A dredging robot

Abstract

The application provides a dredging robot, and belongs to the technical field of pipeline dredging equipment. The robot comprises a robot main body, a walking device and at least one sewage suction device with a stirring mechanism are installed on the chassis of the robot main body, and a lifting device is arranged on the chassis and is arranged on a lifting base in the sewage suction device. The lifting device can drive the sewage suction pipe of the sewage suction device to be lowered below the lowest point of the walking device or to be raised above the lower end surface of the chassis. The lifting device can drive the sewage suction pipe of the sewage suction device to be lowered below the lowest point of the walking device or to be raised above the lower end surface of the chassis, so that the mud on the arc-shaped bottom of the pipeline below the plane where the lowest point of the walking device is located can be removed in a smaller pipeline, and the sewage suction device can be lifted above the chassis to avoid obstacles when there are obstacles in the pipeline, so that the sewage suction device is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline dredging equipment, and relates to a dredging robot. BACKGROUND

[0002] With the rapid development of cities, the inspection and dredging work of underground pipe network is becoming more and more complex and heavy. At present, the backward mode of manual operation is still adopted in most areas of China for municipal dredging work, but this mode has high labor intensity, high risk and low efficiency. Therefore, the intelligent dredging equipment capable of replacing manual work has great significance for maintaining the city appearance. The dredging robot is developing towards unmanned, intelligent and multifunctional direction.

[0003] At present, there is no great progress in the dredging robot at home and abroad. In recent years, domestic companies such as Schroeder, Bomingwei, Hengtong Environment, and Zhongkehengqing, etc. have launched several culvert and pipeline dredging robots for municipal dredging, providing a new solution. The technical routes of the above dredging robots are roughly divided into two types: one is the dredging robot combined with a cutter mixer and a sewage suction pump, represented by the Bull and Mini Bull dredging robots of Italy Greit Company, and the other is the shovel type dredging robot represented by Hengtong Environment, both of which are based on a tracked chassis as the walking mechanism.

[0004] The above two kinds of dredging robots have the following shortcomings: 1. The sewage suction pump and the cutter mixer are fixedly installed, and when passing through the pipeline with obstacles, the mixer and the sewage suction pump are difficult to overcome the obstacles, and at the same time, the mixer and the sewage suction pump of the robot may be damaged; 2. For some smaller diameter pipes, since the bottom of the mixer and the sewage suction pump is higher than or flush with the bottom of the tracked chassis, the sludge at the arc-shaped bottom of the pipeline below the robot chassis plane cannot be cleaned, resulting in incomplete dredging; 3. The shovel type dredging robot does not have the function of sucking sewage, and can only shovel the sludge, since the bottom of the shovel is a flat shape, the sludge at the arc-shaped bottom of the pipeline below the robot chassis plane cannot be removed; 4. Since the shovel type dredging robot relies on the shovel to shovel the sludge and transports the sludge by other collaborative tools, the overall work efficiency is not high; therefore, a dredging robot capable of making the sewage suction pump have obstacle avoidance ability and realizing dredging of the sludge at the arc-shaped bottom of the pipeline below the robot chassis plane is needed.

[0005] As China patent discloses a kind of dredging robot rake suction type dredging unit structure [application number: 202010052009.2], including dredging robot body, the middle part of the front of the dredging robot body is equipped with connecting rod mechanism group, the end of the connecting rod mechanism group away from the dredging robot body is equipped with rake suction unit structure, the center of the front of the dredging robot body is equipped with suction pipe, the end of the suction pipe away from the dredging robot body is connected with the rake suction unit structure and is through, the rake suction unit structure includes collection cover, the both sides of the collection cover are equipped with mounting hole, the motor mounting cover is equipped in the mounting hole, the motor mounting cover is hollow bottom structure, the inside of the both sides of the motor mounting cover is equipped with hydraulic motor;The patent application of the present application has combined the advantages of the above-mentioned shovel dredging robot and the combination of cutter mixer and suction pump dredging robot.

[0006] However, the patent application still cannot solve or cannot simultaneously solve the problems of insufficient obstacle avoidance ability of the above-mentioned robot dredging component and the inability to dredge the silt located at the arc-shaped bottom of the pipeline below the plane of the robot chassis. SUMMARY

[0007] The purpose of the present application is to solve the above-mentioned problems, and to provide a kind of dredging robot.

