Hybrid-driven underwater desilting robot structure and underwater desilting method

Abstract

The invention discloses a hybrid-driven underwater dredging robot structure and an underwater dredging method. Belongs to the technical field of dredging equipment, adopts modular design and comprises a cutter suction type dredging module, a crawler-type power chassis module and an underwater frame type ROV module. The cutter suction type dredging module comprises a dredging auger, an underwater sealing motor, a mechanical arm, an underwater slurry pump, a connecting hose, a slurry conveying pipe and a slurry filtering cover; the crawler-type power chassis module comprises a frame chassis, a crawler system and an underwater motor; the underwater frame type ROV module comprises a carrier frame, an underwater propeller, an underwater sealing control cabin, a floating body and an underwater illuminating lamp. The underwater propeller and crawler belt combined hybrid driving mode greatly improves the underwater action capability and environmental adaptability of the desilting robot. Based on the hybrid driving mode, the underwater dredging robot can freely move in water in a floating state; in the crawling state, underwater movement is carried out through the crawler power chassis, and the war vehicle type crawler design ensures that the robot has about 15-degree underwater obstacle crossing ability.

Description

Technical Field

[0001] The invention belongs to the technical field of dredging equipment and relates to a hybrid-driven underwater dredging robot structure and an underwater dredging method. Background Art

[0002] At present, there are still many deficiencies in the dredging technology for small and medium-sized urban water bodies. Common large-scale equipment such as dredgers and other dredging equipment are difficult to apply to such environments. Traditional dredging methods rely on a large number of manual labor, which not only damages the river environment but also has low dredging efficiency. The underwater dredging robots currently in use rely on crawler drives and spiral auger for dredging. They are inconvenient to move in rugged terrain in the water, and the spiral auger is not suitable for the rugged underwater environment and is prone to blockage.

[0003] Therefore, this paper proposes a hybrid-driven underwater dredging robot structure and dredging method to solve the above problems. Summary of the invention

[0004] In view of the above problems, the present invention aims to propose a hybrid-driven underwater dredging robot structure and a dredging method.

[0005] The technical solution of the present invention is: a hybrid-driven underwater dredging robot structure of the present invention comprises a cutter suction dredging module, a crawler power frame chassis module and an underwater frame ROV module connected to each other;

[0006] The cutter suction dredging module includes a dredging auger, an underwater sealed motor, a connecting flange, a mechanical arm, an underwater mud pump, a connecting hose, a mud conveying pipe and a mud filter cover;

[0007] The desilting auger, underwater sealing motor and connecting flange are connected to the mechanical arm.

[0008] The mud filter cover is connected to the connecting hose;

[0009] The connecting hose is clamped inside the mechanical arm;

[0010] The other end of the connecting hose is connected to the underwater mud pump through a mechanical arm, and the other end of the underwater mud pump is connected to the mud conveying pipe.

[0011] Furthermore, the dredging auger comprises a cutter disc, a blade, cutter teeth, and a positioning column;

[0012] The mechanical arm comprises a small arm, a hollow cylindrical large arm and an electric push rod connecting the small arm and the hollow cylindrical large arm;

[0013] The connecting hose comprises a connecting hose 1 and a connecting hose 2;

[0014] The connecting hose is integrally arranged in the small arm, and its front end is connected to the mud filter cover, and its rear end is connected to the front end of the hollow cylindrical large arm;

[0015] The front end of the connecting hose 2 is connected to the end of the hollow cylindrical arm, and the rear end is connected to the inlet of the underwater mud pump;

[0016] The underwater sealed motor is connected to the cutter head of the dredging auger through a connecting flange, a plurality of the blades are arranged at the outer edge of one side of the cutter head, and the blade teeth are arranged on the blades;

[0017] The positioning column is arranged at the center of the cutter disc.

[0018] Furthermore, the crawler-type power frame chassis module includes a frame chassis, a crawler system and an underwater motor;

[0019] The underwater motor is arranged on the rear end of the frame chassis, and the output shaft of the underwater motor is connected with the crawler system.

