阅读说明：本技术 一种细格栅杂物打捞机器人 (Fine grid sundry fishing robot ) 是由 张应� 赵文龙 胡洪伟 丁明泽 熊海林 于 2019-11-19 设计创作，主要内容包括：本发明公开了一种细格栅杂物打捞机器人,包括机器人主体和机座,所述机器人主体的一端通过钢丝绳与地面上设置的卷扬机连接,所述机器人主体和机座通过爬行机构连接设置,所述机器人主体的另一端还安装有打捞机构,所述机器人主体的另一端安装有声呐,所述声呐的声波发射端正对所述打捞机构设置；所述打捞机构包括打捞板和打捞斗,所述打捞板通过水平旋转机构与所述机器人主体连接,所述水平旋转机构上安装有用于带动所述打捞斗转动的动力机构。本细格栅杂物打捞机器人,可以对水中的杂物进行打捞清理,使用方便,效率高。(The invention discloses a fine grid sundry fishing robot which comprises a robot main body and a base, wherein one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the base are connected through a crawling mechanism, a fishing mechanism is further arranged at the other end of the robot main body, a sonar is arranged at the other end of the robot main body, and a sound wave emitting end of the sonar is arranged right opposite to the fishing mechanism; the fishing mechanism comprises a fishing plate and a fishing bucket, the fishing plate is connected with the robot main body through a horizontal rotating mechanism, and a power mechanism used for driving the fishing bucket to rotate is installed on the horizontal rotating mechanism. This robot is salvaged to fine grid debris can salvage the clearance to the debris of aquatic, convenient to use, and is efficient.)

1. A fine grid sundry fishing robot is characterized by comprising a robot main body and a base, wherein one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the base are connected through a crawling mechanism, a fishing mechanism is further mounted at the other end of the robot main body, a sonar is mounted at the other end of the robot main body, and a sound wave emitting end of the sonar is arranged right opposite to the fishing mechanism; the fishing mechanism comprises a fishing plate and a fishing bucket, the fishing plate is connected with the robot main body through a horizontal rotating mechanism, and a power mechanism used for driving the fishing bucket to rotate is installed on the horizontal rotating mechanism.

2. The fine grid sundry fishing robot according to claim 1, wherein the horizontal rotating mechanism comprises a swinging cylinder fixedly mounted in the robot body, the lower end of the swinging cylinder penetrates through the robot body and is downwards fixedly provided with a first support, the swinging cylinder is connected with the robot body through a sealing bearing, and the power mechanism is mounted on the first support.

3. The fine grid sundry fishing robot according to claim 2, wherein the power mechanism comprises a first hydraulic oil cylinder fixedly mounted on the first support, an L-shaped support is fixedly mounted on a cylinder body of the first hydraulic oil cylinder, the lower end of the L-shaped support is fixedly connected with the fishing plate, the upper end of the L-shaped support is hinged with a fishing bucket, an auxiliary support rod is fixedly mounted between the L-shaped support and the fishing plate, a slide rail is fixedly mounted on the auxiliary support rod and is fixedly connected with the L-shaped support through a connecting rod, a slide block is slidably matched on the slide rail and is fixedly connected with the end part of a piston rod of the first hydraulic oil cylinder, and the slide block is hinged with the fishing bucket through a transmission connecting rod.

4. The fine grid sundry fishing robot as claimed in claim 3, wherein a lower digging tooth is fixedly installed at the end part of the fishing plate outwards, and an upper digging tooth is fixedly installed on the fishing bucket corresponding to the lower digging tooth.

5. The fine grid sundry fishing robot according to claim 4, wherein the sonar is fixedly installed on the pitching support, a cross bar at the lower end of the pitching support is concave inwards to form a first sliding groove, a first guide wheel is rotatably installed at the upper end of the L-shaped support and is in rolling fit with the first sliding groove, a guide rail is fixedly installed on the robot body and is provided with a second sliding groove, a second guide wheel is rotatably installed at one end of the cross bar at the lower end of the pitching support and is in rolling fit with the second sliding groove.

