A mobile grab bucket

Abstract

The utility model provides a mobile grab bucket, including the grab bucket body for grabbing deposit, still include X axis walking module, the Y axis walking module of sliding setting in the X axis walking module, the rotary module of rotation setting in the Y axis walking module, the Z axis removal module of sliding setting in the rotary module, rotation setting in the Y axis walking module's pivot, the mounting block of setting in the pivot one end, the adjusting motor for driving pivot rotation, the output shaft of adjusting motor is connected with pivot, Z axis removal module sets up on the mounting block, the grab bucket body sets up on Z axis removal module, still be provided with the camera on the Y axis walking module, the camera is through signal transmission and takes the picture to the host computer, the utility model discloses have the advantage that can be flexible removal and remote control.

Description

Technical Field

[0001] This utility model relates to the technical field of mud-grabbing buckets, and more particularly to a mobile mud-grabbing bucket. Background Technology

[0002] At the inlet of a wastewater treatment plant, there is usually a long, narrow screen channel and a coarse screen for filtration. Wastewater flows through the screen channel and is intercepted and removed by the coarse screen. These intercepted debris, as well as sediment and other deposits, accumulate at the bottom of the screen channel and need to be cleaned regularly to prevent blockages, ensure smooth water flow, and reduce equipment corrosion.

[0003] Currently, cleaning is carried out by grabbing sediment with a mud-grabbing bucket. For example, the utility model with authorization publication number CN214301896U relates to an automated mud-grabbing bucket that facilitates rapid sediment grabbing. It includes a connecting plate, a motor fixedly connected to the bottom of the connecting plate, a threaded rod fixedly connected to the output shaft of the motor, a threaded sleeve threadedly connected to the surface of the threaded rod, connecting rods fixedly connected to both sides of the threaded sleeve, a slider movably connected to the surface of the connecting rod, a through hole opened on the front side of the top of the slider, a sliding rod slidably connected to the inner cavity of the through hole, a fixed block fixedly connected to the bottom of the connecting plate, a fixed rod rotatably connected to the inner cavity of the fixed block, a rotating rod rotatably connected to the surface of the fixed rod rotatably, a fixed rod 2 penetrating through the bottom of the surface of the rotating rod 1, a rotating rod 2 rotatably connected to the surface of the fixed rod 2, a grab bucket body fixedly connected to the bottom of the rotating rod 2, and the two grab bucket bodies are rotatably connected by a hinge. In use, the output shaft of the motor drives the threaded rod to rotate, and the threaded rod drives the threaded sleeve to rise and fall through the surface thread. The threaded sleeve drives the slider to rise and fall through the connecting rod. The slider, through the cooperation of the fixed block, fixed rod one, rotating rod one, fixed rod two, and rotating rod two, drives the opening and closing of the grab bucket body to achieve grabbing.

[0004] Although existing technology enables the opening and closing of the grab bucket, a certain amount of space needs to be reserved before the grab bucket can be opened to grab the sediment. During the cleaning of the bar screen corridor, it is not easy to control the movement of the grab bucket, especially when cleaning the corners of the bar screen corridor. The opening space of the grab bucket is limited, and it is inconvenient to adjust the position and direction of the grab head, thus affecting the cleaning effect. Utility Model Content

[0005] To address the limitations of existing mud-grabbing buckets in terms of opening space and the inconvenience of adjusting the position and direction of the grabbing heads, which affects the cleaning effect, this utility model provides a mobile mud-grabbing bucket that can be remotely controlled.

[0006] The present invention provides a mobile mud-grabbing bucket, which adopts the following technical solution: A mobile mud-grabbing bucket includes a grab bucket body for grabbing sediment, an X-axis walking module, a Y-axis walking module slidably disposed on the X-axis walking module, a rotating module rotatably disposed on the Y-axis walking module, and a Z-axis moving module slidably disposed on the rotating module; a rotating shaft disposed on the Y-axis walking module, a mounting block disposed at one end of the rotating shaft, and an adjusting motor for driving the rotating shaft to rotate, the output shaft of the adjusting motor being connected to the rotating shaft; the Z-axis moving module is disposed on the mounting block, and the grab bucket body is disposed on the Z-axis moving module; a camera is also disposed on the Y-axis walking module, and the camera transmits captured images to a host computer via signal transmission.

[0007] By adopting the above technical solution, during cleaning, the two sets of X-axis walking modules are synchronously driven by their motors, which in turn drive the two drive seats to move synchronously, thereby moving the Y-axis walking module, the rotation module, the Z-axis moving module, and the grab bucket body. The Y-axis walking module drives the grab bucket body to move, positioning it above the area to be cleaned. Depending on the space conditions of the area to be cleaned, the rotation module drives the grab bucket body to rotate, adjusting it to a suitable angle. Finally, the Z-axis moving module drives the grab bucket body to descend, approach the sediment, and perform the grabbing and cleaning work.

[0008] During rotation, the motor drives the rotating shaft, which in turn rotates the mounting block, thereby rotating the Z-axis moving module and the grab bucket body. This allows for easy adjustment of the grab bucket body's angle, adapting it to dead corners or edge areas and enabling the grab bucket body to grip and clean at a suitable angle. Furthermore, its mobile design allows it to serve the entire grille corridor, avoiding the problem of cleaning dead corners and maximizing utilization.