[0020] Furthermore, the track system includes a rubber track, a driving wheel, a guide wheel, a supporting wheel, a supporting wheel and a tensioning device;

[0021] Wherein, the tensioning device comprises a tensioning spring and a tensioning seat;

[0022] The rear half of the tensioning seat is sleeved into the supports on both sides of the crawler power frame chassis module and is horizontally fixed outside the two sides of the crawler power frame chassis module, and its front end is connected to the guide wheel, and the tensioning spring is sleeved on the tensioning seat;

[0023] The supporting wheels are arranged on both sides of the crawler power frame chassis module through supporting wheel shafts;

[0024] The driving wheel is installed at the rear end of the crawler system in a rearward placement manner;

[0025] The supporting wheels are arranged on both sides of the crawler-type power frame chassis module through the tugwheel shaft to support the rubber crawler track;

[0026] The rubber crawler track is arranged on the periphery of the driving wheel, the guide wheel, the supporting wheel, the supporting wheel and the tensioning device.

[0027] Furthermore, a robotic arm base is arranged at the other end of the hollow cylindrical arm in the robotic arm, and the robotic arm base is fixedly arranged at the front end of the frame chassis in the crawler power frame chassis module.

[0028] Furthermore, the underwater frame-type ROV module is fixedly mounted on the brackets on both sides of the frame chassis, including a carrier frame, an underwater thruster, an underwater sealed control cabin, a buoy and an underwater lighting lamp;

[0029] The underwater propeller, underwater sealed control cabin, buoy and underwater lighting are all fixedly arranged in the carrier frame;

[0030] The underwater sealed control cabin is placed in the central area of ​​the carrier frame, and electronic components are packaged inside the underwater sealed control cabin.

[0031] The floating body and underwater lighting lamps are arranged on the upper ends of both sides of the underwater sealed control cabin.

[0032] Furthermore, the number of the underwater thrusters is 8, which are divided into two groups. One group is arranged vertically at the four corners of the upper layer of the carrier frame; and the other group is arranged at the corners of the lower layer of the carrier frame.

[0033] Furthermore, the underwater sealed control cabin comprises a hemispherical sealed front cover, a cylindrical hollow cabin body and a flat cover-shaped sealed rear cover which are connected to each other;

[0034] A sealing flange and an O-shaped sealing ring are arranged between the hemispherical sealing front cover and the cylindrical hollow cabin body.

[0035] Furthermore, the hemispherical sealing front cover is made of transparent material;

[0036] The hemispherical sealing front cover, the flat cover-shaped sealing rear cover and the cylindrical hollow cabin body are connected via a sealing flange;

[0037] Through holes are provided on the flat cover-shaped sealing rear cover as cable outlets according to the sizes of power lines and signal lines of control system components.

[0038] Furthermore, the underwater dredging method of the hybrid underwater dredging robot structure has the following operating steps:

[0039] Step (a): before the robot dredger works, first determine the dredging location, and then use the chassis of the crawler power chassis module to drive from land to water. If the terrain conditions do not allow, the dredging robot can be lowered into the water by a crane, and then rely on the underwater propeller loaded on the underwater frame ROV module to quickly move to the top of the dredging location in the water, and then slowly descend to the dredging area. At this point, the dredging robot is in place;

[0040] Step (ii): adjust the posture of the dredging mechanical arm by telescoping the electric push rod to ensure that the dredging auger loaded at the end of the arm is perpendicular to the dredging plane. At this time, the dredging efficiency is the highest. Start the underwater sealing motor and underwater mud pump for dredging. The dredging arm base steering gear controls the rotation of the mechanical arm in the horizontal direction, so that the dredging auger performs cyclic reciprocating dredging work in the dredging plane.

[0041] After completing the above-mentioned reciprocating dredging work, the chassis of the crawler power chassis module moves forward, and this step is repeated until the dredging process is completed. During the dredging process, if the working terrain is rugged, the electric push rod can be used to adjust the posture of the dredging arm at any time to ensure that the dredging auger is in the best dredging efficiency at any time;

[0042] Step (three): After the dredging of the current dredging area is completed, the robotic arm is retracted to avoid collision when moving forward in the water, and the underwater dredging robot is driven by the underwater thruster to quickly move to the next dredging area.

