CN-122009411-A - Bidirectional operation semi-submersible type water-borne trash-cleaning robot

Abstract

The invention relates to the technical field of hydropower plant sewage disposal equipment, and discloses a bidirectional operation semi-submersible type water sewage disposal robot. The robot comprises a semi-submersible hull, a bidirectional operation executing mechanism arranged at the head end and the tail end of the hull, a garbage transferring system integrated in the hull, and a ballast tank in a partition cabin of the hull, wherein the bidirectional operation executing mechanism comprises a bucket type cleaning conveyor belt, an antenna type cleaning conveyor belt, a telescopic arm-guide rail assembly and a grab bucket assembly, the telescopic arm-guide rail assembly is connected with the telescopic arm-guide rail assembly, and the telescopic arm-guide rail assembly is connected with the grab bucket type cleaning conveyor belt. The full-coverage cleaning of the trash rack and the floating blocking and discharging area is realized through the semi-submersible-full-floating conversion mechanism and the bidirectional collaborative operation design, and the problems of limited operation range and secondary pollution of the traditional trash cleaning equipment are effectively solved.

Inventors

• HUANG BOYAN
• SHEN BIN
• SHI SHENGQIANG
• TIAN XIAOLONG
• DAI MING
• DU XINNAN

Assignees

• 东北农业大学

Dates

Publication Date

20260512

Application Date

20260318

Claims (7)

1. 1. The bidirectional operation semi-submersible type water-borne trash removal robot comprises a semi-submersible type ship body (1) and is characterized in that the semi-submersible type ship body (1) comprises a ballast tank (101) and a movable screw propeller (102), a bidirectional operation executing mechanism (2) is arranged at the head end and the tail end of the semi-submersible type ship body (1), the bidirectional operation executing mechanism comprises a bucket type trash removal conveyor belt (3) and an antenna type trash removal conveyor belt (4), a trash transfer system (5) penetrating through the semi-submersible type ship body (1) from front to back is arranged on the semi-submersible type ship body (1), a telescopic arm-guide rail assembly (6) is arranged at the top end of the semi-submersible type ship body (1), and a movable grab bucket assembly (7) is hung on the telescopic arm-guide rail assembly (6).
2. 2. The bi-directional operation semi-submersible water surface cleaning robot of claim 1 wherein the ballast tank (101) further comprises a left front ballast tank (1011) located at the left front corner of the semi-submersible hull (1), a right front ballast tank (1012) located at the right front corner of the semi-submersible hull (1), a left rear ballast tank (1013) located at the left rear corner of the semi-submersible hull (1), and a right rear ballast tank (1014) located at the right rear corner of the semi-submersible hull (1).
3. 3. A bi-directional operation semi-submersible type water surface cleaning robot according to claim 1, wherein the bucket type cleaning conveyor belt (3) is connected with a garbage transfer system (5) through a bucket type cleaning conveyor belt fixing shaft (301).
4. 4. The bidirectional operation semi-submersible type water-borne sewage disposal robot according to claim 1, wherein the feeler-type sewage disposal conveyor belt (4) is arranged at the side part of the bucket-type sewage disposal conveyor belt (3) through a feeler-type sewage disposal conveyor belt fixing shaft (401), the rotation axis of the feeler-type sewage disposal conveyor belt is in an included angle of 30-45 degrees with the running direction of the bucket-type sewage disposal conveyor belt (3), and a flexible nylon brush (402) is attached to the surface of the feeler-type sewage disposal conveyor belt (4).
5. 5. The bi-directional operation semi-submersible type water surface cleaning robot of claim 1, wherein the garbage transfer system (5) comprises a bi-directional garbage conveyor belt (501) and a garbage drop prevention baffle (502).
6. 6. The bi-directional working semi-submersible type water surface cleaning robot according to claim 1, wherein the telescopic arm-guide rail assembly (6) further comprises a main guide roller (604) sliding in the main guide rail (603), the main guide rail (603) is connected with the semi-submersible type ship body (1) through a main guide rail bracket (601), a telescopic arm guide roller (605) is arranged on the top of the telescopic arm (602), and a grab bucket retraction rope shaft (606) is connected with the telescopic arm (602) through a grab bucket suspension platform moving roller (607).
7. 7. A bi-directional working semi-submersible type water surface cleaning robot according to claim 1, wherein the grab bucket assembly (7) comprises a main grab arm (701), an auxiliary grab (702) and an auxiliary grab electric push rod (703), and is connected with the telescopic arm-guide rail assembly (6) through a grab bucket retracting rope shaft (606).

