A dredging robot

Abstract

This utility model discloses a dredging robot, comprising: a tracked walking unit, which is a tracked vehicle; a detection and camera unit, including a sonar head and an omnidirectional camera group mounted on the tracked vehicle; a mud-breaking unit, which includes a mud-breaking adjustment mechanism and a mud-breaking assembly mounted at the front end of the tracked vehicle; a flushing assembly, which is located at the front end of the tracked vehicle and sprays water towards the mud below the mud-breaking assembly; and a suction unit, which is located at the front end of the tracked vehicle. This dredging robot can flexibly adjust its operating intensity according to the hardness of the silt, efficiently breaking up hard, clump-like silt while avoiding energy waste caused by excessive breaking up of soft silt. Simultaneously, it locks the operating position to prevent deviation, ensuring a stable mud-breaking process and uniform breaking effect.

Description

Technical Field

[0001] This utility model relates to the technical field of pipeline cleaning, and in particular to a dredging robot. Background Technology

[0002] In the field of pipeline dredging, the sludge-breaking module is the core component for dredging robots to pre-treat sludge, and its performance directly affects the efficiency and thoroughness of subsequent flushing and suction. Existing sludge-breaking modules are mostly directly fixed to the robot body, lacking a reliable position locking mechanism. During sludge-breaking operations, the sludge-breaking components are prone to positional displacement due to factors such as the reaction force of the sludge, robot movement vibration, or unevenness of the pipe inner wall. This causes the sludge-breaking area to deviate from the target sludge layer, resulting in "missed sludge breaking." In severe cases, the sludge-breaking components may even collide with the pipe inner wall or other robot components, affecting not only the uniformity of the breaking effect but also potentially causing equipment damage and interrupting the dredging operation. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, the purpose of this utility model is to propose a dredging robot that can flexibly adjust the working intensity according to the hardness of the silt. It can efficiently break up hard and lumpy silt, while avoiding the energy waste caused by excessive breaking of soft silt. At the same time, it can lock the working position to prevent deviation, ensuring the stability of the sludge breaking process and the uniform breaking effect.

[0005] To achieve the above objectives, this utility model proposes a dredging robot, comprising: Tracked walking unit, for tracked locomotives; The detection and camera unit includes a sonar head and an omnidirectional camera assembly mounted on the tracked robot. The mud-breaking operation unit includes a mud-breaking adjustment mechanism and a mud-breaking assembly disposed at the front end of the tracked vehicle. A flushing assembly is disposed at the front end of the tracked vehicle, and the spraying direction of the flushing assembly is directed towards the mud below the mud shredder assembly. A vacuuming unit is located at the front end of the tracked vehicle.

[0006] This utility model of dredging robot can flexibly adjust the working intensity according to the hardness of the silt. It can efficiently break up hard and clump-like silt, while avoiding the energy waste caused by excessive breaking of soft silt. At the same time, it locks the working position to prevent deviation, ensuring a stable silt breaking process and uniform breaking effect.

[0007] In addition, the dredging robot proposed in this application may also have the following additional technical features: Specifically, the omnidirectional camera group includes multiple cameras distributed circumferentially, and also includes a 360-degree imaging module, which is connected to the omnidirectional camera group. The sonar head consists of two sets, and the top surface of the tracked vehicle is equipped with two sets of telescopic rods. The two sets of sonar heads are respectively located at the moving ends of the two sets of telescopic rods.

[0008] Specifically, the mud-breaking adjustment mechanism includes a connecting bearing seat disposed at the front end of the tracked vehicle and an adjustment motor disposed in the inner frame of the tracked vehicle; The mud-breaking component includes: A crushing shaft frame is hinged to a crushing shaft, the output end of the adjusting motor is connected to the central shaft of the connecting bearing seat, and a motor frame is sleeved on the outside of the adjusting motor; A mud-crushing shaft, which rotates within the inner frame of the mud-crushing shaft frame; A mud-crushing shaft adjusting motor is installed in the inner frame of the mud-crushing shaft frame, and the mud-crushing shaft adjusting motor is connected to the mud-crushing shaft through a transmission gear set.

[0009] Specifically, the rinsing assembly includes: A cleaning pipe rack is provided behind the mud-breaking assembly, and a main collection pipe is provided on the cleaning pipe rack; The multi-component cleaning pipe has multiple sets of spray nozzles in the main collection pipe, each set of spray nozzles being connected to a separate component cleaning pipe. The inlet of the main collection pipe is connected to the main pipe, and the inlet of the main pipe is connected to the flushing fluid inlet. The flushing fluid inlet is connected to an external flushing fluid source via a long water pipe. Multiple cleaning pipes are evenly distributed along the length of the cleaning pipe rack, and each cleaning pipe is equipped with a corresponding pressure boosting valve.

