Silt loosening device of underwater silt cleaning robot and underwater silt cleaning robot

Abstract

The present application provides a sludge loosening device of an underwater dredging robot, comprising: two symmetrically arranged horizontal L-shaped support frames and a hollow transmission protective shell arranged between the two support frames and fixedly connected to the two ends thereof, and a first transmission shaft that penetrates the transmission protective shell and is connected to the two end walls of the transmission protective shell through a first bearing; the first transmission shaft is also symmetrically fixed with two first rake tooth seats corresponding to the two support frames respectively, and the first rake tooth seats are provided with first rake teeth in a circular array; the first transmission shaft located in the transmission protective shell is equipped with at least one first bevel gear, and the bottom of the transmission protective shell is equipped with at least one second transmission shaft through a second bearing; the second transmission shaft is provided with a second bevel gear that is equipped with the first bevel gear, and the free end of the second transmission shaft penetrates the bottom of the transmission protective shell and is equipped with a circular second rake tooth seat; second rake teeth are provided on the side walls of the second rake tooth seat.

Description

Technical Field

[0001] The present disclosure specifically discloses a sludge loosening device of an underwater silt cleaning robot and the underwater silt cleaning robot. Background Art

[0002] Desilting and decontamination of rivers and ponds is a major problem that affects the physical and mental health of urban residents and urban and rural environmental protection. Traditional desilting methods in my country are mostly "sea of ​​people" construction with shovels, trucks, and pumps. Although some of them are mechanized, the whole process from excavation, transportation to loading and transportation has not been systematically mechanized.

[0003] In specific practice, the auger propulsion system of the underwater dredging robot must be able to realize the effective, reliable and stable performance of the excavation of complex types of silt. When the auger suction system collects loose and unclumped silt, the suction generated by the rotation of the auger device can easily achieve the expected dredging effect. However, when encountering compacted silt, it is difficult to clean up all the silt to be collected by relying solely on the suction of the auger, which urgently needs to be improved. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a sludge loosening device of an underwater dredging robot which can loosen and break up compacted sludge compared to the prior art, so as to cooperate with a auger silt suction device to complete the purpose of cleaning sludge, and an underwater dredging robot using the sludge loosening device of the underwater dredging robot.

[0005] In the first aspect, a sludge loosening device of an underwater dredging robot comprises: two symmetrically arranged horizontal L-shaped support frames and a hollow transmission protective shell arranged between the two support frames and fixedly connected to the two ends thereof, and a first transmission shaft penetrating the transmission protective shell and connected to the two end walls of the transmission protective shell through a first bearing; two first rake tooth seats corresponding to the two support frames are symmetrically fixedly connected to the first transmission shaft, and the first rake tooth seat is provided with first rake teeth in a circular array; at least one first bevel gear is connected to the first transmission shaft located in the transmission protective shell, and at least one second transmission shaft is connected to the bottom of the transmission protective shell through a second bearing; a second bevel gear matched with the first bevel gear is provided on the second transmission shaft, and the free end of the second transmission shaft passes through the bottom of the transmission protective shell and is connected to a circular second rake tooth seat; second rake teeth are provided on the side wall of the second rake tooth seat.

[0006] According to the technical solution provided in the embodiment of the present application, it also includes: at least one first auxiliary rake tooth seat fixedly connected to the first transmission shaft; the first auxiliary rake tooth seat is located between the transmission protective shell and the first rake tooth seat; the first auxiliary rake teeth are arranged in a ring array on the first auxiliary rake tooth seat.

[0007] According to the technical solution provided in the embodiment of the present application, the first rake tooth includes: a tooth neck fixedly connected to the first rake tooth seat and a fan-shaped tooth head integrally formed with the tooth neck; the tooth head is a curved structure; and a plurality of tooth spikes perpendicular to the axis of the first transmission shaft are symmetrically provided on the side wall of the tooth head.

[0008] The second rake teeth are distributed in a spiral shape on the side wall of the second rake tooth seat; the second rake teeth include: a support portion fixedly connected to the second rake tooth seat and a conical tooth end portion arranged at the free end of the support portion.