[0043] The beneficial effects of the present invention are as follows: the hybrid drive mode of the frame-type ROV combined with the track-powered frame chassis in the present invention enables the underwater dredging robot to have extremely strong environmental adaptability. When in working state, it relies on rubber tracks to crawl on the bottom of the water, and when in non-working state, it relies on the frame-type ROV to swim in the water, so that it can quickly and flexibly go to the work site; when facing the rugged underwater terrain, the dredging auger installed at the end of the mechanical arm can accurately locate the dredging under the drive of the mechanical arm, and under flat terrain, the auger can reciprocate and sweep the dredging in the fan-shaped working area of ​​the mechanical arm, which greatly improves the environmental adaptability and dredging efficiency of the underwater dredging robot; the whole machine adopts a modular design, which has strong adaptability, convenient maintenance and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the overall structure of a hybrid underwater dredging robot in an embodiment of the present invention;

[0045] Figure 2 2 is a schematic structural diagram of a cutter suction dredging module according to an embodiment of the present invention;

[0046] Figure 3 2 is a schematic diagram of the structure of a dredging auger in an embodiment of the present invention;

[0047] Figure 4 is a structural schematic diagram of a crawler power frame chassis module in an embodiment of the present invention;

[0048] Figure 5 is a schematic structural diagram of a crawler system in an embodiment of the present invention;

[0049] Figure 6 is a schematic structural diagram of an underwater frame-type ROV module in an embodiment of the present invention;

[0050] Figure 7 is a schematic structural diagram of an underwater sealed cabin in an embodiment of the present invention;

[0051] Figure 8 yes Figure 7 Sectional view at AA in the middle;

[0052] In the figure, 1. suction dredging module;

[0053] 1-1, dredging auger, 1-1-1, cutter head, 1-1-2, blade, 1-1-3, cutter teeth, 1-1-4, positioning column;

[0054] 1-2, underwater sealed motor, 1-3, connecting flange;

[0055] 1-4, mechanical arm, 1-4-1, small arm, 1-4-2, hollow cylindrical arm, 1-4-3, electric push rod;

[0056] 1-5. Underwater mud pump;

[0057] 1-6, connecting hose, 1-6-1, connecting hose 1, 1-6-2, connecting hose 2;

[0058] 1-7, mud conveying pipe, 1-8, mud filter cover,

[0059] 2. Tracked power frame chassis module, 2-1. Frame chassis;

[0060] 2-2, track system, 2-2-1, rubber track, 2-2-2, driving wheel, 2-2-3, guide wheel, 2-2-4, supporting wheel, 2-2-5, supporting wheel;

[0061] 2-2-6, tensioning device, 2-2-6-1, tensioning spring, 2-2-6-2, tensioning seat;

[0062] 2-3, underwater motor;

[0063] 3. Underwater frame ROV module, 3-1. carrier frame, 3-2. underwater thruster;

[0064] 3-3, underwater sealed control cabin, 3-3-1, hemispherical sealed front cover, 3-3-2, sealing flange, 3-3-3, O-ring, 3-3-4, cylindrical hollow cabin body, 3-3-5, flat cover-shaped sealed rear cover;

[0065] 3-4. Floating body, 3-5. Underwater lighting. DETAILED DESCRIPTION

[0066] The specific technical scheme of the present invention is further described in detail below with reference to specific examples.

[0067] As shown in the figure, the hybrid drive underwater dredging robot structure of the present invention is as follows: Figure 1 As shown, the whole machine adopts a modular design, including a cutter suction dredging module 1, a crawler power frame chassis module 2 and an underwater frame ROV module 3;

[0068] The mechanical arm base of the mechanical arm 1-4 in the cutter suction dredging module 1 is fixed to the front end of the frame chassis 2-1 in the crawler power frame chassis module 2. A steering gear is installed in the mechanical arm base to control the rotation movement of the mechanical arm 1-4 in the horizontal direction, so that the mechanical arm base can be oriented in different directions, thereby realizing the positioning and guidance of the mechanical arm 1-4 on the horizontal plane. The dredging auger 1-1 performs dredging work in the working area under the drive of the mechanical arm 1-4;

[0069] The underwater frame ROV module 3 is fixed on the two side brackets of the frame chassis 2-1 of the crawler power frame chassis module 2. The two groups of eight underwater thrusters 3-2 assembled on the underwater frame ROV module 3 enable the dredging robot to have the underwater arbitrary swimming function unique to underwater robots.

