Non-slip remote-controlled high-capacity dredging robot for underwater removal of heavily deposited sludge

Abstract

The present invention relates to a non-slip underwater sludge dredging robot, and aims to improve the non-slip properties so that the dredging robot can move smoothly while submerged in a sedimentation sludge dredging site such as a water purification plant, sewage plant, reservoir, or sewer pipe, thereby overcoming the limitations of movement caused by slipping due to sludge, etc., and improving dredging efficiency through smooth movement. To this end, the present invention is characterized by comprising: a buoyancy tank that supports the buoyancy tank so that it is not eroded to the bottom of the water by its own weight, by allowing buoyancy to act when submerged in water; a power unit configured inside the buoyancy tank to generate rotational force and provide the necessary current; a transfer unit configured at each end of the buoyancy tank to support movement through the rotational force provided by the power unit; and a suction unit configured at one end of the buoyancy tank to remove sludge deposited on the bottom of the water while moving through the transfer unit.

Description

Technology Field

[0001] The present invention relates to a non-slip remote-controlled large-capacity dredging robot for dredging high-stacked sludge underwater, and more specifically, to a non-slip remote-controlled large-capacity dredging robot for dredging high-stacked sludge underwater that enables the operation of a system capable of simultaneously and continuously dewatering and drying large-capacity sludge through a wired or wireless control robot that dredges and extracts sludge submerged underwater in factories, such as those inside or outside industrial complexes or urban facilities equipped with sewage treatment plants, sewer pipes, and reservoirs, without interrupting the facility, by improving non-slip properties. Background Technology

[0002] Generally, dredging operations are used to improve water quality by removing sludge deposited in water in rivers, waterways, and ports, as well as in industrial complexes and urban facilities equipped with water purification plants, sewage treatment plants, reservoirs, and sewer pipes.

[0003] These dredging operations are performed using methods such as direct removal of sediment by a worker, a scraper method using a bucket, a suction method using a high-pressure jet cleaner and a vacuum pump, and a 2-axis dredging robot equipped with a centrifugal pump.

[0004] For example, dredging operations by divers or manned manual labor pose a high risk of serious accidents such as underwater heart attack, suffocation, and poisoning, and cause secondary environmental pollution due to the downstream discharge of pollutants, making it difficult to ensure the safety of workers and the working environment.

[0005] In addition, a 2-axis small robot equipped with a heavy-duty centrifugal pump has a problem in that its maneuverability and directional control capabilities are significantly reduced due to erosion that occurs during driving and dredging processes within a solidified sludge layer.

[0006] In addition, sludge is insoluble solid matter that settles or accumulates during the treatment of water purification, sewage, and industrial wastewater, and during dredging operations, it can cause problems such as the generation of harmful gases and scattering into the water.

[0007] Looking at a conventional example proposed to solve the above-mentioned problem, the cleaning robot of Patent Publication No. 10-1439771, as shown in FIG. 1, has a spiral-shaped driving means (2) mounted symmetrically on the lower part of a device frame (1), and a first foreign matter removal unit (3) configured in a spiral shape on one side of the device frame (1) and a second foreign matter removal unit (4) between the driving means (2) to remove sludge, etc.

[0008] However, conventional dredging robots have a heavy pump-equipped 2-axis structure, and as mentioned above, they have a problem of increasing slip because their own weight is greater than their driving capability.

[0009] Accordingly, it is necessary to develop a medium-to-large dredging robot that can stably perform driving performance without losing driving ability or directionality even within a solidified sludge layer.

[0010] In addition, it is necessary to develop a non-slip dredging robot to increase traction and resistance by expanding the contact area so as to prevent loss of drivability due to slipping when moving through a solidified sludge layer.

[0011] In addition, to solve the problem of increased slip caused by the weight of the vehicle itself, it is necessary to develop a buoyancy-type dredging robot for weight reduction.

[0012] In addition, to solve the problem of the robot losing its directionality due to the difference in viscosity of the sludge layer and the surface elevation of the accumulation layer, it is necessary to develop a dredging robot equipped with a winger for maintaining buoyancy and balance.

[0013] In addition, small dredging robots have the problem that they cannot dredge high-stacks of 0.5 to 5 m and can only achieve small-capacity sludge removal efficiency. To overcome this, it is necessary to develop a large-capacity dredging robot capable of achieving large-capacity high-stack sludge removal efficiency. The problem to be solved

[0014] The purpose of the present invention, proposed to solve the above-mentioned problems, is to provide a non-slip remote-controlled large-capacity dredging robot for dredging high-stacked underwater sludge that enables the operation of a system capable of simultaneously and continuously dewatering and drying large-capacity sludge through a wired or wireless control robot that dredges and extracts underwater sludge in an online state without interrupting the facility, by improving non-slip properties in factories located inside or outside industrial complexes or urban facilities equipped with sewage treatment plants, sewer pipes, reservoirs, etc.

