An underwater robot dredging device

Abstract

This utility model discloses an underwater robot dredging device, relating to the field of dredging equipment. It includes a robot chassis on which a front functional bucket, a lifting unit, a movable arm unit, a walking mechanism, and a sealed control box are mounted. The lifting unit controls the lifting or lowering of the front functional bucket, which also contains a crushing and conveying unit. A dredging mechanism is located at the rear end of the front functional bucket. The output end of the movable arm unit is equipped with a detachable and replaceable functional module, which can be used for dredging, collecting, or crushing silt. This utility model has a small overall size, eliminating the need for large and complex equipment, reducing equipment purchase, transportation, and maintenance costs. It can easily enter and adapt to narrow and complex aquatic environments, avoiding the safety risks associated with manual dredging. Furthermore, its operation is relatively simple, meeting the requirements of use.

Description

Technical Field

[0001] This utility model relates to the field of dredging devices, specifically to an underwater robot dredging device, which aims to provide an efficient, safe and intelligent dredging solution for confined water environments. Background Technology

[0002] In today's urban development and wastewater treatment processes, restricted water environments such as urban pipe culverts, water treatment ponds, rivers, lakes, ponds, and industrial tanks face severe siltation problems. The long-term accumulation of silt and debris not only reduces water depth and volume, hindering normal water flow, but also causes a series of systemic hazards such as water quality deterioration, greatly impacting urban drainage systems, aquatic ecosystems, and the normal operation of industrial production. Traditional dredging methods have many drawbacks. For example, manual dredging requires workers to directly wade into the water, a process that is extremely labor-intensive and inefficient. Furthermore, workers must confront the complex and dangerous underwater environment, potentially encountering toxic gases, turbulent currents, and unidentified obstacles, posing significant safety risks. While mechanical dredging improves efficiency to some extent, it typically relies on large equipment. This equipment has complex operating procedures, requiring specialized technicians and demanding high skill levels from operators. More importantly, in many narrow and complex aquatic environments, such as the bends in urban culverts or the edges of small rivers and lakes, large mechanical dredging equipment, due to its bulk and poor mobility, struggles to enter and effectively achieve its dredging objectives. With the rapid development of technology, higher demands are being placed on the safety, applicability, and intelligence of dredging equipment. In terms of safety, direct contact between operators and the hazardous underwater environment must be avoided, and accidents caused by toxic gases, electrical leaks, and other factors must be prevented. Regarding applicability, dredging equipment must be able to flexibly adapt to confined water areas of various shapes, sizes, and environmental conditions, successfully carrying out dredging work in narrow pipes or complex ponds. From an intelligence perspective, dredging equipment is expected to possess autonomous perception, decision-making, and execution capabilities, capable of real-time monitoring of underwater conditions, automatic planning of dredging paths, and precise and efficient completion of dredging tasks. Currently, although some underwater dredging robots have been developed, there is still room for improvement in comprehensively meeting the requirements of safety, applicability, and intelligence. Therefore, there is an urgent need for a safe, reliable, widely applicable, and highly intelligent underwater robot dredging device to solve the dredging problem in restricted waters. Utility Model Content

[0003] The purpose of this utility model is to provide an underwater robot dredging device. The device is small in size and does not require large and complex equipment, which reduces the cost of equipment purchase, transportation and maintenance. It can easily enter and adapt to narrow and complex water environments, avoid the safety risks that may be faced by manual dredging, and is relatively simple to operate, meeting the needs of use.

[0004] To achieve the purpose of this utility model, the technical solution adopted is: an underwater robot dredging device, comprising: A robot chassis, on which a front functional bucket, a lifting unit, a movable arm unit, a walking mechanism, and a sealed control box are mounted; The lifting unit is used to control the lifting or lowering of the front functional bucket, and the front functional bucket is also equipped with a crushing and conveying unit, and the rear end of the front functional bucket is also equipped with a sludge removal mechanism. The output end of the mobile arm unit is also equipped with a detachable and replaceable functional module, which can be used for sludge excavation, collection, or crushing.