[0070] like Figure 2 As shown, the suction dredging module 1 includes a dredging auger 1-1, an underwater sealed motor 1-2, a connecting flange 1-3, a mechanical arm 1-4, an underwater mud pump 1-5, a connecting hose 1-6, a mud delivery pipe 1-7 and a mud filter cover 1-8;

[0071] The mechanical arm 1-4 includes a small arm 1-4-1, a hollow cylindrical large arm 1-4-2 and an electric push rod 1-4-3.

[0072] The connecting hose 1-6 includes a connecting hose 1-6-1 and a connecting hose 2 1-6-2;

[0073] The connecting hose 1-6-1 is integrally arranged in the small arm 1-4-1, and its front end is connected to the mud filter cover 1-8, and its rear end is connected to the front end of the hollow cylindrical large arm 1-4-2;

[0074] The front end of the connecting hose 1-6-2 is connected to the end of the hollow cylindrical arm 1-4-2, and the rear end is connected to the inlet of the underwater mud pump 1-5.

[0075] like Figure 3 As shown, the dredging auger 1-1 includes a cutter disc 1-1-1, a blade 1-1-2, a cutter tooth 1-1-3 and a positioning column 1-1-4. The underwater sealed motor 1-2 is connected to the cutter disc 1-1-1 of the dredging auger 1-1 through a connecting flange 1-3 to drive the dredging auger 1-1 to rotate. During the dredging process, the cutter tooth 1-1-3 is responsible for crushing and separating the silt. The blade 1-1-2 gathers the mud-water mixture formed by mixing the crushed silt with river water to the mud filter cover 1-8, which is then pumped out to the outside by the underwater mud pump 1-5. Different blades 1-1-2 and cutter teeth 1-1-3 can be replaced for different working environments to improve the dredging efficiency.

[0076] like Figure 4As shown, the tracked power frame chassis module 2 includes a frame chassis 2-1, a track system 2-2 and an underwater motor 2-3. The underwater motor 2-3 is installed on the rear end 2-1 of the frame chassis. The output shaft of the underwater motor 2-3 is connected to the track system 2-2 to drive the track system 2-2 to rotate.

[0077] like Figure 5 As shown, the track system 2-2 includes a rubber track 2-2-1, a driving wheel 2-2-2, a guide wheel 2-2-3, a supporting wheel 2-2-4, a supporting wheel 2-2-5 and a tensioning device 2-2-6;

[0078] The tensioning device includes a tensioning spring 2-2-6-1 and a tensioning seat 2-2-6-2; the rear half of the tensioning seat 2-2-6-2 is inserted into the supports on both sides of the frame chassis 2-1 and is horizontally fixed outside the two sides of the frame chassis 2-1, and the front end of the tensioning seat 2-2-6-3 is connected to the guide wheel 2-2-3;

[0079] The tensioning spring 2-2-6-1 is sleeved on the tensioning seat 2-2-6-2;

[0080] The supporting wheels 2-2-4 are installed on both sides of the frame chassis 2-1 through the supporting wheel shafts to support the weight of the whole machine;

[0081] The supporting wheels 2-2-5 are installed on both sides of the frame chassis 2-1 through the tugwheel shaft to support the rubber track 2-2-1;

[0082] The rubber track 2-2-1 is sleeved on the outer sides of the driving wheel 2-2-2, the guide wheel 2-2-3, the supporting wheel 2-2-4, the supporting wheel 2-2-5 and the tensioning device 2-2-6.