[0015] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems to be solved will be clearly understood by those skilled in the art to which the present invention pertains from the descriptions below. means of solving the problem

[0016] The present invention, proposed to achieve the aforementioned purpose, comprises: a buoyancy tank that supports the buoyancy so that it does not erode to the bottom of the water by its own weight when submerged in water by applying buoyancy; a power unit configured inside the buoyancy tank to generate rotational force and provide the necessary current; a transfer unit configured at each end of the buoyancy tank to support movement through the rotational force provided by the power unit; and a suction unit configured at one end of the buoyancy tank to remove sludge deposited on the bottom of the water while moving through the transfer unit.

[0017] In the present invention, it is preferable to include a buoyancy control unit configured at the other end of the buoyancy tank to provide weight so as to adjust the underwater settling state of the dredging robot according to the condition of the sludge.

[0018] In the present invention, the conveying unit preferably comprises: a driving shaft receiving rotational force from a power unit; at least one driven shaft configured to be spaced apart from the driving shaft at a certain distance; a driving roll configured on the driving shaft; a driven roll configured on the driven shaft; and a caterpillar that supports the driving roll and the driven roll so that movement is achieved as the driven roll rotates together with the driving roll through the rotation of the driving roll.

[0019] In the present invention, it is preferable that the caterpillar includes ground blades formed at regular intervals on the outer circumference and formed with a certain height and width to improve mobility.

[0020] In the present invention, it is preferable that the grounding blade includes a reinforcing grounding block formed in a direction orthogonal to the longitudinal direction to improve the reinforcing force for the grounding blade.

[0021] In the present invention, it is preferable that the grounding blade includes a rake configured at the top to support the grounding force and enable stable movement.

[0022] In the present invention, it is preferable that the rake be formed with a length shorter than the length of the ground blade and formed in a zigzag pattern.

[0023] In the present invention, the suction unit preferably comprises: a support plate fixed to one end of a buoyancy tank; a suction guide plate configured at one end of the support plate to form a space for smooth suction of sludge; a suction pipe configured on one side of the suction guide plate to suck in sludge through suction force and discharge it to the outside; and an ejection pipe configured on one side of the support plate to soften or float the sludge so that the sludge can be easily sucked in through the suction pipe.

[0024] In the present invention, the buoyancy control unit preferably includes a support body configured at the top of the buoyancy tank; and a weight body that is seated on the support body and increases or decreases its weight so that the seating of the dredging robot can be optimized according to the condition of the sludge.

[0025] In the present invention, it is preferable to include at least one mounting rod formed at a certain height to support one or both sides of a weight body so as to be fixed; and at least one insertion hole formed in the weight body to allow the mounting rod configured in the support body to be inserted, and a fixing member that prevents the weight body from detaching from the mounting rod when the stacking of at least one weight body is completed through the mounting rod of the support body. Effects of the invention

[0026] According to the present invention, by improving non-slip properties, it is possible to operate a system that enables the simultaneous and continuous dewatering and drying of large volumes of sludge through a wired or wireless control robot that dredges and extracts sludge submerged in water in factories, such as those in industrial complexes or urban facilities equipped with sewage treatment plants, sewer pipes, and reservoirs, in an online state without interrupting the facility.

[0027] In addition, by controlling the buoyancy of the dredging robot through the buoyancy control unit and improving the traction force and surface area of ​​the conveying unit, it has the effect of stably maintaining drivability and directional stability.

[0028] In addition, by configuring a discharge pipe that provides pneumatic or hydraulic pressure to facilitate the suction of sludge through the suction pipe, the sludge removal efficiency is improved. Brief explanation of the drawing

