Mechanical device for purifying heavy metal pollution in water bodies and control method thereof

Abstract

The present invention discloses a mechanical device for purifying heavy metal pollution in water bodies and a control method thereof, which breaks the traditional way and uses a machine to purify the delivery point instead of relying on manual labor, which not only greatly improves the purification efficiency, but also can avoid harming the health of purification workers, and can also collect sewage for testing, monitor the water quality in real time, and can specifically adjust the material of the purification core according to the current type of pollutants, so as to further improve the purification effect; and, through the control method of the mechanical device for purifying heavy metal pollution in water bodies, the mechanical device for purifying heavy metal pollution in water bodies can dynamically plan the path according to the current environment on the water surface and underwater, and realize fixed-point autonomous cruising to perform purification tasks, which can not only ensure the operating safety of the mechanical device for purifying heavy metal pollution in water bodies, but also improve the travel efficiency of the mechanical device for purifying heavy metal pollution in water bodies.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a mechanical device for purifying heavy metal pollution in water bodies and a control method thereof. Background Art

[0002] At present, the problem of marine pollution in my country is still particularly serious, especially in the developed eastern regions. The waters along the coastline are seriously polluted. In the pursuit of economic development, human beings have caused serious damage to the natural environment, and the damage to water resources is particularly prominent. Although the area of ​​water resources on the earth is large, there are very few water resources available for human use. Some countries even have very scarce water resources. Therefore, in view of the pollution of water resources in my country, if we want to control the pollution of water resources, we must often purify and analyze water quality samples at a fixed point in a water area, and be able to detect the types of pollutants in water resources. However, the recycling and treatment methods of different water pollution are different.

[0003] Therefore, purifying water samples is an important task before managing water pollution. However, water pollution still relies on manual purification, which is not only time-consuming and labor-intensive, but also some chemical pollutants in the water will cause certain health hazards to the purification personnel. In addition, in some special areas, such as nuclear contaminated areas, it is impossible to purify water samples manually.

[0004] Solving the above problems has become a top priority. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a mechanical device for purifying heavy metal pollution in water bodies and a control method thereof.

[0006] The technical solution is as follows:

[0007] A mechanical device for purifying heavy metal pollution in water bodies, comprising a drive system and a collection system, the main points of which are that the drive system comprises a sealed cabin with a built-in control system and a battery and a multi-degree-of-freedom drive mechanism installed on the sealed cabin, the multi-degree-of-freedom drive mechanism comprises a third propeller and a fourth propeller both facing the front and rear directions of the sealed cabin, and a first propeller, a second propeller, a fifth propeller and a sixth propeller all facing the upper and lower directions of the sealed cabin, the first propeller and the second propeller are symmetrically distributed on both sides of the front end of the sealed cabin, the fifth propeller and the sixth propeller are symmetrically distributed on both sides of the rear end of the sealed cabin, the third propeller and the fourth propeller are symmetrically distributed on both sides of the middle of the sealed cabin, and the installation height of the third propeller and the fourth propeller is lower than the installation height of the first propeller, the second propeller, the fifth propeller and the sixth propeller;

[0008] The collection system includes at least one purification mechanism installed at the lower part of the sealed cabin, the purification mechanism includes a water inlet purification bottle, a water outlet purification bottle and a purification bottle connector connecting a water outlet end of the water inlet purification bottle and a water inlet end of the water outlet purification bottle, a purification core is arranged between the water outlet end connected to the water inlet purification bottle and the water inlet end of the water outlet purification bottle, a water inlet valve is installed at the water inlet end connected to the water inlet purification bottle, and a water pump is installed at the water outlet end of the water outlet purification bottle through the water outlet valve.