[0005] Furthermore, the front functional bucket is rotatably mounted on the front end of the robot chassis, and the lifting unit includes a support arm and a fourth hydraulic rod. One end of the support arm is hinged to the front functional bucket, and the other end of the support arm is rotatably connected to the robot chassis. The two ends of the fourth hydraulic rod are rotatably connected to the robot chassis and the support arm, respectively.

[0006] Furthermore, the crushing and conveying unit includes a crushing component rotatably supported in the front functional hopper and a driving hydraulic motor for driving the crushing component to rotate, the driving hydraulic motor being fixed to the side wall of the front functional hopper.

[0007] Furthermore, the crushing component is a spiral blade or a rotary tillage crushing blade.

[0008] Furthermore, the dredging mechanism includes a dredging pump installed at the rear end of the front functional hopper and communicating with its interior, and the output end of the dredging pump is connected to a dredging pipe.

[0009] Furthermore, the movable arm unit includes a large arm, a small arm, and a curved arm that are rotatably connected in sequence. The large arm is rotatably mounted on the robot chassis. The movable arm unit also includes a first hydraulic rod hinged between the robot chassis and the large arm, a second hydraulic rod hinged between the large arm and the small arm, and a third hydraulic rod hinged between the small arm and the curved arm. The functional modules are all hinged to the extension end of the curved arm and the extension end of the small arm.

[0010] Furthermore, the functional module is a bucket body, a dredging cutter, or a breaker hammer.

[0011] Furthermore, the walking mechanism is a tracked walking mechanism.

[0012] The beneficial effects of this utility model are: In this invention, the movable arm unit can flexibly excavate or break up silt for precise dredging. The front functional bucket, in conjunction with the lifting unit, controls the dredging position. The crushing and conveying unit crushes and transports the collected silt, preventing it from clogging the pipes. The dredging mechanism then quickly discharges the crushed silt. This invention has a small overall size, eliminating the need for large and complex equipment, thus reducing equipment purchase, transportation, and maintenance costs. It can easily enter and adapt to narrow and complex water environments, avoiding the safety risks associated with manual dredging. Furthermore, its operation is relatively simple and meets the usage requirements. Attached Figure Description

[0013] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0014] Figure 1 A front view schematic diagram of an underwater robot dredging device; Figure 2 This is a schematic diagram of the crushing unit. Figure 3 A top-view schematic diagram of an underwater robot dredging device; Figure 4 This is a schematic diagram of a broken blade. Figure 5 This is a schematic diagram of a dredging cutter. Figure 6 This is a schematic diagram of a hydraulic breaker.

[0015] The attached diagram shows the markings and corresponding component names: 1. Robot chassis; 11. Walking mechanism; 12. Sealed control box; 2. Movable arm unit; 21. Main arm; 22. Forearm; 23. Functional module; 231. Bucket body; 232. Dredging cutter; 233. Hydraulic breaker; 24. First hydraulic rod; 25. Second hydraulic rod; 26. Third hydraulic rod; 3. Front functional bucket; 4. Lifting unit; 41. Support arm; 42. Fourth hydraulic rod; 5. Crushing and conveying unit; 51. Drive hydraulic motor; 52. Crushing component; 521. Spiral blade; 522. Crushing blade; 6. Dredging pump. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0017] It should be noted that, where there is no conflict, the embodiments and features described in these embodiments can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] like Figures 1 to 3 As shown, the present invention provides an underwater robot dredging device, including a robot chassis 1, on which a walking mechanism 11 and a sealed control box 12 are provided. The walking mechanism 11 is used to move the entire device underwater, and the sealed control box 12 is used to install and protect each control element to prevent the control elements from being damaged by water ingress.