6. The fine grid sundry fishing robot according to claim 1, characterized in that the crawling mechanism comprises a crawling oil cylinder, a cylinder body of the crawling oil cylinder is fixedly connected with the outer side of a shell of the robot main body, a piston rod of the crawling oil cylinder is fixedly connected with the machine base, the crawling mechanism comprises a walking wheel which is arranged on one side of the fine grid, the walking wheel comprises a large wheel and two small wheels which are coaxially and fixedly connected, the large wheel is located between the two small wheels, a rotating shaft in the middle of the large wheel and the small wheels is fixedly installed on the robot main body and the machine base through a wheel carrier, and clamping mechanisms used for clamping the fine grid are respectively arranged on the robot main body and the machine base.

7. The fine grid sundry fishing robot according to claim 6, wherein the clamping mechanism comprises a second hydraulic cylinder and a third hydraulic cylinder which are fixedly installed in the robot main body and the machine base respectively, piston rods of the second hydraulic cylinder and the third hydraulic cylinder respectively penetrate through the shell and the base and then are fixedly connected with a slider-crank mechanism, the crank sliding block mechanism comprises a mounting seat fixedly mounted at the lower end of the shell or the base, a through hole allowing the piston rod to pass through is arranged on the mounting seat, the mounting seat is correspondingly provided with vertical plates which are connected through a rotating shaft, the piston rod is hinged with a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are respectively hinged with a third connecting rod and a fourth connecting rod, the third connecting rod and the fourth connecting rod are hinged with the rotating shaft, and clamping blocks are hinged on the surfaces opposite to the end parts of the third connecting rod and the fourth connecting rod.

8. The fine grid sundry fishing robot as claimed in claim 1, wherein guide rods are fixedly mounted on two sides of one end of the robot main body, which is far away from the base, and rollers are rotatably mounted on the end parts of the guide rods.

9. The fine grid sundry fishing robot according to claim 1, wherein a metal shield is arranged on the outer side of the sonar.

10. The fine grid debris fishing robot according to claim 1, wherein a lifting shovel blade is mounted at one end of the base, which is far away from the robot body.

Technical Field

The invention relates to the technical field of robots, in particular to a fine grid sundry fishing robot.

Background

The fine grid sundries are cleaned, and the existing nuclear power station mainly adopts a scraper bucket cleaning mechanism and can clean most of suspended garbage. But the impurities such as slender bamboo rods inserted into the grating cannot be removed, and the scraper can be prevented from moving up and down. Therefore, the applicant designs a fine grid sundry washing robot and a fine grid sundry shearing robot to wash and shear sundries on a fine grid, but the washed and sheared sundries are still in water and can be inserted into or adhered to the fine grid along with water flow impact, and the sundries need to be salvaged to achieve a better cleaning effect.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide one kind can salvage debris, stability is high, convenient to use's fine grid debris salvage robot.

In order to solve the technical problems, the invention adopts the following technical scheme:

a fine grid sundry fishing robot comprises a robot main body and a base, wherein one end of the robot main body is connected with a winch arranged on the ground through a steel wire rope, the robot main body and the base are connected through a crawling mechanism, a fishing mechanism is further mounted at the other end of the robot main body, a sonar is mounted at the other end of the robot main body, and a sound wave emitting end of the sonar is arranged right opposite to the fishing mechanism; the fishing mechanism comprises a fishing plate and a fishing bucket, the fishing plate is connected with the robot main body through a horizontal rotating mechanism, and a power mechanism used for driving the fishing bucket to rotate is installed on the horizontal rotating mechanism.

