Submersible environment treatment robot applicable to various formsTechnical Field
The invention relates to dredging equipment, in particular to a submersible environment treatment robot applicable to various forms.
Background
The existing underwater dredging robot generally adopts a crawler belt (3011) type travelling mechanism and a stirring-sucking dredging mode, is mainly used for dredging a sewer pipe network, and cannot meet the detection and dredging requirements of open areas such as rivers and lakes. At present, a dredging ship is mainly adopted for detecting and dredging open areas such as rivers and lakes, and has the defects of large size, high equipment cost, insufficient maneuverability and the like.
Disclosure of Invention
The invention aims to provide a submersible environment treatment robot which can be used for detection, dredging and other works of municipal underground small-sized circular pipe networks and is also suitable for detection, dredging and other open areas of rivers and lakes.
The technical scheme adopted by the invention is as follows: a submersible environmental management robot suitable for various forms comprises a water floating body mechanism and a submersible environmental robot suspended on the water floating body mechanism through a steel wire rope,
The water floating body mechanism comprises a floating body, wherein a propeller for driving the floating body to move, a hoisting device for suspending an underwater environment robot, a wireless control box for controlling the propeller and the hoisting device and a satellite positioning instrument for positioning are arranged on the floating body;
The underwater environment robot comprises a crawler traveling module, a sealing box body arranged on the crawler traveling module, a silt breaking component arranged on the sealing box body, a power system and a control system arranged in the sealing box body.
Further, the silt breaking component is arranged on the sealing box body through a slewing mechanism.
Further, an amplitude changing mechanism is arranged at the front end of the slewing mechanism, and the silt breaking component is arranged on the amplitude changing mechanism and is adjusted in height through the amplitude changing mechanism.
Further, the silt breaking component comprises a big arm and a stirring head assembly arranged at the front end of the big arm.
Further, the stirring head assembly comprises a hydraulic motor, a stirring seat, a stirring head and an arc gathering plate, the stirring seat is fixedly arranged at the front end of the big arm, the hydraulic motor is fixedly arranged on the stirring seat, the stirring head is connected with the output end of the hydraulic motor sealed in the stirring seat through a stirring shaft, the arc gathering plate is fixedly arranged at the lower part of the stirring seat, the inner wall of the arc gathering plate is close to the stirring head, a mud passing hole is formed in the arc gathering plate, a mud conveying hose is connected to the mud passing hole, and the other end of the mud conveying hose is connected with a sand pump fixedly arranged on the sealing box.
Further, the mud conveying hose is connected with the sand pump through a rotary joint, and the rotary joint synchronously rotates along with the rotation of the slewing mechanism.
Further, the crawler traveling module comprises two crawlers, a hydraulic drive motor, a speed reducer, a crawler beam and a cavity oil cylinder, wherein the two crawlers are respectively connected with the sealed box body through the cavity oil cylinder, the two crawlers are hinged through the crawler beam, the relative angle of the two crawlers can be adjusted through the expansion and contraction of the cavity oil cylinder, and the hydraulic drive motor and the speed reducer are used for driving the crawlers to operate.
Further, a visual detection system is arranged on the sealing box body.
Further, a laser radar detection system is arranged on the sealed box body.
Further, a sonar detection system is arranged on the silt breaking component.
The submersible environment treatment robot suitable for various forms can be used for detection and dredging of open areas such as rivers and lakes, when the function is implemented, the submersible environment treatment robot floats on the water surface by virtue of the water floating body mechanism, the bottom-off height of the submersible environment robot is controlled by utilizing the hoisting device, the propeller on the water floating body mechanism can rapidly move in a wide area, detection and transportation are convenient, and automatic detouring detection and dredging can be realized by virtue of the satellite positioning instrument on the water floating body mechanism; the invention can also be used for the detection, dredging and other works of municipal underground small-sized circular pipe networks, and when the function is implemented, the participation of a floating body mechanism on water is not needed, and the man-machine exchange can be realized by using a visual detection system, a laser radar detection system, a sonar detection system and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the floating body mechanism on water of the present invention.
Fig. 3 is a schematic structural view of another view of the floating body mechanism of the present invention.
Fig. 4 is a schematic structural view of the underwater environment robot of the present invention.
Fig. 5 is a schematic top view of the underwater environment robot of the present invention.