[0008] To achieve the above-mentioned purpose, the following technical solutions are adopted in the present application:

[0009] A kind of dredging robot, including robot main body, the bottom plate of the robot main body is installed with travelling device and at least one suction device with stirring mechanism, further including lifting device, the lifting device is arranged on the bottom plate and the suction device is installed on the lifting base in the lifting device, the lifting device can drive the suction pipe of suction device to be lowered below the lowest point of travelling device or be raised above the lower end surface of bottom plate.

[0010] In the present application, the lifting device can drive the suction pipe of suction device to be lowered below the lowest point of travelling device or be raised above the lower end surface of bottom plate, so that the silt located at the arc-shaped bottom of the pipeline below the plane of the lowest point of travelling device can be removed in smaller pipeline, and the suction device can be lifted above the bottom plate to avoid obstacles when there are obstacles in the pipeline, to prevent the suction device from being damaged.

[0011] In the above-mentioned dredging robot, further including control module connected with travelling device, suction device and lifting device, the control module includes:

[0012] Overload protection unit, the overload protection unit is connected with lifting device, when the suction pipe or stirring mechanism touches hard bottom surface, the lifting device drives suction device to lift up;

[0013] A suction control unit connected with the walking device and the lifting device;

[0014] The control system, the overload protection unit is connected with the lifting device through the control system, and the suction control unit is connected with the walking device and the lifting device through the control system.

[0015] The overload protection unit can monitor the hydraulic pressure change at the telescopic end of the hydraulic cylinder in the lifting device, and after the suction pipe or the stirring mechanism touches the hard bottom surface, the overload protection unit can automatically send a signal to the control system, control the lifting device to work through the control system, so that the suction device is automatically lifted, the contact between the suction pipe or the stirring mechanism and the hard bottom surface is released, and the protection of the suction device is realized. In the case that the camera field of view of the dredging robot is poor or manual operation is wrong, emergency protection can be performed, and the self-protection function of the dredging robot can be further improved; the suction control unit can monitor the pressure at the water outlet of the suction device, and when the water surface of the sewage is lowered to cause the suction pipe to be exposed to the air, the pressure at the water outlet of the suction device will be sharply reduced. At this time, the suction control unit can transmit a signal to the control system, and the control system can in turn command the lifting device to drive the suction device to automatically move downward or command the walking device to drive the robot main body to move forward, so that continuous suction operation is performed without interruption.

[0016] In the above-mentioned dredging robot, the overload protection unit comprises a hydraulic pressure change sensor installed on a hydraulic cylinder for driving the lifting base to lift in the lifting device;

[0017] The suction control unit comprises a pressure sensor installed on the sewage discharge pipe in the suction device, and when the pressure value received by the pressure sensor is less than a preset value, the lifting device drives the suction device to descend or the walking device drives the robot main body to advance;

[0018] The control module further comprises a distance measuring unit connected with the walking device.

[0019] The hydraulic pressure change sensor can monitor the hydraulic pressure change at the telescopic end of the hydraulic cylinder, the pressure sensor can receive the pressure value at the sewage discharge pipe, and the radar or infrared range finder is installed on the robot for real-time detection of the safety distance between the robot and the front;

[0020] The overload protection unit, the suction control unit and the control system in the control module in combination with the lifting device, the suction device and the walking device on the robot main body can realize unmanned continuous dredging operation of the dredging robot.

[0021] In the dredging robot, the lifting device comprises a hydraulic cylinder fixed on the chassis and a lifting base, the hydraulic cylinder is vertically arranged, and the telescopic end of the hydraulic cylinder is arranged downward, and the telescopic end of the hydraulic cylinder is connected with the lifting base.

[0022] The downward arrangement of the telescopic end of the hydraulic cylinder can facilitate the downward movement of the suction device mounted on the lifting base for suction.

[0023] In the dredging robot, the suction device comprises a centrifugal pump connected with the lifting base through a centrifugal pump fixing plate, a hydraulic motor arranged at the top end of the centrifugal pump, a suction pipe arranged at the lower side of the centrifugal pump and vertically arranged downward, and a stirring mechanism comprising a stirring shaft with a conical top end and stirring blades arranged in the suction pipe and connected with the impeller of the centrifugal pump.

