[0002] With the continuous development of marine resource development and marine engineering construction, the demand for underwater dredging operations is increasing. Traditional dredging methods suffer from problems such as low efficiency, poor accuracy, and significant environmental impact, making it difficult to meet the demands of modern marine engineering for efficient, environmentally friendly, and intelligent dredging.

[0003] Existing underwater dredging machines are complex and often encounter various obstacles and inclines. Current dredging robots are easily blocked by inclines and various debris, which greatly reduces dredging efficiency. There is an urgent need for a dredging device that can adapt to different environments. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a small intelligent underwater dredging robot.

[0005] The technical solution adopted by this utility model to solve its technical problem is as follows: A small intelligent underwater dredging robot is constructed, comprising: a main frame, a drive unit disposed below the main frame and used to move the main frame, a winch mechanism disposed on one side of the main frame in the forward direction and used for dredging, a detection unit disposed on the main frame and used to detect the surrounding environment, and a control unit disposed on the main frame and electrically connected to the drive unit, the winch mechanism, and the detection unit; wherein, a rocker arm assembly for raising and lowering the winch mechanism is provided at the connection between the winch mechanism and the main frame, the rocker arm assembly including a rocker arm and a telescopic push rod, one end of the rocker arm being hinged to the main frame and the other end of the rocker arm being connected to the winch mechanism, one end of the telescopic push rod being connected to the rocker arm and the other end of the telescopic push rod being connected to the main frame.

[0006] In some embodiments, the drive unit includes a tracked walking mechanism disposed below the main frame and a drive motor for driving the tracked walking mechanism.

[0007] In some embodiments, the detection unit includes an illumination component disposed on the main frame for illuminating the surrounding environment, and a visual recognition component disposed on the main frame for identifying the surrounding environment, wherein the lens direction of the visual recognition component matches the illumination direction of the illumination component.

[0008] In some embodiments, the detection unit includes a lidar assembly, which includes a support frame disposed on the main frame and a lidar element disposed at the uppermost end of the support frame, wherein the uppermost end of the support frame is higher than the highest point of the main frame.

[0009] In some embodiments, the auger mechanism includes an auger assembly disposed on one side of the main frame in the direction of movement, a power assembly for driving the auger assembly to rotate, and a suction pump assembly disposed on the main frame for sucking away the waste residue crushed by the auger assembly.

[0010] In some embodiments, the auger assembly includes a cutter holder connected to the rocker arm assembly and an auger disposed in the cutter holder. The auger has symmetrically arranged spiral blades at both ends, and the cutter holder has an outlet at a position corresponding to the middle of the auger that communicates with the suction pump assembly.

[0011] In some embodiments, the suction pump assembly includes a pump body, a suction port communicating with the outlet, a discharge port for discharging residue, and a drain pipe support mounted on the main frame. The discharge port is provided with a drain pipe, and the drain pipe is connected and fixed to the drain pipe support.

[0012] In some embodiments, the power assembly includes a transmission assembly that is driveably connected to the cutter assembly, and a motor disposed on the cutter assembly and providing power to the cutter assembly.

[0013] In some embodiments, the control unit includes an electrically controlled sealed chamber disposed within the main frame and a control module disposed within the electrically controlled sealed chamber. The control module includes a main control module system, a motion posture control system, a communication system, a power supply and power management system, and a sensor and peripheral system.

[0014] In some embodiments, a protective shell is provided on the outside of the main frame, and the protective shell is detachably connected to the main frame.

[0015] The present invention discloses a small intelligent underwater dredging robot with the following advantages: the drive unit moves the main frame to the corresponding dredging area, the winch mechanism crushes and cleans up the silt or garbage, the detection unit identifies the surrounding environment, and when obstacles or slopes are detected, the rocker arm assembly can drive the winch mechanism to lift or lower. The height and angle of the winch mechanism can be adjusted to meet the needs of lifting the winch mechanism in different silt environments and when the dredging robot needs to climb slopes and overcome obstacles. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0017] Figure 1 This is an overall view of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0018] Figure 2 This is a side view of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0019] Figure 3 This is a structural diagram of the main frame and winch mechanism of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0020] Figure 4 This is a structural diagram of the winch mechanism of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0021] Figure 5 This is a side view of the main frame and the auger mechanism of a small intelligent underwater dredging robot according to one embodiment of the present invention.

[0022] Figure 6 This is a structural diagram of the drive unit, main frame, and electrically controlled sealed chamber of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0023] Figure 7 This is a structural diagram of the drive unit and main frame of a small intelligent underwater dredging robot according to one embodiment of the present invention;

[0024] Figure 8 This is a top view of the drive unit and main frame of a small intelligent underwater dredging robot according to one embodiment of the present invention.