[0029] FIG. 1 is a perspective view of a cleaning robot showing a conventional example. FIG. 2 is a schematic diagram of a sludge treatment system using a dredging robot according to the present invention. FIG. 3 is a front perspective view of a dredging robot according to the present invention. FIG. 4 is a rear perspective view of a dredging robot according to the present invention. FIG. 5 is a front view of a dredging robot according to the present invention. FIG. 6 is a cross-sectional view of a buoyancy tank according to the present invention. FIG. 7 is an exploded perspective view of a buoyancy tank and a transfer unit according to the present invention. FIG. 8 is a perspective view of a transfer unit according to the present invention. FIG. 9 is a front view of a transfer unit according to the present invention. FIG. 10 is a cross-sectional view of a transfer unit according to the present invention. FIG. 11 is an exploded perspective view of a pivot link member according to the present invention. FIG. 12 is an exploded perspective view of an idler link member according to the present invention. FIG. 13 is an exploded perspective view of a driving member according to the present invention. FIG. 14 is an exploded perspective view of a driven member according to the present invention. FIG. 15 is a front view of a transfer unit showing another example of the present invention. FIG. 16 is a partially enlarged perspective view of the caterpillar of FIG. 15. FIG. 17 is a partially enlarged perspective view of a caterpillar showing another example of the present invention. FIG. 18 is a partial enlarged plan view of the caterpillar of FIG. 17. FIG. 19 is a partially enlarged perspective view of a caterpillar showing another example of the present invention. FIG. 20 is a partial enlarged plan view of the caterpillar of FIG. 19. FIG. 21 is a partially exploded perspective view of a suction part according to the present invention. FIG. 22 is a rear perspective view of the suction part according to the present invention. FIG. 23 is a cross-sectional view showing the process of removing sludge by a dredging robot according to the present invention. FIG. 24 is a partially exploded perspective view of a buoyancy control unit according to the present invention. FIG. 25 is a front view of a buoyancy control unit according to the present invention. Specific details for implementing the invention

[0030] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to facilitate a comprehensive understanding of the methods, apparatuses, and / or systems described herein. However, this is merely illustrative and the present invention is not limited thereto.

[0031] In describing the embodiments of the present invention, detailed descriptions of known technologies related to the present invention are omitted if it is determined that such detailed descriptions may unnecessarily obscure the essence of the present invention. Furthermore, the terms described below are defined in consideration of their functions within the present invention, and these may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Terms used in the detailed description are intended merely to describe the embodiments of the present invention and should not be limiting in any way. Unless explicitly stated otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "include" or "comprise" are intended to refer to certain characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof other than those described.

[0032] Hereinafter, the dredging robot will be described with reference to the attached drawings.

[0033] As shown in FIGS. 3 to 5, the dredging robot (100) of the present invention may include a buoyancy tank (10), a power unit (20), a transfer unit (30), a suction unit (40), and a buoyancy control unit (50).

[0034] In addition, the sludge removed by the above dredging robot (100) is collected into a geotube (300) configured on one side through a transfer pipe (200) as shown in FIG. 2.

[0035] The above geotube (300) proceeds sequentially through low-pressure filtration, medium-pressure filtration, and high-pressure filtration stages, thereby leaving the solid sludge collected inside and discharging only the water contained in the sludge.

[0036] And, the water discharged from the geotube (300) is collected in the waterproof reservoir (302) in which the geotube (300) is built, and the collected water is transferred to the water treatment unit (400) using a pump or the like.

[0037] In addition, the water treatment unit (400) purifies the water discharged from the geotube (300) and returns it to the place where the sludge has been removed, thereby improving resource recycling.

[0038] The buoyancy tank (10) of the above-mentioned dredging robot (100) forms a space inside which a certain amount of air or water can be stored or removed, thereby allowing it to be submerged underwater or to float smoothly to the surface.

[0039] The above buoyancy tank (10) can be formed in the shape of a hull, as shown in FIG. 6. For example, the above buoyancy tank (10) can be in a square shape.

[0040] In addition, the buoyancy tank (10) may form a compartment (12) so that a motor (210) of a power unit (20) and a power transmission member (220) that transmits the power of the motor (210) to a transfer unit (30) may be configured in the compartment (12).

[0041] Of course, it is not limited to this, and the above-mentioned buoyancy tank (10) may be configured to directly accommodate the power unit (20) without having a separate compartment (12) inside, and may be configured to generate buoyancy on its own by maintaining airtightness.

[0042] In addition, the buoyancy tank (10) may be configured so that one side can be disassembled and assembled to facilitate the installation of a power unit (20) inside.

[0043] In addition, the above buoyancy tank (10) has buoyancy and supports stable movement without being eroded by the gel-like sludge layer on the bottom while submerged in water.

[0044] For example, if the dredging robot lacks buoyancy, it remains submerged at the bottom due to its own weight, and the transfer unit (30) is eroded by the gel-like sludge layer, which can hinder smooth transfer.