[0024] In the dredging robot, an arc surface is arranged at the pipe opening of the suction pipe. The arc surface at the pipe opening of the suction pipe can be matched with the arc bottom of the pipeline, and compared with the flat suction pipe, the distance of the downward movement can be larger, so that the dredging robot can dredge smaller pipelines and can completely remove the sludge at the arc bottom of the pipeline.

[0025] In the dredging robot, the walking device comprises a caterpillar moving mechanism connected with the chassis, two groups of protrusions are arranged on the caterpillar of the caterpillar moving mechanism, the two groups of protrusions are symmetrically arranged on the caterpillar, each group of protrusions comprises a plurality of protrusions arranged along the circumferential direction of the caterpillar, and the cross section of the protrusion is in the shape of an inverted trapezoid. The two groups of protrusions in the shape of an inverted trapezoid can improve the obstacle crossing ability of the caterpillar moving mechanism.

[0026] In the dredging robot, a flushing device is further arranged on the lifting base, and a turnover mechanism for adjusting the angle of the flushing device is further arranged on the lifting base. The flushing device with adjustable angle through the turnover mechanism can perform high-pressure flushing on the pipeline, so that the sludge at the position inaccessible to the dredging robot can be flushed down and then sucked by the suction device. The installation of the flushing device on the lifting base can make the flushing device have the same obstacle avoidance ability as the suction device.

[0027] In the dredging robot, the flushing device comprises two nozzle mounting rods arranged in parallel and internally provided with water inlet pipelines and water pipe joints, a plurality of high-pressure nozzles are mounted on the nozzle mounting rods, and the high-pressure nozzles on the same nozzle mounting rod are arranged in parallel.

[0028] The two nozzle mounting rods are fixed by two gourd-shaped nozzle fixing plates, and the two nozzle mounting rods are arranged on both sides of the gourd-shaped nozzle fixing plates, and the middle portions of the two gourd-shaped nozzle fixing plates are fixed by a turnover arm.

[0029] In the above-mentioned dredging robot, the chassis is further provided with a waterproof bin internally provided with a hydraulic oil path structure for distributing hydraulic power, the control system is arranged in the waterproof bin, and at least one pair of lifting hooks is arranged on the bin cover of the waterproof bin. The hydraulic oil path structure for distributing hydraulic power is arranged in the waterproof bin, which can solve the problem that the power station directly connects the hydraulic oil pipe to the hydraulic cylinder of the dredging robot, the pipe is heavy, and the robot is not convenient to deploy, work and recover; the lifting hooks arranged on the bin cover of the waterproof bin can adjust the dredging robot into or out of the vertical pipe opening.

[0030] Compared with the prior art, the dredging robot has the following advantages:

[0031] 1. The lifting device can drive the suction pipe of the suction device to be lowered below the lowest point of the walking device or to be raised above the lower end surface of the chassis, so that the dredging robot can clean the sludge on the arc-shaped bottom of the pipeline below the plane where the lowest point of the walking device is located, and can also lift the suction device above the chassis to avoid obstacles when there are obstacles in the pipeline, thereby preventing the suction device from being damaged.

[0032] 2. The overload protection unit can monitor the change of hydraulic pressure at the extension end of the hydraulic cylinder in the lifting device. After the conical top end of the suction pipe or the stirring blade touches the hard bottom surface, the overload protection unit can automatically send a signal to the control system, and the control system controls the operation of the lifting device to automatically lift the suction device, thereby removing the contact between the suction pipe or the stirring blade and the hard bottom surface, and playing a protective role on the suction device. In the case that the camera field of view of the dredging robot is poor or the manual operation is wrong, emergency protection can be performed, and the self-protection function of the dredging robot can be further improved.

[0033] 3. The suction control unit can monitor the pressure at the drain outlet of the suction device. When the water surface of the sewage drops and the suction pipe is exposed to the air, the pressure at the drain outlet of the suction device will decrease sharply. At this time, the suction control unit can transmit a signal to the control system, and the control system can command the lifting device to drive the suction device to automatically move downward or command the walking device to drive the robot main body to move forward, thereby performing non-stop continuous suction operation.