[0009] The camera can easily identify the accumulation of sediment at the bottom of the channel, enabling operators to carry out cleaning work, thus supporting remote operation and monitoring, which is in line with the intelligent development trend of modern water plants that are "unmanned and require fewer personnel for inspection".

[0010] Preferably, at least two sets of the X-axis traveling module are provided; the X-axis traveling module includes an X-axis wheel rail, a traveling wheel that slides and engages with the X-axis wheel rail, and a drive seat for mounting the traveling wheel; the orientation of the X-axis wheel rail corresponds to the orientation of the grid corridor, and the traveling wheel slides and engages with the X-axis wheel rail along the distribution direction of the X-axis wheel rail; each set of the X-axis traveling module has at least two traveling wheels, and both sets of traveling wheels are rotatably connected to the drive seat.

[0011] By adopting the above technical solution, each X-axis traveling module has at least two traveling wheels, making the movement of the drive seat more stable. Furthermore, with at least two X-axis traveling modules, the Y-axis traveling module can be stably supported.

[0012] Preferably, the Y-axis traveling module includes a support frame mounted on a drive seat, a Y-axis wheel rail mounted on the support frame, and a traveling trolley slidably mounted on the Y-axis wheel rail; the support frame includes support columns mounted on the X-axis traveling module and crossbeams mounted on the support columns; the number of support columns corresponds to the number of X-axis traveling modules, with multiple support columns corresponding to multiple drive seats; the crossbeams are distributed along the width direction of the grid corridor, and the support columns are all fixedly connected to the crossbeams; the Y-axis wheel rails are located inside the crossbeams, and the Y-axis wheel rails are distributed along the length direction of the crossbeams, with two Y-axis wheel rails provided; The traveling trolley includes a body and two sets of wheels rotatably mounted on the body. The rotating module is mounted on the body. The two sets of wheels are located on both sides of the traveling trolley, and the two sets of wheels slide and cooperate with two Y-axis wheel rails in a one-to-one correspondence.

[0013] By adopting the above technical solution, the sliding cooperation design between the Y-axis wheel rail and the wheels on both sides of the traveling trolley ensures the stability of structural load-bearing and operation.

[0014] Preferably, the crossbeam is further provided with a drive motor for driving the traveling trolley. The output shaft of the drive motor is connected to a lead screw, which is distributed along the length direction of the Y-axis wheel rail. The lead screw passes through the body of the traveling trolley and is threadedly engaged with the body of the traveling trolley.

[0015] By adopting the above technical solution, the drive motor drives the lead screw to rotate, thereby moving the trolley. The two sets of wheels of the trolley slide one-to-one on the two Y-axis wheel rails. Through the driving method of the lead screw and drive motor working together, the movement of the trolley has the characteristics of high precision and strong stability, making it suitable for applications requiring precise control and large loads.

[0016] Preferably, the Z-axis moving module includes a boom mounted on a mounting block, a reel rotatably mounted on the boom, a wire rope wound around the reel, and a hook at the end of the wire rope; the reel is rotatably connected to the boom, the reel is horizontally distributed, and the grab bucket body is suspended on the hook.

[0017] By adopting the above technical solution, when driving the grab bucket body to descend or ascend, the wire rope can be wound up and unwound by driving the reel to rotate, and the grab bucket body can be driven to descend or ascend by the hook.

[0018] Preferably, the grab body includes a connecting seat suspended from a hook, at least two openable and closable jaw plates, and a driving component for driving the jaw plates to open and close; the jaw plates are all hinged by a hinge shaft, and the jaw plates can form a storage space when closed; the side walls of the jaw plates are provided with drainage holes, and a plurality of drainage holes are provided in a single jaw plate and are distributed in an array.

[0019] By adopting the above technical solution, the structure forms an adjustable holding space through the hinged jaw plate, realizing efficient material gripping and release. The structure is compact and reliable in operation. The drainage hole facilitates the discharge of sewage gripped into the holding space, making it suitable for the field of sewage treatment.

[0020] Preferably, the jaw plate is a structure made of high-strength stainless steel.

[0021] By adopting the above technical solution and using high-strength stainless steel, its corrosion resistance can be significantly improved to cope with wastewater environments. At the same time, it has excellent wear resistance, effectively preventing damage caused by friction with sand and gravel, thereby extending the service life of the equipment and ensuring operational stability.

[0022] Preferably, each jaw plate has reinforcing ribs on its inner side, and each jaw plate has multiple reinforcing ribs arranged at intervals; the occlusal edge of the jaw plate is detachably connected to wear-resistant teeth.

[0023] By adopting the above technical solution, multiple reinforcing ribs help to strengthen the structural strength of the jaw plate and improve its durability. Wear-resistant teeth can effectively improve crushing efficiency, thereby preventing situations where it is difficult to grasp due to deposit caking.

[0024] Preferably, there are two jaw plates, the end of the output shaft of the drive member is hinged to the jaw plate, and the end of the drive member away from the jaw plate is hinged to the connecting seat; there are two sets of drive members, and the extension and retraction directions of each set of drive members are the same, the two sets of drive members drive the two jaw plates one to one, and the two sets of drive members are synchronously driven.