[0083] like Figure 6 As shown, the underwater frame type ROV module 3 includes a carrier frame 3-1, an underwater thruster 3-2, an underwater sealed control cabin 3-3, a float 3-4 and an underwater lighting lamp 3-5. The carrier frame 3-1 is the installation base of the underwater frame type ROV module 3 equipment. The underwater thruster 3-2, the underwater sealed control cabin 3-3, the float 3-4, the underwater lighting lamp 3-5, etc. are all fixed on the carrier frame 3-1 in a certain way. The underwater sealed control cabin 3-3 is arranged in the central area of ​​the carrier frame 3-1, and electronic components such as cameras are encapsulated inside. The float 3-4 and the underwater lighting lamp 3-5 are arranged on both sides of the underwater sealed control cabin 3-3.

[0084] like Figure 7-8As shown, the underwater sealed control chamber 3-3 includes a hemispherical sealed front cover 3-3-1, a sealing flange 3-3-2, an O-ring 3-3-3, a cylindrical hollow cabin 3-3-4, and a flat cover-shaped sealed rear cover 3-3-5. The hemispherical sealed front cover 3-3-1 is made of transparent acrylic material, and a camera is placed in this hemispherical area for detecting the underwater environment.

[0085] The hemispherical sealing front cover 3-3-1, the flat cover sealing rear cover 3-3-5 and the cylindrical hollow cabin 3-3-4 are connected via a sealing flange 3-3-2. The flat cover sealing rear cover 3-3-5 is provided with through holes as cable outlets according to the sizes of the power lines, signal lines, etc. of the control system components, and then encapsulated with epoxy resin to ensure sealing.

[0086] The underwater frame ROV module 3 also includes underwater thrusters 3-2. The whole machine is equipped with a total of 8 underwater thrusters 3-2, which are divided into two groups. One group of underwater thrusters 3-2 is arranged in a vertical posture at the four corners of the upper layer of the carrier frame 3-1 to provide the underwater dredging robot with two degrees of freedom of vertical rise and fall and roll. The lower group of underwater thrusters 3-2 adopts a symmetrical vector arrangement to achieve three degrees of freedom of horizontal advance and retreat, side shift and rotation. In summary, the hybrid underwater dredging robot is intended to achieve five degrees of freedom of advance and retreat, side shift, rise and fall, bow turn and roll to perform floating operations in the water.

[0087] Furthermore, in the present invention, each device is connected to each other via wires and can work with each other.

[0088] Furthermore, an underwater dredging method of a hybrid underwater dredging robot structure, using the above-mentioned device, comprises the following steps:

[0089] Step 1: Before the robot dredges, first determine the dredging location, and then drive from land to water by means of the chassis 2-1 of the crawler-type power chassis module 2, or lower the dredging robot into water by means of a crane, and then quickly move to the top of the dredging location in the water by means of the underwater propeller 3-2 loaded on the underwater frame ROV module 3, and then slowly descend to the dredging area, so that the dredging robot is in place;

[0090] Step 2: Adjust the posture of the dredging mechanical arm 1-4 by telescoping the electric push rod 1-4-3 to ensure that the dredging auger 1-1 loaded at the end of the arm 1-4-1 is perpendicular to the dredging plane. At this time, the dredging efficiency is the highest. Start the dredging motor (underwater sealing motor 1-2) and the dredging pump (underwater mud pump 1-5). The steering gear inside the dredging arm base (mechanical arm base) controls the rotation of the mechanical arm 1-4 in the horizontal direction, so that the dredging auger 1-1 performs cyclic reciprocating dredging work in the dredging plane.

[0091] After completing the above-mentioned reciprocating dredging work, the chassis 2-1 moves forward and repeats this step until the dredging process is completed. During the dredging process, if encountering rugged terrain, the dredging arm posture can be adjusted at any time through the electric push rod 1-4-3 to ensure that the dredging auger 1-1 is in the best dredging efficiency at any time;

[0092] Step 3: After the dredging of the current dredging area is completed, the robotic arms 1-4 are retracted to avoid collision when moving forward in the water, and the hybrid underwater dredging robot is driven by the underwater thruster 3-2 to quickly move to the next dredging area.