[0034] 4. The overload protection unit, the suction control unit and the control system in the control module, in combination with the lifting device, the suction device and the walking device on the robot main body, can realize unmanned continuous dredging operation of the dredging robot.

[0035] 5. The arc-shaped surface of the suction pipe opening can be matched with the arc-shaped bottom of the pipeline. Compared with the flat suction pipe, the arc-shaped surface can be lowered by a larger distance, so that the pipeline with a smaller diameter can be dredged, and the sludge on the arc-shaped bottom of the pipeline can be removed more thoroughly.

[0036] 6. The flushing device, which can adjust its angle through a flipping mechanism, can perform high-pressure flushing of the pipeline, thereby flushing down sludge in places that are inaccessible to dredging robots, and then sucking it up with a suction device. The flushing device is installed on the lifting base, which enables the flushing device to have the same obstacle avoidance capability as the suction device.

[0037] 7. The translation drive assembly can drive the translation seat on the lifting base and the flushing device and suction device connected to the translation seat to move horizontally, thereby enabling the suction device to move horizontally to the front side of the track, expanding the suction range, and enabling the suction device to remove sludge near corners or pipe walls.

[0038] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0039] Figure 1 This is a three-dimensional view of the flushing device in the present invention when it is in a vertical position;

[0040] Figure 2 This is a three-dimensional view of the flushing device in the present invention when it is in a horizontal position;

[0041] Figure 3 This is a schematic diagram of the working mode of the suction device in this invention;

[0042] Figure 4 This is a schematic diagram of the structure of the suction device in obstacle avoidance mode in this invention;

[0043] Figure 5 This is a partial structural diagram of the lifting device and the suction device;

[0044] Figure 6 This is a partial 3D view of the lifting device and the suction device;

[0045] Figure 7 It is a partial 3D view of the lifting base when the translation seat retracts;

[0046] Figure 8 It is a partial 3D view of the lifting base when the translation seat is extended;

[0047] Figure 9 It is a 3D diagram of the sewage suction device;

[0048] Figure 10 This is a partial 3D view of the sewage suction device;

[0049] Figure 11 This is a schematic diagram of the overall structure of the sewage suction device;

[0050] Figure 12 It is a 3D model of the bonding component;

[0051] Figure 13 is a three-dimensional view of the flushing device;

[0052] Figure 14 is a structural schematic view of the flushing device;

[0053] Figure 15 is a block diagram of the control module.

[0054] In the figure, the walking device 2, the suction device 3, the lifting device 4, the lifting base 5, the suction pipe 6, the hydraulic oil cylinder 7, the sewage pipe 8, the hydraulic lock 9, the lifting rail 10, the lifting body 11, the centrifugal pump fixing plate 12, the centrifugal pump 13, the hydraulic motor 14, the stirring shaft 15, the arc surface 16, the fitting part 17, the track 18, the protruding block 19, the flushing device 20, the translation seat 21, the translation driver 22, the pulley 23, the horizontal sliding groove 24, the nozzle mounting rod 25, the high-pressure nozzle 26, the gourd-shaped nozzle fixing plate 27, the overturning arm 28, the support rod 29, the direction adjusting bolt 30, the waterproof bin 31, the lifting hook 32, the control module 101, the overload protection unit 102, the suction control unit 103, the control system 104, the microcontroller 105, the hydraulic pressure variable sensor 106, the pressure sensor 107, the distance measuring unit 108, the radar 109, and the infrared range finder 110. DETAILED DESCRIPTION

[0055] As shown in Figure 1 , Figure 2 and Figure 9 , a dredging robot comprises a robot main body, a walking device 2 and at least one suction device 3 with a stirring mechanism mounted on the chassis of the robot main body, and a lifting device 4 arranged on the chassis and a lifting base 5 on which the suction device 3 is arranged in the lifting device 4, wherein the lifting device 4 can drive the suction pipe 6 of the suction device 3 to be lowered below the lowest point of the walking device 2 or to be raised above the lower end surface of the chassis.

[0056] In the present application, the lifting device can drive the suction pipe 6 of the suction device 3 to be lowered below the lowest point of the walking device 2 or to be raised above the lower end surface of the chassis, so that the silt on the arc-shaped bottom of the pipeline below the plane where the lowest point of the walking device is located can be removed in a smaller pipeline, and the suction device can be lifted above the chassis to avoid obstacles when there are obstacles in the pipeline, thereby preventing damage to the suction device.