[0009] According to the technical solution provided in the embodiment of the present application, a plurality of tooth blades are provided on the side wall of the support frame relatively close to the first rake tooth seat, and the tooth blades are arranged at intervals in the gap between the two first rake teeth.

[0010] According to the technical solution provided in the embodiment of the present application, an annular groove is provided on the end of the first rake tooth seat relatively far away from the transmission protective shell, and at least two first grooves extending axially along the first rake tooth seat and connected to the annular groove are provided in the first rake tooth seat; a plurality of cleaning holes connected to the first groove are provided on the side wall of the first rake tooth seat; an annular connecting sleeve is fixedly connected to one end of the support frame relatively close to the annular groove, and one end of the connecting sleeve relatively close to the annular groove is matched with the annular groove, and the first rake tooth seat can rotate relative to the connecting sleeve; the interior of the connecting sleeve is hollow, and the end thereof matched with the annular groove is provided with a through hole connected to the annular groove; the end of the connecting sleeve relatively far away from the annular groove can be connected to an external water supply pipeline.

[0011] According to the technical solution provided in the embodiment of the present application, a crushing tooth perpendicular to the bottom wall of the second rake tooth seat is provided on the bottom wall relatively away from the transmission protective shell.

[0012] According to the technical solution provided in the embodiment of the present application, the interior of the second rake tooth seat is hollow and its side walls, top wall and bottom wall are provided with overflow holes connected to the interior thereof; the interior of the second rake tooth seat is provided with a cylindrical first filter screen that fits the inner wall thereof.

[0013] According to the technical solution provided in the embodiment of the present application, a hollow cylindrical second filter cover is also fixedly connected to the second transmission shaft; the bottom of the second filter cover is open and the second rake tooth seat can be accommodated therein.

[0014] According to the technical solution provided in the embodiment of the present application, the second filter cover includes: a top wall connected to the side wall of the second transmission shaft and an annular elastic telescopic sleeve fixed to the edge of the top wall, and an annular filter fixed to the free end of the elastic telescopic sleeve.

[0015] In the second aspect, an underwater dredging robot comprises: a robot body and a mechanical arm installed at the front end of the robot body, a auger silt suction device is bridged on the mechanical arm, and the auger silt suction device comprises: an auger silt suction shell and an auger silt suction component bridged inside the auger silt suction shell; and also comprises: a silt loosening device of the underwater dredging robot as described in the first aspect, bridged inside the auger silt suction shell and relatively far from the robot body.

[0016] In summary, the present application discloses a specific structure of a sludge loosening device for an underwater dredging robot. In the present technical solution, two support frames and a transmission protective housing between the two support frames constitute the overall structure of the present device, and the two support frames can be fixedly connected to the external housing to fix the overall structure of the present device. The first transmission shaft passes through the transmission protective housing and is respectively fixedly connected to the two end walls of the transmission protective housing through bearings, so that when the first transmission shaft rotates, the transmission protective housing will not rotate with it. When the first transmission shaft rotates, it drives the two symmetrically fixed first rake tooth seats thereon to rotate, and then drives the first rake teeth on the first rake tooth seat to rotate. During the rotation of the first rake teeth, the hardened sludge in contact with it can be longitudinally crushed. In addition, the transmission protective housing in the present technical solution is provided with a first bevel gear matched with the first transmission shaft and a second bevel gear matched with the first bevel gear. When the first transmission shaft rotates, the first bevel gear rotates with it and then drives the second bevel gear and the second transmission shaft to rotate with it, and finally the second transmission shaft drives the second rake tooth seat to rotate. During the rotation of the second rake tooth seat, the second rake teeth thereon can crush and break up the hardened sludge in the horizontal direction. The second rake teeth and the first rake teeth are combined to carry out two-way crushing of the compacted sludge in the horizontal and vertical directions to achieve the best crushing effect, so as to cooperate with the auger silt suction device to complete the purpose of cleaning the sludge.