[0019] The robot chassis 1 is also equipped with a front functional bucket 3 and a lifting unit 4. The front functional bucket 3 is rotatably mounted at the front end of the robot chassis 1, and a crushing and conveying unit 5 is installed inside the front functional bucket 3. The crushing and conveying unit 5 is used to crush and convey the sludge shoveled by the front functional bucket 3, and as the dredging device moves forward, the crushed and conveyed sludge enters the rear of the front functional bucket 3. At the same time, a dredging mechanism is also installed at the rear of the front functional bucket 3, which is used to pump out the sludge that has entered the rear of the front functional bucket 3, so that the cleaned sludge is transported outward. The lifting unit 4 is used to operate the lifting and lowering of the front functional bucket 3. This not only ensures that the opening of the front functional bucket 3 fits the bottom of the river or pond, ensuring that as much sludge as possible can be shoveled into the front functional bucket 3, but also allows the front functional bucket 3 to be lifted when the dredging device does not need to clean the sludge, so as to avoid the front functional bucket 3 affecting the forward or backward movement of the dredging device.

[0020] The robot chassis 1 is also equipped with a movable arm unit 2. The output end of the movable arm unit 2 is also equipped with a detachable functional module 23, so that the specific structure of the functional module 23 can be replaced according to the needs of the cleaning process. Thus, a functional module 23 for sludge excavation, sludge collection, or sludge crushing can be selected. The movable arm unit 2 can not only be lowered or raised on the robot chassis 1, but also control the pitch of the functional module 23, thereby ensuring the use of the functional module 23.

[0021] In this invention, taking the forward direction of the dredging device as a reference, the front functional bucket 3 is rotatably mounted on the front end of the robot chassis 1. The lifting unit 4 includes a support arm 41 and a fourth hydraulic rod 42. The support arm 41 is bent, with its front end hinged to the front functional bucket 3 and its rear end rotatably connected to the robot chassis 1. To raise the installation height of the rear end of the support arm 41, a fixed seat for raising the rear end of the support arm 41 can also be provided on the robot chassis 1. One end of the fourth hydraulic rod 42 is hinged to the middle of the robot chassis 1, and the other end of the fourth hydraulic rod 42 is hinged to the support arm 41. When the fourth hydraulic rod 42 extends or retracts, it drives the support arm 41 to swing on the robot chassis 1, causing the front end of the support arm 41 to pull the front functional bucket 3 up or down.

[0022] In this utility model, in order to ensure the crushing and conveying unit 5 crushes the sludge, the crushing and conveying unit 5 includes a crushing component 52 rotatably supported in the front functional hopper 3 and a driving hydraulic motor 51 that drives the crushing component 52 to rotate. The axial direction of the crushing component 52 is consistent with the width direction of the front functional hopper 3, and both ends of the crushing component 52 are rotatably mounted on the front functional hopper 3 through bearings. The driving hydraulic motor 51 is mounted on the side wall of one side of the front functional hopper 3. One end of the crushing component 52 is fixedly connected to the output end of the driving hydraulic motor 51, so that the driving hydraulic motor 51 drives the crushing component 52 to rotate synchronously while rotating. The crushing component 52 crushes the sludge while rotating and squeezes it to the rear of the front functional hopper 3.

[0023] To ensure the crushing effect of the crusher 52 on the sludge, the crusher 52 can be selected according to needs. For example, the crusher 52 can be a spiral blade 521 or a rotary tillage crusher blade 522. When the crusher 52 uses a spiral blade 521, the hydraulic motor 51 drives the spiral blade 521 to rotate, and the spiral blade 521 can convey the sludge and other materials to the rear end of the front functional bucket 3. At the same time, it can also perform preliminary crushing of larger pieces of material; such as Figure 4 As shown, when the crusher 52 is selected as the rotary tiller blade 522, the rotary tiller blade 522 has a stronger crushing capacity, which enables the hydraulic motor 51 to further crush large impurities in the sludge during the rotation of the rotary tiller blade 522.

[0024] In this invention, the dredging mechanism includes a dredging pump 6 installed at the rear end of the front functional hopper 3. The inlet end of the dredging pump 6 is connected to the interior of the front functional hopper 3, allowing the dredging pump 6 to suck up the silt inside the front functional hopper 3 during operation. To facilitate the transportation of the sucked silt, the output end of the dredging pump 6 is also connected to a dredging pipe. When the dredging device is in operation, the outlet end of the dredging pipe can be directly placed on the roadside, embankment, or on a silt transport vehicle.