[0057] Preferably, as shown in Figure 15 , a control module 101 connected to the walking device 2, the suction device 3 and the lifting device 4 is further included, and the control module 101 comprises:

[0058] an overload protection unit 102 connected with the lifting device 4, which is capable of sending a signal to the control system 104 when the suction pipe 6 or the stirring mechanism touches the hard bottom surface, so as to control the lifting device 4 to drive the suction device 3 to lift up;

[0059] a suction control unit 103 connected with the traveling device 2 and the lifting device 4;

[0060] a control system 104, wherein the overload protection unit 102 is connected with the lifting device 4 through the control system 104, and the suction control unit 103 is connected with the traveling device 2 and the lifting device 4 through the control system 104.

[0061] The overload protection unit 102 is capable of monitoring the hydraulic pressure change at the extension end of the hydraulic cylinder in the lifting device, and is capable of sending a signal to the control system automatically when the suction pipe 6 or the stirring mechanism touches the hard bottom surface, so as to control the lifting device 4 to work, and drive the suction device 3 to lift up, so as to remove the contact between the suction pipe 6 or the stirring mechanism and the hard bottom surface, and to play a protection role on the suction device, to perform emergency protection when the camera field of view of the dredging robot is poor or the manual operation is wrong, and to further improve the self-protection function of the dredging robot. The suction control unit 103 is capable of monitoring the pressure at the water outlet of the suction device 3, and when the water surface of the sewage is lowered to cause the suction pipe to be exposed to the air, the pressure at the water outlet of the suction device 3 will be sharply reduced. At this time, the suction control unit 103 can transmit a signal to the control system, and the control system can in turn command the lifting device 4 to drive the suction device to move downward automatically or command the traveling device 2 to drive the robot main body to move forward, so as to perform non-interrupted continuous suction operation.

[0062] Preferably, the control system commands the lifting device 4 to drive the suction device to move downward automatically in priority to the command of the traveling device 2 to drive the robot main body to move forward, and when the pressure monitored by the suction control unit 103 meets the condition of the control system commanding the lifting device 4 to drive the suction device to move downward automatically, and the overload protection unit 102 is triggered to work, the control system will command the traveling device 2 to drive the robot main body to move forward, so as to maximize the cleaning of the silt on the walking path of the dredging robot.

[0063] Specifically, the control system 104 comprises a microcontroller 105 having a signal transmitting, receiving and processing function.

[0064] Specifically, the overload protection unit 102 comprises a hydraulic pressure change sensor 106 installed on the hydraulic cylinder 7 for driving the lifting base 5 to lift up in the lifting device 4;

[0065] The sewage suction control unit 103 comprises a pressure sensor 107 installed on the sewage pipe 8 of the sewage suction device 3, and when the pressure value received by the pressure sensor 107 is less than a preset value, the lifting device 4 drives the sewage suction device 3 to descend or the walking device 2 drives the robot body to advance.

[0066] The control module 101 further comprises a distance measuring unit 108 connected with the walking device 2.

[0067] Preferably, the distance measuring unit 108 comprises a radar 109 or an infrared distance meter 110.

[0068] The hydraulic pressure change sensor 106 can monitor the hydraulic pressure change at the extension end of the hydraulic cylinder, the pressure sensor 107 can receive the pressure value at the sewage pipe, and the radar or infrared distance meter is installed on the robot to detect the safety distance of the robot in real time.

[0069] The overload protection unit 102, the sewage suction control unit 103, and the control system 104 in the control module, in combination with the lifting device, the sewage suction device, and the walking device on the robot body, can realize the unmanned continuous dredging operation of the dredging robot.

[0070] Specifically, in combination with Figures 3-6 As shown, the lifting device 4 comprises a hydraulic cylinder 7 fixed on the chassis and a lifting base 5, the hydraulic cylinder 7 is vertically arranged with the extension end of the hydraulic cylinder 7 arranged downward, and the extension end of the hydraulic cylinder 7 is connected with the lifting base 5.

[0071] The extension end of the hydraulic cylinder 7 arranged downward can facilitate the downward movement of the sewage suction device installed on the lifting base for sewage suction.