[0025] By adopting the above technical solution, during driving, the two sets of driving components contract synchronously, and the two jaw plates rotate along the hinge axis to move away from each other, thus opening the two jaw plates; by the two sets of driving components extend synchronously, when the two jaw plates rotate along the hinge axis to move closer to each other and join together, the two jaw plates close.

[0026] Preferably, the jaw plates are standard circular arcs with the same curvature, and the hinge axis is the central axis of the arc surface of the jaw plate; the grab bucket body also includes a scraper assembly disposed on the connecting seat, the scraper assembly including a plate seat disposed on the connecting seat and an elastic scraper fixed on the plate seat; the elastic scrapers are arranged according to the number of jaw plates, and multiple elastic scrapers are used to clean the sludge on the inner wall of multiple jaw plates respectively; the elastic scraper includes a sludge scraping part, the end of which is located on the rotation trajectory of the inner wall of the arc of the jaw plate; the sludge scraping part is provided with a clearance groove for making way for the reinforcing ribs.

[0027] By adopting the above technical solution, when the two jaw plates are driven to rotate away from each other along the hinge axis, opening the jaw plates, the scraper removes the sludge adhering to the inner wall of the jaw plates through the rotation of the jaw plates; when the two jaw plates are driven to rotate closer together along the hinge axis, closing the jaw plates, the jaw plates return to their original position, and the scraper is positioned above the jaw plates. The entire elastic scraper acts as an anti-overflow device, preventing the captured sediment from overflowing from the opening above the jaw plates. By removing the sludge adhering to the inner wall of the jaw plates through the scraper, sludge accumulation can be effectively prevented, maintaining the cleanliness of the jaw plates and improving working efficiency.

[0028] Compared with the prior art, the present invention has the following beneficial effects: 1. When rotating, the motor drives the rotating shaft to rotate, which in turn drives the mounting block to rotate, thereby driving the Z-axis moving module and the grab bucket body to rotate. This allows for easy adjustment of the angle of the grab bucket body, making it suitable for dead corners or edge areas, so that the grab bucket body can grab and clean at a suitable angle. 2. Its mobile design allows it to serve the entire grille corridor, avoiding cleaning dead corners and maximizing utilization.

[0029] 3. The camera facilitates the identification of sediment accumulation at the bottom of the corridor, enabling operators to carry out cleaning work, thereby supporting remote operation and monitoring, which is in line with the intelligent development trend of modern water plants of "unmanned operation and reduced manpower inspection".

[0030] 4. The sludge adhering to the inner wall of the jaw plate can be removed by scraping the sludge section, which can effectively prevent sludge accumulation and keep the jaw plate clean and efficient. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this utility model.

[0033] Figure 2 This is a cross-sectional view of the crossbeam in Embodiment 1 of this utility model.

[0034] Figure 3 This is a partial schematic diagram of the crossbeam in Embodiment 1 of this utility model.

[0035] Figure 4 This is a schematic diagram showing the relationship between the X-axis moving module and the grab bucket body in Embodiment 1 of this utility model.

[0036] Figure 5This is a schematic diagram of the jaw plate in Embodiment 1 of this utility model.

[0037] Figure 6 This is a schematic diagram of the scraper assembly in Embodiment 2 of this utility model.

[0038] The component designations are as follows: 1. Grab body; 11. Connecting seat; 12. Jaw plate; 13. Drive component; 14. Hinge shaft; 2. X-axis traveling module; 21. X-axis wheel rail; 22. Traveling wheel; 23. Drive seat; 3. Y-axis traveling module; 31. Support frame; 311. Support column; 312. Crossbeam; 32. Y-axis wheel rail; 33. Traveling trolley; 331. Body; 332. Wheel; 34. Drive motor; 35. Lead screw; 4. Rotary shaft; 5. Mounting block; 6. Camera; 7. Boom; 8. Reel; 9. Wire rope; 10. Hook; 15. Drainage hole; 16. Reinforcing rib; 17. Wear-resistant teeth; 18. Scraper assembly; 181. Plate seat; 182. Elastic scraper; 1821. Sludge scraper; 19. Clearance groove; 20. Grille corridor; 24. Adjustment motor. Detailed Implementation

[0039] The following will refer to the appendix in the embodiments of this utility model. Figures 1 to 6 The technical solutions in the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Example

[0040] A mobile mud grabber, as shown in the reference Figure 1 It includes an X-axis walking module 2, a Y-axis walking module 3 slidably disposed on the X-axis walking module 2, a rotating module rotatably disposed on the Y-axis walking module 3, a Z-axis moving module slidably disposed on the rotating module, and a grab bucket body 1 for grabbing sediments.

[0041] Reference Figure 1 The X-axis traveling module 2 includes an X-axis wheel rail 21, traveling wheels 22 that slide and engage with the X-axis wheel rail 21, and a drive seat 23 for mounting the traveling wheels 22. The orientation of the X-axis wheel rail 21 corresponds to the orientation of the grille corridor 20; that is, when the grille corridor 20 is straight, the X-axis wheel rail 21 is linearly distributed along its length; if the grille corridor 20 is curved, the X-axis wheel rail 21 also presents a corresponding curved shape. In this embodiment, the grille corridor 20 is straight, and the X-axis wheel rail 21 is linearly distributed along the length of the grille corridor 20.