[0045] The power unit (20) generates power and provides it to the transport unit (30), thereby enabling smooth transport of the dredging robot.

[0046] The above power unit (20) may include a motor (210), a power transmission member (220), and a battery (230), as shown in FIG. 6.

[0047] The motor (210) is configured inside the buoyancy tank (10) and generates rotational force through current supplied from the battery (230), and then transmits this to the power transmission member (220). In this case, the motor (210) provides forward rotational force and reverse rotational force. Additionally, the motor (210) may be configured in the compartment (110) of the buoyancy tank (10).

[0048] The power transmission member (220) is connected to one side of the motor (210) and transmits the rotational force of the motor (210) to the transport unit (30) to support the transport of the dredging robot. For example, the power transmission member (220) may be composed of a gear train.

[0049] In addition, as shown in FIG. 7, the power transmission member (220) includes a driving shaft (222) configured on one side of the power transmission member (220) to transmit the rotational force of the motor (210) to the transfer unit (30).

[0050] Additionally, the power transmission member (220) is configured to be spaced apart from the driving shaft (222) at a certain distance and includes a driven shaft (224) that supports the transfer force transmitted to the transfer unit (30) through the driving shaft (222).

[0051] The battery (230) is configured inside the buoyancy tank (10) and supplies current to the motor (210). Additionally, the battery (230) is wired to supply the current required by the dredging robot.

[0052] The transfer unit (30) is configured at each end of the buoyancy tank (10) and supports the dredging robot so that it can be moved by the rotational force provided by the power unit (20).

[0053] As shown in FIGS. 7 to 10, the above transfer unit (30) may include a central axis (310), a pivot link member (320), an idle link member (330), a driving member (340), a driven member (350), and a caterpillar (360).

[0054] The central axis (310) performs a central function in the transfer section (30) and supports the stable connection and organic action of each member.

[0055] One side of the pivot link member (320) is inserted into the central axis (310), and the other side supports the driving member (340) and the driven member (350) so that they can be stably connected.

[0056] The above-mentioned pivot link member (320) may include first and second pivot links (322) (326) as shown in FIG. 11.

[0057] The first pivot link (322) above connects the central axis (310) and the driving member (340) to provide a cushioning force by rotating at a certain angle relative to the central axis (310) when an impact or vibration occurs.

[0058] The first pivot link (322) above may be configured on one side and may include a first insertion hole (323) into which a central axis (310) is inserted.

[0059] Additionally, the first pivot link (322) may include a second insertion hole (324) configured on the other side to support the connection of the driving member (340).

[0060] Additionally, the first pivot link (322) may include a first pin (325) into which a pin is inserted to support one end of a buffer member configured on the driving member (340) so as to be connected, for example, on one side, for example, downward.

[0061] The second pivot link (326) is configured on one side and may include a third insertion hole (327) into which the central axis (310) is inserted.

[0062] Additionally, the second pivot link (326) may include a fourth insertion hole (328) configured on the other side to support the connection of the driven member (350).

[0063] Additionally, the second pivot link (326) may include a second pin (329) into which a pin is inserted to support one end of a buffer member configured on the driven member (350) so as to be connected, for example, on one side, such as the upper side.

[0064] As shown in FIG. 12, the idle link member (330) includes a first idle link (332) with one side connected to a central axis (310).

[0065] The first idler link (332) is connected to a central axis (310) on one side and supports an idler roll configured below.

[0066] In addition, the first idle link (332) has a first buffer member connected to one end and an idle roll connected to the other end.

[0067] Additionally, the above idle link member (330) includes a second idle link (333) with one side connected to the central axis (310).

[0068] The second idler link (333) is connected to the central axis (310) on one side and supports the idler roll configured below.

[0069] Additionally, the other end of the first buffer member connected to the first idle link (332) is connected to one end of the second idle link (333), and the other end is connected to an idle roll configured at the other end of the idle roll connected to the first idle link (332).

[0070] Additionally, the above idle link member (330) includes a first cushioning member (334) configured between the first and second idle links (332) (333) to cushion shocks or vibrations occurring during driving, thereby supporting smooth driving.

[0071] The first buffer member (334) above may be a shock absorber.

[0072] Additionally, the idle link member (330) is configured at the other end of the first and second idle links (332) (333) and includes a first idle roll (335) that supports the lower end of the caterpillar.

[0073] The first idler roll (335) is configured below the other end of the first and second idler links (332)(333) to support the lower end of the caterpillar.

[0074] In this case, the first idler roll (335) may be composed of multiple units.