[0009] A control method for a mechanical device for purifying heavy metal pollution in water bodies, the main points of which are to follow the following steps:

[0010] S1. Turn on the mechanical device for purifying heavy metal pollution in water bodies and the host computer, then place the mechanical device for purifying heavy metal pollution in water bodies in a designated area, and record the longitude and latitude of the placement point;

[0011] S2. Use the host computer to control the water body heavy metal pollution purification mechanical device to the designated water area, then start the collection system, and send the data including longitude and latitude to the host computer in real time;

[0012] S3, using the upper computer to control the water body heavy metal pollution purification mechanical device to arrive at a new designated purification point, start a new purification mechanism, wait for a set time, and then close the purification mechanism;

[0013] S4. Repeat step S3 until all purification mechanisms have been used, and then return to the delivery point.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The mechanical device for purifying heavy metal pollution of water bodies and the control method thereof using the above technical scheme break the traditional way and use machines to purify the delivery points instead of relying on manual labor. This not only greatly improves the purification efficiency, but also avoids harm to the health of purification workers. It can also collect sewage for testing, monitor the water quality in real time, and adjust the material of the purification core in a targeted manner according to the current types of pollutants to further improve the purification effect. Moreover, through the control method of the mechanical device for purifying heavy metal pollution of water bodies, the mechanical device for purifying heavy metal pollution of water bodies can dynamically plan the path according to the current environment on the water surface and underwater, and realize fixed-point autonomous cruising to perform purification tasks, which can not only ensure the safe operation of the mechanical device for purifying heavy metal pollution of water bodies, but also improve the travel efficiency of the mechanical device for purifying heavy metal pollution of water bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural diagram of a mechanical device for purifying heavy metal pollution in water bodies;

[0017] Figure 2Front view of a mechanical device for purifying water bodies from heavy metal pollution;

[0018] Figure 3 A top view of a mechanical device for purifying heavy metal pollution in water bodies;

[0019] Figure 4 It is a schematic diagram of the coordination relationship between the mounting bracket and the collection system;

[0020] Figure 5 It is the structural diagram of the control system;

[0021] Figure 6 It is a schematic diagram of the matching relationship between the purification bottle connector and the purification core. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with embodiments and drawings.

[0023] like Figure 1-Figure 5 As shown, a mechanical device for purifying heavy metal pollution in water bodies mainly includes a driving system, a collecting system and a control system. The driving system is used to drive the mechanical device for purifying heavy metal pollution in water bodies to operate on the water surface or underwater. The collecting system is used to collect and purify sewage. The control system is used to interact with the host computer and control the operation of the driving system and the collecting system.

[0024] See also Figure 1-Figure 3 The drive system includes a sealed cabin 28 with a built-in control system and a battery 29 and a multi-degree-of-freedom drive mechanism installed on the sealed cabin 28, the multi-degree-of-freedom drive mechanism includes a third propeller 3 and a fourth propeller 4 both facing the front and rear directions of the sealed cabin 28, and a first propeller 1, a second propeller 2, a fifth propeller 5 and a sixth propeller 6 all facing the up and down directions of the sealed cabin 28, the first propeller 1 and the second propeller 2 are symmetrically distributed on both sides of the front end of the sealed cabin 28, the fifth propeller 5 and the sixth propeller 6 are symmetrically distributed on both sides of the rear end of the sealed cabin 28, the third propeller 3 and the fourth propeller 4 are symmetrically distributed on both sides of the middle of the sealed cabin 28, and the installation height of the third propeller 3 and the fourth propeller 4 is lower than the installation height of the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6. In this embodiment, through the arrangement of the first propeller 1, the second propeller 2, the third propeller 3, the fourth propeller 4, the fifth propeller 5 and the sixth propeller 6, the water body heavy metal pollution purification mechanical device can achieve six-degree-of-freedom movement of lifting and lowering, front and rear translation, left and right translation, left / right turn, head up / down, and left / right tilt.

[0025] Among them, the installation height of the third propeller 3 and the fourth propeller 4 is lower than the installation height of the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6, which is more conducive to the movement of the water body heavy metal pollution purification mechanical device on the water surface, reduces operating resistance and increases endurance.