[0042] Reference Figure 1The traveling wheel 22 slides and engages with the X-axis wheel rail 21 along the distribution direction of the X-axis wheel rail 21, and the traveling wheel 22 rolls on the X-axis wheel rail 21, ensuring that the traveling wheel 22 does not fall off the X-axis wheel rail 21 during sliding. Each X-axis traveling module 2 has at least two traveling wheels 22. In this embodiment, the single X-axis traveling module 2 has two traveling wheels 22, which are spaced apart along the length direction of the X-axis wheel rail 21. The drive seat 23 is square, and both sets of traveling wheels 22 are rotatably connected to the drive seat 23. Through the mutual engagement of the two traveling wheels 22 and the X-axis wheel rail 21, the movement of the drive seat 23 is more stable.

[0043] In addition, a drive motor for driving the traveling wheels 22 is installed inside the drive base 23. The output shaft of the drive motor is connected to the axle of one of the traveling wheels 22. The drive motor is existing technology and will not be described in detail. During movement, the drive motor drives one of the traveling wheels 22 to rotate, which in turn moves the drive base 23. At the same time, it drives the other traveling wheel 22 to rotate synchronously, thereby moving the grab bucket body 1 along the length of the grid corridor 20 to facilitate the cleaning of sediment in different areas.

[0044] Reference Figure 1 At least two sets of X-axis traveling modules 2 are provided; in this embodiment, there are two sets of X-axis traveling modules 2. The two sets of X-axis traveling modules 2 are located on both sides of the width direction of the grid corridor 20. The traveling motors of the two sets of X-axis traveling modules 2 are synchronous motors, and the synchronization control technology is existing technology, thereby enabling the two sets of X-axis traveling modules 2 to move synchronously. A Y-axis traveling module 3 is provided on the two sets of X-axis traveling modules 2.

[0045] During cleaning, the two sets of X-axis walking modules 2 are driven synchronously by their motors, which in turn drive the two drive seats 23 to move synchronously. This causes the Y-axis walking module 3, the rotation module, the Z-axis moving module, and the grab bucket body 1 to move. The Y-axis walking module 3 drives the grab bucket body 1 to move, positioning it above the area to be cleaned. Depending on the space available in the area, the rotation module drives the grab bucket body 1 to rotate, adjusting it to a suitable angle. Finally, the Z-axis moving module drives the grab bucket body 1 to descend, approach the sediment, and perform the grabbing and cleaning work.

[0046] Specifically, refer to Figure 1 and Figure 2 The Y-axis traveling module 3 includes a support frame 31 mounted on the X-axis traveling module 2, a Y-axis wheel rail 32 mounted on the support frame 31, and a traveling trolley 33 slidably mounted on the Y-axis wheel rail 32.

[0047] Reference Figure 1 and Figure 2The support frame 31 includes support columns 311 mounted on the X-axis traveling module 2 and crossbeams 312 mounted on the support columns 311. The support columns 311 are distributed vertically, and two support columns 311 are provided corresponding to the number of X-axis traveling modules 2, with each support column 311 corresponding to one of the two drive seats 23. The crossbeams 312 are distributed along the width of the grille corridor 20, and the tops of both support columns 311 are fixedly connected to the crossbeams 312. A through groove is provided on the bottom side of the crossbeams 312, connecting the inside and outside of the crossbeams 312. The through groove is elongated and distributed along the length of the crossbeams 312.

[0048] Reference Figure 2 and Figure 3 The Y-axis wheel rail 32 is disposed within the crossbeam 312 and is distributed along the length of the crossbeam 312. Two Y-axis wheel rails 32 are provided, located on opposite sides of the through slot. The traveling trolley 33 includes a body 331 and two sets of wheels 332 rotatably disposed on the body 331. A rotating module is disposed on the body 331. The two sets of wheels 332 are located on opposite sides of the traveling trolley 33. Each set of wheels 332 slides and engages with a single Y-axis wheel rail 32; that is, the two sets of wheels 332 slide and engage with the two Y-axis wheel rails 32 in a one-to-one correspondence, and the wheels 332 roll along the Y-axis wheel rails 32, preventing them from falling off during sliding. Each set includes two wheels 332, located near opposite ends of the body 331.

[0049] Reference Figure 2 and Figure 3 The crossbeam 312 also houses a drive motor 34 for driving the trolley 33, located near one end of the crossbeam 312. The output shaft of the drive motor 34 is connected to a lead screw 35, which is distributed along the length of the Y-axis wheel rail 32, meaning the lead screw 35 and the Y-axis wheel rail 32 are aligned in the same direction. The lead screw 35 passes through the body 331 of the trolley 33 and is threadedly engaged with the body 331. Thus, the drive motor 34 drives the lead screw 35 to rotate, causing the trolley 33 to move. The two sets of wheels 332 of the trolley 33 slide one-to-one on the two Y-axis wheel rails 32. This driving method, through the cooperation of the lead screw 35 and the drive motor 34, ensures that the movement of the trolley 33 is highly precise and stable, making it suitable for applications requiring precise control and handling large loads.