[0017] In the technical solution, a first auxiliary rake tooth seat is further provided between the transmission protection housing and the first rake tooth seat, and a first auxiliary rake tooth that can rotate with the first transmission shaft is designed thereon to assist the first rake tooth in crushing and breaking up the compacted sludge in the longitudinal direction. In addition, the technical solution also specifically optimizes the structures of the first auxiliary rake tooth and the second rake tooth.

[0018] In the present technical solution, the structure of the support frame is further optimized, that is, teeth are designed on it. When aquatic plants or other substances are mixed in the compacted silt, which will affect the operation of the auger silt suction device to clean the silt, the above substances will be entangled on the first rake teeth. When the first transmission shaft rotates, the teeth can cut them into pieces, so as to facilitate the operation of the auger silt suction device to clean the silt.

[0019] The technical solution further optimizes the structure of the support frame, and an annular connecting sleeve with a hollow interior is designed at one end of the two support frames that is away from each other, and cooperates with the annular groove designed on the first rake tooth seat. When the connecting sleeve is connected to an external water source and filled with water, the annular groove and the first groove connected thereto are also filled with water, and then overflow through the cleaning hole onto the side wall of the first rake tooth seat to clean the first rake tooth seat and the first rake teeth thereon. During the rotation of the first transmission shaft, the annular groove on the first rake tooth seat rotates accordingly, and the design of the annular connecting sleeve does not affect the rotation of the annular groove.

[0020] The technical solution further optimizes the structure of the second rake tooth seat. On the one hand, crushing teeth are designed on the bottom wall. When the hardness of the compacted sludge is too large, the crushing teeth can be made to contact it first, so as to facilitate the breaking up of the first rake teeth and the second rake teeth. On the other hand, overflow holes are provided on the bottom wall, top wall and side walls. During the rotation of the second rake tooth seat, the water flow around it is stirred at the same time, which is beneficial to the flushing force of the water flow and speeds up the breaking up of the sludge. At the same time, in order to prevent the sludge from entering the second rake tooth seat, the interior of the second rake tooth seat is equipped with a first filter screen that matches the interior thereof.

[0021] In this technical solution, a second filter cover is further connected to the second transmission shaft. When there are a lot of water plants mixed in the hardened sludge, the second filter cover can protect the second rake teeth to prevent them from being entangled with too many water plants and affecting their use. The water plants will be stirred by the first rake teeth and broken by the tooth blades on the support frame. Optionally, the second filter cover is provided with an elastic telescopic part, so that the length of the second filter cover can be adjusted.

[0022] In this technical solution, the sludge loosening device of the underwater silt cleaning robot is also applied to the underwater silt cleaning robot, so that the compacted silt can be loosened and broken up, so as to cooperate with the auger silt suction device to complete the purpose of cleaning the silt. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 Shown is a schematic structural diagram of an implementation method of a sludge loosening device of an underwater dredging robot.

[0025] Figure 2 Shown is a schematic structural diagram of an implementation method of a sludge loosening device of an underwater dredging robot.

[0026] Figure 2a Shown is a schematic structural diagram of an implementation manner of the first rake tooth.

[0027] Figure 3 Shown is a schematic structural diagram of an implementation method of a sludge loosening device of an underwater dredging robot.

[0028] Figure 3a Shown is a schematic structural diagram of an implementation manner of the second rake teeth.

[0029] Figure 4 Shown is a schematic structural diagram of an implementation method of a sludge loosening device of an underwater dredging robot.

[0030] Figure 6 Shown is a schematic structural diagram of an implementation method of a sludge loosening device of an underwater dredging robot.

[0031] Figure 6a What is shown is a schematic structural diagram of an implementation manner of the second rake tooth seat.

[0032] Figure 6b What is shown is a schematic structural diagram of an implementation manner of the second rake tooth seat.

[0033] Figure 6c What is shown is a schematic structural diagram of an implementation manner of the second rake tooth seat.

[0034] Figure 7 Shown is a schematic structural diagram of an implementation method of an underwater dredging robot.