[0010] The flushing assembly includes a high-pressure pneumatic press, an air transmission unit, and multiple sets of adjustable air jet nozzles; Specifically, the high-pressure pneumatic press is installed in the power compartment in the middle of the tracked vehicle. Its output end is connected to the pressure regulating valve of the air transmission unit through a pressure-resistant air pipe. The pressure regulating valve is electrically connected to the intelligent control center through a wire. The air jet nozzle is installed on both sides of the working end of the tracked vehicle through a universal joint.

[0011] Specifically, the vacuuming unit includes: A suction device is provided at the front end of the tracked vehicle and located behind the mud-crushing assembly. Multiple sets of hydraulic descending components are arranged below the suction component. Each set of hydraulic descending components has a folded suction pipe at its moving end. The suction outlet of the folded suction pipe is connected to the suction port, and the suction port is connected to an external vacuum device through the suction pipe.

[0012] Specifically, it also includes a rotation locking unit, which is a hydraulic locking shaft component, used to lock the rotation state of the mud-breaking operation unit.

[0013] Specifically, the folding suction pipe is a retractable and foldable corrugated pipe structure, and the hydraulic lowering component is a hydraulic push rod structure to adjust the height of the suction component.

[0014] Specifically, the tracked vehicle is also equipped with a control unit, which is used to control the movement of the telescopic rod, the mud-breaking shaft adjustment motor, the pressure boosting valve, the hydraulic lowering component, and the hydraulic shaft locking component.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic diagram of the structure of the dredging robot of this utility model; Figure 2 This is a schematic diagram of the bottom structure of the dredging robot of this utility model; Figure 3 This is a schematic diagram of the mud-breaking unit in the dredging robot of this utility model; Figure 4 This is a schematic diagram of the sludge-crushing shaft and its connecting components in the dredging robot of this utility model; Figure 5 This is a schematic diagram of the flushing component in the dredging robot of this utility model.

[0017] As shown in the figure: 1. Tracked robot vehicle; 2. Telescopic rod; 3. Sonar head; 4. All-around camera assembly; 5. Mud-crushing assembly; 6. Flushing assembly; 7. Connecting bearing seat; 8. Suction unit; 9. Hydraulic lowering component; 10. Folding suction pipe; 11. Hydraulic shaft locking component; 12. Motor frame; 501. Suction port; 502. Mud-crushing shaft frame; 503. Mud-crushing shaft; 504. Transmission gear set; 505. Mud-crushing shaft adjusting motor; 601. Flushing fluid inlet; 602. Cleaning pipe rack; 603. Branch cleaning pipe; 604. Pressure booster valve; 605. Main pipe. Detailed Implementation

[0018] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. Rather, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0019] The dredging robot of this utility model embodiment will be described below with reference to the accompanying drawings.

[0020] like Figures 1-5 As shown, the dredging robot of this utility model embodiment includes: The tracked walking unit is a tracked machine vehicle 1.

[0021] The detection and camera unit includes a sonar head 3 and an omnidirectional camera group 4 mounted on the tracked robot vehicle 1.

[0022] The mud-breaking operation unit includes a mud-breaking adjustment mechanism and a mud-breaking component 5 located at the front end of the tracked machine vehicle 1.

[0023] The flushing component 6 is located at the front end of the tracked machine vehicle 1, and the spraying direction of the flushing component 6 is directed towards the mud below the mud shredder component 5.

[0024] The sewage suction unit is located at the front end of the tracked machine vehicle 1.

[0025] The tracked walking unit uses the tracked robot vehicle 1 as its carrier and adapts to the muddy environment by utilizing the characteristics of the tracks, providing mobility for the entire robot.

[0026] The detection and camera unit uses sonar head 3 to detect environmental information such as terrain and obstacles in silt or underwater, while the all-around camera group 4 enables full-view shooting of the surrounding environment. Together, they provide accurate environmental perception for dredging operations.

[0027] In the sludge breaking unit, the sludge breaking adjustment mechanism can adjust the working posture and position of the sludge breaking component 5. The sludge breaking component 5 is used to break up clumps of sludge, making the sludge easier to process later. The flushing component 6 sprays flushing fluid under the sludge broken by the sludge breaking component 5, which can not only help the sludge breaking component 5 to break up the broken sludge clumps, but also perform preliminary cleaning and dredging of the working area.