Claims

1. A hybrid-driven underwater dredging robot structure, characterized in that: It comprises a cutter suction dredging module (1), a crawler power frame chassis module (2) and an underwater frame ROV module (3) which are connected to each other; The cutter suction dredging module (1) comprises a dredging auger (1-1), an underwater sealed motor (1-2), a connecting flange (1-3), a mechanical arm (1-4), an underwater mud pump (1-5), a connecting hose (1-6), a mud conveying pipe (1-7) and a mud filter cover (1-8); The dredging auger (1-1), the underwater sealing motor (1-2) and the connecting flange (1-3) are connected to the mechanical arm (1-4). The mud filter cover (1-8) is connected to the connecting hose (1-6); The connecting hose (1-6) is clamped inside the mechanical arm (1-4); The other end of the connecting hose (1-6) is connected to the underwater mud pump (1-5) through the mechanical arm (1-4), and the other end of the underwater mud pump (1-5) is connected to the mud delivery pipe (1-7).

2. The hybrid-driven underwater dredging robot structure according to claim 1 is characterized in that: The dredging auger (1-1) comprises a cutter disc (1-1-1), a blade (1-1-2), cutter teeth (1-1-3), and a positioning column (1-1-4); The mechanical arm (1-4) comprises a small arm (1-4-1), a hollow cylindrical large arm (1-4-2), and an electric push rod (1-4-3) connecting the small arm (1-4-1) and the hollow cylindrical large arm (1-4-2); The connecting hose (1-6) comprises a connecting hose 1 (1-6-1) and a connecting hose 2 (1-6-2); The connecting hose 1 (1-6-1) is integrally arranged in the small arm (1-4-1), with its front end connected to the mud filter cover (1-8) and its rear end connected to the front end of the hollow cylindrical large arm (1-4-2); The front end of the connecting hose 2 (1-6-2) is connected to the end of the hollow cylindrical arm (1-4-2), and the rear end is connected to the inlet of the underwater mud pump (1-5); The underwater sealed motor (1-2) is connected to the cutter head (1-1-1) of the dredging auger (1-1) via a connecting flange (1-3); a plurality of blades (1-1-2) are arranged at the outer edge of one side of the cutter head (1-1-1); and the blade teeth (1-1-3) are arranged on the blades (1-1-2); The positioning column (1-1-4) is arranged at the center of the cutter disc (1-1-1).

3. The hybrid-driven underwater dredging robot structure according to claim 1 is characterized in that: The crawler-type power frame chassis module (2) comprises a frame chassis (2-1), a crawler system (2-2) and an underwater motor (2-3); The underwater motor (2-3) is arranged on the rear end of the vehicle frame chassis (2-1), and the output shaft of the underwater motor (2-3) is connected to the crawler system (2-2).

4. The hybrid-driven underwater dredging robot structure according to claim 3 is characterized in that: The crawler track system (2-2) comprises a rubber crawler track (2-2-1), a driving wheel (2-2-2), a guide wheel (2-2-3), a supporting wheel (2-2-4), a supporting wheel (2-2-5) and a tensioning device (2-2-6); Wherein, the tensioning device (2-2-6) comprises a tensioning spring (2-2-6-1) and a tensioning seat (2-2-6-2); The rear half of the tensioning seat (2-2-6-2) is sleeved onto the supports on both sides of the crawler power frame chassis module (2) and is horizontally fixed outside the two sides of the crawler power frame chassis module (2), and its front end is connected to the guide wheel (2-2-3), and the tensioning spring (2-2-6-1) is sleeved on the tensioning seat (2-2-6-2); The supporting wheels (2-2-4) are arranged on both sides of the crawler-type power frame chassis module (2) via supporting wheel shafts; The driving wheel (2-2-2) is installed at the rear end of the crawler system (2-2) in a rearward placement manner; The supporting wheels (2-2-5) are arranged on both sides of the crawler-type power frame chassis module (2) through the tugwheel shaft to support the rubber crawler track (2-2-1); The rubber crawler track (2-2-1) is arranged on the periphery of the driving wheel (2-2-2), the guide wheel (2-2-3), the supporting wheel (2-2-4), the supporting wheel (2-2-5) and the tensioning device (2-2-6).