[0075] Additionally, the idle link member (330) includes a first support link (336) having one end linked to one side of the first idle link (332) and the other end connected to a second support link and a second idle roll.

[0076] Additionally, the idle link member (330) includes a second support link (337) in which one end is connected to one side of the first idle link (332) and the other end is connected to a driven member (350).

[0077] Additionally, the above-mentioned idler link member (330) includes a connecting shaft (338) that connects one side of the first and second support links (336) (337).

[0078] Additionally, the idle link member (330) includes a second idler roll (339) coupled to one end of the connecting shaft (338).

[0079] The second idler roll (339) is coupled to one end of the connecting shaft (338) and configured to support the upper portion of the caterpillar.

[0080] The driving member (340) receives rotational force from the power transmission member (220) and rotates the caterpillar, thereby causing the dredging robot (100) to move.

[0081] As shown in FIG. 13, the above driving member (340) includes a driving roller (342) that is connected to the driving shaft (222) of the power transmission member (220) and rotates together with the driving shaft (222).

[0082] The above driving roller (342) is connected to the driving shaft (222) and rotates together with the driving shaft (222) to rotate and move the caterpillar.

[0083] In this case, the driving roller (342) may be formed in a configuration or structure that allows for smooth driving by engaging with the caterpillar and smoothly transmitting the rotational force of the power unit (20). For example, the driving roller (342) may be a sprocket structure.

[0084] Additionally, the above driving member (340) includes a driving roller (342) formed at one end and a first support (344) that supports the other end so as to be connected to a first pivot link (322).

[0085] One end of the first support (344) is connected so that the driving roller (342) can freely rotate in place.

[0086] Additionally, the other end of the first support member (344) is connected by a pin, etc., inserted into the second insertion hole (324) of the first pivot link (322).

[0087] Additionally, the above driving member (340) includes a second buffer member (346) configured between the first pivot link (322) and the first support (344).

[0088] The second cushioning member (346) is configured between the first pivot link (322) and the first support (344) to smoothly cushion shocks or vibrations caused by the curvature of the sludge layer, the curvature of the underwater bottom, etc., while driving, thereby supporting the vehicle to avoid driving interference. In this case, the second cushioning member (346) may be the same as the first cushioning member (334).

[0089] As shown in FIG. 14, the above-mentioned driven member (350) includes a driven roll (352) that is connected to the driven shaft (224) of the power transmission member (220) and rotates while being supported by the driven shaft (224).

[0090] The above-mentioned driven roll (352) is connected to the above-mentioned driven shaft (224) and supports the caterpillar so that it can rotate while being supported by the above-mentioned driven shaft (224), thereby supporting the smooth movement of the dredging robot (100).

[0091] In this case, the driven roll (352) may be formed in a configuration or structure that engages with the caterpillar so that the caterpillar can rotate smoothly. For example, the driven roll (352) may be a sprocket structure.

[0092] Additionally, the driven member (350) includes a driven roll (352) formed at one end and a second support (354) that supports the other end so as to be connected to a second pivot link (326).

[0093] One end of the second support (354) is connected so that the driven roll (352) can freely rotate in place.

[0094] Additionally, the other end of the second support (354) is connected by a pin, etc., inserted into the fourth insertion hole (328) of the second pivot link (326).

[0095] Additionally, the driven member (350) includes a third buffer member (356) configured between the second pivot link (326) and the second support (354).

[0096] The third cushioning member (356) is configured between the second pivot link (326) and the second support (354) to smoothly cushion shocks or vibrations acting during driving, thereby supporting the vehicle to avoid driving interference. In this case, the third cushioning member (356) may be the same as the first cushioning member (334).

[0097] The caterpillar (360) is configured to rotate between the driving member (340) and the driven member (350), and by rotating the driven member (350) by the driving force of the driving member (340), the dredging robot (100) is made to move forward or backward depending on the direction of rotation.

[0098] The above caterpillar (360) is formed of a material with a high coefficient of friction to support smooth transport on the underwater bottom. In this case, the caterpillar (360) may be made of rubber or synthetic rubber, and may be composed of a composite structure combining metal and synthetic resin depending on the purpose of use or the environment of use.

[0099] In addition, referring to FIGS. 15 and 16, another example of the above caterpillar (360) is configured with a plurality of ground blades (362) formed at regular intervals and heights.

[0100] The above ground blade (362) is formed at a certain height on the outer circumference of the caterpillar (360) so that it can move easily in the sludge layer deposited on the bottom of the water.