[0025] Figure Labels

[0026] 100. Main frame; 110. Rocker arm; 120. Telescopic push rod; 200. Drive unit; 210. Drive motor; 300. Wringing mechanism; 310. Wringer assembly; 311. Spiral blade; 320. Tool holder; 323. Outlet; 330. Power assembly; 331. Rotary motor; 332. Transmission assembly; 333. Large gear; 334. Chain; 335. Small gear; 340. Sewage pipe support; 350. Suction pump assembly; 351. Pump body; 352. Discharge port; 400. Detection unit; 410. Visual recognition assembly; 420. Lighting assembly; 430. LiDAR assembly; 431. Support frame; 432. LiDAR element; 500. Protective shell; 600. Control unit; 610. Electrically controlled sealed chamber. Detailed Implementation

[0027] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "upper," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0028] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0029] Figures 1 to 8This invention illustrates a small, intelligent underwater dredging robot according to one embodiment of the present invention. This small, intelligent underwater dredging robot can be used for underwater silt and debris cleaning. It may include a main frame 100, a drive unit 200 disposed below the main frame 100 for moving the main frame 100, a dredging mechanism 300 disposed on one side of the main frame 100 in the forward direction for dredging, a detection unit disposed on the main frame 100 for detecting the surrounding environment, and a detection unit disposed on the main frame 100 and connected to the drive unit 200, the dredging mechanism 300, and the detection unit. The control unit 600 is electrically connected to the measuring unit; wherein, at the connection between the auger mechanism 300 and the main frame 100, there is a rocker arm assembly for raising and lowering the auger mechanism 300, a rocker arm 110 and a telescopic push rod 120. One end of the rocker arm 110 is hinged to the main frame 100, and the other end of the rocker arm 110 is connected to the auger mechanism 300. One end of the telescopic push rod 120 is connected to the rocker arm 110, and the other end of the telescopic push rod 120 is connected to the main frame 100. The telescopic push rod 120 can drive the rocker arm 110 to swing, and the swing of the rocker arm 110 drives the auger mechanism 300 to rise and fall.

[0030] The drive unit 200 moves the main frame 100 to the corresponding dredging area, and the winch mechanism 300 crushes and cleans up the silt or garbage. The detection unit identifies the surrounding environment. When obstacles or slopes are detected, the rocker arm assembly can drive the winch mechanism 300 to rise or fall. The height and angle of the winch mechanism 300 can be adjusted to meet the needs of different silt environments and the dredging robot climbing slopes and overcoming obstacles.

[0031] Understandably, the control unit 600 is connected to the ground control equipment via a communication cable to transmit data from the detection unit back to the ground control equipment.

[0032] Understandably, the drive power supply for the drive unit 200, the winch mechanism 300, and the rocker arm assembly all require power cables to be connected to the ground.

[0033] In one specific embodiment, the main frame 100 is equipped with an energy storage device that can supply power to the drive unit 200, the winch mechanism 300, and the rocker arm assembly.

[0034] Furthermore, the energy storage device is a rechargeable lithium battery.

[0035] In one specific embodiment, the telescopic push rod 120 is an electric push rod. Electric push rods have advantages such as small size, high precision, complete synchronization, good self-locking performance, hygiene, and direct motor drive, and do not require complex pipelines such as air sources and oil lines.

[0036] Figure 5The drive unit 200, in one embodiment, may include a tracked walking mechanism disposed below the main frame and a drive motor 210 for driving the tracked walking mechanism. The tracked walking mechanism has sufficient strength and rigidity, and good traveling and steering capabilities. The tracks are in contact with the ground, while the drive wheels are not. When the drive motor 210 drives the drive wheels to rotate, the drive wheels, under the driving torque of the reducer, continuously roll up the tracks from the rear through the meshing between the teeth on the drive wheels and the track chain. The part of the track in contact with the ground exerts a backward force on the ground, while the ground correspondingly exerts a forward reaction force on the tracks. This reaction force is the driving force that propels the machine forward. When the driving force is sufficient to overcome the traveling resistance, the support rollers roll forward on the upper surface of the tracks, thereby moving the machine forward. The front and rear tracks of the entire tracked walking mechanism can be steered independently, thus reducing its turning radius.

[0037] In one specific embodiment, the drive mechanism includes a wheel drive mechanism and a drive motor 210. The wheel contacts the ground, resulting in a simple structure and low cost.

[0038] In one specific embodiment, the drive unit 200 is a motor drive, and the motor is a waterproof geared motor. The geared motor has high efficiency and high reliability, long service life, and simple maintenance.

[0039] Understandably, the waterproof rating of a waterproof geared motor is determined by its designed working depth; the deeper the water, the higher the waterproof rating.