Description

Bidirectional operation semi-submersible type water-borne trash-cleaning robot Technical Field The invention relates to the technical field of hydropower plant sewage disposal equipment, in particular to a bidirectional operation semi-submersible type water sewage disposal robot for a hydropower station sewage disposal grating and a floating and discharging area. Background The trash rack and the float-blocking and discharging area of the hydropower plant are used as a first defense line for guaranteeing the safe operation of the water turbine unit, and the space position and the hydrologic environment of the trash rack and the float-blocking and discharging area are very special. The area is positioned at the front end of the water intake, the water is supplied to the upper water receiving basin, and the generator set is connected downwards, so that the area is the last barrier for intercepting the upstream garbage from entering the generator set, and a large amount of various garbage flushed from the water receiving basin is required to be faced every day. Because the water flow forms a complex flow state at the position due to the blocking of the trash rack and the float blocking row, the trash is easy to gather and wind between the rack body and the row body, and a stubborn pollution accumulation belt is formed. More importantly, the space of the area is narrow, the distance between the trash rack and the float bars is usually short, and the entering and operation of the trash cleaning equipment are greatly limited. Many short plates exist in most water-borne trash cleaning robots in the current market. Many trash cleaning robots can only operate in a single mode or under the common water surface working condition, and are often in no way in the face of complex and changeable water flow environments such as narrow spaces, turbulent water flows and the like of trash screens and floating and discharging areas of hydropower plants. In the aspect of garbage cleaning capability, part of robots are single in function and can only clean light garbage floating on the water surface, and the garbage with a certain depth under water or heavy and stubborn garbage wound on a grid body is lack of an effective cleaning means, so that the cleaning is not thorough, and the severe requirements of a hydropower plant on the comprehensiveness of cleaning are difficult to meet. Some robots have lower automation degree, are highly dependent on manual remote control, have low efficiency, are easy to influence the operation stability in complex water areas due to signal interference and other problems, and cannot realize autonomous and efficient operation. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a bidirectional operation semi-submersible type water-borne trash cleaning robot, which improves the adaptability of complex water areas through the cooperative design of a semi-submersible type ship body and a bidirectional operation executing mechanism, combines intelligent perception and a water surface-underwater linkage trash cleaning mode and solves the problems of incomplete trash cleaning, poor equipment stability and high risk of manual intervention in trash holding grids and trash holding and floating areas. The bidirectional operation semi-submersible type water trash removal robot comprises a semi-submersible type ship body, a bidirectional operation executing mechanism, a telescopic arm-guide rail assembly, a trash transferring system and a grab bucket assembly, and is characterized in that the bidirectional operation executing mechanism is arranged at the head end and the tail end of the semi-submersible type ship body, the semi-submersible type ship body is provided with the trash transferring system which penetrates through the semi-submersible type ship body from front to back, the telescopic arm-guide rail assembly is arranged at the top end of the semi-submersible type ship body, and the telescopic arm-guide rail assembly is hung with the movable grab bucket assembly; The semi-submersible hull is used for carrying a bidirectional operation executing mechanism, a telescopic arm-guide rail assembly, a garbage transfer system and a grab bucket assembly to move along a water surface path; the bidirectional operation executing mechanism is used for completing cleaning of floating garbage on a water surface path; The telescopic arm-guide rail assembly is used for carrying the grab bucket assembly to move along the periphery of the ship body; The garbage transfer system is used for temporarily storing and unloading garbage; the grab bucket assembly is used for grabbing garbage around the ship body and underwater. As a further optimization scheme of the semi-submersible type ship, four adjustable ballast tanks are arranged in the ship and are respectively positioned at the left front, the right front, the left rear and the right rear of the semi-submersible type ship, the semi-su