[0025] To ensure the operation of the functional module 23, the movable arm unit 2 includes a large arm 21, a small arm 22 and a curved arm. The large arm 21 is rotatably mounted on the robot chassis 1, the middle part of the small arm 22 is rotatably mounted on the extension end of the large arm 21, and the curved arm is rotatably mounted on the extension end of the small arm 22. The movable arm unit 2 also includes a first hydraulic rod 24, a second hydraulic rod 25, and a third hydraulic rod 26. The first hydraulic rod 24 is rotatably mounted on the robot chassis 1, and its output end is hinged to the middle of the upper arm 21. The extension and retraction of the first hydraulic rod 24 can drive the upper arm 21 to rotate on the robot chassis 1. The second hydraulic rod 25 is rotatably mounted on the middle of the upper arm 21, and its output end is rotatably connected to the end of the forearm 22 near the upper arm 21. The extension and retraction of the second hydraulic rod 25 can drive the forearm 22 to rotate relative to the upper arm 21. The third hydraulic rod 26 is rotatably mounted on the middle of the forearm 22, and its output end is rotatably connected to the middle of the curved arm. At the same time, the functional module 23 is hinged to both the end of the curved arm away from the forearm 22 and the end of the forearm 22 away from the upper arm 21. The extension and retraction of the third hydraulic rod 26 can drive the functional module 23 to rotate relative to the forearm 22. Through the combined action of the first hydraulic rod 24, the second hydraulic rod 25, and the third hydraulic rod 26, the large arm 21, the small arm 22, and the curved arm in the movable arm unit 2 can move flexibly, thereby completing different dredging operations.

[0026] In this invention, the specific type of functional module 23 can be selected as needed. For example, functional module 23 can be a bucket body 231, a dredging cutter 232, or a hydraulic breaker 233. When functional module 23 is a bucket body 231, functional module 23 is used for digging and collecting silt; such as Figure 5 As shown, when the dredging cutter 232 is selected for functional module 23, functional module 23 can break and excavate harder silt by rotating and cutting; for example Figure 6 As shown, when the functional module 23 selects the hydraulic breaker 233, the functional module 23 is used to break larger obstacles or hard mud blocks.

[0027] The walking mechanism 11 in this utility model is a tracked walking mechanism, which not only makes the walking of the dredging device more stable, but also makes the dredging device suitable for more complex road conditions; of course, if stability and the complexity of road conditions are not considered, the walking mechanism 11 can also be a wheeled walking mechanism.

[0028] The working principle of the underwater robot dredging device is as follows: By operating the walking mechanism 11, the dredging device is moved to the location where dredging is required. According to different dredging needs, appropriate functional modules 23 are selected and installed on the forearm 22 and the curved arm of the movable arm unit 2. By controlling the extension and retraction of the first hydraulic rod 24, the large arm 21 rotates on the robot chassis 1; by controlling the extension and retraction of the second hydraulic rod 25, the small arm 22 rotates relative to the large arm 21; and by controlling the extension and retraction of the third hydraulic rod 26, the functional module 23 rotates relative to the small arm 22, thereby enabling the functional module 23 to perform dredging operations. Simultaneously, by controlling the extension and retraction of the fourth hydraulic rod 42, the support arm 41 swings on the robot chassis 1, causing the front end of the support arm 41 to pull the front functional bucket 3 up or down. As the dredging device moves forward, sludge is collected in the front functional bucket 3. During this process, the driving hydraulic motor 51 drives the crushing component 52 to rotate, and the crushing component 52 crushes and transports the sludge, allowing it to enter the rear end of the front functional bucket 3. Finally, the dredging pump 6 operates, pumping the sludge in the front functional bucket 3 through the dredging pipeline to the roadside, embankment, or onto a sludge transport vehicle.