[0101] The above grounding blade (362) is formed with a height (h) having a certain length on the outer circumference of the caterpillar (360), and the grounding force is improved according to the height (h).

[0102] Additionally, the height (h) is formed with a length ratio of 0.3 to 3 relative to the thickness of the caterpillar (360). For example, if the height (h) is less than 0.3 relative to the thickness of the caterpillar (360), smooth traction cannot be achieved, and this may result in slipping during movement, thereby limiting smooth movement. If it exceeds 3, the traction blade (362) may bend due to the weight of the dredging robot (100) due to the excessive length, thereby causing interference with movement.

[0103] In addition, the grounding blade (362) is formed with a certain width (w) to expand the surface area and enable smooth movement.

[0104] The above width (w) expands the surface area and improves the load distribution effect in the gel-like sludge layer, thereby preventing the grounding blade (362) from sinking and ensuring stability of movement.

[0105] Additionally, the width (w) is formed with a length ratio of 0.3 to 2 relative to the thickness of the caterpillar (360). For example, if the width (w) is less than 0.3 relative to the thickness of the caterpillar (360), it may not be possible to secure a smooth surface area, and this may result in erosion of the grounding blade (362), thereby limiting stable movement. If it exceeds 2, there may be a problem where gel-like sludge adheres due to the excessive surface area, causing interference with movement.

[0106] In addition, referring to FIGS. 17 and 18, another example of the above caterpillar (360) is formed, in which a reinforcing grounding block (364) is formed that extends for a certain length in a direction orthogonal to the top of the grounding blade (362).

[0107] The reinforcing grounding block (364) is configured to protrude a certain length in a direction perpendicular to the longitudinal direction of the grounding blade (362), thereby compensating for the uprightness of the grounding blade (362) and enabling smooth movement. In this case, the width of the reinforcing grounding block (364) may be formed to be the same as or similar to the width (w) of the grounding blade (362).

[0108] In addition, referring to FIGS. 19 and 20, another example of the above caterpillar (360) may include crampons (366) configured on each of the plurality of grounding blades (362) to improve grounding force and improve stability of movement.

[0109] The above crampons (366) are configured on the grounding blade (362) to improve the stability of movement by improving the grounding force.

[0110] The above crampon (366) may include a support plate (3662), a ground plate (3664), and a fixing means (3666).

[0111] The support plate (3662) is formed as a flat plate and configured to be seated on the top of the grounding blade (362).

[0112] The grounding plate (3664) is formed at a certain height at one end of the support plate (3662) to ensure stable mobility by improving the grounding force.

[0113] The fixing means (3666) ensures that the support plate (3662) is securely fixed to the upper surface of the grounding blade (362). In this case, the fixing means (3666) may be a fixing bolt.

[0114] Additionally, the above crampons (366) can be configured along the entire length of the grounding blade (362).

[0115] Preferably, the crampon (366) is formed with a length of part, for example, an intermediate length, relative to the length of the grounding blade (362).

[0116] In particular, the above crampons (366) are formed with an intermediate length as shown in FIG. 20 and are configured in a zigzag manner to intersect with a plurality of ground blades (362).

[0117] The suction part (40) is configured at the front of the buoyancy tank (10) to remove sludge while stationary or moving.

[0118] As shown in FIGS. 21 to 23, the suction part (40) includes a support plate (410), a suction guide plate (420), a suction pipe (430), and a discharge pipe (440).

[0119] Support plates (410) are configured at each of the front ends of the buoyancy tank (10) to provide support.

[0120] The support plate (410) is configured to rotate at a certain angle relative to the buoyancy tank (10), so that it can be easily moved and removed regardless of the height of the solidified sludge layer on the bottom of the water. In this case, the support plate (410) may include at least one hinge (412) that supports the buoyancy tank (110) so as to be hinge-connected.

[0121] The suction guide plate (420) is configured in front of the support plate (410) to form a space so that the suction of sludge can be smoothly performed through the suction pipe (430).

[0122] In addition, the suction guide plate (420) may include a filter screen (422) that guides foreign substances contained in the sludge to be caught.

[0123] The above filter screen (422) is configured on the outer circumference of the suction guide plate (420) to allow sludge to be sucked in and to prevent contaminants of a certain size or larger contained in the sludge from being sucked in. Of course, this is not limited thereto, and the size of the filter screen (422) can be set and replaced according to the size of the contaminants contained in the sludge through the dredging robot (100), or the filter screen (422) may not be used.

[0124] Additionally, the suction guide plate (420) may include at least one caster (424) that supports the sludge layer to maintain smooth movement according to the height of the layer.