[0050] During cleaning, the two sets of X-axis walking modules 2 are driven synchronously by their motors, which in turn drive the two drive seats 23 to move synchronously. The drive motor 34 drives the lead screw 35 to rotate, which in turn drives the walking trolley 33 to move. The two sets of wheels 332 of the walking trolley 33 slide one-to-one on the two Y-axis wheel rails 32, which drives the rotating module, the Z-axis moving module, and the grab bucket body 1 to move, so that the grab bucket body 1 is positioned above the area to be cleaned. According to the spatial conditions of the area to be cleaned, the rotating module drives the grab bucket body 1 to rotate and adjust the grab bucket body 1 to a suitable angle. Finally, the Z-axis moving module drives the grab bucket body 1 to descend, approach the sediment, and perform the grab cleaning work.

[0051] Specifically, refer to Figure 2 and Figure 4 The rotating module includes a rotating shaft 4 rotatably mounted on the Y-axis traveling module 3, a mounting block 5 located at one end of the rotating shaft 4, and an adjusting motor 24 for driving the rotating shaft 4 to rotate. The rotating shaft 4 is distributed vertically and passes through the vehicle body 331. The adjusting motor 24 is located inside the vehicle body 331, and the output shaft of the adjusting motor 24 is connected to the end of the rotating shaft 4 located inside the vehicle body 331, thereby driving the rotating shaft 4 to rotate. The mounting block 5 is circular, and the end of the rotating shaft 4 extending out of the vehicle body 331 passes through a through slot and is connected to the mounting block 5, so that the mounting block 5 is located on the bottom side of the crossbeam 312, and the Z-axis moving module is mounted on the mounting block 5, and the grab bucket body 1 is mounted on the Z-axis moving module. When rotating, the rotating shaft 4 is driven to rotate by adjusting the motor 24. The rotating shaft 4 drives the mounting block 5 to rotate, which in turn drives the Z-axis moving module and the grab body 1 to rotate. This allows for easy adjustment of the angle of the grab body 1, thus adapting to dead corners or edge areas and enabling the grab body 1 to grab and clean at a suitable angle.

[0052] During cleaning, the two sets of X-axis walking modules 2 are synchronously driven by their motors, which in turn drive the two drive seats 23 to move synchronously. The drive motor 34 drives the lead screw 35 to rotate, which in turn drives the walking trolley 33 to move. The two sets of wheels 332 of the walking trolley 33 slide one-to-one on the two Y-axis wheel rails 32, which drives the rotating module, the Z-axis moving module, and the grab bucket body 1 to move, so that the grab bucket body 1 is positioned above the area to be cleaned. Depending on the space of the area to be cleaned, the rotating shaft 4 is driven to rotate by the motor 24. The rotating shaft 4 drives the mounting block 5 to rotate, which in turn drives the Z-axis moving module and the grab bucket body 1 to rotate, thereby adjusting the grab bucket body 1 to a suitable angle. Finally, the grab bucket body 1 is driven to descend by the Z-axis moving module, approach the sediment, and perform the grabbing and cleaning work.

[0053] Specifically, refer to Figure 3 and Figure 4 The Z-axis moving module includes a boom 7 mounted on the mounting block 5, a reel 8 rotatably mounted on the boom 7, a wire rope 9 wound around the reel 8, and a hook 10 located at the end of the wire rope 9.

[0054] Reference Figure 3 and Figure 4 The boom 7 is L-shaped, with one end connected to the mounting block 5, and two booms 7 are provided. A cylindrical reel 8 is rotatably connected to the boom 7, and the reels 8 are horizontally distributed, with each end corresponding to one of the two booms 7. The wire rope 9 and hook 10 are existing technologies and will not be described in detail. The hook 10 is connected to the grab bucket body 1, suspending the grab bucket body 1 on the hook 10. One boom 7 is equipped with a retractor / discharger for winding and unwinding the wire rope 9, and the output shaft of the retractor / discharger is connected to one end of the reel 8. When driving the grab bucket body 1 to descend or ascend, the retractor / discharger drives the reel 8 to rotate, thus winding and unwinding the wire rope 9, and the hook 10 drives the grab bucket body 1 to descend or ascend.

[0055] During cleaning, the two sets of X-axis walking modules 2 are synchronously driven by their motors, which in turn drive the two drive seats 23 to move synchronously. The drive motor 34 drives the lead screw 35 to rotate, which in turn drives the walking trolley 33 to move. The two sets of wheels 332 of the walking trolley 33 slide one-to-one on the two Y-axis wheel rails 32, which drives the rotating module, the Z-axis moving module, and the grab bucket body 1 to move, so that the grab bucket body 1 is positioned above the area to be cleaned. Depending on the space of the area to be cleaned, the motor 24 drives the rotating shaft 4 to rotate, which in turn drives the mounting block 5 to rotate, thereby driving the Z-axis moving module and the grab bucket body 1 to rotate, thus adjusting the grab bucket body 1 to a suitable angle. Finally, the reel 8 is driven to rotate by the reel motor to reel in and unreel the wire rope 9. The grab bucket body 1 is lowered by the boom 7 to approach the sediment and perform the grab cleaning work.