[0029] The operating steps for the underwater robot dredging device are as follows: 1. Place the dredging device in the water and move it to the dredging location by operating the walking mechanism 11; 2. Select and install the appropriate functional module 23 according to the dredging situation; 3. Control the first hydraulic rod 24, the second hydraulic rod 25 and the third hydraulic rod 26 to enable the functional module 23 to perform the dredging action; 4. Control the fourth hydraulic rod 42 to adjust the position of the front functional bucket 3 so that the opening of the front functional bucket 3 is in contact with the ground so that it can collect silt; 5. Start the hydraulic motor 51 to drive the crushing component 52 to rotate, and the crushing component 52 crushes and transports the sludge. 6. Turn on dredging pump 6 to pump out the sludge; 7. After the dredging is completed, the dredging device is moved out of the water surface by the operation of the walking mechanism 11.

[0030] By setting up a robot chassis 1, a movable arm unit 2, a front functional bucket 3, a lifting unit 4, a crushing and conveying unit 5, and a dredging pump 6, the underwater automatic dredging function is realized. The functional module 23 of the movable arm unit 2 is replaceable, and appropriate tools can be selected according to different dredging scenarios and needs to perform dredging or crushing, which improves the applicability and flexibility of the device. The crushing and conveying unit 5 can prevent blockage. The lifting unit 4 facilitates the adjustment of the position of the front functional bucket 3. The tracked walking mechanism 11 enhances the mobility adaptability of the dredging device. The sealed control box 12 protects the electronic equipment, which improves the overall dredging efficiency and quality and reduces the intensity of manual labor.

[0031] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] Those skilled in the art should understand that the above embodiments are merely for clearly illustrating the present invention and are not intended to limit the scope of the present invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. An underwater robot dredging device, characterized in that, include: Robot chassis (1), on which a front functional bucket (3), a lifting unit (4), a movable arm unit (2), a walking mechanism (11) and a sealed control box (12) are installed; The lifting unit (4) is used to control the lifting or lowering of the front functional bucket (3), and the front functional bucket (3) is also equipped with a crushing and conveying unit (5), and the rear end of the front functional bucket (3) is also equipped with a sludge removal mechanism. The output end of the movable arm unit (2) is also equipped with a detachable and replaceable functional module (23), which can be used for sludge excavation, collection or crushing.

2. The underwater robot dredging device according to claim 1, characterized in that, The front functional bucket (3) is rotatably mounted on the front end of the robot chassis (1), and the lifting unit (4) includes a support arm (41) and a fourth hydraulic rod (42). One end of the support arm (41) is hinged to the front functional bucket (3), and the other end of the support arm (41) is rotatably connected to the robot chassis (1). The two ends of the fourth hydraulic rod (42) are rotatably connected to the robot chassis (1) and the support arm (41) respectively.

3. The underwater robot dredging device according to claim 1, characterized in that, The crushing and conveying unit (5) includes a crushing component (52) rotatably supported in the front functional hopper (3) and a driving hydraulic motor (51) for driving the crushing component (52) to rotate. The driving hydraulic motor (51) is fixed on the side wall of the front functional hopper (3).

4. The underwater robot dredging device according to claim 3, characterized in that, The crushing component (52) is a spiral blade (521) or a rotary tillage crushing blade (522).

5. The underwater robot dredging device according to claim 1, characterized in that, The dredging mechanism includes a dredging pump (6) installed at the rear end of the front functional bucket (3) and connected to its interior, and the output end of the dredging pump (6) is connected to a dredging pipe.

6. The underwater robot dredging device according to claim 1, characterized in that, The movable arm unit (2) includes a large arm (21), a small arm (22) and a curved arm that are rotatably connected in sequence. The large arm (21) is rotatably mounted on the robot chassis (1). The movable arm unit (2) also includes a first hydraulic rod (24) hinged between the robot chassis (1) and the large arm (21), a second hydraulic rod (25) hinged between the large arm (21) and the small arm (22), and a third hydraulic rod (26) hinged between the small arm (22) and the curved arm. The functional module (23) is hinged together at the extension end of the curved arm and the extension end of the small arm (22).

7. The underwater robot dredging device according to claim 1, characterized in that, The functional module (23) is either the bucket body (231), the dredging cutter (232), or the breaker hammer (233).

8. The underwater robot dredging device according to claim 1, characterized in that, The walking mechanism (11) is a tracked walking mechanism.

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