[0035] Figure 7a Shown is a schematic structural diagram of an implementation method of an underwater dredging robot. DETAILED DESCRIPTION

[0036] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] Please refer to Figure 1 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0039] Figure 1A sludge loosening device of an underwater dredging robot includes: two symmetrically arranged horizontal L-shaped support frames 100 and a hollow transmission protective shell 200 arranged between the two support frames 100 and fixedly connected to the two ends, and a first transmission shaft 300 that penetrates the transmission protective shell 200 and is connected to the two end walls of the transmission protective shell 200 through a first bearing.

[0040] There are two support frames 100, each in a horizontal L-shape, such as: it includes: a first support rod 101 in the vertical direction and a second support rod 102 horizontally fixed to the upper end of the first support rod. A hollow transmission protective shell 200 is fixed between the lower ends of the two first support rods 101. The two second support rods can be fixed to the external frame respectively to fix the sludge loosening device as a whole.

[0041] The transmission protection housing 200 is located between the two support frames and has two ends fixedly connected to the two support frames.

[0042] The first transmission shaft 300 passes through the transmission protective shell 200 and is connected to two end walls of the transmission protective shell distributed along the axial direction of the first transmission shaft through a first bearing. When the first transmission shaft rotates, the transmission protective shell will not rotate with it.

[0043] Two first rake tooth seats 301 corresponding to the two support frames 100 are symmetrically fixed to the first transmission shaft 300 , and first rake teeth 302 are arranged in a circular array on the first rake tooth seat 301 .

[0044] There are two first rake tooth seats, which are symmetrically distributed on both sides of the transmission protection shell on the first transmission shaft. The first rake teeth are arranged on the first rake tooth seats. When the first transmission shaft rotates, it drives the two symmetrically fixed first rake tooth seats thereon to rotate, and then drives the first rake teeth on the first rake tooth seats to rotate. During the rotation of the first rake teeth, the compacted sludge in contact with them can be longitudinally crushed.

[0045] At least one first bevel gear is connected to the first transmission shaft 300 located in the transmission protective shell 200, and at least one second transmission shaft 303 is connected to the bottom of the transmission protective shell 200 through a second bearing; the second transmission shaft 303 is provided with a second bevel gear connected to the first bevel gear, and the free end of the second transmission shaft 303 passes through the bottom of the transmission protective shell 200 and is connected to a circular second rake tooth seat 304; second rake teeth 305 are provided on the side wall of the second rake tooth seat 304.

[0046] A first bevel gear matched with the first transmission shaft and a second bevel gear matched with the first bevel gear are arranged in the transmission protection housing. When the first transmission shaft rotates, the first bevel gear rotates with it and then drives the second bevel gear and the second transmission shaft to rotate with it. Finally, the second transmission shaft drives the second rake tooth seat to rotate. During the rotation of the second rake tooth seat, the second rake teeth thereon can crush and break up the hardened sludge in the horizontal direction. Optionally, the second bevel gear is located in the middle of the first transmission shaft, so that the second rake tooth seat is located in the middle of the first transmission shaft.

[0047] It should be known that the rotation process of the second rake teeth will not affect the rotation process of the first rake teeth.

[0048] The sludge loosening device of the underwater dredging robot in this embodiment combines the second rake teeth and the first rake teeth to perform bidirectional crushing of the compacted sludge in the horizontal and vertical directions to achieve the best crushing effect, so as to cooperate with the auger silt suction device to complete the purpose of cleaning the sludge.

[0049] Please refer to Figure 2 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0050] This embodiment also includes: at least one first auxiliary rake tooth seat 306 fixedly connected to the first transmission shaft 300; the first auxiliary rake tooth seat 306 is located between the transmission protective shell 200 and the first rake tooth seat 301; the first auxiliary rake teeth 307 are arranged in a ring array on the first auxiliary rake tooth seat 306.

[0051] This embodiment further adds a first auxiliary rake tooth seat between the transmission protective shell and the first rake tooth seat, and designs a first auxiliary rake tooth thereon that can rotate with the first transmission shaft to assist the first rake tooth in crushing and breaking up the compacted sludge in the longitudinal direction.