[0028] The sludge suction unit is located at the front end and is used to receive the crushed and washed sludge, completing the sludge suction and collection operation. The various units work together to form a complete sludge removal process of "movement-detection-sludge crushing-washing-sludge suction".

[0029] In one embodiment of the present invention, the omnidirectional camera group 4 is composed of multiple cameras distributed along the circumference, and also includes a 360-degree imaging module, which is connected to the omnidirectional camera group 4.

[0030] The sonar head 3 consists of two sets. The top surface of the tracked vehicle 1 is equipped with two sets of telescopic rods 2, and the two sets of sonar heads 3 are respectively located at the moving ends of the two sets of telescopic rods 2.

[0031] Specifically, the omnidirectional camera group 4 uses multiple cameras distributed along the circumference to capture environmental images of the robot from different directions. Sonar head 3, relying on sonar detection technology, can specifically detect the pipe diameter parameters of the pipe being cleaned during dredging operations. When it is working, it can emit sound wave signals into the inner wall of the pipe. After the sound waves come into contact with the pipe wall, they are reflected to form echoes. Sonar head 3 receives the echoes and converts the signals into data. By analyzing information such as sound wave propagation time and echo intensity, the inner diameter of the pipe can be accurately calculated.

[0032] Based on the detected pipe diameter, the mud-crushing range of the mud-crushing component 5, the spray angle and pressure of the flushing component 6, and the compatibility of the suction port diameter of the suction unit can be adjusted in advance.

[0033] In one embodiment of the present invention, the mud-crushing adjustment mechanism includes a connecting bearing seat 7 disposed at the front end of the tracked vehicle 1 and an adjustment motor disposed in the inner frame of the tracked vehicle 1.

[0034] Clay breaking component 5 includes: The crushing shaft frame 502 is hinged to the crushing mud shaft 503. The output end of the adjusting motor is connected to the central shaft of the connecting bearing seat 7. The adjusting motor is fitted with a motor frame 12.

[0035] The mud-crushing shaft 503 rotates within the inner frame of the mud-crushing shaft frame 502.

[0036] The mud crushing shaft adjusting motor 505 is located in the inner frame of the mud crushing shaft frame 502. The mud crushing shaft adjusting motor 505 is connected to the mud crushing shaft 503 through the transmission gear set 504.

[0037] During use, the sludge-crushing shaft 503 is aligned with the area of ​​sludge to be crushed. The sludge-crushing shaft 503 can rotate within the inner frame of the shaft frame 502, directly contacting the clumps of sludge during rotation. Through mechanical force, large, hard sludge pieces are broken into smaller particles, reducing resistance for subsequent flushing and suction operations. The sludge-crushing shaft adjusting motor 505 serves as the power source for the sludge-crushing shaft 503, smoothly transmitting power to it via the transmission gear set 504. The speed and torque of the sludge-crushing shaft 503 can be flexibly adjusted according to the hardness of the sludge.

[0038] Furthermore, in this embodiment, the sludge-crushing assembly 5 can rotate flexibly to adapt to the needs of sludge operations at different angles. Driving related components adjusts the position of the sludge-crushing assembly 5 to meet the sludge-crushing range requirements in different scenarios.

[0039] In one embodiment of this utility model, the rinsing assembly 6 may include: The cleaning pipe rack 602 is located behind the mud-breaking assembly 5, and a main collection pipe is installed on the cleaning pipe rack 602.

[0040] The multi-component cleaning pipe 603 has multiple sets of spray nozzles in the main collection pipe, which are connected to each component cleaning pipe 603. The inlet of the main collection pipe is connected to the main pipe 605, and the inlet of the main pipe 605 is connected to the flushing fluid inlet 601. The flushing fluid inlet 601 is connected to an external flushing fluid source through a long water pipe.

[0041] Multiple sub-cleaning pipes 603 are evenly distributed along the length of the cleaning pipe rack 602, and each sub-cleaning pipe 603 is equipped with a corresponding pressure boosting valve 604.

[0042] Specifically, the pressure boosting valve 604 corresponding to each branch cleaning pipe 603 provides flexible pressure adjustment capabilities for the flushing operation: when facing stubborn sludge residue, the flushing pressure of the corresponding branch cleaning pipe can be increased through the pressure boosting valve 604 to enhance the flushing force. For scenarios where the inner wall of the pipe is fragile or the sludge is loose, the pressure can be reduced to avoid pipe damage or sludge splashing, achieving adaptive flushing with "pressure adjustment on demand," further improving the accuracy and safety of the flushing operation, and clearing obstacles for subsequent sludge suction operations.