5. The hybrid-driven underwater dredging robot structure according to claim 3 is characterized in that: A mechanical arm base is arranged at the other end of the hollow cylindrical arm (1-4-2) in the mechanical arm (1-4), and the mechanical arm base is fixedly arranged at the front end of the frame chassis (2-1) in the crawler-type power frame chassis module (2); A steering gear is arranged inside the mechanical arm base.

6. The hybrid-driven underwater dredging robot structure according to claim 3 is characterized in that: The underwater frame-type ROV module (3) is fixedly mounted on the brackets on both sides of the frame chassis (2-1), and comprises a carrier frame (3-1), an underwater thruster (3-2), an underwater sealed control cabin (3-3), a floating body (3-4) and an underwater lighting lamp (3-5); The underwater propeller (3-2), the underwater sealed control cabin (3-3), the floating body (3-4) and the underwater lighting lamp (3-5) are all fixedly arranged in the carrier frame (3-1); The underwater sealed control cabin (3-3) is arranged in the central area of ​​the carrier frame (3-1), and electronic components are packaged inside the underwater sealed control cabin (3-3). The floating body (3-4) and the underwater lighting lamp (3-5) are arranged at the upper ends of both sides of the underwater sealed control cabin (3-3).

7. The hybrid-driven underwater dredging robot structure according to claim 6 is characterized in that: The number of the underwater thrusters (3-2) is 8, which are divided into two groups, one group being arranged in a vertical posture at the four corners of the upper layer of the carrier frame (3-1); and the other group being arranged at the corners of the lower layer of the carrier frame (3-1).

8. The hybrid-driven underwater dredging robot structure according to claim 6, characterized in that: The underwater sealed control cabin (3-3) comprises a hemispherical sealed front cover (3-3-1), a cylindrical hollow cabin body (3-3-4) and a flat cover-shaped sealed rear cover (3-3-5) which are connected to each other; A sealing flange (3-3-2) and an O-shaped sealing ring (3-3-3) are arranged between the hemispherical sealing front cover (3-3-1) and the cylindrical hollow cabin body (3-3-4).

9. The hybrid-driven underwater dredging robot structure according to claim 8, characterized in that: The hemispherical sealing front cover (3-3-1) is made of transparent material; The hemispherical sealing front cover (3-3-1), the flat cover-shaped sealing rear cover (3-3-5) and the cylindrical hollow cabin body (3-3-4) are connected via a sealing flange (3-3-2); Through holes are provided on the flat cover-shaped sealing rear cover (3-3-5) as cable outlets according to the sizes of power lines and signal lines of control system components.

10. An underwater dredging method using a hybrid-driven underwater dredging robot structure according to any one of claims 1 to 9, characterized in that: The operation steps are as follows: Step (1): before the robot dredgers, first determine the dredging location, and then use the chassis (2-1) of the crawler-type power chassis module (2) to drive from land to water. If the terrain conditions do not allow, the dredging robot can be lowered into the water by a crane, and then rely on the underwater propeller (3-2) loaded on the underwater frame ROV module (3) to quickly move to the top of the dredging location in the water, and then slowly descend to the dredging area, so that the dredging robot is in place; Step (ii): adjusting the posture of the dredging mechanical arm by telescoping the electric push rod (1-4-3) to ensure that the dredging auger (1-1) loaded at the end of the small arm (1-4-1) is perpendicular to the dredging plane. At this time, the dredging efficiency is the highest. The underwater sealing motor (1-2) and the underwater mud pump (1-5) for dredging are started. The dredging arm base steering gear controls the mechanical arm (1-4) to rotate in the horizontal direction, so that the dredging auger (1-1) performs cyclic reciprocating dredging work in the dredging plane. After completing the above-mentioned one-time reciprocating dredging work, the chassis (2-1) of the crawler-type power chassis module (2) is pushed forward, and this step process is repeated until the dredging process is completed. During the dredging process, if the working terrain is rugged, the posture of the dredging arm can be adjusted at any time by the electric push rod (1-4-3) to ensure that the dredging auger (1-1) is in the best dredging efficiency at any time; Step (three): After the dredging of the current dredging area is completed, the robotic arm (1-4) is retracted to avoid collision when moving forward in the water, and the underwater dredging robot is driven by the underwater propeller (3-2) to quickly move to the next dredging area.

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