[0125] The caster (424) is configured on the suction guide plate (420) to support the suction guide plate (420) so that it can be smoothly transported according to the height of the sludge layer, thereby facilitating easy removal through the suction pipe (430). In this case, the caster (424) may be configured in front of the suction guide plate (420).

[0126] The suction pipe (430) allows sludge to be sucked in by the suction force provided by a pump (P), such as a vacuum motor or vacuum pump.

[0127] One end of the suction pipe (430) is configured on the suction guide plate (420), and the other end is connected to a geotube (300) installed on the ground, so that sludge sucked from the bottom of the water is collected in the geotube (300). Of course, it is not limited to this, and any configuration or structure that allows sludge sucked from the bottom of the water to be stably collected on the ground can be adopted for the suction pipe (430).

[0128] The above pump (P) may be configured on one side of the dredging robot (100). Preferably, the pump (P) is not configured on one side of the dredging robot (100) but is configured separately to reduce the weight of the dredging robot (100) and enable smooth movement.

[0129] The discharge pipe (440) is configured on one side of the support plate (410) or the suction guide plate (420) to soften or float the sludge so that it is easy to suck up the solidified sludge through the suction pipe (430).

[0130] The above-mentioned discharge pipe (440) may include a distribution pipe (442) and a discharge nozzle (444).

[0131] A distribution pipe (442) is fixed to one end of a support plate (410) or a suction guide plate (420), for example, to the top of the support plate (410), to store pneumatic or hydraulic pressure provided from the outside. In this case, one end of a hose provided from the outside is fixed to the distribution pipe (442) so that pneumatic or hydraulic pressure is provided through the hose.

[0132] The ejection nozzle (444) is configured on one side of the distribution pipe (442) to eject pneumatic or hydraulic pressure stored in the distribution pipe (442) to soften or float the sludge deposited on the underwater bottom, thereby making it easier to suck up. In this case, the ejection nozzle (444) may be configured in multiple numbers at regular intervals along the length of the distribution pipe (442).

[0133] In addition, the above-mentioned ejection nozzle (444) can be configured to adjust the ejection angle.

[0134] The buoyancy control unit (50) is configured at the top of the buoyancy tank (10) to control the buoyancy of the dredging robot, thereby optimizing the settling conditions of the sludge layer and ensuring smooth mobility.

[0135] The above buoyancy control unit (50) may include a support body (510) and a weight body (520), as shown in FIGS. 24 and 25.

[0136] The support body (510) can be configured on the top of the buoyancy tank (10).

[0137] In addition, the support body (510) is configured to have a certain space inside so that buoyancy can be formed. Of course, it is not limited to this, and the support body (510) may be formed in the shape of a plate.

[0138] In addition, the support body (510) includes a mounting rod (512) into which one side of a weight (520) is inserted to support the weight (520) so that it can be fixed to the support body (510).

[0139] The above mounting rod (512) is configured to be erected vertically on one side of the support body (510), and is configured in multiple numbers so that one side, for example, both sides of the weight (520) can be inserted, thereby allowing the weight (520) to be fixed to the support body (510). In this case, the mounting rod (512) may be a stud bolt.

[0140] The weight (520) is stacked on the support body (510) to increase the weight of the dredging robot.

[0141] The above weight body (520) is formed in a plate shape and can be stacked at least one or more according to the weight to be increased.

[0142] In addition, the weight body (520) may be configured in multiple symmetrically on the support body (510) so that the weight is evenly distributed.

[0143] For example, the weight body (520) is formed such that one plate weighs 5 to 50 kg, and at least one or more are stacked according to the desired weight.

[0144] In addition, the above-mentioned weight (520) has an insertion hole (522) formed therein to allow the mounting rod (512) to be inserted.

[0145] Additionally, the weight (520) may include a fixing member (524) that supports the weight (520) to prevent it from detaching from the mounting rod (512) once the weight (520) is inserted into the mounting rod (512).

[0146] For example, the above fixing member (524) may be a nut.

[0147] The dredging robot (100) configured as described above selects the number of stacked weights (520) according to the condition of the sludge on the underwater bottom to be dredged, and inserts the selected number of weights (520) into the mounting rod (512) of the support body (510).

[0148] And, by fixing the fixing member (524) to the mounting rod (512), the fixing of the weight (520) to the support body (510) is completed.

[0149] Afterwards, the dredging robot (100) is submerged underwater.