[0043] As another possibility, the flushing assembly 6 includes a high-pressure pneumatic press, an air transmission unit, and multiple sets of adjustable air jet nozzles; The high-pressure pneumatic press is located in the power compartment in the middle of the tracked vehicle 1. Its output end is connected to the pressure regulating valve of the air transmission unit through a pressure-resistant air pipe. The pressure regulating valve is electrically connected to the intelligent control center through a wire and can adjust the output pressure in real time according to the hardness of the silt. The air jet nozzles are installed on both sides of the working end of the tracked vehicle 1 through universal joints. Each group of nozzles has at least 4 nozzles, and the distance between adjacent nozzles is 150-200mm. The nozzle nozzles adopt a conical structure and can achieve pulse jetting at 0.5-2s / time under the control of the intelligent control center. The jetting angle can be adjusted by servo motor drive to adapt to siltation environments of different depths (0.3-5m) and different hardness. In one embodiment of this utility model, the sludge suction unit includes: The suction component 8 is located at the front end of the tracked machine vehicle 1 and behind the mud-crushing assembly 5.

[0044] Multiple sets of hydraulic descending components 9 are arranged below the suction component 8. Each set of hydraulic descending components 9 has a folded suction pipe 10 at its moving end. The suction outlet of the folded suction pipe 10 is connected to the suction port 501. The suction port 501 is connected to an external vacuum device through the suction pipe.

[0045] Specifically, the folded suction pipe 10 at the moving end of each hydraulic descending component 9 is telescopic and bendable. It can deform synchronously with the height adjustment of the hydraulic descending component 9 to ensure that the suction path is always unobstructed, and it can also adapt to the slight positional changes of the suction component 8 during operation, avoiding damage caused by rigid tension of the pipe. The suction port 501 is connected to an external vacuum device through the suction pipe. With the help of external vacuum power, a negative pressure can be formed in the folded suction pipe 10, which will transport the sludge collected by the suction component 8 to the outside through the folded suction pipe 10 and the suction port 501.

[0046] In one embodiment of the present invention, a rotation locking unit, which is a hydraulic locking shaft component 11, is further included to lock the rotation state of the mud crushing unit.

[0047] In one embodiment of this utility model, the folding suction pipe 10 is a retractable and foldable corrugated pipe structure, and the hydraulic lowering component 9 is a hydraulic push rod structure to adjust the height of the suction component 8.

[0048] In actual use, when facing a thick layer of silt, the hydraulic descending component 9 extends to bring the suction component 8 closer to the silt surface, enhancing the adsorption effect. When the bottom of the pipe is uneven or the silt is thin, the hydraulic descending component 9 is shortened to adjust the height of the suction component 8, avoiding hard contact with the bottom of the pipe and preventing damage, while ensuring that the suction component 8 is always in the optimal suction position.

[0049] In one embodiment of this utility model, the tracked robot 1 is also equipped with a control unit, which is used to control the movement of the telescopic rod 2, the mud-breaking shaft adjusting motor 505, the pressure boosting valve 604, the high-pressure pneumatic press, the hydraulic lowering component 9, and the hydraulic locking shaft component 11.

[0050] In actual use, the following applies: Pre-operation preparation: The control unit performs a self-test of core components, drives the telescopic rod to adjust the sonar head to detect the inner diameter of the pipeline, and the camera group generates a panoramic image. Based on the data, the parameters for sludge crushing, flushing, and sludge suction are optimized in advance to adapt to the pipeline operating conditions. Mobile positioning: The tracked robot vehicle relies on the feedback from the detection unit to avoid obstacles and move smoothly to the dredging area. Mud crushing operation: Adjust the motor to drive the mud crushing shaft to align with the silt, and the hydraulic locking mechanism locks the position. The mud crushing shaft adjustment motor drives the mud crushing shaft to rotate, and the speed and torque can be adjusted as needed to crush large pieces of silt. Flushing operation: External flushing fluid is delivered to the branch cleaning pipe through pipelines, and the pressure is adjusted as needed by the booster valve. It is then sprayed downwards onto the mud to disperse the sludge and clean the pipeline. Vacuuming operation: The hydraulic lowering mechanism adjusts the height of the suction unit, and the folding suction pipe adapts accordingly. An external vacuum device creates negative pressure, transporting the sludge through the suction unit and pipes to the outside. Process control and completion: The control unit receives probe data in real time and fine-tunes the actions of each component. After the operation is completed, all components reset, and the machine moves to the next area or exits the pipeline.