[0026] See also Figure 1 , Figure 4 and Figure 6 The collection system includes at least one purification mechanism installed at the bottom of the sealed cabin 28, which includes an inlet purification bottle 7, an outlet purification bottle 8, and a purification bottle connector 9 connecting the outlet end of the inlet purification bottle 7 and the inlet end of the outlet purification bottle 8. A purification core 10 is arranged between the outlet end of the inlet purification bottle 7 and the inlet end of the outlet purification bottle 8. A water inlet valve 11 is installed at the inlet end of the inlet purification bottle 7, and a water pump 13 is installed at the outlet end of the outlet purification bottle 8 through the outlet valve 12. Therefore, by setting up a collection system, it is no longer dependent on manual labor, which not only greatly improves the purification efficiency, but also avoids harm to the health of purification workers. It can also collect sewage for testing, monitor water quality in real time, and adjust the material of the purification core 10 according to the current type of pollutants, so as to further improve the purification effect.

[0027] In this embodiment, the collection system has two purification mechanisms, and the two purification mechanisms are installed side by side at the lower part of the sealed cabin 28 through the installation bracket 17.

[0028] See also Figure 1 and Figure 4 The two water inlet valves 11 are both ball valves. The valve stems of the two water inlet valves 11 are located on the same side of the water inlet valves 11, and the valve stems of the two water inlet valves 11 are both fixedly sleeved with a water inlet ball valve control disk 14, and the outer edge of the water inlet ball valve control disk 14 has a section of water inlet driven teeth 14a. A water inlet servo 15 is installed on the mounting bracket 17, and a water inlet driving disk 16 located between the two water inlet ball valve control disks 14 is fixedly sleeved on the rotating shaft of the water inlet servo 15. The outer edge of the water inlet driving disk 16 has a section of water inlet active teeth 16a. When the water inlet active teeth 16a are engaged with the water inlet driven teeth 14a of one of the water inlet ball valve control disks 14, the water inlet active teeth 16a are separated from the water inlet driven teeth 14a of the other water inlet ball valve control disk 14.

[0029] Since the solenoid valve has high requirements for the cleanliness of the medium, it cannot be used for medium containing particles. If it is impurities, it must be filtered out first. In addition, the solenoid valve cannot be used for viscous medium, and the viscosity range of the medium applicable to a specific product is relatively narrow. Therefore, the solenoid valve is not suitable for water pollution purification. The present invention designs a gear transmission structure, and can simultaneously close the two water inlet valves 11 and open or close one of the water inlet valves 11 separately through the water inlet drive disk 16. Therefore, it can not only simplify the circuit design, but also avoid the use of solenoid valves.

[0030] See also Figure 1 and Figure 4, both water outlet valves 12 are ball valves, the valve stems of the two water outlet valves 12 are located on the same side of the water outlet valves 12, and the valve stems of the two water outlet valves 12 are fixedly sleeved with a water outlet ball valve control disk 18, the outer edge of the water outlet ball valve control disk 18 has a section of water outlet driven teeth 18a, and a water outlet steering gear 19 is installed on the mounting bracket 17. A water outlet driving disk 20 located between the two water outlet ball valve control disks 18 is fixedly sleeved on the rotating shaft of the water outlet steering gear 19, and a section of water outlet active teeth 20a is provided on the outer edge of the water outlet driving disk 20. When the water outlet active teeth 20a are engaged with the water outlet active teeth 20a of one of the water outlet ball valve control disks 18, the water outlet active teeth 20a are separated from the water outlet active teeth 20a of the other water outlet ball valve control disk 18. Likewise, the two water outlet valves 12 can be closed simultaneously and one of the water outlet valves 12 can be opened or closed separately through the water outlet drive disk 20 . Therefore, not only can the circuit design be simplified, but also the use of a solenoid valve can be avoided.