FIG. 6 is a schematic view of the construction of the silt breaking member of the present invention.
Fig. 7 is a schematic view of the crawler module of the present invention.
Detailed Description
The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments are shown, for the purpose of illustrating the invention, but the scope of the invention is not limited to the specific embodiments shown.
As shown in fig. 1, a submersible environmental control robot applicable to various forms of the present embodiment includes a water floating body mechanism 1 and a submerged environmental robot 3 suspended from the water floating body mechanism 1 by a wire rope 2.
As shown in fig. 2 and 3, the above-water floating body mechanism 1 includes a floating body 101, and a propeller 105 for driving the floating body 101 to move, a hoist 102 for suspending the underwater environment robot 3, a wireless control box 104 for controlling the propeller 105 and the hoist 102, and a satellite positioning device 103 for positioning are mounted on the floating body 101.
As shown in fig. 4 to 7, the underwater environment robot 3 includes a crawler traveling module 301, a sealing box 302 mounted on the crawler traveling module 301, a silt breaking member mounted on the sealing box 302, a power system and a control system mounted in the sealing box 302. The front end of the sealing box body 302 is provided with a rotation mechanism 304, the silt crushing component is arranged on the rotation mechanism 304 through an amplitude changing mechanism 308, the rotation mechanism 304 can drive the silt crushing component to rotate, and the amplitude changing mechanism 308 can adjust the height of the silt crushing component.
As shown in fig. 4 to 6, the silt breaking member includes a large arm 305 and a stirring tip assembly 306 mounted at the front end of the large arm 305. The stirring head assembly 306 comprises a hydraulic motor 3061, a stirring head seat 3062, a stirring head 3063 and a circular-arc collecting plate 3064, the stirring head seat 3062 is fixedly installed at the front end of the big arm 305, the hydraulic motor 3061 is fixedly installed on the stirring head seat 3062, the stirring head 3063 is connected with the output end of the hydraulic motor 3061 sealed in the stirring head seat 3062 through a stirring shaft, the circular-arc collecting plate 3064 is fixedly installed at the lower part of the stirring head seat 3062, the inner wall of the circular-arc collecting plate 3064 is close to the stirring head 3063, a mud passing hole is formed in the circular-arc collecting plate 3064, a mud conveying hose is connected to the mud passing hole, and the other end of the mud conveying hose is connected with a sand pump fixedly installed on the sealing box 302 through a rotary joint 307. The rotary joint 307 rotates synchronously with the rotation of the slewing mechanism 304, so that the damage of the mud conveying hose between the rotary joint 307 and the silt breaking component can be reduced.
A visual detection system 303 and a laser radar detection system 310 are mounted on the sealed box 302, and a sonar detection system 309 is mounted on the silt breaking member.
As shown in fig. 7, the crawler traveling module 301 includes two crawlers 3011, a hydraulic driving motor and a speed reducer 3012, a crawler beam 3013, and a cavity oil cylinder 3014, where the two crawlers 3011 are respectively connected to the seal box 302 through the cavity oil cylinder 3014, the two crawlers 3011 are hinged through the crawler beam 3013, and the angle of the two crawlers 3011 relative to each other can be adjusted by telescoping the cavity oil cylinder 3014, so that the crawlers 3011 are in contact with the circular pipe network in the largest area. The hydraulic drive motor and the speed reducer 3012 are used for driving the crawler 3011 to run.
The submersible environment treatment robot suitable for various forms can be used for detection and dredging of open areas such as rivers and lakes, when the function is implemented, the submersible environment treatment robot floats on the water surface by virtue of the water floating body mechanism, the bottom-off height of the submersible environment robot is controlled by utilizing the hoisting device, the propeller on the water floating body mechanism can rapidly move in a wide area, detection and transportation are convenient, and automatic detouring detection and dredging can be realized by virtue of the satellite positioning instrument on the water floating body mechanism; the invention can also be used for the detection, dredging and other works of municipal underground small-sized circular pipe networks, and when the function is implemented, the participation of a floating body mechanism on water is not needed, and the man-machine exchange can be realized by using a visual detection system, a laser radar detection system, a sonar detection system and the like.
Many modifications and other embodiments of the invention will come to mind to one skilled in the art to which this invention pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the inventions are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.