[0052] Optionally, the first rake tooth seat can cover the first transmission shaft between the first rake seat and the transmission protective shell to fully protect the first transmission shaft.

[0053] Please refer to Figure 2a A schematic structural diagram of an embodiment of a first rake tooth is shown.

[0054] The first rake tooth 302 includes: a tooth neck 3021 fixed to the first rake tooth seat 301 and a fan-shaped tooth head 3022 integrally formed with the tooth neck 3021; ​​the tooth head 3022 is a curved structure; and a plurality of tooth spikes 3023 perpendicular to the axis of the first transmission shaft 300 are symmetrically arranged on the side wall of the tooth head 3022.

[0055] The first rake tooth 302 includes a tooth neck 3021 which is cylindrical and has an axis perpendicular to the axis of the first transmission shaft, so that the first rake tooth has enough length for operation.

[0056] The first rake tooth 302 also includes: a fan-shaped tooth head 3022 integrally formed with the tooth neck 3021. The tooth head 3022 is a curved structure, so the first rake tooth has a sufficient width of working space, so that when the first transmission shaft drives the first rake tooth to rotate, the first rake tooth can break up the compacted silt with maximum efficiency.

[0057] The tooth spikes are perpendicular to the tooth head and can break the compacted silt in a point-like manner when the tooth head contacts the compacted silt, so as to facilitate the subsequent crushing operation of the silt by the tooth head and make the entire crushing operation process smoother.

[0058] Please refer to Figure 3 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0059] The second rake teeth 305 are distributed in a spiral shape on the side wall of the second rake tooth seat 304; please refer to Figure 3a The structural schematic diagram of the second rake tooth is shown; the second rake tooth 305 includes: a support portion 3051 fixedly connected to the second rake tooth seat 304 and a conical tooth end portion 3052 arranged at the free end of the support portion 3051.

[0060] The second rake teeth, during the rotation process, transversely crush the compacted sludge. The second rake teeth, which are arranged in a spiral shape, can facilitate the discharge of the crushed sludge during the crushing operation to avoid blockage.

[0061] The tooth end 3052 is in a conical structure. When it comes into contact with the hardened sludge, the tooth end 3052 of the conical structure has a sharp top, which can easily break the hard outer wall of the hardened sludge; its side wall is inclined and smooth, so that the crushing surface is at an inclined angle, so that the crushed area of ​​the hardened sludge is larger, which is beneficial to the subsequent crushing operation.

[0062] Please refer to Figure 4 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0063] A plurality of tooth blades 103 are disposed on the side wall of the support frame 100 relatively close to the first rake tooth seat 301 , and the tooth blades 103 are disposed in the gaps between the two first rake teeth 302 at intervals.

[0064] This embodiment further optimizes the structure of the support frame, that is, tooth edges are designed thereon.

[0065] When the compacted silt is mixed with aquatic plants or other substances that will affect the operation of the auger silt suction device to clean the silt, the above substances will be entangled on the first rake teeth. When the first transmission shaft rotates, the tooth blades can cut them into pieces to facilitate the operation of the auger silt suction device to clean the silt.

[0066] Since the tooth blades 103 are arranged at intervals in the gap between the two first rake teeth 302, they can cut the waterweeds entangled on the first rake teeth into multiple sections for subsequent discharge.

[0067] Please refer to Figure 5 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0068] An annular groove 308 is provided on the end of the first rake tooth seat 301 which is relatively far away from the transmission protective shell 200, and at least two first grooves 3011 are provided in the first rake tooth seat 301, extending axially along the first rake tooth seat 301 and communicating with the annular groove 308; a plurality of cleaning holes communicating with the first groove 3011 are provided on the side wall of the first rake tooth seat 301; an annular connecting sleeve 104 is fixedly connected to the end of the support frame 100 which is relatively close to the annular groove 308, and the end of the connecting sleeve 104 which is relatively close to the annular groove 308 is matched with the annular groove 308, and the first rake tooth seat 301 can rotate relative to the connecting sleeve 104; the connecting sleeve 104 is hollow inside and the end thereof which is matched with the annular groove 308 is provided with a through hole communicating with the annular groove 308; the end of the connecting sleeve 104 which is relatively far away from the annular groove 308 can be connected to an external water supply pipeline.