[0031] See also Figure 4 The mounting bracket 17 includes a rail 17a mounted on the bottom of the sealed cabin 28, and a water inlet bottle rack 17b and a water outlet bottle rack 17c that can move along the rail 17a. The water inlet bottle rack 17b includes a water inlet slide 17b1 that is slidably matched with the rail 17a, a water inlet servo mounting plate 17b2 mounted on the bottom of the water inlet slide 17b1, and water inlet purification bottle hinges 17b3 located on both sides of the water inlet servo mounting plate 17b2. The water inlet servo 15 is mounted on the water inlet servo mounting plate 17b2, and the two water inlet purification bottles 7 are respectively mounted in the corresponding water inlet purification bottle hinges 17b3. Similarly, the water outlet bottle rack 17c includes a water outlet slide 17c1 that is slidably matched with the rail 17a, a water outlet servo mounting plate 17c2 mounted on the bottom of the water outlet slide 17c1, and water outlet purification bottle hinges 17c3 located on both sides of the water outlet servo mounting plate 17c2, the water outlet servo 19 is mounted on the water outlet servo mounting plate 17c2, and two water outlet purification bottles 8 are respectively mounted in the corresponding water outlet purification bottle hinges 17c3. Not only can the positions of the water inlet bottle rack 17b and the water outlet bottle rack 17c be flexibly adjusted, but also the reliable installation of the water inlet purification bottle 7 and the water outlet purification bottle 8 can be ensured, and the water inlet purification bottle 7 and the water outlet purification bottle 8 are easy to disassemble, and the operation is simple.

[0032] See also Figure 1 The middle of the sealed cabin 28 is fixedly sleeved with a middle mounting ring 21, the third propeller 3 and the fourth propeller 4 are respectively mounted on both sides of the middle mounting ring 21, the clamping rail 17a is fixedly mounted on the bottom of the middle mounting ring 21, the two ends of the sealed cabin 28 are fixedly sleeved with end mounting rings 22, the first propeller 1 and the second propeller 2 as well as the fifth propeller 5 and the sixth propeller 6 are respectively mounted on both sides of the corresponding end mounting rings 22. The first propeller 1, the second propeller 2, the third propeller 3, the fourth propeller 4, the fifth propeller 5 and the sixth propeller 6 can be reliably mounted.

[0033] See also Figure 1 and Figure 6 The purification bottle connector 9 is a circular ring structure, and the inner circumference of both ends of the purification bottle connector 9 is processed with internal threads, and the outer circumference of the water outlet end of the water inlet purification bottle 7 and the water outlet purification bottle 8 are processed with external threads that match the internal threads. The inner circumference of the middle part of the purification bottle connector 9 is protruded with a purification core annular boss 9a that is adapted to the purification core 10. The purification core 10 is detachably installed, which not only ensures the reliable installation of the water inlet purification bottle 7 and the water outlet purification bottle 8, but also makes the water inlet purification bottle 7 and the water outlet purification bottle 8 easy to disassemble. At the same time, by setting the purification core annular boss 9a, the reliability of the installation of the purification core 10 is improved, and the purification efficiency of the purification core 10 is ensured. Among them, the material of the purification core 10 is a strong alkaline gel resin, which can efficiently absorb heavy metals in water.

[0034] A control method for a mechanical device for purifying heavy metal pollution in water bodies is carried out according to the following steps:

[0035] S1. Turn on the mechanical device for purifying heavy metal pollution in water bodies and the host computer, then place the mechanical device for purifying heavy metal pollution in water bodies in a designated area, and record the longitude and latitude of the placement point;

[0036] S2. Use the host computer to control the water body heavy metal pollution purification mechanical device to the designated water area, then start the collection system, and send the data including longitude and latitude to the host computer in real time;

[0037] S3, using the upper computer to control the water body heavy metal pollution purification mechanical device to arrive at a new designated purification point, start a new purification mechanism, wait for a set time, and then close the purification mechanism;

[0038] S4. Repeat step S3 until all purification mechanisms have been used, and then return to the delivery point.

[0039] Through the control method of the mechanical device for purifying heavy metal pollution of water bodies, the mechanical device for purifying heavy metal pollution of water bodies can dynamically plan the path according to the current environment on the water surface and underwater, and realize fixed-point autonomous cruising to perform purification tasks, which can not only ensure the operating safety of the mechanical device for purifying heavy metal pollution of water bodies, but also improve the travel efficiency of the mechanical device for purifying heavy metal pollution of water bodies.