[0051] In summary, the dredging robot of this utility model embodiment can flexibly adjust the working intensity according to the hardness of the silt. It can efficiently break up hard and lumpy silt, while avoiding the energy waste caused by excessive breaking of soft silt. At the same time, it locks the working position to prevent deviation, ensuring the stability of the silt breaking process and the uniform breaking effect.

[0052] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dredging robot, characterized in that, include: Tracked walking unit, which is a tracked robot (1); The detection and camera unit includes a sonar head (3) and an all-around camera group (4) mounted on the tracked vehicle (1). The mud-breaking operation unit includes a mud-breaking adjustment mechanism and a mud-breaking assembly (5) located at the front end of the tracked vehicle (1). A flushing assembly (6) is disposed at the front end of the tracked vehicle (1), and the spraying direction of the flushing assembly (6) is directed towards the mud below the mud shredder assembly (5). A vacuuming unit is located at the front end of the tracked vehicle (1).

2. The dredging robot according to claim 1, characterized in that, The omnidirectional camera group (4) includes multiple cameras distributed along the circumference, and also includes a 360-degree image module, which is connected to the omnidirectional camera group (4). The sonar head (3) consists of two sets. The top surface of the tracked vehicle (1) is provided with two sets of telescopic rods (2), and the two sets of sonar heads (3) are respectively located at the moving ends of the two sets of telescopic rods (2).

3. The dredging robot according to claim 1, characterized in that, The mud-breaking adjustment mechanism includes a connecting bearing seat (7) located at the front end of the tracked vehicle (1) and an adjustment motor located in the inner frame of the tracked vehicle (1). The mud-breaking component (5) includes: The crushing shaft frame (502) is hinged to the crushing mud shaft (503). The output end of the adjusting motor is connected to the central shaft of the connecting bearing seat (7). The adjusting motor is fitted with a motor frame (12). A mud-crushing shaft (503) rotates within the inner frame of the mud-crushing shaft frame (502); A mud-crushing shaft adjusting motor (505) is installed in the inner frame of the mud-crushing shaft frame (502). The mud-crushing shaft adjusting motor (505) is connected to the mud-crushing shaft (503) through a transmission gear set (504).

4. The dredging robot according to claim 1, characterized in that, The flushing assembly (6) includes: A cleaning pipe rack (602) is provided behind the mud-breaking assembly (5), and a main collection pipe is provided on the cleaning pipe rack (602); The multi-component cleaning pipe (603) is provided with multiple sets of spray nozzles, which are respectively connected to each component cleaning pipe (603). The inlet of the main collection pipe is connected to the main pipe (605), and the inlet of the main pipe (605) is connected to the flushing fluid inlet (601). The flushing fluid inlet (601) is connected to an external flushing fluid source through a long water pipe. Multiple cleaning pipes (603) are evenly distributed along the length of the cleaning pipe rack (602), and each cleaning pipe (603) is provided with a pressure boosting valve (604).

5. The dredging robot according to claim 1, characterized in that, The flushing assembly (6) includes a high-pressure pneumatic press, an air transmission unit, and multiple sets of adjustable air jet nozzles; The high-pressure pneumatic press is located in the power compartment in the middle of the tracked vehicle (1). Its output end is connected to the pressure regulating valve of the air transmission unit through a pressure-resistant air pipe. The air jet nozzle is installed on both sides of the working end of the tracked vehicle (1) through a universal joint.

6. The dredging robot according to claim 1, characterized in that, The vacuuming unit includes: A suction device (8) is provided at the front end of the tracked vehicle (1) and located behind the mud-crushing assembly (5); Multiple sets of hydraulic descending components (9) are arranged below the suction component (8). Each set of hydraulic descending components (9) has a folded suction pipe (10) at its moving end. The suction outlet of the folded suction pipe (10) is connected to the suction port (501). The suction port (501) is connected to an external vacuum device through the suction pipe.

7. The dredging robot according to claim 1, characterized in that, It also includes a rotation locking unit, which is a hydraulic locking shaft component (11), used to lock the rotation state of the mud crushing operation unit.

8. The dredging robot according to claim 6, characterized in that, The folding suction pipe (10) is a retractable and foldable corrugated pipe structure, and the hydraulic lowering component (9) is a hydraulic push rod structure to adjust the height of the suction component (8).

9. The dredging robot according to any one of claims 1-8, characterized in that, The tracked machine vehicle (1) is also equipped with a control unit, which is used to control the movement of the telescopic rod (2), the mud-breaking shaft adjustment motor (505), the pressure booster valve (604), the high-pressure pneumatic press, the hydraulic lowering component (9), and the hydraulic locking shaft component (11).

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