Therefore, after the sundries on the fine grating are washed and sheared, the sundries are salvaged and cleaned by the fine grating sundry salvage robot, and the sundries are prevented from being inserted or adhered to the fine grating after flowing along with water flow. When using, transfer the robot to the aquatic, utilize the hoist engine to hoist, then the robot can creep along the thin grid under the effect of the mechanism of crawling, utilize the debris situation of sonar detection aquatic, and with in the image transmission of sonar scanning to the display screen on the controller on the ground, then horizontal rotary mechanism drives salvage the mechanism and rotate, power unit drive salvages to fight and rotates, salvage debris, then utilize the hoist engine to hoist the robot that contains debris to the ground and clear up can, convenient to use.

Furthermore, horizontal rotary mechanism is including fixed mounting the swing jar in the robot main part, swing jar lower extreme passes robot main part fixed mounting has first support downwards, swing jar with connect through sealed bearing between the robot main part, power unit installs on the first support.

Therefore, the swing cylinder acts to drive the first support to rotate, the first support drives the fishing mechanism to rotate, and sundries can be fished better.

Further, power unit includes fixed mounting and is in first hydraulic cylinder on the first support, first hydraulic cylinder's cylinder body fixed mounting has L shape support, L shape support lower extreme with salvage board fixed connection, L shape support upper end articulates there is salvage to fight, L shape support with fixed mounting has auxiliary stay bar between the salvage board, auxiliary stay bar fixed mounting has the slide rail, the slide rail pass through the connecting rod with L shape support fixed connection, sliding fit has the slider on the slide rail, the slider with first hydraulic cylinder's tailpiece of the piston rod portion fixed connection, the slider with salvage and fight between articulated through the transmission connecting rod.

Like this, when carrying out debris and salvaging, the robot crawls along the thin grid, then through horizontal rotary mechanism's adjustment, inserts the salvage board and piles to debris, and later first hydraulic cylinder's piston rod contracts, drives through the effect of conveying the connecting rod and salvages the fill and rotate downwards and detain on the salvage board, accomplishes the salvage action to debris.

Specifically, the fishing bucket is designed in a hollow mode, so that the weight is reduced, and meanwhile, seawater can be conveniently discharged to reduce resistance.

Specifically, the bottom of the salvaging plate is fixedly provided with a plurality of wear-resistant backing plates to prevent the surface of the fine grating from being worn.

Be provided with auxiliary stay pole, auxiliary stay pole can the auxiliary stay salvage the board, optimizes the stress state of salvaging the board.

Furthermore, the end part of the salvaging plate is fixedly provided with a lower digging tooth outwards, and the salvaging bucket is fixedly provided with an upper digging tooth corresponding to the lower digging tooth.

Like this, can increase and excavate the effect, on dig the tooth and dig the tooth down and all be connected with salvage fill and salvage the board through the pin, change after being convenient for wear and tear.

Further, sonar fixed mounting is in on the every single move support, the horizontal pole indent of every single move support lower extreme forms first spout, L shape support upper end is rotated and is installed first guide pulley, first guide pulley roll cooperation is in the first spout, fixed mounting has the guide rail in the robot main part, be provided with the second spout on the guide rail, the horizontal pole one end of every single move support lower extreme is rotated and is installed the second guide pulley, the second guide pulley roll cooperation is in the second spout.

Like this, transfer the in-process at the robot main part, horizontal rotating mechanism rotates, drives L shape support and rotates, through first guide pulley, drives the every single move support and rotates for horizontal rotating mechanism follow-up is followed to the sonar, has enlarged the detection scope of sonar, and the installation of being convenient for is maintained.

Further, the mechanism of crawling is including the hydro-cylinder of crawling, the cylinder body of the hydro-cylinder of crawling with the casing outside fixed connection of robot main part, the piston rod of the hydro-cylinder of crawling with frame fixed connection, the mechanism of crawling is including setting up the walking wheel to one side of thin grid to robot main part and frame, the walking wheel includes coaxial fixed connection's bull wheel and two steamboats, the bull wheel is located two between the steamboat, the pivot in the middle of bull wheel and the steamboat is passed through wheel carrier fixed mounting and is in the robot main part and on the frame, be provided with respectively on robot main part and the frame and be used for carrying out the tight clamping mechanism of clamp to thin grid.