[0040] See also Figure 2 and Figure 3, the first propeller 1, the third propeller 3 and the fifth propeller 5 are all located on the left side of the sealed cabin 28, the second propeller 2, the fourth propeller 4 and the sixth propeller 6 are all located on the right side of the sealed cabin 28, the blade tilting direction of the third propeller 3 is opposite to the blade tilting direction of the fourth propeller 4, the blade tilting direction of the first propeller 1 is opposite to the blade tilting direction of the second propeller 2, the blade tilting direction of the fifth propeller 5 is opposite to the blade tilting direction of the sixth propeller 6, and the blade tilting direction of the first propeller 1 is opposite to the blade tilting direction of the fifth propeller 5. By designing the blade tilting directions of adjacent or paired propellers to be opposite to the same tilting direction, not only can the propulsion efficiency be effectively improved, but also the maneuverability can be effectively improved, and at the same time, the water body heavy metal pollution purification mechanical device can be made easier to hover and sample, thereby greatly improving the flexibility of the water body heavy metal pollution purification mechanical device in complex environments, and further improving the cruising range.

[0041] The six-degree-of-freedom control is as follows:

[0042] When the mechanical device for purifying heavy metal pollution in water bodies moves forward, the third propeller 3 rotates in reverse, the fourth propeller 4 rotates forward, and the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6 stop rotating. When the mechanical device for purifying heavy metal pollution in water bodies moves backward, the third propeller 3 rotates forward, the fourth propeller 4 rotates in reverse, and the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6 stop rotating.

[0043] When the mechanical device for purifying heavy metal pollution in waters rises, the first propeller 1 and the sixth propeller 6 rotate in reverse, the second propeller 2 and the fifth propeller 5 rotate forward, and the third propeller 3 and the fourth propeller 4 stop. When the mechanical device for purifying heavy metal pollution in waters sinks, the first propeller 1 and the sixth propeller 6 rotate forward, the second propeller 2 and the fifth propeller 5 rotate in reverse, and the third propeller 3 and the fourth propeller 4 stop.

[0044] When the mechanical device for purifying heavy metal pollution in water bodies moves to the left, the first propeller 1 rotates forward, the sixth propeller 6 rotates reversely, and the second propeller 2, the third propeller 3, the fourth propeller 4 and the sixth propeller 6 stop rotating. When the mechanical device for purifying heavy metal pollution in water bodies moves to the right, the second propeller 2 rotates forward, the fifth propeller 5 rotates reversely, and the first propeller 1, the third propeller 3, the fourth propeller 4 and the fifth propeller 5 stop rotating.

[0045] When the front end of the mechanical device for purifying heavy metal pollution in water bodies rotates to the left, the third propeller 3 and the fourth propeller 4 rotate forward, and the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6 stop rotating. When the front end of the mechanical device for purifying heavy metal pollution in water bodies rotates to the right, the third propeller 3 and the fourth propeller 4 rotate reversely, and the first propeller 1, the second propeller 2, the fifth propeller 5 and the sixth propeller 6 stop rotating.

[0046] When the front end of the water body heavy metal pollution purification device rotates upward, the first propeller 1 and the fifth propeller 5 rotate in reverse, the second propeller 2 and the sixth propeller 6 rotate forward, and the third propeller 3 and the fourth propeller 4 stop. When the front end of the water body heavy metal pollution purification device rotates downward, the first propeller 1 and the fifth propeller 5 rotate forward, the second propeller 2 and the sixth propeller 6 rotate in reverse, and the third propeller 3 and the fourth propeller 4 stop.

[0047] When the mechanical device for purifying heavy metal pollution in water bodies tilts to the left, the first propeller 1 and the second propeller 2 rotate forward, the fifth propeller 5 and the sixth propeller 6 rotate reversely, and the third propeller 3 and the fourth propeller 4 stop rotating. When the mechanical device for purifying heavy metal pollution in water bodies tilts to the right, the first propeller 1 and the second propeller 2 rotate reversely, the fifth propeller 5 and the sixth propeller 6 rotate forward, and the third propeller 3 and the fourth propeller 4 stop rotating.