[0056] Specifically, refer to Figure 3 and Figure 4 The grab body 1 includes a connecting seat 11 suspended from the hook 10, at least two openable and closable jaw plates 12, and a driving component 13 for driving the jaw plates 12 to open and close.

[0057] In this embodiment, two jaw plates 12 are provided, which are distributed opposite to each other. The two jaw plates 12 are standard circular arcs with the same curvature. The two jaw plates 12 are hinged by a hinge shaft 14, which is the central axis of the arc surface of the two jaw plates 12. When the two jaw plates 12 rotate away from each other along the hinge shaft 14, the two jaw plates 12 are opened; when the two jaw plates 12 rotate closer to each other and fit together along the hinge shaft 14, the two jaw plates 12 are closed, and the closed jaw plates 12 can form a storage space.

[0058] Jaw plate 12 is made of high-strength stainless steel. The use of high-strength stainless steel can significantly improve its corrosion resistance to cope with sewage environment. At the same time, it has excellent wear resistance, effectively preventing damage caused by friction with sand and gravel, thereby extending the service life of the equipment and ensuring operational stability.

[0059] Reference Figure 3 and Figure 4 The driving component 13 is an electro-hydraulic push rod. The end of the output shaft of the driving component 13 is hinged to the jaw plate 12, and the end of the driving component 13 facing away from the jaw plate 12 is hinged to the connecting seat 11. There are two sets of driving components 13, and the extension and retraction directions (driving directions) of each set of driving components 13 are consistent. The two sets of driving components 13 drive the two jaw plates 12 in a one-to-one correspondence. Both sets of driving components 13 are synchronously driven, and the synchronous control method is existing technology, which will not be described in detail. In addition, each set is equipped with two driving components 13, so that the rotation or opening and closing process of the jaw plate 12 is more stable.

[0060] During operation, the two sets of driving components 13 retract synchronously, and the two jaw plates 12 rotate along the hinge axis 14 to move away from each other, thus opening the two jaw plates 12; the two sets of driving components 13 extend synchronously, and when the two jaw plates 12 rotate along the hinge axis 14 to move closer to each other and join together, the two jaw plates 12 close.

[0061] During cleaning, the two sets of X-axis walking modules 2 are driven synchronously by their motors, which in turn drive the two drive seats 23 to move synchronously. The drive motor 34 drives the lead screw 35 to rotate, which in turn drives the walking trolley 33 to move. The two sets of wheels 332 of the walking trolley 33 slide one-to-one on the two Y-axis wheel rails 32, which drives the rotating module, the Z-axis moving module, and the grab body 1 to move, so that the grab body 1 is positioned above the area to be cleaned. Depending on the space of the area to be cleaned, the rotating shaft 4 is driven to rotate by the motor 24. The rotating shaft 4 drives the mounting block 5 to rotate, which in turn drives the Z-axis moving module and the grab body 1 to rotate, thereby adjusting the grab body 1 to a suitable angle. The reel 8 is rotated by the retractor, which retracts and extends the wire rope 9. The boom 7 lowers the grab bucket body 1, and simultaneously, the two sets of drive components 13 retract synchronously. The two jaw plates 12 rotate along the hinge axis 14, moving away from each other and opening until they reach the sediment. The two sets of drive components 13 then extend synchronously, and the two jaw plates 12 rotate along the hinge axis 14, moving closer together and closing, thus capturing the sediment in the holding space. Finally, the Z-axis moving module drives the bucket to reset, and the X-axis traveling module 2, Y-axis traveling module 3, and rotating module drive the grab bucket body 1, which contains the sediment, to the collection area for collection. The mobile design allows it to serve the entire grid corridor 20, avoiding cleaning dead corners and maximizing utilization.

[0062] Reference Figure 4 and Figure 5Each jaw plate 12 has reinforcing ribs 16 on its inner side. Each jaw plate 12 has multiple reinforcing ribs 16 arranged at intervals. The multiple reinforcing ribs 16 help to strengthen the structural strength of the jaw plate 12 and improve its durability.

[0063] Reference Figure 4 and Figure 5 Each jaw plate 12 has a drainage hole 15 on its sidewall. The drainage hole 15 is circular, and multiple drainage holes 15 are provided in a single jaw plate 12. These drainage holes 15 are arranged in an array to facilitate the discharge of wastewater that has been grasped into the holding space.

[0064] In addition, refer to Figure 4 and Figure 5 The jaw plate 12 has wear-resistant teeth 17 detachably connected to its biting edge. These teeth are fixed to the jaw plate 12 by bolts, allowing for a detachable connection. Each jaw plate 12 has three wear-resistant teeth 17, arranged at equal intervals, while the teeth on two jaw plates 12 are staggered. These wear-resistant teeth effectively improve crushing efficiency, preventing difficulties in gripping due to sediment caking.