[0040] Figure 1 , Figure 2 and Figure 3 The detection unit, in one embodiment, may include an illumination component 420 disposed on the main frame 100 for illuminating the surrounding environment, and a visual recognition component 410 disposed on the main frame 100 for recognizing the surrounding environment. The lens direction of the visual recognition component 410 matches the illumination direction of the illumination component 420. The illumination component 420 can illuminate the environment around the robot, providing a basis for image recognition for the visual recognition component.

[0041] In one specific embodiment, the illumination direction of the illumination component is the same as the direction of the lens of the visual recognition unit.

[0042] In one specific embodiment, the lighting component includes multiple light-emitting units, with different light-emitting units illuminating different directions to light up the environment around the robot.

[0043] Figure 1 , Figure 2 and Figure 3The detection unit, as shown in one embodiment, may include a lidar assembly. The lidar assembly includes a support frame mounted on the main frame 100 and a lidar element 432 mounted at the top of the support frame. The top of the support frame is higher than the highest point of the main frame 100. The lidar assembly emits a detection signal towards the target, then compares the received signal reflected back from the target with the emitted signal, and after appropriate processing, obtains relevant information about the target, such as target distance, azimuth, height, speed, attitude, and even shape parameters. Therefore, it needs to be mounted at the highest point to avoid obstruction of detection. Lidar can achieve extremely high angle, distance, and velocity resolution; secondly, it has good concealment and strong resistance to active interference; and thirdly, it is small in size and light in weight.

[0044] Figure 1 , Figure 3 and Figure 4 The shredding mechanism 300, as shown in one embodiment, may include a shredder assembly 310 disposed on one side of the main frame 100 in the direction of movement, a power assembly 330 for driving the shredder assembly 310 to rotate, and a suction pump assembly 350 disposed on the main frame 100 for sucking away the waste sludge shredded by the shredder assembly 310. The power assembly 330 provides power to rotate the shredder assembly 310. The high-speed rotating shredder assembly 310 shreds the sludge and garbage, and the suction pump assembly 350 sucks away all the waste sludge.

[0045] Figure 1 , Figure 3 and Figure 4 The cutter assembly 310, as shown in one embodiment, may include a cutter holder 320 connected to a rocker arm assembly and a cutter disposed in the cutter holder 320. The cutter has symmetrically arranged spiral blades 311 at both ends. The cutter holder 320 has an outlet 323 at a position corresponding to the middle of the cutter, which is connected to a suction pump assembly 350. The symmetrically arranged spiral blades 311 will gather the crushed waste towards the center of the cutter holder 320, and then the waste will be discharged through the outlet 323.

[0046] Figure 1 , Figure 3 and Figure 5 The suction pump assembly 350, as shown in one embodiment, may include a pump body 351, a suction port communicating with an outlet 323, a discharge port for discharging residue, and a drain pipe support 340 disposed on the main frame 100. The discharge port is provided with a drain pipe, which is connected and fixed to the drain pipe support 340. The suction pump assembly 350 draws waste residue into the pump body 351 through the suction port, and then discharges it to the discharge port through the pump body 351. The waste residue is then discharged through the drain pipe.

[0047] In one specific embodiment, the suction pump assembly 350 is a seawater slurry pump.

[0048] Figure 1 , Figure 2 and Figure 5 The power assembly 330, in one embodiment, may include a transmission assembly 332 that is connected to the cutter assembly 310, and a rotary motor 331 that is disposed on the cutter assembly 310 and provides power to the cutter assembly 310. The rotary motor 331 is a waterproof geared motor. The transmission assembly 332 is driven by gears and a chain 334. The output end of the rotary motor 331 is provided with a large gear 333, and the cutter assembly 310 is provided with a small gear 335. The cutter assembly 310 is driven by the large gear 333, the small gear 335, and the chain 334.

[0049] Figure 3 and Figure 4 The control unit 600, as shown in one embodiment, may include an electrically controlled sealed chamber 610 disposed within the main frame 100, and a control module disposed within the electrically controlled sealed chamber 610 for use in controlling the module. The control module includes a main control module system, a motion posture control system, a communication system, a power supply and power management system, and a sensor and peripheral system.

[0050] In one specific embodiment, the main control module system includes an underwater dredging robot software system, which can provide the robot with various function controls and sensor data processing.

[0051] The motion attitude control system consists of inertial navigation sensors and motor controllers. The inertial navigation system can acquire attitude information such as the robot's orientation and pitch and tilt angles, making it convenient for remote operators to obtain the robot's motion status and assisting the lidar in realizing autonomous path planning.

[0052] The communication system uses a fiber optic communication module to connect the main control module system inside the electrically controlled sealed cabin 610 with the ground computer, enabling long-distance fiber optic communication. The fiber optic cable is built into the robot's waterproof cable.

[0053] The power supply and power management system is responsible for converting the high-voltage electricity transmitted from the waterproof cable into the various voltages required by the modules inside the electrically controlled sealed chamber 610.