[0048] See also Figure 5 The control system includes a main control chip 23, an electric adjustment 24, a gyroscope 25, a GPS 26 and a wireless communication module 27. The main control chip 23 communicates with the host computer through the wireless communication module 27. The main control chip 23 controls the motion state of the first propeller 1, the second propeller 2, the third propeller 3, the fourth propeller 4, the fifth propeller 5 and the sixth propeller 6 and the opening and closing of each water inlet valve 11 and each water outlet valve 12 through the electric adjustment 24 according to the instructions of the host computer and the data collected by the gyroscope 25 and the GPS 26, so that the operation efficiency is high while meeting the functions. Among them, the main control chip 23 preferably adopts the STM32F103 series chip.

[0049] In this embodiment, the sealed cabin 28 is made of transparent material, which makes it easy to observe the operation of the internal control system, such as the indicator light. In addition, a sealing ring is added to the opening and closing of the sealed cabin 28 to prevent water from entering and protect the control system.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention, and such changes all fall within the scope of protection of the present invention.

Claims

1. A control method for a mechanical device for purifying heavy metal pollution in water bodies, characterized in that: The water body heavy metal pollution purification mechanical device comprises a driving system and a collection system, wherein the driving system comprises a sealed cabin (28) having a built-in control system and a battery (29) and a multi-degree-of-freedom driving mechanism installed on the sealed cabin (28), wherein the multi-degree-of-freedom driving mechanism comprises a third propeller (3) and a fourth propeller (4) both facing the front and rear directions of the sealed cabin (28) and a first propeller (1), a second propeller (2), a fifth propeller (5) and a sixth propeller (6) both facing the upper and lower directions of the sealed cabin (28), wherein the first propeller (1) and the second propeller (2) are symmetrically distributed on both sides of the front end of the sealed cabin (28), the fifth propeller (5) and the sixth propeller (6) are symmetrically distributed on both sides of the rear end of the sealed cabin (28), and the third propeller (3) and the fourth propeller (4) are symmetrically distributed on both sides of the middle part of the sealed cabin (28), and the installation height of the third propeller (3) and the fourth propeller (4) is lower than the installation height of the first propeller (1), the second propeller (2), the fifth propeller (5) and the sixth propeller (6); The collection system comprises at least one purification mechanism installed at the lower part of the sealed cabin (28), the purification mechanism comprising a water inlet purification bottle (7), a water outlet purification bottle (8), and a purification bottle connector (9) connecting a water outlet end of the water inlet purification bottle (7) and a water inlet end of the water outlet purification bottle (8), a purification core (10) is arranged between the water outlet end connected to the water inlet purification bottle (7) and the water inlet end of the water outlet purification bottle (8), the water inlet end connected to the water inlet purification bottle (7) is equipped with a water inlet valve (11), and the water outlet end of the water outlet purification bottle (8) is equipped with a water pump (13) through a water outlet valve (12); The collection system has two purification mechanisms, which are installed side by side at the bottom of the sealed cabin (28) via a mounting bracket (17); The two water inlet valves (11) are both ball valves. The valve stems of the two water inlet valves (11) are located on the same side of the water inlet valves (11). The valve stems of the two water inlet valves (11) are both fixedly sleeved with a water inlet ball valve control disk (14). The outer edge of the water inlet ball valve control disk (14) is provided with a section of water inlet driven teeth (14a). The mounting bracket (17) is provided with a water inlet steering gear (15). The rotating shaft of the water inlet steering gear (15) is fixedly sleeved with a water inlet driving disk (16) located between the two water inlet ball valve control disks (14). The outer edge of the water inlet driving disk (16) is provided with a section of water inlet active teeth (16a). When the water inlet active teeth (16a) are meshed with the water inlet driven teeth (14a) of one of the water inlet ball valve control disks (14), the water inlet active teeth (16a) are separated from the water inlet driven teeth (14a) of the other water inlet ball valve control disk (14). The two water outlet valves (12) are both ball valves. The valve stems of the two water outlet valves (12) are located on the same side of the water outlet valves (12). A water outlet ball valve control disk (18) is fixedly sleeved on the valve stems of the two water outlet valves (12). The outer edge of the water outlet ball valve control disk (18) is provided with a section of water outlet driven teeth (18a). The mounting bracket (17) is provided with a water outlet steering gear (19). The rotating shaft of the water outlet steering gear (19) is fixedly sleeved with a water outlet driving disk (20) located between the two water outlet ball valve control disks (18). The outer edge of the water outlet driving disk (20) is provided with a section of water outlet active teeth (20a). When the water outlet active teeth (20a) are meshed with the water outlet active teeth (20a) of one of the water outlet ball valve control disks (18), the water outlet active teeth (20a) are separated from the water outlet active teeth (20a) of the other water outlet ball valve control disk (18). The mounting bracket (17) comprises a rail (17a) mounted on the bottom of the sealed cabin (28), and a water inlet bottle rack (17b) and a water outlet bottle rack (17c) both of which can move along the rail (17a); The water inlet bottle rack (17b) comprises a water inlet slide seat (17b1) slidably matched with the clamping rail (17a), a water inlet servo mounting plate (17b2) mounted at the bottom of the water inlet slide seat (17b1), and water inlet purification bottle hinges (17b3) respectively located on both sides of the water