Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Shoveling type dredging robot with self-balancing bucket and dredging method of shoveling type dredging robot
The shoveling type dredging robot comprises the bucket, a hopper, a mechanical arm and a driving assembly, a bucket encoder and a mechanical arm encoder are arranged on the bucket and the mechanical arm correspondingly and used for detecting the rotation angle of the bucket and the rotation angle of the mechanical arm, and the bucket encoder and the mechanical arm encoder are arranged on the driving assembly. And the rotating hydraulic cylinder and the telescopic oil cylinder are controlled through the control system, so that the rotating angle of the bucket is adjusted in real time, the opening surface is always parallel to the ground in the rotating process of the bucket, and it is guaranteed that no material is scattered or leaked in the sludge treatment process. In addition, the encoder is used for detecting the rotation angle of the mechanical arm and the bucket, the measurement precision is high, the rotation angle of the bucket can be freely adjusted in combination with the rotary hydraulic cylinder, the defect that the rotation angle of the bucket in a connecting rod mechanism is limited is overcome, materials in the bucket can be conveniently dumped, and meanwhile the working efficiency is improved. Linkage of the mechanical arm and the bucket in the underwater unmanned environment can be achieved, time is saved, and the dredging efficiency is improved.
本发明公开了一种带有自平衡铲斗的铲挖式清淤机器人及其清淤方法，包括铲斗、料斗、机械臂以及驱动组件，铲斗和机械臂上分别设置有铲斗编码器和机械臂编码器，用于检测铲斗和机械臂的旋转角度，并通过控制系统进行旋转液压缸和伸缩油缸的控制，实现铲斗旋转角度的实时调整，使铲斗在旋转过程中，开口面始终与地面保持平行，保证在淤泥处理过程中无物料撒漏。另外，使用编码器进行机械臂和铲斗旋转角度的检测，测量精度高，结合旋转液压缸，可以对铲斗的旋转角度进行自由调节，克服了连杆机构中铲斗旋转角度受限的缺陷，便于铲斗内的物料倾倒，同时，本发明可实现水下无人环境中的机械臂和铲斗联动，节约时间，提高清淤效率。
Shoveling type dredging robot with self-balancing bucket and dredging method of shoveling type dredging robot
The shoveling type dredging robot comprises the bucket, a hopper, a mechanical arm and a driving assembly, a bucket encoder and a mechanical arm encoder are arranged on the bucket and the mechanical arm correspondingly and used for detecting the rotation angle of the bucket and the rotation angle of the mechanical arm, and the bucket encoder and the mechanical arm encoder are arranged on the driving assembly. And the rotating hydraulic cylinder and the telescopic oil cylinder are controlled through the control system, so that the rotating angle of the bucket is adjusted in real time, the opening surface is always parallel to the ground in the rotating process of the bucket, and it is guaranteed that no material is scattered or leaked in the sludge treatment process. In addition, the encoder is used for detecting the rotation angle of the mechanical arm and the bucket, the measurement precision is high, the rotation angle of the bucket can be freely adjusted in combination with the rotary hydraulic cylinder, the defect that the rotation angle of the bucket in a connecting rod mechanism is limited is overcome, materials in the bucket can be conveniently dumped, and meanwhile the working efficiency is improved. Linkage of the mechanical arm and the bucket in the underwater unmanned environment can be achieved, time is saved, and the dredging efficiency is improved.
本发明公开了一种带有自平衡铲斗的铲挖式清淤机器人及其清淤方法，包括铲斗、料斗、机械臂以及驱动组件，铲斗和机械臂上分别设置有铲斗编码器和机械臂编码器，用于检测铲斗和机械臂的旋转角度，并通过控制系统进行旋转液压缸和伸缩油缸的控制，实现铲斗旋转角度的实时调整，使铲斗在旋转过程中，开口面始终与地面保持平行，保证在淤泥处理过程中无物料撒漏。另外，使用编码器进行机械臂和铲斗旋转角度的检测，测量精度高，结合旋转液压缸，可以对铲斗的旋转角度进行自由调节，克服了连杆机构中铲斗旋转角度受限的缺陷，便于铲斗内的物料倾倒，同时，本发明可实现水下无人环境中的机械臂和铲斗联动，节约时间，提高清淤效率。
Shoveling type dredging robot with self-balancing bucket and dredging method of shoveling type dredging robot
带有自平衡铲斗的铲挖式清淤机器人及其清淤方法
TANG DINGDING (Autor:in) / LIN GANG (Autor:in) / ZHAN DE (Autor:in) / LIU XUEJIN (Autor:in) / WANG XIAODONG (Autor:in) / QIN CHANGJIN (Autor:in) / HUANG XIA (Autor:in) / LIU YANCHEN (Autor:in) / ZHAO HUANG (Autor:in) / GUO ERWEI (Autor:in)
02.05.2023
Patent
Elektronische Ressource
Chinesisch
Combined type snow shoveling plate for scraping and shoveling type snow shoveling device
| Europäisches Patentamt | 2015