[0072] Preferably, in combination with Figure 6 As shown, the hydraulic cylinder 7 is further provided with a hydraulic lock 9.

[0073] Preferably, in combination with Figures 5-8 As shown, the chassis is further provided with a lifting rail structure, which comprises a lifting rail 10 fixed on the chassis and a lifting body 11 connected with the lifting base 5, and the lifting body 11 is provided with vertical sliding blocks protruding on both sides and inserted into two vertical sliding grooves on the lifting rail 10.

[0074] Specifically, in combination with Figures 9-11 As shown, the sewage suction device 3 comprises a centrifugal pump 13 connected with the lifting base 5 through a centrifugal pump fixing plate 12, the centrifugal pump 13 is provided with a hydraulic motor 14 at the top end, the sewage pipe 6 is arranged on the lower side of the centrifugal pump 13 and vertically arranged downward, and the stirring mechanism comprises a stirring shaft 15 arranged in the sewage pipe 6 and connected with the impeller of the centrifugal pump 13 in power and provided with a conical top end and stirring blades.

[0075] Preferably, the stirring shaft and the impeller are detachably arranged.

[0076] Preferably, in combination with Figure 9 and Figure 11 As shown in the drawings, the suction pipe 6 is provided with an arc surface 16 at the pipe opening. The arc surface 16 of the suction pipe 6 is designed to be adapted to the arc of the bottom of the pipeline. Compared with the flat suction pipe, the arc surface 16 can be lowered by a larger distance, so that the pipeline can be dredged and the sludge at the arc bottom of the pipeline can be removed more thoroughly.

[0077] Preferably, in combination with Figure 9 , Figure 11 and Figure 12 As shown in the drawings, the suction pipe 6 is provided with a ring-shaped fitting 17 at the water inlet, the arc surface 16 is arranged on one side of the fitting 17, the other side of the fitting 17 is attached to the pipe opening of the suction pipe 6, and the fitting 17 is detachably connected to the suction pipe 6 by a plurality of counterbores. The design of arranging the arc surface on the fitting can speed up the efficiency of the suction pipe modification, and by mass-producing the fitting, the flat suction pipe on the market can be modified into a suction pipe with an arc surface through a relatively simple installation method.

[0078] Specifically, in combination with Figures 1-4 As shown in the drawings, the traveling device 2 comprises a caterpillar moving mechanism connected to the chassis, and two groups of protrusions 19 are arranged on the caterpillar 18 in the caterpillar moving mechanism. Each group of protrusions 19 is symmetrically arranged on the caterpillar 18 and has a plurality of protrusions 19 arranged along the circumferential direction of the caterpillar 18, and the cross section of the protrusion 19 is inverted trapezoidal. The two groups of protrusions 19 with inverted trapezoidal cross section on the caterpillar can improve the obstacle crossing ability of the caterpillar moving mechanism.

[0079] Preferably, in combination with Figure 1 and Figure 2 As shown in the drawings, the flushing device 20 is installed on the lifting base 5, and the lifting base 5 is also provided with a turnover mechanism for adjusting the angle of the flushing device 20. The flushing device with adjustable angle through the turnover mechanism can perform high-pressure flushing on the pipeline, so that the sludge at the position that cannot be reached by the dredging robot can be flushed down and then sucked by the suction device. The flushing device 20 installed on the lifting base 5 can also have the same obstacle avoidance ability as the suction device.

[0080] Preferably, in combination with Figure 7 and Figure 8As shown in the drawings, the lifting base 5 is further provided with a translation seat 21 and a translation driving assembly capable of driving the translation seat 21 to move horizontally, the flushing device 20 and the sewage suction device 3 are arranged on the translation seat 21, the translation driving assembly comprises two symmetrically arranged translation drivers 22, and the output shaft ends of the translation drivers 22 are connected with the translation seat 21; a plurality of pulleys 23 are arranged on the two sides of the lifting base 5 and are uniformly spaced in the horizontal direction, and the two sides of the translation seat 21 are provided with horizontal sliding grooves 24 corresponding to the pulleys 23. The translation driving assembly can drive the translation seat 21 on the lifting base 5 and the flushing device 20 and the sewage suction device 3 connected with the translation seat to move horizontally, so that the sewage suction device can be moved horizontally to the front side of the track, the sewage suction range can be expanded, and the sewage suction device can remove the sludge close to the corner or close to the pipe wall.