[0054] The peripherals and sensors mounted on the robot are also connected to the electronically controlled sealed cabin 610, including waterproof cameras and waterproof lights, which can provide the robot with underwater or air lighting and video image data; and lidar, which can provide the robot with information about the surrounding environment and obstacles, enabling the robot to perceive the environment, estimate its real-time position, and plan its autonomous path.

[0055] The various parts of the underwater dredging robot carrier software unit communicate with each other to realize the robot's remote control and autonomous path planning functions. The communication system load connects the underwater dredging robot subsystem and the ground control subsystem. The ground control subsystem is responsible for displaying underwater video images and real-time sensor information, monitoring the operation of the remote control handle and converting it into control commands in real time and sending them to the underwater dredging robot subsystem.

[0056] Figure 1 and Figure 2 The main frame 100 is shown in one embodiment to include a protective shell 500 on the outside of the main frame 100, and the protective shell 500 is detachably connected to the main frame 100.

[0057] In one specific embodiment, the protective shell 500 and the main frame 100 are detachably connected using screws.

[0058] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A small intelligent underwater dredging robot, characterized in that, include: The main frame (100), the drive unit (200) disposed below the main frame (100) and used to move the main frame (100), the shovel auger (300) disposed on one side of the main frame (100) in the forward direction and used for dredging, the detection unit disposed on the main frame (100) and used to detect the surrounding environment, and the control unit (600) disposed on the main frame (100) and electrically connected to the drive unit (200), the shovel auger (300) and the detection unit; The auger mechanism (300) is connected to the main frame (100) with a rocker arm assembly for raising and lowering the auger mechanism (300). The rocker arm assembly includes a rocker arm (110) and a telescopic push rod (120). One end of the rocker arm (110) is hinged to the main frame (100), and the other end of the rocker arm (110) is connected to the auger mechanism (300). One end of the telescopic push rod (120) is connected to the rocker arm (110), and the other end of the telescopic push rod (120) is connected to the main frame (100).

2. The small intelligent underwater dredging robot according to claim 1, characterized in that, The drive unit (200) includes a tracked walking mechanism disposed below the main frame (100) and a drive motor (210) for driving the tracked walking mechanism.

3. The small-sized intelligent underwater dredging robot according to claim 1, characterized in that, The detection unit includes an illumination component (420) disposed on the main frame (100) for illuminating the surrounding environment, and a visual recognition component (410) disposed on the main frame (100) for recognizing the surrounding environment, wherein the lens direction of the visual recognition component (410) matches the illumination direction of the illumination component (420).

4. The small-sized intelligent underwater dredging robot according to claim 1, characterized in that, The detection unit includes a lidar assembly, which includes a support frame disposed on the main frame (100) and a lidar element (432) disposed at the uppermost end of the support frame. The uppermost end of the support frame is higher than the highest point of the main frame (100).

5. The small-sized intelligent underwater dredging robot according to claim 1, characterized in that, The auger mechanism (300) includes an auger assembly (310) disposed on one side of the main frame (100) in the direction of movement, a power assembly (330) for driving the auger assembly (310) to rotate, and a suction pump assembly (350) disposed on the main frame (100) for sucking away the waste residue crushed by the auger assembly (310).

6. The small-sized intelligent underwater dredging robot according to claim 5, characterized in that, The auger assembly (310) includes a cutter holder (320) connected to the rocker arm assembly and an auger disposed in the cutter holder (320). The auger has symmetrically arranged spiral blades (311) at both ends. The cutter holder (320) has an outlet (323) at a position corresponding to the middle of the auger, which communicates with the suction pump assembly (350).

7. The small-sized intelligent underwater dredging robot according to claim 6, characterized in that, The suction pump assembly (350) includes a pump body (351), a suction port communicating with the outlet (323), a discharge port for discharging residue, and a sewage pipe support (340) provided on the main frame (100). The discharge port is provided with a sewage pipe, and the sewage pipe is connected and fixed to the sewage pipe support (340).

8. The small-sized intelligent underwater dredging robot according to claim 5, characterized in that, The power assembly (330) includes a transmission assembly (332) that is driveably connected to the cutter assembly (310), and a motor disposed on the cutter assembly (310) and providing power to the cutter assembly (310).

9. The small-sized intelligent underwater dredging robot according to claim 1, characterized in that, The control unit (600) includes an electrically controlled sealed chamber (610) disposed within the main frame (100) and a control module disposed within the electrically controlled sealed chamber (610). The control module includes a main control module system, a motion posture control system, a communication system, a power supply and power management system, and a sensor and peripheral system.

10. The small-sized intelligent underwater dredging robot according to claim 1, characterized in that, The main frame (100) is provided with a protective shell (500) on the outside, and the protective shell (500) is detachably connected to the main frame (100).

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