[0069] This embodiment further optimizes the structure of the support frame. An annular connecting sleeve with a hollow interior is designed at one end of the two support frames that is away from each other, and cooperates with an annular groove designed on the first rake tooth seat.

[0070] The annular groove 308 is arranged on one end of the first tooth seat relatively far from the transmission protection housing, and is communicated with the first groove arranged inside the first tooth seat. When water flows into the annular groove, the first groove is also filled with water, and then the water flows out of the surface of the first tooth seat through the cleaning hole on the first tooth seat to clean the first teeth.

[0071] In order to inject high pressure water into the annular groove, an annular connecting sleeve is fixedly connected to one end of the support frame relatively close to the annular groove. Optionally, the support frame in this embodiment is an inverted U-shaped structure, and a connecting sleeve 104 is fixedly connected to its free end.

[0072] The annular connecting sleeve can be arranged around one end of the first transmission shaft and matched with the annular groove. When the first transmission shaft rotates, the annular groove on the first rake tooth seat rotates around the annular connecting sleeve. The design of the annular connecting sleeve does not affect the rotation of the annular groove.

[0073] The connecting sleeve is an annular structure, and an end thereof relatively far from the annular groove can be communicated with an external pipeline, and an end relatively close to the annular groove is provided with a through hole communicated with the annular groove 308 .

[0074] When the connecting sleeve is connected to an external water source and filled with water, the annular groove and the first groove connected thereto are also filled with water, and then overflow through the cleaning hole onto the side wall of the first rake tooth seat to clean the first rake tooth seat and the first rake teeth thereon. During the rotation of the first transmission shaft, the annular groove on the first rake tooth seat rotates accordingly, and the design of the annular connecting sleeve does not affect the rotation of the annular groove.

[0075] Please refer to Figure 6 A schematic structural diagram of an embodiment of a sludge loosening device of an underwater dredging robot is shown.

[0076] A crushing tooth 3041 perpendicular to the bottom wall of the second rake tooth seat 304 is provided on the bottom wall relatively away from the transmission protective housing 200 .

[0077] When the sludge loosening device of the underwater dredging robot moves from top to bottom, the crushing teeth 3041 can crush the top of the compacted sludge, and then move to one side of the compacted sludge. The compacted sludge that has been crushed on the top can be more easily crushed by the first rake teeth and the second rake teeth.

[0078] Please refer to Figure 6a A schematic structural diagram of an embodiment of a second rake tooth seat is shown.

[0079] The second rake tooth seat 304 is hollow inside and its side walls, top wall and bottom wall are all provided with overflow holes 3042 communicating with the inside thereof; the second rake tooth seat 304 is provided with a cylindrical first filter screen 3043 which fits the inner wall thereof.

[0080] This embodiment is provided with overflow holes on its bottom wall, top wall and side wall. During the rotation of the second rake tooth seat, the water flow around it is stirred at the same time, which is beneficial to the scouring force of the water flow and accelerates the process of breaking up the silt. At the same time, in order to prevent the silt from entering the second rake tooth seat, the interior of the second rake tooth seat is equipped with a first filter screen that matches the interior thereof.

[0081] Please refer to Figure 6b A schematic structural diagram of an embodiment of a second rake tooth seat is shown.

[0082] A hollow cylindrical second filter cover 309 is also fixedly connected to the second transmission shaft 303 ; the second filter cover 309 has an opening at the bottom and can accommodate the second rake tooth seat 304 .

[0083] When there are a lot of waterweeds mixed in the compacted sludge, the second filter cover can protect the second rake teeth to prevent them from being entangled with too many waterweeds and affecting their use. The waterweeds will be stirred by the first rake teeth and crushed by the tooth blades on the support frame. Of course, the bottom edge of the second filter cover is aligned with the top edge of the second rake tooth seat, which will not hinder the crushing operation of the second rake teeth.