[0081] Those skilled in the art should understand that the translation driver can be an oil cylinder, an air cylinder or a linear motor, and as preferred, an oil cylinder is selected in the embodiment.

[0082] Specifically, as shown in the drawings, Figure 13 and Figure 14 Specifically, as shown in the drawings, the flushing device 20 comprises two nozzle mounting rods 25 arranged in parallel and having water inlet pipelines and water pipe joints in the interiors, a plurality of high-pressure nozzles 26 are mounted on the nozzle mounting rods 25, and the high-pressure nozzles 26 on the same nozzle mounting rod 25 are arranged in parallel; the two nozzle mounting rods 25 are fixed by two gourd-shaped nozzle fixing plates 27, and the two nozzle mounting rods 25 are arranged on the two sides of the gourd-shaped nozzle fixing plates 27, and the middle portions of the two gourd-shaped nozzle fixing plates 27 are fixed by a turnover arm 28.

[0083] Specifically, the turnover mechanism comprises two circumferential drivers fixed on the translation seat 21, and the two circumferential drivers are fixed by a support rod 29 and the middle portion of the gourd-shaped nozzle fixing plate 27, respectively. The circumferential drivers can drive the support rod 29 to rotate, thereby driving the gourd-shaped nozzle fixing plate 27 on which the nozzle mounting rod 25 is mounted to rotate, so as to adjust the angle of the high-pressure nozzle 26 on the nozzle mounting rod 25.

[0084] Those skilled in the art should understand that the circumferential driver can be a rotary oil cylinder or a motor, and as preferred, a rotary oil cylinder is selected in the embodiment.

[0085] Preferably, the two ends of the nozzle mounting rod 25 are connected with the gourd-shaped nozzle fixing plate 27 through direction adjusting bolts 30, and the angle of the high-pressure nozzle 26 on the nozzle mounting rod 25 can be adjusted by rotating the direction adjusting bolts 30.

[0086] Preferably, as shown in the drawings, Figures 1-4As shown, the chassis is further provided with a waterproof bin 31 internally provided with a hydraulic oil path structure for distributing hydraulic power, the control system 104 is arranged in the waterproof bin 31, and at least one pair of lifting hooks 32 is arranged on the bin cover of the waterproof bin 31. Arranging the hydraulic oil path structure for distributing hydraulic power in the waterproof bin 31 can solve the problem that the power station directly connects the hydraulic oil pipe to the hydraulic cylinder of the dredging robot, the pipe is heavy, and the robot is not convenient to deploy, work and recycle; arranging the lifting hooks on the bin cover of the waterproof bin 31 can adjust the dredging robot into or out of the vertical pipe opening.

[0087] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or use similar ways to replace, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0088] Although the walking device 2, the sewage suction device 3, the lifting device 4, the lifting base 5, the sewage suction pipe 6, the hydraulic oil cylinder 7, the sewage discharge pipe 8, the hydraulic lock 9, the lifting rail 10, the lifting body 11, the centrifugal pump fixing plate 12, the centrifugal pump 13, the hydraulic motor 14, the stirring shaft 15, the arc surface 16, the fitting part 17, the track 18, the protrusion 19, the flushing device 20, the translation seat 21, the translation driver 22, the pulley 23, the horizontal sliding groove 24, the nozzle mounting rod 25, the high-pressure nozzle 26, the gourd-shaped nozzle fixing plate 27, the overturning arm 28, the support rod 29, the direction adjusting bolt 30, the waterproof bin 31, the lifting hook 32, the control module 101, the overload protection unit 102, the sewage suction control unit 103, the control system 104, the microcontroller 105, the hydraulic pressure variation sensor 106, the pressure sensor 107, the distance measuring unit 108, the radar 109, the infrared range finder 110, etc. are used more frequently in this article, the use of these terms is only to facilitate the description and explanation of the essence of the present application; any additional limitation is contrary to the spirit of the present application.