Therefore, the robot main body is connected with the base through the crawling oil cylinder, and after the robot enters the fine grating, the clamping mechanism clamps the fine grating. When needing to creep, clamping mechanism in the robot main part loosens, and the wire rope of hoist engine is transferred and is simultaneously crept the piston rod extension of hydro-cylinder, transfers to displacement distance (generally 180mm), then clamping mechanism centre gripping in the robot main part is on thin grid, later, clamping mechanism on the frame loosens, under the gravity of frame and the effect of the hydro-cylinder of crawling, frame and robot main part laminating, then clamping mechanism on the frame presss from both sides tightly on thin grid, accomplishes the action of once crawling. The small wheels are used for supporting the robot main body and the base, and the large wheels are used for supporting the robot main body and the base when the robot main body and the base are on a plane.

Furthermore, the clamping mechanism comprises a second hydraulic cylinder and a third hydraulic cylinder which are respectively and fixedly installed in the robot body and the base, piston rods of the second hydraulic cylinder and the third hydraulic cylinder respectively penetrate through the shell and the base, a slider-crank mechanism is fixedly connected with the back of the shell and the base, the slider-crank mechanism comprises a mounting seat which is fixedly installed at the lower end of the shell or the base, through holes allowing the piston rods to penetrate through are formed in the mounting seat, vertical plates are correspondingly arranged on the mounting seat, the vertical plates are connected through a rotating shaft, the piston rods are hinged to a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are hinged to a third connecting rod and a fourth connecting rod respectively, the third connecting rod and the fourth connecting rod are hinged to the rotating shaft, and clamping blocks are hinged to the surfaces opposite to the end portions of the third connecting rod and.

Therefore, when the fine grating needs to be clamped by the clamping mechanism, the second hydraulic cylinder and the third hydraulic cylinder act, the piston rod contracts to push the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod to rotate, and the fine grating is clamped by the clamping blocks. When the clamping needs to be loosened, the piston rod extends outwards.

Furthermore, the two sides of one end, far away from the base, of the robot main body are fixedly provided with guide rods, and the end parts of the guide rods are rotatably provided with rollers.

Therefore, the rollers can enter between the fine grids, the guide rods enter between the fine grids to guide the robot, the friction force of the rollers in the guiding process can be reduced, and the fine grids cannot be damaged.

Further, a metal protective cover is arranged on the outer side of the sonar. Avoid the sonar to receive high-speed rivers direct impact or bump with the foreign matter.

Furthermore, a lifting shovel blade is installed at one end, far away from the robot main body, of the machine base.

Therefore, the lifting scraper knife can be used for removing foreign matters rushing to the surface of the fine grid by water flow, and the robot is guaranteed to be lifted smoothly.

To sum up, this robot can launch and salvage, clears up the debris under water, reduces the probability that debris adhesion or insert the thin grid, better plays the clearance effect. The fishing mechanism is convenient to install, replace and maintain, the fishing efficiency is high, and the fine grating cannot be damaged.

Drawings

Fig. 1 is a schematic structural view of the fine grid sundry fishing robot.

Fig. 2 is an enlarged schematic view of the robot body and the base of fig. 1, except for the structure.

Fig. 3 is an enlarged schematic view of fig. 2 with the sonar and pitch brackets removed.

FIG. 4 is an enlarged view of the fishing vessel of FIG. 3 with the fishing bucket removed.

Fig. 5 is a schematic view of an internal structure of the robot main body in fig. 1.

Fig. 6 is an enlarged schematic view of a connection structure of the cross bar and the guide rail in fig. 1.

Fig. 7 is a schematic structural diagram of the robot main body and the base in fig. 1.

FIG. 8 is a schematic view of the alternative orientation of FIG. 7, wherein the creeper cylinder is uncovered.

Fig. 9 is an enlarged view of the structure of the housing of fig. 1.

Fig. 10 is a schematic view of the internal structure of fig. 9.

Fig. 11 is a schematic view of the internal structure of the robot main body in fig. 1.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.