[0084] Please refer to Figure 6c A schematic diagram of the structure of an embodiment of the second rake tooth seat is shown. Optionally, an elastic telescopic portion is provided on the second filter cover so that the length of the second filter cover can be adjusted. The second filter cover 309 includes: a top wall connected to the side wall of the second transmission shaft 303 and an annular elastic telescopic sleeve 3091 fixed to the edge of the top wall, and an annular filter 3092 fixed to the free end of the elastic telescopic sleeve 3091.

[0085] During the rotation of the second transmission shaft and the second filter cover, the elastic telescopic sleeve is in an alternating state of telescoping under the action of centrifugal force, so that the annular filter is also in an alternating state of telescoping, disturbing the water flow to self-clean the silt attached to the annular filter.

[0086] It should be known that when the elastic telescopic sleeve is extended to the maximum state, the annular filter screen will not hinder the rotation process of the second rake teeth.

[0087] Figure 6c The design shown can be applied to the process of cleaning the second filter cover after the crushing operation is completed.

[0088] Please refer to Figure 7 A schematic structural diagram of an implementation scheme of an underwater dredging robot is shown.

[0089] An underwater dredging robot comprises: a robot body 20 and a mechanical arm 21 installed at the front end of the robot body 20, wherein a auger silt suction device 22 is bridged on the mechanical arm 21, and the auger silt suction device 22 comprises: an auger silt suction shell 221 and an auger silt suction component 222 bridged inside the auger silt suction shell 221; and further comprises: a silt loosening device 10 of the underwater dredging robot as described in any of the above embodiments, bridged inside the auger silt suction shell 221 and relatively away from the robot body 20.

[0090] The first transmission shaft in the sludge loosening device 10 of the underwater silt cleaning robot is connected across the auger silt suction housing 221 and can be connected to the transmission structure of the underwater silt cleaning robot. The two ends of the support frame are respectively fixed to the side walls of the auger silt suction housing 221 on the corresponding side.

[0091] Optionally, refer to Figure 7a The schematic diagram of the structure of an embodiment of an underwater dredging robot is shown. When an annular connecting sleeve is designed on the support frame, the annular connecting sleeve 104 is fixedly connected to the side wall of the auger suction silt housing 221 on the corresponding side. The side wall of the annular connecting sleeve is connected to the water supply system built into the robot body 20 through a pipeline.

[0092] Based on the above design, the underwater silt cleaning robot can be equipped with the silt loosening device of the underwater silt cleaning robot described in any of the above embodiments. The underwater robot drives the mechanical arm to drive the auger silt suction housing 221 to move to the compacted silt, and uses the rotation of the first rake teeth and the second rake teeth to break up the compacted silt.

[0093] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A sludge loosening device (10) for an underwater silt cleaning robot, characterized in that: include: Two symmetrically arranged transverse L-shaped support frames (100), a hollow transmission protection shell (200) arranged between the two support frames (100) and fixedly connected to the two support frames (100) at both ends, and a first transmission shaft (300) penetrating the transmission protection shell (200) and connected to the two end walls of the transmission protection shell (200) via first bearings; The first transmission shaft (300) is also symmetrically fixed with two first rake tooth seats (301) corresponding to the two support frames (100) respectively, and the first rake tooth seats (301) are provided with first rake teeth (302) in a circular array; At least one first bevel gear is connected to the first transmission shaft (300) located in the transmission protective shell (200), and at least one second transmission shaft (303) is connected to the bottom of the transmission protective shell (200) through a second bearing; the second transmission shaft (303) is provided with a second bevel gear connected to the first bevel gear, and the free end of the second transmission shaft (303) passes through the bottom of the transmission protective shell (200) and is connected to a circular second rake tooth seat (304); the side wall of the second rake tooth seat (304) is provided with second rake teeth (305); An annular groove (308) is provided on the end of the first tooth seat (301) relatively far from the transmission protective shell (200), and at least two first grooves (3011) extending axially along the first tooth seat (301) and communicating with the annular groove (308) are provided in the first tooth seat (301); a plurality of cleaning holes communicating with the first grooves (3011) are provided on the side wall of the first tooth seat (301); An annular connecting sleeve (104) is fixedly connected to one end of the support frame (100) relatively close to the annular groove (308), and an end of the connecting sleeve (104) relatively close to the annular groove (308) is matched with the annular groove (308), and the first rake tooth seat (301) can rotate relative to the connecting sleeve (104); The connection sleeve (104) is hollow inside and one end thereof that matches the annular groove (308) is provided with a through hole that communicates with the annular groove (308); An end of the connection sleeve (104) relatively far from the annular groove (308) can be connected to an external water supply pipeline.