Claims

1. A dredging robot comprising a robot body, on the chassis of which a walking device (2) and at least one suction device (3) with a stirring mechanism are mounted, characterized in that, The lifting device (4) is arranged on the chassis and the suction device (3) is arranged on the lifting base (5) in the lifting device (4), the lifting device (4) can drive the suction pipe (6) of the suction device (3) to be lowered below the lowest point of the walking device (2) or to be raised above the lower end surface of the chassis; the control module (101) connected with the walking device (2), the suction device (3) and the lifting device (4), the control module (101) comprises: an overload protection unit (102), the overload protection unit (102) is connected with the lifting device (4), when the suction pipe (6) or the stirring mechanism touches the hard bottom surface, the lifting device (4) drives the suction device (3) to be lifted; a suction control unit (103), the suction control unit (103) is connected with the walking device (2) and the lifting device (4); a control system (104), the overload protection unit (102) is connected with the lifting device (4) through the control system (104), and the suction control unit (103) is connected with the walking device (2) and the lifting device (4) through the control system (104); The control system (104) commands the lifting device (4) to drive the suction device (3) to move downward automatically, which is prior to commanding the walking device (2) to drive the robot main body to move forward.

2. A dredging robot according to claim 1, characterized in that The overload protection unit (102) comprises a hydraulic pressure variable sensor (106) installed on a hydraulic oil cylinder (7) in the lifting device (4) for driving the lifting base (5) to be lifted; The suction control unit (103) comprises a pressure sensor (107) installed on a discharge pipe (8) in the suction device (3), when the pressure value received by the pressure sensor (107) is less than a preset value, the lifting device (4) drives the suction device (3) to be lowered or the walking device (2) drives the robot main body to move forward; The control module (101) further comprises a distance measuring unit (108) connected with the walking device (2).

3. A dredging robot according to claim 1 or 2, characterized in that The lifting device (4) comprises a hydraulic oil cylinder (7) fixed on the chassis and a lifting base (5), the hydraulic oil cylinder (7) is vertically arranged and the telescopic end of the hydraulic oil cylinder (7) is arranged downward, and the telescopic end of the hydraulic oil cylinder (7) is connected with the lifting base (5).

4. A dredging robot according to claim 1 or 2, characterized in that The suction device (3) comprises a centrifugal pump (13) connected with the lifting base (5) through a centrifugal pump fixing plate (12), the top end of the centrifugal pump (13) is provided with a hydraulic motor (14), the suction pipe (6) is arranged on the lower side of the centrifugal pump (13) and is vertically arranged downward, and the stirring mechanism comprises a stirring shaft (15) arranged in the suction pipe (6) and connected with the impeller of the centrifugal pump (13) in power and provided with a conical top end and stirring blades.

5. A dredging robot according to claim 4, characterized in that An arc surface (16) is arranged at the pipe opening of the suction pipe (6).

6. A dredging robot according to claim 1 or 2, characterized in that The walking device (2) comprises a track moving mechanism connected with the chassis, two groups of protrusions (19) are arranged on the track (18) in the track moving mechanism, the two groups of protrusions (19) are symmetrically arranged on the track (18), and each group of protrusions (19) comprises a plurality of protrusions (19) arranged along the circumference of the track (18), and the cross section of the protrusion (19) is in inverted trapezoidal shape.

7. A dredging robot according to claim 1 or 2, characterized in that The flushing device (20) is installed on the lifting base (5), and the lifting base (5) is further provided with a turnover mechanism for adjusting the angle of the flushing device (20).

8. A dredging robot according to claim 7, characterized in that The flushing device (20) comprises two nozzle mounting rods (25) arranged in parallel and internally provided with water inlet pipelines and water pipe joints, a plurality of high-pressure nozzles (26) are mounted on the nozzle mounting rod (25), and the plurality of high-pressure nozzles (26) on the same nozzle mounting rod (25) are arranged in parallel. The two nozzle mounting rods (25) are fixed by two gourd-shaped nozzle fixing plates (27), and the two nozzle mounting rods (25) are arranged on the two sides of the gourd-shaped nozzle fixing plate (27), and the middle portions of the two gourd-shaped nozzle fixing plates (27) are fixed by a turnover arm (28).

9. A dredging robot according to claim 1 or 2, characterized in that The chassis is further provided with a waterproof bin (31) internally provided with a hydraulic oil path structure for distributing hydraulic power, the control system (104) is arranged in the waterproof bin (31), and at least one pair of lifting hooks (32) is arranged on the cover of the waterproof bin (31).

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