[0065] The environment inside the grille corridor 20 is harsh, with toxic and harmful gases (such as H2S and CH4) accumulating, posing a serious threat to human life and health. Therefore, to avoid operators having to observe and control the equipment at close range, [further measures are needed]. Figure 1 The Y-axis traveling module 3 is equipped with two cameras 6 on its support columns 311, one for each column. Each camera 6 is connected to a host computer via a signal transmission mechanism, allowing for easy identification of sediment buildup at the bottom of the channel, facilitating cleaning operations. This enables remote operation and monitoring, aligning with the modern water plant's intelligent development trend of "unmanned operation and minimal manpower inspection."

[0066] The implementation principle of this embodiment is as follows: During cleaning, the two sets of X-axis walking modules 2 are driven synchronously by their motors, which in turn drive the two drive seats 23 to move synchronously. The drive motor 34 drives the lead screw 35 to rotate, which in turn drives the walking trolley 33 to move. The two sets of wheels 332 of the walking trolley 33 slide one-to-one on the two Y-axis wheel rails 32, which drives the rotating module, the Z-axis moving module, and the grab body 1 to move, so that the grab body 1 is positioned above the area to be cleaned. Depending on the space of the area to be cleaned, the rotating shaft 4 is driven to rotate by the motor 24. The rotating shaft 4 drives the mounting block 5 to rotate, which in turn drives the Z-axis moving module and the grab body 1 to rotate, thereby adjusting the grab body 1 to a suitable angle. The reel 8 is rotated by the retractor, which retracts and extends the wire rope 9. The boom 7 lowers the grab bucket body 1, and simultaneously, the two sets of drive components 13 retract synchronously. The two jaw plates 12 rotate along the hinge axis 14, moving away from each other and opening until they reach the sediment. The two sets of drive components 13 then extend synchronously, and the two jaw plates 12 rotate along the hinge axis 14, moving closer together and closing, thus capturing the sediment in the holding space. Finally, the Z-axis moving module drives the bucket to reset, and the X-axis traveling module 2, Y-axis traveling module 3, and rotating module drive the grab bucket body 1, which contains the sediment, to the collection area for collection. The mobile design allows it to serve the entire grid corridor 20, avoiding cleaning dead corners and maximizing utilization.

[0067] Example 2: The difference between this example and Example 1 is that, referring to... Figure 6 The grab bucket body 1 also includes a scraper assembly 18 disposed on the connecting seat 11. The scraper assembly 18 includes a plate seat 181 disposed on the connecting seat 11 and an elastic scraper 182 fixed on the plate seat 181. The plate seat 181 is square and is away from the hook 10.

[0068] In Embodiment 1, since the two jaw plates 12 are standard circular arcs with the same curvature, and the hinge axis 14 is the central axis of the arc surfaces of the two jaw plates 12, according to the geometric definition of a circle, the distance (radius) from any point on the circle to the center remains constant. Therefore, no matter what angle the jaw plate 12 rotates around the hinge axis 14, the distance from all points on the inner wall of its arc surface to the hinge axis 14 is equal to the radius of curvature R, thus maintaining consistency.

[0069] Reference Figure 6Two elastic scrapers 182 are provided corresponding to the jaw plates 12. The two elastic scrapers 182 are used to clean the sludge on the inner walls of the two jaw plates 12 respectively. The elastic scraper 182 includes a sludge scraping part 1821, which is rectangular in shape. A relief groove 19 is provided on the sludge scraping part 1821. The relief groove 19 is used to make way for the reinforcing rib 16 and prevent rigid collision with the reinforcing rib 16 during the sludge scraping process. The end of the scraper 1821 is located on the rotation trajectory of the inner arc of the jaw plate 12. That is, when the two jaw plates 12 are driven to rotate away from each other along the hinge axis 14 and the two jaw plates 12 are opened, the scraper 1821 scrapes off the sludge adhering to the inner wall of the jaw plate 12 through the rotation of the jaw plate 12. When the two jaw plates 12 are driven to rotate closer to each other along the hinge axis 14 and the two jaw plates 12 are closed, the jaw plates 12 are reset, the scraper 1821 is located above the jaw plate 12, and the entire elastic scraper 182 plays the role of preventing overflow, preventing the captured sediment from overflowing from the opening above the jaw plate 12.

[0070] The sludge adhering to the inner wall of the jaw plate 12 is removed by the sludge scraper 1821, which can effectively prevent sludge accumulation and keep the jaw plate clean and efficient.

[0071] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A mobile mud grabber, comprising a grabber body (1) for grabbing sediment, characterized in that: It also includes an X-axis walking module (2), a Y-axis walking module (3) slidably disposed on the X-axis walking module (2), a rotating module rotatably disposed on the Y-axis walking module (3), and a Z-axis moving module slidably disposed on the rotating module; a rotating shaft (4) rotatably disposed on the Y-axis walking module (3), a mounting block (5) disposed at one end of the rotating shaft (4), and an adjusting motor for driving the rotating shaft (4) to rotate, the output shaft of the adjusting motor being connected to the rotating shaft (4); the Z-axis moving module is disposed on the mounting block (5), and the grab body (1) is disposed on the Z-axis moving module; a camera (6) is also disposed on the Y-axis walking module (3), and the camera (6) transmits the captured image to the host computer via signal transmission.