2. The sludge loosening device of the underwater dredging robot according to claim 1, characterized in that: The invention also comprises: at least one first auxiliary rake tooth seat (306) fixedly connected to the first transmission shaft (300); the first auxiliary rake tooth seat (306) is located between the transmission protective shell (200) and the first rake tooth seat (301); and the first auxiliary rake teeth (307) are arranged in a circular array on the first auxiliary rake tooth seat (306).

3. The silt loosening device of the underwater silting robot according to claim 1 or 2, characterized in that: The first rake tooth (302) comprises: a tooth neck portion (3021) fixedly connected to the first rake tooth seat (301) and a fan-shaped tooth head portion (3022) integrally formed with the tooth neck portion (3021); the tooth head portion (3022) is a curved structure; and a plurality of tooth spike portions (3023) perpendicular to the axis of the first transmission shaft (300) are symmetrically provided on the side wall of the tooth head portion (3022).

4. The sludge loosening device of the underwater dredging robot according to claim 1 or 2, characterized in that: The second rake teeth (305) are distributed in a spiral shape on the side wall of the second rake tooth seat (304); the second rake teeth (305) include: a support portion (3051) fixedly connected to the second rake tooth seat (304) and a conical tooth end portion (3052) arranged at the free end of the support portion (3051).

5. The silt loosening device of the underwater silting robot according to claim 1 or 2, characterized in that: A plurality of tooth blades (103) are provided on a side wall of the support frame (100) relatively close to the first rake tooth seat (301), and the tooth blades (103) are arranged at intervals in the gaps between the two first rake teeth (302).

6. The silt loosening device of the underwater silting robot according to claim 1 or 2, characterized in that: A crushing tooth (3041) perpendicular to the bottom wall of the second rake tooth seat (304) is provided on the bottom wall relatively away from the transmission protective shell (200).

7. The silt loosening device of the underwater silting robot according to claim 6, characterized in that: The second rake tooth seat (304) is hollow inside and its side walls, top wall and bottom wall are all provided with overflow holes (3042) connected with the inside thereof; the second rake tooth seat (304) is provided with a first filter screen (3043) in a cylindrical shape and in contact with its inner wall.

8. The silt loosening device of the underwater silting robot according to claim 7, characterized in that: A hollow cylindrical second filter cover (309) is also fixedly connected to the second transmission shaft (303); the bottom of the second filter cover (309) is open and can accommodate the second rake tooth seat (304); The second filter cover (309) comprises: a top wall annularly connected to the side wall of the second transmission shaft (303), an annular elastic telescopic sleeve (3091) fixedly connected to the edge of the top wall, and an annular filter (3092) fixedly connected to the free end of the elastic telescopic sleeve (3091).

9. An underwater dredging robot, comprising: A robot body (20) and a mechanical arm (21) installed at the front end of the robot body (20), wherein an auger silt suction device (22) is bridged on the mechanical arm (21), and the auger silt suction device (22) comprises: an auger silt suction shell (221) and an auger silt suction component (222) bridged inside the auger silt suction shell (221); characterized in that it also comprises: a sludge loosening device (10) of an underwater dredging robot as described in any one of claims 1 to 8, bridged inside the auger silt suction shell (221) and relatively far from the robot body (20).

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