inlet servo mounting plate (17b2); the water inlet servo (15) is mounted on the water inlet servo mounting plate (17b2), and the two water inlet purification bottles (7) are respectively mounted in the corresponding water inlet purification bottle hinges (17b3); The water outlet bottle rack (17c) comprises a water outlet slide seat (17c1) slidably matched with the clamping rail (17a), a water outlet servo mounting plate (17c2) mounted at the bottom of the water outlet slide seat (17c1), and water outlet purification bottle hinges (17c3) respectively located on both sides of the water outlet servo mounting plate (17c2); the water outlet servo (19) is mounted on the water outlet servo mounting plate (17c2), and two water outlet purification bottles (8) are respectively mounted in corresponding water outlet purification bottle hinges (17c3); The material of the purification core (10) is a strong alkaline gel resin; The control method of the water body heavy metal pollution purification mechanical device is carried out according to the following steps: S1. Turn on the mechanical device for purifying heavy metal pollution in water bodies and the host computer, then place the mechanical device for purifying heavy metal pollution in water bodies in a designated area, and record the longitude and latitude of the placement point; S2. Use the host computer to control the water body heavy metal pollution purification mechanical device to the designated water area, then start the collection system, and send the data including longitude and latitude to the host computer in real time; S3, using the upper computer to control the water body heavy metal pollution purification mechanical device to arrive at a new designated purification point, start a new purification mechanism, wait for a set time, and then close the purification mechanism; S4, repeat step S3 until all purification mechanisms have been used, and then return to the delivery point; The first propeller (1), the third propeller (3) and the fifth propeller (5) are all located on the left side of the sealed cabin (28); the second propeller (2), the fourth propeller (4) and the sixth propeller (6) are all located on the right side of the sealed cabin (28); the blade inclination direction of the third propeller (3) is opposite to the blade inclination direction of the fourth propeller (4); the blade inclination direction of the first propeller (1) is opposite to the blade inclination direction of the second propeller (2); the blade inclination direction of the fifth propeller (5) is opposite to the blade inclination direction of the sixth propeller (6); and the blade inclination direction of the first propeller (1) is opposite to the blade inclination direction of the fifth propeller (5); When the water body heavy metal pollution purification mechanical device moves forward, the third propeller (3) rotates in the reverse direction, the fourth propeller (4) rotates in the forward direction, and the first propeller (1), the second propeller (2), the fifth propeller (5) and the sixth propeller (6) stop rotating; When the water body heavy metal pollution purification mechanical device is reversed, the third propeller (3) rotates forward, the fourth propeller (4) rotates reversely, and the first propeller (1), the second propeller (2), the fifth propeller (5) and the sixth propeller (6) stop rotating; When the water body heavy metal pollution purification mechanical device rises, the first propeller (1) and the sixth propeller (6) rotate in the reverse direction, the second propeller (2) and the fifth propeller (5) rotate in the forward direction, and the third propeller (3) and the fourth propeller (4) stop rotating; When the water body heavy metal pollution purification mechanical device sinks, the first propeller (1) and the sixth propeller (6) rotate forward, the second propeller (2) and the fifth propeller (5) rotate reversely, and the third propeller (3) and the fourth propeller (4) stop rotating; When the water body heavy metal pollution purification mechanical device moves to the left, the first propeller (1) rotates forward, the sixth propeller (6) rotates reversely, and the second propeller (2), the third propeller (3), the fourth propeller (4) and the sixth propeller (6) stop rotating; When the water body heavy metal pollution purification mechanical device moves to the right, the second propeller (2) rotates forward, the fifth propeller (5) rotates reversely, and the first propeller (1), the third propeller (3), the fourth propeller (4) and the fifth propeller (5) stop rotating; When the front end of the water body heavy metal pollution purification mechanical device rotates to the left, the third propeller (3) and the fourth propeller (4) rotate forward, and the first propeller (1), the second propeller (2), the fifth propeller (5) and the sixth propeller (6) stop rotating; When the front end of the water body heavy metal pollution purification mechanical device rotates to the right, the third propeller (3) and the fourth propeller (4) rotate in the reverse direction, and the first propeller (1), the second propeller (2), the fifth propeller (5) and the sixth propeller (6) stop rotating; When the front end of the water body heavy metal pollution purification mechanical device rotates upward, the first propeller (1) and the fifth propeller (5) rotate in the reverse direction, the second propeller (2) and the sixth propeller (6) rotate in the forward direction, and the third propeller (3) and the fourth propeller (4) stop rotating; When the front end of the water body heavy metal pollution purification mechanical device rotates downward, the first propeller (1) and the fifth propeller (5) rotate forward, the second propeller (2) and the sixth propeller (6) rotate reversely, and the third propeller (3) and the fourth propeller (4) stop rotating; When the water body heavy metal pollution purification mechanical device tilts to the left, the first propeller (1) and the second propeller (2) rotate forward, the fifth propeller (5) and the sixth propeller (6) rotate reversely, and the third propeller (3) and the fourth propeller (4) stop rotating; When the water body heavy metal pollution purification mechanical device tilts to the right, the first propeller (1) and the second propeller (2) rotate in reverse, the fifth propeller (5) and the sixth propeller (6) rotate forward, and the third propeller (3) and the fourth propeller (4) stop rotating.