2. The mobile mud-grabbing bucket according to claim 1, characterized in that: The X-axis walking module (2) is provided with at least two sets; the X-axis walking module (2) includes an X-axis wheel rail (21), a walking wheel (22) that slides and engages with the X-axis wheel rail (21), and a drive seat (23) for mounting the walking wheel (22); the orientation of the X-axis wheel rail (21) corresponds to the orientation of the grid corridor (20), and the walking wheel (22) slides and engages with the X-axis wheel rail (21) along the distribution direction of the X-axis wheel rail (21); each X-axis walking module (2) has at least two walking wheels (22), and both sets of walking wheels (22) are rotatably connected to the drive seat (23).

3. A mobile mud-grabbing bucket according to claim 2, characterized in that: The Y-axis traveling module (3) includes a support frame (31) mounted on a drive seat (23), a Y-axis wheel rail (32) mounted on the support frame (31), and a traveling trolley (33) slidably mounted on the Y-axis wheel rail (32); the support frame (31) includes a support column (311) mounted on the X-axis traveling module (2) and a crossbeam (312) mounted on the support column (311); the number of support columns (311) corresponds to the number of X-axis traveling modules (2), and multiple support columns (311) are mounted one-to-one on multiple drive seats (23); the crossbeam (312) is distributed along the width direction of the grid corridor (20), and the support columns (311) are all fixedly connected to the crossbeam (312); the Y-axis wheel rail (32) is mounted inside the crossbeam (312), and the Y-axis wheel rail (32) is distributed along the length direction of the crossbeam (312), and there are two Y-axis wheel rails (32); The traveling trolley (33) includes a body (331) and two sets of wheels (332) rotatably mounted on the body (331). The rotating module is mounted on the body (331). The two sets of wheels (332) are located on both sides of the traveling trolley (33). The two sets of wheels (332) slide and cooperate with two Y-axis wheel rails (32) in a one-to-one correspondence.

4. A mobile mud-grabbing bucket according to claim 3, characterized in that: The crossbeam (312) is also equipped with a drive motor (34) for driving the traveling trolley (33). The output shaft of the drive motor (34) is connected to a lead screw (35). The lead screw (35) is distributed along the length direction of the Y-axis wheel rail (32). The lead screw (35) passes through the body (331) of the traveling trolley (33), and the lead screw (35) is threadedly engaged with the body (331) of the traveling trolley (33).

5. A mobile mud-grabbing bucket according to claim 1, characterized in that: The Z-axis moving module includes a boom (7) mounted on the mounting block (5), a reel (8) rotatably mounted on the boom (7), a wire rope (9) wound around the reel (8), and a hook (10) at the end of the wire rope (9); the reel (8) is rotatably connected to the boom (7), the reel (8) is horizontally distributed, and the grab body (1) is suspended on the hook (10).

6. A mobile mud-grabbing bucket according to claim 1, characterized in that: The grab body (1) includes a connecting seat (11) suspended from the hook (10), at least two openable and closable jaw plates (12), and a driving component (13) for driving the jaw plates (12) to open and close; the jaw plates (12) are all hinged by a hinge shaft (14), and the jaw plates (12) can form a container space when closed; the side walls of the jaw plates (12) are provided with drainage holes (15), and a number of drainage holes (15) are provided in a single jaw plate (12) and are distributed in an array.

7. A mobile mud-grabbing bucket according to claim 6, characterized in that: The jaw plate (12) is a structure made of high-strength stainless steel.

8. A mobile mud-grabbing bucket according to claim 6, characterized in that: The inner side of each jaw plate (12) is provided with reinforcing ribs (16), and multiple reinforcing ribs (16) are provided in a single jaw plate (12) and arranged at intervals; the occlusal edge of the jaw plate (12) is detachably connected with wear-resistant teeth (17).

9. A mobile mud-grabbing bucket according to claim 6, characterized in that: The jaw plates (12) are configured as two, and the end of the output shaft of the drive member (13) is hinged to the jaw plate (12). The end of the drive member (13) away from the jaw plate (12) is hinged to the connecting seat (11). There are two sets of drive members (13), and the extension and retraction directions of each set of drive members (13) are the same. The two sets of drive members (13) drive the two jaw plates (12) in a one-to-one correspondence. The two sets of drive members (13) are synchronously driven.

10. A mobile mud-grabbing bucket according to claim 8, characterized in that: The jaw plates (12) are standard arcs with the same curvature, and the hinge shaft (14) is the central axis of the arc surface of the jaw plates (12). The grab body (1) also includes a scraper assembly (18) set on the connecting seat (11). The scraper assembly (18) includes a plate seat (181) set on the connecting seat (11) and an elastic scraper (182) fixed on the plate seat (181). The number of elastic scrapers (182) is set according to the number of jaw plates (12). Multiple elastic scrapers (182) are used to clean the sludge on the inner wall of multiple jaw plates (12). The elastic scraper (182) includes a sludge scraping part (1821). The end of the sludge scraping part (1821) is located on the rotation trajectory of the arc inner wall of the jaw plate (12). The sludge scraping part (1821) is provided with a clearance groove (19) for making way for the reinforcing rib (16).

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