[0150] Next, by remotely controlling it via a wired or wireless method, the submerged dredging robot (100) moves along the underwater bottom.

[0151] And, the sludge is floated by the pneumatic or water pressure ejected through the discharge pipe (440) of the suction part (40), and at the same time, the sludge is sucked through the suction pipe (430), making it easy to remove the sludge.

[0152] In addition, the sludge sucked into the suction pipe (430) is transferred to the geotube (300) through the transfer pipe (200) connected to the suction pipe (430).

[0153] In addition, the sludge collected by the geotube (300) has the water contained in the sludge discharged from the geotube (300) and is stored in the waterproof lake (302) on which the geotube (300) is placed.

[0154] In addition, the contaminated water stored in the above waterproofing unit (302) is transferred to the water treatment unit (400) via a pump, etc., and by filtering the contaminated water in the water treatment unit (400), the filtered clean water is recirculated to improve resource recycling.

[0155] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments expressed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of rights of the present invention is not limited by such embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts equivalent to or within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0156] 10: Buoyancy tank 12: Compartment 20: Power unit 210: Motor 220: Power transmission member 230: Battery 30: Transfer section 310: Central axis 320: Rotation link missing 322: First rotational missing 323: 1st insertion hole 324: 2nd insertion hole 325: 1st Pin 326: 2nd Meeting Link 327: 3rd insertion hole 328: 4th insertion hole 329: 2nd Pin 330: Absence of Idle Link 332: 1st Kids Link 333: 2nd Kids Link 334: First buffer member 335: First idler roll 336: 1st Support Link 337: 2nd Support Link 338: Connecting shaft 339: Second idler roll 340: Driving member 342: Driving roll 344: First support 346: Second buffer member 350: Driven member 352: Driven roll 354: Second support 356: Third buffer member 360: Caterpillar 362: Grounding blade 364: Reinforcement grounding block 366: Crampons 3662: Support plate 3664: Ground plate 3666: Fixing means 40: Suction part 410: Support plate 412: Hinge 420: Suction guide plate 422: Filter screen 424: Caster 430: Suction pipe 440: Discharge pipe 442: Distribution pipe 444: Ejection nozzle 50: Buoyancy control unit 510: Support body 512: Mounting rod 520: Weight 522: Insertion hole 524: Fixed member

Claims

Claim 1 A buoyancy tank that supports the device so that buoyancy acts when submerged in water, thereby preventing it from being eroded to the underwater bottom by its own weight; a power unit configured inside the buoyancy tank to generate rotational force and provide necessary current; a conveying unit configured at each end of the buoyancy tank to support movement through the rotational force provided by the power unit; and a suction unit configured at one end of the buoyancy tank to remove sludge deposited on the underwater bottom while movement is achieved through the conveying unit; wherein the conveying unit comprises: a driving shaft receiving rotational force from the power unit; at least one driven shaft configured at a certain distance from the driving shaft; a driving roll configured on the driving shaft; a driven roll configured on the driven shaft; and a caterpillar that supports movement by pivoting the driving roll and the driven roll so that the driven roll rotates together with the driving roll through the rotation of the driving roll. A non-slip remote-controlled large-capacity dredging robot for underwater high-stack sludge dredging, characterized by comprising: a buoyancy control unit configured at the other end of the buoyancy tank to provide weight so as to adjust the underwater settling state of the dredging robot according to the condition of the sludge; wherein the buoyancy control unit comprises: a support body configured at the top of the buoyancy tank; and a weight body set on the support body to increase or decrease weight so as to optimize the settling of the dredging robot according to the condition of the sludge. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 The non-slip remote-controlled large-capacity dredging robot for underwater high-layer sludge dredging according to claim 1, wherein the suction part comprises: a support plate fixed to one end of a buoyancy tank; a suction guide plate configured at one end of the support plate to form a space for smooth suction of sludge; a suction pipe configured on one side of the suction guide plate to suck in sludge through suction force and discharge it to the outside; and an ejection pipe configured on one side of the support plate to support the sludge by softening or floating it so that the sludge can be easily sucked in through the suction pipe. Claim 9 delete Claim 10 A non-slip remote-controlled large-capacity dredging robot for underwater high-stack sludge dredging, characterized in that, in claim 1, the support body includes at least one mounting rod formed at a certain height to support one or both sides of a weight body so as to be fixed; the weight body includes at least one insertion hole into which the mounting rod configured in the support body is inserted, and a fixing member that prevents the weight body from detaching from the mounting rod when the stacking of at least one weight body is completed through the mounting rod of the support body.

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