2. The control method of the mechanical device for purifying heavy metal pollution in water bodies according to claim 1 is characterized in that: The sealed cabin (28) is fixedly sleeved with a middle mounting ring (21) in the middle, the third propeller (3) and the fourth propeller (4) are respectively mounted on both sides of the middle mounting ring (21), the clamping rail (17a) is fixedly mounted on the bottom of the middle mounting ring (21), the two ends of the sealed cabin (28) are fixedly sleeved with end mounting rings (22), the first propeller (1) and the second propeller (2) as well as the fifth propeller (5) and the sixth propeller (6) are respectively mounted on both sides of the corresponding end mounting rings (22).

3. The control method of the mechanical device for purifying heavy metal pollution in water bodies according to claim 1 is characterized in that: The purification bottle connecting piece (9) is a circular ring structure. The inner circumferential surfaces of both ends of the purification bottle connecting piece (9) are processed with internal threads. The outer circumferential surfaces of the water outlet end of the water inlet purification bottle (7) and the water inlet end of the water outlet purification bottle (8) are processed with external threads that match the internal threads. A purification core annular boss (9a) that matches the purification core (10) is protruded on the inner circumferential surface of the middle part of the purification bottle connecting piece (9). The purification core (10) can be detachably installed.

4. The control method of the mechanical device for purifying heavy metal pollution in water bodies according to claim 1 is characterized in that: The control system comprises a main control chip (23), an electric regulator (24), a gyroscope (25), a GPS (26) and a wireless communication module (27). The main control chip (23) communicates with a host computer via the wireless communication module (27). The main control chip (23) controls the motion states of the first propeller (1), the second propeller (2), the third propeller (3), the fourth propeller (4), the fifth propeller (5) and the sixth propeller (6) and the opening and closing of each water inlet valve (11) and each water outlet valve (12) via the electric regulator (24) according to the instructions of the host computer and the data collected by the gyroscope (25) and the GPS (26).

5. The control method of the mechanical device for purifying heavy metal pollution in water bodies according to claim 1 is characterized by: The sealed cabin (28) is made of transparent material.

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